CN219946248U - Vision-based end effector of automobile tire changing robot - Google Patents
Vision-based end effector of automobile tire changing robot Download PDFInfo
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- CN219946248U CN219946248U CN202321523348.XU CN202321523348U CN219946248U CN 219946248 U CN219946248 U CN 219946248U CN 202321523348 U CN202321523348 U CN 202321523348U CN 219946248 U CN219946248 U CN 219946248U
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- tire
- end effector
- vision
- body part
- changing robot
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- 239000012636 effector Substances 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
Abstract
The utility model provides an end effector of an automobile tire changing robot based on vision, which comprises a main body part connected with a mechanical arm, wherein an electric screw driver, a fixed clamping rod and a linear driving mechanism are arranged on the main body part, and a fixed bolt on a tire is detached through the electric screw driver; a sliding plate is arranged on the linear driving mechanism, and a movable clamping rod corresponding to the fixed clamping rod is arranged on the sliding plate; the main body part is provided with a camera. The utility model can identify the position of the fixing bolt on the tire and the edge position of the tire by means of visual detection of the camera, can replace manual work to realize disassembly of the fixing bolt, grabbing of the tire and carrying and transferring of the tire, saves time and labor, and greatly saves the physical strength of operators.
Description
Technical Field
The utility model relates to the technical field of automatic multifunctional clamping jaws, in particular to an end effector of an automobile tire changing robot based on vision.
Background
In the traditional automobile tire changing operation process, a maintenance person is required to unscrew a fixing bolt on an automobile hub in a manual mode by means of a wrench, after the fixing bolt is loosened, the maintenance person is required to detach the whole tire from an automobile, then the tire is conveyed to a tire removing machine, a rubber tire on the outer side of the hub is pulled out from the hub, a new rubber tire is installed on the hub, after the rubber tire is replaced, the maintenance person is required to install the whole tire on the automobile again, and finally the fixing bolt is screwed, so that the installation and fixation of the tire are completed.
The traditional manual tire replacement mode needs manual operation of maintenance personnel in the whole process, and the whole tire replacement process needs to consume more time and physical strength because the whole tire is heavy and is hard to carry, and the operation is time-consuming and labor-consuming.
Disclosure of Invention
The utility model aims to solve the defects in the prior art and provides an end effector of an automobile tire changing robot based on vision.
The utility model aims at realizing the following technical scheme: the end effector of the automobile tire changing robot based on vision comprises a main body part connected with a mechanical arm, wherein an electric screw driver, a fixed clamping rod and a linear driving mechanism are arranged on the main body part, and a fixed bolt on a tire is detached through the electric screw driver; a sliding plate is arranged on the linear driving mechanism, and a movable clamping rod corresponding to the fixed clamping rod is arranged on the sliding plate; the main body part is provided with a camera.
The utility model is arranged on a mechanical arm, the mechanical arm can be a six-degree-of-freedom mechanical arm, and the mechanical arm drives the space of the whole end effector to move; the precise positioning of the end effector is realized through tool coordinate system calibration, world coordinate system calibration, robot calibration and camera calibration; when the tire changing operation is carried out, firstly, the end effector is moved to the position of the tire, the camera is opposite to the tire, the tire is photographed through the camera, the center of the tire is determined through visual detection, positioning identification is carried out on the fixing bolt on the hub, after the position of the fixing bolt is determined, the world coordinate system of the fixing bolt is obtained, and then the electric screw driver is controlled to detach the fixing bolt; after the fixing bolts are disassembled, photographing and identifying the tire again through a camera, identifying the edge profile of the tire, adjusting the positions of the fixed clamping rods and the movable clamping rods through a mechanical arm, enabling the fixed clamping rods and the movable clamping rods to move to two sides of the profile of the tire, driving the movable clamping rods to move through a linear moving mechanism and clamping the tire, transferring the grabbed tire to a nearby tire removing machine through the mechanical arm, loosening the tire, pulling the rubber tire on the outer side of the wheel hub from the wheel hub through the tire removing machine, and installing a new rubber tire on the wheel hub;
after the rubber tire is replaced, the tire is grabbed again through the fixed clamping rod and the movable clamping, the tire is transferred to the installation position on the automobile through the mechanical arm, and finally the tire is installed on the automobile through the manual installation fixing bolt, so that the tire replacement operation is completed. Considering that the angle position of the tire can be changed to a certain extent before and after tire taking, after tire taking is completed, the surface of the tire is photographed again through a camera and visually detected, the position of a bolt hole on a hub after tire taking is obtained, the position of the bolt hole on the hub is compared with the position of the bolt hole on the hub when the tire taking is placed on a tire taking machine before tire taking, the change amount of the angle of the tire is calculated, after the tire is taken, the tire is driven to rotate through a mechanical arm, the angle of the tire is adjusted, the angle position of the tire is consistent with the angle position before tire taking, and then an original path is returned to the tire installation position. The utility model can identify the position of the fixing bolt on the tire and the edge profile of the tire by means of visual detection of the camera, can replace manual work to realize disassembly of the fixing bolt, grabbing of the tire and carrying and transferring of the tire, saves time and labor, and greatly saves the physical strength of operators.
Preferably, the fixed clamping rod and the movable clamping rod are respectively provided with two clamping rods; when the tire is grasped, the tire is positioned between the two fixed clamping bars and the two movable clamping bars.
Preferably, the main body member is provided with a distance measuring sensor; when the tire is grasped, the ranging sensor is opposite to the plane of the tire. During the process of grabbing the tire, the distance between the end effector and the tire surface can be detected in real time through the distance measuring sensor.
Preferably, the distance measuring sensor is an infrared distance measuring sensor.
Preferably, the camera is facing the plane of the tire when the motorized screw is removing the mounting bolts on the tire.
Preferably, the linear driving mechanism is an electric linear guide rail.
Preferably, the main body part is provided with a connecting frame, the connecting frame is provided with a mechanical arm connecting flange, and the mechanical arm connecting flange is provided with a screw hole.
Preferably, the camera is a 3D camera.
Preferably, the main body part is provided with a fixed bracket, and the electric screw driver is arranged on the fixed bracket.
The beneficial effects of the utility model are as follows: the utility model can identify the position of the fixing bolt on the tire and the edge position of the tire by means of visual detection of the camera, can replace manual work to realize disassembly of the fixing bolt, grabbing of the tire and carrying and transferring of the tire, saves time and labor, and greatly saves the physical strength of operators.
Drawings
FIG. 1 is a schematic view of one of the directions of the present utility model.
Fig. 2 is a schematic view of another direction of the present utility model.
Fig. 3 is a front view of the present utility model.
Fig. 4 is a schematic view of the present utility model when gripping a tire.
In the figure: 1. the device comprises a main body part, 2, a connecting frame, 3, a mechanical arm connecting flange, 4, screw holes, 5, a fixed support, 6, an electric screw driver, 7, a bolt sleeve, 8, a linear driving mechanism, 9, a fixed clamping rod, 10, a sliding plate, 11, a movable clamping rod, 12, a camera, 13 and a ranging sensor.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the utility model, fall within the scope of protection of the utility model.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present utility model.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
As shown in fig. 1-4, an end effector of an automobile tire changing robot based on vision comprises a main body part 1 connected with a mechanical arm, wherein an electric screw driver 6, a fixed clamping rod 9, a linear driving mechanism 8 and a camera 12 are arranged on the main body part 1.
Wherein the linear driving mechanism 8 is an electric linear guide rail. The electric linear guide is provided along the longitudinal direction of the body member 1. The linear driving mechanism 8 is provided with a sliding plate 10, and the sliding plate 10 is provided with a movable clamping rod 11 corresponding to the fixed clamping rod 9. The fixed clamping rod 9 and the movable clamping rod 11 are respectively provided with two clamping rods, and the fixed clamping rod 9 and the movable clamping rod 11 are mutually parallel. When gripping the tyre, the tyre is located between the two fixed clamping bars 9 and the two mobile clamping bars 11.
The main body member 1 is provided with a distance measuring sensor 13, and in the present utility model, the distance measuring sensor 13 is an infrared distance measuring sensor. When the tire is grasped, the ranging sensor is opposite to the plane of the tire. During the process of grabbing the tire, the distance between the end effector and the tire surface can be detected in real time through the distance measuring sensor.
The main body part 1 is provided with a fixed support 5, an electric screw driver 6 is arranged on the fixed support 5, and the electric screw driver is provided with a bolt sleeve 7 matched with the fixed bolt. The fixing bolts on the tire are disassembled through the electric screw driver 6; when the electric screw driver 6 is removing the fixing bolt on the tire, the camera 12 is opposite to the plane of the tire. In the present utility model, the camera 12 is a 3D camera.
The main body part 1 is provided with a connecting frame 2, the connecting frame 2 is provided with a mechanical arm connecting flange 3, and the mechanical arm connecting flange 3 is provided with a screw hole 4.
The utility model is arranged on a mechanical arm, the mechanical arm can be a six-degree-of-freedom mechanical arm, and the mechanical arm drives the space of the whole end effector to move; the precise positioning of the end effector is realized through tool coordinate system calibration, world coordinate system calibration, robot calibration and camera calibration; when the tire changing operation is carried out, firstly, the end effector is moved to the position of the tire, the camera is opposite to the tire, the tire is photographed through the camera, the center of the tire is determined through visual detection, positioning identification is carried out on the fixing bolt on the hub, after the position of the fixing bolt is determined, the world coordinate system of the fixing bolt is obtained, and then the electric screw driver is controlled to detach the fixing bolt; after the fixing bolts are disassembled, photographing and identifying the tire again through a camera, identifying the edge profile of the tire, adjusting the positions of the fixed clamping rods and the movable clamping rods through a mechanical arm, enabling the fixed clamping rods and the movable clamping rods to move to two sides of the profile of the tire, driving the movable clamping rods to move through a linear moving mechanism and clamping the tire, transferring the grabbed tire to a nearby tire removing machine through the mechanical arm, loosening the tire, pulling the rubber tire on the outer side of the wheel hub from the wheel hub through the tire removing machine, and installing a new rubber tire on the wheel hub;
after the rubber tire is replaced, the tire is grabbed again through the fixed clamping rod and the movable clamping, the tire is transferred to the installation position on the automobile through the mechanical arm, and finally the tire is installed on the automobile through the manual installation fixing bolt, so that the tire replacement operation is completed. Considering that the angle position of the tire can be changed to a certain extent before and after tire taking, after tire taking is completed, the surface of the tire is photographed again through a camera and visually detected, the position of a bolt hole on a hub after tire taking is obtained, the position of the bolt hole on the hub is compared with the position of the bolt hole on the hub when the tire taking is placed on a tire taking machine before tire taking, the change amount of the angle of the tire is calculated, after the tire is taken, the tire is driven to rotate through a mechanical arm, the angle of the tire is adjusted, the angle position of the tire is consistent with the angle position before tire taking, and then an original path is returned to the tire installation position. The utility model can identify the position of the fixing bolt on the tire and the edge profile of the tire by means of visual detection of the camera, can replace manual work to realize disassembly of the fixing bolt, grabbing of the tire and carrying and transferring of the tire, saves time and labor, and greatly saves the physical strength of operators.
The present utility model is not limited to the above-mentioned preferred embodiments, and any person who can obtain other various products under the teaching of the present utility model can make any changes in shape or structure, and all the technical solutions that are the same or similar to the present utility model fall within the scope of the present utility model.
Claims (9)
1. The end effector of the automobile tire changing robot based on vision is characterized by comprising a main body part (1) connected with a mechanical arm, wherein an electric screw driver (6), a fixed clamping rod (9) and a linear driving mechanism (8) are arranged on the main body part (1), and a fixing bolt on a tire is detached through the electric screw driver (6); a slide plate (10) is arranged on the linear driving mechanism (8), and a movable clamping rod (11) corresponding to the fixed clamping rod (9) is arranged on the slide plate (10); a camera (12) is arranged on the main body part (1).
2. A vision-based automotive tyre-changing robot end effector according to claim 1, characterized in that the fixed clamping bars (9) and the mobile clamping bars (11) are provided in two; when the tire is grasped, the tire is positioned between the two fixed clamping rods (9) and the two movable clamping rods (11).
3. A vision-based automotive tyre-changing robot end effector according to claim 2, characterized in that the body part (1) is provided with a distance measuring sensor (13); when the tire is gripped, the distance measuring sensor (13) is opposite to the plane of the tire.
4. A vision-based automotive tyre-changing robot end effector according to claim 3, characterized in that the distance measuring sensor (13) is an infrared distance measuring sensor.
5. A vision-based end effector of a car tyre-changing robot according to claim 1, characterized in that the camera (12) is facing the plane of the tyre when the electric screw driver (6) is removing the fixing bolts on the tyre.
6. A vision-based automotive tyre-changing robot end effector according to claim 1, characterized in that the linear drive mechanism (8) is an electric linear guide.
7. A vision-based end effector of a car tyre changing robot according to any one of claims 1-6, characterized in that the main body part (1) is provided with a connecting frame (2), the connecting frame (2) is provided with a mechanical arm connecting flange (3), and the mechanical arm connecting flange (3) is provided with screw holes (4).
8. A vision-based automotive tyre-changing robot end effector according to any one of claims 1-6, characterized in that the camera (12) is a 3D camera.
9. A vision-based end effector of a car tyre-changing robot according to any one of claims 1-6, characterized in that the body part (1) is provided with a fixing bracket (5), and that the electric screw driver (6) is arranged on the fixing bracket (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321523348.XU CN219946248U (en) | 2023-06-14 | 2023-06-14 | Vision-based end effector of automobile tire changing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321523348.XU CN219946248U (en) | 2023-06-14 | 2023-06-14 | Vision-based end effector of automobile tire changing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219946248U true CN219946248U (en) | 2023-11-03 |
Family
ID=88553728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321523348.XU Active CN219946248U (en) | 2023-06-14 | 2023-06-14 | Vision-based end effector of automobile tire changing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219946248U (en) |
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2023
- 2023-06-14 CN CN202321523348.XU patent/CN219946248U/en active Active
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