CN220886073U

CN220886073U - Chassis package overturning system and assembly line

Info

Publication number: CN220886073U
Application number: CN202322420393.9U
Authority: CN
Inventors: 王兴业; 李洋; 彭光田
Original assignee: Suzhou Concela Automation Technology Co ltd
Current assignee: Suzhou Concela Automation Technology Co ltd
Priority date: 2023-09-06
Filing date: 2023-09-06
Publication date: 2024-05-03
Anticipated expiration: 2033-09-06

Abstract

The utility model relates to a chassis package turning system and a production line, comprising: manipulator, its end connection has sucking disc subassembly, sucking disc subassembly package: the base plate is connected to the free end of the manipulator, the sucker is arranged on one side of the base plate, and the pin shaft is connected with the base plate; the first frame body is arranged on one side of the manipulator; the second frame body is arranged on the other side of the manipulator, support rods are respectively arranged on two sides of the second frame body, and the support rods are provided with limiting assemblies; and an identification unit. According to the utility model, the chassis body is limited by arranging the supporting rods and the limiting components, and the pin shafts of the sucker components and the chassis body form rigid connection when the chassis body is positioned in the vertical direction, so that the positioning accuracy and the turning efficiency of the turning of the automobile chassis are improved.

Description

Chassis package overturning system and assembly line

Technical Field

The utility model relates to the technical field of automobile chassis processing, in particular to a chassis ladle overturning system and a production line.

Background

In the automobile industry, the turning-over refers to taking out materials from a transportation package, putting the materials into a material feeding tool to adjust the direction of the materials, and particularly, in the turning-over process of an automobile chassis, as shown in fig. 1-2, the automobile chassis comprises a chassis body 7, two sides of the chassis body 7 are provided with side plates 704, the chassis body is further provided with a first identification point, a second identification point 702 and a third identification point for identification, and the second identification point 702 is in a pin hole structure.

Because the size and the weight of chassis body 7 are all great, when carrying out the operation of turning over to the chassis body 7 of incoming material, adopt the sucking disc to adsorb the locking to the bottom plate body generally, because the weight of chassis body 7 is great, when the chassis is located vertical plane, the axis body that can stimulate the sucking disc takes place radial offset, the sucking disc body of rubber material also can take place great elastic deformation, when the acceleration of manipulator is great, chassis body 7 can produce the relative slip with the sucking disc and bend the axis body of sucking disc even, the precision that leads to chassis body 7 to place when the frock on line reduces, also be unfavorable for promoting the speed of turning over of chassis body.

Disclosure of utility model

Therefore, the utility model aims to solve the technical problems of low positioning precision and low ladle turning speed in the ladle turning process of the automobile chassis in the prior art.

In order to solve the technical problems, the utility model provides a chassis overturning system, which comprises:

Manipulator, its end connection has sucking disc subassembly, sucking disc subassembly package: the base plate is connected to the free end of the manipulator, the sucker is arranged on one side of the base plate, the pin shaft is connected with the base plate, and the pin shaft is used for being inserted into a second identification point of the chassis body to be detected;

the first frame body is arranged on one side of the manipulator;

the second frame body is arranged on the other side of the manipulator, two sides of the second frame body are respectively provided with a supporting rod, each supporting rod is provided with a limiting assembly, and each limiting assembly is provided with a limiting space for accommodating a side plate to be positioned;

and the identification unit is at least arranged on one side of the first frame body.

In one embodiment of the present utility model, the number of the limiting assemblies is plural, and plural limiting assemblies are disposed along the length direction of the supporting rod.

In one embodiment of the utility model, the spacing assembly comprises: and a containing space for positioning the chassis to be placed is arranged between the two limiting rods.

In one embodiment of the present utility model, the number of the suction cups is at least four, and at least four suction cups are arranged on the bottom plate in a matrix manner.

In one embodiment of the utility model, the identification unit is a vision camera.

In one embodiment of the utility model, the height of the vision camera is flush with the height of the feature recognition point of the workpiece to be inspected.

In one embodiment of the present utility model, the manipulator is selected to be one of a four-axis manipulator, a five-axis manipulator, and a six-axis manipulator.

In one embodiment of the present utility model, the number of the first frame body and the second frame body is two.

In one embodiment of the utility model, the first and second frames are provided with rollers.

The utility model also provides a production line comprising the chassis unpacking system, and the chassis unpacking system is used for performing chassis unpacking.

Compared with the prior art, the technical scheme of the utility model has the following advantages:

According to the chassis overturning system, the mechanical arm is matched with the identification unit, the initial position of the chassis body is detected, the first frame body is grabbed onto the second frame body, the supporting rod and the limiting assembly are arranged to limit the chassis body, the pin shaft of the sucking disc assembly is rigidly connected with the chassis body when the chassis body is located in the vertical direction, and positioning accuracy and overturning efficiency of the automobile chassis overturning are improved.

Drawings

In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which

FIG. 1 is a schematic structural view of a prior art chassis;

FIG. 2 is an enlarged view at A in FIG. 1;

FIG. 3 is a perspective view of the rollover system of the present utility model;

FIG. 4 is a perspective view of another angle of the rollover system of the present utility model;

FIG. 5 is a schematic view of the structure of the manipulator of the present utility model;

Fig. 6 is a structural view of a second frame body of the present utility model;

fig. 7 is an enlarged view of the present utility model at B in fig. 5.

Description of the specification reference numerals: 1. processing islands; 2. a first frame body; 3. a vision camera; 4. a manipulator; 5. a bottom plate; 6. a second frame body; 7. a chassis body; 701. a first identification point; 702. a second identification point; 703. a third identification point; 704. a side plate; 8. a suction cup; 9. a base; 10. a support rod; 11. a limit rod; 12. and a pin shaft.

Detailed Description

The present utility model will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the utility model and practice it.

Example 1

Referring to fig. 1-6, a chassis rollover system of the present utility model includes:

Manipulator 4, its end connection has sucking disc subassembly, sucking disc subassembly package: the base plate 5 is connected to the free end of the manipulator 4, the sucker 8 is arranged on one side of the base plate 5, the pin shaft 12 is connected with the base plate 5, and the pin shaft 12 is used for being inserted into a second identification point 702 of the chassis body to be detected;

A first frame 2 provided on one side of the robot 4;

The second frame 6 is arranged at the other side of the manipulator 4, two sides of the second frame 6 are respectively provided with a supporting rod 10, the supporting rods 10 are provided with limiting components, and the limiting components are provided with limiting spaces for accommodating side plates 704 to be positioned;

And an identification unit provided at least on one side of the first frame 2.

According to the chassis unpacking system, the incoming material to-be-unpacked workpiece is placed on the first frame body 2, the workpiece can be an automobile chassis body 7 or an automobile door, the workpiece is detected through the identification unit, when the detection unit identifies the workpiece, the mechanical arm 4 drives the sucker 8 assembly to one side of the workpiece, the pin shaft 12 is inserted into the pin hole of the second identification point 702, the sucker 8 assembly is started to adsorb the workpiece, the mechanical arm 4 drives the sucker 8 assembly to transfer the to-be-unpacked workpiece to the second frame body 6, the side plates 704 of the second frame body 6 are lapped on the two groups of support rods 10, the limiting assembly limits the workpiece, and high-precision unpacking positioning of the chassis body 7 is achieved.

Three groups of pin shafts 12 can be further arranged on the chassis, the first identification point 701, the second identification point 702 and the third identification point 703 are correspondingly inserted respectively, the chassis body 7 can be further prevented from rotating by taking the second identification point 702 as a fulcrum through three-point limiting, and in some embodiments, the sucking disc assembly can further be provided with a clamping jaw cylinder for clamping and fixing the protrusion of the chassis body, so that the stability and the connection strength of all directions are improved.

The first frame body 2 and the second frame body 6 can also be arranged around the manipulator 4 in a surrounding way; the first frame 2 and the second frame 6 may be arranged on one side of the manipulator 4 along a straight line, and a moving mechanism such as a track is disposed on one side of the straight line where the first frame 2 and the second frame 6 are located, the manipulator 4 is mounted on the moving mechanism such as the track, the manipulator 4 is moved between the first frame 2 and the second frame 6 by the moving mechanism such as the track, when the number of the first frame 2 and the second frame 6 is large and the manipulator 4 is annularly disposed around the manipulator 4, the manipulator 4 is disposed on an annular track, and the annular track is disposed on an inner ring or an outer ring of the first frame 2 and the second frame 6, preferably, the manipulator is selectively applicable as the inner ring so as to facilitate the movement of the first frame 2 and the second frame 6.

The number of the identification units can be more than two, two or three identification units are arranged on the periphery of each frame body, when the number of the identification units is two, the identification units are respectively arranged in the overlooking angle of the frame body and the plane perpendicular to the chassis body 7, and when the number of the single identification units is three, an increased group of identification units is arranged in the side view plane parallel to the chassis body 7.

The specific process of detecting and grabbing the reference diagram is as follows: the recognition unit is located in the side face of the first frame body 2, the recognition unit is used for detecting characteristic recognition points of the chassis body 7, so that the accurate position of the chassis body 7 is located, the recognition unit is used for transmitting the position information of the chassis body 7 to the manipulator 4 in a wireless or wired mode, the manipulator 4 is aligned with the chassis body 7 after receiving the position information, the sucker 8 is started to absorb and transfer the chassis 7 to the second frame body 6, the angle and the gesture direction of the chassis 7 are adjusted in the transfer process, the chassis 7 is put down from top to bottom above the second frame body 6, the side plate 704 of the chassis body 7 is enabled to be lapped on the supporting rod 10, the limit component is received, when the manipulator 4 places the chassis body 7 to the second frame body 6, the position of the limit component far away from the manipulator 4 is preferably placed, and the chassis body 7 placed in advance is prevented from being blocked by the chassis body 7 placed later.

Referring to fig. 6, the number of the limiting assemblies is plural, and plural limiting assemblies are disposed along the length direction of the support rod 10, and the number of the limiting assemblies is 3-10, preferably five or seven, and plural chassis bodies 7 can be placed.

The spacing subassembly includes: two adjacent locating levers 11 that set up, two be provided with the accommodation space that supplies the location of waiting to place chassis body 7 between the locating lever 11, because chassis body 7 is the platykurtic, in the accommodation space of two sets of locating levers 11 can be blocked to curb plate 704 when vertical placing to chassis body 7 to form the accurate location.

The number of the sucking discs is at least four, at least four sucking discs are arranged on the bottom plate in a matrix mode, the bottom plate 5 is connected with the power output end of the manipulator 4, eight or ten sucking discs can be adopted, and the adsorption force is increased.

The recognition unit is a vision camera 3, the gesture and the direction of the chassis body 7 are detected and recognized through the vision camera 3, the mechanical absorption grabbing is provided with visual guidance, the mechanical arm 4 is convenient to align to the chassis body 7, the vision camera 3 is preferably a 3D vision camera 3, the vision camera 3 is one of core hardware in a vision system, the acquisition of image signals can be realized by changing optical signals into electrical signals which can be processed by an industrial personal computer, and the vision camera 3 mainly comprises an image sensor, a driver, a time sequence generator and a transmission interface from the viewpoint of hardware constitution. The three-dimensional information acquisition system is generally required to be formed together with a light source, an industrial lens, an industrial personal computer, an acquisition card and vision software, and compared with a traditional 2D camera, the three-dimensional information acquisition system can acquire three-dimensional information by the 3D camera, and can realize functions which cannot be realized or are not realized well by the 2D vision, such as detecting the height, flatness, volume and the like of a product, three-dimensional modeling and the like.

The 3D camera can carry out three-dimensional detection to the feature recognition point on the chassis body 7, and the feature recognition point on the chassis body 7 includes from top to bottom first recognition point 701, second recognition point 702, third recognition point 703 that set gradually, wherein: the method is characterized by comprising the steps of 1, identifying the attitude change of an upper area of a material by using a hole; and 2, selecting a characteristic 3 of the posture change of the side area in the hole identification material, and selecting a characteristic 3 of the posture change of the lower side area of the hole identification material. The pin inlet hole is feature 2, so the feature recognition weight is higher.

The grabbing flow of the chassis 7 is that 1. The PLC triggers the grabbing request of the robot; ⒉ The robot moves to a photographing position with the designated layer number; 3. the robot triggers the 3D camera to take a picture, the shooting point position is the position of the pin hole area B, namely the second identification point 702, the visual feedback is fed into the pin guide, the corresponding pin is arranged on the bottom plate 5, the manipulator 4 guides the grabbing piece to feed into the pin, the sucker 8 or the clamp locks the chassis body 7, and then the first frame body 2 is arranged.

The recognition principle is that the position and the pose of the part are estimated through the hole characteristics and the surface characteristics in the positioning area, and the accurate pin-feeding position and pose are combined by adopting images and point clouds, so that the recognition robustness can be effectively improved.

Referring to fig. 4, the height of the vision camera 3 is flush with the height of the feature recognition points of the workpiece to be detected, specifically, the feature recognition points are divided into a first recognition point 701, a second recognition point 702 and a third recognition point 703, the three groups of recognition points are sequentially on the same vertical straight line from top to bottom, the vision camera 3 and the second recognition point 702 are aligned, and the recognition accuracy is improved.

The manipulator 4 is selected to be one of a four-axis manipulator 4, a five-axis manipulator 4 and a six-axis manipulator 4, and in this embodiment, is preferably a six-axis manipulator 4, which includes: a shaft-body rotating shaft which is a part connected with the base 9 and is a shaft with larger bearing capacity for the industrial robot, and can rotate left and right in a manner similar to the action of a grinding disc; the two shafts, namely the front and back swing shafts of the main arms, are the core connection positions of the robot parts and are used for starting up and down; the action functions of the three shafts, namely the three shafts and the two shafts are similar, the feeding and discharging swinging functions of the robot are controlled, and the action of the three shafts is relatively small; the four-axis, which is the part of the circular tube shaft position above the industrial robot, can freely rotate, and increases the limitation of the cable in the rotation of one cylinder; five-axis-the position is equivalent to the joint of the wrist in the arm of the person, can move up and down with small amplitude, and is the action that the product or a fixed tool can be overturned after the product is grabbed; six-axis-end rotating shaft is a joint for fine adjustment at the back, can rotate 360 degrees, and can be installed on the ground or in the air when the transport distance of the chassis body 7 is long, and the manipulator 4 is connected to the track in a driving way, so that long-distance workpiece turning can be performed.

Referring to fig. 3-5, the number of the first frame body 2 and the second frame body 6 is two, and the first frame body 2 and the second frame body 6 are symmetrically arranged at four corners of a rectangle, so that the manipulator 4 is arranged at the center of the rectangle, the movement distance of the manipulator 4 can be reduced, the practical cost is reduced, and the overturning efficiency is increased.

Referring to fig. 3-4, the first frame 2 and the second frame 6 are provided with rollers, so that the positions of the first frame 2 and the second frame 6 can be conveniently adjusted, and the movement distance of the manipulator 4 can be minimized.

Example two

The utility model also discloses a production line comprising the chassis ladle overturning system described in the embodiment 1.

The assembly line of this embodiment uses the chassis unpacking system to unpack the chassis body 7.

The assembly line still includes feed arrangement, discharging device and transfer device, and in the package process of turning over, the work piece feeding is carried out through feed arrangement, after the package of turning over is accomplished, shifts the ejection of compact through discharging device earlier and then transports the delivery through transfer device with the work piece.

The chassis 7 ladle overturning system can be arranged on the processing island 1, the processing island 1 is an independent manufacturing island, the mechanical arm 4 is used as a core, the plurality of frame bodies are formed into a manufacturing system with certain automaticity and sealing performance, the distributed numerical control and working condition data acquisition system is an important component part of the independent manufacturing island, and in the processing island 1, a computer is utilized to carry out process design, numerical control programming, operation planning and production scheduling and material management, so that the efficiency of technical preparation work and the rationality and continuity of material flow and information flow are improved. The production organization of the individual manufacturing islands may be connected to other systems by appropriate computer interfaces to form a unified computer integrated manufacturing system.

The utility model can also be applied to the process of turning over the vehicle door, and the vehicle door and the chassis body 7 are flat workpieces with similar structures, so that the second frame body 6 can be used for placing the vehicle door by adjusting the positions of the supporting rods 10 and the limiting components.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present utility model will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present utility model.

Claims

1. A chassis rollover system comprising:

the first frame body is arranged on one side of the manipulator;

2. A chassis rollover system as defined in claim 1, wherein: the number of the components is multiple, and the limiting components are arranged along the length direction of the supporting rod.

3. A chassis rollover system as defined in claim 2, wherein: the assembly section includes: and a containing space for positioning the chassis to be placed is arranged between the two limiting rods.

4. A chassis rollover system as defined in claim 1, wherein: the number of the sucking discs is at least four, and at least four sucking discs are arranged on the bottom plate in a matrix mode.

5. A chassis rollover system as defined in claim 1, wherein: the identification unit is a vision camera.

6. A chassis rollover system as defined in claim 5, wherein: the height of the visual camera is flush with the height of the feature identification point of the workpiece to be detected.

7. A chassis rollover system as defined in claim 1, wherein: the manipulator is selected from one of a four-axis manipulator, a five-axis manipulator and a six-axis manipulator.

8. A chassis rollover system as defined in claim 1, wherein: the number of the first frame body and the second frame body is two.

9. A chassis rollover system as defined in claim 1, wherein: the first frame body and the second frame body are provided with idler wheels.

10. A pipeline comprising a chassis rollover system as claimed in any one of claims 1 to 9.