CN111941430A - Full-automatic identification, picking and placing piece and detection piece digitization system - Google Patents
Full-automatic identification, picking and placing piece and detection piece digitization system Download PDFInfo
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- CN111941430A CN111941430A CN202010844496.6A CN202010844496A CN111941430A CN 111941430 A CN111941430 A CN 111941430A CN 202010844496 A CN202010844496 A CN 202010844496A CN 111941430 A CN111941430 A CN 111941430A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Multimedia (AREA)
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Abstract
The invention discloses a full-automatic identification, picking and placing and detection piece digitization system which comprises a line body system, a material rack system, a carrying robot, a carrying clamp system, a safety fence system, a safety grating, a PLC (programmable logic controller), a robot control cabinet, a skip positioning mechanism and a safety door. The invention can conveniently and quickly position the appliance, can determine the position coordinates and the type of the part through visual scanning, is convenient for guiding a robot to grab, and meanwhile, after the part is placed, the camera scans the bar code of the part, can judge whether the part is abnormal or not, and is convenient for storing the bar code information.
Description
Technical Field
The invention relates to the technical field of digitization, in particular to a full-automatic identification, picking and placing and detection piece digitization system.
Background
The automobile is formed by assembling a plurality of parts, components, assemblies or accessories and has independent functional automobile components, such as an engine, a transmission, a steering gear, a front axle, a rear axle, an automobile body, a frame, a cab and the like. In the manufacture, assembly or repair of motor vehicles, it is common to organize the assemblies as separate structural units. Some major automobile assemblies are subjected to performance tests according to certain technical specifications before being loaded. However, when the tail exhaust pipe is installed in the existing automobile whole factory, parts cannot be identified quickly, detection of automobile parts is not facilitated, the automation degree is low, and limitation is caused in the production process.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a full-automatic identification, picking and placing and detection piece digitization system.
The invention provides a full-automatic identification, picking and placing and detection piece digitization system which comprises a line body system, a material rack system, a carrying robot, a carrying clamp system, a safety fence system, a safety grating, a PLC, a robot control cabinet, a skip positioning mechanism and a safety door.
Preferably, the system comprises the following motion flow:
s1, the main line tray line supplier sends vehicle type information to the robot PLC, the tray gives an in-place signal after in place, the AGV trolley drives the trolley to reach the stop position, the in-place signal is sent to the robot PLC, the positioning device positions the trolley, and a completion signal is sent after the positioning is completed;
s2, after receiving the trolley in-place signal, the robot drives the clamping jaw to move to the side face of an exhaust pipe on the trolley, a vision system shoots and positions the exhaust pipe, the vision provides exhaust pipe offset data to the robot, and the robot adjusts the posture to grab the exhaust pipe;
s3, after the grabbing is finished, the clamp withdraws from the trolley and moves to a safe position, and the workpiece posture is rotated to a material placing state, so that the state of the exhaust pipe is consistent with the state in the tray;
s4, the robot drives the exhaust pipe to transfer to the upper part of the wire body, and the exhaust pipe is placed on the wire body tray by adjusting the accurate posture;
s5, after the placement is completed, the robot is lifted upwards to a safe position, and then the clamp is rotated to a grabbing state;
the robot performs the next gripper cycle S6.
Preferably, the skip positioning mechanism comprises a guide plate, a stand column support, a clamping mechanism and a turnover cylinder, and the skip positioning mechanism positioning method comprises the following steps:
s1, the AGV drives the material rack to be in place, and when the AGV is in place, an in-place signal is sent out;
s2, after receiving the signal, the clamping mechanism and the overturning cylinder extend out to position the material rack;
s3 interaction interlocking signal between PLC and AGV, AGV supplier adds transfer PLC to send data to PLC and PROFINET bus.
Preferably, the transfer robot and transfer gripper system comprises a gripper, and the use process thereof is as follows:
s1, integrating a 3D vision system, a servo clamping jaw and a servo variable pitch mechanism with the gripper;
S23D, the vision system scans the exhaust pipe, matches with the preset template, the servo clamping jaws rotate to the correct angle, the servo variable pitch adjusts the distance between the two clamping jaws, and the exhaust pipe is held at the proper position; the grabbing device can be suitable for grabbing six current workpieces;
the main structure of the S3 gripper is made of an aluminum plate, so that the gripper is light and beautiful;
s4 the contact part between the clamp and the exhaust pipe is made of soft material, which can avoid clamping the workpiece.
Preferably, the 3D vision system: the method has the advantages that the camera is used for shooting, the 6-degree-of-freedom accurate positioning of the part relative to the initial state, 3D guiding, x, y and z position deviation and angle deflection are realized by combining the three-dimensional information of the part, the robot is guided by the vision system to adjust the track and the posture of the robot, the robot can accurately grab the tire and realize automatic installation, the quality document can trace the complete record of time, images, results, error codes and the like in the measurement process by 100%, the authority distribution can be carried out on field operation users, the change operation of the field operation users is recorded, and accordingly responsibility tracking is realized.
Preferably, the system comprises an automatic scanning device, a camera is arranged to shoot the bar code of the part, the BZD bar code information and the vehicle chassis number information are combined and uploaded to the FIS system for checking, if the data are qualified, the data are stored in the FIS system, and the screen is green; and if not, the screen is bright red for alarming.
Preferably, the system comprises a human-computer interaction interface, the human-computer interaction interface: displaying the running state and equipment state information of the system, monitoring the real-time running state of the PLC program, displaying an exception record, requiring to record exception codes, contents, occurrence time and reset time, displaying the operation rules and other useful information of the system for convenient operation.
According to the full-automatic digital system for identifying, taking and placing the parts and detecting the parts, an appliance can be conveniently and rapidly positioned, the position coordinates and the types of the parts can be determined through visual scanning, a robot can be conveniently guided to grasp the parts, meanwhile, after the parts are placed, a camera scans the bar codes of the parts, whether the parts are abnormal or not can be judged, and bar code information can be conveniently stored.
Drawings
FIG. 1 is a schematic structural diagram of a full-automatic digital system for identifying, picking and placing a detecting element according to the present invention;
FIG. 2 is a schematic diagram of the robot grabbing the exhaust pipe from the appliance in the full-automatic identification, picking and placing and detecting member digitization system provided by the invention;
FIG. 3 is a schematic diagram of the robot exhaust pipe attitude of the full-automatic identification, pick-and-place and detection piece digitization system provided by the invention;
fig. 4 is a schematic flow chart of a 3D vision system of a full-automatic identification, picking and placing and detecting member digitization system provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-4, a full-automatic identification, picking and placing, and detection piece digitization system includes a line system, a rack system, a handling robot and handling fixture system, a safety fence system, a safety grating, a PLC and robot control cabinet, a skip positioning mechanism, and a safety door, wherein the handling robot and handling fixture system is located between the line system and the rack system, the skip positioning mechanism is installed on the rack system, the safety grating and the safety fence system are located around the entire system, and the safety door is located on one side of the entire system.
In the invention, the system comprises the following motion flows:
s1, the main line tray line supplier sends vehicle type information to the robot PLC, the tray gives an in-place signal after in place, the AGV trolley drives the trolley to reach the stop position, the in-place signal is sent to the robot PLC, the positioning device positions the trolley, and a completion signal is sent after the positioning is completed;
s2, after receiving the trolley in-place signal, the robot drives the clamping jaw to move to the side face of an exhaust pipe on the trolley, a vision system shoots and positions the exhaust pipe, the vision provides exhaust pipe offset data to the robot, and the robot adjusts the posture to grab the exhaust pipe;
s3, after the grabbing is finished, the clamp withdraws from the trolley and moves to a safe position, and the workpiece posture is rotated to a material placing state, so that the state of the exhaust pipe is consistent with the state in the tray;
s4, the robot drives the exhaust pipe to transfer to the upper part of the wire body, and the exhaust pipe is placed on the wire body tray by adjusting the accurate posture;
s5, after the placement is completed, the robot is lifted upwards to a safe position, and then the clamp is rotated to a grabbing state;
the robot performs the next gripper cycle S6.
In the invention, the skip positioning mechanism comprises a guide plate, a stand column bracket, a clamping mechanism and a turnover cylinder, and the positioning method of the skip positioning mechanism comprises the following steps:
s1, the AGV drives the material rack to be in place, and when the AGV is in place, an in-place signal is sent out;
s2, after receiving the signal, the clamping mechanism and the overturning cylinder extend out to position the material rack;
s3 interaction interlocking signal between PLC and AGV, AGV supplier adds transfer PLC to send data to PLC and PROFINET bus.
In the present invention, the transfer robot and transfer gripper system comprises grippers, and the use process thereof is as follows:
s1, integrating a 3D vision system, a servo clamping jaw and a servo variable pitch mechanism with the gripper;
S23D, the vision system scans the exhaust pipe, matches with the preset template, the servo clamping jaws rotate to the correct angle, the servo variable pitch adjusts the distance between the two clamping jaws, and the exhaust pipe is held at the proper position; the grabbing device can be suitable for grabbing six current workpieces;
the main structure of the S3 gripper is made of an aluminum plate, so that the gripper is light and beautiful;
s4 the contact part between the clamp and the exhaust pipe is made of soft material, which can avoid clamping the workpiece.
In the present invention, the 3D vision system: the method has the advantages that the camera is used for shooting, the 6-degree-of-freedom accurate positioning of the part relative to the initial state, 3D guiding, x, y and z position deviation and angle deflection are realized by combining the three-dimensional information of the part, the robot is guided by the vision system to adjust the track and the posture of the robot, the robot can accurately grab the tire and realize automatic installation, the quality document can trace the complete record of time, images, results, error codes and the like in the measurement process by 100%, the authority distribution can be carried out on field operation users, the change operation of the field operation users is recorded, and accordingly responsibility tracking is realized.
The system comprises an automatic scanning device, a camera, a FIS system and a data processing system, wherein the camera is arranged on the automatic scanning device to shoot part bar codes, BZD bar code information and vehicle chassis number information are combined and uploaded to the FIS system for checking, and the FIS system stores the qualified data with a green screen; and if not, the screen is bright red for alarming.
In the invention, the system comprises a human-computer interaction interface which comprises: displaying the running state and equipment state information of the system, monitoring the real-time running state of the PLC program, displaying an exception record, requiring to record exception codes, contents, occurrence time and reset time, displaying the operation rules and other useful information of the system for convenient operation.
The invention comprises the following steps: the system comprises the following motion flows: a main line tray line supplier sends vehicle type information to the robot PLC, an in-place signal is given after a tray is in place, the AGV trolley drives the trolley to reach a stop position, the in-place signal is sent to the robot PLC, the positioning device positions the trolley, and a completion signal is sent after the positioning is completed; after receiving the trolley in-place signal, the robot drives the clamping jaws to move to the side faces of exhaust pipes on the trolley, a vision system shoots and positions the exhaust pipes, the vision provides exhaust pipe offset data to the robot, and the robot adjusts the posture to grab the exhaust pipes; after the grabbing is finished, the clamp withdraws from the trolley and moves to a safe position, and the workpiece posture is rotated to a material placing state, so that the state of the exhaust pipe is consistent with the state in the tray; the robot drives the exhaust pipe to be transferred to the upper part of the wire body, and the exhaust pipe is placed on the wire body tray by adjusting the accurate posture; after the placement is finished, the robot is lifted upwards to a safe position, and then the clamp is rotated to a grabbing state; the robot performs the next gripper cycle.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The full-automatic digital system for identifying, taking and placing the detection piece is characterized by comprising a line body system, a material rack system, a carrying robot, a carrying clamp system, a safety fence system, a safety grating, a PLC (programmable logic controller), a robot control cabinet, a skip positioning mechanism and a safety door, wherein the carrying robot and the carrying clamp system are located between the line body system and the material rack system, the skip positioning mechanism is installed on the material rack system, the safety grating and the safety fence system are located around the whole system, and the safety door is located on one side of the whole system.
2. The full-automatic digital system for identifying, picking, placing and detecting parts according to claim 1, which comprises the following motion flows:
s1, the main line tray line supplier sends vehicle type information to the robot PLC, the tray gives an in-place signal after in place, the AGV trolley drives the trolley to reach the stop position, the in-place signal is sent to the robot PLC, the positioning device positions the trolley, and a completion signal is sent after the positioning is completed;
s2, after receiving the trolley in-place signal, the robot drives the clamping jaw to move to the side face of an exhaust pipe on the trolley, a vision system shoots and positions the exhaust pipe, the vision provides exhaust pipe offset data to the robot, and the robot adjusts the posture to grab the exhaust pipe;
s3, after the grabbing is finished, the clamp withdraws from the trolley and moves to a safe position, and the workpiece posture is rotated to a material placing state, so that the state of the exhaust pipe is consistent with the state in the tray;
s4, the robot drives the exhaust pipe to transfer to the upper part of the wire body, and the exhaust pipe is placed on the wire body tray by adjusting the accurate posture;
s5, after the placement is completed, the robot is lifted upwards to a safe position, and then the clamp is rotated to a grabbing state;
the robot performs the next gripper cycle S6.
3. The full-automatic digital system for identifying, picking, placing and detecting parts according to claim 1, wherein the skip positioning mechanism comprises a guide plate, a stand column bracket, a clamping mechanism and a turnover cylinder, and the positioning method of the skip positioning mechanism comprises the following steps:
s1, the AGV drives the material rack to be in place, and when the AGV is in place, an in-place signal is sent out;
s2, after receiving the signal, the clamping mechanism and the overturning cylinder extend out to position the material rack;
s3 interaction interlocking signal between PLC and AGV, AGV supplier adds transfer PLC to send data to PLC and PROFINET bus.
4. The fully automated identification, pick-and-place, and inspection piece digitization system of claim 1, wherein the handling robot and handling gripper system comprises a gripper that is used as follows:
s1, integrating a 3D vision system, a servo clamping jaw and a servo variable pitch mechanism with the gripper;
S23D, the vision system scans the exhaust pipe, matches with the preset template, the servo clamping jaws rotate to the correct angle, the servo variable pitch adjusts the distance between the two clamping jaws, and the exhaust pipe is held at the proper position; the grabbing device can be suitable for grabbing six current workpieces;
the main structure of the S3 gripper is made of an aluminum plate, so that the gripper is light and beautiful;
s4 the contact part between the clamp and the exhaust pipe is made of soft material, which can avoid clamping the workpiece.
5. The full-automatic identifying, picking, placing and detecting element digitizing system of claim 4, wherein the 3D vision system: the method has the advantages that the camera is used for shooting, the 6-degree-of-freedom accurate positioning of the part relative to the initial state, 3D guiding, x, y and z position deviation and angle deflection are realized by combining the three-dimensional information of the part, the robot is guided by the vision system to adjust the track and the posture of the robot, the robot can accurately grab the tire and realize automatic installation, the quality document can trace the complete record of time, images, results, error codes and the like in the measurement process by 100%, the authority distribution can be carried out on field operation users, the change operation of the field operation users is recorded, and accordingly responsibility tracking is realized.
6. The full-automatic digital system for identifying, picking, placing and detecting the parts according to claim 1, wherein the system comprises an automatic scanning device, a camera, a FIS system and a display, wherein the automatic scanning device is used for shooting the part bar codes, the BZD bar code information and the vehicle chassis number information are combined and uploaded to the FIS system for checking, and the data are saved in the FIS system if the data are qualified, and the screen is green; and if not, the screen is bright red for alarming.
7. The full-automatic digital system for identifying, picking, placing and detecting parts according to claim 1, wherein the system comprises a human-computer interaction interface, and the human-computer interaction interface comprises: displaying the running state and equipment state information of the system, monitoring the real-time running state of the PLC program, displaying an exception record, requiring to record exception codes, contents, occurrence time and reset time, displaying the operation rules and other useful information of the system for convenient operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010844496.6A CN111941430A (en) | 2020-08-20 | 2020-08-20 | Full-automatic identification, picking and placing piece and detection piece digitization system |
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| CN202010844496.6A CN111941430A (en) | 2020-08-20 | 2020-08-20 | Full-automatic identification, picking and placing piece and detection piece digitization system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112706182A (en) * | 2021-01-11 | 2021-04-27 | 河南勤工机器人有限公司 | Pipe and section bar robot identification disordered grabbing feeding machine |
| CN112934745A (en) * | 2021-02-03 | 2021-06-11 | 宁夏巨能机器人股份有限公司 | Machine vision flaw detection device and detection method |
| CN114619410A (en) * | 2022-03-24 | 2022-06-14 | 湖北博控自动化科技股份有限公司 | Rotary environment-friendly oil collecting liquid workbench for disassembling automobile parts |
| CN114918640A (en) * | 2022-06-08 | 2022-08-19 | 天津九一工程技术有限公司 | Automatic assembling robot and assembling method for gearbox |
| CN114952851A (en) * | 2022-06-08 | 2022-08-30 | 中国第一汽车股份有限公司 | Robot work bin grabbing piece control device and method |
| CN116079370A (en) * | 2023-03-02 | 2023-05-09 | 天津杰科同创科技发展有限公司 | Full-automatic automobile axle bushing pressing-in working system and method |
| CN116175256A (en) * | 2023-04-04 | 2023-05-30 | 杭州纳志机器人科技有限公司 | Automatic positioning method for loading and unloading of trolley type robot |
| CN116175028A (en) * | 2023-05-04 | 2023-05-30 | 常州市鹏瑞自动化设备有限公司 | Welding bus and welding method for steel grating edge wrapping |
| CN116858149A (en) * | 2023-07-07 | 2023-10-10 | 牧野汽车装备(武汉)有限公司 | Automatic measuring device and method for valve body part machining line |
| CN116929862A (en) * | 2023-07-18 | 2023-10-24 | 北京博科测试系统股份有限公司 | Automatic detection system and detection method for automobile exhaust |
-
2020
- 2020-08-20 CN CN202010844496.6A patent/CN111941430A/en not_active Withdrawn
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112706182A (en) * | 2021-01-11 | 2021-04-27 | 河南勤工机器人有限公司 | Pipe and section bar robot identification disordered grabbing feeding machine |
| CN112934745A (en) * | 2021-02-03 | 2021-06-11 | 宁夏巨能机器人股份有限公司 | Machine vision flaw detection device and detection method |
| CN114619410A (en) * | 2022-03-24 | 2022-06-14 | 湖北博控自动化科技股份有限公司 | Rotary environment-friendly oil collecting liquid workbench for disassembling automobile parts |
| CN114619410B (en) * | 2022-03-24 | 2024-05-28 | 湖北博控智能装备有限公司 | Rotatory environmental protection of car spare part disassemble and receive fluid workstation |
| CN114918640B (en) * | 2022-06-08 | 2023-09-12 | 天津九一工程技术有限公司 | Automatic assembling robot and assembling method for gearbox |
| CN114918640A (en) * | 2022-06-08 | 2022-08-19 | 天津九一工程技术有限公司 | Automatic assembling robot and assembling method for gearbox |
| CN114952851A (en) * | 2022-06-08 | 2022-08-30 | 中国第一汽车股份有限公司 | Robot work bin grabbing piece control device and method |
| CN114952851B (en) * | 2022-06-08 | 2024-10-01 | 中国第一汽车股份有限公司 | Robot workbin grabbing piece control device and method |
| CN116079370B (en) * | 2023-03-02 | 2024-03-08 | 天津杰科同创科技发展有限公司 | Full-automatic automobile axle bushing pressing-in working system and method |
| CN116079370A (en) * | 2023-03-02 | 2023-05-09 | 天津杰科同创科技发展有限公司 | Full-automatic automobile axle bushing pressing-in working system and method |
| CN116175256B (en) * | 2023-04-04 | 2024-04-30 | 杭州纳志机器人科技有限公司 | Automatic positioning method for loading and unloading of trolley type robot |
| CN116175256A (en) * | 2023-04-04 | 2023-05-30 | 杭州纳志机器人科技有限公司 | Automatic positioning method for loading and unloading of trolley type robot |
| CN116175028B (en) * | 2023-05-04 | 2023-07-21 | 常州市鹏瑞自动化设备有限公司 | Welding bus and welding method for steel grating edge wrapping |
| CN116175028A (en) * | 2023-05-04 | 2023-05-30 | 常州市鹏瑞自动化设备有限公司 | Welding bus and welding method for steel grating edge wrapping |
| CN116858149A (en) * | 2023-07-07 | 2023-10-10 | 牧野汽车装备(武汉)有限公司 | Automatic measuring device and method for valve body part machining line |
| CN116929862A (en) * | 2023-07-18 | 2023-10-24 | 北京博科测试系统股份有限公司 | Automatic detection system and detection method for automobile exhaust |
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Application publication date: 20201117 |