CN206925871U - For identifying the accurate location of part and the device of posture in processing stations - Google Patents

Abstract

It the utility model is related to a kind of for identifying the accurate location of part and posture and the device for processing the part in robot processing stations,With the transmission equipment for the part,With the robot for processing the part,The procedure of wherein robot is built such that the procedure can collectively form the reference position of the definition of reference data and the reference posture defined accurately processing component,Optical sensor system with the accurate location for identification component,Wherein sensing system carries out optical detection to component feature,And there is analytic unit,The analytic unit is constructed such that the analytic unit determines the real data of component feature and calculates at least one displacement vector from the difference of the real data in region to be processed and reference data,And robot controller is constructed such that procedure can be run in the case of application displacement vector.

Description

For identifying the accurate location of part and the device of posture in processing stations

Technical field

It the utility model is related to a kind of for identifying robot processing stations (Roboterbearbeitungsstation) The accurate location and posture of middle part and for the device with the post-processing part.

Background technology

Body of a motor car point several fabrication stages in Auto-body manufacturing (also referred to as " white body manufactures (Rohbau) ") technique It is fabricated.Here, mainly by such as welding, as soldering, bonding or flange, Joining Technology connects single parts each other Connect.Assembling process (such as tightening) and surface treatment (such as polishing) are also carried out in process of production.

Production process is all realized in a comparable fashion at all automakers.The group of underbody is manufactured first Part (floor pan assembly, chassis).The fabrication stage generally falls into three regions：Noseplate (preceding), bottom plate and rear bottom plate.It is described These three components flocked together in the main station that underbody manufactures and geometric configuration, equipped with complexity machine Tool clamps to be connected in the bonding station with location technology.The main line of Auto-body manufacturing starts herein.Part is introduced and mentioned Bonding station in and assembled parts are further mainly transported in the main life by industrial robot or staff Producing line is carried out before starting.But since the main line, part but it is big and heavy, cause can not again by robot or Staff transports.Since the process segment part by tranmission techniques on Workpiece carrier (so-called coaster (Skid)) It is transported.In the creative manufacturing philosophy discussed at present, part is transported in the process generally by based on unmanned Flexible, wheeled the Workpiece carrier of transportation system (FTS) is realized.

In the further production process of main line, implement other bonding operations on underbody.Herein by Industrial robot or staff set multiple weld seam/pad (intensity), cemented side seam (intensity/sealing) or bolt (functions Property).These stations commonly known as combine station (Ausschwei β station).Produced in supermatic Auto-body manufacturing In line, about 10 to 15 this combination stations in underbody region.

After all operations have been performed in combining station, side parts and roof engage work in other geometric configurations It is engaged in position (having 1 to 3 geometry station according to manufacturer) on underbody.The main station of the process is also referred to as " frame Structure (Framing) " or " assembling ".

In further production process, now basic complete body of a motor car is implemented as existed in station is combined The other bonding operations carried out on underbody.In supermatic Auto-body manufacturing production line, in assembling/architectural area There are about 20 to 30 this combination stations.

Subsequent manufacturing steps between master's (welding) production line and annex assembling include for example welding the essence of the seam of missing Processing and the surface treatment for for example polishing door die cutting.This region is commonly known as " ornamenting (Finish) ".

The unvarnished door of body of a motor car and cover in the annex assembling of Auto-body manufacturing and be assembled and load.Herein, vapour The production process of car vehicle body is terminated with being transferred to coating equipment.

Similar to above description, vehicle body two production phase-ornamentings mentioning and assembling-in be located at and be used to carry in workpiece On the Workpiece carrier of tranmission techniques under body.

Need to be accurately positioned vehicle body or underbody in the combination station of main line and in ornamenting and assembling, so as to Industrial robot is set to be in repeatable accurate operating process in the state of the automatic scope for implementing process operation.For This is, it is necessary to technical scheme, so as to which the vehicle body on Workpiece carrier is placed on the position of explication.

Two kinds of technical schemes have been established in the production technology of main line in the Auto-body manufacturing of automation to be used for accurately Position vehicle body or underbody (hereinafter referred to simply as part).

In for the known solution of the first of positioning element, there is the machinery that position is fixed in each station Technology, the pin combination tensioning technique that the mechanical technique is generally entered the pin-receiving portion of part by engagement form.The part is in this scheme In be sent to another station from a station via special tranmission techniques (coaster on roller-way) on Workpiece carrier.If Workpiece carrier positioned at combining station, then Workpiece carrier is substantially positioned by tranmission techniques (+/- 5 ㎜) and by part drop to by On the pin that the pin-receiving portion of precise match is received.Cooperation by gravity and tensioning technique together with the pin for making the pin-receiving portion and part It is accurately positioned to realize.

It is accurately positioned after completion, the execution of bonding operation is real according to absolute programming by the robot that can be accurately repeated Apply.After robot manipulating task is completed in combining station, part is lifted up by pin and is further conveyed to next station.

This mechanical solution is retouched in Fig. 5 and Fig. 6 for example in the A1 of DE 10 2,008 020 077 State.In the publication it is also mentioned that setting a kind of laser detector, can be identified in direction of transfer (x side by the laser detector To) on position, be accurately positioned part in the x direction will pass through control driver, it is further for being carried out by robot Processing.But for three-dimensional localization, disclose a kind of known solution again in fig. 5 and fig. and be used for by being reduced to The positioning of machinery is carried out on pin.Therefore, in general, laser sensor is used to make part be maintained at appropriate in the transmission direction Position.

Alternately, the pin-receiving portion is also disposed in Workpiece carrier in solution known to second.In addition, must It must ensure for example by tensioning technique that part is accurate and be firmly positioned on Workpiece carrier.Then, part just passes through indirectly It is accurately positioned by Workpiece carrier.

It is used for that the mechanical technique that part or Workpiece carrier are precisely located is had into following weak point in each station.

On the one hand, it means that mechanical consumption (complexity) is high, and correspondingly its cost is high.For positioning (the pin-receiving portion And tensioning technique) mechanical technique and lifting device need the component of high quality.The acquisition cost of each station exceedes 50000 Euros.

In addition, the lifting and reduction that are carried out perpendicular to direction of transfer also mean to require a great deal of time, it is same with this When station can not be utilized by productively.The time increases to the time incidental of part transport.

Due to increased product diversity (vehicle body modification) in production line, the flexibility to the mechanical technique of positioning proposes High requirement, because the positioning is directly to be realized via the pin-receiving portion in part or Workpiece carrier.Particularly in difference The position of the pin-receiving portion is offset with one another in the model of wheelbase.Requirement to flexibility causes pin and the pin-receiving portion and tensioning technique Complex structural designs it is high.Corresponding pin, the pin-receiving portion and tensioning technique are must be provided with to every kind of model.

In another type, if the pin-receiving portion is integrated in Workpiece carrier, preferably processing component it can change, but Workpiece carrier is substantially more expensive.This had not only included initial outlay but also including high operating cost (especially safeguarding), because necessary Constantly ensure the precision of the mechanical technique for positioning.The cost of investment of this Workpiece carrier is taller and bigger than simple Workpiece carrier About 15000 Euros.

Robot processing system (such as refering to the A2 of EP 1 645 439) is also known, wherein by sensor, usually takes the photograph Camera determines posture and position data and by camera review come guided robot.This is unfavorable, because being necessary for every Individual robot provides multiple video cameras, and these video cameras are generally integrated in robot, and this is also expensive.

Utility model content

Based on this prior art, task of the present utility model, which is to provide, a kind of improved to be used to identify that robot adds The accurate location of part and the device of posture in work station, disadvantages mentioned above can be avoided by the device.

The task is achieved by the device with features described below.

Included according to device of the present utility model：

- transmission equipment, it is used to part being sent in processing of robots station and transmitted from robot processing stations Out,

- at least one robot, it is used for the processing of processing component, the wherein robot on the region to be processed of part Program is built as follows so that the procedure can collectively form the reference position of the definition of reference data and definition Reference posture in accurately processing component,

- optical sensor system, it is used for the posture of accurate location and part in space of identification component in space,

- wherein sensor system optics ground detection part feature,

- analytic unit, it is constructed as follows so that the real data of its determination component feature, the real data by Absolute physical location (x, y, z) and by roll angleThe angle of pitchAnd yaw angleThe actual posture composition of definition,

- and the analytic unit be configured to the difference of the real data and reference data from region to be processed (Differenz) at least one displacement vector is calculated in,

- and robot controller construct as follows so that procedure apply the displacement vector or these positions It can be run in the case of moving vector.

The utility model instead of the pinpoint mechanical technique side for being previously described for the part in station is combined Case.Flexible position and attitude detection can be carried out to the part on Workpiece carrier according to device of the present utility model, and made Industrial robot is with being in the position and the posture that are adapted to part by its procedure to engagement-finishing and assembly manipulation The state that scope is handled.One or more displacement vectors realizations and portion are identified and calculated by using sensing system The matching of corresponding individually position and the posture of part, these position vectors use when performing the procedure of robot, example As being added to robot coordinate in the simplest situations.Therefore, the advantages of very big, is had according to device of the present utility model, i.e., The device can be sealingly bonded in existing robot controller.

Significant advantage is to improve productivity ratio by saving reduction and the lifting of Workpiece carrier by the part in station And thereby save the run time of part in production.The increased productivity ratio of each station is final to save production sectionIn addition, also save for positioning and for lifted and reduced expensive and the machinery to take up space Device, the mechanical device are replaced by relatively small optical sensor so that smaller production district is so needed with reference to station Between.

Due to only needing new part to optical sensor system again teaching, so increased product diversity is can It is easy-to-handle.Which thereby enhance flexibility.

In a word, can neatly determine to combine the position of part in station when saving direct cost and maintenance cost at the same time And posture.

In addition, provide can be via for process of the utility model also to describe above in ornamenting (finishing and assembling) Industrial robot makes the approach that operation content automates.Because these stations are almost only provided with manual work position, therefore There is no described plant equipment.Position and attitude detection and thereby can be used in terms by terms by using the utility model Optimization uses automatic technology.

The utility model via above-mentioned innovative production and transportation processes of the FTS in Auto-body manufacturing also for needed for providing Position and attitude detection simple and flexible solution.The mechanical device described in the prior art in the case only Having can just come into operation under huge cost.Therefore, corresponding solution is to implement the scheme of following Auto-body manufacturing One of key technology.

In improved form of the present utility model, sensing system is calibrated on the coordinate system of processing of robots station, This simplifies the displacement vector or the application of these displacement vectors when running procedure, and reason is next not entering Row coordinate transform.

If being provided with unit type recognition unit, processed without other cost cans in processing stations different Unit type.This only needs to be transformed into all parts type according to software.Then just which portion " knowing " identifies to sensing system Part feature and its reference position and with reference to posture where, this needs prior teaching certainly.Then robot, which also " is known ", is Which kind of procedure the unit type is provided with.In improved form of the present utility model, it can be determined according to complexity multiple Displacement vector only determines total displacement vector.

In improved form of the present utility model, analytic unit is configured to calculate total displacement from these displacement vectors Vector.

For the reason for the q＆r, implement credible inspection before displacement vector is transferred into robot controller Survey.

The utility model further provides this possibility, that is, handles the position measurement of redundancy.This aspect improves The precision that is reached and on the other hand can make system have it is high can mastery and stability because can compensate for sensor unit Failure.

Sensor unit is designed to self-alignment and is provided with special high-precision mounting bracket so that without It is possible to be recalibrated in system and just change sensor unit.Therefore, proprietary technology knowledge of the system without expert (Experten-Know-How) can just operate.

Brief description of the drawings

Below with reference to the accompanying drawings and by embodiment to the utility model it is explained in detail.Shown in figure：

Fig. 1 is the schematic diagram of the combination station with part, robot and optical sensor system.

Embodiment

Transmission equipment 12 is had according to device 10 of the present utility model, the transmission equipment is used to part 14 being sent to machine Sent out in device people processing stations 16 and from robot processing stations 16.Transmission equipment 12 can construct in known manner And usual conveying work pieces carrier 18 (so-called coaster), part 14 is assembled on the Workpiece carrier.Transmission equipment 12 for example may be used To be the part of unmanned transportation system, the unmanned transportation system includes the vehicle (Fahrzeug) independently travelled, its Then transmission equipment 12 is formed.The transmission equipment can also be known roller path, and coaster is transmitted thereon.

The robot 20 of processing stations 16 is provided for processing component 14 on the region of processing part 14, and is this Controlled by robot controller 36.Build the procedure of robot 20 as follows herein so that the procedure can Accurately processing component 14 in the reference posture for collectively forming the reference position of definition of reference data and definition.This definition Reference position and (Teach-in) is taught in tutorial program to device 10 with reference to posture, and thereby also teaching to robot 20。

In addition, device 10 also includes optical sensor system 22, the optical sensor system has at least one sensor, But it is preferred that there are multiple sensors 24,26,28,30.When part 14 is located in processing stations and should be processed, the sensor system System 22 is used for the actual posture of accurate physical location and part 14 in space of identification component 14 in space.The actual bit Put for example by cartesian coordinate x, y, z are defined and the actual posture passes through roll angleThe angle of pitchAnd yaw angleCome Definition.The real data of coordinate and angle component parts 14.As indicated in later also, the coordinate system of sensing system 22 is calibrated To processing of robots station coordinate system and thereby be calibrated to the coordinate system of robot 20.Then, sensing system 22 and machine Device people 20 runs in the same coordinate system.

In order to carry out optical detection to three-dimensional data (position and posture), if an only sensor, its is necessary Detect more than two dimensions.This can for example be realized by 3-D video cameras 24.If sensing system 22 has multiple biographies Sensor, then it can also use simpler sensor.Four sensors 24,26,28 are shown in the embodiments illustrated in the figures With 30, two of which sensor 24,26 is shown as video camera (being preferably 3-D video cameras) and two sensors 28,30 are shown as It is capable of the sensor of the posture of the feature (being here lower edge margin) of the definition of detection part 14.

In this case, sensing system 22 detects all parts feature.These component features are the expressions of part 14 Feature and definition the region to localize, such as a large amount of existing edge 40, hole 32 or also so-called masters on part Receptacle 42,44.In the illustrated embodiment, video camera 26 (such as using 3D camera techniques) detection leading edge 40 is as part spy The hole 32 of sign and the detection part 14 of video camera 24.Sensor 28 and 30 is capable of the lower edge of detection part 14 or goes back detection part 14 main receptacle or the region of other definition.Other sensors with 1D, 2D or 3D technology can be according to the requirement of precision Addedly use, so as to the further feature of detection part 14.Can be in analytic unit 34 by the component feature so detected Middle determination physical location and actual posture.

In the analytic unit, it is taught and records during reference data teaching also mentioned above.In addition, will also Analytic unit is configured for determining part 14 by the real data in the region to be processed of robot 20 and the difference of reference data. At least one or more displacement vector is calculated from these differences.

The displacement vector or these displacement vectors are transferred on robot controller 36.Now sweared using these displacements The procedure of robot 20 is able to carry out in the case of amount.If part 14 is by chance placed exactly in reference position and with reference to appearance State, then each displacement vector is zero and can implement to process without overcorrect.But typically, in physical location And/or when actual posture and reference data deviation, same procedure can be run exactly, but at this moment by by the position Moving the additive correction of vector or these displacement vectors could run.

It is required there was only total displacement vector in principle, because always there was only a part 14 to be processed.But according to portion The size of part 14 also significantly individually calculates each displacement vector of each component area, to avoid due to big length difference Component tolerance and error away from caused by.Utilized for this displacement vector by robot 20 to adapt to the current location of part 14, wherein It is important to consider the displacement of all robot coordinates or the displacement of each robot path or only considers each welding point coordinates Displacement.

Can be with set parts type identification unit 38 in form of implementation.If the difference for being used to process of clear and definite quantity Type, then unit type recognition unit 38 can activate the appropriate procedure of robot 20 with identification types and accordingly, and " notice " sensing system 22 or analytic unit 34 which kind of type wait for optical measurement, to make sensing system " knowing " Identify its reference position of which component feature and prior teaching and where refer to posture, it is correct so as to calculate Offset variable.Unit type recognition unit 38 can be single unit, and the unit is for example operated and read with RFID technique Take the corresponding RFID label tag on part 14.But unit type recognition unit 38 can also be by analytic unit 34 and sensing system 22 are formed, and the unit type recognition unit optically identifies different types.

Claims (8)

1. one kind is used to identify in robot processing stations (16) accurate location of part (14) and posture and for processing The device of part (14) is stated, described device has：

- transmission equipment (12), it is used to the part (14) being sent in the processing of robots station (16) and from institute Processing of robots station (16) is stated to send out,

- at least one robot (20), it is used on the region to be processed of the part (14) process the part (14), institute State robot (20) to be controlled by robot controller (36), wherein the procedure of the robot (20) structure as follows Build so that the procedure can be smart in the reference posture for collectively forming the reference position of definition of reference data and definition The part (14) really is processed,

- optical sensor system (22), it is used to identifying that the part (14) accurate location in space and the part to exist Posture in space,

- wherein described optical sensor system (22) carries out optical detection to component feature (32),

- and there is analytic unit (34), the analytic unit constructs as follows so that described in the analytic unit determines The real data of component feature (32), the real data is made up of absolute physical location (x, y, z) and actual posture, described Actual posture is by roll angleThe angle of pitchAnd yaw angleDefinition, and

- the analytic unit (34) is further configured to calculate from the difference of the real data in region to be processed and reference data At least one displacement vector,

- and the robot controller (36) construct as follows so that the procedure application the displacement swear It can be run in the case of amount or these displacement vectors.

2. device according to claim 1, it is characterised in that the optical sensor system is calibrated to the robot The coordinate system of processing stations.

3. device according to claim 1 or 2, it is characterised in that unit type recognition unit is provided with, and to every kind of portion Part type sets other procedure.

4. device according to claim 1 or 2, it is characterised in that the analytic unit is configured to from these displacements Vector meter calculates total displacement vector.

5. device according to claim 3, it is characterised in that the analytic unit is configured to from these displacement vectors Calculate total displacement vector.

6. according to the device any one of claim 1,2 and 5, it is characterised in that the credible quilt of these displacement vectors Examine.

7. device according to claim 3, it is characterised in that the credibility of these displacement vectors is examined.

8. device according to claim 4, it is characterised in that the credibility of these displacement vectors is examined.