阅读说明：本技术 一种自动加胶塞枪头装置 (automatic glue-adding plug gun head device ) 是由 季智 袁华雷 衣琦 单齐勇 朱晖波 于 2019-08-08 设计创作，主要内容包括：本发明涉及一种车体装配领域,公开了一种自动加胶塞枪头装置,具体包括：枪头模块,用于放置需要压入预定位置的胶塞材料；胶塞压入模块,胶塞压入模块的一端设置在枪头模块的上方,用于控制枪头模块中的胶塞材料移动；3D视觉相机,设置在胶塞压入模块的一侧上用于测量枪头模块与预定位置的距离,并将相机信息发送至承载自动加胶塞枪头装置的机械臂的控制单元；机械臂的一端设置在一工作台上,机械臂的另一端与胶塞压入模块的另一端连接以承载自动加胶塞枪头装置,机械臂用于根据相机信息移动自动加胶塞枪头装置的位置,以使枪头正好将胶塞材料压入预定位置。上述技术方案的有益效果是：减少人工成本,保证人身安全。(The invention relates to the field of vehicle body assembly, and discloses an automatic rubber plug adding gun head device, which specifically comprises: the gun head module is used for placing rubber plug materials needing to be pressed into a preset position; one end of the rubber plug press-in module is arranged above the gun head module and is used for controlling the movement of rubber plug materials in the gun head module; the 3D vision camera is arranged on one side of the rubber plug press-in module and used for measuring the distance between the gun head module and a preset position and sending the camera information to a control unit of a mechanical arm bearing the automatic rubber plug adding gun head device; one end of the mechanical arm is arranged on a workbench, the other end of the mechanical arm is connected with the other end of the rubber plug press-in module to bear the automatic rubber plug gun head device, and the mechanical arm is used for moving the position of the automatic rubber plug gun head device according to camera information so that the gun head just presses rubber plug materials into a preset position. The beneficial effects of the above technical scheme are: the labor cost is reduced, and the personal safety is ensured.)

1. an automatic glue plug gun head device is suitable for glue plug adding operation of an automobile body; it is characterized by comprising:

The gun head module is used for placing rubber plug materials needing to be pressed into a preset position;

one end of the rubber plug press-in module is arranged above the gun head module and is used for controlling rubber plug materials in the gun head module to move downwards and press the rubber plug materials into the preset position;

The 3D vision camera is arranged on one side of the rubber plug press-in module and used for measuring the distance between the gun head module and the preset position and sending the information of the camera to a control unit of a mechanical arm bearing the automatic rubber plug adding gun head device;

one end of the mechanical arm is arranged on a workbench, the other end of the mechanical arm is connected with the other end of the rubber plug press-in module to bear the automatic rubber plug feeding gun head device, and the mechanical arm is used for moving the position of the automatic rubber plug feeding gun head device according to the camera information so that the gun head just presses the rubber plug material into the preset position.

2. The automatic rubber plug feeding gun head device according to claim 1, wherein the gun head module comprises a gun head and a plurality of rubber plug falling prevention plungers, the gun head is used for placing the rubber plug materials, the rubber plug falling prevention plungers are made of elastic materials and arranged on the inner wall of the gun head and used for preventing the rubber plug materials from falling off from the gun head due to self weight and preventing the rubber plug pressing module from pressing the rubber plug materials into the preset position.

3. the automatic rubber plug feeding gun head device according to claim 1, wherein the rubber plug pressing module comprises a rubber plug pressing cylinder, and the rubber plug pressing cylinder is used for controlling rubber plug materials in the gun head module to move downwards.

4. The automatic plug gun head device according to claim 3, wherein the plug pressing module further comprises:

The robot connecting flange is arranged above the rubber plug press-in cylinder and is used for connecting the mechanical arm and the rubber plug press-in module,

The gun head clamping device is arranged below the rubber plug press-in cylinder and used for connecting the rubber plug press-in module and the gun head module;

The flange plate is arranged on one side of the rubber plug press-in module and used for fixing the distance measuring module on the rubber plug press-in module through the flange plate;

And the gun head housing is arranged on the other side of the rubber plug press-in module and is used for covering the rubber plug press-in cylinder and the gun head clamping device on the flange plate.

5. The automatic plug gun head device according to claim 1, further comprising an electrical module, wherein the electrical module is disposed on one side of the plug pressing module, the electrical module comprises a power supply interface and a signal interface, the power supply interface is used for supplying power to the automatic plug gun head device, and the signal interface transmits the camera information output by the 3D vision camera to the control unit.

6. The automatic glue plug gun head device according to claim 1, wherein the gun head is adapted to a batch feeding mechanism, the batch feeding mechanism is fixed at a predetermined position on the ground and used for storing the rubber plug material, and the mechanical arm moves the automatic glue plug gun head device to a position above the batch feeding mechanism, so that the automatic glue plug gun head device can realize a feeding operation through the batch feeding mechanism.

7. the automatic glue adding plug gun head device according to claim 6, wherein the batch feeding mechanism specifically comprises:

the feeding plate is arranged at the output port of a rubber plug conveying device and is used for receiving the rubber plug materials conveyed by the rubber plug conveying device;

The feeding barrel is arranged above one side, close to the output port, of the feeding plate, an opening is formed in the bottom of the feeding barrel, and the rubber plug material enters the feeding barrel from the opening to be stored in the feeding barrel;

the rubber plug feeding cylinder is arranged above the other side of the feeding plate and can horizontally move towards the opening, and the rubber plug material is pressed into the opening under the control of a control unit of the rubber plug feeding cylinder;

the rubber plug filling cylinder is arranged below the feeding plate and corresponds to the feeding barrel, the part of the feeding barrel, which is opposite to the rubber plug filling cylinder, is punched through, and the rubber plug filling cylinder is used for moving upwards and pressing the rubber plug material into the feeding barrel under the control of a control unit of the rubber plug filling cylinder;

And an opening is formed above the feeding barrel, so that the gun head extends into the feeding barrel to execute feeding operation.

8. The automatic rubber plug feeding gun head device according to claim 7, wherein the batch feeding mechanism further comprises a rubber plug detection sensor, the rubber plug detection sensor is arranged above the other side of the feeding plate and vertically faces downwards to the feeding plate, and is used for detecting whether rubber plug materials are conveyed onto the feeding plate and sending detection information to the control unit of the rubber plug feeding cylinder.

9. The automatic glue adding plug gun head device according to claim 7, wherein the charging bucket is provided with:

the rubber plug full sensor is arranged at the top of the feeding barrel and used for detecting whether rubber plug materials in the feeding barrel exceed the storage space of the feeding barrel or not and sending detection information to the control unit of the rubber plug filling cylinder.

The feeding barrel rubber plug anti-falling plunger is made of elastic materials and arranged on the inner wall of the bottom of the feeding barrel and used for preventing rubber plug materials in the feeding barrel from falling off from the feeding barrel due to dead weight and does not interfere the batch feeding mechanism to press the rubber plug materials into the gun head module.

Technical Field

The invention relates to the field of vehicle body assembly, in particular to an automatic glue plug gun head adding device.

Background

The existing vehicle body process hole and rubber plug are installed manually, and the rubber plug for shielding before gluing the bottom of the vehicle body and the inside of the vehicle body needs to be installed manually. But because the in-process of manual installation automobile body bottom plug needs operating personnel to carry out the plug in automobile body below or automobile body inside and shields the operation. The method has certain potential safety hazard, and belongs to the problems of high labor intensity and low efficiency in repeated operation.

Disclosure of Invention

in order to solve the existing problems, an automatic glue plug adding gun head device is provided, which is suitable for glue plug adding operation of an automobile body; the method specifically comprises the following steps:

The gun head module is used for placing rubber plug materials needing to be pressed into a preset position;

One end of the rubber plug press-in module is arranged above the gun head module and is used for controlling rubber plug materials in the gun head module to move downwards and press the rubber plug materials into the preset position;

the 3D vision camera is arranged on one side of the rubber plug press-in module and used for measuring the distance between the gun head module and the preset position and sending the information of the camera to a control unit of a mechanical arm bearing the automatic rubber plug adding gun head device;

one end of the mechanical arm is arranged on a workbench, the other end of the mechanical arm is connected with the other end of the rubber plug press-in module to bear the automatic rubber plug feeding gun head device, and the mechanical arm is used for moving the position of the automatic rubber plug feeding gun head device according to the camera information so that the gun head just presses the rubber plug material into the preset position.

preferably, the gun head module comprises a gun head and a plurality of rubber plug anti-falling plungers, the gun head is used for placing the rubber plug materials, the rubber plug anti-falling plungers are made of elastic materials and arranged on the inner wall of the gun head and used for preventing the rubber plug materials from falling from the gun head due to self weight, and the rubber plug pressing module is not hindered from pressing the rubber plug materials into the preset position.

Preferably, the rubber plug pressing-in module comprises a rubber plug pressing-in cylinder, and the rubber plug pressing-in cylinder is used for controlling rubber plug materials in the gun head module to move downwards.

preferably, the rubber plug pressing module further comprises:

the robot connecting flange is arranged above the rubber plug press-in cylinder and is used for connecting the mechanical arm and the rubber plug press-in module,

the gun head clamping device is arranged below the rubber plug press-in cylinder and used for connecting the rubber plug press-in module and the gun head module;

The flange plate is arranged on one side of the rubber plug press-in module and used for fixing the distance measuring module on the rubber plug press-in module through the flange plate;

And the gun head housing is arranged on the other side of the rubber plug press-in module and is used for covering the rubber plug press-in cylinder and the gun head clamping device on the flange plate.

preferably, the automatic rubber plug adding gun head device further comprises an electrical module, the electrical module is arranged on one side of the rubber plug pressing-in module and comprises a power supply interface and a signal interface, the power supply interface is used for supplying power to the automatic rubber plug adding gun head device, and the signal interface is used for transmitting the camera information output by the 3D vision camera to the control unit.

Preferably, the gun head is adapted to a batch feeding mechanism, the batch feeding mechanism is fixed at a preset position on the ground and used for storing the rubber plug materials, and the mechanical arm moves the automatic rubber plug gun head device to the position above the batch feeding mechanism, so that the automatic rubber plug gun head device can realize feeding operation through the batch feeding mechanism.

preferably, the batch feeding mechanism specifically includes:

the feeding plate is arranged at the output port of a rubber plug conveying device and is used for receiving the rubber plug materials conveyed by the rubber plug conveying device;

the feeding barrel is arranged above one side, close to the output port, of the feeding plate, an opening is formed in the bottom of the feeding barrel, and the rubber plug material enters the feeding barrel from the opening to be stored in the feeding barrel;

The rubber plug feeding cylinder is arranged above the other side of the feeding plate and can horizontally move towards the opening, and the rubber plug material is pressed into the opening under the control of a control unit of the rubber plug feeding cylinder;

The rubber plug filling cylinder is arranged below the feeding plate and corresponds to the feeding barrel, the part of the feeding barrel, which is opposite to the rubber plug filling cylinder, is punched through, and the rubber plug filling cylinder is used for moving upwards and pressing the rubber plug material into the feeding barrel under the control of a control unit of the rubber plug filling cylinder;

And an opening is formed above the feeding barrel, so that the gun head extends into the feeding barrel to execute feeding operation.

preferably, the batch feeding mechanism further comprises a rubber plug detection sensor, wherein the rubber plug detection sensor is used for detecting whether rubber plug materials are conveyed to the batch feeding mechanism or not, and sending detection information to the control unit of the rubber plug feeding cylinder.

preferably, the charging bucket is internally provided with:

the rubber plug full sensor is arranged at the top of the feeding barrel and used for detecting whether rubber plug materials in the feeding barrel exceed the storage space of the feeding barrel or not and sending detection information to the control unit of the rubber plug filling cylinder.

the feeding barrel rubber plug anti-falling plunger is made of elastic materials and arranged on the inner wall of the bottom of the feeding barrel and used for preventing rubber plug materials in the feeding barrel from falling off from the feeding barrel due to dead weight and does not interfere the batch feeding mechanism to press the rubber plug materials into the gun head module.

the beneficial effects of the above technical scheme are: utilize module and the range finding module of impressing automatic identification plug assigned hole and impress the plug, can reduce the cost of labor, guarantee personal safety.

drawings

FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention;

FIG. 2 is a schematic view of a robotic arm in accordance with a preferred embodiment of the present invention;

FIG. 3 is a schematic view illustrating a process of pressing the rubber plug material in the rubber plug according to a preferred embodiment of the present invention;

FIG. 4 is an exploded view of a preferred embodiment of the present invention;

FIG. 5 is a schematic view of a batch loading configuration according to a preferred embodiment of the present invention;

FIG. 6 is a schematic view of the loading barrel according to a preferred embodiment of the present invention;

Fig. 7 is a schematic loading diagram of a glue-adding plug gun head according to a preferred embodiment of 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

the invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

the utility model provides an automatic add stopper rifle head device, is applicable to and adds the stopper operation to the automobile body, as shown in figure 1, specifically includes:

The gun head module 1 is used for placing a rubber plug material 8 which needs to be pressed into a preset position 7;

the device comprises a rubber plug press-in module 2, wherein one end of the rubber plug press-in module 2 is arranged above a gun head module 1 and is used for controlling a rubber plug material 8 in the gun head module 1 to move downwards and press the rubber plug material into a preset position 7;

The 3D vision camera 3 is arranged on one side of the rubber plug press-in module 2 and used for measuring the distance between the gun head module 1 and the preset position 7 and sending the camera information to a control unit of a mechanical arm 4 bearing the automatic rubber plug adding gun head device;

As shown in fig. 2, one end of the mechanical arm 4 is arranged on a workbench, the other end of the mechanical arm 4 is connected with the other end of the rubber plug press-in module 2 to bear the automatic rubber plug adding gun head device, the 3D vision camera 3 performs feature recognition on the preset position 7 and judges the distance between the gun head device and the preset position 7, the 3D vision camera 3 transmits the position information of the recognized preset position and the distance information between the preset position and the preset position to the mechanical arm through camera information, and the mechanical arm 4 is used for moving the position of the automatic rubber plug adding gun head device according to the camera information so that the gun head just presses the rubber plug material 8 into the preset position 7.

specifically, as shown in fig. 3, one end of a mechanical arm 4 is arranged on a workbench, the other end of the mechanical arm 4 is connected with a plug gun head device, a control unit of the mechanical arm 4 receives position information of a plug gun head and a preset position 7 where a plug material 8 needs to be pressed, which are acquired by a 3D vision camera 3, the mechanical arm 4 is controlled to drive the plug gun head to move to the preset position 7, after the 3D vision camera 3 judges the position of the plug gun head, a plug pressing module 2 in the plug gun head acts on a gun head module 1, a cylinder rod 21 in the plug pressing module is controlled to move downwards to press the plug material 8 in a gun head 11 into the preset position 7, and after the plug material 8 is pressed, the 3D vision camera 3 can acquire the pressing condition of the plug material 8, judge whether the plug material 8 is completely pressed into the preset position 7, after the pressing condition of the plug material 8 is confirmed to meet the requirements of specific operations, the 3D vision camera 3 obtains the next preset position 7 in which the rubber plug material 8 needs to be pressed, the mechanical arm 4 controls the movement of the rubber plug adding gun head, and the operation process is repeated.

In a preferred embodiment of the present invention, as shown in fig. 4, the gun head module 1 includes a gun head 11 and a plurality of plug falling prevention plungers 12, the gun head 11 is used for placing the plug materials 8, and the plug falling prevention plungers 12 are disposed on an inner wall of the gun head 11 and are used for preventing the plug materials 8 from falling from the gun head 11 due to self-weight and do not hinder the plug pressing module 2 from pressing the plug materials 8 into the predetermined position 7.

in the preferred embodiment of the present invention, the rubber plug pressing-in module 2 comprises a rubber plug pressing-in cylinder 21, and the rubber plug pressing-in cylinder 21 is used for controlling the rubber plug material 8 in the gun head module 1 to move downwards.

Specifically, the rubber plug pressing cylinder 21 can be selected as an air cylinder or an electric cylinder according to actual operation requirements. After the 3D vision camera 3 of the plug adding gun head judges that the plug adding gun head reaches the preset position 7, the cylinder rod of the plug pressing cylinder 21 moves downwards to press the plug material 8 in the gun head 11 into the preset position 7, and the motion information of the cylinder rod 21 is sent to the electric module 5 of the plug adding gun head.

in a preferred embodiment of the present invention, the rubber plug press-in module 2 further comprises:

The robot connecting flange 22 is arranged above the rubber plug press-in cylinder 21 and used for connecting the mechanical arm 4 and the rubber plug press-in module 2;

The gun head clamping device 23 is arranged below the rubber plug press-in cylinder 21 and is used for connecting the rubber plug press-in module 2 with the gun head module 1;

the flange plate 24 is arranged on one side of the rubber plug press-in module 2, and is used for fixing the distance measuring module on the rubber plug press-in module 2 through the flange plate 24;

and the gun head housing 25 is arranged on the other side of the rubber plug pressing-in module 2, and is used for covering the rubber plug pressing-in cylinder 21 and the gun head clamping device 23 on the flange plate 24.

specifically, the rubber plug pressing-in cylinder 21 and the mechanical arm 4 are connected through a robot connecting flange 22, the rubber plug pressing-in cylinder 21 and the gun head 11 are connected through a gun head clamping device 23, a plurality of positioning columns are arranged on the gun head 11, one end of the rubber plug pressing-in cylinder 21 is provided with a positioning hole matched with the positioning columns, after the positioning columns of the gun head penetrate through the positioning holes of the rubber plug pressing-in cylinder 21, the gun head clamping device 23 clamps and clamps the positioning columns, the gun head 11 at the moment is fixed on the rubber plug pressing-in cylinder 21, the 3D vision camera 3 is arranged on one side of the flange plate 24 and is fixed on the rubber plug pressing-in module 2, and the rubber plug pressing-in cylinder 21 and.

in a preferred embodiment of the present invention, the apparatus further comprises an electrical module 5, the electrical module 5 is disposed on one side of the rubber plug press-in module 2, the electrical module 5 comprises a power supply interface 51 and a signal interface 52, the power supply interface 51 is used for supplying power to the automatic rubber plug gun head adding device, and the signal interface 52 transmits camera information output by the 3D vision camera 3 to the control unit.

Specifically, the electrical module 5 is arranged on one side of the rubber plug pressing-in cylinder 21 through the flange plate 24, the electrical module 5 comprises a power supply interface 51 and a signal interface 52, the power supply equipment supplies power to all electrical equipment on the gun head device through the power supply interface 51, the signal interface 52 is respectively connected with the rubber plug pressing-in cylinder 21 and the 3D vision camera 3 through lead wires, in the process that the gun head device presses the rubber plug material 8 into the preset position 7, the 3D vision camera 3 obtains information of the preset position 7, a cylinder rod of the rubber plug pressing-in cylinder 21 presses the rubber plug material 8 into the preset position 7, the 3D vision camera 3 obtains the state that the rubber plug material 8 is pressed into the preset position 7, and the gun head device obtains the preset position 7 information, the cylinder rod movement feedback information of the rubber plug pressing-in cylinder 21 and the feedback information of the state of the.

in the preferred embodiment of the present invention, the gun head 11 is adapted to a batch feeding mechanism 6, the batch feeding mechanism 6 is fixed at a predetermined position on the ground and is used for storing the rubber plug material 8, and the mechanical arm 4 moves the automatic rubber plug gun head device to the upper side of the batch feeding mechanism 6, so that the automatic rubber plug gun head device can realize the feeding operation through the batch feeding mechanism 6.

in a preferred embodiment of the present invention, the batch feeding mechanism 6, as shown in fig. 5, specifically includes:

the feeding plate 61 is arranged at the output port of a rubber plug conveying device and is used for receiving rubber plug materials 8 conveyed by the rubber plug conveying device;

the feeding barrel 62 is arranged above one side, close to the output port, of the feeding plate 61, an opening is formed in the bottom of the feeding barrel 62, and the rubber plug materials 8 enter the feeding barrel 62 from the opening to be stored in the feeding barrel 62;

The rubber plug feeding cylinder 63 is arranged above the other side of the feeding plate 61 and can horizontally move towards the opening, and rubber plug materials 8 are pressed into the opening under the control of a control unit of the rubber plug feeding cylinder 63;

The rubber plug filling cylinder 64 is arranged below the feeding plate 61 and corresponds to the feeding barrel 62, the part of the feeding barrel 62, which is opposite to the rubber plug filling cylinder 64, is punched through, and the rubber plug filling cylinder 64 is used for moving upwards and pressing the rubber plug material 8 into the feeding barrel 62 under the control of a control unit of the rubber plug filling cylinder 64;

the upper part of the charging barrel 62 is opened, so that the gun head extends into the charging barrel 62 to perform charging operation.

in the preferred embodiment of the present invention, the charging barrel 62 is provided with:

A plug full sensor 621 arranged at the top of the feeding barrel 62 for detecting whether the plug material 8 in the feeding barrel 62 exceeds the storage space of the feeding barrel 62, and sending the detection information to the control unit of the plug filling cylinder 64.

Go up the skip plug and prevent falling plunger 622, go up the skip plug and prevent falling plunger 622 for elastic material, set up on the inner wall of the bottom of last skip 62 for prevent plug material 8 in the last skip 62 because of the dead weight reason drops from the last skip, and do not hinder batch feed mechanism 6 to impress plug material 8 into rifle head module 1.

In the preferred embodiment of the present invention, the batch feeding mechanism 6 further includes a rubber plug detection sensor 65, and the rubber plug detection sensor 65 is disposed above the other side of the feeding plate 61 and vertically faces downward to the feeding plate 61, and is configured to detect whether rubber plug materials 8 are conveyed into the batch feeding mechanism 6, and send detection information to the control unit of the rubber plug feeding cylinder 63.

Specifically, when controlling the cylinder rod of the rubber plug feeding cylinder, a rubber plug detection sensor 65 is arranged on the feeding plate 61, when the rubber plug detection sensor 65 detects that the rubber plug material 8 is conveyed to the feeding plate 61, detection information is sent to the control unit of the rubber plug feeding cylinder 63, the cylinder rod of the rubber plug feeding cylinder moves horizontally at the moment, and the rubber plug material 8 is conveyed to the feeding barrel 62.

Specifically, as shown in fig. 6, the plug feeding cylinder 63 controls the cylinder rod of the plug feeding cylinder to move to press the plug into the filling opening of the feeding barrel 62, the plug feeding cylinder 64 controls the cylinder rod 641 of the plug feeding cylinder to move, the plug located at the filling opening of the feeding barrel 62 is pressed into the feeding barrel 62, the feeding barrel plug falling prevention plunger 622 is used for preventing the plug from falling from the feeding barrel 62, and does not hinder the batch feeding mechanism 6 from pressing the plug material 8 into the gun head module 1, and the plug filling sensor 621 detects the number of plugs in the feeding barrel 62. As shown in fig. 7, when the plugging gun head is moved to the batch feeding mechanism 6 and the gun head 11 of the plugging gun head is placed on the feeding barrel 62 in the batch feeding mechanism 6, the cylinder rod 641 of the plug filling cylinder is used to move upward to press all the plug materials 8 loaded in the feeding barrel 62 into the plugging gun head together.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.