CN110568864A - Electromechanical system for accurately identifying carbon anode position and automatically positioning and clamping carbon anode - Google Patents
Electromechanical system for accurately identifying carbon anode position and automatically positioning and clamping carbon anode Download PDFInfo
- Publication number
- CN110568864A CN110568864A CN201910924147.2A CN201910924147A CN110568864A CN 110568864 A CN110568864 A CN 110568864A CN 201910924147 A CN201910924147 A CN 201910924147A CN 110568864 A CN110568864 A CN 110568864A
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- Prior art keywords
- carbon anode
- ball screw
- module device
- axis linear
- base
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 title claims abstract description 26
- 229910052799 carbon Inorganic materials 0.000 title claims abstract description 26
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 6
- 108010007425 oligomycin sensitivity conferring protein Proteins 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 6
- 238000003860 storage Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an electromechanical system for accurately identifying the position of a carbon anode and automatically positioning and clamping the carbon anode, which comprises a bottom plate connecting flange, wherein an X-axis linear module device is arranged at the center of the lower part of the bottom plate connecting flange; the visual device is arranged at the outer side end of the lower part of the connecting flange of the bottom plate. The invention has the beneficial effects that: the intelligent warehousing and automatic handling system is used for intelligent warehousing and automatic handling of a single carbon anode, can avoid the problem of inaccurate positioning in the handling process of the existing single clamp system, and realizes accurate and efficient warehousing of the carbon anode.
Description
Technical Field
the invention relates to the technical field of intelligent storage, in particular to an electromechanical system for accurately identifying the position of a carbon anode and automatically positioning and clamping the carbon anode.
Background
In order to realize the carrying, stacking, waste selecting, material supplementing, warehouse guiding and loading of single carbon anode workpieces, an electric hoist travelling wheel is generally adopted to move on a transverse warehouse rail, and the transverse warehouse rail longitudinally moves along a factory building rail by utilizing end beam devices at two ends; the steel wire rope is wound and unwound through the rotation of the electric hoist winding drum, so that the workpiece is driven to ascend and descend; thereby realizing the clamping, lifting, carrying and stacking of the single carbon anode.
In the process of clamping workpiece rapid movement, the phenomenon of poor positioning accuracy cannot be avoided, so a large amount of micro-adjustment is required to compensate deviation of each motion track caused by positioning error, stacking work can be carried out only, the production efficiency is seriously influenced, and meanwhile, the intellectualization of carbon anode storage cannot be realized. For this reason, it is essential to design a vision-aided electromechanical system for a single carbon anode transfer station.
Disclosure of Invention
The invention aims to solve the technical problems that the existing single clamp system cannot avoid the phenomenon of poor positioning accuracy in the single clamp carrying process and the warehousing moving process of the existing carbon anode, so that a large amount of micro-adjustment is needed to compensate the deviation of each moving track caused by the positioning error, so that the stacking work can be carried out, and the production efficiency is low. Therefore, the invention aims to provide a single-clamp vision-aided electromechanical system of a carbon anode transfer station, so as to realize efficient and accurate carbon anode storage.
The technical scheme of the invention is as follows:
an electromechanical system for accurately identifying the position of a carbon anode and automatically positioning and clamping comprises a bottom plate connecting flange, wherein an X-axis linear module device is arranged in the center of the lower part of the bottom plate connecting flange, a Y-axis linear module device is arranged at the lower part of the X-axis linear module device, and a rotary module device is arranged at the lower part of the Y-axis linear module device; the visual device is arranged at the outer side end of the lower part of the connecting flange of the bottom plate.
Furthermore, the X-axis linear module device comprises a first base, a first ball screw arranged on the surface of the first base, a first sliding plate arranged on the first ball screw, a first roller module arranged on the first sliding plate, a first flat guide rail arranged on the first base, a first bearing seat arranged at the tail end of the first ball screw and a first driving motor arranged on the first bearing seat.
Furthermore, the Y-axis linear module device comprises a second base, a second ball screw arranged on the surface of the second base, a second sliding plate arranged on the second ball screw, a second roller module arranged on the second sliding plate, a second flat guide rail arranged on the second base, a second bearing seat arranged at the tail end of the second ball screw and a second driving motor arranged on the second bearing seat.
Furthermore, the rotary module device comprises a rotary table bottom plate, an annular guide rail, a V-shaped guide wheel, a transmission gear, a rotary table and a driving motor III, wherein the inner ring of the annular guide rail is a V-shaped guide surface, the outer ring of the annular guide rail is a straight gear, the V-shaped guide wheel is matched with the inner surface of the annular guide rail, the transmission gear is meshed with the annular guide rail, the rotary table is connected to the surface of the annular guide rail, and the driving motor.
Further, the vision device comprises an installation box and a vision camera fixed in the installation box.
Compared with the prior art, the invention has the beneficial effects that: the intelligent warehousing and automatic handling system is used for intelligent warehousing and automatic handling of a single carbon anode, can avoid the problem of inaccurate positioning in the handling process of the existing single clamp system, and realizes accurate and efficient warehousing of the carbon anode.
Drawings
FIG. 1 is an elevational view of the overall configuration of a vision-assisted electromechanical system for a carbon anode transfer station of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a front view of the X-axis linear module apparatus of the present invention;
FIG. 4 is a front view of the Y-axis linear module apparatus of the present invention;
FIG. 5 is a front view of the rotary die set apparatus of the present invention;
Fig. 6 is a left side view of fig. 5.
Description of reference numerals: 1-base plate connecting flange, 2-X axis linear module, 21-base plate I, 22-ball screw I, 23-sliding plate I, 24-roller module I, 25-flat guide rail I, 26-bearing seat I, 27-driving motor I, 3-Y axis linear module, 31-base plate II, 32-ball screw II, 33-sliding plate II, 34-roller module II, 35-flat guide rail II, 36-bearing seat II, 37-driving motor II, 4-rotating module, 41-rotating table base plate, 42-annular guide rail, 43-V type guide wheel, 44-transmission gear, 45-rotating disc, 46-driving motor III, 5-visual device, 51-mounting box and 52-visual camera.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be noted that unless otherwise expressly specified or limited, the terms "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, such as by welding, removably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
with reference to figures 1-6: the electromechanical system comprises a bottom plate connecting flange 1, an X-axis linear module device 2, a Y-axis linear module device 3, a rotary module device 4 and a vision device 5; the positional relationship of the various components can be clearly seen in fig. 1 and 2. The vision device 5 includes an installation box 51 and a vision camera 52 fixed in the installation box.
As shown in fig. 3, the X-axis linear module device 2 includes a first base 21, a first ball screw 22 disposed on a surface of the first base 21, a first sliding plate 23 disposed on the first ball screw 22, a first roller module 24 disposed on the first sliding plate 23, a first flat guide 25 disposed on the first base 21, a first bearing seat 26 disposed at an end of the first ball screw 22, and a first driving motor 27 disposed on the first bearing seat 26.
As shown in fig. 4, the Y-axis linear module device 3 includes a second base 31, a second ball screw 32 is disposed on a surface of the second base 31, a second sliding plate 33 is disposed on the second ball screw 32, a second roller module 34 is disposed on the second sliding plate 33, a second flat guide rail 35 is disposed on the second base 31, a second bearing block 36 is disposed at a tail end of the second ball screw 32, and a second driving motor 37 is disposed on the second bearing block 36.
As shown in fig. 5, the rotary die set device 4 includes a rotary table bottom plate 41 and an annular guide rail 42 above the rotary table bottom plate, an inner ring of the annular guide rail 42 is a V-shaped guide surface, and an outer ring thereof is a spur gear; the rotating platform bottom plate 41 is connected with the annular guide rail 42 through a V-shaped guide wheel 43, and the V-shaped guide wheel 43 is matched with the inner surface of the annular guide rail 42; the annular guide rail 42 is connected with a transmission gear 44 in a meshing mode, the surface of the annular guide rail 42 is connected with a turntable 45, and the input shaft of the transmission gear 44 is connected with a driving motor III 46.
the invention is implemented as follows: visual device 5, mounting box 51 fixed connection is in bottom plate flange 1, and vision camera 52 fixed mounting is in mounting box 51, and when the system stopped, camera device 52 was at first through visual identification, discerned the deviation value of X axle direction, Y axle direction and angle direction to calculate the regulating variable and the regulation direction of X axle straight line module device 2, Y axle straight line module device 3 and rotatory module device 4, and will calculate the result, feed back to the system control unit.
A first base 21 of the X-axis linear module device 2 is fixedly connected to a bottom plate connecting flange 1 through bolts, rotary motion of a first driving motor 27 is converted into linear motion of a first sliding plate 23 under the driving of a first X-axis driving motor 27 and the supporting of a first bearing seat 26 through transmission of a first ball screw 22, the first sliding plate 23 is guided by a first roller module 24 in the linear motion process, and meanwhile, the first roller module 24 rolls along a first flat guide rail 25 to achieve the linear rolling motion of the X-axis linear module, so that fine adjustment in the X-axis direction is achieved.
The second base 31 of the Y-axis linear module device 3 is fixedly connected to the first X-axis sliding plate 23 through bolts, the second Y-axis driving motor 37 is driven by the second bearing seat 36 to transmit through the second ball screw 32, so that the rotary motion of the second driving motor 37 is converted into the linear motion of the second sliding plate 33, the second sliding plate 33 is guided by the second roller module 34 in the linear motion process, and meanwhile, the second roller module 34 rolls along the second flat guide rail 35 to realize the linear rolling motion of the Y-axis linear module, so that the fine adjustment in the Y-axis direction is realized.
the connecting bottom plate 41 of the rotary module device 4 is fixedly connected to the second Y-axis sliding plate 33 through bolts, the V-shaped guide wheel set 43 is connected to the bottom plate 41 through bolts, the rotary motion of the motor of the rotary module device 4 is driven by the driving motor III 46, the rotary motion of the driving motor III 46 is converted into the rotary motion of the rotary disc 45 through the meshing of the transmission gear 44 and the annular guide rail 42, and the V-shaped guide wheel set 43 guides the rotary motion of the rotary disc 45 in the rotating process of the rotary disc 45, so that the fine adjustment of the angle is realized.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides an electromechanical system that accurate discernment in carbon anode position and automatic positioning press from both sides were got which characterized in that: the device comprises a bottom plate connecting flange (1), wherein an X-axis linear module device (2) is arranged in the center of the lower part of the bottom plate connecting flange (1), a Y-axis linear module device (3) is arranged at the lower part of the X-axis linear module device (2), and a rotary module device (4) is arranged at the lower part of the Y-axis linear module device (3); the visual device (5) is arranged at the outer side end of the lower part of the bottom plate connecting flange (1).
2. The electromechanical system for accurate carbon anode position identification and automatic positioning clamping as claimed in claim 1, wherein: the X-axis linear module device (2) comprises a first base (21), a first ball screw (22) arranged on the surface of the first base (21), a first sliding plate (23) arranged on the first ball screw (22), a first roller module (24) arranged on the first sliding plate (23), a first flat guide rail (25) arranged on the first base (21), a first bearing seat (26) arranged at the tail end of the first ball screw (22) and a first driving motor (27) arranged on the first bearing seat (26).
3. The electromechanical system for accurate carbon anode position identification and automatic positioning clamping as claimed in claim 1, wherein: the Y-axis linear module device (3) comprises a second base (31), a second ball screw (32) arranged on the surface of the second base (31), a second sliding plate (33) arranged on the second ball screw (32), a second roller module (34) arranged on the second sliding plate (33), a second flat guide rail (35) arranged on the second base (31), a second bearing seat (36) arranged at the tail end of the second ball screw (32) and a second driving motor (37) arranged on the second bearing seat (36).
4. The electromechanical system for accurate carbon anode position identification and automatic positioning clamping as claimed in claim 1, wherein: rotatory module device (4) include revolving stage bottom plate (41), inner circle be V type spigot surface outer lane be annular guide (42) of spur gear, with annular guide (42) internal surface complex V type leading wheel (43), with drive gear (44) of annular guide (42) meshing, connect in carousel (45) on annular guide (42) surface and connection are in drive gear (44) input shaft's driving motor three (46).
5. The electromechanical system for accurate carbon anode position identification and automatic positioning clamping as claimed in claim 1, wherein: the visual device (5) comprises an installation box (51) and a visual camera (52) fixed in the installation box (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910924147.2A CN110568864A (en) | 2019-09-27 | 2019-09-27 | Electromechanical system for accurately identifying carbon anode position and automatically positioning and clamping carbon anode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910924147.2A CN110568864A (en) | 2019-09-27 | 2019-09-27 | Electromechanical system for accurately identifying carbon anode position and automatically positioning and clamping carbon anode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110568864A true CN110568864A (en) | 2019-12-13 |
Family
ID=68782931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910924147.2A Pending CN110568864A (en) | 2019-09-27 | 2019-09-27 | Electromechanical system for accurately identifying carbon anode position and automatically positioning and clamping carbon anode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110568864A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK123985D0 (en) * | 1984-03-20 | 1985-03-19 | Preh Indausruestung Gmbh | DEVICE FOR POSITIONING BY X-Y COORDINATES |
| CN103801889A (en) * | 2014-03-04 | 2014-05-21 | 唐山开元机器人***有限公司 | Alignment clamp with top opening and 360-degree rotation function |
| CN203884273U (en) * | 2014-06-10 | 2014-10-22 | 南宁市合辰科技有限公司 | Moving guide rail device of hedgerow pruning machine |
| CN204110803U (en) * | 2014-08-26 | 2015-01-21 | 温州大学 | A kind of Tui Zhuan mechanism automatically |
| CN104310037A (en) * | 2014-10-30 | 2015-01-28 | 芜湖杰诺科技有限公司 | Transposition conveying device of tightness testing, clamping and unloading machine |
| CN105397394A (en) * | 2015-12-02 | 2016-03-16 | 山东豪迈重工有限公司 | U-type self-centering slewing device adopting clamping bars |
| CN106272426A (en) * | 2016-09-12 | 2017-01-04 | 佛山市南海区广工大数控装备协同创新研究院 | Solar battery sheet series welding anterior optic location and angle sensing device and detection method |
| CN108161913A (en) * | 2017-12-31 | 2018-06-15 | 柳州福能机器人开发有限公司 | A kind of intelligent mobile transfer robot and its method of work |
| CN108582061A (en) * | 2018-06-12 | 2018-09-28 | 深圳格兰达智能装备股份有限公司 | a kind of automatic clamping device |
| CN109759815A (en) * | 2019-02-22 | 2019-05-17 | 惠州市华阳多媒体电子有限公司 | A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms |
| CN208923070U (en) * | 2018-09-14 | 2019-05-31 | 沪东重机有限公司 | It is a kind of can automatic deviation correction silicon wafer series welding feeding device |
| CN209121716U (en) * | 2017-12-26 | 2019-07-19 | 天津城建大学 | Multilayer independence rotating platform |
| CN210270626U (en) * | 2019-09-27 | 2020-04-07 | 贵阳铝镁设计研究院有限公司 | Electromechanical system for accurately identifying carbon anode position and automatically positioning and clamping carbon anode |
-
2019
- 2019-09-27 CN CN201910924147.2A patent/CN110568864A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK123985D0 (en) * | 1984-03-20 | 1985-03-19 | Preh Indausruestung Gmbh | DEVICE FOR POSITIONING BY X-Y COORDINATES |
| CN103801889A (en) * | 2014-03-04 | 2014-05-21 | 唐山开元机器人***有限公司 | Alignment clamp with top opening and 360-degree rotation function |
| CN203884273U (en) * | 2014-06-10 | 2014-10-22 | 南宁市合辰科技有限公司 | Moving guide rail device of hedgerow pruning machine |
| CN204110803U (en) * | 2014-08-26 | 2015-01-21 | 温州大学 | A kind of Tui Zhuan mechanism automatically |
| CN104310037A (en) * | 2014-10-30 | 2015-01-28 | 芜湖杰诺科技有限公司 | Transposition conveying device of tightness testing, clamping and unloading machine |
| CN105397394A (en) * | 2015-12-02 | 2016-03-16 | 山东豪迈重工有限公司 | U-type self-centering slewing device adopting clamping bars |
| CN106272426A (en) * | 2016-09-12 | 2017-01-04 | 佛山市南海区广工大数控装备协同创新研究院 | Solar battery sheet series welding anterior optic location and angle sensing device and detection method |
| CN209121716U (en) * | 2017-12-26 | 2019-07-19 | 天津城建大学 | Multilayer independence rotating platform |
| CN108161913A (en) * | 2017-12-31 | 2018-06-15 | 柳州福能机器人开发有限公司 | A kind of intelligent mobile transfer robot and its method of work |
| CN108582061A (en) * | 2018-06-12 | 2018-09-28 | 深圳格兰达智能装备股份有限公司 | a kind of automatic clamping device |
| CN208923070U (en) * | 2018-09-14 | 2019-05-31 | 沪东重机有限公司 | It is a kind of can automatic deviation correction silicon wafer series welding feeding device |
| CN109759815A (en) * | 2019-02-22 | 2019-05-17 | 惠州市华阳多媒体电子有限公司 | A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms |
| CN210270626U (en) * | 2019-09-27 | 2020-04-07 | 贵阳铝镁设计研究院有限公司 | Electromechanical system for accurately identifying carbon anode position and automatically positioning and clamping carbon anode |
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