CN216582610U - Automatic grabbing and carrying mechanism for workpiece cover plate - Google Patents
Automatic grabbing and carrying mechanism for workpiece cover plate Download PDFInfo
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- CN216582610U CN216582610U CN202123103058.3U CN202123103058U CN216582610U CN 216582610 U CN216582610 U CN 216582610U CN 202123103058 U CN202123103058 U CN 202123103058U CN 216582610 U CN216582610 U CN 216582610U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 51
- 210000001624 hip Anatomy 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 10
- 230000000007 visual effect Effects 0.000 description 10
- 238000013075 data extraction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
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Abstract
The utility model provides an automatic grabbing and carrying mechanism for a workpiece cover plate, belongs to the technical field of automatic grabbing equipment, and is used for solving the technical problems that the existing grabbing and carrying mechanism for the workpiece cover plate is low in efficiency and difficult to guarantee safety. The industrial camera is fixed on the grabbing mechanism, a workpiece cover plate is placed on the workbench, the grabbing and carrying mechanism comprises a vertical cylinder, an upper connecting plate, a middle connecting plate, a lower connecting plate, a small connecting rod, a movable gripper and a rib plate, the vertical cylinder is fixedly connected with the upper connecting plate, a piston is arranged at the lower part of the vertical cylinder, the piston connecting plate is connected onto the piston, the lower connecting plate is fixedly connected with the piston connecting plate through the middle connecting plate, and the movable gripper is respectively connected with the upper connecting plate and the lower connecting plate through a U-shaped connecting piece and the small connecting rod. The automatic grabbing and carrying mechanism can realize accurate positioning of the workpiece cover plate, can efficiently complete grabbing and carrying tasks of the workpiece cover plate, and has high grabbing quality.
Description
Technical Field
The utility model belongs to the technical field of automatic grabbing equipment, and relates to an automatic grabbing and carrying mechanism for a workpiece cover plate.
Background
As is well known, the current manufacturing industry is more and more inclined to the robot for the creation of unmanned and automated production environment, but in most production workshops, workers are still required to repeatedly carry the component cover plate, especially for the carrying of large-sized workpieces, the existing carrying schemes are mainly divided into two types: firstly, the overhead travelling crane is used for hoisting, and the placement accuracy of parts is low due to the fact that a cable shakes in the hoisting process; secondly, manual carrying is achieved, but multiple persons are needed to complete the carrying, carrying efficiency is low, safety cannot be guaranteed by the aid of the two schemes, and safety accidents in the carrying process are easily caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems in the prior art, and provides an automatic grabbing and conveying mechanism for a workpiece cover plate, which aims to solve the technical problems that: how to realize the automatic transport of snatching of work piece apron, improve production efficiency.
The purpose of the utility model can be realized by the following technical scheme:
an automatic grabbing and carrying mechanism for a workpiece cover plate comprises a mechanical arm, a grabbing mechanism, an industrial camera, a workbench and the workpiece cover plate, wherein the grabbing and carrying mechanism is mounted at the tail end of the mechanical arm through a flange base and is detachable from the end part of the mechanical arm; the grabbing and carrying mechanism comprises a base, a vertical cylinder, a piston connecting plate, an upper connecting plate, a middle connecting plate, a lower connecting plate, a small connecting rod, a movable gripper, a camera support and a rib plate, wherein the vertical cylinder is connected with a flange base through the base, the upper connecting plate is fixedly connected with the vertical cylinder through a bolt, the piston connecting plate is connected onto the piston, the lower connecting plate is fixedly connected with the piston connecting plate through the middle connecting plate, and the movable gripper is connected with the upper connecting plate and the lower connecting plate through a U-shaped connecting piece and the small connecting rod through bolts.
The working principle of the utility model is as follows: firstly, after the CCD camera collects image information, data extraction and processing are carried out on the image, the obtained image coordinate is transmitted to a visual controller and an expected image characteristic for difference operation, an error is transmitted to the visual controller as the image characteristic, and finally the image coordinate is transmitted to a motion controller, the motion controller adopts a certain control algorithm to enable a robot arm to carry out accurate positioning and operation, firstly, a grabbing and carrying mechanism is moved right above a workpiece cover plate, an industrial camera continues to position, a mechanical arm is close to the workpiece cover plate until a ribbed plate below a lower connecting plate touches the upper surface of the workpiece cover plate, the tail end of a movable gripper also reaches two sides of the workpiece cover plate, a vertical cylinder gives vent to air to enable a piston to drive the connecting plate to move upwards, the lower connecting plate also starts to move upwards, the movable gripper is tightened, the workpiece cover plate is clamped into a movable gripper, and grabbing is completed, and then, according to the coordinates to be placed of the workpiece cover plate input into the robot controller, the mechanical arm is controlled to move, and the workpiece cover plate is integrally grabbed and carried.
The robot arm is a six-joint robot arm and is controlled by a servo motor, and a controller of the robot arm comprises a main power supply, a computer power supply unit, a computer control module, an input and output board, a user connection port, a demonstrator connector terminal interface, computer boards of all axes, a driving unit of a servo motor of each axis and the like; the six-joint mechanical arm is an industrial mechanical arm with multiple degrees of freedom, is accurate in positioning and convenient to operate and control, and is widely applied to intelligent production occasions.
The industrial camera is fixed on the camera support through a bolt, the camera support is fixed on the upper connecting plate through a bolt, the industrial camera can shoot a working position of the grabbing and carrying mechanism and a workpiece cover plate to be grabbed, the industrial camera adopts a CCD (charge coupled device) camera, after image information is collected, data can be extracted and processed from images, obtained image coordinates are transmitted to the visual controller to perform difference operation with expected image characteristics, the obtained image coordinates are transmitted to the visual controller as image characteristics, and finally transmitted to the motion controller, and the motion controller adopts a certain control algorithm, so that the robot arm can accurately position the workpiece cover plate on the workpiece and carry out grabbing and carrying operations.
The center of the upper connecting plate is provided with a hexagonal opening, and the piston is connected with the middle connecting plate through the hexagonal opening. The left side and the right side of the upper connecting plate are provided with U-shaped grooves which are fixedly connected with the U-shaped connecting pieces through bolts.
The side surface of the vertical cylinder is provided with two air ports which are respectively an air inlet and an air outlet, a piston of the vertical cylinder is connected with the piston connecting plate, and two telescopic rods of the vertical cylinder are connected with two corners of the piston connecting plate.
The piston connecting plate is S-shaped, the center of the piston connecting plate is connected with the piston, and the two sides of the piston connecting plate are connected with the vertical cylinder through the telescopic rods, so that positioning is realized.
By adopting the structure, when the air is discharged from the vertical cylinder, the piston moves upwards, and the telescopic rod drives the piston connecting plate to move upwards.
The left side and the right side of the lower connecting plate are provided with U-shaped grooves which are fixedly connected with the U-shaped connecting pieces through bolts, and the lower surface of the lower connecting plate is fixedly connected with rib plates through bolts and used for fixing a workpiece cover plate.
The movable grippers are four in number and distributed on the left side and the right side of the special area carrying mechanism, the heads of the movable grippers are connected with the small connecting rods through bolts, the waist portions of the movable grippers are connected with the upper connecting plate through U-shaped connecting pieces, and the tail ends of the movable grippers are provided with grooves for gripping the workpiece cover plates.
By adopting the structure, the piston connecting plate moves upwards, the middle connecting plate drives the lower connecting plate to move upwards, and the movable gripper is tightened, so that the workpiece cover plate is clamped into the groove of the movable gripper.
The workpiece cover plate is placed on the workpiece support on the workpiece table to wait for grabbing.
Compared with the prior art, this use automatic transport mechanism that snatchs of work piece apron of arm has following advantage:
1. the mechanical arm is controlled through visual feedback of the industrial camera to drive the grabbing and carrying mechanism to automatically complete grabbing and carrying work of the workpiece cover plate, the grabbing and carrying mechanism adopts a vertical cylinder to control the accurate distance, a lower connecting plate can be tightly propped in place, meanwhile, the workpiece cover plate is not guaranteed to be jacked to sink, the movable gripper is controlled by a horizontal cylinder to grab the workpiece cover plate, and clamping is stable.
2. The workpiece cover plate grabbing and carrying device has the advantages that accurate positioning of the workpiece cover plate can be achieved, grabbing and carrying tasks of the workpiece cover plate can be efficiently completed, grabbing quality is high, manual participation is not needed in the operation process, the problem that manual grabbing and carrying operation efficiency is low and unsafe is solved, grabbing and carrying work can be rapidly and efficiently completed, production efficiency is improved, and production cost is reduced.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic three-dimensional structure of the gripping and conveying mechanism of the present invention.
Fig. 3 is an exploded view of the gripping and handling mechanism of the present invention.
Fig. 4 is a top view of the connecting plate of the gripping and conveying mechanism of the present invention.
Fig. 5 is a plan view of the connecting plate in the gripping and conveying mechanism of the present invention.
Fig. 6 is a plan view of the lower connecting plate of the gripping and conveying mechanism of the present invention.
Fig. 7 is a schematic view of the construction of the work cover plate of the present invention.
In the figure: 1-mechanical arm, 2-grabbing and carrying mechanism, 201-flange base, 202-base, 203-vertical cylinder, 204-upper connecting plate, 205-piston, 206-piston connecting plate, 207-middle connecting plate, 208-lower connecting plate, 209-small connecting rod, 210-movable gripper, 211-U-shaped connecting piece, 212-ribbed plate, 3-industrial camera, 301-camera support, 4-workpiece cover plate, 5-workpiece support and 6-workpiece table.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "top," "bottom," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the patent and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Referring to fig. 1-7, the present embodiment provides an automatic grabbing and carrying mechanism for a workpiece cover plate, including a robot arm 1, a grabbing and carrying mechanism 2, an industrial camera 3, a workpiece cover plate 4, a workpiece support 5, and a workbench 6, wherein the grabbing and carrying mechanism 2 is mounted at the end of the robot arm 1 through a flange base 201, and is detachable from the end of the robot arm 1, the industrial camera 3 is fixed on a camera support 301 of the grabbing and carrying mechanism 2 through bolts, and the workpiece cover plate 4 is placed on the workpiece support 5 above the workbench 6; the grabbing and carrying mechanism comprises a base 202, a vertical cylinder 203, an upper connecting plate 204, a piston 205, a piston connecting plate 206, a middle connecting plate 207, a lower connecting plate 208, a small connecting rod 209, a movable gripper 210, a U-shaped connecting piece 211, a rib plate 212 and a camera support 301, wherein the vertical cylinder 203 is connected with the flange base 201 through the base 202, the upper connecting plate 204 is fixedly connected with the vertical cylinder 203 through bolts, the piston connecting plate 206 is connected onto the piston 205, the lower connecting plate 208 is fixedly connected with the piston connecting plate 206 through the middle connecting plate 207, and the movable gripper 210 is connected with the upper connecting plate 204 and the lower connecting plate 208 through the U-shaped connecting piece 211 and the small connecting rod 209 through bolts. Firstly, after the CCD camera collects image information, data extraction and processing are carried out on the image, the obtained image coordinates are transmitted to a vision controller to carry out difference operation with expected image characteristics, the obtained image coordinates are transmitted to the vision controller by taking errors as the image characteristics, and finally transmitted to a motion controller, and the motion controller adopts a certain control algorithm to enable the robot arm 1 to carry out accurate positioning and operation. Firstly, the grabbing and carrying mechanism 2 is moved to be right above a workpiece cover plate 4, the industrial camera 3 is continuously positioned, the mechanical arm 1 is close to the workpiece cover plate until a rib plate 212 below the lower connecting plate 208 touches the upper surface of the workpiece cover plate 4, the tail end of the movable gripper 210 also reaches two sides of the workpiece cover plate 4, the vertical cylinder 203 gives air out, the piston 205 drives the middle connecting plate 207 to move upwards, the lower connecting plate 208 also starts to move upwards, the movable gripper 210 is tightened, the workpiece cover plate 4 is clamped into a groove of the movable gripper 210 to complete grabbing, then the mechanical arm 1 is controlled to move according to the to-be-placed coordinates of the workpiece cover plate 4 input into the robot controller, and grabbing and carrying of the workpiece cover plate 4 are integrally realized.
The mechanical arm 1 is a six-joint mechanical arm and is controlled by a servo motor, a controller of the mechanical arm comprises a main power supply, a computer power supply unit, a computer control module, an input and output board, a user connection port, a demonstrator wiring terminal interface, each shaft computer board and a driving unit of each shaft servo motor, the six-joint mechanical arm is a multi-freedom-degree industrial mechanical arm, is accurate in positioning and convenient to control, and is widely applied to intelligent production occasions.
The industrial camera 3 is fixed on the camera support 301 through bolts, the camera support 301 is fixed on the upper connecting plate 204 through bolts, the industrial camera 3 can shoot a working position of the grabbing and carrying mechanism 2 and a workpiece cover plate 4 to be grabbed, the industrial camera 3 adopts a CCD camera, after image information is collected, data extraction and processing can be carried out on an image, obtained image coordinates are transmitted to a visual controller and expected image characteristics for difference operation, the obtained image coordinates are transmitted to the visual controller as image characteristics, and finally transmitted to a motion controller, and the motion controller adopts a certain control algorithm, so that the robot arm 1 can accurately position the workpiece cover plate 4 on the workpiece support 5 and carries out grabbing and carrying operations.
The upper connecting plate 204 is provided with a hexagonal opening at the center, and the piston 205 is connected with the piston connecting plate 206 through the hexagonal opening. The left side and the right side of the upper connecting plate 204 are provided with U-shaped grooves which are fixedly connected with the U-shaped connecting piece 211 through bolts.
The side surface of the vertical cylinder 203 is provided with two air ports which are respectively an air inlet and an air outlet, a piston 205 of the vertical cylinder 203 is connected with a piston connecting plate 206, and two telescopic rods of the vertical cylinder 203 are connected with two corners of the piston connecting plate 206.
The piston connecting plate 206 is S-shaped, the center of the piston connecting plate is connected with the piston 205, and the two sides of the piston connecting plate are connected with the vertical cylinder 203 through telescopic rods, so that positioning is realized.
The left side and the right side of the lower connecting plate 208 are provided with U-shaped grooves which are fixedly connected with the U-shaped connecting piece 211 through bolts, and the lower surface of the lower connecting plate 208 is fixedly connected with the ribbed plate 212 through bolts and used for fixing the workpiece cover plate 4.
The movable grippers 210 are four in number and distributed on the left side and the right side of the grabbing and carrying mechanism 2, the heads of the movable grippers 210 are connected with the small connecting rods 209 through bolts, the waist parts of the movable grippers 210 are connected with the upper connecting plate 204 through U-shaped connecting pieces 211, and grooves are formed in the tail ends of the movable grippers 210 and used for grabbing the workpiece cover plates 4.
The workpiece cover plate 4 is placed on the workpiece support 5 on the worktable 6 to wait for grasping.
The working principle of the utility model is as follows:
when the workpiece cover plate 4 placed on the workbench 6 is grabbed and transported, firstly, after image information is collected by a CCD camera, data extraction and processing are carried out on the image, the obtained image coordinate is transmitted to a visual controller and an expected image characteristic for difference operation, an error is transmitted to the visual controller as an image characteristic, and finally transmitted to a motion controller, the motion controller adopts a certain control algorithm to enable a machine arm 1 to carry out accurate positioning and operation so that a grabbing and transporting mechanism 2 moves right above the workpiece cover plate 4, an industrial camera 3 continues to be positioned, the mechanical arm 1 is close to the workpiece cover plate 4 until a ribbed plate 212 below a lower connecting plate 208 touches the upper surface of the workpiece cover plate 4, the tail end of a movable gripper 210 also reaches two sides of the workpiece cover plate 4, a vertical cylinder 203 gives air to enable a piston 205 to drive a middle connecting plate 207 to move upwards, and the lower connecting plate 208 also starts to move upwards, the movable hand grips 210 are tightened to clamp the workpiece cover plate 4 into the grooves of the movable hand grips 210, so that gripping is completed, and then the mechanical arm 1 is controlled to move according to the coordinates to be placed of the workpiece cover plate 4 input into the robot controller, so that the workpiece cover plate 4 is gripped and conveyed integrally.
In conclusion, the mechanical arm 1 is controlled through visual feedback of the industrial camera to drive the grabbing and carrying mechanism to automatically complete grabbing and carrying work of the workpiece cover plate 4, the grabbing and carrying mechanism 2 adopts the vertical cylinder 203 to control the accurate distance, so that the rib plate 212 can be tightly propped in place, meanwhile, the workpiece cover plate 4 is not propped, the movable gripper 210 is controlled by the vertical cylinder 203 to grab the workpiece cover plate 4, and clamping is stable; the utility model can realize the accurate positioning of the workpiece cover plate 4, can efficiently complete the grabbing and carrying tasks of the workpiece cover plate 4, has high grabbing quality, does not need manual participation in the operation process, and avoids the problems of low efficiency and unsafety of manual grabbing and carrying operation, thereby rapidly and efficiently completing the grabbing and carrying work, improving the production efficiency and reducing the production cost.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (10)
1. An automatic grabbing and carrying mechanism for a workpiece cover plate comprises a mechanical arm (1), a grabbing and carrying mechanism (2), an industrial camera (3), a workpiece cover plate (4), a workpiece support (5) and a workbench (6), and is characterized in that the grabbing and carrying mechanism (2) is mounted at the tail end of the mechanical arm (1) through a flange base (201) and is detachable from the end of the mechanical arm (1), the industrial camera (3) is fixed on a camera support (301) of the grabbing and carrying mechanism (2) through bolts, and the workpiece cover plate (4) is placed on the workpiece support (5) above the workbench (6); the grabbing and carrying mechanism comprises a base (202), a vertical cylinder (203), an upper connecting plate (204), a piston (205), a piston connecting plate (206), a middle connecting plate (207), a lower connecting plate (208), a small connecting rod (209), a movable gripper (210), a U-shaped connecting piece (211), a rib plate (212) and a camera support (301), wherein the vertical cylinder (203) is connected with a flange base (201) through the base (202), the upper connecting plate (204) is fixedly connected with the vertical cylinder (203) through a bolt, the piston connecting plate (206) is connected onto the piston (205), the lower connecting plate (208) is fixedly connected with the piston connecting plate (206) through the middle connecting plate (207), and the movable gripper (210) is connected with the upper connecting plate (204) through the U-shaped connecting piece (211), the small connecting rod (209) and the lower connecting plate (208) through bolts.
2. The automatic grabbing and conveying mechanism for the workpiece cover plate is characterized in that the mechanical arm (1) is a six-joint mechanical arm and is controlled by a servo motor, and a controller of the automatic grabbing and conveying mechanism comprises a main power supply, a computer power supply unit, a computer control module, an input and output board, a user connection port, a demonstrator terminal interface, an axis computer board and a driving unit of the servo motor of each axis.
3. The automated workpiece cover plate grabbing and carrying mechanism as claimed in claim 1, wherein the industrial camera (3) is fixed on the camera bracket (301) through bolts, and the camera bracket (301) is fixed on the upper connecting plate (204) through bolts.
4. The automatic grabbing and conveying mechanism for the workpiece cover plates as claimed in claim 1, wherein a hexagonal opening is formed in the center of the upper connecting plate (204), the piston (205) is connected with the piston connecting plate (206) through the hexagonal opening, and U-shaped grooves are formed in the left side and the right side of the upper connecting plate (204) and fixedly connected with the U-shaped connecting piece (211) through bolts.
5. The automatic grabbing and carrying mechanism for the workpiece cover plates as claimed in claim 1, wherein the piston connecting plate (206) is S-shaped, the center of the piston connecting plate is connected with the piston (205), and the two sides of the piston connecting plate are connected with the vertical cylinder (203) through telescopic rods to realize positioning.
6. The automatic grabbing and carrying mechanism for the workpiece cover plates as claimed in claim 1, wherein the left and right sides of the lower connecting plate (208) are provided with U-shaped grooves which are fixedly connected with the U-shaped connecting piece (211) through bolts, and the lower surface of the lower connecting plate (208) is fixedly connected with the rib plate (212) through bolts for fixing the workpiece cover plates (4).
7. The automatic workpiece cover plate grabbing and conveying mechanism according to claim 1, wherein the number of the movable grippers (210) is four, the movable grippers are distributed on the left side and the right side of the grabbing and conveying mechanism (2), the heads of the movable grippers (210) are connected with the small connecting rods (209) through bolts, the waists of the movable grippers (210) are connected with the upper connecting plate (204) through U-shaped connecting pieces (211), and grooves are formed in the tail ends of the movable grippers (210) and used for grabbing the workpiece cover plates (4).
8. The automated grasping and carrying mechanism for the workpiece cover plate according to claim 1, wherein the upper and lower surfaces of the middle connecting plate (207) are circular, and the middle rod is cylindrical.
9. The automated workpiece cover gripping and handling mechanism according to claim 1, wherein the work bench (6) is provided with a workpiece support (5), and the workpiece cover (4) is waiting to be gripped on the workpiece support (5).
10. The automated workpiece cover plate grabbing and carrying mechanism as claimed in claim 1, wherein the vertical cylinder (203) has air inlet and air outlet on its side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123103058.3U CN216582610U (en) | 2021-12-08 | 2021-12-08 | Automatic grabbing and carrying mechanism for workpiece cover plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123103058.3U CN216582610U (en) | 2021-12-08 | 2021-12-08 | Automatic grabbing and carrying mechanism for workpiece cover plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216582610U true CN216582610U (en) | 2022-05-24 |
Family
ID=81610745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123103058.3U Expired - Fee Related CN216582610U (en) | 2021-12-08 | 2021-12-08 | Automatic grabbing and carrying mechanism for workpiece cover plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216582610U (en) |
-
2021
- 2021-12-08 CN CN202123103058.3U patent/CN216582610U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220524 |