CN104803334A - Automatic cover opening and closing device - Google Patents
Automatic cover opening and closing device Download PDFInfo
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- CN104803334A CN104803334A CN201510190524.6A CN201510190524A CN104803334A CN 104803334 A CN104803334 A CN 104803334A CN 201510190524 A CN201510190524 A CN 201510190524A CN 104803334 A CN104803334 A CN 104803334A
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- connecting panel
- robot
- jaw
- pneumatic
- displacement sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic cover opening and closing device. The device comprises an intelligent robot, a cover opening and closing executing mechanism and a cover opening and closing control cabinet, wherein the cover opening and closing executing mechanism comprises a robot connecting plate, a first leveling mechanism, a second leveling mechanism, a visual identity guide mechanism and a cover opening and closing actuating mechanism; the intelligent robot comprises a multi-degree-of-freedom robot, a robot motion controller and a demonstrator; the first leveling mechanism comprises a double-displacement-sensor connecting plate, a first displacement sensor and a second displacement sensor; the second leveling mechanism comprises a single-displacement-sensor connecting plate and a third displacement sensor; the visual identity guide mechanism comprises a camera connecting plate, a light source connecting plate, a camera and a light source; the cover opening and closing actuating mechanism comprises a first pneumatic three-jaw part, a second pneumatic three-jaw part, a first servo motor, a second servo motor, a pneumatic push rod and a pneumatic two-jaw part. The automatic cover opening and closing device disclosed by the invention is high in automation degree and high in practicability and has the advantages of improving the work efficiency, lowering the production cost and reducing the harms caused to a human body by repeated work of a worker.
Description
Technical field
The invention belongs to technical field of automation equipment, be specifically related to a kind of automatic open-close lid arrangement.
Background technology
At present, at plating, cleaning automatic production line, after the part being plated and cleaning all is placed in special cylinder or frame basket, the then gangway door cover plate of closed drum or frame basket, electroplate or open after having cleaned door cover plate and take out part, this operation is still by manually completing.Operating personal always carries out the action of long-time repeatability, work in harmful plating factory building for a long time, have very large murder by poisoning and the plating high relative to degree of automation and cleaning product line to health, work efficiency is relatively low, and it is higher that every bar line is equipped with full-time staff's cost.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned deficiency of the prior art, a kind of automatic open-close lid arrangement is provided, its compact conformation, degree of automation is high, simple to operate, improves work efficiency, reduce productive costs, can reduce workman's duplication of labour and the harm to health, practical, application value is high.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of automatic open-close lid arrangement, it is characterized in that: comprise intelligent robot, folding lid actuating unit and folding lid control housing, described folding lid actuating unit comprises robot connecting panel and is connected to the first levelling gear, the second levelling gear, visual identification guide and the folding lid actuating mechanism on robot connecting panel;
Described intelligent robot comprises multi-freedom robot, be connected with multi-freedom robot and for the Robot Motion Controller controlled the motion of multi-freedom robot and the teaching machine be connected with Robot Motion Controller, described intelligent robot is provided with gas passage, and described robot connecting panel is connected to the end of multi-freedom robot;
Described first levelling gear comprises dibit displacement sensor connecting panel and the first displacement pickup of being connected on dibit displacement sensor connecting panel and second displacement sensor, described second levelling gear comprises unit displacement sensor connecting panel and is connected to the triple motion sensor on unit displacement sensor connecting panel, and described dibit displacement sensor connecting panel and unit displacement sensor connecting panel symmetry are connected to the top, the left and right sides of robot connecting panel;
The light source connecting panel that described visual identification guide comprises pick up camera connecting panel and is connected with pick up camera connecting panel, described pick up camera connecting panel is connected with pick up camera, described light source connecting panel is connected with light source, and described pick up camera connecting panel is connected on robot connecting panel and the position be connected near dibit displacement sensor connecting panel;
Described folding lid actuating mechanism comprises and to be symmetricly set on bottom robot connecting panel and the first pneumatic three-jaw for capturing door cover plate and the second pneumatic three-jaw, described robot connecting panel top is provided with the first servomotor for driving the first pneumatic three-jaw to rotate and the second servomotor for driving the second pneumatic three-jaw to rotate, position near the first pneumatic three-jaw bottom described robot connecting panel is provided with air-leg, and described air-leg end is connected with pneumatic two pawls for parallel motion door cover plate; Described first pneumatic three-jaw is connected with described gas passage with the first electromagnetic valve be arranged on the first tracheae by the first tracheae, described second pneumatic three-jaw is connected with described gas passage with the second electromagnetic valve be arranged on the second tracheae by the second tracheae, and described air-leg is connected with described gas passage with the 3rd electromagnetic valve be arranged on the 3rd tracheae by the 3rd tracheae;
The touch screen monitor being provided with folding lid controller, I/O module in described folding lid control housing and connecting with I/O module, described folding lid controller is all connected with Robot Motion Controller with I/O module, described first displacement pickup, second displacement sensor and triple motion sensor all connect with the input end of folding lid controller, and described pick up camera and light source all connect with the input end of I/O module; Described first electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve all connect with the mouth of folding lid controller, the mouth of described folding lid controller is also connected to the first motor servo driver and the second motor servo driver, described first servomotor connects with the mouth of the first motor servo driver, and described second servomotor connects with the mouth of the second motor servo driver.
Above-mentioned a kind of automatic open-close lid arrangement, is characterized in that: described multi-freedom robot is six-DOF robot.
Above-mentioned a kind of automatic open-close lid arrangement, it is characterized in that: described robot connecting panel bottom symmetrical is connected with the first connecting plate for electric motor and the second connecting plate for electric motor, the output shaft of described first servomotor passes robot connecting panel and is rotatably connected on the first connecting plate for electric motor by the clutch shaft bearing be arranged on the first connecting plate for electric motor, the bottom of described first connecting plate for electric motor is provided with the first three-jaw connecting panel be fixedly connected with the output shaft of the first servomotor, and described first pneumatic three-jaw is fixedly connected on the first three-jaw connecting panel; The output shaft of described second servomotor passes robot connecting panel and is rotatably connected on the second connecting plate for electric motor by the second bearing be arranged on the second connecting plate for electric motor, the bottom of described second connecting plate for electric motor is provided with the second three-jaw connecting panel be fixedly connected with the output shaft of the second servomotor, and described second pneumatic three-jaw is fixedly connected on the second three-jaw connecting panel.
Above-mentioned a kind of automatic open-close lid arrangement, is characterized in that: described first pneumatic three-jaw is connected with the first lengthening three-jaw, and described second pneumatic three-jaw is connected with the second lengthening three-jaw.
Above-mentioned a kind of automatic open-close lid arrangement, is characterized in that: the top of described robot connecting panel is fixedly connected with solenoid valve seat, and described first electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve are installed on solenoid valve seat.
Above-mentioned a kind of automatic open-close lid arrangement, is characterized in that: the position near the first pneumatic three-jaw bottom described robot connecting panel is fixedly connected with push rod mount pad, and described air-leg is arranged on push rod mount pad.
Above-mentioned a kind of automatic open-close lid arrangement, it is characterized in that: described push rod mount pad comprises the first push rod adapter plate for being fixedly connected with robot connecting panel and the second push rod adapter plate for being fixedly connected with air-leg, and for being fixedly connected with the 3rd push rod adapter plate of the first push rod adapter plate and the second push rod adapter plate.
Above-mentioned a kind of automatic open-close lid arrangement, is characterized in that: described pneumatic two pawls are connected with lengthening two pawl.
Above-mentioned a kind of automatic open-close lid arrangement, is characterized in that: described folding lid controller is PLC module.
The present invention compared with prior art has the following advantages:
The multiple technologies such as Robotics, vision guide technology and servo-drive are merged by 1, compact conformation of the present invention, rationally novel in design.
2, degree of automation of the present invention is high, simple to operate, operating personal can be avoided to work in harmful plating factory building for a long time and cause murder by poisoning to health, and can increase work efficiency, shorten the work-hours of workman, reduce productive costs.
3, the present invention's cooperatively interacting by the first levelling gear, the second levelling gear and visual identification vectoring aircraft, folding lid actuating mechanism can be realized dock with the reliable of door cover plate, can ensure that folding lid operation is normally carried out, and the folding of different operating mode door cover plate can be met.
4, of the present inventionly to promote the use of, a people can be realized and nurse multimachine guard type mode of operation, hommization working environment is provided, special trade production line automation degree can be improved, can reduce workman's duplication of labour and the harm to health, practical, application value is high.
In sum, compact conformation of the present invention, degree of automation is high, simple to operate, improves work efficiency, reduces productive costs, and can reduce workman's duplication of labour and the harm to health, practical, application value is high.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention.
Fig. 2 is the block diagram of folding lid actuating unit of the present invention.
Fig. 3 is the front view of folding lid actuating unit of the present invention.
Fig. 4 is the present invention first levelling gear, the second levelling gear and the visual identification guide installation position schematic diagram on robot connecting panel.
Fig. 5 is the structural representation of the present invention first levelling gear.
Fig. 6 is the structural representation of the present invention second levelling gear.
Fig. 7 is the structural representation of visual identification guide of the present invention.
Fig. 8 is the structural representation of push rod mount pad of the present invention.
Fig. 9 is the circuit connection diagram of folding lid controller of the present invention and other each parts.
Description of reference numerals:
1-multi-freedom robot; 2-Robot Motion Controller; 3-teaching machine;
4-robot connecting panel; 5-the first levelling gear;
5-1-dibit displacement sensor connecting panel; 5-2-the first displacement pickup;
5-3-second displacement sensor; 6-the second levelling gear;
6-1-unit displacement sensor connecting panel; 6-2-the triple motion sensor;
7-visual identification guide; 7-1-pick up camera connecting panel; 7-2-light source connecting panel;
7-3-pick up camera; 7-4-light source; 8-the first pneumatic three-jaw;
9-the second pneumatic three-jaw; 10-the first servomotor; 11-the second servomotor;
12-air-leg; 13-pneumatic two pawls; 14-the first electromagnetic valve;
15-the second electromagnetic valve; 16-the three electromagnetic valve; 17-the first connecting plate for electric motor;
18-the second connecting plate for electric motor; 19-the first three-jaw connecting panel; 20-the second three-jaw connecting panel;
21-solenoid valve seat; 22-push rod mount pad; 22-1-the first push rod adapter plate;
22-2-the second push rod adapter plate; 22-3-the 3rd push rod adapter plate;
23-folding lid controller; 24-touch screen monitor;
25-the first motor servo driver; 26-the second motor servo driver;
27-I/O module; 28-folding lid actuating unit; 29-folding lid control housing;
30-the first lengthens three-jaw; 31-the second lengthens three-jaw; 32-lengthen two pawls.
Detailed description of the invention
As shown in Figure 1 to 4, the present invention includes intelligent robot, folding lid actuating unit 28 and folding lid control housing 29, described folding lid actuating unit 28 comprises robot connecting panel 4 and is connected to the first levelling gear 5, second levelling gear 6, visual identification guide 7 and the folding lid actuating mechanism on robot connecting panel 4.
As shown in Figure 1, described intelligent robot comprises multi-freedom robot 1, be connected with multi-freedom robot 1 and for the Robot Motion Controller 2 controlled the motion of multi-freedom robot 1 and the teaching machine 3 be connected with Robot Motion Controller 2, described intelligent robot is provided with gas passage, and described robot connecting panel 4 is connected to the end of multi-freedom robot 1.
As shown in Figure 5, described first levelling gear 5 comprises dibit displacement sensor connecting panel 5-1 and the first displacement pickup 5-2 of being connected on dibit displacement sensor connecting panel 5-1 and second displacement sensor 5-3, as shown in Figure 6, described second levelling gear 6 comprises unit displacement sensor connecting panel 6-1 and is connected to the triple motion sensor 6-2 on unit displacement sensor connecting panel 6-1, as shown in Figure 4, described dibit displacement sensor connecting panel 5-1 and unit displacement sensor connecting panel 6-1 symmetry is connected to the top, the left and right sides of robot connecting panel 4; During concrete enforcement, described dibit displacement sensor connecting panel 5-1 and unit displacement sensor connecting panel 6-1 all adopts stainless steel materials to make.
As shown in Figure 7, the light source connecting panel 7-2 that described visual identification guide 7 comprises pick up camera connecting panel 7-1 and is connected with pick up camera connecting panel 7-1, described pick up camera connecting panel 7-1 is connected with pick up camera 7-3, described light source connecting panel 7-2 is connected with light source 7-4, as shown in Figure 4, described pick up camera connecting panel 7-1 is connected on robot the connecting panel 4 and position be connected near dibit displacement sensor connecting panel 5-1.
As shown in Figures 2 and 3, described folding lid actuating mechanism comprises and to be symmetricly set on bottom robot connecting panel 4 and the first pneumatic three-jaw 8 and the second pneumatic three-jaw 9 for capturing door cover plate, described robot connecting panel 4 top is provided with the first servomotor 10 for driving the first pneumatic three-jaw 8 to rotate and the second servomotor 11 for driving the second pneumatic three-jaw 9 to rotate, position near the first pneumatic three-jaw 8 bottom described robot connecting panel 4 is provided with air-leg 12, and described air-leg 12 end is connected with pneumatic two pawls 13 for parallel motion door cover plate; Described first pneumatic three-jaw 8 is connected with described gas passage with the first electromagnetic valve 14 be arranged on the first tracheae by the first tracheae, described second pneumatic three-jaw 9 is connected with described gas passage with the second electromagnetic valve 15 be arranged on the second tracheae by the second tracheae, and described air-leg 12 is connected with described gas passage with the 3rd electromagnetic valve 16 be arranged on the 3rd tracheae by the 3rd tracheae; During concrete enforcement, described gas passage has passed into the low-pressure gas that pressure is 0.3MPa ~ 0.6MPa.
As shown in Figure 9, the touch screen monitor 24 being provided with folding lid controller 23, I/O module 27 in described folding lid control housing 29 and connecting with I/O module 27, described folding lid controller 23 is all connected with Robot Motion Controller 2 with I/O module 27, described first displacement pickup 5-2, second displacement sensor 5-3 and triple motion sensor 6-2 all connect with the input end of folding lid controller 23, and described pick up camera 7-3 and light source 7-4 all connects with the input end of I/O module 27; Described first electromagnetic valve 14, second electromagnetic valve 15 and the 3rd electromagnetic valve 16 all connect with the mouth of folding lid controller 23, the mouth of described folding lid controller 23 is also connected to the first motor servo driver 25 and the second motor servo driver 26, described first servomotor 10 connects with the mouth of the first motor servo driver 25, and described second servomotor 11 connects with the mouth of the second motor servo driver 26.
As shown in Figure 1, in the present embodiment, described multi-freedom robot 1 is six-DOF robot.During concrete enforcement, adopt supporting six-DOF robot, Robot Motion Controller 2 and the teaching machine 3 of outsourcing.
As shown in Figures 2 and 3, in the present embodiment, described robot connecting panel 4 bottom symmetrical is connected with the first connecting plate for electric motor 17 and the second connecting plate for electric motor 18, the output shaft of described first servomotor 10 passes robot connecting panel 4 and is rotatably connected on the first connecting plate for electric motor 17 by the clutch shaft bearing be arranged on the first connecting plate for electric motor 17, the bottom of described first connecting plate for electric motor 17 is provided with the first three-jaw connecting panel 19 be fixedly connected with the output shaft of the first servomotor 10, and described first pneumatic three-jaw 8 is fixedly connected on the first three-jaw connecting panel 19; The output shaft of described second servomotor 11 passes robot connecting panel 4 and is rotatably connected on the second connecting plate for electric motor 18 by the second bearing be arranged on the second connecting plate for electric motor 18, the bottom of described second connecting plate for electric motor 18 is provided with the second three-jaw connecting panel 20 be fixedly connected with the output shaft of the second servomotor 11, and described second pneumatic three-jaw 9 is fixedly connected on the second three-jaw connecting panel 20.
As shown in Figures 2 and 3, in the present embodiment, described first pneumatic three-jaw 8 is connected with the first lengthening three-jaw 30, described second pneumatic three-jaw 9 is connected with the second lengthening three-jaw 31.
As shown in Figures 2 and 3, in the present embodiment, the top of described robot connecting panel 4 is fixedly connected with solenoid valve seat 21, and described first electromagnetic valve 14, second electromagnetic valve 15 and the 3rd electromagnetic valve 16 are installed on solenoid valve seat 21.
As shown in Figures 2 and 3, in the present embodiment, the position near the first pneumatic three-jaw 8 bottom described robot connecting panel 4 is fixedly connected with push rod mount pad 22, and described air-leg 12 is arranged on push rod mount pad 22.
As shown in Figure 8, in the present embodiment, described push rod mount pad 22 comprises the first push rod adapter plate 22-1 for being fixedly connected with robot connecting panel 4 and the second push rod adapter plate 22-2 for being fixedly connected with air-leg 12, and for being fixedly connected with the 3rd push rod adapter plate 22-3 of the first push rod adapter plate 22-1 and the second push rod adapter plate 22-2.During concrete enforcement, described first push rod adapter plate 22-1 and the second push rod adapter plate 22-2 adopts spiral shell dress and spot welding connection mode, and described second push rod adapter plate 22-2 and the 3rd push rod adapter plate 22-3 adopts spiral shell dress and spot welding connection mode, ensure that bulk strength; Described first push rod adapter plate 22-1, the second push rod adapter plate 22-2 and the 3rd push rod adapter plate 22-3 all adopt stainless steel materials to make.
As shown in Figures 2 and 3, in the present embodiment, described pneumatic two pawls 13 are connected with lengthening two pawl 32.
In the present embodiment, described folding lid controller 23 is PLC module.
The working process of automatic lid closing/opening of the present invention is as follows: when uncapping, first, intelligent robot drives folding lid actuating unit 28 near door cover plate action, the displacement signal of the folding lid actuating unit 28 that folding lid controller 23 detects according to the first displacement pickup 5-2 in the first levelling gear 5 and second displacement sensor 5-3, and second displacement signal of folding lid actuating unit 28 that detect of triple motion sensor 6-2 in levelling gear 6, analyzing and processing obtains the relative pose of folding lid actuating unit 28 and door cover plate, and be transferred to Robot Motion Controller 2, Robot Motion Controller 2 controls the action of intelligent robot again, split closing lid actuating unit 28 and carry out leveling with the relative pose of door cover plate, pacing factor is provided for follow-up visual identification guide 7 guides rear enforcement folding lid actuating mechanism reliably to capture door cover plate, then, the image of pick up camera 7-3 to door cover plate in visual identification guide 7 is taken and is transferred to touch screen monitor 24 by I/O module 27 and show, simultaneously, pick up camera 7-3 carries out analyzing and processing to the door cover plate image that it photographs, obtain the relative position relation of door cover plate and default gauge target, and this relative position relation is transferred to Robot Motion Controller 2, Robot Motion Controller 2 differentiation obtains corresponding guidance mode, and the action of intelligent robot is controlled, intelligent robot drives folding lid actuating unit 28 accurately to move to the door cover plate place that will open, finally, folding lid controller 23 first controls the first electromagnetic valve 14 and the second electromagnetic valve 15 is opened, first pneumatic three-jaw 8 and the second pneumatic three-jaw 9 action, the first lengthening three-jaw 30 and the second lengthening three-jaw 31 is driven to capture door cover plate, folding lid controller 23 controls the first servomotor 10 again and the second servomotor 11 starts, first servomotor 10 drives the first pneumatic three-jaw 8 and the first lengthening three-jaw 30 to rotate, second servomotor 11 drives the second pneumatic three-jaw 9 and the second lengthening three-jaw 31 to rotate, door cover plate achieves unblock under the first pneumatic three-jaw 8 and first lengthen three-jaw 30 and the second pneumatic three-jaw 9 and second lengthens the combined action of three-jaw 31, folding lid controller 23 controls the 3rd electromagnetic valve 16 again and opens, air-leg 12 drives pneumatic two pawls 13 and lengthens two pawls 32 and promotes door cover plate parallel motion, uncap.
The working process of automatic cover closing of the present invention comprises crawl door cover plate and closing lid two operations: when capturing door cover plate, first, the image of pick up camera 7-3 to door cover plate in visual identification guide 7 is taken and is transferred to touch screen monitor 24 by I/O module 27 and show, simultaneously, pick up camera 7-3 carries out analyzing and processing to the door cover plate image that it photographs, obtain the relative position relation of door cover plate and default gauge target, and this relative position relation is transferred to Robot Motion Controller 2, Robot Motion Controller 2 differentiation obtains corresponding guidance mode, and the action of intelligent robot is controlled, intelligent robot drives folding lid actuating unit 28 accurately to move to door cover plate place to be crawled, then, folding lid controller 23 first controls the first electromagnetic valve 14 and the second electromagnetic valve 15 is opened, the first pneumatic three-jaw 8 and the second pneumatic three-jaw 9 action, drives the first lengthening three-jaw 30 and the second lengthening three-jaw 31 to capture door cover plate.In crawl after door cover plate, carry out closing lid operation: first, the action of Robot Motion Controller 2 pairs of intelligent robots controls, and intelligent robot drives folding lid actuating unit 28 and door cover plate accurately to move to above the window of wanted closing lid, then, the displacement signal of the folding lid actuating unit 28 that folding lid controller 23 detects according to the first displacement pickup 5-2 in the first levelling gear 5 and second displacement sensor 5-3, and second displacement signal of folding lid actuating unit 28 that detect of triple motion sensor 6-2 in levelling gear 6, analyzing and processing obtains folding lid actuating unit 28 and the relative pose of window wanting closing lid, and be transferred to Robot Motion Controller 2, Robot Motion Controller 2 controls the action of intelligent robot again, split closing lid actuating unit 28 and want the relative pose of the window of closing lid to carry out leveling, for follow-up visual identification guide 7 guides the reliable closing lid of rear enforcement folding lid actuating mechanism to provide pacing factor, then, the image of pick up camera 7-3 to the window wanting closing lid in visual identification guide 7 is taken and is transferred to touch screen monitor 24 by I/O module 27 and show, simultaneously, pick up camera 7-3 carries out analyzing and processing to the video in window of closing lid of wanting that it photographs, obtain wanting the window of closing lid and the relative position relation of default gauge target, and this relative position relation is transferred to Robot Motion Controller 2, Robot Motion Controller 2 differentiation obtains corresponding guidance mode, and the action of intelligent robot is controlled, intelligent robot drives folding lid actuating unit 28 and door cover plate accurately to move to the window place wanting closing lid, finally, folding lid controller 23 first controls the first electromagnetic valve 14 and the second electromagnetic valve 15 is opened, first pneumatic three-jaw 8 and the second pneumatic three-jaw 9 action, the first lengthening three-jaw 30 and the second lengthening three-jaw 31 is driven to unclamp door cover plate, being placed on by door cover plate wants on the window of closing lid, folding lid controller 23 controls the 3rd electromagnetic valve 16 again and opens, air-leg 12 drives pneumatic two pawls 13 and lengthens two pawls 32 and promotes door cover plate parallel motion, carry out closing lid, folding lid controller 23 controls the first servomotor 10 again and the second servomotor 11 starts, first servomotor 10 drives the first pneumatic three-jaw 8 and the first lengthening three-jaw 30 to rotate, second servomotor 11 drives the second pneumatic three-jaw 9 and the second lengthening three-jaw 31 to rotate, door cover plate achieves locking under the first pneumatic three-jaw 8 and first lengthen three-jaw 30 and the second pneumatic three-jaw 9 and second lengthens the combined action of three-jaw 31.
The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every above embodiment is done according to the technology of the present invention essence any simple modification, change and equivalent structure change, all still belong in the protection domain of technical solution of the present invention.
Claims (9)
1. an automatic open-close lid arrangement, it is characterized in that: comprise intelligent robot, folding lid actuating unit (28) and folding lid control housing (29), described folding lid actuating unit (28) comprises robot connecting panel (4) and is connected to the first levelling gear (5), the second levelling gear (6), visual identification guide (7) and the folding lid actuating mechanism on robot connecting panel (4);
Described intelligent robot comprises multi-freedom robot (1), be connected with multi-freedom robot (1) and for the Robot Motion Controller (2) controlled the motion of multi-freedom robot (1) and the teaching machine (3) be connected with Robot Motion Controller (2), described intelligent robot is provided with gas passage, and described robot connecting panel (4) is connected to the end of multi-freedom robot (1);
Described first levelling gear (5) comprises dibit displacement sensor connecting panel (5-1) and the first displacement pickup (5-2) of being connected on dibit displacement sensor connecting panel (5-1) and second displacement sensor (5-3), the triple motion sensor (6-2) that described second levelling gear (6) comprises unit displacement sensor connecting panel (6-1) and is connected in unit displacement sensor connecting panel (6-1), described dibit displacement sensor connecting panel (5-1) and unit displacement sensor connecting panel (6-1) symmetry are connected to the top, the left and right sides of robot connecting panel (4),
The light source connecting panel (7-2) that described visual identification guide (7) comprises pick up camera connecting panel (7-1) and is connected with pick up camera connecting panel (7-1), described pick up camera connecting panel (7-1) is connected with pick up camera (7-3), described light source connecting panel (7-2) is connected with light source (7-4), and described pick up camera connecting panel (7-1) is connected on robot connecting panel (4) and the position be connected near dibit displacement sensor connecting panel (5-1);
Described folding lid actuating mechanism comprises and is symmetricly set on robot connecting panel (4) bottom and the first pneumatic three-jaw (8) for capturing door cover plate and the second pneumatic three-jaw (9), described robot connecting panel (4) top is provided with the first servomotor (10) for driving the first pneumatic three-jaw (8) to rotate and the second servomotor (11) for driving the second pneumatic three-jaw (9) to rotate, described robot connecting panel (4) bottom is provided with air-leg (12) near the position of the first pneumatic three-jaw (8), described air-leg (12) end is connected with pneumatic two pawls (13) for parallel motion door cover plate, described first pneumatic three-jaw (8) is connected with described gas passage with the first electromagnetic valve (14) be arranged on the first tracheae by the first tracheae, described second pneumatic three-jaw (9) is connected with described gas passage with the second electromagnetic valve (15) be arranged on the second tracheae by the second tracheae, and described air-leg (12) is connected with described gas passage with the 3rd electromagnetic valve (16) be arranged on the 3rd tracheae by the 3rd tracheae,
Folding lid controller (23) is provided with in described folding lid control housing (29), I/O module (27) and the touch screen monitor (24) connected with I/O module (27), described folding lid controller (23) is all connected with Robot Motion Controller (2) with I/O module (27), described first displacement pickup (5-2), second displacement sensor (5-3) and triple motion sensor (6-2) all connect with the input end of folding lid controller (23), described pick up camera (7-3) and light source (7-4) all connect with the input end of I/O module (27), described first electromagnetic valve (14), the second electromagnetic valve (15) and the 3rd electromagnetic valve (16) all connect with the mouth of folding lid controller (23), the mouth of described folding lid controller (23) is also connected to the first motor servo driver (25) and the second motor servo driver (26), described first servomotor (10) connects with the mouth of the first motor servo driver (25), and described second servomotor (11) connects with the mouth of the second motor servo driver (26).
2. according to a kind of automatic open-close lid arrangement according to claim 1, it is characterized in that: described multi-freedom robot (1) is six-DOF robot.
3. according to a kind of automatic open-close lid arrangement according to claim 1, it is characterized in that: described robot connecting panel (4) bottom symmetrical is connected with the first connecting plate for electric motor (17) and the second connecting plate for electric motor (18), the output shaft of described first servomotor (10) passes robot connecting panel (4) and is rotatably connected on the first connecting plate for electric motor (17) by the clutch shaft bearing be arranged on the first connecting plate for electric motor (17), the bottom of described first connecting plate for electric motor (17) is provided with the first three-jaw connecting panel (19) be fixedly connected with the output shaft of the first servomotor (10), described first pneumatic three-jaw (8) is fixedly connected on the first three-jaw connecting panel (19), the output shaft of described second servomotor (11) passes robot connecting panel (4) and is rotatably connected on the second connecting plate for electric motor (18) by the second bearing be arranged on the second connecting plate for electric motor (18), the bottom of described second connecting plate for electric motor (18) is provided with the second three-jaw connecting panel (20) be fixedly connected with the output shaft of the second servomotor (11), and described second pneumatic three-jaw (9) is fixedly connected on the second three-jaw connecting panel (20).
4. according to a kind of automatic open-close lid arrangement described in claim 1 or 3, it is characterized in that: described first pneumatic three-jaw (8) is connected with the first lengthening three-jaw (30), described second pneumatic three-jaw (9) is connected with the second lengthening three-jaw (31).
5. according to a kind of automatic open-close lid arrangement according to claim 1, it is characterized in that: the top of described robot connecting panel (4) is fixedly connected with solenoid valve seat (21), described first electromagnetic valve (14), the second electromagnetic valve (15) and the 3rd electromagnetic valve (16) are installed on solenoid valve seat (21).
6. according to a kind of automatic open-close lid arrangement according to claim 1, it is characterized in that: described robot connecting panel (4) bottom is fixedly connected with push rod mount pad (22) near the position of the first pneumatic three-jaw (8), and described air-leg (12) is arranged on push rod mount pad (22).
7. according to a kind of automatic open-close lid arrangement according to claim 6, it is characterized in that: described push rod mount pad (22) comprises the first push rod adapter plate (22-1) for being fixedly connected with robot connecting panel (4) and the second push rod adapter plate (22-2) for being fixedly connected with air-leg (12), and for being fixedly connected with the 3rd push rod adapter plate (22-3) of the first push rod adapter plate (22-1) and the second push rod adapter plate (22-2).
8. according to a kind of automatic open-close lid arrangement described in claim 1,6 or 7, it is characterized in that: described pneumatic two pawls (13) are connected with lengthening two pawl (32).
9. according to a kind of automatic open-close lid arrangement according to claim 1, it is characterized in that: described folding lid controller (23) is PLC module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510190524.6A CN104803334B (en) | 2015-04-21 | 2015-04-21 | Automatic cover opening and closing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510190524.6A CN104803334B (en) | 2015-04-21 | 2015-04-21 | Automatic cover opening and closing device |
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| Publication Number | Publication Date |
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| CN104803334A true CN104803334A (en) | 2015-07-29 |
| CN104803334B CN104803334B (en) | 2017-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510190524.6A Expired - Fee Related CN104803334B (en) | 2015-04-21 | 2015-04-21 | Automatic cover opening and closing device |
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| CN109799771A (en) * | 2018-12-29 | 2019-05-24 | 深圳市越疆科技有限公司 | A kind of control system of industrial robot, method and device |
| CN110654597A (en) * | 2019-09-29 | 2020-01-07 | 珠海格力智能装备有限公司 | Feeding equipment and electric rice cooker packaging production line |
| CN112158370A (en) * | 2020-09-28 | 2021-01-01 | 西安工程大学 | Clean wine jar closing cap device |
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| CN104803334B (en) | 2017-02-01 |
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