CN104803334B - Automatic cover opening and closing device - Google Patents
Automatic cover opening and closing device Download PDFInfo
- Publication number
- CN104803334B CN104803334B CN201510190524.6A CN201510190524A CN104803334B CN 104803334 B CN104803334 B CN 104803334B CN 201510190524 A CN201510190524 A CN 201510190524A CN 104803334 B CN104803334 B CN 104803334B
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- connecting plate
- robot
- jaw
- pneumatic
- push rod
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Classifications
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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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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 is and in particular to a kind of automatic open-close lid arrangement.
Background technology
At present, in plating, cleaning automatic production line, the part being plated and cleaning is placed in special cylinder or frame
After basket, it is then shut off the gateway door cover plate of cylinder or frame basket, open door cover plate after the completion of plating or cleaning and take out part, this work
Sequence is still by being accomplished manually.Operator are always by the action of repeatability for a long time, for a long time in harmful plating Factory Building
Work, has very big murder by poisoning and the plating with respect to high degree of automation and cleaning product line, work efficiency is relatively to body
Low, every line outfit full-time staff is relatively costly.
Content of the invention
The technical problem to be solved is, for above-mentioned deficiency of the prior art, to provide a kind of automatic open-close
Lid arrangement, its compact conformation, high degree of automation, simple to operate, improve work efficiency, reduce production cost, can subtract
Few workman's duplication of labour and the harm to body, practical, application value is high.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of automatic open-close lid arrangement, and its feature exists
In: include intelligent robot, folding lid actuator and folding lid switch board, described folding lid actuator includes robot even
Fishplate bar and the first levelling gear being connected on robot connecting plate, the second levelling gear, visual identity guiding mechanism and open
Closing lid actuating mechanism；
Described intelligent robot is included multi-freedom robot and is connected with multi-freedom robot and for multiple degrees of freedom
Robot Motion Controller and the demonstrator being connected with Robot Motion Controller that the motion of robot is controlled, described intelligence
Gas passage can be provided with, described robot connecting plate is connected to the end of multi-freedom robot in robot；
Described first levelling gear includes dibit displacement sensor connecting plate and is connected on dibit displacement sensor connecting plate
The first displacement transducer and second displacement sensor, described second levelling gear includes unit displacement sensor connecting plate and connection
Triple motion sensor on unit displacement sensor connecting plate, described dibit displacement sensor connecting plate and unit displacement sensor are even
Fishplate bar is symmetrically connected to the left and right sides top of robot connecting plate；
Described visual identity guiding mechanism includes video camera connecting plate and the light source connecting plate being connected with video camera connecting plate,
It is connected with video camera on described video camera connecting plate, described light source connecting plate is connected with light source, described video camera connecting plate is even
It is connected on robot connecting plate and is connected close at the position of dibit displacement sensor connecting plate；
Described folding lid actuating mechanism includes being symmetricly set on robot connecting plate bottom and for capturing door cover plate the
One pneumatic three-jaw and the second pneumatic three-jaw, described robot connecting plate top is provided with for driving the first pneumatic three-jaw rotation
First servomotor and the second servomotor for driving the second pneumatic three-jaw rotation, described robot connecting plate bottom is close
It is provided with air-leg, described air-leg end is connected with for moving horizontally door cover plate at the position of the first pneumatic three-jaw
Pneumatic two pawls；Described first pneumatic three-jaw passes through the first trachea and the first electromagnetic valve being arranged on the first trachea and described gas
Passage connects, and described second pneumatic three-jaw passes through the second trachea and the second electromagnetic valve being arranged on the second trachea and described gas
Passage connects, and described air-leg passes through the 3rd trachea and the 3rd electromagnetic valve being arranged on the 3rd trachea and described gas passage
Connect；
It is provided with folding lid controller, i/o module and the touch screen prison connecting with i/o module in described folding lid switch board
Visual organ, described folding lid controller and i/o module are all connected with Robot Motion Controller, described first displacement transducer,
Two displacement transducers and triple motion sensor are all connected with the input of folding lid controller, described video camera and light source all with
The input of i/o module connects；Described first electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve are all defeated with folding lid controller
Go out end to connect, the outfan of described folding lid controller is further connected with the first motor servo driver and the second servomotor drives
Device, described first servomotor is connected with the outfan of the first motor servo driver, and described second servomotor is watched with second
The outfan taking motor driver connects.
A kind of above-mentioned automatic open-close lid arrangement it is characterised in that: described multi-freedom robot be six degree of freedom machine
People.
A kind of above-mentioned automatic open-close lid arrangement it is characterised in that: described robot connecting plate bottom symmetrical is connected with
One connecting plate for electric motor and the second connecting plate for electric motor, the output shaft of described first servomotor passes through robot connecting plate and by peace
The clutch shaft bearing being contained on the first connecting plate for electric motor is rotatably connected on the first connecting plate for electric motor, described first connecting plate for electric motor
Bottom is provided with the first three-jaw connecting plate being fixedly connected with the output shaft of the first servomotor, and described first pneumatic three-jaw is fixed
It is connected on the first three-jaw connecting plate；The output shaft of described second servomotor passes through robot connecting plate and by being arranged on the
Second bearing on two connecting plate for electric motor is rotatably connected on the second connecting plate for electric motor, and the bottom of described second connecting plate for electric motor sets
It is equipped with the second three-jaw connecting plate being fixedly connected with the output shaft of the second servomotor, described second pneumatic three-jaw is fixedly connected on
On second three-jaw connecting plate.
A kind of above-mentioned automatic open-close lid arrangement it is characterised in that: be connected with the first lengthening on described first pneumatic three-jaw
Three-jaw, described second pneumatic three-jaw is connected with the second lengthening three-jaw.
A kind of above-mentioned automatic open-close lid arrangement it is characterised in that: the top of described robot connecting plate is fixedly connected with
Solenoid valve seat, described first electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve are installed on solenoid valve seat.
A kind of above-mentioned automatic open-close lid arrangement it is characterised in that: described robot connecting plate bottom is pneumatic near first
It is fixedly connected with push rod mounting seat, described air-leg is arranged in push rod mounting seat at the position of three-jaw.
A kind of above-mentioned automatic open-close lid arrangement it is characterised in that: described push rod mounting seat is included for robot even
The first push rod installing plate that fishplate bar is fixedly connected and the second push rod installing plate for being fixedly connected with air-leg, and be used for
It is fixedly connected the first push rod installing plate and the 3rd push rod installing plate of the second push rod installing plate.
A kind of above-mentioned automatic open-close lid arrangement it is characterised in that: be connected with described pneumatic two pawls lengthening two pawls.
A kind of above-mentioned automatic open-close lid arrangement it is characterised in that: described folding lid controller be plc module.
The present invention compared with prior art has the advantage that
1st, the compact conformation of the present invention, the multiple technologies such as roboticses, vision guide technology and servo-drive are carried out
Merge, novel in design rationally.
2nd, the high degree of automation of the present invention, simple to operate, it can be avoided that operator are for a long time in harmful Electroplate Factory
In room, work causes to body to poison, and can improve work efficiency, shortens the working time of workman, reduces production cost.
3rd, the present invention passes through cooperating of the first levelling gear, the second levelling gear and visual identity vectoring aircraft, can
Realize folding lid actuating mechanism to dock with the reliability of door cover plate, ensure that folding lid operation is normally carried out, and disclosure satisfy that not
Folding with operating mode door cover plate.
4th, the promoting the use of of the present invention, is capable of people's nurse multimachine guard's type mode of operation, provides hommization to work
Environment, it is possible to increase special trade production line automation degree, can reduce workman's duplication of labour and the harm to body, practical
Property strong, application value is high.
In sum, present configuration is compact, high degree of automation, simple to operate, improves work efficiency, reduces life
Produce cost, workman's duplication of labour and the harm to body can be reduced, practical, application value is high.
Below by drawings and Examples, technical scheme is described in further detail.
Brief description
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the axonometric chart of folding lid actuator of the present invention.
Fig. 3 is the front view of folding lid actuator of the present invention.
Fig. 4 is the present invention first levelling gear, the second levelling gear and visual identity guiding mechanism in robot connecting plate
On installation position schematic diagram.
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 identity guiding mechanism of the present invention.
Fig. 8 is the structural representation of push rod mounting seat 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 Controllers；3 demonstrators；
4 robot connecting plates；5 first levelling gears；
5-1 dibit displacement sensor connecting plate；5-2 first displacement transducer；
5-3 second displacement sensor；6 second levelling gears；
6-1 unit displacement sensor connecting plate；6-2 triple motion sensor；
7 visual identity guiding mechanisms；7-1 video camera connecting plate；7-2 light source connecting plate；
7-3 video camera；7-4 light source；8 first pneumatic three-jaws；
9 second pneumatic three-jaws；10 first servomotors；11 second servomotors；
12 air-legs；13 pneumatic two pawls；14 first electromagnetic valves；
15 second electromagnetic valves；16 the 3rd electromagnetic valves；17 first connecting plate for electric motor；
18 second connecting plate for electric motor；19 first three-jaw connecting plates；20 second three-jaw connecting plates；
21 solenoid valve seats；22 push rod mounting seats；22-1 the first push rod installing plate；
22-2 the second push rod installing plate；22-3 the 3rd push rod installing plate；
23 folding lid controllers；24 touch screen monitor；
25 first motor servo drivers；26 second motor servo drivers；
27 i/o modules；28 folding lid actuators；29 folding lid switch boards；
30 first lengthening three-jaws；31 second lengthening three-jaws；32 lengthening two pawls.
Specific embodiment
As shown in Figure 1 to 4, the present invention includes intelligent robot, folding lid actuator 28 and folding lid switch board 29,
Described folding lid actuator 28 includes robot connecting plate 4 and is connected to the first levelling gear on robot connecting plate 4
5th, the second levelling gear 6, visual identity guiding mechanism 7 and folding lid actuating mechanism.
As shown in figure 1, described intelligent robot includes multi-freedom robot 1 and being connected with multi-freedom robot 1 and uses
The Robot Motion Controller 2 that is controlled in the motion to multi-freedom robot 1 and with Robot Motion Controller 2 even
The demonstrator 3 connecing, described intelligent robot is provided with gas passage, and described robot connecting plate 4 is connected to multiple degrees of freedom machine
The end of device people 1.
As shown in figure 5, described first levelling gear 5 includes dibit displacement sensor connecting plate 5-1 and is connected to dibit shifting
The first displacement transducer 5-2 on sensor connecting plate 5-1 and second displacement sensor 5-3, as shown in fig. 6, described second tune
Flattening mechanism 6 includes unit displacement sensor connecting plate 6-1 and the triple motion sensing being connected on unit displacement sensor connecting plate 6-1
Device 6-2, as shown in figure 4, described dibit displacement sensor connecting plate 5-1 and unit displacement sensor connecting plate 6-1 is symmetrically connected to machine
The left and right sides top of device people's connecting plate 4；When being embodied as, described dibit displacement sensor connecting plate 5-1 and unit displacement sensor
Connecting plate 6-1 is all made using stainless steel materials.
As shown in fig. 7, described visual identity guiding mechanism 7 include video camera connecting plate 7-1 and with video camera connecting plate 7-1
The light source connecting plate 7-2 connecting, described video camera connecting plate 7-1 is connected with video camera 7-3, on described light source connecting plate 7-2
It is connected with light source 7-4, as shown in figure 4, described video camera connecting plate 7-1 is connected on robot connecting plate 4 and is connected close to
At the position of dibit displacement sensor connecting plate 5-1.
As shown in Figures 2 and 3, described folding lid actuating mechanism includes being symmetricly set on robot connecting plate 4 bottom and use
In the first pneumatic three-jaw 8 and the second pneumatic three-jaw 9 of crawl door cover plate, described robot connecting plate 4 top is provided with for carrying
First servomotor 10 of dynamic first pneumatic three-jaw 8 rotation and the second servomotor for driving the second pneumatic three-jaw 9 rotation
11, described robot connecting plate 4 bottom is provided with air-leg 12 at the position of the first pneumatic three-jaw 8, described pneumatic pushes away
Bar 12 end is connected with pneumatic two pawls 13 for moving horizontally door cover plate；Described first pneumatic three-jaw 8 pass through the first trachea and
The first electromagnetic valve 14 being arranged on the first trachea is connected with described gas passage, and described second pneumatic three-jaw 9 passes through the second gas
Pipe and the second electromagnetic valve 15 being arranged on the second trachea are connected with described gas passage, and described air-leg 12 passes through the 3rd gas
Pipe and the 3rd electromagnetic valve 16 being arranged on the 3rd trachea are connected with described gas passage；When being embodied as, described gas passage
It has been passed through the low-pressure gas that pressure is 0.3mpa～0.6mpa.
As shown in figure 9, be provided with described folding lid switch board 29 folding lid controller 23, i/o module 27 and with i/o mould
The touch screen monitor 24 that block 27 connects, described folding lid controller 23 and i/o module 27 all with Robot Motion Controller 2
Connect, described first displacement transducer 5-2, second displacement sensor 5-3 and triple motion sensor 6-2 are all controlled with folding lid
The input of device 23 connects, and described video camera 7-3 and light source 7-4 are all connected with the input of i/o module 27；Described first electromagnetism
Valve 14, the second electromagnetic valve 15 and the 3rd electromagnetic valve 16 are all connected with the outfan of folding lid controller 23, and described folding lid controls
The outfan of device 23 is further connected with the first motor servo driver 25 and the second motor servo driver 26, described first servomotor
10 are connected with the outfan of the first motor servo driver 25, described second servomotor 11 and the second motor servo driver 26
Outfan connect.
As shown in figure 1, in the present embodiment, described multi-freedom robot 1 is six-DOF robot.When being embodied as,
Using the supporting six-DOF robot of outsourcing, Robot Motion Controller 2 and demonstrator 3.
As shown in Figures 2 and 3, in the present embodiment, described robot connecting plate 4 bottom symmetrical is connected with the first motor connection
Plate 17 and the second connecting plate for electric motor 18, the output shaft of described first servomotor 10 passes through robot connecting plate 4 and by installing
It is rotatably connected on the first connecting plate for electric motor 17 in the clutch shaft bearing on the first connecting plate for electric motor 17, described first connecting plate for electric motor
17 bottom is provided with the first three-jaw connecting plate 19 being fixedly connected with the output shaft of the first servomotor 10, and described first is pneumatic
Three-jaw 8 is fixedly connected on the first three-jaw connecting plate 19；The output shaft of described second servomotor 11 passes through robot connecting plate 4
And be rotatably connected on the second connecting plate for electric motor 18 by the second bearing being arranged on the second connecting plate for electric motor 18, described second
The bottom of connecting plate for electric motor 18 is provided with the second three-jaw connecting plate 20 being fixedly connected with the output shaft of the second servomotor 11, institute
State the second pneumatic three-jaw 9 to be fixedly connected on the second three-jaw connecting plate 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, institute
State and be connected with the second lengthening three-jaw 31 on the second pneumatic three-jaw 9.
As shown in Figures 2 and 3, in the present embodiment, the top of described robot connecting plate 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.
As shown in Figures 2 and 3, in the present embodiment, described robot connecting plate 4 bottom is near the position of the first pneumatic three-jaw 8
The place of putting is fixedly connected with push rod mounting seat 22, and described air-leg 12 is arranged in push rod mounting seat 22.
As shown in figure 8, in the present embodiment, described push rod mounting seat 22 is included for being fixedly connected with robot connecting plate 4
The first push rod installing plate 22-1 and for the second push rod installing plate 22-2 of being fixedly connected with air-leg 12, and for solid
Surely connect the first push rod installing plate 22-1 and the 3rd push rod installing plate 22-3 of the second push rod installing plate 22-2.When being embodied as,
Described first push rod installing plate 22-1 and the second push rod installing plate 22-2 adopts spiral shell dress and spot welding connected mode, described second push rod
Installing plate 22-2 and the 3rd push rod installing plate 22-3 adopts spiral shell dress and spot welding connected mode it is ensured that bulk strength；Described first
Push rod installing plate 22-1, the second push rod installing plate 22-2 and the 3rd push rod installing plate 22-3 are all made using stainless steel materials.
As shown in Figures 2 and 3, in the present embodiment, described pneumatic two pawls 13 are connected with lengthening two pawls 32.
In the present embodiment, described folding lid controller 23 is plc module.
The work process of automatic lid closing/opening of the present invention is as follows: when being uncapped, first, intelligent robot drives folding lid execution
Near door cover plate action, folding lid controller 23 is according to the first displacement transducer 5-2 and second in the first levelling gear 5 for mechanism 28
In the displacement signal of the folding lid actuator 28 that displacement transducer 5-3 detects, and the second levelling gear 6, triple motion passes
The displacement signal of the folding lid actuator 28 that sensor 6-2 detects, analyzing and processing obtains folding lid actuator 28 and door closure
The relative pose of plate, and it is transferred to Robot Motion Controller 2, Robot Motion Controller 2 action to intelligent robot again
It is controlled, leveling is carried out to the relative pose of folding lid actuator 28 and door cover plate, for follow-up visual identity guiding mechanism 7
Implement folding lid actuating mechanism after guiding and door cover plate offer primary condition is reliably provided；Then, in visual identity guiding mechanism 7
Video camera 7-3 is shot to the image of door cover plate and is passed through i/o module 27 and be transferred to touch screen monitor 24 to show, with
When, the door cover plate image that video camera 7-3 photographs to it is analyzed processing, and obtains door cover plate relative with default standard point
Position relationship, and this relative position relation is transferred to Robot Motion Controller 2, Robot Motion Controller 2 differentiation obtains
Corresponding guidance mode, and the action to intelligent robot is controlled, intelligent robot drives folding lid actuator 28
Accurately move at door cover plate to be opened；Finally, folding lid controller 23 first controls the first electromagnetic valve 14 and the second electromagnetism
Valve 15 is opened, the first pneumatic three-jaw 8 and the second pneumatic three-jaw 9 action, drives first to lengthen three-jaw 30 and the second lengthening three-jaw 31
Crawl door cover plate, folding lid controller 23 controls the first servomotor 10 and the second servomotor 11 to start again, the first servo electricity
Machine 10 drives the first pneumatic three-jaw 8 and the first lengthening three-jaw 30 to rotate, and the second servomotor 11 drives the second pneumatic three-jaw 9 and the
Two lengthening three-jaws 31 rotate, and door cover plate lengthens three-jaw 30 and the second pneumatic three-jaw 9 and second in the first pneumatic three-jaw 8 and first
Achieve unblock under the collective effect lengthening three-jaw 31, folding lid controller 23 controls the 3rd electromagnetic valve 16 to open again, pneumatic push away
Bar 12 drives pneumatic two pawls 13 and lengthening two pawl 32 to promote door cover plate to move horizontally, and is uncapped.
The work process of automatic cover closing of the present invention includes capturing door cover plate and two operations of closing lid: during crawl door cover plate, first
First, the video camera 7-3 in visual identity guiding mechanism 7 is shot to the image of door cover plate and is passed through i/o module 27 and is transferred to
Touch screen monitor 24 is shown, meanwhile, the door cover plate image that video camera 7-3 photographs to it is analyzed processing, and obtains
Door cover plate and the relative position relation of default standard point, and this relative position relation is transferred to Robot Motion Controller 2,
Robot Motion Controller 2 differentiation obtains corresponding guidance mode, and the action to intelligent robot is controlled, intelligent machine
Device people drives folding lid actuator 28 accurately to move at door cover plate to be crawled；Then, folding lid controller 23 is first controlled
Make the first electromagnetic valve 14 and the second electromagnetic valve 15 opened, the first pneumatic three-jaw 8 and the second pneumatic three-jaw 9 action, drive first plus
Long three-jaw 30 and second lengthens three-jaw 31 crawl door cover plate.After door cover plate in crawl, carry out closing lid operation: first, robot transports
Movement controller 2 is controlled to the action of intelligent robot, and intelligent robot drives folding lid actuator 28 and door cover plate accurate
Really move to above the window of wanted closing lid；Then, folding lid controller 23 is according to the first displacement sensing in the first levelling gear 5
The displacement signal of the folding lid actuator 28 that device 5-2 and second displacement sensor 5-3 detects, and the second levelling gear 6
In the displacement signal of folding lid actuator 28 that detects of triple motion sensor 6-2, analyzing and processing obtains folding lid execution
The relative pose of mechanism 28 and the window wanting closing lid, and it is transferred to Robot Motion Controller 2, Robot Motion Controller 2 is again
Action to intelligent robot is controlled, and the relative pose of folding lid actuator 28 and the window wanting closing lid is adjusted
Flat, provide primary condition for implementing folding lid actuating mechanism reliability closing lid after the guiding of follow-up visual identity guiding mechanism 7；Then,
Video camera 7-3 in visual identity guiding mechanism 7 is shot to the image of the window wanting closing lid and is passed through i/o module 27 and transmitted
Shown to touch screen monitor 24, meanwhile, what video camera 7-3 photographed to it wants the video in window of closing lid to be analyzed locating
Reason, obtains the relative position relation with default standard point for the window wanting closing lid, and this relative position relation is transferred to machine
People's motion controller 2, Robot Motion Controller 2 differentiation obtains corresponding guidance mode, and the action to intelligent robot
It is controlled, intelligent robot drives folding lid actuator 28 and door cover plate accurately to move to and want at the window of closing lid；Finally,
Folding lid controller 23 first controls the first electromagnetic valve 14 and the second electromagnetic valve 15 to open, the first pneumatic three-jaw 8 and second pneumatic three
Pawl 9 action, drives the first lengthening three-jaw 30 and the second lengthening three-jaw 31 to unclamp door cover plate, door cover plate has been placed on and has wanted closing lid
On window, folding lid controller 23 controls the 3rd electromagnetic valve 16 to open again, and air-leg 12 drives pneumatic two pawls 13 and lengthens two
Pawl 32 promotes door cover plate to move horizontally, and carries out closing lid, folding lid controller 23 controls the first servomotor 10 and the second servo again
Motor 11 starts, and the first servomotor 10 drives the first pneumatic three-jaw 8 and the first lengthening three-jaw 30 to rotate, the second servomotor 11
Drive the second pneumatic three-jaw 9 and the second lengthening three-jaw 31 to rotate, door cover plate the first pneumatic three-jaw 8 and first lengthen three-jaw 30 with
And second pneumatic three-jaw 9 and the second lengthening three-jaw 31 collective effect under achieve locking.
The above, be only presently preferred embodiments of the present invention, not the present invention imposed any restrictions, every according to the present invention
Any simple modification, change and equivalent structure change that technical spirit is made to above example, all still fall within skill of the present invention
In the protection domain of art scheme.
Claims (9)
1. a kind of automatic open-close lid arrangement, including intelligent robot, folding lid actuator (28) and folding lid switch board (29),
Described intelligent robot is included multi-freedom robot (1) and is connected with multi-freedom robot (1) and for multiple degrees of freedom machine
Robot Motion Controller (2) and the demonstrator being connected with Robot Motion Controller (2) that the motion of device people (1) is controlled
(3)；It is characterized in that: described folding lid actuator (28) includes robot connecting plate (4) and is connected to robot connection
The first levelling gear (5) on plate (4), the second levelling gear (6), visual identity guiding mechanism (7) and folding lid actuating mechanism；
It is provided with gas passage, described robot connecting plate (4) is connected to multi-freedom robot (1) on described intelligent robot
End；
Described first levelling gear (5) includes dibit displacement sensor connecting plate (5-1) and is connected to the connection of dibit displacement sensor
The first displacement transducer (5-2) on plate (5-1) and second displacement sensor (5-3), described second levelling gear (6) includes single
Displacement transducer connecting plate (6-1) and the triple motion sensor (6-2) being connected in unit displacement sensor connecting plate (6-1),
Described dibit displacement sensor connecting plate (5-1) and unit displacement sensor connecting plate (6-1) are symmetrically connected to robot connecting plate (4)
Left and right sides top；
Described visual identity guiding mechanism (7) includes video camera connecting plate (7-1) and the light being connected with video camera connecting plate (7-1)
Source connecting plate (7-2), described video camera connecting plate (7-1) is connected with video camera (7-3), on described light source connecting plate (7-2)
It is connected with light source (7-4), described video camera connecting plate (7-1) is connected to robot connecting plate (4) above and is connected close to dibit
At the position of displacement sensor connecting plate (5-1)；
Described folding lid actuating mechanism includes being symmetricly set on robot connecting plate (4) bottom and for capturing the first of door cover plate
Pneumatic three-jaw (8) and the second pneumatic three-jaw (9), described robot connecting plate (4) top is provided with for driving first pneumatic three
The first servomotor (10) and the second servomotor (11) for driving the second pneumatic three-jaw (9) to rotate that pawl (8) rotates, institute
State robot connecting plate (4) bottom and be provided with air-leg (12) at the position of the first pneumatic three-jaw (8), described pneumatic push away
Bar (12) end is connected with pneumatic two pawls (13) for moving horizontally door cover plate；Described first pneumatic three-jaw (8) passes through first
Trachea and the first electromagnetic valve (14) being arranged on the first trachea are connected with described gas passage, described second pneumatic three-jaw (9)
It is connected with described gas passage with the second electromagnetic valve (15) being arranged on the second trachea by the second trachea, described air-leg
(12) pass through the 3rd trachea to be connected with described gas passage with the 3rd electromagnetic valve (16) being arranged on the 3rd trachea；
Be provided with described folding lid switch board (29) folding lid controller (23), i/o module (27) and with i/o module (27) phase
The touch screen monitor (24) connecing, described folding lid controller (23) and i/o module (27) all with Robot Motion Controller (2)
Connect, described first displacement transducer (5-2), second displacement sensor (5-3) and triple motion sensor (6-2) be equal and folding
The input of lid controller (23) connects, described video camera (7-3) and light source (7-4) the input phase all with i/o module (27)
Connect；Described first electromagnetic valve (14), the second electromagnetic valve (15) and the 3rd electromagnetic valve (16) are all defeated with folding lid controller (23)
Go out end to connect, the outfan of described folding lid controller (23) is further connected with the first motor servo driver (25) and the second servo electricity
Machine driver (26), described first servomotor (10) is connected with the outfan of the first motor servo driver (25), and described
Two servomotors (11) are connected with the outfan of the second motor servo driver (26).
2. according to a kind of automatic open-close lid arrangement described in claim 1 it is characterised in that: described multi-freedom robot (1)
For six-DOF robot.
3. according to a kind of automatic open-close lid arrangement described in claim 1 it is characterised in that: described robot connecting plate (4) bottom
Portion is symmetrically connected with the first connecting plate for electric motor (17) and the second connecting plate for electric motor (18), the output of described first servomotor (10)
Axle passes through robot connecting plate (4) and is rotatably connected on first by the clutch shaft bearing being arranged on the first connecting plate for electric motor (17)
On connecting plate for electric motor (17), the bottom of described first connecting plate for electric motor (17) is provided with the output shaft with the first servomotor (10)
The first three-jaw connecting plate (19) being fixedly connected, described first pneumatic three-jaw (8) is fixedly connected on the first three-jaw connecting plate (19)
On；The output shaft of described second servomotor (11) passes through robot connecting plate (4) and by being arranged on the second connecting plate for electric motor
(18) second bearing on is rotatably connected on the second connecting plate for electric motor (18), and the bottom of described second connecting plate for electric motor (18) sets
It is equipped with the second three-jaw connecting plate (20) being fixedly connected with the output shaft of the second servomotor (11), described second pneumatic three-jaw
(9) it is fixedly connected on the second three-jaw connecting plate (20).
4. according to a kind of automatic open-close lid arrangement described in claim 1 or 3 it is characterised in that: described first pneumatic three-jaw (8)
On be 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 described in claim 1 it is characterised in that: described robot connecting plate (4)
Top is fixedly connected with solenoid valve seat (21), described first electromagnetic valve (14), the second electromagnetic valve (15) and the 3rd electromagnetic valve (16)
It is installed on solenoid valve seat (21).
6. according to a kind of automatic open-close lid arrangement described in claim 1 it is characterised in that: described robot connecting plate (4) bottom
Portion is fixedly connected with push rod mounting seat (22) at the position of the first pneumatic three-jaw (8), and described air-leg (12) is arranged on
In push rod mounting seat (22).
7. according to a kind of automatic open-close lid arrangement described in claim 6 it is characterised in that: described push rod mounting seat (22) includes
For the first push rod installing plate (22-1) of being fixedly connected with robot connecting plate (4) and for and air-leg (12) fixing even
The the second push rod installing plate (22-2) connecing, and be used for being fixedly connected the first push rod installing plate (22-1) and the second push rod installing plate
(22-2) the 3rd push rod installing plate (22-3).
8. according to a kind of automatic open-close lid arrangement described in claim 1,6 or 7 it is characterised in that: described pneumatic two pawls (13)
On be connected with lengthening two pawls (32).
9. according to a kind of automatic open-close lid arrangement described in claim 1 it is characterised 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510190524.6A CN104803334B (en) | 2015-04-21 | 2015-04-21 | Automatic cover opening and closing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104803334A CN104803334A (en) | 2015-07-29 |
| CN104803334B true CN104803334B (en) | 2017-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510190524.6A Expired - Fee Related CN104803334B (en) | 2015-04-21 | 2015-04-21 | Automatic cover opening and closing device |
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| Country | Link |
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| CN (1) | CN104803334B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053173A (en) * | 2016-12-29 | 2017-08-18 | 芜湖哈特机器人产业技术研究院有限公司 | The method of robot grasping system and grabbing workpiece |
| CN109799771B (en) * | 2018-12-29 | 2021-01-05 | 深圳市越疆科技有限公司 | Control system, method and device of industrial robot |
| CN110654597B (en) * | 2019-09-29 | 2021-12-10 | 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201291457Y (en) * | 2008-11-06 | 2009-08-19 | 苏州工业职业技术学院 | Mechanical arm for carrying |
| CN102410924A (en) * | 2011-08-08 | 2012-04-11 | 山东省科学院海洋仪器仪表研究所 | Door body hinge durability detection method and apparatus thereof |
| CN102608201A (en) * | 2012-04-04 | 2012-07-25 | 射阳县华通探伤设备有限公司 | Automatic positioning clamping mechanism for feeding and discharging materials in bell-shaped shell defect-detection/cleaning integrated machine |
| CN103240591A (en) * | 2012-02-03 | 2013-08-14 | 佳能株式会社 | Assembly equipment and assembly method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3687967B2 (en) * | 2003-06-30 | 2005-08-24 | 株式会社椿本チエイン | Picking device with 2-stage swing-off mechanism |
| SE1051392A1 (en) * | 2010-12-30 | 2012-07-01 | Anders Wanner | Power controlled grinding robot system |
-
2015
- 2015-04-21 CN CN201510190524.6A patent/CN104803334B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201291457Y (en) * | 2008-11-06 | 2009-08-19 | 苏州工业职业技术学院 | Mechanical arm for carrying |
| CN102410924A (en) * | 2011-08-08 | 2012-04-11 | 山东省科学院海洋仪器仪表研究所 | Door body hinge durability detection method and apparatus thereof |
| CN103240591A (en) * | 2012-02-03 | 2013-08-14 | 佳能株式会社 | Assembly equipment and assembly method |
| CN102608201A (en) * | 2012-04-04 | 2012-07-25 | 射阳县华通探伤设备有限公司 | Automatic positioning clamping mechanism for feeding and discharging materials in bell-shaped shell defect-detection/cleaning integrated machine |
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| CN104803334A (en) | 2015-07-29 |
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