CN107414805A - A kind of displacement mechanical arm with vision system - Google Patents
A kind of displacement mechanical arm with vision system Download PDFInfo
- Publication number
- CN107414805A CN107414805A CN201710868453.XA CN201710868453A CN107414805A CN 107414805 A CN107414805 A CN 107414805A CN 201710868453 A CN201710868453 A CN 201710868453A CN 107414805 A CN107414805 A CN 107414805A
- Authority
- CN
- China
- Prior art keywords
- pair
- mechanical arm
- vision system
- carrying
- displacement mechanical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention discloses a kind of displacement mechanical arm with vision system, including control module, pedestal, support, carrying main shaft and carry clamping device, the bracket end is provided with horizontal telescopic device and is connected by horizontal telescopic device with carrying main shaft, and the carrying spindle nose is provided with vertical retractor device and is connected by vertical retractor device with carrying clamping device；The carrying clamping device includes rotating shaft, and a pair of jig arm, a pair of suckers, sighting device and the operation panel being arranged in rotating shaft；The pair of jig arm is connected with folding drive system, and the pair of sucker is connected with crawl drive system；The pair of chuck surface is provided with pressure sensor；The present invention improves production efficiency and simple to operate, and automatic transporting is realized by vision system, accurate positioning, and coefficient safe to use is high.
Description
Technical field
The present invention relates to haulage equipment field, more particularly to a kind of displacement mechanical arm with vision system.
Background technology
As factory constantly tackles the employment cost to rise year by year, Material Cost, raising production efficiency can be realized, is reduced
Cost of labor, safety coefficient is high and is easy to the mechanical automation of management production to be favored, and the use of industrial machine arm is also got over
Come more universal.
But the most still lift-on/lift-off type mechanical arm of displacement mechanical arm that current most of factory uses, such mechanical arm volume
Greatly, requirements of installation space is very high, and troublesome in poeration, typically needs two people operation, and safety coefficient is low, to tackle problems, has
A kind of miniaturization of necessity design, displacement mechanical arm easy to operation and high safety coefficient.
The content of the invention
The purpose of invention：The present invention discloses a kind of displacement mechanical arm with vision system, can effectively realize production
The raising of efficiency, the input of cost of labor is reduced, the displacement mechanical arm small volume, be easy to install in the small space of production line；Operation
Simplicity, automatic transporting is realized by vision system, accurate positioning being capable of rapid grabbing workpiece；Chain, stock etc. is eliminated easily to shake
Dynamic, actionradius length part, effectively improves safety in utilization.
Technical scheme：In order to realize the above object the invention discloses a kind of displacement mechanical arm with vision system, bag
Include control module, pedestal, support, carrying main shaft and carry clamping device, the bracket end is provided with horizontal telescopic device and led to
Cross horizontal telescopic device and be connected with carrying main shaft, the carrying spindle nose is provided with vertical retractor device and by the dress that stretches vertically
Put and be connected with carrying clamping device；It is described carrying clamping device include rotating shaft, and be arranged in rotating shaft a pair of jig arm, a pair
Sucker, sighting device and operation panel；The pair of jig arm is connected with folding drive system, and the pair of sucker is connected with crawl and driven
Dynamic system；The pair of chuck surface is provided with pressure sensor.
Further, a kind of above-mentioned displacement mechanical arm with vision system, the sucker are magnechuck.
Further, above-mentioned a kind of displacement mechanical arm with vision system, the carrying main shaft and horizontal telescopic device
Rotation connection, and the first device of rotation driving is provided between the two；The carrying clamping device passes through rotating shaft and vertical flexible dress
Rotation connection is put, and is provided with the second device of rotation driving between the two.
Further, above-mentioned a kind of displacement mechanical arm with vision system, the sighting device, folding drive system and
Crawl drive system is connected with control module.
Further, above-mentioned a kind of displacement mechanical arm with vision system, first device of rotation driving, second turn
Dynamic drive device, horizontal telescopic device and vertical retractor device are connected with control module.
Further, above-mentioned a kind of displacement mechanical arm with vision system, the operation panel are provided with one group of control button,
It is connected with control module.
Further, above-mentioned a kind of displacement mechanical arm with vision system, the operation panel be additionally provided with manual mode/from
Dynamic mode switch button.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：
（1）A kind of displacement mechanical arm with vision system of the present invention, can realize and effectively improve production efficiency, and subtract
Few labor strength and employment cost, reduce production cost.
（2）A kind of displacement mechanical arm with vision system of the present invention, small volume, is easy to limited sky on production line
Interior installation.
（3）A kind of displacement mechanical arm with vision system of the present invention, automatic transporting is realized by vision system,
Accurate positioning, it is more intelligent.
（4）A kind of displacement mechanical arm with vision system of the present invention, eliminate chain, stock etc. easily rock,
The part of actionradius length, effectively improves safety in utilization.
Brief description of the drawings
Fig. 1 is a kind of displacement mechanical arm overall structure diagram with vision system of the present invention；
In figure：1- pedestals, 2- supports, 21- horizontal telescopic devices, 3- carry main shaft, the vertical retractor devices of 31-, and 4- carries clamping
Device, 41- rotating shafts, 42- jig arm, 43- suckers, 44- sighting devices, 45- operation panels, 46- folding drive systems, 47- pressure pass
Sensor.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Embodiment
A kind of displacement mechanical arm with vision system of the present invention, as shown in figure 1, including control module, pedestal 1, branch
Frame 2, carry main shaft 3 and carry clamping device 4, the end of support 2 is provided with horizontal telescopic device 21 and filled by horizontal extension
Put 21 and be connected with carrying main shaft 3, carrying main shaft 3 end be provided with vertical retractor device 31 and by vertical retractor device 31 with
Clamping device 4 is carried to connect；It is described carrying clamping device 4 include rotating shaft 41, and be arranged in rotating shaft 41 a pair of jig arm 42,
A pair of suckers 43, sighting device 44 and operation panel 45；The pair of jig arm 42 is connected with folding drive system 46, the pair of suction
Disk 43 is connected with crawl drive system；The pair of surface of sucker 43 is provided with pressure sensor 47.
Sucker 43 described in the present embodiment is magnechuck.
Main shaft 3 is carried described in the present embodiment to be rotatablely connected with horizontal telescopic device 21, and is provided with first turn between the two
Dynamic drive device；The carrying clamping device 4 is rotatablely connected by rotating shaft 41 and vertical retractor device 31, and is provided between the two
Second device of rotation driving.
Sighting device 44 described in the present embodiment, folding drive system 46 and crawl drive system connect with control module
Connect.
First device of rotation driving described in the present embodiment, the second device of rotation driving, horizontal telescopic device 21 and vertical
Retractor device 31 is connected with control module.
Operation panel 45 described in the present embodiment is provided with one group of control button, and it is connected with control module.
Operation panel 45 described in the present embodiment is additionally provided with manual mode/automatic pattern switching button.
A kind of method of work of the displacement mechanical arm with vision system comprises the following steps described in the present embodiment：
1）Start, select automatic mode；
2）Horizontal telescopic device 21 on control module control support 2, the vertical retractor device 31 on carrying main shaft 3, carry master
The first device of rotation driving between axle 3 and horizontal telescopic device 21, and, carry clamping device 4 and vertical retractor device 31
Between the second device of rotation driving operation, by the path set by carry clamping device 4 be moved to the first station；
3）Folding drive system 46 is run, and a pair of the jig arm 42 for carrying clamping device 4 drive a pair of suckers 43 to be flared to setting position
Put；
4）Control module control sighting device 44 is run, and the image information detected is fed back to control module by sighting device 44；
5）Control module carries out computing according to the information received, and sends instruction to horizontal telescopic device 21, vertical flexible dress
Put the 31, first device of rotation driving or the second device of rotation driving；
6）Horizontal telescopic device 21, vertical retractor device 31, the first device of rotation driving or the second device of rotation driving are according to finger
Order operation, carries out the fine setting of position, a pair of suckers 43 is reached destination locations, i.e., the pair of sucker 43 is distributed in workpiece both sides
Predeterminated position；
7）Folding drive system 46 is run, and a pair of the jig arm 42 for carrying clamping device 4 drive a pair of suckers 43 to close up and clamp work
Part；Pressure value between sucker 43 and workpiece is fed back to control module by the pressure sensor 47 being arranged on sucker 43, works as pressure
When force value reaches setting value, control module control folding drive system 46 stops, and a pair of suckers 43 are maintained at the compacted position；
8）Drive system operation is captured, a pair of suckers 43 fix workpiece by suction；
9）Horizontal telescopic device 21, vertical retractor device 31, the first device of rotation driving and the operation of the second device of rotation driving, lead to
Cross control support 2 and carry the flexible of main shaft 3, and carry main shaft 3 and carry the rotation of clamping device 4, by workpiece handling extremely
Second station；
10）It is out of service to capture drive system, a pair of suckers 43 unclamp workpiece, and are opened in the presence of folding drive system 46
Open, depart from workpiece.
The present embodiment is further comprising the steps of：Manually pattern/automatic pattern switching button come select manual mode or
Automatic mode；The manual mode stretches by one group of control button controlled level retractor device 21 on operation panel 45, vertically
The operation of device 31, the first device of rotation driving or the second device of rotation driving.Under the manual mode, it can be grasped by adjusting
Make the speed adjusting knob on plate 45 come controlled level retractor device 21, vertical retractor device 31, the first device of rotation driving and
The running speed of second device of rotation driving；When carry the fine setting of the position of clamping device 4, speed is adjusted to low speed shape
State, in order to finely tune.
Described above is only the preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement also should be regarded as the guarantor of the present invention
Protect scope.
Claims (7)
- A kind of 1. displacement mechanical arm with vision system, it is characterised in that：Including control module, pedestal（1）, support（2）, remove Transport main shaft（3）With carrying clamping device（4）, the support（2）End is provided with horizontal telescopic device（21）And pass through horizontal extension Device（21）With carrying main shaft（3）Connection, the carrying main shaft（3）End is provided with vertical retractor device（31）And by stretching vertically Compression apparatus（31）With carrying clamping device（4）Connection；The carrying clamping device（4）Including rotating shaft（41）, and be arranged on and turn Axle（41）On a pair of jig arm（42）, a pair of suckers（43）, sighting device（44）And operation panel（45）；The pair of jig arm（42） It is connected with folding drive system（46）, the pair of sucker（43）It is connected with crawl drive system；The pair of sucker（43）Table Face is provided with pressure sensor（47）.
- A kind of 2. displacement mechanical arm with vision system according to claim 1, it is characterised in that：The sucker（43） For magnechuck.
- A kind of 3. displacement mechanical arm with vision system according to claim 1, it is characterised in that：The carrying main shaft （3）With horizontal telescopic device（21）Rotation connection, and the first device of rotation driving is provided between the two；The carrying clamping device （4）Pass through rotating shaft（41）With vertical retractor device（31）Rotation connection, and the second device of rotation driving is provided between the two.
- A kind of 4. displacement mechanical arm with vision system according to claim 1, it is characterised in that：The sighting device （44）, folding drive system（46）It is connected with crawl drive system with control module.
- A kind of 5. displacement mechanical arm with vision system according to claim 3, it is characterised in that：Described first rotates Drive device, the second device of rotation driving, horizontal telescopic device（21）With vertical retractor device（31）It is connected with control module.
- A kind of 6. displacement mechanical arm with vision system according to claim 1, it is characterised in that：The operation panel （45）Provided with one group of control button, it is connected with control module.
- A kind of 7. displacement mechanical arm with vision system according to claim 6, it is characterised in that：The operation panel （45）It is additionally provided with manual mode/automatic pattern switching button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710868453.XA CN107414805A (en) | 2017-09-22 | 2017-09-22 | A kind of displacement mechanical arm with vision system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710868453.XA CN107414805A (en) | 2017-09-22 | 2017-09-22 | A kind of displacement mechanical arm with vision system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107414805A true CN107414805A (en) | 2017-12-01 |
Family
ID=60435743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710868453.XA Withdrawn CN107414805A (en) | 2017-09-22 | 2017-09-22 | A kind of displacement mechanical arm with vision system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107414805A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108328347A (en) * | 2017-12-29 | 2018-07-27 | 杭州永创智能设备股份有限公司 | Cable reel automatic destacking equipment |
| CN109436784A (en) * | 2018-12-07 | 2019-03-08 | 四川大学 | Baggage handling device and baggage handling system |
| CN109533964A (en) * | 2018-12-28 | 2019-03-29 | 四川大学 | Carrier structure and handling device |
| CN109906782A (en) * | 2019-04-15 | 2019-06-21 | 中联重机南陵有限公司 | A kind of self-propelled bundling machine grabs careless control system, method and baler automatically |
| CN112304495A (en) * | 2020-10-27 | 2021-02-02 | 安徽海思达机器人有限公司 | Automatic calibrating installation of manometer |
| CN117416742A (en) * | 2023-12-18 | 2024-01-19 | 四川新途流体控制技术有限公司 | Full-automatic gas cylinder filling, transporting and transporting system and method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206085031U (en) * | 2016-08-31 | 2017-04-12 | 连云港正道电池技术有限公司 | High performance battery module machinery tongs anchor clamps |
-
2017
- 2017-09-22 CN CN201710868453.XA patent/CN107414805A/en not_active Withdrawn
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206085031U (en) * | 2016-08-31 | 2017-04-12 | 连云港正道电池技术有限公司 | High performance battery module machinery tongs anchor clamps |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108328347A (en) * | 2017-12-29 | 2018-07-27 | 杭州永创智能设备股份有限公司 | Cable reel automatic destacking equipment |
| CN109436784A (en) * | 2018-12-07 | 2019-03-08 | 四川大学 | Baggage handling device and baggage handling system |
| CN109533964A (en) * | 2018-12-28 | 2019-03-29 | 四川大学 | Carrier structure and handling device |
| CN109906782A (en) * | 2019-04-15 | 2019-06-21 | 中联重机南陵有限公司 | A kind of self-propelled bundling machine grabs careless control system, method and baler automatically |
| CN109906782B (en) * | 2019-04-15 | 2023-09-19 | 中联重机南陵有限公司 | Automatic grass grabbing control system and method for self-propelled bundling machine and bundling machine |
| CN112304495A (en) * | 2020-10-27 | 2021-02-02 | 安徽海思达机器人有限公司 | Automatic calibrating installation of manometer |
| CN112304495B (en) * | 2020-10-27 | 2022-06-21 | 安徽海思达机器人有限公司 | Automatic calibrating installation of manometer |
| CN117416742A (en) * | 2023-12-18 | 2024-01-19 | 四川新途流体控制技术有限公司 | Full-automatic gas cylinder filling, transporting and transporting system and method |
| CN117416742B (en) * | 2023-12-18 | 2024-03-12 | 四川新途流体控制技术有限公司 | Full-automatic gas cylinder filling, transporting and transporting system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171201 |