CN108202996A - A kind of feeding device and its control method with angle positioning - Google Patents
A kind of feeding device and its control method with angle positioning Download PDFInfo
- Publication number
- CN108202996A CN108202996A CN201611166273.9A CN201611166273A CN108202996A CN 108202996 A CN108202996 A CN 108202996A CN 201611166273 A CN201611166273 A CN 201611166273A CN 108202996 A CN108202996 A CN 108202996A
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- cylinder
- lifting
- controller
- vacuum cup
- lifting column
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000000463 material Substances 0.000 claims abstract description 48
- 238000001514 detection method Methods 0.000 claims description 32
- 238000010276 construction Methods 0.000 claims description 7
- 238000007664 blowing Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005007 materials handling Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
Abstract
The present invention relates to automatic crawl locating unit, specifically a kind of feeding device and its control method with angle positioning rotate horizontally cylinder installation on the support structure, and output terminal is connected with horizontal rotary arm, horizontal rotary arm is driven to rotate；Lifting cylinder is mounted on horizontal rotary arm, is rotated with horizontal rotary arm, the output terminal of lifting cylinder is connected with slide unit, drives slide unit lifting, lifting column is installed on slide unit, rotary shaft is rotatablely equipped in lifting column, one end of rotary shaft is connected with the power source on lifting column, the other end is stretched out by lifting column and is connected with handgrip vacuum cup, and handgrip vacuum cup has the degree of freedom for being rotated by power source drive, being lifted with slide unit and being rotated with horizontal rotary arm.The feeding device structure novel of the present invention, handgrip vacuum cup have multiple degrees of freedom, also material can be made to carry out angle adjustment in the horizontal direction while rotation, lifting；The control method process of the present invention is simple, and linking is reliable.
Description
Technical field
The present invention relates to automatic crawl locating unit, specifically a kind of feeding device with angle positioning and its
Control method.
Background technology
In different process step, the transhipment link of material is widely present.It is needed by material to finished product by a series of
Technical process in some specific technical process, needs to ensure the angle that material is put, the accuracy of angle is largely
Influence the quality of product processing.At present, traditional mode also there are belt-conveying, modes, these traditional sides such as manually adjust
There are the problems such as efficiency is low, low precision, high rejection rate for formula.It is this in the case where industrial production automation degree is constantly promoted
Backward mode no longer adapts to the needs of production, needs a kind of automatic transfer ways positioned with angle.
Invention content
For conventional materials transporting mode above shortcomings, the purpose of the present invention is to provide a kind of positioning of band angle
Feeding device and its control method.
The purpose of the present invention is achieved through the following technical solutions：
The feeding device of the present invention includes support construction, rotates horizontally cylinder, horizontal rotary arm, lifting cylinder, power source, liter
Column, slide unit, handgrip vacuum cup and rotary shaft drop, wherein rotate horizontally cylinder installation on the support structure, output terminal and institute
Horizontal rotary arm is stated to be connected, the horizontal rotary arm is driven to rotate；The lifting cylinder is mounted on horizontal rotary arm, turns with horizontal rotary arm
Dynamic, the output terminal of the lifting cylinder is connected with the slide unit, the slide unit is driven to lift, and lifting column is equipped on the slide unit,
Rotary shaft is rotatablely equipped in the lifting column, one end of the rotary shaft is connected with the power source on lifting column,
The other end is stretched out by lifting column and is connected with handgrip vacuum cup, and the handgrip vacuum cup has rotation, lifting and with water
The degree of freedom of flat spiral arm rotation；
Wherein：One end of the horizontal rotary arm is fixedly connected with rotating horizontally the output terminal of cylinder, and the other end, which is equipped with, to be adopted
The camera of collection lower section material image；The support construction includes stent and column, and the lower end of the column is fixed on the stent
On, upper end is equipped with the horizontal rotation cylinder；The power source includes servo motor and retarder, the servo motor and deceleration
Device is fixed on the upper end of the lifting column, one end phase that the output terminal of the servo motor passes through retarder and lifting column
Even；
Control method of the present invention with the feeding device that angle positions be：
Judge whether material is ready by taking pictures to initial position blowing platform by camera first；If
It is ready, then grasping movement is performed by master controller, otherwise waited for；
Controller controls the lifting cylinder driving lifting column to drop to lower limit, pushes down the handgrip vacuum cup
Material is on feeding platform, and the intrinsic detection switch C of lifting cylinder detects that signal feeds back to controller at this time；Controller control
Making the vacuum cup solenoid valve in the gas circuit being connect with handgrip vacuum cup makes handgrip vacuum cup inhale vacuumizing；
The controller control lifting cylinder driving lifting column rises to upper limit, at this time in the lifting cylinder ontology
Detection switch D detect that signal feeds back to controller；It is moved by controller controlled level rotary cylinder driving horizontal rotary arm
It moves to horizontal target and limits, the detection switch B rotated horizontally in cylinder body described at this time detects that signal feeds back to controller；
The image acquired by camera, material present bit pose with target position pose is compared, obtains material institute
Rotation angle is needed, and is sent to controller；The controller control servo driver drives servo motor is revolved with setting angular speed
Rotation angle needed for turning, makes material be in object pose state；
Lower limit is dropped to by controller control lifting cylinder driving lifting column, material is pressed in material conveying platform
On, the detection switch C detects that signal feeds back to controller at this time；The controller control vacuum cup solenoid valve makes handgrip
Vacuum cup vacuum breaker operates, and discharges material；
Lifting column is driven to rise to upper limit by controller control lifting cylinder, the intrinsic inspection of lifting cylinder at this time
Slowdown monitoring switch D detects that signal feeds back to the controller；By the controller controlled level rotary cylinder drive horizontal rotary arm to
Crawl waits for position, and the detection switch A rotated horizontally in cylinder body described at this time detects that signal feeds back to controller；Waiting is held
Row captures work next time.
Advantages of the present invention is with good effect：
1. the feeding device structure novel of the present invention, handgrip vacuum cup has multiple degrees of freedom, while rotation, lifting
Also material can be made to carry out angle adjustment in the horizontal direction.
2. the feeding device of the present invention is using simple electricity, gas cooperation, it is entire capture transportational process can be controlled in 5 seconds with
It is interior, realize fast and reliable feeding process.
3. the feeding device of the present invention in addition to mechanical structure, further includes perfect electrical control program, ensure entire crawl
Feeding process is reliably efficient.
4. the control method process of the present invention is simple, linking is reliable.
Description of the drawings
Fig. 1 is the structure diagram of feeding device of the present invention；
Fig. 2 is the vertical view of Fig. 1；
Fig. 3 is the working state figure of the present invention；
Fig. 4 is the program flow diagram of control method of the present invention；
Wherein：1 is stent, and 2 be column, and 3 is rotate horizontally cylinder, and 4 be horizontal rotary arm, and 5 be lifting cylinder, and 6 be servo
Motor, 7 be retarder, and 8 be lifting column, and 9 be slide unit, and 10 be camera, and 11 be handgrip vacuum cup, and 12 be rotary shaft.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figures 1 to 3, feeding device of the invention includes support construction, rotates horizontally cylinder 3, horizontal rotary arm 4, rises
Sending down abnormally ascending cylinder 5, power source, lifting column 8, slide unit 9, handgrip vacuum cup 11 and rotary shaft 12, wherein support construction include stent 1
And column 2, the lower end of the column 2 are fixed on stent 1, and the support construction of a whole set of feeding device is formed with stent 1.It rotates horizontally
Cylinder 3 is fixed on the upper end of column 2, and horizontal rotary arm 4 is fixedly connected with rotating horizontally the rotary shaft of cylinder 3, by horizontal rotation gas
Cylinder 3 drives to be rotated in the range of set angle.
Lifting cylinder 5 is fixed on horizontal rotary arm 4 and is rotated by the position of caudal part, with horizontal rotary arm 4, the lifting cylinder 5
Output terminal (piston shaft) is connected with slide unit 9, the lifting action that the slide unit 9 is driven to do vertical direction.Lifting column 8 is fixed on slide unit
On 9, elevating mechanism is formed, rotary shaft 12 is installed in the inner rotation of lifting column 8, one end of the rotary shaft 12 is with being mounted on
Power source on lifting column 8 is connected, and the other end, which is stretched out by lifting column 8 and is threadably secured, is connected with the suction of handgrip vacuum
Disk 11.Power source includes servo motor 6 and retarder 7, and the servo motor 6 and retarder 7 are fixed on the upper end of lifting column 8,
The output terminal of servo motor 6 is connected by retarder 7 with one end of lifting column 8, and liter is driven by servo motor 6 and retarder 7
Rotary shaft 12 in drop column 8 rotates, and then handgrip vacuum cup 11 is driven to rotate together, forms rotating mechanism, makes material can
To carry out angle adjustment in horizontal direction；The handgrip vacuum cup 11, which has, to be driven rotation by servo motor 6, is lifted with slide unit 9
And the degree of freedom rotated with horizontal rotary arm 4.
One end of horizontal rotary arm 4 is fixedly connected with rotating horizontally the output terminal of cylinder 3, and the other end is equipped with camera 10,
The image of acquisition lower section material provides the operating parameter of servo motor 6.
The control method of feeding device of the present invention is：
Judge whether material is ready by taking pictures to initial position blowing platform by camera 10 first；Such as
Fruit is ready, then performs grasping movement by master controller, otherwise wait for；
Controller control lifting cylinder 5 drives lifting column 8 to drop to lower limit, and handgrip vacuum cup 11 is made to push down material
On feeding platform, 5 intrinsic detection switch C of lifting cylinder detects that signal feeds back to controller at this time；Controller controls
Vacuum cup solenoid valve in the gas circuit being connect with handgrip vacuum cup 11 makes handgrip vacuum cup 11 inhale vacuumizing；
Controller control lifting cylinder 5 drives lifting column 8 to rise to upper limit, 5 intrinsic inspection of lifting cylinder at this time
Slowdown monitoring switch D detects that signal feeds back to controller；Horizontal rotary arm 4 is driven to be moved to water by controller controlled level rotary cylinder 3
Flat target limiting rotates horizontally 3 intrinsic detection switch B of cylinder and detects that signal feeds back to controller at this time；
Material present bit pose with target position pose is compared, obtains material by the image acquired by camera 10
Required rotation angle, and it is sent to controller；Controller control servo driver drives servo motor 6 is rotated with setting angular speed
Required rotation angle makes material be in object pose state；
Lifting column 8 is driven to drop to lower limit by controller control lifting cylinder 5, material is pressed on material conveying platform,
Detection switch C detects that signal feeds back to controller at this time；Controller control vacuum cup solenoid valve makes handgrip vacuum cup 11
Vacuum breaker operates, and discharges material；
Lifting column 8 is driven to rise to upper limit by controller control lifting cylinder 5,5 intrinsic inspection of lifting cylinder at this time
Slowdown monitoring switch D detects that signal feeds back to controller；By controller controlled level rotary cylinder 3 drive horizontal rotary arm 4 to crawl etc.
It treats position, rotates horizontally 3 intrinsic detection switch A of cylinder at this time and detect that signal feeds back to controller；Etc. it is pending next time
Capture work.Specially：
For automatically controlling, in order to realize automatically controlling for material grasping positioning device, it is also necessary to following sub-controlling unit：
The detection switch A and detection switch B being rotated in place for detection level rotary cylinder 3, detection switch A and detection
Switch B is separately mounted to rotate horizontally in 3 ontology of cylinder；
Detection switch C and detection switch D in place, detection switch C and detection switch are lifted for detecting lifting cylinder 5
D is separately mounted in lifting cylinder ontology；
For controlling the servo-driver of driving servo motor 6；
For detecting the absolute value encoder of material rotation angle；
For driving the vacuum cup solenoid valve of handgrip vacuum cup 11；
For carrying out the camera 10 of image procossing to material.
The present embodiment does main control unit using -300 controller of SIEMENS PLC, and a mating servo-driver is driving
Dynamic servo motor 6 rotates horizontally cylinder 3 to drive horizontal rotary arm 4, and lifting cylinder 5 is driving lifting column 8 vertically to transport
It is dynamic.Horizontal rotary arm 4 and lifting column 8 are used to implement the position control in horizontal and vertical direction.Servo motor 6 is rotated horizontally to be used for
Control the direction of handgrip vacuum cup 11.Camera 10 is used to handle the angle in material offset target direction.
The present embodiment on square platform of the length of side as 20 centimetres to capture material to a length of 20 centimetres of another side just
For on rectangular platform.
As shown in figure 4, the control method of feeding device of the present invention with angle positioning is as follows：
Start, start self-check program, parameter, chassis initialization；Including：10 Focussing of camera, horizontal rotary arm 4, which returns, grabs
It takes and waits for position, detection switch A obtains signal at this time, and lifting column 8 has gone up to limit, and detection switch D obtains signal, vacuum cup at this time
Solenoid valve is closed, 6 clear point of servo motor；
Crawl materials handling is performed being judged whether by external signal, external signal is carried by upstream controller by network
Supply PLC-300 master controllers；
Judge whether material is ready, such as by taking pictures to initial position blowing platform by camera 10 first
Fruit is ready, and grasping movement can be performed by master controller, if material is not found upstream controller alarm and after
It is continuous to wait for；
Lifting column 8 is driven to drop to lower limit by PLC-300 controllers control lifting cylinder 5, make handgrip vacuum cup
11 compress material on feeding platform, and detection switch C obtains signal at this time；
Handgrip vacuum cup 11 is made to inhale vacuumizing by PLC-300 controllers control vacuum cup solenoid valve；
Lifting column 8 is driven to rise to upper limit by PLC-300 controllers control lifting cylinder 5, detection switch D is obtained at this time
Signal；
Horizontal rotary arm 4 is driven to be moved to horizontal target limiting by PLC-300 controller controlled levels rotary cylinder 3, at this time
Detection switch B obtains signal；
Image recognition processing is carried out using camera 10, the current pose of material with object pose is compared, is calculated
Rotation angle needed for material, and it is supplied to master controller；
Main controller controls servo driver drives servo motor 6 is calculated with the angular speed rotation previous step of 50 °/s
Rotation angle, so that material is in object pose state；
Lifting column 8 is driven to drop to lower limit by PLC-300 controllers control lifting cylinder 5, detection switch C is obtained at this time
Material is pressed on material conveying platform by signal；
11 vacuum breaker of handgrip vacuum cup is operated by PLC-300 controllers control vacuum cup solenoid valve, discharges material；
Lifting column 8 is driven to rise to upper limit by PLC-300 controllers control lifting cylinder 5, detection switch D is obtained at this time
Signal；
Horizontal rotary arm 4 is driven to wait for position to crawl by PLC-300 controller controlled levels rotary cylinder 3, detection at this time is opened
It closes A and obtains signal；Work is captured next time etc. pending.
Claims (5)
1. a kind of feeding device with angle positioning, it is characterised in that：Including support construction, rotate horizontally cylinder (3), horizontal rotation
Arm (4), lifting cylinder (5), power source, lifting column (8), slide unit (9), handgrip vacuum cup (11) and rotary shaft (12),
Middle horizontal rotation cylinder (3) is installed on the support structure, and output terminal is connected with the horizontal rotary arm (4), drives the horizontal rotary arm
(4) it rotates；The lifting cylinder (5) rotates on horizontal rotary arm (4), with horizontal rotary arm (4), the lifting cylinder (5)
Output terminal is connected with the slide unit (9), the slide unit (9) is driven to lift, and lifting column (8), the liter are equipped on the slide unit (9)
Rotary shaft (12), one end of the rotary shaft (12) and moving on lifting column (8) are rotatablely equipped in drop column (8)
Power source is connected, and the other end is stretched out by lifting column (8) and is connected with handgrip vacuum cup (11), the handgrip vacuum cup
(11) there is rotation, lifting and the degree of freedom rotated with horizontal rotary arm (4).
2. the feeding device according to claim 1 with angle positioning, it is characterised in that：One end of the horizontal rotary arm (4)
It is fixedly connected with the output terminal for rotating horizontally cylinder (3), the other end is equipped with the camera (10) of acquisition lower section material image.
3. the feeding device according to claim 1 with angle positioning, it is characterised in that：The support construction includes stent
(1) and column (2), the lower end of the column (2) are fixed on the stent (1), and upper end is equipped with the horizontal rotation cylinder
(3)。
4. the feeding device according to claim 1 with angle positioning, it is characterised in that：The power source includes servo motor
(6) and retarder (7), the servo motor (6) and retarder (7) are fixed on the upper end of the lifting column (8), the servo electricity
The output terminal of machine (6) is connected by retarder (7) with one end of lifting column (8).
5. a kind of control method of the feeding device with angle positioning described in Claims 1-4 any claim, feature exist
In：
Judge whether material is ready by taking pictures to initial position blowing platform by camera (10) first；If
It is ready, then grasping movement is performed by master controller, otherwise waited for；
Controller controls lifting cylinder (5) the driving lifting column (8) to drop to lower limit, makes the handgrip vacuum cup
(11) material is pushed down on feeding platform, and the intrinsic detection switch C of lifting cylinder (5) detects that signal feeds back to control at this time
Device；The vacuum cup solenoid valve in gas circuit that controller control is connect with handgrip vacuum cup (11) makes handgrip vacuum cup (11)
Inhale vacuumizing；
The controller control lifting cylinder (5) drives lifting column (8) to rise to upper limit, at this time the lifting cylinder (5)
Intrinsic detection switch D detects that signal feeds back to controller；Water is driven by the controller controlled level rotary cylinder (3)
Flat spiral arm (4) is moved to horizontal target limiting, and described horizontal rotation cylinder (3) intrinsic detection switch B detects letter at this time
Number feed back to controller；
The image acquired by camera (10), material present bit pose with target position pose is compared, obtains material institute
Rotation angle is needed, and is sent to controller；The controller controls servo driver drives servo motor (6) to set angular speed
Rotation angle needed for rotation makes material be in object pose state；
Lifting column (8) is driven to drop to lower limit by controller control lifting cylinder (5), material is pressed in material conveying platform
On, the detection switch C detects that signal feeds back to controller at this time；The controller control vacuum cup solenoid valve makes handgrip
Vacuum cup (11) vacuum breaker operates, and discharges material；
Lifting column (8) is driven to rise to upper limit by controller control lifting cylinder (5), at this time lifting cylinder (5) ontology
Interior detection switch D detects that signal feeds back to the controller；Water is driven by the controller controlled level rotary cylinder (3)
Flat spiral arm (4) waits for position to crawl, and described horizontal rotation cylinder (3) intrinsic detection switch A detects that signal is fed back at this time
To controller；Work is captured next time etc. pending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611166273.9A CN108202996A (en) | 2016-12-16 | 2016-12-16 | A kind of feeding device and its control method with angle positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611166273.9A CN108202996A (en) | 2016-12-16 | 2016-12-16 | A kind of feeding device and its control method with angle positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108202996A true CN108202996A (en) | 2018-06-26 |
Family
ID=62601538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611166273.9A Pending CN108202996A (en) | 2016-12-16 | 2016-12-16 | A kind of feeding device and its control method with angle positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108202996A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110844521A (en) * | 2019-12-18 | 2020-02-28 | 瓯锟科技温州有限公司 | Visual identification sorting system for intelligent factory |
| CN112605651A (en) * | 2020-12-03 | 2021-04-06 | 中原工学院 | Quick assembly device is used in equipment of computer power |
| CN112896982A (en) * | 2019-11-19 | 2021-06-04 | 新华（湖南）医疗技术有限公司 | Pneumatic clamp control system based on machine vision |
| CN112897055A (en) * | 2019-11-19 | 2021-06-04 | 新华（湖南）医疗技术有限公司 | Pneumatic clamp with rotary sucker |
| CN112894642A (en) * | 2019-11-19 | 2021-06-04 | 新华（湖南）医疗技术有限公司 | Control method of pneumatic clamp |
| CN113387190A (en) * | 2021-07-12 | 2021-09-14 | 温天哲 | Silicon steel sheet lamination device |
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| CN104394656A (en) * | 2014-06-30 | 2015-03-04 | 清华大学 | Automatic mounting system |
| CN105397831A (en) * | 2015-12-28 | 2016-03-16 | 桂林电子科技大学 | Multi-suction-cup manipulator capable of grabbing irregular objects |
| CN206288690U (en) * | 2016-12-16 | 2017-06-30 | 中国科学院沈阳自动化研究所 | A kind of feeding device with angle positioning |
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| CN203529434U (en) * | 2013-09-18 | 2014-04-09 | 睿志达光电（成都）有限公司 | Automatic material taking and placing system for code spraying |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112896982A (en) * | 2019-11-19 | 2021-06-04 | 新华（湖南）医疗技术有限公司 | Pneumatic clamp control system based on machine vision |
| CN112897055A (en) * | 2019-11-19 | 2021-06-04 | 新华（湖南）医疗技术有限公司 | Pneumatic clamp with rotary sucker |
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| CN113387190A (en) * | 2021-07-12 | 2021-09-14 | 温天哲 | Silicon steel sheet lamination device |
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Application publication date: 20180626 |