CN109015659A - A kind of the robot offset grasping mechanism and its method of view-based access control model - Google Patents
A kind of the robot offset grasping mechanism and its method of view-based access control model Download PDFInfo
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- CN109015659A CN109015659A CN201811145504.7A CN201811145504A CN109015659A CN 109015659 A CN109015659 A CN 109015659A CN 201811145504 A CN201811145504 A CN 201811145504A CN 109015659 A CN109015659 A CN 109015659A
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- crawl
- pallet
- brake shoe
- robot
- human body
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
-
- 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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robots of view-based access control model to deviate grasping mechanism, including two crawl pallets and two placement trays, the side of two crawl pallets and two placement trays is respectively and fixedly provided with section bar support, the upper end of four section bar supports is respectively and fixedly provided with vision camera, the lower end of two crawl pallets and two placement trays is equipped with fixed frame, and the upper end side of two fixed frames is mounted on a motorized rails；The invention also provides a kind of robots of view-based access control model to deviate grasping means.The present invention can pass through the cooperation of PLC and vision camera, it is accurately analyzed and is judged to the case where grabbing location point on pallet and placement tray, so as to obtain crawl position and the placement location of highest priority, it can effectively solve the big problem of traditional grasping means programing work amount, and can effectively solve in traditional grasping means can not efficient process manual intervention the problem of, realize efficiently accurate crawl and place.
Description
Technical field
The present invention relates to the robots of technical field of automation equipment more particularly to a kind of view-based access control model to deviate grasping mechanism
And its method.
Background technique
In automation projects, needs that the brake shoe piece put in matrix array mode is grabbed and placed, usually adopt
With 6 row, 7 column matrix, 42 brake shoe pieces in total.Since brake shoe piece quantity is more, if needing 42 using one-to-one programming mode
Plus 42 placement locations, 84 location points, programing work amount are very big in total for a crawl position.Meanwhile the offset grasping means exists
Meet line number and columns under the premise of robot stroke range be all there is no limit, that is to say, that the more ordinary peoples of line number columns
Work programming looks for workload a little bigger, is more obvious with difference of the offset crawl in terms of working efficiency.
In process of production, it will lead to there are two factor and be easy to happen manual intervention in Manufacturing Automated process.First is that fortune
Semi-manufactured goods quality when row production is examined, due to the corresponding whole flow process for putting into product output from raw material of equipment, intermediate meeting
It generates semi-finished product and puts into new raw material, need to pick defect ware if the discovery defect ware when semi-manufactured goods quality is examined
It removes, this will lead to the semi-finished product quantity of the semi-finished product of sequence output and lower sequence investment and location information is inconsistent；Second is that equipment
The unexpected special circumstances occurred when operation production, such as plant area cut off the water supply during leading to equipment downtime, handgrip intermediate handling
Workpiece is fallen off, handgrip does not pick up workpiece in crawl, this equally also results in the piece count position of PLC record
Situation is not inconsistent with practical situation.Due to occur manual intervention, just need human-computer interaction interface by the number of locations situation of workpiece into
Row is corrected and passes to the robot just in automatic running, so that working efficiency is influenced, for this purpose, we have proposed one kind based on view
The robot of feel deviates grasping mechanism and its method to solve the above problems.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of machine of the view-based access control model proposed
People deviates grasping mechanism and its method.
To achieve the goals above, present invention employs following technical solutions:
A kind of robot offset grasping mechanism of view-based access control model, including two crawl pallets and two placement trays, two
The side of crawl pallet and two placement trays is respectively and fixedly provided with section bar support, and the upper end of four section bar supports is respectively and fixedly provided with vision and takes the photograph
As head, the lower end of two crawl pallets and two placement trays is equipped with fixed frame, and the upper end side of two fixed frames is respectively mounted
There are a motorized rails, the upper end other side of two fixed frames is respectively mounted that there are two the backing plates being parallel to each other, and the two of the same side
A backing plate is that the upper end of two backing plates in one group, same group is equipped with another motorized rails jointly, two crawl pallets with
The lower end of two placement trays is respectively and fixedly provided with sliding block, and four sliding blocks are corresponding with four motorized rails respectively, and sliding block is mounted on
On motorized rails, between two fixed frames be equipped with process equipment and industrial machine human body, and industrial machine human body be located at plus
The side of construction equipment is equipped with robot gripper equipment on the industrial machine human body, sets on the industrial machine human body
There is PLC.
Preferably, the process equipment includes mounting rack, and is from top to bottom successively removably connected in the mounting rack
One loading plate and the second loading plate are fixed with glue spraying equipment on first loading plate, and the side of the mounting rack is hinged with
One capping, and the first capping, between the first loading plate and the second loading plate, the other side of the mounting rack is hinged with second
Capping, and the second capping is located at the upper end of the first loading plate.
Preferably, the upper end quadrangle of first loading plate and the second loading plate is equipped with connector, on the connector
Through setting there are two bolt, and four bolts of same level are one group, wherein one end of two groups of bolts is screwed on installation
On frame, another two groups of bolts are screwed on respectively on the first loading plate and the second loading plate.
Preferably, the robot gripper equipment includes connecting rod, and the lower end of the connecting rod is fixed with two-way cylinder, institute
The lower end two sides for stating two-way cylinder are respectively and fixedly provided with clamping plate.
Preferably, hasp is installed jointly on first capping and mounting rack.
Preferably, the lower end quadrangle of the fixed frame is mounted on fixed corner code, the equal spiral shell in lower end quadrangle of the fixed frame
Conjunction has the second screw foot, and four the second screw foots are respectively positioned between four fixed corner codes.
Preferably, the fixed frame is made of aluminum profile.
Preferably, the two sides of the mounting rack are respectively and fixedly provided with baffle.
Preferably, the lower end quadrangle of the mounting rack is screwed with the first screw foot.
The invention also provides a kind of robots of view-based access control model to deviate grasping means, comprising the following steps:
The quantity of S1, crawl pallet and placement tray are two, and crawl pallet and placement tray are divided into six rows
The matrixes of six column are equipped with 36 location points to make individually to grab equalization on pallet and single placement tray to set up separately, will grab
Take the location point on pallet and placement tray that different priority is respectively set, so that each on crawl pallet and placement tray
A location point possesses different priority in crawl or placement, consequently facilitating being grabbed and being put according to the height of priority level
It sets；
S2, a vision camera is installed by section bar support on crawl pallet and placement tray, four visions are taken the photograph
As head take pictures range be covered each by crawl pallet and placement tray, vision camera the photo of shooting is compared and analyzed, from
And judge to grab each position point above pallet and placement tray and whether be placed with brake shoe piece, to judge to grab pallet and placement
There is part location point and without part location point above pallet；
S3, PLC and four cameras directly carry out signal communication, by the location point on crawl pallet and placement tray
It is analyzed, due to dividing to each location point procession, PLC just can show that each particular location point has part still
Do not have the conclusion of part, because different priority is respectively set to the location point on crawl pallet and placement tray, so as to
It is enough to be grabbed or placed according to the sequence of priority；
S4, when grabbing brake shoe piece, industrial bodies human body drive robot gripper equipment rotation, to make machine
People's handgrip equipment turns to the upper end of crawl pallet, vision camera and PLC cooperation on pallet is grabbed, thus according to crawl position
Difference a little is set, different priority is marked off to the brake shoe piece placed on crawl pallet；
S5, PLC first provide location point signal of the brake shoe piece of highest priority on crawl pallet, other priority are low
Crawl position point signal to grippers wouldn't provide；
S6, industrial bodies human body are being scanned to the coordinate after the position signal wait grab brake shoe piece, provided according to PLC
The location point of crawl position is calculated on the basis of reference point location；
S7, industrial machine human body drive robot gripper equipment to be moved to crawl position, pass through robot gripper equipment
Grab brake shoe piece；
S8, industrial machine human body drive the movement of robot gripper equipment, to drive brake shoe piece mobile, pass through robot
The brake shoe piece grabbed is placed on process equipment and processes by handgrip equipment, and after completion of processing, industrial machine human body is logical
Robot gripper equipment is crossed to grab the brake shoe piece of completion of processing；
Brake shoe piece is transported to the top of placement tray by robot gripper equipment by S9, industrial machine human body, is placed
Vision camera and PLC cooperation on pallet, to judge the location point on placement tray, analyze and have placed brake shoe
The location point of piece and the location point to be placed for not placing brake shoe piece, and provide the point to be placed of highest priority, other priority
The signal of low point to be placed wouldn't provide；
S10, industrial machine human body are after scanning the position signal to point to be placed, and the coordinate provided according to PLC is in base
The location point of position to be placed is calculated on the basis of position on schedule；
S11, industrial machine human body run to be placed position, are placed brake shoe piece by robot gripper equipment；
S12, step S4-S11 is repeated, grab to brake shoe piece-processing-and places.
In the present invention, in use, industrial bodies human body drives robot gripper equipment to turn when grabbing brake shoe piece
Dynamic, so that robot gripper equipment be made to turn to the upper end of crawl pallet, the vision camera grabbed on pallet is taken pictures, thus root
Crawl each crawl position of pallet is identified and judgeed according to photo, can effectively identify on crawl pallet there is part position and nothing
Part position grabs vision camera and PLC cooperation on pallet, thus according to the difference of crawl position point, on crawl pallet
The brake shoe piece of placement marks off different priority, and PLC first provides position of the brake shoe piece of highest priority on crawl pallet
Point signal, the low crawl position point signal to grippers of other priority wouldn't provide, and industrial bodies human body arrives in scanning
After grabbing the position signal of brake shoe piece, the coordinate provided according to PLC calculates crawl position on the basis of reference point location
Location point, industrial machine human body drive robot gripper equipment be moved to crawl position, grabbed by robot gripper equipment
Brake shoe piece is taken, it is mobile that industrial machine human body drives robot gripper equipment, to drive brake shoe piece mobile, grabs by robot
The brake shoe piece grabbed is placed on process equipment and processes by hand equipment, and after completion of processing, industrial machine human body passes through
Robot gripper equipment grabs the brake shoe piece of completion of processing, and industrial machine human body passes through robot gripper equipment for brake shoe piece
It is transported to the top of placement tray, the vision camera on placement tray is taken pictures, to identify on placement tray there is part position
It sets and without part position, vision camera and PLC cooperation on placement tray, to sentence to the location point on placement tray
It is disconnected, it analyzes the location point for having placed brake shoe piece and does not place the location point to be placed of brake shoe piece, and provide highest priority
To be placed, the signal of the low point to be placed of other priority wouldn't provide, and industrial machine human body arrives point to be placed in scanning
Position signal after, the coordinate provided according to PLC calculates the location point of position to be placed, work on the basis of reference point location
Industry robot body runs to be placed position, is placed brake shoe piece by robot gripper equipment, the present invention can pass through PLC
With the cooperation of vision camera, is accurately analyzed and judged to the case where grabbing location point on pallet and placement tray, from
And can obtain crawl position and the placement location of highest priority, it can effectively solve that traditional grasping means programing work amount is big to ask
Topic, and can effectively solve in traditional grasping means can not efficient process manual intervention the problem of, realize efficiently accurate crawl
And placement.
Detailed description of the invention
Fig. 1 is that a kind of robot of view-based access control model proposed by the present invention deviates the mounting rack structural schematic diagram of grasping mechanism；
Fig. 2 is that a kind of robot of view-based access control model proposed by the present invention deviates the two-way air cylinder structure signal of grasping mechanism
Figure；
Fig. 3 is that a kind of robot of view-based access control model proposed by the present invention deviates enlarged drawing at the A of grasping mechanism；
Fig. 4 is that a kind of robot of view-based access control model proposed by the present invention deviates the fixed rack structure schematic diagram of grasping mechanism；
Fig. 5 is that a kind of robot of view-based access control model proposed by the present invention deviates the work pieces process flow chart of grasping means.
In figure: 1 first loading plate, 2 first cappings, 3 second loading plates, 4 mounting racks, 5 glue spraying equipments, 6 first screws
Foot, 7 connecting rods, 8 two-way cylinders, 9 clamping plates, 10 bolts, 11 connectors, 12 crawl pallets, 13 sliding blocks, 14 motorized rails, 15 the
Two-screw foot, 16 backing plates, 17 fixed frames, 18 fixed corner codes, 19 second cappings, 20 hasps, 21 baffles, 22 placement trays, 23
Vision camera, 24 section bar supports.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-5, a kind of robot of view-based access control model deviates grasping mechanism, including two crawl pallets 12 and two are put
The side of tray 22, two crawl pallets 12 and two placement trays 22 is respectively and fixedly provided with section bar support 24, four section bar supports
24 upper end is respectively and fixedly provided with vision camera 23, conveniently takes pictures, consequently facilitating cooperation PLC is positioned；
The lower end of two crawl pallets 12 and two placement trays 22 is equipped with fixed frame 17, the lower end quadrangle of fixed frame 17
It is mounted on fixed corner code 18, the lower end quadrangle of fixed frame 17 is screwed with the second screw foot 15, and four the second screw foots 15
It is respectively positioned between four fixed corner codes 18, facilitates carry out positioning support, consequently facilitating being fixed, fixed frame 17 uses aluminium profiles
Material is made, and facilitates and is processed, and the upper end side of two fixed frames 17 is mounted on a motorized rails 14, two fixed frames 17
The upper end other side be respectively mounted that there are two the backing plates 16 that are parallel to each other, and two backing plates 16 of the same side are in one group, same group
The upper ends of two backing plates 16 another motorized rails 14, two crawl pallets 12 and two placement trays 22 are installed jointly
Lower end be respectively and fixedly provided with sliding block 13, four sliding blocks 13 are corresponding with four motorized rails 14 respectively, and sliding block 13 be mounted on it is electronic
On guide rail 14,14 energy band movable slider 13 of motorized rails is mobile, thus facilitate the position for adjusting placement tray 22 and grabbing pallet 12,
Consequently facilitating being grabbed and being added workpiece；
Process equipment and industrial machine human body are equipped between two fixed frames 17, and industrial machine human body is located at processing
The side of equipment is equipped with robot gripper equipment on industrial machine human body, and industrial machine human body is equipped with PLC, convenient
Industrial machine human body drives robot gripper equipment to grab, and PLC is able to cooperate vision camera 23 and carries out precise positioning.
In the present invention, process equipment includes mounting rack 4, and the two sides of mounting rack 4 are respectively and fixedly provided with baffle 21, can effectively be avoided outer
The influence on boundary, the lower end quadrangle of mounting rack 4 is screwed with the first screw foot 6, facilitates rotation, to facilitate stable support, installs
From top to bottom successively be removably connected with the first loading plate 1 and the second loading plate 3 in frame 4, facilitate carry out installing and dismounting, convenient for into
Row assembling and maintenance；
It is fixed with glue spraying equipment 5 on first loading plate 1, facilitates carry out glue spraying, the side of mounting rack 4 is hinged with the first capping
2, and the first capping 2 is equipped on first capping 2 and mounting rack 4 jointly between the first loading plate 1 and the second loading plate 3
Hasp 20 is conveniently attached fixation, and the other side of mounting rack 4 is hinged with the second capping 19, and the second capping 19 is located at first
The upper end of loading plate 1, facilitates and is opened and closed, consequently facilitating using.
In the present invention, the upper end quadrangle of the first loading plate 1 and the second loading plate 3 is equipped with connector 11, on connector 11
Through setting there are two bolt 10, and four bolts 10 of same level are one group, wherein one end of two groups of bolts 10 screws togather
On mounting rack 4, another two groups of bolts 10 are screwed on respectively on the first loading plate 1 and the second loading plate 3, are screwed tight by bolt 10 solid
Fixed, structure is simple, and stability is strong, and staff is facilitated to operate.
In the present invention, robot gripper equipment includes connecting rod 7, and the lower end of connecting rod 7 is fixed with two-way cylinder 8, two-way
The lower end two sides of cylinder 8 are respectively and fixedly provided with clamping plate 9, and two-way cylinder 8 can drive two clamping plates 9 mobile, be clamped to facilitate,
It is stably connected with.
The invention also provides a kind of robots of view-based access control model to deviate grasping means, comprising the following steps:
The quantity of S1, crawl pallet 12 and placement tray 22 are two, to facilitate carry out alternating action, guarantee work
Crawl pallet 12 and placement tray 22 are divided into the matrix that six rows six arrange by progress, to make individually to grab pallet 12 and list
Equalization, which sets up separately, on a placement tray 22 is equipped with 36 location points, will grab the location point on pallet 12 and placement tray 22 point
Different priority is not set, and the high location point of the priority location point low prior to priority is grabbed and placed, so that grabbing
Each location point on pallet 12 and placement tray 22 is taken to possess different priority in crawl or placement, consequently facilitating according to
It is grabbed and is placed according to the height of priority level, when grabbing and placing every time, priority is all rejudged and analyze, to keep away
Exempt to lead the influence to normal work because of manual intervention, guarantee working efficiency, and only need to be to crawl pallet 12 and placement tray 22
On location point be programmed, do not need to be carried out one-to-one mode to be programmed, effectively reduce the work of programming
Amount, and be conveniently extended；
S2, crawl pallet 12 and placement tray 22 on by section bar support 24 install a vision camera 23, four
A vision camera 23 range of taking pictures is covered each by crawl pallet 12 and placement tray 22, so as to being shot on pallet,
The photos of 23 pairs of vision camera shootings compare and analyze, thus judge to grab pallet 12 and placement tray 22 above everybody
It sets and a little whether is placed with brake shoe piece, so that judging to grab above pallet 12 and placement tray 22 has part location point and without part position
Point, and facilitate according to priority the crawl sequence for judging to have part location point, it is all taken pictures and is divided before crawl and placement every time
Analysis, is grabbed and is placed to facilitate, and discrepancy of quantity caused by being avoided that because of manual intervention, is needed in human-computer interaction interface
The number of locations situation of workpiece is modified and passes to the just appearance the robot of automatic running the case where；
S3, PLC and four cameras directly carry out signal communication, to facilitate transmitting information, by crawl pallet 12
It is analyzed with the location point on placement tray 22, due to dividing to each location point procession, PLC just can be obtained often
The conclusion that a particular location point has part there still be not part, because distinguishing the location point on crawl pallet 12 and placement tray 22
Different priority is set, is grabbed or is placed so as to the sequence according to priority, when crawl only need to be according to priority
Sequence grabbed and placed, do not need to carry out one-to-one programming, while reducing programing work amount, ensure that work
Accuracy；
S4, when grabbing brake shoe piece, industrial bodies human body drive robot gripper equipment rotation, to make machine
People's handgrip equipment turns to the upper end of crawl pallet 12, is grabbed to facilitate, and the vision camera 23 on pallet 12 is grabbed
Cooperate with PLC, thus according to the difference of crawl position point, the brake shoe piece placed on crawl pallet 12 is marked off different preferential
Grade, consequently facilitating successively being grabbed；
S5, PLC first provide location point signal of the brake shoe piece of highest priority on crawl pallet 12, other priority are low
The crawl position point signal to grippers wouldn't provide；
S6, industrial bodies human body are being scanned to the coordinate after the position signal wait grab brake shoe piece, provided according to PLC
The location point of crawl position is calculated on the basis of reference point location；
S7, industrial machine human body drive robot gripper equipment to be moved to crawl position, pass through robot gripper equipment
Brake shoe piece is grabbed, stable holding avoids brake shoe piece from not picking up and appearance the case where in transit falling off；
S8, industrial machine human body drive the movement of robot gripper equipment, to drive brake shoe piece mobile, pass through robot
The brake shoe piece grabbed is placed on process equipment and processes by handgrip equipment, and after completion of processing, industrial machine human body is logical
Robot gripper equipment is crossed to grab the brake shoe piece of completion of processing；
Brake shoe piece is transported to the top of placement tray 22 by robot gripper equipment by S9, industrial machine human body, side
Just it is placed, vision camera 23 and PLC cooperation on placement tray 22, to be clicked through to the position on placement tray 22
Row judgement, by the way that the case where placement tray 22 is taken pictures, analyzed and judged depending on camera on placement tray 22, analyzes
It has placed the location point of brake shoe piece and has not placed the location point to be placed of brake shoe piece, and provided the point to be placed of highest priority,
The signal of the low point to be placed of other priority wouldn't provide；
S10, industrial machine human body are after scanning the position signal to point to be placed, and the coordinate provided according to PLC is in base
The location point of position to be placed is calculated on the basis of position on schedule；
S11, industrial machine human body run to be placed position, are placed brake shoe piece by robot gripper equipment；
S12, step S4-S11 is repeated, grab to brake shoe piece-processing-and places, so as to effectively avoid because artificial dry
Lack workpiece caused by pre-, so that the problem that the information on crawl pallet and placement tray 22 can not correspond to, grabs every time and put
Cooperated before setting by vision camera 23 and PLC, obtains Optimal Grasp point and optimal placement point, the effect for improving crawl and placing
Rate also avoids the problem that programing work amount is big in traditional grasping means, it is only necessary to carry out to crawl pallet and placement tray 22
Individually programming, thus greatly reduces the workload of programming, and be conveniently extended.
In the present invention, in use, industrial bodies human body drives robot gripper equipment to turn when grabbing brake shoe piece
Dynamic, so that robot gripper equipment be made to turn to the upper end for grabbing pallet 12, the vision camera 23 grabbed on pallet 12 is taken pictures,
To identify and judge according to photo to the crawl each crawl position of pallet 12, having on crawl pallet 12 can be effectively identified
Part position and without part position, grabs the vision camera 23 and PLC cooperation on pallet 12, thus not according to crawl position point
Together, different priority is marked off to the brake shoe piece placed on crawl pallet 12, the brake shoe piece that PLC first provides highest priority exists
The location point signal on pallet 12 is grabbed, the low crawl position point signal to grippers of other priority wouldn't provide, industry
Body human body is being scanned to after the position signal wait grab brake shoe piece, base of the coordinate provided according to PLC in reference point location
The location point of crawl position is calculated on plinth, industrial machine human body drives robot gripper equipment to be moved to crawl position, leads to
Robot gripper equipment crawl brake shoe piece is crossed, industrial machine human body drives robot gripper equipment mobile, to drive brake shoe
Piece is mobile, and the brake shoe piece grabbed is placed on process equipment by robot gripper equipment and is processed, after completion of processing,
Industrial machine human body is grabbed the brake shoe piece of completion of processing by robot gripper equipment, and industrial machine human body passes through machine
Brake shoe piece is transported to the top of placement tray 22 by people's handgrip equipment, and the vision camera 23 on placement tray 22 is taken pictures, thus
Identify on placement tray 22 have part position and without part position, vision camera 23 and PLC cooperation on placement tray 22, from
And the location point on placement tray 22 is judged, analyze the location point for having placed brake shoe piece and do not place brake shoe piece to
Placement location point, and the point to be placed of highest priority is provided, the signal of the low point to be placed of other priority wouldn't provide, work
Industry robot body is after scanning the position signal to point to be placed, and the coordinate provided according to PLC is on the basis of reference point location
On calculate the location point of position to be placed, industrial machine human body runs to be placed position, is set by robot gripper
It is standby to place brake shoe piece.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of robot of view-based access control model deviates grasping mechanism, including two crawl pallets (12) and two placement trays
(22), it is characterised in that: the side of two crawls pallet (12) and two placement trays (22) is respectively and fixedly provided with section bar support (24),
The upper end of four section bar supports (24) is respectively and fixedly provided with vision camera (23), two crawl pallets (12) and two placement trays
(22) lower end is equipped with fixed frame (17), and the upper end side of two fixed frames (17) is mounted on a motorized rails (14),
The upper end other side of two fixed frames (17) is respectively mounted that there are two the backing plates (16) that are parallel to each other, and two backing plates of the same side
(16) upper end for two backing plates (16) in one group, same group is equipped with another motorized rails (14), two crawls jointly
The lower end of pallet (12) and two placement trays (22) is respectively and fixedly provided with sliding block (13), and four sliding blocks (13) electronic are led with four respectively
Rail (14) is corresponding, and sliding block (13) is mounted on motorized rails (14), between two fixed frames (17) be equipped with process equipment and
Industrial machine human body, and industrial machine human body is located at the side of process equipment, is equipped on the industrial machine human body
Robot gripper equipment, the industrial machine human body are equipped with PLC.
2. a kind of robot of view-based access control model according to claim 1 deviates grasping mechanism, which is characterized in that the processing
Equipment includes mounting rack (4), is from top to bottom successively removably connected with the first loading plate (1) and second in the mounting rack (4)
Loading plate (3) is fixed with glue spraying equipment (5) on first loading plate (1), and the side of the mounting rack (4) is hinged with first
Cover (2), and first capping (2) between the first loading plate (1) and the second loading plate (3), the mounting rack (4) it is another
Side is hinged with the second capping (19), and the second capping (19) is located at the upper end of the first loading plate (1).
3. a kind of robot of view-based access control model according to claim 1 deviates grasping mechanism, which is characterized in that described first
The upper end quadrangle of loading plate (1) and the second loading plate (3) is equipped with connector (11), through equipped with two on the connector (11)
A bolt (10), and four bolts (10) of same level are one group, wherein one end of two groups of bolts (10) is screwed on peace
It shelves on (4), another two groups of bolts (10) are screwed on respectively on the first loading plate (1) and the second loading plate (3).
4. a kind of robot of view-based access control model according to claim 1 deviates grasping mechanism, which is characterized in that the machine
People's handgrip equipment includes connecting rod (7), and the lower end of the connecting rod (7) is fixed with two-way cylinder (8), the two-way cylinder (8)
Lower end two sides be respectively and fixedly provided with clamping plate (9).
5. a kind of robot of view-based access control model according to claim 2 deviates grasping mechanism, which is characterized in that described first
Hasp (20) are installed jointly on capping (2) and mounting rack (4).
6. a kind of robot of view-based access control model according to claim 1 deviates grasping mechanism, which is characterized in that the fixation
The lower end quadrangle of frame (17) is mounted on fixed corner code (18), and the lower end quadrangle of the fixed frame (17) is screwed with the second screw
Foot (15), and four the second screw foots (15) are respectively positioned between four fixed corner codes (18).
7. a kind of robot of view-based access control model according to claim 1 deviates grasping mechanism, which is characterized in that the fixation
Frame (17) is made of aluminum profile.
8. a kind of robot of view-based access control model according to claim 2 deviates grasping mechanism, which is characterized in that the installation
The two sides of frame (4) are respectively and fixedly provided with baffle (21).
9. a kind of robot of view-based access control model according to claim 2 deviates grasping mechanism, which is characterized in that the installation
The lower end quadrangle of frame (4) is screwed with the first screw foot (6).
10. a kind of robot of view-based access control model deviates grasping means, which comprises the following steps:
The quantity of S1, crawl pallet (12) and placement tray (22) are two, by crawl pallet (12) and placement tray (22)
It is divided into the matrix of six rows six column, is equipped with to make individually to grab equalization on pallet (12) and single placement tray (22) and set up separately
The location point grabbed on pallet (12) and placement tray (22) is respectively set different priority, made by 36 location points
Each location point that must be grabbed on pallet (12) and placement tray (22) possesses different priority in crawl or placement, from
And convenient for being grabbed and being placed according to the height of priority level；
S2, a vision camera is installed by section bar support (24) in crawl pallet (12) and placement tray (22)
(23), four vision cameras (23) range of taking pictures is covered each by crawl pallet (12) and placement tray (22), vision camera
(23) photo of shooting is compared and analyzed, to judge to grab pallet (12) and placement tray (22) each position point above
Whether be placed with brake shoe piece, thus judge to grab pallet (12) and placement tray (22) above have part location point and without part position
Point；
S3, PLC and four cameras directly carry out signal communication, by the position on crawl pallet (12) and placement tray (22)
It sets and is a little analyzed, due to dividing to each location point procession, PLC just can show that each particular location point has part also
It is the conclusion for not having part, because the location point on crawl pallet (12) and placement tray (22) has been respectively set different preferential
Grade, is grabbed or is placed so as to the sequence according to priority；
S4, when grabbing brake shoe piece, industrial bodies human body drive robot gripper equipment rotation, so that robot be made to grab
Hand equipment turns to the upper end of crawl pallet (12), vision camera (23) and PLC cooperation in crawl pallet (12), thus root
According to the difference of crawl position point, different priority is marked off to the brake shoe piece placed in crawl pallet (12)；
S5, PLC first provide location point signal of the brake shoe piece of highest priority in crawl pallet (12), other priority are low
Crawl position point signal to grippers wouldn't provide；
S6, industrial bodies human body are after scanning to the position signal wait grab brake shoe piece, and the coordinate provided according to PLC is in benchmark
The location point of crawl position is calculated on the basis of point position；
S7, industrial machine human body drive robot gripper equipment to be moved to crawl position, are grabbed by robot gripper equipment
Brake shoe piece；
S8, industrial machine human body drive the movement of robot gripper equipment, to drive brake shoe piece mobile, pass through robot gripper
The brake shoe piece grabbed is placed on process equipment and processes by equipment, and after completion of processing, industrial machine human body passes through machine
Device people's handgrip equipment grabs the brake shoe piece of completion of processing；
Brake shoe piece is transported to the top of placement tray (22) by robot gripper equipment by S9, industrial machine human body, is placed
Vision camera (23) and PLC cooperation on pallet (22) are analyzed to judge the location point on placement tray (22)
The location point of brake shoe piece has been placed out and has not placed the location point to be placed of brake shoe piece, and provides the to be placed of highest priority
The signal of point, the low point to be placed of other priority wouldn't provide；
S10, industrial machine human body are after scanning the position signal to point to be placed, and the coordinate provided according to PLC is in datum mark
The location point of position to be placed is calculated on the basis of position；
S11, industrial machine human body run to be placed position, are placed brake shoe piece by robot gripper equipment；
S12, step S4-S11 is repeated, grab to brake shoe piece-processing-and places.
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