CN109202869A - A kind of grabbing device and system - Google Patents
A kind of grabbing device and system Download PDFInfo
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- CN109202869A CN109202869A CN201811306810.4A CN201811306810A CN109202869A CN 109202869 A CN109202869 A CN 109202869A CN 201811306810 A CN201811306810 A CN 201811306810A CN 109202869 A CN109202869 A CN 109202869A
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- 230000009467 reduction Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
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- 230000009466 transformation Effects 0.000 description 2
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- 241000208340 Araliaceae Species 0.000 description 1
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- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
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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
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of grabbing device and systems, are related to automatic field.Grabbing device includes crawl structure, rotational structure, Image Acquisition structure and rack, grabs structure and Image Acquisition structure is connect with rack, rotational structure is oppositely arranged with crawl structure；Rotational structure drives product to rotate relative to rack for loading product；Image Acquisition structure is used to acquire the image information of product；It grabs structure to be used for after receiving image information, product is grabbed from rotational structure to processing stations.In the present invention, rotational structure drives product to rotate relative to rack, is at product always within the scope of the crawl of crawl structure, avoids crawl fabric drain and grabs product, to improve the working effect of crawl structure.
Description
Technical field
The present invention relates to automatic fields, in particular to a kind of grabbing device and system.
Background technique
Product needs to grab structure and grabs it to another procedure from a procedure, so during processed
And there is omission during crawl in the crawl structure of currently available technology, can not all grab product to next
In procedure, cause the effect for grabbing structure poor.
Summary of the invention
The purpose of the present invention is to provide a kind of grabbing devices, can be improved the working effect of grabbing device.
The purpose of the present invention is to provide a kind of grasping systems, can be improved the working effect of grasping system.
The present invention provides a kind of technical solution:
A kind of grabbing device, for grabbing product to a processing stations, including crawl structure, rotational structure, image
Structure and rack are acquired, the crawl structure and described image acquisition structure are connect with the rack, the rotational structure and institute
Crawl structure is stated to be oppositely arranged；
The rotational structure drives the product to rotate relative to the rack for loading the product；
Described image acquisition structure is used to acquire the image information of the product；
The crawl structure is used for after receiving described image information, and the product is grabbed from the rotational structure
On to the processing stations.
Further, in preferred embodiments of the present invention, the rotational structure includes carrying disk and actuator, the load
Object disk is connect with the gantry rotation, and the actuator is connect with the carrying disk, the carrying disk and the crawl structure phase
To setting；The product is placed on the carrying disk, described in the carrying disk can drive under the driving of the actuator
Product is relative to the gantry rotation.
Further, in preferred embodiments of the present invention, putting hole, the crawl structure are provided on the carrying disk
The product can be placed on the processing stations from the putting hole.
Further, in preferred embodiments of the present invention, the crawl structure includes connection frame, interconnecting piece and crawl
Portion, the connection frame are fixedly connected with the rack, and the connection frame is connect by the interconnecting piece with the crawl section, described
Interconnecting piece can drive the crawl section to move relative to the connection frame, and the crawl section is made to grab the product.
Further, in preferred embodiments of the present invention, the interconnecting piece includes multiple linking arms, the linking arm
The side wall of one end and the connection frame is rotatablely connected, and the side wall of the other end and the crawl section is rotatablely connected.
Further, in preferred embodiments of the present invention, the interconnecting piece further includes connecting rod, and the one of the connecting rod
End is rotatablely connected with the connection frame, and the other end is connect with the crawl section.
Further, in preferred embodiments of the present invention, the crawl structure further includes control unit, and the control is single
Member is electrically connected with described image acquisition structure；
Described control unit is used for after receiving described image information, obtains the initial position of the product, and control
The crawl section grabs the product according to the initial position.
A kind of grasping system includes processing stations and grabbing device, and the processing stations setting is separate in the rotational structure
The side of the crawl structure；
The grabbing device includes crawl structure, rotational structure, Image Acquisition structure and rack, the crawl structure and institute
It states Image Acquisition structure to connect with the rack, the rotational structure is oppositely arranged with the crawl structure；
The rotational structure drives the product to rotate relative to the rack for loading the product；
Described image acquisition structure is used to acquire the image information of the product；
The crawl structure is used for after receiving described image information, and the product is grabbed from the rotational structure
On to the processing stations.
Further, in preferred embodiments of the present invention, the processing stations can make straight line fortune relative to the rack
It is dynamic.
Further, in preferred embodiments of the present invention, the processing stations include bearing table, driving portion and transmission
Portion, the driving portion are connect by the driving section with the bearing table, and the driving section is connect with the rack, the product
It is placed on the bearing table.
The beneficial effect of grabbing device provided by the invention and system is: grabbing device include crawl structure, rotational structure,
Image Acquisition structure and rack grab structure and Image Acquisition structure and connect with rack, rotational structure with grab that structure is opposite to be set
It sets；Rotational structure drives product to rotate relative to rack for loading product；Image Acquisition structure is used to acquire the figure of product
As information；It grabs structure to be used for after receiving image information, product is grabbed from rotational structure to processing stations.
In the present invention, rotational structure is for loading product, and product is driven to rotate relative to rack, Image Acquisition structure
The image information of product is acquired, crawl structure is used for after receiving image information, product is grabbed from rotational structure to adding
On work station.In the present invention, rotational structure drives product to rotate relative to rack, and product is made to be at crawl structure always
Crawl within the scope of, avoid crawl fabric drain grab product, thus improve crawl structure working effect.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram for the grabbing device that the embodiment of the present invention one provides.
Fig. 2 is the structural schematic diagram of the crawl structure for the grabbing device that the embodiment of the present invention one provides.
Fig. 3 is the composition block diagram of the crawl structure for the grabbing device that the embodiment of the present invention one provides.
Fig. 4 is the structural schematic diagram of grasping system provided by Embodiment 2 of the present invention.
Fig. 5 is the structural schematic diagram of the processing stations of grasping system provided by Embodiment 2 of the present invention.
Icon: 10- grasping system；100- grabbing device；110- rotational structure；112- carrying disk；114- actuator；116-
Putting hole；120- grabs structure；122- connection frame；124- interconnecting piece；1242- linking arm；1244- connecting rod；The crawl section 126-；
128- control unit；129- driving structure；130- Image Acquisition structure；140- rack；200- processing stations；210- bearing table；
220- driving portion；The driving section 230-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is to be understood that, term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put or those skilled in the art orientation or position that usually understand
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the equipment of indication or suggestion meaning or element are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply
Relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Embodiment one
Referring to Fig. 1, present embodiments providing a kind of grabbing device 100, grabbing device 100 provided in this embodiment can
Improve the working effect of grabbing device 100.
Present invention could apply to the reasons material such as food, drug, daily chemical products packaging and sorting vanning mounted boxs, can be used for
The assembling product (such as mobile phone glass fitting) in the field 3C.Further, the grabbing device 100 in the embodiment of the present invention, can be 360 degree
Free supplied materials, crawl structure 120 can on the rotational structure 110 of rotation tracking articles to be grabbed, and object leak
When grabbing, crawl is continued to complete after rotational structure 110 rotates object to original position.Meanwhile the present invention can prevent from grabbing
Structure 120 extends to extreme position, to extend the service life of crawl structure 120.
In the present embodiment, grabbing device 100 include crawl structure 120, rotational structure 110, Image Acquisition structure 130 and
Rack 140, grabs structure 120 and Image Acquisition structure 130 is connect with rack 140, rotational structure 110 and crawl 120 phase of structure
To setting；
Rotational structure 110 drives product to rotate relative to rack 140 for loading product；
Image Acquisition structure 130 is used to acquire the image information of product；
It grabs structure 120 to be used for after receiving image information, product is grabbed from rotational structure 110 to processing stations
On.
In the present embodiment, rotational structure 110 is for loading product, and product is driven to rotate relative to rack 140, image
The image information that structure 130 acquires product is acquired, crawl structure 120 is used for after receiving image information, by product from rotation
In structure 110 on crawl to processing stations.In the present embodiment, rotational structure 110 drives product to rotate relative to rack 140,
It is at product always within the scope of the crawl of crawl structure 120, avoids the crawl leakage of structure 120 and grab product, to improve
The working effect of crawl structure 120.
The equipment of crawl object of the invention grabs the object on rotational structure 110 convenient for crawl structure 120, improves work
Make efficiency.Meanwhile, it is capable to which improving crawl structure 120 obtains the precision of initial position.
In the present embodiment, crawl structure 120 can with but be not limited to Delta robot or SCARA robot, rotation knot
Structure 110 can with but be not limited to the objective table of circular ring shape, among it for liftable object loading attachment to be arranged；It or is circle
Dish type objective table.Image Acquisition structure 130 can with but be not limited to industrial camera, or life can be triggered when detecting object
At the sensor of signal, such as proximity sensor, infrared sensor.Further, initial position can be crawl structure 120
The position of preset fixation, when receive Image Acquisition structure 130 detect object and send detection information when, then should
Initial position of the preset fixed position as object.Further, initial position is also possible to according to detection information and pre-
If switch condition conversion obtained from position.
In the present embodiment, rotational structure 110 include carrying disk 112 and actuator 114, carrying disk 112 with 140 turns of rack
Dynamic connection, actuator 114 are connect with carrying disk 112, and carrying disk 112 is oppositely arranged with crawl structure 120；Product is placed on loading
On disk 112, carrying disk 112 can drive product to rotate relative to rack 140 under the driving of actuator 114.
In the present embodiment, actuator 114 drives carrying disk 112 to rotate, and enables product under the drive of carrying disk 112
It is rotated relative to rack 140, so that multiple products be enable to be sequentially arranged on carrying disk 112, multiple products is prevented to be deposited in
At one, the working efficiency for grabbing structure 120 is influenced.
In the present embodiment, after product being placed on carrying disk 112, product is with carrying disk 112 in crawl structure 120
Surrounding rotation, can be such that product is always positioned within the scope of the crawl of crawl structure 120, and the crawl leakage of structure 120 is avoided to grab product, thus
Improve the working effect of crawl structure 120.
In the present embodiment, it is provided with putting hole 116 on carrying disk 112, crawl structure 120 can be by product from putting hole
It is placed on processing stations in 116.
In the present embodiment, processing stations and putting hole 116 cooperate, and are oppositely arranged with crawl structure 120, when crawl is tied
Product after grabbing in carrying disk 112, is placed on processing stations by structure 120.
In the present embodiment, the center of carrying disk 112 is arranged in putting hole 116, and is oppositely arranged with crawl structure 120.
In the present embodiment, actuator 114 is driving motor.
It should be noted that in the present embodiment, actuator 114 is driving motor, and but not limited to this, of the invention
In other embodiments, actuator 114 can also be for other driving elements such as driving cylinder, the scheme being equal with the present embodiment,
It can achieve the effect that the present embodiment, be within the scope of the invention.
In the present embodiment, gear, carrying disk 112 and actuator are provided on carrying disk 112 and actuator 114
114, by the engagement of gear, realize transmission connection.
Referring to Fig. 2, in the present embodiment, crawl structure 120 includes connection frame 122, interconnecting piece 124 and crawl section 126,
Connection frame 122 is fixedly connected with rack 140, and connection frame 122 is connect by interconnecting piece 124 with crawl section 126, and interconnecting piece 124 can
It drives crawl section 126 to move relative to connection frame 122, crawl section 126 is made to grab product.
In the present embodiment, interconnecting piece 124 includes multiple linking arms 1242, one end of linking arm 1242 and connection frame 122
Side wall rotation connection, the side wall of the other end and crawl section 126 is rotatablely connected.
In the present embodiment, linking arm 1242 is three, side wall of the one end of three linking arms 1242 with connection frame 122
Rotation connection, the other end are rotatablely connected with the side wall of crawl section 126, three 1242 connector connection frames 122 of linking arm and grab
Keep crawl structure 120 substantially conical after taking portion 126.
In the present embodiment, interconnecting piece 124 further includes connecting rod 1244,122 turns of one end and the connection frame of connecting rod 1244
Dynamic connection, the other end are connect with crawl section 126.
In the present embodiment, one end of connecting rod 1244 is connect with the center rotating of connection frame 122, the other end and crawl section
126 center rotating connection can play surely crawl section 126 during linking arm 1242 controls crawl section 126 and moves
It is set for using, improves the accuracy of the crawl of crawl section 126.
Referring to Fig. 3, in the present embodiment, crawl structure 120 further includes control unit 128, control unit 128 and image
Structure 130 is acquired to be electrically connected；
Control unit 128 is used for after receiving image information, obtains the initial position of product, and control driving structure
129 drive crawl section 126 to grab product according to initial position by linking arm 1242, wherein driving structure 129 and linking arm
1242 connections are rotated for being drivingly connected arm 1242 relative to connection frame 122.
In the present embodiment, after Image Acquisition structure 130 collects the image information of product, by the image information of product
It is sent to control unit 128, initial position of the control unit 128 according to image information acquisition product, and according to initial position control
Crawl section 126 processed moves to the initial position and grabs the product.
In the present embodiment, after control unit 128 gets the current initial position of product, product can be calculated around load
The radius of gyration of the center rotating of object disk 112, further according to the rotation period of carrying disk 112, control unit 128 can be calculated and be produced
The real time position of product, and product is grabbed according to real time position control crawl section 126.
In the present embodiment, crawl structure 120 can with but be not limited to Delta robot or SCARA robot, rotation knot
Structure 110 can with but be not limited to the objective table of circular ring shape, among it for liftable object loading attachment to be arranged；It or is circle
Dish type objective table.Image Acquisition structure 130 can with but be not limited to industrial camera, or life can be triggered when detecting object
At the sensor of signal, such as proximity sensor, infrared sensor.Further, initial position can be crawl structure 120
The position of preset fixation, when receive Image Acquisition structure 130 detect object and send detection information when, then should
Initial position of the preset fixed position as object.Further, initial position is also possible to according to detection information and pre-
If switch condition conversion obtained from position.
In the present embodiment, driving structure 129 is decelerating motor, and decelerating motor includes the encoder for connecting motor shaft；
Encoder is used for the degree of rotation output pulse signal according to the motor shaft detected, and pulse signal is sent to
Grab structure 120；
Structure 120 is grabbed for the reduction ratio according to pulse signal and decelerating motor, obtains initial rotation angle or reality
Shi Xuanzhuan angle.
Specifically, decelerating motor is capable of providing lower revolving speed and biggish torque, and rotation precision is high, and slow down electricity
Motor shaft in machine is driven by reduction gearbox, to drive rotational structure 110 to rotate.Reduction ratio is the input speed to motor
With the ratio of the output revolving speed of motor.As a result, turning for decelerating motor reality output can be obtained according to pulse signal and reduction ratio
Speed, and then obtain the initial rotation angle or real time rotation angle of rotational structure 110.
The equipment that crawl structure 120 of the invention grabs material, decelerating motor are suitable for sorting, assembling etc. and manufacture
In, it is particularly suitable for being mounted in rotational structure 110, driving rotational structure 110 transmits object in the rotation speed of permission, just
The higher rotation speed of precision is acquired in crawl structure 120, and can effectively grab required object.
In the present embodiment, Image Acquisition structure 130 is industrial camera, can be fixedly mounted on the top of rotational structure 110 and
It grabs except 120 range of structure, can also be directly fixed in crawl structure 120.It is under camera coordinates and crawl 120 coordinate of structure
The transformational relation of system is the transformation matrix between camera coordinates system and crawl 120 coordinate system of structure, wherein can pass through Image Acquisition
The calibration mode of the internal reference of structure 130 and outer ginseng obtains, and can also be obtained by the scaling method of the operator function of geometric transformation.
Specifically, Image Acquisition structure 130 can with but be not limited to the image of following manner acquisition object, Image Acquisition structure 130 exists
When getting trigger signal, the image of object is acquired, wherein trigger signal can detect rotation knot for crawl structure 120
When the increment of the rotation angle of structure 110 reaches predetermined angle, the signal sent to Image Acquisition structure 130, or crawl structure
120 signals sent according to preset collection period to Image Acquisition structure 130, or be fixed in Image Acquisition structure 130
The signal that is sent when detecting that object enters in pickup area of article detection device, such as infrared sensor, displacement sensing
Device etc. is able to detect the sensor for whether having object in specified region.
In the present embodiment, industrial camera is after collecting the image information of product, seat of the identification product in industrial camera
Coordinate position under mark system, and the coordinate position is sent to control unit 128, control unit 128 is by product in industrial camera
Coordinate system under coordinate position be converted into the coordinate position under the coordinate system of control unit 128, obtain the initial bit of product
It sets.
The working principle of grabbing device 100 provided in this embodiment: in the present embodiment, Image Acquisition structure 130 is first adopted
Collect the image information of product, and seat of the product under the coordinate system of Image Acquisition structure 130 is obtained according to the image information of product
Cursor position, and the coordinate position is sent to control unit 128, control unit 128 by product Image Acquisition structure 130 seat
Coordinate position under mark system is converted into the coordinate position under the coordinate system of control unit 128, obtains the initial position of product.Control
Unit 128 processed grabs product to processing stations further according to the initial position control crawl section 126 of product.
In conclusion grabbing device 100 provided in this embodiment, in the present embodiment, rotational structure 110 are produced for loading
Product, and product is driven to rotate relative to rack 140, Image Acquisition structure 130 acquires the image information of product, grabs structure 120
For after receiving image information, product to be grabbed from rotational structure 110 to processing stations.In the present embodiment, it revolves
Rotation structure 110 drives product to rotate relative to rack 140, is at product always within the scope of the crawl of crawl structure 120,
It avoids the crawl leakage of structure 120 and grabs product, to improve the working effect of crawl structure 120.
Embodiment two
Referring to Fig. 4, present embodiments providing a kind of grasping system 10, grasping system 10 provided in this embodiment can be mentioned
The working effect of high grasping system 10.
In order to briefly describe, the present embodiment does not refer to place, can refer to embodiment one.
In the present embodiment, grasping system 10 includes processing stations 200 and the grabbing device 100 that embodiment one provides, and is added
Side of the rotational structure 110 far from crawl structure 120 is arranged in work station 200.
In the present embodiment, processing stations 200 are arranged in putting hole 116, cooperate with putting hole 116, and crawl section 126 will
Product on carrying disk 112 is placed on processing stations 200 by putting hole 116, arrives down processing stations 200 by Product transport
At one procedure.
In the present embodiment, processing stations 200 can be for linear motion relative to rack 140.
In the present embodiment, processing stations 200 move along a straight line relative to rack 140, can will be placed on processing stations 200
Product transport at next process, facilitate the processing of product.
Referring to Fig. 5, in the present embodiment, processing stations 200 include bearing table 210, driving portion 220 and driving section 230,
Driving portion 220 is connect by driving section 230 with bearing table 210, and driving section 230 is connect with rack 140, and product is placed on bearing table
On 210.
In the present embodiment, product is placed on bearing table 210.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of grabbing device, for grabbing product to a processing stations, which is characterized in that including crawl structure, rotation
Structure, Image Acquisition structure and rack, the crawl structure and described image acquisition structure are connect with the rack, the rotation
Structure is oppositely arranged with the crawl structure；
The rotational structure drives the product to rotate relative to the rack for loading the product；
Described image acquisition structure is used to acquire the image information of the product；
The crawl structure is used for after receiving described image information, and the product is grabbed from the rotational structure to institute
It states on processing stations.
2. grabbing device according to claim 1, which is characterized in that the rotational structure includes carrying disk and actuator,
The carrying disk is connect with the gantry rotation, and the actuator is connect with the carrying disk, the carrying disk and the crawl
Structure is oppositely arranged；The product is placed on the carrying disk, the carrying disk can under the driving of the actuator band
The product is moved relative to the gantry rotation.
3. grabbing device according to claim 2, which is characterized in that putting hole is provided on the carrying disk, it is described to grab
Take structure that can be placed in the product on the processing stations from the putting hole.
4. grabbing device according to claim 1, which is characterized in that the crawl structure include connection frame, interconnecting piece and
Crawl section, the connection frame are fixedly connected with the rack, and the connection frame is connect by the interconnecting piece with the crawl section,
The interconnecting piece can drive the crawl section to move relative to the connection frame, and the crawl section is made to grab the product.
5. grabbing device according to claim 4, which is characterized in that the interconnecting piece includes multiple linking arms, the company
The side wall of one end and the connection frame for connecing arm is rotatablely connected, and the side wall of the other end and the crawl section is rotatablely connected.
6. grabbing device according to claim 5, which is characterized in that the interconnecting piece further includes connecting rod, the connection
One end of bar and the connection frame are rotatablely connected, and the other end is connect with the crawl section.
7. grabbing device according to claim 4, which is characterized in that the crawl structure further includes control unit, described
Control unit is electrically connected with described image acquisition structure；
Described control unit is used for after receiving described image information, obtains the initial position of the product, and described in control
Crawl section grabs the product according to the initial position.
8. a kind of grasping system, which is characterized in that including processing stations and such as the described in any item crawl dresses of claim 1-7
It sets, side of the rotational structure far from the crawl structure is arranged in the processing stations.
9. grasping system according to claim 8, which is characterized in that the processing stations can be made straight relative to the rack
Line movement.
10. grasping system according to claim 8, which is characterized in that the processing stations include bearing table, driving portion and
Driving section, the driving portion are connect by the driving section with the bearing table, and the driving section is connect with the rack, described
Product is placed on the bearing table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811306810.4A CN109202869B (en) | 2018-11-05 | 2018-11-05 | Grabbing device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811306810.4A CN109202869B (en) | 2018-11-05 | 2018-11-05 | Grabbing device and system |
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| Publication Number | Publication Date |
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| CN109202869A true CN109202869A (en) | 2019-01-15 |
| CN109202869B CN109202869B (en) | 2024-09-17 |
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| CN201811306810.4A Active CN109202869B (en) | 2018-11-05 | 2018-11-05 | Grabbing device and system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5853078A (en) * | 1998-02-13 | 1998-12-29 | Menziken Automation, Inc. | Vibrating feeder bowl with annular rotating disk feeder |
| CN103203739A (en) * | 2008-06-10 | 2013-07-17 | 村田机械株式会社 | Parallel mechanism |
| CN107458875A (en) * | 2017-08-09 | 2017-12-12 | 爱维迅自动化科技（昆山）有限公司 | A kind of vision positioning feeder and its operating method |
| CN207841351U (en) * | 2018-02-11 | 2018-09-11 | 惠州英特智能设备有限公司 | A kind of mobile phone camera eyeglass abutted equipment |
| CN209095553U (en) * | 2018-11-05 | 2019-07-12 | 佛山市奇创智能科技有限公司 | A kind of grabbing device and system |
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2018
- 2018-11-05 CN CN201811306810.4A patent/CN109202869B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5853078A (en) * | 1998-02-13 | 1998-12-29 | Menziken Automation, Inc. | Vibrating feeder bowl with annular rotating disk feeder |
| CN103203739A (en) * | 2008-06-10 | 2013-07-17 | 村田机械株式会社 | Parallel mechanism |
| CN107458875A (en) * | 2017-08-09 | 2017-12-12 | 爱维迅自动化科技（昆山）有限公司 | A kind of vision positioning feeder and its operating method |
| CN207841351U (en) * | 2018-02-11 | 2018-09-11 | 惠州英特智能设备有限公司 | A kind of mobile phone camera eyeglass abutted equipment |
| CN209095553U (en) * | 2018-11-05 | 2019-07-12 | 佛山市奇创智能科技有限公司 | A kind of grabbing device and system |
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| CN109202869B (en) | 2024-09-17 |
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