CN109821772B - Assembly line transportation manipulator and working method thereof - Google Patents
Assembly line transportation manipulator and working method thereof Download PDFInfo
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- CN109821772B CN109821772B CN201910158734.5A CN201910158734A CN109821772B CN 109821772 B CN109821772 B CN 109821772B CN 201910158734 A CN201910158734 A CN 201910158734A CN 109821772 B CN109821772 B CN 109821772B
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Abstract
The invention discloses a production line transportation manipulator and a working method thereof, wherein the production line transportation manipulator comprises the following steps: the automatic pick-up device comprises a base, a supporting plate, an electric control mechanical arm, a camera, a transmission line and a workpiece taking station. A supporting shell is arranged on the base, and a bearing plate extending outwards is arranged on one side of the supporting shell; the transmission execution assembly comprises: fixed base block, riser, front and back eccentric wheel subassembly, drive assembly. The automatically controlled manipulator includes: second slider, electric lift subassembly and vacuum chuck subassembly. The visual detection device comprises a monocular camera arranged on one side of the electric control mechanical arm, a laser scanning device arranged on one side of the monocular camera and an imaging light source arranged on the placing turntable; the visual detection device is connected with the computer equipment through a line. According to the image positioning information fed back by the visual detection device, the lifting position of the electric control mechanical arm is accurately positioned and flexibly controlled, the damage to the workpiece and the scratch on the surface of the workpiece are reduced, and the missing rate and the generation of defective products are reduced.
Description
Technical Field
The invention belongs to the field of manipulators, and particularly relates to an assembly line conveying manipulator and a working method thereof.
Background
The manipulator becomes the main direction that replaces artifical work in recent years, and in the glass piece production process, because of the unsmooth form on the surface of work piece, the material hardness of itself to and the difference of thickness, need the manipulator to set for different suction power and removal height according to the work piece of difference, traditional manipulator can't be according to the nimble absorption dynamics of adjusting the manipulator of glass and the pressure to the work piece to cause the glass piece to appear the scratch and even appear the condemned phenomenon of work piece and influence the normal operating of production progress.
Secondly, lack detection mechanism and carry out accurate positioning and carry out preliminary detection to the surface of work piece to the work piece for the emergence rate of work piece surface defect increases, influences later stage processing effect.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides an assembly line transportation manipulator and a working method thereof, which aims to solve the problems in the prior art.
The technical scheme is as follows: an assembly line transport robot comprising:
a base, a support housing fixedly mounted on the base; the supporting shell comprises a supporting plate fixedly arranged on the base and a supporting cross beam fixedly arranged on the supporting plate; the supporting shell is provided with a rotating shaft mounting hole; one side of the supporting shell is provided with a bearing plate extending outwards;
automatically controlled manipulator includes: the vacuum chuck device comprises an execution transmission assembly, an electric lifting assembly fixedly arranged on the execution transmission assembly and a vacuum chuck assembly arranged at one end of the electric lifting assembly; the electric lifting assembly is internally provided with a servo encoder, the encoder feeds back motor running information to the controller, and the controller controls the running speed of the lifting servo motor according to the fed-back information; the electric control mechanical arm is arranged on a second sliding block at one end of the execution transmission assembly;
the transmission executive component is fixedly arranged in the supporting shell and comprises: the device comprises a fixed base block fixedly arranged on a supporting beam, a vertical plate fixedly arranged at the bottom of the supporting beam, a front eccentric wheel component and a rear eccentric wheel component which are arranged at the bottom of the vertical plate, and a front eccentric wheel transmission component and a rear eccentric wheel transmission component which are connected to the front eccentric wheel component and the rear eccentric wheel component; the front eccentric wheel assembly and the rear eccentric wheel assembly comprise; the front and rear eccentric wheel sets and a rotating shaft which penetrates through the supporting shell and is fixedly connected with the front and rear eccentric wheel sets; one end of the rotating shaft is sleeved with a transmission belt, and a shaft lever is fixedly installed on the rear eccentric wheel; the front and rear eccentric wheel transmission component comprises: the device comprises a swinging connecting rod fixedly connected to a rear eccentric wheel shaft rod, a first sliding block connected to the other end of the swinging connecting rod, an L-shaped plate fixedly installed on the first sliding block, a first connecting rod arranged on the L-shaped plate and a second connecting rod arranged at the other end of the first connecting rod; a sliding rail is arranged on one side of the supporting cross beam, and the first sliding block drives the L-shaped plate to move back and forth;
the transmission executive component is fixedly installed in the supporting shell and comprises: the device comprises a fixed base block fixedly arranged on a supporting beam, a vertical plate fixedly arranged at the bottom of the supporting beam, a front eccentric wheel assembly and a rear eccentric wheel assembly arranged at the bottom of the vertical plate, and a transmission assembly connected to the front eccentric wheel assembly and the rear eccentric wheel assembly; the front eccentric wheel assembly and the rear eccentric wheel assembly comprise; the front and rear eccentric wheel sets and a rotating shaft which penetrates through the supporting shell and is fixedly connected with the front and rear eccentric wheel sets; one end of the rotating shaft is sleeved with a transmission belt, and a shaft lever is fixedly installed on the rear eccentric wheel; the transmission assembly includes: the device comprises a swinging connecting rod fixedly connected to a rear eccentric wheel shaft rod, a first sliding block connected to the other end of the swinging connecting rod, an L-shaped plate fixedly installed on the first sliding block, a first connecting rod arranged on the L-shaped plate and a second connecting rod arranged at the other end of the first connecting rod; a sliding rail is arranged on one side of the supporting cross beam, and the first sliding block drives the L-shaped plate to move back and forth;
the automatically controlled manipulator includes: the second sliding block is arranged at one end of the supporting beam, the electric lifting component is fixedly arranged on the second sliding block, and the vacuum sucker component is arranged at one end of the electric lifting component; the electric lifting assembly is internally provided with a servo encoder, the encoder feeds back motor running information to the controller, and the controller controls the running speed of the lifting servo motor according to the fed-back information.
The visual detection device comprises a monocular camera arranged on one side of the electric control mechanical arm, a laser scanning device arranged on one side of the monocular camera and an imaging light source arranged on the bearing plate; the visual detection device is connected with the computer equipment through a line;
get a station, include: the automatic workpiece taking device comprises a transmission motor, a differential mechanism, a first power output shaft, a rotating plate assembly, an annular gear ring and a placing rotary table, wherein the transmission motor is arranged at the bottom of a workpiece taking station; one side of the placing turntable is provided with a transmission line; a second power output shaft is arranged on the side face of the differential, and a transmission belt is sleeved on the second power output shaft;
the transmission motor drives the differential mechanism to rotate, power drives the placing turntable and the front and rear eccentric wheel assemblies to simultaneously rotate at different speeds through the transmission belt, the swinging connecting rod swings left and right under the front and rear eccentric wheel assemblies so as to drive the first sliding block to slide left and right on the supporting cross beam, the L-shaped plate fixedly arranged on the first sliding block moves left and right along with the first sliding block, the L-shaped plate pushes the second sliding block to move left and right, the other end of the L-shaped plate drives the first connecting rod to rotate around the supporting cross beam at a certain angle, and the first connecting rod drives the second connecting rod so as to drive the second sliding block to move left and right and simultaneously shift front and back at a certain angle; thereby driving the electric control mechanical arm to move in an arc shape.
In a further embodiment, a mounting hole is formed on one side of the support housing, on which the electric manipulator is arranged.
In a further embodiment, the vacuum chuck assembly vacuum manipulator comprises an air exhaust pipeline arranged inside the manipulator, a control valve arranged at one end of the air exhaust pipeline and a chuck arranged at the other end of the air exhaust pipeline; the sucker is provided with a radioactive suction nozzle; the outside of sucking disc is provided with the sponge gasket, can increase the adsorption affinity of sucking disc to the work piece.
In a further embodiment, the electric lifting assembly comprises a lifting servo motor arranged on the second sliding block, a transmission gear arranged on one side of a power output shaft of the lifting servo motor, and a lifting connecting rod arranged at the bottom of the transmission gear, wherein a transmission rack matched with the transmission gear is arranged on the lifting connecting rod, and the lifting servo motor controls the lifting position through a controller.
In a further embodiment, a certain gap is formed between the inner wall side of the sucking disc and the air exhaust pipeline, a conical outer cover is arranged on the outer side of the sucking disc, an annular sealing lip edge is arranged at the bottom of the conical outer cover, the sponge gasket is provided with an air hole corresponding to the radioactive suction nozzle, the height of the sealing lip edge is larger than the thickness of the sponge gasket, and the sealing performance inside the sucking disc can be guaranteed.
In a further embodiment, the imaging light source is a plurality of LED light sources with adjustable brightness, the bottom of the LED light source is provided with a mounting plate, and the edges of the LED light sources are distributed on the receiving plate to achieve an illumination effect.
In a further embodiment, the rotating plate assembly comprises: the two ends of the first rotating plate and the second rotating plate are provided with through holes, the first rotating plate and the second rotating plate are arranged in parallel, a first power output shaft penetrates through the through holes in one ends of the first rotating plate and the second rotating plate, star gears are arranged at the through holes of the first rotating plate and the second rotating plate, and the star gears rotate on the inner side of the annular gear ring so as to drive the rotating plate assembly to rotate on the annular gear ring.
The working principle is as follows: s1, conveying the semi-finished workpiece to the position above the bearing plate through the transmission line, and irradiating the workpiece by the imaging light source on the bearing plate to meet the illumination requirement;
s2, shooting the workpiece by a monocular camera, sending radioactive infrared beams to the workpiece by a laser scanning device, feeding imaging data back to a computer image analysis and detection system by the monocular camera to analyze the thickness, the concave-convex shape and the surface flatness of the workpiece;
s3, judging after preliminary detection whether the workpiece meets the processing requirement, and controlling the lifting of the electric control manipulator;
s4, transporting the unqualified products to a defective product collection place through a transmission line; after the workpieces are detected to be qualified, the lifting position of the electric control mechanical arm is calculated according to data fed back by the imaging system, a control instruction is generated to the controller, the rotating speed and the position of the lifting servo motor are controlled to descend to the position above the workpieces, the vacuum chuck covers the positions above the workpieces to suck the workpieces, the qualified workpieces are placed on the placing turntable, and the workpieces are conveyed to a machining process.
Has the advantages that: compared with the prior art, the invention has the following advantages:
1. and accurately positioning the position, the shape and the thickness of the workpiece according to the image positioning information fed back by the visual detection device. Thereby the lifting position of automatically controlled manipulator is controlled in a flexible way, reduces to cause the damage and cause the mar to the surface of work piece to the work piece.
2. The differential drives the workpiece taking station to rotate and simultaneously drives the mechanical arm to synchronously operate, so that the workpiece taking leakage rate is reduced.
3. And a primary detection process is added, the laser scanning device sweeps the surface of the workpiece, the workpiece influencing production is rejected primarily, and the occurrence rate of processing inferior-quality products is further reduced.
Drawings
Fig. 1 is a schematic structural view of the assembly line transportation manipulator of the invention.
Figure 2 is a top view of the robot transmission assembly of the present invention.
Figure 3 is a cross-sectional view of the robot transmission assembly of the present invention.
Fig. 4 is a schematic structural view of the electric lift assembly of the present invention.
Figure 5 is a side view of a pick station of the present invention.
Fig. 6 is a perspective view of the differential of the present invention.
Fig. 7 is a schematic view of the vacuum chuck structure of the present invention.
The reference signs are: the device comprises a base 1, a supporting plate 2, a transmission executing assembly 3, a rotating shaft 30, a front eccentric wheel assembly 31, a rear eccentric wheel assembly 31, a swinging connecting rod 32, a sliding rail 33, a first sliding block 34, an L-shaped plate 35, a first connecting rod 36, a second connecting rod 37, a second sliding block 38, a fixed base block 39, an electric control mechanical hand 4, a vacuum chuck 40, a radioactive suction nozzle 400, a sponge gasket 401, an air hole 402, an electric lifting assembly 41, a lifting servo motor 411, a transmission rack 412, a lifting connecting rod 413, a monocular camera 5, a transmission line 6, a workpiece taking station 7, a placing turntable 70, a rotating plate assembly 71, an annular gear ring 72, a star gear 73, a differential 74, a second power output shaft 75, a transmission belt 76, a transmission motor 77, an input shaft 78, a first power output shaft 79.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
An assembly line transport robot and a working method thereof as shown in fig. 1 to 7 includes: the automatic pick-up device comprises a base 1, a supporting plate 2, an electric control mechanical arm 4, a camera, a transmission line 6 and a pick-up station 7.
Wherein, a supporting shell is arranged on the base 1; the supporting shell comprises a supporting plate 2 fixedly arranged on the base 1 and a supporting beam fixedly arranged on the supporting plate 2; the supporting shell is provided with a mounting hole of the rotating shaft 30; one side of the supporting shell is provided with a bearing plate extending outwards. And one side of the supporting shell, which is provided with the electric manipulator, is provided with a mounting hole.
The transmission executing assembly 3 is fixedly arranged in the supporting shell and comprises: a fixed base block 39, a vertical plate, a front eccentric wheel assembly 31, a rear eccentric wheel assembly and a front eccentric wheel transmission assembly.
The fixed base block 39 is fixedly arranged on the supporting beam, the vertical plate is fixedly arranged at the bottom of the supporting beam, the front and rear eccentric wheel assemblies 31 are arranged at the bottoms of the vertical plates, and the front and rear eccentric wheel transmission assemblies are connected to the front and rear eccentric wheel sets. The front and rear eccentric wheel assemblies 31 include; a front and a rear eccentric wheel set and a rotating shaft 30 which penetrates the supporting shell and is fixedly connected with the front and the rear eccentric wheel sets; one end of the rotating shaft 30 is sleeved with a transmission belt 76, and a shaft lever is fixedly arranged on the rear eccentric wheel; front and back eccentric wheel drive assembly includes: swing link 32, first slider 34, L-shaped plate 35, first link 36 and second link 37. The swinging connecting rod 32 is fixedly connected to the rear eccentric wheel shaft rod, the first sliding block 34 is connected to the other end of the swinging connecting rod 32, the L-shaped plate 35 is fixedly installed on the first sliding block 34, the first connecting rod 36 is arranged on the L-shaped plate 35, and the second connecting rod 37 is arranged at the other end of the first connecting rod 36; one side of the supporting beam is provided with a slide rail 33, and the first slide block 34 drives the L-shaped plate 35 to move back and forth.
The electric control mechanical hand 4 includes: a second slide 38, a motorized lift assembly 41 and a vacuum chuck 40 assembly. The second sliding block 38 is arranged at one end of the supporting beam, the electric lifting assembly 41 is fixedly arranged on the second sliding block 38, and the vacuum chuck 40 assembly is arranged at one end of the electric lifting assembly 41. One end of the second sliding block 38 is connected with the second connecting rod 37, and the electric control mechanical arm 4 moves around the supporting beam in a left-right arc shape under the driving of the second connecting rod 37.
The outside of electric lift assembly 41 and vacuum chuck 40 subassembly is provided with the casing, and electric lift assembly 41 includes: a lifting servo motor 411, a transmission gear and a lifting connecting rod 413. The lifting servo motor 411 is arranged on the second sliding block 38, the transmission gear is arranged on one side of a power output shaft of the lifting servo motor 411, the lifting connecting rod 413 is arranged at the bottom of the transmission gear, a transmission rack 412 matched with the transmission gear is arranged on the lifting connecting rod 413, and the lifting servo motor 411 controls the moving distance of the lifting connecting rod 413 through a controller, so that the distance between the vacuum chuck 40 and the workpiece 8 is controlled.
The visual inspection device includes: a monocular camera 5, a laser scanning device and an imaging light source. The monocular camera 5 is arranged on one side of the electric control mechanical arm 4, the laser scanning device is arranged on one side of the monocular camera 5, and the imaging light source is arranged on one side of the bearing plate; the visual detection device is connected with the computer equipment through a line. The imaging light source is a plurality of LED light sources with adjustable brightness, the bottom of each LED light source is provided with a mounting plate, and the LED light sources are distributed at the edge of the bearing plate.
The pick-off station 7 comprises: the automatic picking device comprises a transmission motor 77 arranged at the bottom of a picking station 7, a differential 74 connected to one side of an input shaft 78 of the transmission motor 77, a first power output shaft 79 arranged at the top of the differential 74, a rotating plate assembly 71 arranged at one end of the first power output shaft 79, an annular gear ring 72 fixedly connected with a bearing plate, and a placing turntable 70 fixedly connected to the top of the rotating plate assembly 71; a transmission line 6 is arranged at one side of the placing turntable 70; a second power output shaft 75 is arranged on the side surface of the differential 74, a transmission belt 76 is sleeved on the second power output shaft 75, and a first power output shaft 79 drives the rotating shaft 30 to rotate through the transmission belt 76; the differential 74 rotates the extractor station 7 and at the same time moves the robot at different speeds.
The driving motor 77 drives the differential 74 to rotate, so as to drive the placing turntable 39 and the front and rear eccentric wheel assemblies 31 to rotate at different speeds, the swinging connecting rod 32 swings left and right under the front and rear eccentric wheel assemblies 31, so as to drive the first sliding block 34 to slide left and right on the supporting cross beam, the L-shaped plate 35 fixedly installed on the first sliding block 34 moves left and right along with the first sliding block 34, the L-shaped plate 35 drives the first connecting rod 36 to rotate, the first connecting rod 36 drives the second connecting rod 37, and therefore the second sliding block 38 is driven to move left and right and move back and forth simultaneously. Thereby driving the electric control mechanical arm 4 to move.
The vacuum chuck assembly comprises a vacuum manipulator, a control valve and a chuck, wherein the vacuum manipulator is arranged in the manipulator; the suction disc is provided with a radioactive suction nozzle 400; the outside of sucking disc is provided with sponge gasket 401, can increase the suction of sucking disc to work piece 8.
Form certain clearance between the inner wall side of sucking disc and the exhaust duct, the outside of sucking disc is provided with conical dustcoat, and the bottom of conical dustcoat is provided with the sealing lip limit of ring type, and sponge gasket 401 sets up the gas pocket 402 that corresponds with radioactivity suction nozzle 400, and the thickness that highly is greater than sponge gasket 401 in sealing lip limit can guarantee the inside leakproofness of sucking disc.
The rotating plate assembly 71 includes: the first rotating plate and the second rotating plate are provided with through holes at two ends, the first rotating plate and the second rotating plate are arranged in parallel, a first power output shaft 79 penetrates through the through holes at one ends of the first rotating plate and the second rotating plate, a star gear 73 is arranged at the through holes of the first rotating plate and the second rotating plate, and the star gear 73 rotates on the inner side of the annular gear ring 72 so as to drive the rotating plate assembly 71 to rotate on the annular gear ring 72.
The working principle is as follows:
the semi-finished workpiece 8 is transported to the upper part of the bearing plate through the transmission line 6, and the imaging light source on the bearing plate irradiates the workpiece 8 to meet the illumination requirement
The monocular camera 5 shoots the workpiece 8, meanwhile, the laser scanning device emits radioactive infrared beams to the workpiece 8, and the monocular camera 5 feeds imaging data back to the computer image analysis and detection system to analyze the thickness, the concave-convex shape and the surface flatness of the workpiece 8.
The flatness of the surface of the workpiece 8 does not meet the processing requirement and is conveyed to a defective product collection box through a transmission line 6. The electrically controlled manipulator 4 does not need to be operated.
After the workpiece 8 is detected to be qualified, the lifting position of the electric control mechanical hand 4 is calculated according to data fed back by the imaging system, a control instruction is generated to the controller, the rotating speed and the position of the lifting servo motor 411 are controlled, the electric control mechanical hand is descended to the position above the workpiece 8, the vacuum chuck 40 is covered above the workpiece 8 to suck the workpiece 8, and the qualified workpiece 8 is placed on the placing turntable 70.
The position, shape and thickness of the workpiece 8 are accurately positioned by using the image positioning information fed back by the visual detection device. Thereby the lifting position of the electric control mechanical hand 4 is flexibly controlled, and the damage to the workpiece 8 and the scratch to the surface of the workpiece 8 are reduced. The differential mechanism 74 drives the workpiece taking station 7 to rotate and simultaneously drives the mechanical arm to synchronously operate, so that the missing rate of the workpieces 8 is reduced. The preliminary detection process is added, the laser scanning device sweeps the surface of the workpiece 8, the workpiece 8 influencing production is rejected preliminarily, and the occurrence rate of processing inferior-quality products is further reduced.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (1)
1. An assembly line transport robot, comprising:
a base, a support housing fixedly mounted on the base; the supporting shell comprises a supporting plate fixedly arranged on the base and a supporting cross beam fixedly arranged on the supporting plate; the supporting shell is provided with a rotating shaft mounting hole; one side of the supporting shell is provided with a bearing plate extending outwards;
automatically controlled manipulator includes: the vacuum chuck device comprises an execution transmission assembly, an electric lifting assembly fixedly arranged on the execution transmission assembly and a vacuum chuck assembly arranged at one end of the electric lifting assembly; the electric lifting assembly is internally provided with a servo encoder, the encoder feeds back motor running information to the controller, and the controller controls the running speed of the lifting servo motor according to the fed-back information; the electric control mechanical arm is arranged on a second sliding block at one end of the execution transmission assembly;
the visual detection device comprises a monocular camera arranged on one side of the electric control mechanical arm, a laser scanning device arranged on one side of the monocular camera and an imaging light source arranged on the bearing plate; the visual detection device is connected with the computer equipment through a line;
get a station, include: the device comprises a transmission motor arranged at the bottom of a workpiece taking station, a differential connected to one side of an output shaft of the transmission motor, a gear transmission assembly connected with the differential, and a placing turntable fixedly connected to the top of the gear transmission assembly; one side of the placing turntable is provided with a transmission line; the transmission motor drives the differential mechanism to rotate, and the power drives the front and rear eccentric wheel assemblies and the placing turntable to simultaneously rotate at different speeds through the transmission belt and the gear transmission assembly;
the execution transmission assembly is fixedly installed inside the supporting shell and comprises: the device comprises a fixed base block fixedly arranged on a supporting beam, a vertical plate fixedly arranged at the bottom of the supporting beam, a front eccentric wheel component and a rear eccentric wheel component which are arranged at the bottom of the vertical plate, and a front eccentric wheel transmission component and a rear eccentric wheel transmission component which are connected to the front eccentric wheel component and the rear eccentric wheel component; the front eccentric wheel assembly and the rear eccentric wheel assembly comprise; the front and rear eccentric wheel sets and a rotating shaft which penetrates through the supporting shell and is fixedly connected with the front and rear eccentric wheel sets; one end of the rotating shaft is sleeved with a transmission belt, and a shaft lever is fixedly installed on the rear eccentric wheel; the front and rear eccentric wheel transmission component comprises: the device comprises a swinging connecting rod fixedly connected to a rear eccentric wheel shaft rod, a first sliding block connected to the other end of the swinging connecting rod, an L-shaped plate fixedly installed on the first sliding block, a first connecting rod arranged on the L-shaped plate and a second connecting rod arranged at the other end of the first connecting rod;
a sliding rail is arranged on one side of the supporting cross beam, and the first sliding block drives the L-shaped plate to move back and forth;
the swing connecting rod swings left and right under the front eccentric wheel assembly and the rear eccentric wheel assembly so as to drive the first sliding block to slide left and right on the supporting cross beam, the L-shaped plate fixedly installed on the first sliding block moves left and right along with the first sliding block, the L-shaped plate pushes the second sliding block to move left and right, the other end of the L-shaped plate drives the first connecting rod to rotate around the supporting cross beam at a certain angle, and the first connecting rod drives the second connecting rod; thereby driving the second slide block to move left and right and simultaneously to shift a certain angle back and forth; thereby driving the electric control mechanical arm to move;
the electric lifting assembly comprises a lifting servo motor arranged on the second sliding block, a transmission gear arranged on one side of a power output shaft of the lifting servo motor and a lifting connecting rod arranged at the bottom of the transmission gear, and a transmission rack matched with the transmission gear is arranged on the lifting connecting rod;
the vacuum chuck assembly comprises an air exhaust pipeline arranged in the manipulator, an electric control valve arranged at one end of the air exhaust pipeline and a chuck arranged at the other end of the air exhaust pipeline; the sucker is provided with a radioactive suction nozzle; a sponge gasket is arranged on the outer side of the sucker;
a certain gap is formed between the inner wall side of the sucker and the air exhaust pipeline, a conical outer cover is arranged on the outer side of the sucker, an annular sealing lip edge is arranged at the bottom of the conical outer cover, the sponge gasket is provided with an air hole corresponding to the radioactive suction nozzle, and the height of the sealing lip edge is greater than the thickness of the sponge gasket; the sealing property in the sucker can be ensured;
the imaging light source is a plurality of LED light sources with adjustable brightness, the bottom of each LED light source is provided with a mounting plate, and the LED light sources are distributed at the edge of the bearing plate;
the gear transmission assembly includes: the differential mechanism comprises a first power output shaft arranged at the top of the differential mechanism, a rotating plate assembly arranged at one end of the first power output shaft, an annular gear ring fixedly connected with a bearing plate, and a second power output shaft arranged on the side surface of the differential mechanism, wherein a transmission belt is sleeved on the second power output shaft, and the other end of the transmission belt is sleeved on a rotating shaft;
the rotating plate assembly includes: the first rotating plate and the second rotating plate are provided with through holes at two ends, the first rotating plate and the second rotating plate are arranged in parallel, a first power output shaft penetrates through the through holes at one ends of the first rotating plate and the second rotating plate, star gears are arranged at the through holes of the first rotating plate and the second rotating plate, and the star gears rotate on the inner side of the annular gear ring so as to drive the rotating plate assembly to rotate on the annular gear ring;
the use method of the assembly line transportation manipulator comprises the following working steps:
s1, conveying the semi-finished workpiece to the position above the bearing plate through the transmission line, and irradiating the workpiece by the imaging light source on the bearing plate to meet the illumination requirement;
s2, shooting the workpiece by a monocular camera, sending radioactive infrared beams to the workpiece by a laser scanning device, feeding imaging data back to a computer image analysis and detection system by the monocular camera to analyze the thickness, the concave-convex shape and the surface flatness of the workpiece;
s3, judging after preliminary detection whether the workpiece meets the processing requirement, and controlling the lifting of the electric control manipulator;
s4, transporting the unqualified products to a defective product collection place through a transmission line; after the workpiece is detected to be qualified, calculating the lifting position of the electric control mechanical arm according to data fed back by the imaging system, generating a control instruction to the controller, controlling the rotating speed and the position of the lifting servo motor, descending to the position above the workpiece, covering the vacuum chuck on the workpiece to suck the workpiece, placing the qualified workpiece on a placing turntable, and conveying the qualified workpiece to a processing procedure; accurately positioning the position, the shape and the thickness of the workpiece according to the image positioning information fed back by the visual detection device;
thereby flexibly controlling the lifting position of the electric control mechanical hand and reducing damage to the workpiece and scratches on the surface of the workpiece; and a primary detection process is added, the laser scanning device sweeps the surface of the workpiece, the workpiece influencing production is rejected primarily, and the occurrence rate of processing inferior-quality products is further reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910158734.5A CN109821772B (en) | 2019-03-04 | 2019-03-04 | Assembly line transportation manipulator and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910158734.5A CN109821772B (en) | 2019-03-04 | 2019-03-04 | Assembly line transportation manipulator and working method thereof |
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| CN109821772A CN109821772A (en) | 2019-05-31 |
| CN109821772B true CN109821772B (en) | 2021-04-09 |
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| CN111346832A (en) * | 2020-04-16 | 2020-06-30 | 宁波市镇海大来智能科技有限公司 | Intelligent visual identification sorting platform |
| CN113399284A (en) * | 2021-06-30 | 2021-09-17 | 兴化市华成机械制造有限公司 | Automatic detection device for internal damage of casting |
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| CN116047213B (en) * | 2023-04-03 | 2023-06-30 | 滨州汇信和信息技术有限公司 | Electrical equipment testing device |
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| CN207630038U (en) * | 2017-12-13 | 2018-07-20 | 深圳市华盛控科技有限公司 | For three-axis robot in parallel |
| CN108356142A (en) * | 2017-12-30 | 2018-08-03 | 芜湖慧盈自动化设备有限公司 | A kind of capacitance shell automation hemmer |
| KR101950332B1 (en) * | 2018-09-07 | 2019-02-20 | (주)산쇼코리아 | The apparatus for feeding parts |
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2019
- 2019-03-04 CN CN201910158734.5A patent/CN109821772B/en active Active
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