CN109928202A - Aluminum alloy pattern plate transfer robot - Google Patents
Aluminum alloy pattern plate transfer robot Download PDFInfo
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- CN109928202A CN109928202A CN201910163025.6A CN201910163025A CN109928202A CN 109928202 A CN109928202 A CN 109928202A CN 201910163025 A CN201910163025 A CN 201910163025A CN 109928202 A CN109928202 A CN 109928202A
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- axis displacement
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- 229910000838 Al alloy Inorganic materials 0.000 title claims abstract description 40
- 238000012546 transfer Methods 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 157
- 238000006073 displacement reaction Methods 0.000 claims abstract description 135
- 230000005540 biological transmission Effects 0.000 claims description 47
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 20
- 229910052782 aluminium Inorganic materials 0.000 description 20
- 239000004411 aluminium Substances 0.000 description 20
- 238000010586 diagram Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000000465 moulding Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
The present invention relates to a kind of aluminum alloy pattern plate transfer robots, it include: AGV trolley, rotating mechanism, displacement mechanism, grasping mechanism, first image pick-up device, second image pick-up device and control module, AGV trolley, rotating mechanism, displacement mechanism, grasping mechanism, first image pick-up device and the second image pick-up device are electrically connected with control module, grasping mechanism, displacement mechanism and rotating mechanism are installed on AGV trolley, rotating mechanism is for driving grasping mechanism to rotate in the horizontal plane, displacement mechanism is for driving grasping mechanism respectively along X-axis, Y-axis and Z-direction carry out position adjusting, first image pick-up device is used to obtain the vertical deviator data of grasping mechanism, and by vertical deviator data feedback to control module, second image pick-up device is used to obtain the horizontal deviator data of grasping mechanism and AGV trolley, and by horizontal deviator data feedback to control module Even if above-mentioned aluminum alloy pattern plate transfer robot work is in harsh environment, higher running precision can also be effectively ensured.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of aluminum alloy pattern plate transfer robot.
Background technique
With the development of society, being the working strength of reduction personnel, working efficiency is improved, robot is gradually in all trades and professions
In be applied.However, robot is but difficult to be popularized in building trade, to find out its cause, the working environment of building trade
Badly, robot is difficult to ensure its running precision in construction site, the case where operational failure usually occurs.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide a kind of aluminum alloy pattern plate transfer robot, its fortune with higher
Row precision.
To achieve the above object, the present invention provides a kind of aluminum alloy pattern plate transfer robot, the aluminum alloy pattern plate transfer robot
It include: AGV trolley, rotating mechanism, displacement mechanism, grasping mechanism, the first image pick-up device, the second image pick-up device and control module, it is described
AGV trolley, the rotating mechanism, institute's displacement mechanism, the grasping mechanism, first image pick-up device and second image pick-up device
It is electrically connected with the control module, the grasping mechanism, institute's displacement mechanism and the rotating mechanism are installed in described
On AGV trolley, the rotating mechanism is for driving the grasping mechanism to rotate in the horizontal plane, and institute's displacement mechanism is for driving
The grasping mechanism carries out position adjusting along X-axis, Y-axis and Z-direction respectively, and first image pick-up device is for obtaining the crawl
The vertical deviator data of mechanism, and give the vertical deviator data feedback to the control module, second image pick-up device is used for
The horizontal deviator data of the grasping mechanism and the AGV trolley are obtained, and give the horizontal deviator data feedback to the control
Molding block.
Above-mentioned aluminum alloy pattern plate transfer robot compared with the background art, at least has the advantages that AGV trolley along setting
Route operation, after reaching crawl point, the second image pick-up device for the first time take pictures by starting, obtains picture A, and picture A is fed back to control
Module, control module analyze picture A, judge whether AGV trolley is parallel with workpiece, if not parallel, start whirler
Structure, with compensate grasping mechanism because AGV trolley and workpiece it is not parallel due to caused by angle deviator, if in parallel, the second image pick-up device second
Secondary starting is taken pictures, and obtains photo B, and photo B is fed back to control module, control module analyzes photo B, judges to grab
In the horizontal plane whether position is corresponding with workpiece for mechanism, if position does not correspond to the two in the horizontal plane, starts displacement mechanism, with
Position adjusting is carried out along X-axis and Y direction to grasping mechanism, up to grasping mechanism, position is corresponding in the horizontal plane with workpiece, if
Position is corresponding in the horizontal plane for the two, and the starting of the first image pick-up device is taken pictures, and obtains photo C, and photo C is fed back to control module,
Control module analyzes photo C, obtains grasping mechanism and workplace vertical is displaced deviator, start displacement mechanism, to crawl
Mechanism carries out position adjusting along Z-direction, until grasping mechanism is by workpiece grabbing.As it can be seen that the first image pick-up device and the second image pick-up device
Resulting photo is shot after control module is analyzed, control module is again adjusted the position of grasping mechanism, makes gripper
Structure can be accurately aligned with workpiece and grab to workpiece, even if work is in harsh environment, can also be effectively ensured higher
Running precision.
In one embodiment, institute's displacement mechanism includes X-axis displacement component, Y-axis displacement component and Z axis set of displacements
Part, the X-axis displacement component are mounted on the rotating mechanism, and the Y-axis displacement component is mounted on the X-axis displacement component
On, for driving the Y-axis displacement component to move along the x axis, the Z axis displacement component is mounted on the X-axis displacement component
On the Y-axis displacement component, the Y-axis displacement component is described to grab for driving the Z axis displacement component to move along the y axis
Mechanism is taken to be mounted on the Z axis displacement component, the Z axis displacement component is for driving the grasping mechanism to move along Z-direction
It is dynamic.
In one embodiment, the X-axis displacement component includes first base, the first driver and the first transmission group
Part, the first base are horizontally mounted on the rotating mechanism, and first transmission component is mounted on described along the x axis
In first base, first driver and the control module are electrically connected, and first driver is passed by described first
Y-axis displacement component described in dynamic Component driver moves along the x axis.
In one embodiment, first transmission component include the first screw rod and the first ball nut, described first
Screw rod is mounted on along the x axis in the first base, the output end of one end of first screw rod and first driver
Connection, first ball nut and first wire rod thread cooperate, and the Y-axis displacement component is mounted on first ball
On nut.
In one embodiment, the first base is equipped with the first sliding rail, the Y-axis displacement component and described first
Sliding rail is slidably connected.
In one embodiment, the Y-axis displacement component includes second base, the second driver and the second transmission group
Part, the second base are horizontally mounted on the X-axis displacement component, and second transmission component is mounted on along the y axis
In the second base, second driver and the control module are electrically connected, and second driver passes through described the
Two transmission components drive the Z axis displacement component to move along the y axis.
In one embodiment, second transmission component include the second screw rod and the second ball nut, described second
Screw rod is mounted on along the y axis in the second base, the output end of one end of second screw rod and second driver
Connection, second ball nut and second wire rod thread cooperate, and the Z axis displacement component is mounted on second ball
On nut.
In one embodiment, the second base is equipped with the second sliding rail, the Z axis displacement component and described second
Sliding rail is slidably connected.
In one embodiment, the Z axis displacement component includes third pedestal, third driver and third transmission group
Part, the third pedestal are vertically mounted on the Y-axis displacement component, and the third transmission component is mounted on along Z-direction
On the third pedestal, the third driver and the control module are electrically connected, and the third driver passes through described the
Three transmission components drive the grasping mechanism to move along Z-direction.
In one embodiment, the third transmission component includes third screw rod and third ball nut, the third
Screw rod is mounted on the third pedestal along Z-direction, the output end of one end of the third screw rod and the third driver
Connection, the third ball nut and the third wire rod thread cooperate, and the grasping mechanism is mounted on the third ball spiral shell
On mother.
In one embodiment, the third pedestal is equipped with third sliding rail, and the grasping mechanism and the third are sliding
Rail is slidably connected.
In one embodiment, the grasping mechanism includes bracket and the first bolt, and the bracket is mounted on the Z axis
On displacement component, first bolt is fixedly mounted on the bracket, and first bolt is used to be inserted into the pick-and-place of workpiece
Kong Zhong, with grabbing workpiece.
In one embodiment, the grasping mechanism further includes Telescopic rod device and the second bolt, the telescopic rod dress
It sets and is fixedly mounted on the bracket, the Telescopic rod device and the control module are electrically connected, and second bolt can
It being separately installed on the output end of the Telescopic rod device, second bolt is used to be inserted into the pre-fixing in hole of the workpiece,
The workpiece to be pre-fixed.
In one embodiment, the output end of the Telescopic rod device is equipped with electromagnet, and the electromagnet is used for
Second bolt is inserted into pre-fixing for the workpiece and carries out magnetic to the workpiece before hole and pre-fix.
In one embodiment, the grasping mechanism further includes connector, the rectangular triangular structure of connector,
For connecting with the Z axis displacement component, another right-angle surface of the connector is used for and institute one right-angle surface of the connector
State bracket connection.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of aluminum alloy pattern plate transfer robot described in one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the displacement mechanism in aluminum alloy pattern plate transfer robot shown in Fig. 1；
Fig. 3 is the structural schematic diagram of the grasping mechanism in aluminum alloy pattern plate transfer robot shown in Fig. 1；
Fig. 4 is the using state structure diagram of aluminum alloy pattern plate transfer robot shown in Fig. 1.
10, AGV trolley, 20, rotating mechanism, 30, displacement mechanism, 31, X-axis displacement component, 311, first base, 3111,
First sliding rail, the 312, first driver, the 313, first screw rod, 32, Y-axis displacement component, 321, second base, 3211, second is sliding
Rail, the 322, second driver, the 323, second screw rod, the 324, second ball nut, 33, Z axis displacement component, 331, third pedestal,
3311, third sliding rail, 332, third driver, 333, third screw rod, 40, grasping mechanism, 41, bracket, the 42, first bolt, 43,
Telescopic rod device, 431, electromagnet, the 44, second bolt, 45, connector, the 50, first image pick-up device, the 60, second image pick-up device, 70, control
Molding block, 80, aluminium film plate.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein " vertical ", " horizontal " and similar statement simply to illustrate that
Purpose.Heretofore described " first ", " second ", " third " do not represent specific quantity and sequence, are only used for title
It distinguishes.
As shown in Figure 1, a kind of aluminum alloy pattern plate transfer robot, comprising: AGV trolley 10, rotating mechanism 20, displacement mechanism 30,
Grasping mechanism 40, the first image pick-up device 50, the second image pick-up device 60 and control module 70, AGV trolley 10, rotating mechanism 20, displacement machine
Structure 30, grasping mechanism 40, the first image pick-up device 50 and the second image pick-up device 60 are electrically connected with control module 70.Wherein,
Automated Guided Vehicle, abbreviation AGV, also commonly referred to as AGV trolley refer to magnetically or optically to wait equipped with electricity and lead automatically
Leading-in device can be travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.Grasping mechanism
40, displacement mechanism 30 and rotating mechanism 20 are installed on AGV trolley 10.Wherein, installation, which can be, is mounted directly, and is also possible to
Installation indirectly.For example, rotating mechanism 20 is directly installed on AGV trolley 10, displacement mechanism 30 is mounted on the top of rotating mechanism 20
Portion, so that displacement mechanism 30 is indirectly attached on AGV trolley 10 by rotating mechanism 20.Rotating mechanism 20 is for driving gripper
Structure 40 rotates in the horizontal plane, and displacement mechanism 30 is for driving grasping mechanism 40 to carry out position along X-axis, Y-axis and Z-direction respectively
It adjusts, the first image pick-up device 50 gives control mould for obtaining the vertical deviator data of grasping mechanism 40, and by vertical deviator data feedback
Block 70, the second image pick-up device 60 are used to obtain the horizontal deviator data of grasping mechanism 40 and AGV trolley 10, and by horizontal deviator data
Feed back to control module 70.
Specifically, the first image pick-up device 50 is mounted in the horizontal direction on grasping mechanism 40, and the second image pick-up device 60 is along vertical side
To being mounted on grasping mechanism 40.
AGV trolley 10 is run along setting path, and after reaching crawl point, the second image pick-up device 60 starts for the first time takes pictures, and obtains
Picture A, and picture A is fed back to control module 70, control module 70 analyzes picture A, judge AGV trolley 10 whether with
Workpiece is parallel, if not parallel, starts rotating mechanism 20, to compensate grasping mechanism 40 due to AGV trolley 10 and workpiece are not parallel
Caused by angle deviator if in parallel, 60 second of the starting of the second image pick-up device is taken pictures obtain photo B, and photo B is fed back into control
Whether in the horizontal plane molding block 70, control module 70 analyze photo B, judge grasping mechanism 40 and workpiece position pair
Answer, if position does not correspond to the two in the horizontal plane, start displacement mechanism 30, with to grasping mechanism 40 along X-axis and Y direction into
Line position sets adjusting, and up to grasping mechanism 40, position is corresponding in the horizontal plane with workpiece, if position is corresponding in the horizontal plane for the two, the
The starting of one image pick-up device 50 is taken pictures, and obtains photo C, and photo C is fed back to control module 70, control module 70 carries out photo C
Analysis obtains grasping mechanism 40 and workplace vertical and is displaced deviator, starts displacement mechanism 30, with to grasping mechanism 40 along Z-direction
Position adjusting is carried out, until grasping mechanism 40 is by workpiece grabbing.As it can be seen that the first image pick-up device 50 and the second image pick-up device 60 shooting gained
Photo by control module 70 analysis after, control module 70 is again adjusted the position of grasping mechanism 40, makes grasping mechanism
40 can be accurately aligned with workpiece and grab to workpiece, even if work is in harsh environment, can also be effectively ensured higher
Running precision.
Wherein, the first image pick-up device 50 and the second image pick-up device 60 are chosen as industrial camera, are carried with improving above-mentioned aluminum alloy pattern plate
The adaptability of robot in a bad working environment, further increases running precision.
In one embodiment, Fig. 2 is referred to, displacement mechanism 30 includes X-axis displacement component 31, Y-axis displacement component 32 and Z axis
Displacement component 33, X-axis displacement component 31 are mounted on rotating mechanism 20, and Y-axis displacement component 32 is mounted on X-axis displacement component 31
On, for X-axis displacement component 31 for driving Y-axis displacement component 32 to move along the x axis, Z axis displacement component 33 is mounted on Y-axis displacement
On component 32, for Y-axis displacement component 32 for driving Z axis displacement component 33 to move along the y axis, grasping mechanism 40 is mounted on Z axis
On displacement component 33, Z axis displacement component 33 is for driving grasping mechanism 40 to move along Z-direction.When control module 70 is to photo B
Grasping mechanism 40 is judged after being analyzed, and position is not corresponding in the horizontal plane with workpiece, and control module 70 then starts X-axis set of displacements
Part 31 makes Y-axis displacement component 32, Z axis displacement component 33 and grasping mechanism 40 carry out position adjusting along the x axis, meanwhile, starting
Y-axis displacement component 32 makes Z axis displacement component 33 and grasping mechanism 40 carry out position adjusting along the y axis, so that grasping mechanism 40
Position is corresponding in the horizontal plane with workpiece；Judge that grasping mechanism 40 and workpiece exist after control module 70 analyzes photo C
Position does not correspond on vertical plane, and control module 70 then starts Z axis displacement component 33, and grasping mechanism 40 is made to carry out position along Z-direction
Adjusting is set, position is corresponding on the vertical plane so that grasping mechanism 40 is with workpiece.
Specifically, incorporated by reference to Fig. 2, X-axis displacement component 31 includes first base 311, the first driver 312 and the first transmission
Component, first base 311 are horizontally mounted on rotating mechanism 20, and the first transmission component is mounted on first base along the x axis
On 311, the first driver 312 is electrically connected with control module 70, and the first driver 312 drives Y-axis by the first transmission component
Displacement component 32 moves along the x axis.Judge grasping mechanism 40 and workpiece in water after control module 70 analyzes photo B
Position does not correspond in plane, and control module 70 then starts the first driver 312, and the first driver 312 passes through the first transmission component
Driving Y-axis displacement component 32 moves along the x axis, and then Z axis displacement mechanism 30 and grasping mechanism 40 is driven to move along the x axis
It is dynamic, realize that the position of grasping mechanism 40 along the x axis adjusts operation.
Wherein, the first driver 312 is chosen as servo motor.
Further, incorporated by reference to Fig. 2, the first transmission component include the first screw rod 313 and the first ball nut (in attached drawing simultaneously
Do not identify), the first screw rod 313 is mounted on along the x axis in first base 311, one end of the first screw rod 313 and the first driver
312 output end connection, the first ball nut are threadedly engaged with the first screw rod 313, and Y-axis displacement component 32 is mounted on the first ball
On nut.After control module 70 controls the starting of the first driver 312, the first driver 312 drives the rotation of the first screw rod 313, makes
First ball nut along the first screw rod 313 guiding movement, and then drive Y-axis displacement component 32 along the first screw rod 313 guiding
It is mobile, realize that the position of grasping mechanism 40 along the x axis adjusts operation.Form can be effective using the above structure for first transmission component
The position degree of regulation of displacement mechanism 30 is improved, and then further increases the running precision of above-mentioned aluminum alloy pattern plate transfer robot.When
So, other structures form can also be used in the first transmission component, such as belt transmission structure or rack-driving structure.
In one embodiment, incorporated by reference to Fig. 2, first base 311 is equipped with the first sliding rail 3111, Y-axis displacement component 32 with
First sliding rail 3111 is slidably connected, and Y-axis displacement component 32 can be enable more stably to move along the x axis, meanwhile, also make gripper
Structure 40 can more stably carry out position adjusting along the x axis, reduce and adjust error, further improve above-mentioned aluminum alloy pattern plate carrying implement
The running precision of device people.
Specifically, incorporated by reference to Fig. 2, Y-axis displacement component 32 includes second base 321, the second driver 322 and the second transmission
Component, second base 321 are horizontally mounted on X-axis displacement component 31, and the second transmission component is mounted on the second bottom along the y axis
On seat 321, the second driver 322 is electrically connected with control module 70, and the second driver 322 drives Z by the second transmission component
Axial displacement component 33 moves along the y axis.Judge that grasping mechanism 40 and workpiece exist after control module 70 analyzes photo B
Position does not correspond on horizontal plane, and control module 70 then starts the second driver 322, and the second driver 322 passes through the second transmission group
Part driving Z axis displacement component 33 moves along the y axis, and then grasping mechanism 40 is driven to move along the y axis, realizes grasping mechanism
40 position along the y axis adjusts operation.
Wherein, the second driver 322 is chosen as servo motor.
Further, incorporated by reference to Fig. 2, the second transmission component includes the second screw rod 323 and the second ball nut 324, and second
Screw rod 323 is mounted on along the y axis in second base 321, the output end of one end of the second screw rod 323 and the second driver 322
Connection, the second ball nut 324 are threadedly engaged with the second screw rod 323, and Z axis displacement component 33 is mounted on the second ball nut 324
On.After control module 70 controls the starting of the second driver 322, the second driver 322 drives the rotation of the second screw rod 323, makes second
Ball nut 324 along the second screw rod 323 guiding movement, and then drive Z axis displacement component 33 along the second screw rod 323 guiding move
It is dynamic, realize that the position of grasping mechanism 40 along the y axis adjusts operation.Form can be mentioned effectively second transmission component using the above structure
The position degree of regulation of high displacement mechanism 30, and then further increase the running precision of above-mentioned aluminum alloy pattern plate transfer robot.Certainly,
Other structures form can also be used in second transmission component, such as belt transmission structure or rack-driving structure.
In one embodiment, incorporated by reference to Fig. 2, second base 321 is equipped with the second sliding rail 3211, Z axis displacement component 33 with
Second sliding rail 3211 is slidably connected, and Z axis displacement component 33 can be enable more stably to move along the y axis, meanwhile, also make gripper
Structure 40 can more stably carry out position adjusting along the y axis, reduce and adjust error, further improve above-mentioned aluminum alloy pattern plate carrying implement
The running precision of device people.
Specifically, incorporated by reference to Fig. 2, Z axis displacement component 33 includes third pedestal 331, third driver 332 and third transmission
Component, third pedestal 331 are vertically mounted on Y-axis displacement component 32, and third transmission component is mounted on third bottom along Z-direction
On seat 331, third driver 332 and control module 70 are electrically connected, and third driver 332 is grabbed by the driving of third transmission component
Mechanism 40 is taken to move along Z-direction.Judge grasping mechanism 40 with workpiece vertical after control module 70 analyzes photo C
Position does not correspond on face, and control module 70 then starts third driver 332, and third driver 332 is driven by third transmission component
Dynamic grasping mechanism 40 is moved along Z-direction, realizes that grasping mechanism 40 adjusts operation along the position of Z-direction.
Wherein, third driver 332 is chosen as servo motor.
In one embodiment, incorporated by reference to Fig. 2, third transmission component includes third screw rod 333 and third ball nut (attached drawing
In do not identify), third screw rod 333 is mounted on third pedestal 331 along Z-direction, and one end of third screw rod 333 and third are driven
The output end connection of dynamic device 332, third ball nut are threadedly engaged with third screw rod 333, and grasping mechanism 40 is mounted on third rolling
On pearl nut.After control module 70 controls the starting of third driver 332, third driver 332 drives third screw rod 333 to rotate,
Make third ball nut along the guiding movement of third screw rod 333, and then grasping mechanism 40 is driven to move along the guiding of third screw rod 333
It is dynamic, realize that grasping mechanism 40 adjusts operation along the position of Z-direction.Form can be mentioned effectively third transmission component using the above structure
The position degree of regulation of high displacement mechanism 30, and then further increase the running precision of above-mentioned aluminum alloy pattern plate transfer robot.Certainly,
Other structures form can also be used in third transmission component, such as belt transmission structure or rack-driving structure.
In one embodiment, incorporated by reference to Fig. 2, third pedestal 331 is equipped with third sliding rail 3311, grasping mechanism 40 and third
Sliding rail 3311 is slidably connected, and grasping mechanism 40 can be enable more stably to carry out position adjusting along Z-direction, reduces and adjusts error,
Further improve the running precision of above-mentioned aluminum alloy pattern plate transfer robot.
In one embodiment, Fig. 3 is referred to, grasping mechanism 40 includes that bracket 41 and the first bolt 42, bracket 41 are mounted on Z
On axial displacement component 33, the first bolt 42 is fixedly mounted on bracket 41, and the first bolt 42 is used to be inserted into the pick-and-place hole of workpiece
In, with grabbing workpiece.Fig. 4 is referred to, for grabbing aluminium film plate 80, when AGV trolley 10 reaches crawl point, the second image pick-up device 60
Starting is taken pictures for the first time, obtains picture A, and picture A is fed back to control module 70, and control module 70 analyzes picture A,
Judge whether AGV trolley 10 is parallel with workpiece, if not parallel, start rotating mechanism 20, to compensate grasping mechanism 40 because AGV is small
Vehicle 10 and workpiece it is not parallel and caused by angle deviator if in parallel, 60 second of the starting of the second image pick-up device is taken pictures obtain photo B,
And photo B is fed back into control module 70, control module 70 analyzes photo B, judges the first bolt 42 and aluminium film plate 80
In the horizontal plane whether position is corresponding in pick-and-place hole, if position does not correspond to the two in the horizontal plane, start X-axis displacement component 31
With Y-axis displacement component 32, position adjusting is carried out along X-axis and Y direction to grasping mechanism 40, until the first bolt 42 and aluminium film plate
Position is corresponding in the horizontal plane in 80 pick-and-place hole, if position is corresponding in the horizontal plane for the two, the starting of the first image pick-up device 50 is taken pictures, and obtains
Feed back to control module 70 to photo C, and by photo C, control module 70 analyzes photo C, obtain the first bolt 42 with
The pick-and-place hole vertical displacement deviator of aluminium film plate 80 starts Z axis displacement component 33.Grabbing to aluminium film plate 80 is realized by the above process
It takes.
Wherein, the first bolt 42 has multiple, and the upper/lower terminal that bracket 41 is shown in attached drawing is respectively equipped with two the first bolts
42, it is not limited to this, can be arranged 42 quantity of the first bolt according to actual needs.
Specifically, the first bolt 42 is to be arranged upward vertically, and the camera shooting direction of the second image pick-up device 60 is downwards.
In one embodiment, incorporated by reference to Fig. 3, grasping mechanism 40 further includes Telescopic rod device 43 and the second bolt 44, is stretched
Lever apparatus 43 is fixedly mounted on bracket 41, and Telescopic rod device 43 and control module 70 are electrically connected, and the second bolt 44 can divide
On the liftoff output end for being mounted on Telescopic rod device 43, the second bolt 44 is used to be inserted into the pre-fixing in hole of workpiece, by workpiece
It pre-fixes.Incorporated by reference to Fig. 4, continue by taking aluminium film plate 80 as an example, after aluminium film plate 80 is carried to installation point by aluminum alloy pattern plate transfer robot,
Second image pick-up device 60 starts for the third time takes pictures, and obtains photo D, and photo D is fed back to control module 70, control module 70 compares
Piece D is analyzed, and is judged whether AGV trolley 10 is parallel with aluminium film plate 80, if not parallel, is started rotating mechanism 20, with compensation
Grasping mechanism 40 because AGV trolley 10 and aluminium film plate 80 it is not parallel due to caused by angle deviator, if in parallel, the second image pick-up device 60 the 4th
Secondary starting is taken pictures, and obtains photo E, and photo E is fed back to control module 70, and control module 70 analyzes photo E, judgement
In the horizontal plane whether position is corresponding with the hole that pre-fixes of aluminium film plate 80 for second bolt 44, if position is not right in the horizontal plane for the two
It answers, then starts X-axis displacement component 31 and Y-axis displacement component 32, to carry out position tune along X-axis and Y direction to grasping mechanism 40
Section, until grabbing the second bolt 44, position is corresponding in the horizontal plane with the hole that pre-fixes of aluminium film plate 80, and control module 70 starts later
Telescopic rod device 43, Telescopic rod device 43 drive the second bolt 44 protruding, and are inserted into the pre-fixing in hole of aluminium film plate 80, with
Aluminium film plate 80 is pre-fixed, worker is facilitated to carry out subsequent installment work, reduces the workload of worker, saves human cost.
Specifically, incorporated by reference to Fig. 3, Telescopic rod device 43 includes cylinder and air-leg, and air-leg is mounted on the output of cylinder
End, the second bolt 44 are mounted on air-leg far from one end of cylinder, and cylinder drives air-leg protruding, while driving second
The insertion workpiece of bolt 44 pre-fixes in hole.Certainly, other structures form can also be used in Telescopic rod device 43, such as motor combination spiral shell
Spinner handle structure.
Specifically, the camera shooting direction of the first image pick-up device 50 is identical as the stretching direction of bolt is pre-fixed.
In one embodiment, incorporated by reference to Fig. 3, the output end of Telescopic rod device 43 is equipped with electromagnet 431, electromagnet 431
For carrying out magnetic in pre-fixing for the second bolt 44 insertion workpiece to workpiece before hole and pre-fixing.Continue by taking aluminium film plate 80 as an example,
The second bolt 44 insertion aluminium film plate 80 pre-fix hole before, electromagnet 431 remains powered on state, aluminium film plate 80 is sucked,
Aluminium film plate 80 is pre-fixed, pre-fixes Kong Zhonghou when the second bolt 44 insertion aluminium film plate 80, electromagnet 431 powers off, together
When, Telescopic rod device 43 resets, at this point, being pre-fixed instead of electromagnet 431 to aluminium film plate 80 by the second bolt 44, aluminum alloy pattern plate
Transfer robot returns to origin along setting path under the driving of AGV trolley 10.
In one embodiment, incorporated by reference to Fig. 3, grasping mechanism 40 further includes connector 45, the rectangular triangle of connector 45
Structure, a right-angle surface of connector 45 with Z axis displacement component 33 for connecting, and another right-angle surface of connector 45 is used for and bracket
41 connections.Above-mentioned connector 45 is played the connection function of grasping mechanism 40 and Z axis displacement component 33, since connector 45 uses
Triangular structure of right angle effectively improves the bonding strength of grasping mechanism 40 Yu Z axis displacement component 33, and then improves above-mentioned aluminum alloy pattern plate
The load-bearing capacity of transfer robot.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (15)
1. a kind of aluminum alloy pattern plate transfer robot, which is characterized in that the aluminum alloy pattern plate transfer robot includes: AGV trolley, rotation
Mechanism, displacement mechanism, grasping mechanism, the first image pick-up device, the second image pick-up device and control module, the AGV trolley, the whirler
Structure, institute's displacement mechanism, the grasping mechanism, first image pick-up device and second image pick-up device are electric with the control module
Property connection, the grasping mechanism, institute's displacement mechanism and the rotating mechanism be installed on the AGV trolley, the rotation
Mechanism is for driving the grasping mechanism to rotate in the horizontal plane, and institute's displacement mechanism is for driving grasping mechanism edge respectively
X-axis, Y-axis and Z-direction carry out position adjusting, and first image pick-up device is used to obtain the vertical deviator number of the grasping mechanism
According to, and give the vertical deviator data feedback to the control module, second image pick-up device is for obtaining the grasping mechanism
With the horizontal deviator data of the AGV trolley, and by the horizontal deviator data feedback give the control module.
2. a kind of aluminum alloy pattern plate transfer robot according to claim 1, which is characterized in that institute's displacement mechanism includes X-axis
Displacement component, Y-axis displacement component and Z axis displacement component, the X-axis displacement component are mounted on the rotating mechanism, the Y-axis
Displacement component is mounted on the X-axis displacement component, and the X-axis displacement component is for driving the Y-axis displacement component along X-axis side
To movement, the Z axis displacement component is mounted on the Y-axis displacement component, and the Y-axis displacement component is for driving the Z axis
Displacement component moves along the y axis, and the grasping mechanism is mounted on the Z axis displacement component, and the Z axis displacement component is used for
The grasping mechanism is driven to move along Z-direction.
3. a kind of aluminum alloy pattern plate transfer robot according to claim 2, which is characterized in that the X-axis displacement component includes
First base, the first driver and the first transmission component, the first base is horizontally mounted on the rotating mechanism, described
First transmission component is mounted on along the x axis in the first base, and first driver electrically connects with the control module
It connects, first driver drives the Y-axis displacement component to move along the x axis by first transmission component.
4. a kind of aluminum alloy pattern plate transfer robot according to claim 3, which is characterized in that first transmission component includes
First screw rod and the first ball nut, first screw rod are mounted on along the x axis in the first base, first screw rod
One end connect with the output end of first driver, first ball nut and first wire rod thread cooperate, institute
Y-axis displacement component is stated to be mounted on first ball nut.
5. a kind of aluminum alloy pattern plate transfer robot according to claim 3, which is characterized in that the first base is equipped with the
One sliding rail, the Y-axis displacement component are slidably connected with first sliding rail.
6. a kind of aluminum alloy pattern plate transfer robot according to claim 2, which is characterized in that the Y-axis displacement component includes
Second base, the second driver and the second transmission component, the second base are horizontally mounted on the X-axis displacement component,
Second transmission component is mounted on along the y axis in the second base, second driver and control module electricity
Property connection, second driver drives the Z axis displacement component to move along the y axis by second transmission component.
7. a kind of aluminum alloy pattern plate transfer robot according to claim 6, which is characterized in that second transmission component includes
Second screw rod and the second ball nut, second screw rod are mounted on along the y axis in the second base, second screw rod
One end connect with the output end of second driver, second ball nut and second wire rod thread cooperate, institute
Z axis displacement component is stated to be mounted on second ball nut.
8. a kind of aluminum alloy pattern plate transfer robot according to claim 6, which is characterized in that the second base is equipped with the
Two sliding rails, the Z axis displacement component are slidably connected with second sliding rail.
9. a kind of aluminum alloy pattern plate transfer robot according to claim 2, which is characterized in that the Z axis displacement component includes
Third pedestal, third driver and third transmission component, the third pedestal are vertically mounted on the Y-axis displacement component,
The third transmission component is mounted on the third pedestal along Z-direction, the third driver and control module electricity
Property connection, the third driver moved by the third transmission component driving grasping mechanism along Z-direction.
10. a kind of aluminum alloy pattern plate transfer robot according to claim 9, which is characterized in that the third transmission component packet
Third screw rod and third ball nut are included, the third screw rod is mounted on the third pedestal along Z-direction, the third silk
One end of bar is connect with the output end of the third driver, and the third ball nut and the third wire rod thread cooperate,
The grasping mechanism is mounted on the third ball nut.
11. a kind of aluminum alloy pattern plate transfer robot according to claim 9, which is characterized in that the third pedestal is equipped with
Third sliding rail, the grasping mechanism are slidably connected with the third sliding rail.
12. a kind of aluminum alloy pattern plate transfer robot according to claim 2, which is characterized in that the grasping mechanism includes branch
Frame and the first bolt, the bracket are mounted on the Z axis displacement component, and first bolt is fixedly mounted in the bracket
On, first bolt is for being inserted into the pick-and-place hole of workpiece, with grabbing workpiece.
13. a kind of aluminum alloy pattern plate transfer robot according to claim 12, which is characterized in that the grasping mechanism further includes
Telescopic rod device and the second bolt, the Telescopic rod device are fixedly mounted on the bracket, the Telescopic rod device and institute
Control module electric connection is stated, second bolt is separately mounted on the output end of the Telescopic rod device, and described second
Bolt is used to be inserted into the pre-fixing in hole of the workpiece, and the workpiece is pre-fixed.
14. a kind of aluminum alloy pattern plate transfer robot according to claim 13, which is characterized in that the Telescopic rod device it is defeated
Outlet is equipped with electromagnet, and the electromagnet is used to be inserted into the pre-fixing before hole to the work of the workpiece in second bolt
Part carries out magnetic and pre-fixes.
15. a kind of aluminum alloy pattern plate transfer robot according to claim 12, which is characterized in that the grasping mechanism further includes
Connector, the rectangular triangular structure of connector, a right-angle surface of the connector are used to connect with the Z axis displacement component
It connects, another right-angle surface of the connector with the bracket for connecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910163025.6A CN109928202A (en) | 2019-03-05 | 2019-03-05 | Aluminum alloy pattern plate transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910163025.6A CN109928202A (en) | 2019-03-05 | 2019-03-05 | Aluminum alloy pattern plate transfer robot |
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| CN109928202A true CN109928202A (en) | 2019-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910163025.6A Withdrawn CN109928202A (en) | 2019-03-05 | 2019-03-05 | Aluminum alloy pattern plate transfer robot |
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| CN (1) | CN109928202A (en) |
Cited By (8)
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| CN110315378A (en) * | 2019-07-03 | 2019-10-11 | 南方科技大学 | A kind of automation clamping device |
| CN110593564A (en) * | 2019-09-29 | 2019-12-20 | 广东博智林机器人有限公司 | Auxiliary aluminum mold mounting robot |
| CN111152203A (en) * | 2020-01-14 | 2020-05-15 | 广东博智林机器人有限公司 | SCARA mechanical arm and construction robot |
| CN111470311A (en) * | 2020-04-08 | 2020-07-31 | 广州新科佳都科技有限公司 | A mobile workbench for installation of modularization platform door |
| CN111830312A (en) * | 2020-06-03 | 2020-10-27 | 南方电网科学研究院有限责任公司 | Electricity testing operation equipment for distribution line |
| CN112947463A (en) * | 2021-03-02 | 2021-06-11 | 苏州快捷机器人有限公司 | AGV automatic gripping function |
| CN114059777A (en) * | 2020-08-06 | 2022-02-18 | 广东博智林机器人有限公司 | Wallboard grabbing equipment and control method thereof |
| WO2024066261A1 (en) * | 2022-09-28 | 2024-04-04 | 上海市安装工程集团有限公司 | Apparatus for accurate positioning and installation of block-shaped body into small container |
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| WO2024066261A1 (en) * | 2022-09-28 | 2024-04-04 | 上海市安装工程集团有限公司 | Apparatus for accurate positioning and installation of block-shaped body into small container |
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Application publication date: 20190625 |