CN110304464A - A kind of wheel hub robot palletizer - Google Patents
A kind of wheel hub robot palletizer Download PDFInfo
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- CN110304464A CN110304464A CN201910655978.4A CN201910655978A CN110304464A CN 110304464 A CN110304464 A CN 110304464A CN 201910655978 A CN201910655978 A CN 201910655978A CN 110304464 A CN110304464 A CN 110304464A
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- wheel hub
- module
- disk
- crawl
- pallet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a kind of wheel hub robot palletizers, including crawl section, crawl section is connected on pedestal by mechanical arm, crawl section includes the grabbing assembly that can be moved on tri- axis of XYZ, mechanical arm can complete the movement around tri- axis of XYZ, and grabbing assembly can be realized crawl wheel hub to be packaged under the action of mechanical arm and be put into pallet, grab on the wheel hub that packaging material is placed in pallet and grab cover board and is placed on the pallet for installing wheel hub；Crawl section is equipped with machine vision assembly, the machine vision assembly model of wheel hub to be packaged and pallet model for identification.The present invention can adjust the position of crawl structure according to the practical model of wheel hub to be packaged, make not needing to be replaced as frequently as gripping tool corresponding with wheel hub it is suitable for the wheel hub of a variety of different models；Guarantee the accuracy of identification wheel hub using unique NI Vision Builder for Automated Inspection simultaneously.
Description
Technical field
The invention belongs to intelligent industrial equipment technical fields, further to a kind of auto parts and components packaging facilities, specifically
It is related to a kind of wheel hub robot palletizer.
Background technique
Automotive hub is an important component of auto parts and components, along with Chinese automobile Parts mapping at
Long, wheel hub industry is gradually developed.Traditional wheel hub packing shop uses always hand stowage, time-consuming and laborious, efficiency
There is also security risks while low.Chinese patent CN105856189A discloses a kind of automotive hub robot palletizer,
A series of operations such as crawl, carrying and the stacking to wheel hub, high degree of automation, steady flexible, the operation effect of movement may be implemented
Rate is high, solves the problems such as manual work is at high cost, low efficiency and risk are big.
But because there are many existing wheel hub type, different types of wheel hub its shape, the position of aperture and aperture
The structures such as size are all not quite similar, so that this kind of robot can only handle the wheel hub of high-volume approximate construction, otherwise need frequently
Gripping tool corresponding with wheel hub is replaced on ground, is increased production cost, is limited intelligent automatic equipment in auto parts and components packet
Development in dress field.
Summary of the invention
In order to solve above-mentioned existing wheel hub robot palletizer in the presence of the wheel hub etc. that can not be suitable for small lot different structure
Problem, the present invention provides a kind of wheel hub robot palletizer, concrete scheme is as follows:
Including crawl section, the crawl section is connected on pedestal by mechanical arm, and the crawl section includes can be along XYZ tri-
The grabbing assembly moved on axis, the mechanical arm can complete the spinning movement around X-axis and Z axis, and the grabbing assembly is described
It can be realized crawl wheel hub to be packaged under the action of mechanical arm and be put into pallet, grab the wheel that packaging material is placed in pallet
On hub and crawl cover board is placed on the pallet for installing wheel hub；The crawl section is equipped with recognizer component, the recognizer component
The model of wheel hub to be packaged and pallet model for identification；
It further include the processing unit being connect with the grabbing assembly and the recognizer component, the processing unit is used for according to
The information of recognizer component identification sends corresponding work order to the grabbing assembly.
Further, the crawl section includes the mainframe that the mechanical arm tail end is connected to by rotary components, described
Mainframe can rotate under the action of the rotary components around z-axis and x-axis, and the rotary components include and the mechanical arm end
Hold the vertical bearing connected, the horizontal bearing connecting with the mainframe, for driving the mainframe around the vertical bearing
The first motor of rotation and the second motor for driving the mainframe to rotate around the horizontal bearing；
The grabbing assembly includes the crawl platform being connected to below the mainframe, the underrun of the crawl platform
Bearing is connected with the first disk with the crawl platform parallel, is connected with below first disk several circumferentially uniform
The handgrip of arrangement；Offer several first sliding grooves radially arranged on first disk, the upper end of the handgrip by with institute
The sliding block for stating first sliding groove cooperation is connect with first disk；
The lower section of first disk is equipped with second disk parallel with first disk, and second disk passes through circle
Disc carrier is fixedly connected on the bottom surface of the crawl platform；It offers on second disk and several to be passed through for the handgrip
Second sliding slot, center of circle central symmetry of several second sliding slots relative to second disk, second Slot shaping of cunning are
The arc and second sliding slot is gradually increased at a distance from second circle disk center from one end to the other end.
Further, the side of the crawl platform is connected with horizontally disposed first cylinder, institute by the first cylinder frame
Stating the first cylinder has air pump by air circuit connection；The working end of first cylinder is articulated on the top surface of first disk,
First cylinder can drive first disk to rotate forward.
Further, the other side of the crawl platform is connected with second cylinder frame opposite with first cylinder frame,
Second cylinder frame is equipped with second cylinder opposite with first cylinder, and second cylinder is also by gas circuit and air pump
Connection；The working end of second cylinder is articulated on the top surface of first disk, and second cylinder can drive described
The reversion of first disk.
Further, the handgrip is shaped to cylindrical-shaped structure, and the through-hole axially arranged is offered in the handgrip, described
Several location holes being connected to the through-hole are offered on the side wall of handgrip, the location hole is outer close with the bottom end of the through-hole
Envelope is connected with rubber pneumatic bag, and the upper end of the through-hole is connect also by gas circuit with air pump.
Further, the crawl section further includes inhaling tool component, and the suction tool component includes two and is symmetrically set in described grab
It makes even the fixing seats of platform two sides, the lower section of the fixing seat is connected with attachment base by optical axis；It is additionally provided in the fixing seat perpendicular
The lifting cylinder directly arranged, the working end of the lifting cylinder are fixedly connected with the attachment base；The attachment base is fixedly connected
There is an X-axis servo sliding rail, several sucker connecting plates are connected with by sliding block on the X-axis servo sliding rail, on the sucker connecting plate
Several vacuum chucks are connected with, the end of the vacuum chuck is connect also by gas circuit with air pump；
Y-axis servo sliding rail, the Y-axis servo are equipped at least between an X-axis servo sliding rail and the attachment base
Sliding rail is fixedly connected on the bottom surface of the attachment base, and the X-axis servo sliding rail is connected to the Y-axis servo sliding rail by sliding block
On.
Further, further include delivery section for conveying wheel hub and for placement tray, packaging material and pallet
The placement section of cover board.
Further, the recognizer component include industrial camera below the crawl platform and it is several be set to it is described
Light source below industrial camera, the industrial camera are connected to the side of first disk by camera support；It is described several
Light source is connected to the lower section of the crawl platform by light source bracket, and several light sources are located in same level and circumferentially
It is uniformly distributed, the angle of several light sources and horizontal plane is 5 ° -15 °, and the industrial camera is put down where several light sources
Projection on face is overlapped with the center of circle of the circle of several light sources compositions.
Further, the processing unit includes:
Storage module, for storing the image information of different model wheel hub and different model pallet；
Instruction module after for moving to the surface wait grab object when crawl section, sends first to the first control module
Then work order sends the second work order to the second control module, grab object finger wheel hub and pallet cover board；
Then first control module controls one of light source igniting for receiving the first work order of instruction module；
Then second control module controls industrial camera and is shot for receiving the second work order of instruction module；
Collection module is then sent to processing module for collecting the image information that industrial camera takes；
Then processing module sends the result after overlapping for several image informations being collected into be carried out overlapping calculation
To contrast module；
Contrast module, for comparing processing module treated image information with the image information in storage module
It is right, the model of front hub or pallet is worked as according to comparison result judgement；
Signal transmitting module sends corresponding work order to crawl section according to the model when front hub or pallet.
Further, the processing unit further include:
Each light source is connected with an induction module, sends inductive signal to corresponding logging modle after light source igniting；
Each induction module is connected with a logging modle, records the inductive signal that corresponding induction module issues；
Each logging modle is connected with a judgment module, and judgment module is also connect with the first control module, when first
When control module receives the first work order, judgment module sends check command to corresponding logging modle, if upchecking
Then corresponding light source indication is sent a marking signal to resetting module simultaneously by judgment module, corresponding not if if examining
Light source is not labeled, and the first control module controls any one light source igniting not being labeled；Above-mentioned finger record of upchecking
There is record in module, the test fails refers in logging modle do not there is record；
All judgment modules are connected with a resetting module, and resetting module also connect with logging modle, sentences for receiving
The marking signal that disconnected module issues, when the marking signal number received is equal to the number of light source, to each logging modle
Send the instruction for deleting inductive signal.
The beneficial effects of the present invention are: a kind of wheel hub robot palletizer proposed by the present invention, it can be according to wheel to be packaged
The position of the practical model adjustment crawl structure of hub, makes not needing to be replaced as frequently as it is suitable for the wheel hub of a variety of different models
Gripping tool corresponding with wheel hub；Guarantee the accuracy of identification wheel hub using unique NI Vision Builder for Automated Inspection simultaneously.
Detailed description of the invention
The structural schematic diagram of Fig. 1 embodiment of the present invention 1,
The structural perspective of 1 grabbing assembly of Fig. 2 embodiment of the present invention,
The structure top view of 1 grabbing assembly of Fig. 3 embodiment of the present invention,
The structural front view of 1 grabbing assembly of Fig. 4 embodiment of the present invention,
The structural schematic diagram of Fig. 5 the first disk of the invention,
The structural schematic diagram of Fig. 6 the second disk of the invention,
The connection schematic diagram of 1 processing unit of Fig. 7 embodiment of the present invention,
The structural schematic diagram of 2 handgrip of Fig. 8 embodiment of the present invention,
The scheme of installation of Fig. 9 embodiment of the present invention 3 first cylinder and the second cylinder,
The structural schematic diagram of 4 light source of Figure 10 embodiment of the present invention,
The connection schematic diagram of 4 processing unit of Figure 11 embodiment of the present invention.
Figure number and title: 1, mechanical arm, 2, pedestal, 3, grabbing assembly, 301, crawl platform, the 302, first disk,
303, handgrip, the 304, second disk, 305, disc holder, 306, first sliding groove, the 307, first cylinder frame, the 308, first cylinder,
309, the second cylinder frame, the 310, second cylinder, 311, through-hole, 312, location hole, 313, rubber pneumatic bag, 314, first sliding groove, 4,
Recognizer component, 401, industrial camera, 402, light source, 403, camera support, 404, light source bracket, 5, rotary components, 501, vertical
Bearing, 502, horizontal bearing, the 503, first stepper motor, the 504, second motor, 6, mainframe, 7, suction tool component, 701, fixation
Seat, 702, optical axis, 703, attachment base, 704, lifting cylinder, 705, X-axis servo sliding rail, 706, sucker connecting plate, 707, vacuum suction
Disk, 708, Y-axis servo sliding rail.
Specific embodiment
By the technology contents that the present invention will be described in detail, construction feature, reached purpose and efficacy, hereby enumerates embodiment below
And attached drawing is cooperated to be explained in detail.
In the description of the present invention, it is to be understood that, term " center ", "vertical", "horizontal", "top", "bottom",
The orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore should not be understood as limiting the scope of the invention.
Embodiment 1
In conjunction with shown in Fig. 1-4, a kind of wheel hub robot palletizer, including crawl section, crawl section are connected to bottom by mechanical arm 1
On seat 2, crawl section includes the grabbing assembly 3 (direction of X-axis Y-axis Z axis is shown referring to Fig.1) that can be moved on tri- axis of XYZ, machine
Tool arm 1 can complete the movement around X-axis and Z axis, further include for the crawl section lower transport wheels hub delivery section and
For placement tray, packaging material and pallet cover board placement section；Grabbing assembly 3 can be realized under the action of mechanical arm 1
It grabs wheel hub to be packaged and is put into pallet, grabs on the wheel hub that packaging material is placed in pallet and grabs cover board and be placed on
It installs on the pallet of wheel hub.
Crawl section includes the mainframe 6 that 1 end of mechanical arm is connected to by rotary components 5, and mainframe 6 is in rotary components
It can be rotated around z-axis and x-axis under effect, rotary components 5 include the vertical bearing 501 and mainframe connecting with 1 end of mechanical arm
The horizontal bearings 502 of 6 connections, the first motor 503 for driving mainframe 6 to rotate around vertical bearing 501 and for driving master
The second motor 504 that rack 6 is rotated around horizontal bearing 502；Mechanical arm cooperates rotary components can be with grabbing assembly along tri- axis of XYZ
Movement, mechanical arm itself can drive grabbing assembly to move around X-axis and Z axis.
Grabbing assembly 3 includes the crawl platform 301 for being connected to 6 lower section of mainframe, grabs the underrun bearing of platform 301
It is connected with first disk 302 parallel with crawl platform 301, the lower section of the first disk 302 is connected with three circumferentially uniform cloth
The handgrip 303 set；Opened up on first disk 302 there are three the first sliding groove 314 radially arranged, the upper end of handgrip 303 by with
The sliding block that first sliding groove 314 cooperates is connect with the first disk 302；
As shown in Figure 5 and Figure 6, the lower section of the first disk 302 is equipped with second disk 304 parallel with the first disk 302, the
Two disks 304 are fixedly connected on the bottom surface of crawl platform 301 by disc holder 305；There are three being opened up on second disk 304
For the second sliding slot 306 that handgrip 303 passes through, center of circle central symmetry of several second sliding slots 306 relative to the second disk 304 is sliding
Second slot 306 is shaped to arc and second sliding slot 306 and gradually increases at a distance from 304 center of circle of the second disk from one end to the other end
Greatly.When the first disk rotates forward (clockwise direction of Fig. 5), handgrip is driven to be gradually distance from the circle of the second disk along second sliding slot
The heart, i.e., handgrip can gradually open at this time；Conversely, driving handgrip along second when the first disk inverts (counter clockwise direction of Fig. 5)
Sliding slot moves closer to the center of circle of the second disk, and handgrip can be tightened at this time.
Crawl section further includes inhaling tool component 7, and inhaling tool component 7 includes two fixations for being symmetrically set in crawl 301 two sides of platform
The lower section of seat 701, fixing seat 701 is connected with attachment base 703 by optical axis 702；Mentioning of arranging vertically is additionally provided in fixing seat 701
Cylinder 704 (realize and inhale tool component along the movement of Z axis) is risen, the working end of lifting cylinder 704 is fixedly connected with attachment base 703；Even
Joint chair 703 is fixedly connected with X-axis servo sliding rail 705 (realize and inhale tool component along the movement of X-axis), is passed through on X-axis servo sliding rail 705
Sliding block is connected with several sucker connecting plates 706, and several vacuum chucks 707, vacuum chuck 707 are connected on sucker connecting plate 706
End connect also by gas circuit with air pump.
Y-axis servo sliding rail 708 is wherein equipped between an X-axis servo sliding rail 705 and attachment base 703 (to realize and inhale tool component
Along the movement of Y-axis), Y-axis servo sliding rail 708 is fixedly connected on the bottom surface of attachment base 703, and X-axis servo sliding rail 704 is connected by sliding block
It is connected on Y-axis servo sliding rail 708.
Crawl section is equipped with recognizer component 4, and recognizer component 4 includes the industrial camera 401 set on 301 lower section of crawl platform,
Industrial camera 401 is connected to the side of the first disk 302 by camera support 403, the wheel hub to be packaged for identification of recognizer component 4
Model and pallet model；It further include the processing unit being connect with grabbing assembly 3 and recognizer component 4, processing unit is used for according to identification
The information that component 4 identifies sends corresponding work order to grabbing assembly 3.
Processing unit includes:
Storage module, for storing the image information of different model wheel hub and different model pallet；Collection module, for receiving
The wheel hub image information or pallet image information of collection industrial camera shooting are sent to contrast module；Contrast module, for that will take turns
Hub image information or pallet image information are compared with the image information in storage module, are judged according to comparison result current
The model of wheel hub or pallet；Signal transmitting module is sent accordingly according to the model when front hub or pallet to crawl section
Work order.
The course of work of the present embodiment is as follows:
The image information that wheel hub to be packaged is acquired first with industrial camera, with the wheel hub image information in storage module into
Row compares the model (positions and dimensions for determining wheel hub hole) so that it is determined that wheel hub to be packaged；Manipulator according to hub type from
The position of dynamic adjustment grabbing assembly makes handgrip be located at the surface of wheel hub hole, and then handgrip protrudes into wheel hub hole, the first circle
Disk starts to rotate forward, and drives three handgrips to expand outwardly (three handgrips move out in parallel), to grab wheel hub；Followed by machine
Tool hand is by wheel hub from the pallet that delivery section is transferred to placement section；After repeating the above steps until one layer of wheel hub code is full, manipulator
Control suction tool component adsorbs one piece of packaging material (generally interlayer film) from placement section and is placed on the good wheel hub of code；According to
The principle that one layer of packaging material is put between two layers of wheel hub continues to pile up wheel hub, until pallet is piled；
Finally using the image information of industrial camera acquisition pallet, it is compared with the pallet image information in storage module
So that it is determined that the model (size for determining pallet) of pallet, is then delivered to crawl group for matched pallet cover board using delivery section
Pallet cover board is transferred on specified pallet by the lower section of part, manipulator with suction tool component from delivery section；So far, wheel hub wraps automatically
Dress process is completed.
Embodiment 2
As shown in connection with fig. 7, the present embodiment the difference from embodiment 1 is that: handgrip 303 is shaped to cylindrical-shaped structure, handgrip
The through-hole 311 axially arranged is offered in 303, and several location holes being connected to through-hole 311 are offered on the side wall of handgrip 303
312, location hole 312 is outside and the bottom end of through-hole 311 is sealedly connected with rubber pneumatic bag 313, and the upper end of through-hole 311 is also by gas circuit
It is connect with air pump.
Relative to embodiment 1, the present embodiment further defines the structure of handgrip, is realized using inflatable rubber pneumatic bag
Handgrip is flexible coupling with wheel hub hole inner wall, and the rubber pneumatic bag of handgrip bottom end plays certain in the state of being full of high pressure gas
Effect is supported and lifted, the rubber pneumatic bag on handgrip side wall location hole can fill up handgrip and wheel bore in the state of being full of high pressure gas
Gap between hole and between handgrip and handgrip prevents handgrip from providing very big frictional force while damaging wheel hub hole,
Guarantee stability of the wheel hub in transfer process.
Embodiment 3
As shown in figure 8, the present embodiment the difference from example 2 is that: crawl platform 301 side pass through the first cylinder frame
307 are connected with horizontally disposed first cylinder 308, and the first cylinder 308 has air pump by air circuit connection；The work of first cylinder 308
On the top surface that end is articulated with the first disk 302, the first cylinder 308 can drive the first disk 302 to rotate forward.
The other side of crawl platform 301 is connected with second cylinder frame 309 opposite with the first cylinder frame 307, the second cylinder
Frame 309 is equipped with second cylinder 310 opposite with the first cylinder 308, and the second cylinder 310 is connect also by gas circuit with air pump；The
The working end of two cylinders 310 is articulated on the top surface of the first disk 302, and the second cylinder 310 can drive the first disk 302 anti-
Turn.
Relative to embodiment 2, the present embodiment further defines the structure of the first driving disc rotary, opposite using two
The first disk is respectively driven in the centrosymmetric cylinder of the first circle disk center and rotates forward reversion, makes its more reasonable structure, it can be quick
Ground adjusts handgrip expansion and tightening, works together more smooth.
Embodiment 4
As shown in figure 9, the present embodiment and the difference of embodiment 3 are: recognizer component 4 further includes being set to industrial camera 401
Several light sources 402 of lower section, these light sources 402 are connected to the lower section of crawl platform 301, several light sources by light source bracket 404
402 are located in same level and are circumferentially uniformly distributed, and the angle of light source 402 and horizontal plane is 5 ° -15 °, make light source incline
When irradiating wheel hub, each medial surface of wheel hub hole can be sufficiently exposed.
Processing unit includes storage module, for storing the image information of different model wheel hub and different model pallet；Instruction
Module after for moving to the surface wait grab object when crawl section, sends the first work order to the first control module, then
The second work order is sent to the second control module, grabs object finger wheel hub and pallet cover board；First control module refers to for receiving
The first work order for enabling module, then controls one of light source igniting；Second control module, for receiving instruction module
Then second work order controls industrial camera and is shot；Collection module, the image letter taken for collecting industrial camera
Breath is then sent to processing module；Processing module will be weighed for then several image informations being collected into are carried out overlapping calculation
The result of poststack is sent to contrast module；Contrast module, for will be in processing module treated image information and storage module
Image information be compared, according to comparison result judgement when front hub or pallet model；Signal transmitting module, according to working as
The model of front hub or pallet sends corresponding work order to crawl section.
Wherein: each light source is also connected with an induction module, sends and feels to corresponding logging modle after light source igniting
Induction signal；Each induction module is connected with a logging modle, records the inductive signal that corresponding induction module issues；It is each
A logging modle is connected with a judgment module, and judgment module is also connect with the first control module, when the first control module receives
To when the first work order, judgment module sends check command to corresponding logging modle, and judgment module will if upchecking
Corresponding light source indication sends a marking signal to resetting module simultaneously, and if examining not, corresponding light source is not marked if
Note, the first control module control any one light source igniting not being labeled；Above-mentioned upchecking refers to there is note in logging modle
Record, the test fails refers in logging modle do not there is record；All judgment modules are connected with a resetting module, and resetting module is also
It is connect with logging modle, for receiving the marking signal of judgment module sending, when the marking signal number received is equal to light source
Number when, to each logging modle send delete inductive signal instruction.
Assuming that quantity of light source is n, when recognizer component is started to work, the first control module receives the first work order,
Simultaneously judgment module to corresponding logging modle send check command because crossed before without light source igniting one-hundred-percent inspection not
Pass through, thus the first control module control in n light source any one light for a period of time, the second control module at the same time
The second work order control industrial camera is received to take pictures to obtain first image information；The induction mould being connect at this time with the light source
Block experiences the light source and sent out light (using principles such as electric current inductions) and be recorded in logging modle；When the first control module again
After receiving the first work order, sending check command to corresponding logging modle with the judgment module of light source connection can lead to
It crosses, then the light source is labeled (representing it to light), so the first control module controls any one in other n-1 light source
A period of time is lighted, the second control module receives the second work order control industrial camera and takes pictures to obtain second at the same time
Image information, repeat the above steps until all light sources be all labeled, represent collection module and have collected whole light
All image informations of lower hub are individually irradiated in source, are reset module at this time to each logging modle and are sent deletion inductive signal
Instruction waits next round work.
Since the time of above-mentioned each light source igniting is extremely short (referring to flash lamp, usually in 1/1000 second to 1/10000 second
Complete), so the process of whole image acquisition is very short；A shield can be set simultaneously outside recognizer component, on the one hand kept away
Exempt from frequent flash lamp to impact the personnel in working environment, on the other hand identification process can be generated to avoid external light source
It influences.
Relative to embodiment 1, the processing unit of the present embodiment can be by the wheel hub image information being collected into or pallet image
Information processing eliminates error and is then sent to contrast module；Same wheel hub difference light source can be irradiated multiple lower image informations into
Row stacks, so that the location information of more accurate wheel hub hole or protrusion is finally obtained, so that the essence of identification hub type
Du Genggao, prevent identification hub type when by have on ambient, wheel hub angle, wheel hub situations such as dirt is influenced identification tie
Fruit.
Its principle for eliminating error be by it is several be located at same level and be circumferentially evenly arranged light source from different angles
The side irradiation (wheel hub is horizontal positioned) to wheel hub is spent, then the hub side in the case where same angle and height irradiate different light sources
Face carries out Image Acquisition；Because light source is oblique illumination, hole is in shade by the side of close to sources on wheel hub, wheel hub
Upper hole is in highlighted far from the side of light source, multiple collected images of industrial camera is overlapped, high bright part group
Set after conjunction is the position in practical wheel bore hole, then it is compared with each model wheel hub stored in system；Simultaneously
Because light source is oblique illumination, protrusion is highlighted close to the side of light source on wheel hub, side of the protrusion far from light source on wheel hub
In shade, multiple collected images of industrial camera are overlapped, the set after high bright part combination is practical
The position of wheel hub protrusion；And the grease stain or other dirts on wheel hub be due to being that will not generate shade in the plane of wheel hub, no
How to change by the position of light source, on the image caused by shaded area will not change, it is possible thereby to which these are discharged
The influence that factor identifies wheel hub.The hole or wheel hub that individually compare wheel hub can be selected in actual production according to the actual situation
Protrusion or both comprehensive compared together to realize high-precision wheel hub identification.
In conclusion only the preferred embodiments of the invention, is not limited the scope of protection of the present invention with this, it is all according to the present invention
Equivalent changes and modifications made by the scope of the patents and description are all within the scope of the invention patent covers.
Claims (10)
1. a kind of wheel hub robot palletizer, including crawl section, the crawl section is connected on pedestal (2) by mechanical arm (1),
Be characterized in that: the crawl section includes the grabbing assembly (3) that can be moved on tri- axis of XYZ, and the mechanical arm (1) can complete
Around the spinning movement of X-axis and Z axis, it is to be packaged that the grabbing assembly (3) can be realized crawl under the action of the mechanical arm (1)
Wheel hub is simultaneously put into pallet, grabs on the wheel hub that packaging material is placed in pallet and grabs cover board and be placed on and install wheel hub
On pallet；The crawl section be equipped with recognizer component (4), the recognizer component (4) for identification the model of wheel hub to be packaged and
Pallet model；
It further include the processing unit being connect with the grabbing assembly (3) and the recognizer component (4), the processing unit is used for according to institute
The information for stating recognizer component (4) identification sends corresponding work order to the grabbing assembly (3).
2. a kind of wheel hub robot palletizer according to claim 1, it is characterised in that: the crawl section includes passing through rotation
Component (5) is connected to the mainframe (6) of the mechanical arm (1) end, and the mainframe (6) is under the action of the rotary components
Can be rotated around z-axis and x-axis, the rotary components (5) include the vertical bearing (501) being connect with the mechanical arm (1) end,
The horizontal bearing (502) that is connect with the mainframe (6), for driving the mainframe (6) to revolve around the vertical bearing (501)
The first motor (503) turned and the second motor for driving the mainframe (6) to rotate around the horizontal bearing (502)
(504)；
The grabbing assembly (3) includes the crawl platform (301) being connected to below the mainframe (6), the crawl platform
(301) underrun bearing is connected with first disk (302) parallel with crawl platform (301), first disk
(302) several handgrips (303) being circumferentially evenly arranged are connected with below；It is offered on first disk (302) several
The first sliding groove (314) radially arranged, the upper end of the handgrip (303) pass through the sliding block that cooperates with the first sliding groove (314)
It is connect with first disk (302)；
The lower section of first disk (302) is equipped with second disk (304) parallel with the first disk (302), and described the
Two disks (304) are fixedly connected on the bottom surface of crawl platform (301) by disc holder (305)；Second disk
(304) several second sliding slots (306) passed through for the handgrip (303) are offered on, several second sliding slots (306) are opposite
In the center of circle central symmetry of second disk (304), second slot of cunning (306) is shaped to arc and the second sliding slot
(306) it is gradually increased at a distance from the second disk (304) center of circle from one end to the other end.
3. a kind of wheel hub robot palletizer according to claim 2, it is characterised in that: the one of crawl platform (301)
Side is connected with horizontally disposed first cylinder (308) by the first cylinder frame (307), and first cylinder (308) passes through gas circuit
It is connected with air pump；The working end of first cylinder (308) is articulated on the top surface of first disk (302), and described first
Cylinder (308) can drive first disk (302) to rotate forward.
4. a kind of wheel hub robot palletizer according to claim 3, it is characterised in that: described to grab the another of platform (301)
Side is connected with second cylinder frame (309) opposite with first cylinder frame (307), sets on second cylinder frame (309)
There is second cylinder (310) opposite with first cylinder (308), second cylinder (310) connects also by gas circuit and air pump
It connects；The working end of second cylinder (310) is articulated on the top surface of first disk (302), second cylinder (310)
First disk (302) can be driven to invert.
5. a kind of wheel hub robot palletizer according to claim 2, it is characterised in that: the handgrip (303) is shaped to justify
Column structure, the handgrip (303) is interior to offer the through-hole (311) axially arranged, offers on the side wall of the handgrip (303)
Several location holes (312) being connected to the through-hole (311), the location hole (312) are equal with the bottom end of the through-hole (311) outside
It is sealedly connected with rubber pneumatic bag (313), the upper end of the through-hole (311) is connect also by gas circuit with air pump.
6. a kind of wheel hub robot palletizer according to claim 2, it is characterised in that: the crawl section further includes inhaling tool group
Part (7), tool component (7) of inhaling includes two fixing seats (701) for being symmetrically set in described crawl platform (301) two sides, described
The lower section of fixing seat (701) is connected with attachment base (703) by optical axis (702)；Vertical cloth is additionally provided on the fixing seat (701)
The working end of the lifting cylinder (704) set, the lifting cylinder (704) is fixedly connected with the attachment base (703)；The connection
Seat (703) is fixedly connected with X-axis servo sliding rail (705), is connected with several suctions by sliding block on the X-axis servo sliding rail (705)
Disk connecting plate (706) is connected with several vacuum chucks (707) on the sucker connecting plate (706), the vacuum chuck (707)
End connect also by gas circuit with air pump；
Y-axis servo sliding rail (708) is equipped between an at least X-axis servo sliding rail (705) and the attachment base (703),
The Y-axis servo sliding rail (708) is fixedly connected on the bottom surface of the attachment base (703), and the X-axis servo sliding rail (705) passes through
Sliding block is connected on the Y-axis servo sliding rail (708).
7. a kind of wheel hub robot palletizer according to claim 6, it is characterised in that: further include for conveying the defeated of wheel hub
Send portion and for placement tray, packaging material and pallet cover board placement section.
8. a kind of wheel hub robot palletizer according to claim 2, it is characterised in that: the recognizer component (4) includes setting
Industrial camera (401) and several light sources below the industrial camera (401) below crawl platform (301)
(402), the industrial camera (401) is connected to the side of first disk (302) by camera support (403)；If described
Dry light source (402) is connected to the lower section of crawl platform (301), several light source (402) positions by light source bracket (404)
In in same level and being circumferentially uniformly distributed, the angle of several light sources (402) and horizontal plane is 5 ° -15 °, the work
Industry camera (401) several light sources (402) the circle of circle that constitutes of projection in the plane and several light sources (402)
The heart is overlapped.
9. a kind of wheel hub robot palletizer according to claim 8, which is characterized in that the processing unit includes:
Storage module, for storing the image information of different model wheel hub and different model pallet；
Instruction module after for moving to the surface wait grab object when crawl section, sends the first work to the first control module
Then instruction sends the second work order to the second control module, grab object finger wheel hub and pallet cover board；
Then first control module controls one of light source igniting for receiving the first work order of instruction module；
Then second control module controls industrial camera and is shot for receiving the second work order of instruction module；
Collection module is then sent to processing module for collecting the image information that industrial camera takes；
Then result after overlapping is sent to pair by processing module for several image informations being collected into be carried out overlapping calculation
Compare module；
Contrast module, for processing module treated image information to be compared with the image information in storage module, root
Work as the model of front hub or pallet according to comparison result judgement；
Signal transmitting module sends corresponding work order to crawl section according to the model when front hub or pallet.
10. a kind of wheel hub robot palletizer according to claim 9, which is characterized in that the processing unit further include:
Each light source is connected with an induction module, sends inductive signal to corresponding logging modle after light source igniting；
Each induction module is connected with a logging modle, records the inductive signal that corresponding induction module issues；
Each logging modle is connected with a judgment module, and judgment module is also connect with the first control module, when the first control
When module receives the first work order, judgment module sends check command to corresponding logging modle, sentences if upchecking
Corresponding light source indication is sent a marking signal to resetting module simultaneously by disconnected module, the corresponding light source if inspection does not pass through
It is not labeled, the first control module controls any one light source igniting not being labeled；Above-mentioned upchecking refers to logging modle
In have record, the test fails refer to logging modle in do not have record；
All judgment modules are connected with a resetting module, and resetting module is also connect with logging modle, judge mould for receiving
The marking signal that block issues is sent when the marking signal number received is equal to the number of light source to each logging modle
Delete the instruction of inductive signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910655978.4A CN110304464B (en) | 2019-07-19 | 2019-07-19 | Wheel hub pile up neatly machine people |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910655978.4A CN110304464B (en) | 2019-07-19 | 2019-07-19 | Wheel hub pile up neatly machine people |
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| CN110304464B (en) | 2021-04-09 |
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