CN110549528B - End effector and loading attachment - Google Patents
End effector and loading attachment Download PDFInfo
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- CN110549528B CN110549528B CN201910975826.2A CN201910975826A CN110549528B CN 110549528 B CN110549528 B CN 110549528B CN 201910975826 A CN201910975826 A CN 201910975826A CN 110549528 B CN110549528 B CN 110549528B
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- end effector
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- 239000012636 effector Substances 0.000 title claims abstract description 42
- 238000001179 sorption measurement Methods 0.000 claims abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 13
- 230000001276 controlling effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000009423 ventilation Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000009966 trimming Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000012840 feeding operation Methods 0.000 description 2
- 239000010687 lubricating oil Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000010074 rubber mixing Methods 0.000 description 2
- 238000004073 vulcanization Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000007103 stamina Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C37/00—Component parts, details, accessories or auxiliary operations, not covered by group B29C33/00 or B29C35/00
- B29C37/02—Deburring or deflashing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/56—Stoppers or lids for bottles, jars, or the like, e.g. closures
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- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention provides an end effector and a feeding device. The feeding device comprises an end pick-up device, wherein the end pick-up device comprises a main mounting frame, a sucker connecting frame, a sucker and an air cylinder; the sucker connecting frame is rotatably arranged on one side of the main mounting frame; the sucker is mounted to the lower surface of the sucker connecting frame; the sucker comprises a sucker shell, wherein the lower surface of the sucker shell is provided with profiling holes which are arranged in an array manner, and all the profiling holes are communicated and form vent holes on the surface of the sucker shell; the cylinder is fixed to the main mounting frame, and the cylinder is communicated with the vent hole and used for enabling the profiling hole to generate adsorption negative pressure. The invention replaces repeated operation of manual machinery, reduces labor intensity of staff, improves production efficiency and improves automation level of production process.
Description
Technical Field
The invention relates to the technical field of mechanical arm feeding, in particular to an end effector and a feeding device.
Background
In the aspect of medical consumable production and manufacturing, the medical rubber plug is a sealing piece and a guiding piece of medicine encapsulation, and the total amount of the injection rubber plug, the oral liquid rubber plug, the prefilled plug and the like used in China per year is approximately 1000 hundred million. The process for producing the medical rubber is basically the same at home and abroad, and the process flow is as follows: material compounding, rubber mixing, sizing material preforming, vulcanization molding, edge removing, cleaning and packaging.
As shown in fig. 1, the conventional rubber stopper curtain No. 1 formed by vulcanizing a vulcanizing machine is schematically shown, and after the material matching process, the rubber mixing process, the rubber material preforming process and the vulcanization forming process, the manufactured and formed rubber stopper curtain No. 190 is composed of 891 rubber stoppers 91, and can be divided into 9 areas, wherein the arrangement forms of the rubber stoppers in each area are completely the same. Cutting 9 areas of the No. 1 rubber plug curtain 90 into 9 small No. 2 rubber plug curtains 92 by a special cutting machine, wherein the length and width dimensions of each No. 2 rubber plug curtain 92 are 216mm x 220mm; then the rubber stopper curtain No. 2 92 is cut into individual rubber stoppers 91 by a special edge remover.
As shown in fig. 2, each rubber plug 91 includes a plug cover 911 and a plug post 912, and the plug cover 911 is circular and has a diameter R1. One side of the rubber plug cover 911 of the rubber plug 91, which is away from the rubber plug column 912, is connected with a No. 2 rubber plug curtain 92.
As shown in fig. 3, a schematic structural diagram of a female mold plate 93 of the edge remover is shown, the female mold plate 93 of the edge remover is provided with mold holes 931 arranged in one-to-one correspondence with each rubber plug 91 on a rubber plug curtain 92 No. 2, the diameter of the mold holes 931 is R2, the size of the R2 is slightly smaller than R1, and the depth of the mold holes 931 is greater than the thickness of the rubber plug cover 911. During feeding, each rubber plug 91 of the No. 2 rubber plug curtain 92 is required to be placed into the mold hole 931 of the female template 93 of the edge removing machine, the rubber plug cover 911 of each rubber plug 91 is in interference fit with the mold hole 931, and the rubber plug cover 911 is completely sunk into the mold hole 931. Each rubber stopper 91 of the rubber stopper curtain No. 2 92 is separated by an edge removing machine, and the edge removing process is completed.
Most manufacturers in the present stage adopt a manual feeding mode, and mainly adopt manual work to repeat feeding operation. The feeding operation is an uninterrupted simple repeated action, interference fit is realized by pressing with force, labor force consumed by manual long-term work is large, working efficiency is low, staff is required to keep mechanical action at all times in the feeding process, and extremely high requirements are provided for stamina and care of the staff.
Therefore, it is necessary to replace some mechanically repeated, simple and tedious processes with automated equipment, reducing personnel requirements and improving work efficiency.
From the foregoing, it is necessary to provide a new end effector and a loading device to overcome the problems in the prior art.
Disclosure of Invention
The invention mainly aims to provide the end effector and the feeding device, which replace repeated operation of manual machinery, reduce labor intensity of staff, improve production efficiency and improve automation level of a production process.
In order to achieve the above object, the present invention provides an end effector, comprising a main mounting frame, a suction cup connecting frame, a suction cup and a cylinder; specifically, the sucker connecting frame is rotatably arranged on one side of the main mounting frame; the sucker is mounted to the lower surface of the sucker connecting frame; the sucker comprises a sucker shell, wherein the lower surface of the sucker shell is provided with profiling holes which are arranged in an array manner, and all the profiling holes are communicated and form vent holes on the surface of the sucker shell; the cylinder is fixed to the main mounting frame, and the cylinder is communicated with the vent hole and used for enabling the profiling hole to generate adsorption negative pressure.
Further, at least one transverse communicating pipe and at least one longitudinal communicating pipe are also arranged in the sucker shell; the transverse communicating pipes are arranged above the profiling holes in a row, the projections of the transverse communicating pipes are overlapped with the projections of the profiling holes in the same row, and the transverse communicating pipes are connected with the profiling holes in a one-to-one correspondence through the vent holes; the longitudinal communicating pipe is communicated with the plurality of transverse communicating pipes in an intersecting way; wherein one end of the lateral communicating tube and/or the longitudinal communicating tube forms the vent hole on the surface of the suction cup housing.
Further, the left side end of the even number row of the transverse communicating pipes forms the vent holes on the surface of the sucker shell; and the right side end of the transverse communicating pipe in the odd number row forms the vent hole on the surface of the sucker shell.
Further, the end effector further comprises a light source bracket and a light bar; the light source bracket is mounted on the main mounting frame; the light bar is arranged on the lower surface of the light source bracket.
Further, the end effector further comprises a guide rail, a sliding block, a rack and a gear; the guide rail is arranged on one side of the sucker connecting frame, which faces the main mounting frame; the sliding block is arranged on the main mounting frame and can be slidably clamped into the guide rail; the rack is fixed on the side surface of the sucker connecting frame, on which the sliding block is arranged; the gear is rotatably mounted to the main mounting frame, and the gear is meshed with the rack.
Further, the end effector further comprises an image sensor and a controller; the image sensor is mounted on the main mounting frame, and a lens of the image sensor faces the direction corresponding to the sucker and is used for acquiring an image of a workpiece to be adsorbed; the controller is fixed on the main mounting frame and is arranged adjacent to the sucker connecting frame; the controller is connected with the image sensor and the air cylinder, and is used for judging the distance and the angle between the sucker and the workpiece to be adsorbed according to the image of the workpiece to be adsorbed, and controlling the air cylinder to suck air to generate adsorption negative pressure when the sucker is attached to the workpiece to be adsorbed.
Further, the controller comprises a distance calculating unit, an angle identifying unit and a cylinder control unit; specifically, the distance calculating unit is connected with the image sensor and is used for judging the distance between the sucker and the workpiece to be adsorbed according to the size of the image of the workpiece to be adsorbed; the angle identification unit is connected with the image sensor and is used for judging the angle between the sucker and the workpiece to be adsorbed through the positions of two adjacent corners of the image of the workpiece to be adsorbed; the cylinder control unit is connected with the cylinder and is used for controlling the cylinder to inhale and generate adsorption negative pressure when the sucking disc is attached to the workpiece to be adsorbed, and controlling the cylinder to blow back to normal pressure when the workpiece to be adsorbed is fed.
Further, the controller also comprises a feeding judging unit connected with the image sensor and used for judging whether the workpiece to be adsorbed is fed correctly or not through the relative position image of the sucker connecting frame and the main mounting frame; after the cylinder control unit controls the cylinder to blow back to normal pressure, if the relative position of the sucker connecting frame and the main mounting frame does not rotate, judging that feeding is correct; and if the relative positions of the sucker connecting frame and the main mounting frame rotate by an angle, judging that the end effector is not fed correctly.
The invention also provides a feeding device which comprises the end effector and a robot, wherein the robot is rotatably connected with the main mounting frame.
Further, the robot comprises a base, a mechanical arm and data processing equipment; the mechanical arm is rotatably connected with the base; the data processing equipment is arranged on the mechanical arm; the data processing device is connected with the controller of the end effector and used for controlling the mechanical arm to rotate so as to adjust the angle of the end effector.
The invention has the beneficial effects that the end pick-up and the feeding device are provided for picking up the workpiece to be adsorbed for feeding in the edge removing process, so that repeated operation of manual machinery is replaced, the labor intensity of staff is reduced, the production efficiency is improved, and the automation level of the production process is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the application and that other drawings may be obtained from these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a conventional rubber stopper curtain No. 1 formed by vulcanizing a vulcanizing machine;
FIG. 2 is a schematic diagram of the structure of a single rubber plug;
FIG. 3 is a schematic view of the structure of a blank mold of the edge remover;
fig. 4 is a schematic view illustrating a structure of a bottom view of an end effector according to an embodiment of the present invention;
Fig. 5 is a schematic top view of an end effector according to an embodiment of the present invention;
FIG. 6 is a top view of an end effector according to an embodiment of the present invention;
FIG. 7 is a top view of the suction cup according to an embodiment of the present invention;
FIG. 8 is a cross-sectional view at A-A of FIG. 7;
FIG. 9 is a schematic diagram of a controller according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a feeding device according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of an edge trimming machine.
The components in the figure are identified as follows:
10. An end pick-up device 1, a main mounting rack 11, a positioning ring 2 and a sucker connecting rack,
3. Suction cup 31, suction cup shell 32, profiling hole 33, vent hole 331, quick-connect connector,
34. Transverse communicating pipes, 35, connecting holes, 36, longitudinal communicating pipes, 37, plugs,
4. Cylinder, 51, light source bracket, 52, light bar, 61, guide rail, 62, slide block,
63. Rack, 64, gear, 65, oil receiving box, 7, image sensor, 8, controller,
81. A distance calculating unit 82, an angle identifying unit 83, a cylinder control unit,
20. Robot, 21, base, 22, mechanical arm, 23, data processing equipment,
100. Feeding device, 200, edge removing machine, 201, negative template mould.
Detailed Description
In the present invention, the same or corresponding parts are denoted by the same reference numerals regardless of the numbers of the drawings, and when the terms such as "first", "second", etc. are used to describe various parts throughout the specification, these parts are not necessarily limited to the above terms. The above terminology is used only to distinguish one component from another.
The following description of the embodiments refers to the accompanying drawings, which illustrate specific embodiments in which the invention may be practiced. The directional terms mentioned in the present invention, such as [ upper ], [ lower ], [ front ], [ rear ], [ left ], [ right ], [ inner ], [ outer ], [ side ], etc., are only referring to the directions of the attached drawings. Accordingly, directional terminology is used to describe and understand the invention and is not limiting of the invention. In the drawings, like elements are designated by like reference numerals.
Referring to fig. 4 to 9, an end effector 10 is provided in an embodiment of the present invention, which is suitable for picking up a workpiece to be adsorbed for feeding in an edge removing process, particularly suitable for an edge removing process of a medical rubber plug, and mainly aims at feeding a rubber plug curtain No. 2 onto an edge removing machine. The end effector 10 comprises a main mounting frame 1, a sucker connecting frame 2, a sucker 3 and an air cylinder 4. The end effector 10 is used for adsorbing and picking up a workpiece to be adsorbed for feeding, in this embodiment, the workpiece to be adsorbed is preferably a rubber plug curtain No. 2, the end effector 10 and the workpiece to be adsorbed are in clearance fit, and the unilateral clearance is 0.2mm at most. As shown in fig. 10, which is a schematic structural diagram of the edge trimming machine, the edge trimming machine 200 includes a female die plate 201.
Referring to fig. 4 to 8, specifically, the main mounting frame 1 is provided with a positioning ring 11; the sucker connecting frame 2 is rotatably arranged on one side of the main mounting frame 1; the sucker 3 is mounted on the lower surface of the sucker connecting frame 2, and preferably the sucker 3 is connected to the sucker connecting frame 2 through screws and is positioned by two positioning pins; the sucker 3 comprises a sucker shell 31, wherein profiling holes 32 which are arranged in an array are arranged on the lower surface of the sucker shell 31, and all the profiling holes 32 are communicated and form vent holes 33 on the surface of the sucker shell 31; the shape of the sucker 3 comprises a rectangle, a circle, a polygon or a trapezoid, the shape and the size of the sucker 3 are matched with those of a workpiece to be absorbed, and the corresponding position tolerance of the sucker 3 and the workpiece to be absorbed is preferably 0.02mm; the cylinder 4 is fixed on the main mounting frame 1, and the cylinder 4 is communicated with the vent hole 33 and is used for enabling the profiling hole 32 to generate adsorption negative pressure; the cylinder 4 is chosen to ensure that the retraction tension of the cylinder 4 is slightly less than the weight of the suction cup 3 when the cylinder is in use.
A quick connector 331 is further provided outside the vent hole, and the quick connector 331 is communicated with the air cylinder 4 through a connecting air pipe (not shown), so that the air cylinder 4 is communicated with the vent hole 33.
As shown in fig. 7 and 8, in the present embodiment, at least one transverse communicating tube 34 and at least one longitudinal communicating tube 36 are further included in the suction cup housing 31; the transverse communicating pipes 34 are arranged above the profiling holes 32 in a row, projections of the transverse communicating pipes 34 and projections of a plurality of profiling holes 32 positioned in the same row overlap each other, and the transverse communicating pipes 34 are connected with the profiling holes 32 in a one-to-one correspondence manner through connecting holes 35; the diameter of the connecting hole 35 is smaller than that of the profiling hole 32, so that an adsorption cavity is formed in the profiling hole 32; the longitudinal communicating tube 36 communicates with the plurality of lateral communicating tubes 34 in intersecting relation; wherein one end of the lateral communication pipe 34 and/or the longitudinal communication pipe 36 forms the ventilation hole 33 at the surface of the suction cup housing 31.
In the present embodiment, the left-side one end of the even-numbered rows of the lateral communication pipes 34 forms the ventilation holes 33 on the surface of the suction cup housing 31; the right-side ends of the lateral communication pipes 34 of the odd numbered rows form the ventilation holes 33 at the surface of the suction cup housing 31.
A plug 37 is also provided in the vent hole 33 corresponding to the lateral communicating pipe 34. It will be appreciated that when the plug 37 is not provided, all of the ventilation holes 33 are in communication with the cylinder 4; when the plug 37 is provided, the vent hole 33 corresponding to the longitudinal communicating pipe 36 is communicated with the cylinder 4, and the plug 37 seals the vent hole 33 with the naked end part, so that the suction negative pressure in the suction cup 3 can be ensured, and the shortage of the negative pressure during operation is avoided. In other embodiments, the plug 37 is preferably integrally formed with the suction cup housing 31.
Referring to fig. 4 to 6, in the present embodiment, the end effector 10 further includes a light source bracket 51 and a light bar 52; the light source bracket 51 is mounted to the main mounting frame 1; the light bar 52 is disposed on the lower surface of the light source holder 51. Preferably, the light bar 52 is disposed around the edge of the lower surface of the light source holder 51.
Referring to fig. 4 to 6, in the present embodiment, the end effector 10 further includes a guide rail 61, a slider 62, a rack 63, and a gear 64, wherein the guide rail 61 is disposed on a side of the suction cup connecting frame 2 facing the main mounting frame 1; the sliding block 62 is arranged on the main mounting frame 1, and the sliding block 62 can be slidably clamped into the guide rail 61; the rack 63 is fixed to the side of the suction cup attachment 2 on which the slider 62 is provided, preferably the rack 63 is fixed to the suction cup attachment 2 by a screw; the gear 64 is rotatably mounted to the main mounting frame 1, and the gear 64 is meshed with the rack 63, so as to realize the rotational connection of the suction cup connecting frame 2 relative to the main mounting frame 1.
In order to avoid that the gear 64 and the slider 62 interfere with each other, it is preferable that the gear 64 is provided in other areas outside the guide rail 61. Meanwhile, it is necessary to add lubricating oil to the gear 64 and the rack 63 during use, and therefore it is preferable to further include an oil receiving box 65 for receiving the lubricating oil for contamination prevention.
To further increase the level of automation, the end effector 10 further comprises an image sensor 7 and a controller 8; the image sensor 7 is mounted on the main mounting frame 1, and a lens of the image sensor 7 faces to a direction corresponding to the sucker 3 and is used for acquiring an image of a workpiece to be absorbed; the image sensor 7 is preferably a Kidney 2100w pixel image sensor with resolution of 0.07mm/pix, and the protective cover of the image sensor 7 is fixedly arranged on the main mounting frame 1; according to experimental data, when the 2100w pixel image sensor is 450mm away from the position right above the rubber plug curtain, the rubber plug curtain No.2 can be ensured to be just appeared in the field of view of the image sensor 7, and the sensor identification precision can be ensured to be higher than 0.2mm; the controller 8 is fixed on the main mounting frame 1 and is arranged adjacent to the sucker connecting frame 2; the controller 8 is connected with the image sensor 7 and the air cylinder 4, and is used for judging the distance and the angle between the sucker 3 and the workpiece to be sucked according to the image of the workpiece to be sucked, and controlling the air cylinder 4 to suck air to generate suction negative pressure when the sucker 3 is attached to the workpiece to be sucked.
In other embodiments, the image sensor 7 may also be mounted to the light source holder 51, which saves space and connector length.
In other embodiments, the gear 64 may also be mounted to the housing of the controller 8, which may save space and connector length.
As shown in fig. 9, in the present embodiment, the controller 8 includes a distance calculation unit 81, an angle recognition unit 82, and a cylinder control unit 83; specifically, the distance calculating unit 81 is connected to the image sensor 7, and is configured to determine the distance between the suction cup 3 and the workpiece to be suctioned according to the size of the image of the workpiece to be suctioned; the angle recognition unit 82 is connected with the image sensor 7 and is used for judging the angle between the sucker 3 and the workpiece to be absorbed through the positions of two adjacent corners of the image of the workpiece to be absorbed; the cylinder control unit 83 is connected with the cylinder 4, and is used for controlling the cylinder 4 to inhale and produce adsorption negative pressure when the sucking disc 3 is attached to the workpiece to be adsorbed, and controlling the cylinder 4 to blow back to normal pressure when the workpiece to be adsorbed is fed. Preferably, the cylinder 4 includes a pressure regulating valve (not shown) connected to an intake port of the cylinder 4, and the cylinder control unit 83 is connected to the pressure regulating valve and controls the suction pressure of the cylinder 4 by controlling suction and blowback of the pressure regulating valve.
As shown in fig. 9, in this embodiment, the controller 8 further includes a loading determining unit 84, connected to the image sensor 7, for determining whether the workpiece to be adsorbed is loaded correctly by using the relative position image of the chuck connecting frame 2 and the main mounting frame 1; after the cylinder control unit 83 controls the cylinder 4 to blow back to normal pressure, if the relative position of the sucker connecting frame 2 and the main mounting frame 1 does not rotate, the feeding is judged to be correct; if the relative position of the suction cup connecting frame 2 and the main mounting frame 1 rotates by an angle, the end effector 10 is judged to be not fed correctly.
As shown in fig. 10, the present invention further provides a feeding device 100, which includes the end effector 10 and the robot 20, where the robot 20 is rotatably connected to the main mounting frame 1. Preferably, the robot 20 is connected to a positioning ring 11 on the main mounting frame 1.
As shown in fig. 10, in the present embodiment, the robot 20 includes a base 21, a robot arm 22, and a data processing device 23; the mechanical arm 22 is rotatably connected with the base 21; the robot 22 is preferably a six-axis robot; the data processing device 23 is arranged on the mechanical arm 22; the data processing device 23 is connected to the controller 8 of the end effector 10, and is configured to control the rotation of the robot arm 22 to adjust the angle of the end effector 10.
When in operation, after the image sensor 7 of the end effector 10 recognizes the position of the workpiece to be suctioned, the data processing device 23 controls the mechanical arm 22 to rotate to change the coordinate position, so as to align the suction cup 3 to the workpiece to be suctioned. When the sucking disc 3 is aligned to attach the workpiece to be adsorbed, the air cylinder 4 sucks air to enable the profiling hole 32 of the sucking disc 3 to generate adsorption negative pressure to adsorb the workpiece to be adsorbed, the movement gesture of the mechanical arm 22 is adjusted, when the end effector 10 adsorbs the workpiece to be adsorbed into a blank mold of the edge removing machine, the small-amplitude rubbing action of a human hand is simulated, the workpiece to be adsorbed is in interference fit with the blank mold of the edge removing machine, and then the air cylinder 4 blows back to separate the workpiece to be adsorbed from the sucking disc 3; when the end effector 10 is not properly loaded, the loading operation is repeated until it is properly loaded.
The invention has the beneficial effects that the end effector 10 and the feeding device 100 are provided, and are used for picking up the workpiece to be adsorbed for feeding in the edge removing process, so that repeated operation of manual machinery is replaced, the labor intensity of staff is reduced, the production efficiency is improved, and the automation level of the production process is improved.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (8)
1. An end effector, comprising:
a main mounting rack;
the sucker connecting frame is rotatably arranged on one side of the main mounting frame;
A suction cup mounted to a lower surface of the suction cup attachment frame; the sucker comprises a sucker shell, wherein the lower surface of the sucker shell is provided with profiling holes which are arranged in an array manner, and all the profiling holes are communicated and form vent holes on the surface of the sucker shell;
a cylinder fixed to the main mounting frame, the cylinder communicating with the vent hole for causing the profiling hole to generate an adsorption negative pressure;
the image sensor is mounted on the main mounting frame, and a lens of the image sensor faces the direction corresponding to the sucker and is used for acquiring an image of a workpiece to be adsorbed; and
A controller fixed to the main mounting frame and disposed adjacent to the suction cup attachment frame; the controller is connected with the image sensor and the air cylinder, and is used for judging the distance and the angle between the sucker and the workpiece to be adsorbed according to the image of the workpiece to be adsorbed, and controlling the air cylinder to suck air to generate adsorption negative pressure when the sucker is attached to the workpiece to be adsorbed;
Wherein the controller comprises:
the cylinder control unit is connected with the cylinder and used for controlling the cylinder to suck air to generate adsorption negative pressure when the sucking disc is attached to the workpiece to be adsorbed and controlling the cylinder to blow back to normal pressure when the workpiece to be adsorbed is fed;
The feeding judging unit is connected with the image sensor and is used for judging whether the workpiece to be adsorbed is fed correctly or not through the relative position image of the sucker connecting frame and the main mounting frame; after the cylinder control unit controls the cylinder to blow back to normal pressure, if the relative position of the sucker connecting frame and the main mounting frame does not rotate, judging that feeding is correct; and if the relative positions of the sucker connecting frame and the main mounting frame rotate by an angle, judging that the end effector is not fed correctly.
2. The end effector as set forth in claim 1 further comprising within said chuck housing:
the transverse communicating pipes are arranged above the profiling holes in a row, the projections of the communicating pipes are overlapped with the projections of the plurality of profiling holes in the same row, and the communicating pipes are connected with the profiling holes in a one-to-one correspondence manner through the connecting holes; and
At least one longitudinal communicating pipe which is communicated with the plurality of transverse communicating pipes in an intersecting way;
Wherein one end of the lateral communicating tube and/or the longitudinal communicating tube forms the vent hole on the surface of the suction cup housing.
3. The end effector as claimed in claim 2, wherein,
The left end of the even-numbered transverse communicating pipes forms the vent holes on the surface of the sucker shell;
and the right side end of the transverse communicating pipe in the odd number row forms the vent hole on the surface of the sucker shell.
4. The end effector as set forth in claim 1, further comprising:
A light source bracket mounted to the main mounting frame; and
And the light bar is arranged on the lower surface of the light source bracket.
5. The end effector as set forth in claim 1, further comprising:
the guide rail is arranged at one side of the sucker connecting frame, which faces the main mounting frame;
the sliding block is arranged on the main mounting frame and can be slidably clamped into the guide rail;
A rack fixed to the side surface of the sucker connecting frame provided with the sliding block; and
And the gear is rotatably mounted on the main mounting frame and meshed with the rack.
6. The end effector as set forth in claim 1 wherein said controller further comprises:
The distance calculating unit is connected with the image sensor and is used for judging the distance between the sucker and the workpiece to be adsorbed according to the size of the image of the workpiece to be adsorbed; and
And the angle identification unit is connected with the image sensor and is used for judging the angle of the sucker and the workpiece to be adsorbed through the positions of two adjacent corners of the workpiece image to be adsorbed.
7. Feeding device, its characterized in that includes:
the end effector of claim 1; and
And the robot is rotatably connected with the main mounting frame.
8. The feeding device of claim 7, wherein the robot comprises:
A base;
The mechanical arm is rotatably connected with the base; and
The data processing equipment is arranged on the mechanical arm; the data processing device is connected with the controller of the end effector and used for controlling the mechanical arm to rotate so as to adjust the angle of the end effector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975826.2A CN110549528B (en) | 2019-10-15 | 2019-10-15 | End effector and loading attachment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910975826.2A CN110549528B (en) | 2019-10-15 | 2019-10-15 | End effector and loading attachment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110549528A CN110549528A (en) | 2019-12-10 |
| CN110549528B true CN110549528B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910975826.2A Active CN110549528B (en) | 2019-10-15 | 2019-10-15 | End effector and loading attachment |
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| CN118219339A (en) * | 2024-05-06 | 2024-06-21 | 广东兴艺数字印刷股份有限公司 | Die cutting equipment alignment control method and device, die cutting equipment and medium |
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