CN111646206A - Self-adjusting flexible adsorption device - Google Patents
Self-adjusting flexible adsorption device Download PDFInfo
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- CN111646206A CN111646206A CN202010646440.XA CN202010646440A CN111646206A CN 111646206 A CN111646206 A CN 111646206A CN 202010646440 A CN202010646440 A CN 202010646440A CN 111646206 A CN111646206 A CN 111646206A
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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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
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
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Abstract
The invention relates to the technical field of industrial automation, and discloses a self-adjusting flexible adsorption device which is provided with an information acquisition assembly, can identify and acquire the appearance characteristics of a workpiece to be adsorbed and transmit the appearance characteristics to a first driving mechanism and a second driving mechanism, wherein the first driving mechanism acts on the first adjusting mechanism, the second driving mechanism acts on the second adjusting mechanism, the movable end of the first adjusting mechanism and the movable end of the second adjusting mechanism are connected with a movable arm, the overhanging end of the movable arm is provided with an adsorption assembly, and the adsorption assembly can be adapted to workpieces with different sizes and curvatures by adjusting the posture of the movable arm, so that the adsorption assembly not only can stably and safely adsorb the workpieces, but also can be self-adapted to the condition of workpiece changing in collinear production, realizes the online identification and rapid and reliable adsorption of products with different sizes and different molded surfaces, and achieves the efficient and reliable intelligent and automatic production flow, the cost is reduced and the efficiency is improved for enterprises, and the method has great popularization value and wide application prospect.
Description
Technical Field
The invention relates to the technical field of industrial automation, in particular to a self-adjusting flexible adsorption device.
Background
Along with the development of the industrial process, the modern production and manufacturing pay more attention to automation and intellectualization, and as an important means for realizing industrial automation, the vacuum adsorption device is widely applied to the working procedures of workpiece grabbing, carrying, assembling and the like, so that the automation level of the operation equipment is improved, and the production efficiency is also obviously improved. Meanwhile, in order to quickly respond to diversified market demands, shorten the research and development production period of industrial products and reduce the production cost, flexible collinear production also becomes one of the main development directions of industrial automation and intelligent manufacturing, which puts higher requirements on the functions and the performances of the vacuum adsorption device.
Under the flexible collinear production mode, industrial products of different models share the same production line, but due to the fact that the sizes and the molded surfaces of the products of different models are different, flexible adsorption devices required by the procedures of grabbing, carrying, assembling and the like are different. If corresponding vacuum adsorption devices are respectively designed for different types of products, the design period is longer, and the cost is higher; and in the flexible production process, when the product model is adjusted, the required time for replacing corresponding different vacuum adsorption devices is longer, the efficiency is low, and the reduction of the production cost of enterprises and the improvement of the production efficiency are not facilitated.
Therefore, in the field of industrial automation technology, there is a need for a self-adjusting flexible adsorption device capable of capturing and identifying the morphological characteristics of the workpiece to be adsorbed, and adjusting the posture of the movable arm according to the shape of the workpiece to be adsorbed so as to stably and efficiently perform the adsorption operation.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides the self-adjusting flexible adsorption device which can capture and identify the appearance characteristics of the workpiece to be adsorbed and adjust the posture of the movable arm according to the appearance of the workpiece to be adsorbed so as to stably and efficiently carry out adsorption operation.
The invention is realized by the following technical scheme:
a self-adjusting flexible adsorption device comprises a first mounting plate and a second mounting plate which are arranged in parallel, wherein a plurality of connecting columns are arranged between the first mounting plate and the second mounting plate; the plate surface of the first mounting plate, which is close to the second mounting plate, is provided with a first adjusting mechanism, the plate surface of the first mounting plate, which is far away from the second mounting plate, is provided with a first driving mechanism capable of enabling the first adjusting mechanism to act, the plate surface of the second mounting plate, which is far away from the first mounting plate, is provided with a second adjusting mechanism, and the plate surface of the second mounting plate, which is close to the first mounting plate, is provided with a second driving mechanism capable of enabling the second adjusting mechanism to act; the movable end of the first adjusting mechanism and the movable end of the second adjusting mechanism are respectively connected with a movable arm, the movable arm can be controlled to move under the action of the first adjusting mechanism and/or the second adjusting mechanism, the movable arm extends from the first mounting plate to the second mounting plate and penetrates out of the second mounting plate, and one end of the movable arm, penetrating out of the second mounting plate, is provided with an adsorption component; the device comprises a first driving mechanism, a second driving mechanism and an information acquisition assembly, wherein the first driving mechanism is connected with the first driving mechanism through a signal, and the second driving mechanism is connected with the second driving mechanism through a signal.
Further, first adjustment mechanism includes rotates the first spiral dish of being connected with first mounting panel, first spiral dish is kept away from and is equipped with the guide rail that is the linear extension of spiral on the quotation of first mounting panel, be equipped with the first slider of a plurality of circumference equipartitions on the first spiral dish, each first slider is close to and is equipped with the guide slot with the guide rail adaptation on the side of first spiral dish, and is adjacent be equipped with first apron between the first slider, it is adjacent form between the first apron and supply first slider along first spiral dish radial motion's slide.
Furthermore, the first adjusting mechanism further comprises a connecting plate, the connecting plate is located at the center of the first spiral disk, and one end, close to the center of the first spiral disk, of each first cover plate is fixedly connected with the connecting plate.
Furthermore, the position of first mounting panel corresponding to first spiral dish center is equipped with the through-hole, the position of first mounting panel corresponding to the through-hole is equipped with first actuating mechanism, first actuating mechanism's output passes the through-hole and with first spiral dish rigid coupling.
Furthermore, the side face, far away from the first spiral disk, of the first sliding block is rotatably connected with the end, close to the first mounting plate, of the movable arm.
Further, second adjustment mechanism includes rotates the second spiral dish of being connected with the second mounting panel, the second spiral dish is kept away from and is equipped with the guide rail that is the linear extension of spiral on the quotation of second mounting panel, be equipped with the second slider of a plurality of circumference equipartitions on the second spiral dish, each the second slider is close to and is equipped with the guide slot with the guide rail adaptation on the side of second spiral dish, and is adjacent be equipped with the second apron between the second slider, it is adjacent form the slide that supplies second slider along second spiral dish radial motion between the second apron.
Furthermore, the position of the second mounting plate corresponding to the center of the second spiral disc is provided with a through hole, the position of the second mounting plate corresponding to the through hole is provided with a second driving mechanism, and the output end of the second driving mechanism penetrates through the through hole and is fixedly connected with the second spiral disc.
Furthermore, the side that the second spiral dish was kept away from to the second slider is equipped with the connecting rod, the connecting rod both ends rotate with second slider and digging arm middle part respectively and are connected, the position that the second mounting panel corresponds the digging arm is equipped with the groove of stepping down.
Furthermore, the adsorption component comprises a sucker capable of interacting with the workpiece and a built-in vacuum generator, and an outlet of the vacuum generator is communicated with an interface of the sucker.
Furthermore, the information acquisition assembly comprises a first camera, a second camera and a projector, the projector projects patterns to the surface of the workpiece, and the first camera and the second camera form a double visual measurement system for information acquisition.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the self-adjusting flexible adsorption device is provided with an information acquisition component, can identify and acquire the appearance characteristics of a workpiece to be adsorbed and transmits the appearance characteristics to a first driving mechanism and a second driving mechanism, the first driving mechanism acts on a first adjusting mechanism, the second driving mechanism acts on a second adjusting mechanism, the movable end of the first adjusting mechanism and the movable end of the second adjusting mechanism are connected with a movable arm, the posture of the movable arm is further adjusted through the first adjusting mechanism and the second adjusting mechanism, when the driving mechanisms are in a non-working state, the movable ends of the adjusting mechanisms can be kept relatively fixed, the workpiece can be stably and safely adsorbed through self-locking, and the overhanging end of the movable arm is provided with an adsorption component, so that the adsorption component can be matched and attached to workpieces with different sizes and curvatures, can be more self-adaptive to the workpiece remodeling condition in collinear production, and can realize different sizes and different sizes of workpieces, The online identification and the rapid and reliable adsorption of products with different molded surfaces achieve efficient, reliable, intelligent and automatic production processes, reduce cost and improve efficiency for enterprises, and have great popularization value and wide application prospect.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a schematic perspective view of a first adjustment mechanism of the present invention;
FIG. 3 is a perspective view of a second adjustment mechanism of the present invention;
FIG. 4 is a perspective view of a second mounting plate of the present invention;
FIG. 5 is an embodiment of a first adjustment mechanism of the present invention;
FIG. 6 is an embodiment of a second adjustment mechanism of the present invention;
FIG. 7 is another embodiment of a first adjustment mechanism of the present invention;
FIG. 8 is another embodiment of a second adjustment mechanism of the present invention;
FIG. 9 is yet another embodiment of the first adjustment mechanism of the present invention;
FIG. 10 is yet another embodiment of a second adjustment mechanism according to the present invention;
FIG. 11 is a front view of an application scenario of the present invention;
FIG. 12 is a front view of another aspect of the present invention;
fig. 13 is a front view of another application scenario of the present invention.
Reference numbers and corresponding part names in the drawings:
11-a first mounting plate, 12-a second mounting plate, 13-a connecting column, 2-a first adjusting mechanism, 21-a first spiral disk, 22-a first slider, 23-a first cover plate, 24-a connecting plate, 3-a first driving mechanism, 4-a second adjusting mechanism, 41-a second spiral disk, 42-a second slider, 43-a second cover plate, 5-a second driving mechanism, 6-a movable arm, 61-a connecting rod, 7-an adsorption component, 8-an information acquisition component, 81-a first camera, 82-a second camera, 83-a projector, 91-a plane workpiece, 92-a convex workpiece and 93-a concave workpiece.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
A self-adjusting flexible adsorption device comprises a first mounting plate 11 and a second mounting plate 12 which are arranged in parallel, wherein a plurality of connecting columns 13 are arranged between the first mounting plate 11 and the second mounting plate 12; a first adjusting mechanism 2 is arranged on the surface of the first mounting plate 11 close to the second mounting plate 12, a first driving mechanism 3 capable of enabling the first adjusting mechanism 2 to act is arranged on the surface of the first mounting plate 11 far away from the second mounting plate 12, a second adjusting mechanism 4 is arranged on the surface of the second mounting plate 12 far away from the first mounting plate 11, and a second driving mechanism 5 capable of enabling the second adjusting mechanism 4 to act is arranged on the surface of the second mounting plate 12 close to the first mounting plate 11; the movable end of the first adjusting mechanism 2 and the movable end of the second adjusting mechanism 4 are respectively connected with a movable arm 6, the movable arm 6 can move under the action of the first adjusting mechanism 2 and/or the second adjusting mechanism 4, the movable arm 6 extends from a first mounting plate 11 to a second mounting plate 12 and penetrates out of the second mounting plate 12, and an adsorption component 7 is arranged at one end of the movable arm 6, which penetrates out of the second mounting plate 12; still include information acquisition subassembly 8, information acquisition subassembly 8 and first actuating mechanism 3 signal connection, information acquisition subassembly 8 and second actuating mechanism 5 signal connection.
It can be understood that the first driving mechanism 3 acts on the first adjusting mechanism 2, the second driving mechanism 5 acts on the second adjusting mechanism 4, the movable end of the first adjusting mechanism 2 is connected with the end of the movable arm 6, the movable end of the second adjusting mechanism 4 is connected with the middle part of the movable arm 6, the overhanging end of the movable arm 6 is provided with the adsorption component 7, the posture of the movable arm 6 can be adjusted through the first adjusting mechanism 2 and the second adjusting mechanism 4, the first driving mechanism 3 and the second driving mechanism 5 are in signal connection with the information acquisition mechanism 9, the appearance data of the workpiece is acquired by the signal acquisition mechanism 9 and then transmitted to the driving mechanism, the driving mechanism receives an instruction to act on the adjusting mechanism, so that the adsorption component 7 can be adapted to fit workpieces with different sizes and curvatures, the workpiece can be stably and safely adsorbed, and the workpiece model changing condition in collinear production can be self-adapted, the high-efficiency and reliable intelligent and automatic production flow is realized.
Further, first adjustment mechanism 2 includes and rotates the first spiral disk 21 of being connected with first mounting panel 11, first spiral disk 21 is equipped with the guide rail that is the linear extension of spiral on keeping away from the quotation of first mounting panel 11, be equipped with the first slider 22 of a plurality of circumference equipartitions on the first spiral disk 21, each first slider 22 is equipped with the guide slot with the guide rail adaptation on being close to the side of first spiral disk 21, be equipped with first apron 23 between the adjacent first slider 22, form the slide that supplies first slider 22 to follow first spiral disk 21 radial motion between the adjacent first apron 23. Further, the second adjusting mechanism 4 includes a second spiral disk 41 rotatably connected to the second mounting plate 12, a guide rail extending in a spiral line shape is provided on a disk surface of the second spiral disk 41 far from the second mounting plate 12, a plurality of second sliders 42 uniformly distributed along a circumference are provided on the second spiral disk 41, a guide groove adapted to the guide rail is provided on a side surface of each second slider 42 close to the second spiral disk 41, a second cover plate 43 is provided between the adjacent second sliders 42, and a slide way for the second slider 42 to move along the radial direction of the second spiral disk 41 is formed between the adjacent second cover plates 43.
It can be understood that the first spiral disk 21 is provided with a spiral guide rail, the guide rail is adapted to the guide groove of each first sliding block 22, and the two sides of the adjacent first sliding blocks 22 are provided with the first cover plates 23 to form a slide way, so that when the first spiral disk 21 rotates under the action of the first driving mechanism 3, each first sliding block 22 can synchronously perform radial motion, and further, the upper end of the movable arm 6 hinged to the corresponding first sliding block 22 is driven to perform centripetal motion or centrifugal motion. The second spiral disk 41 is also provided with a spiral guide rail, the guide rail is matched with the guide groove of each second sliding block 42, and the two sides of the adjacent second sliding blocks 42 are provided with second cover plates 43 to form a slide way, so that when the second spiral disk 41 rotates under the action of the second driving mechanism 5, each second sliding block 42 can synchronously perform radial motion, and further, the middle part of the movable arm 6 hinged with the corresponding second sliding block 42 is driven to perform centripetal motion or centrifugal motion. The structure setting of rotary disk and slider for adjustment mechanism has possessed extremely strong auto-lock ability, and also the spiral disk can drive slider radial motion, but the slider can not make the spiral disk rotate in turn, and then guarantees that the work piece can be adsorbed by adsorption equipment firm, safely.
It should be noted that, in the drawings, it is shown that the adsorption device is in a vertical posture to adsorb the horizontally placed workpiece, but on an actual production line, the workpiece may also be in various postures such as vertical, inclined, etc., and the corresponding adsorption device only needs to be perpendicular to the working plane, which is known in the art and will not be described again. In addition, the number of the first sliding blocks 22, the number of the second sliding blocks 42 and the number of the movable arms 6 are the same, the positions of the first sliding blocks 22 are consistent in the circumferential direction, the first sliding blocks 22 are uniformly distributed in the circumferential direction, the second sliding blocks 42 are uniformly distributed in the circumferential direction, and the movable arms 6 are uniformly distributed in the circumferential direction, as shown in fig. 5-10, the number of the first sliding blocks 22 can be three, four, five or more, the number of the second sliding blocks 42 can also be three, four, five or more correspondingly, and in the specific implementation process, the number of the first sliding blocks 22, the number of the second sliding blocks 42, the number of the movable arms 6 and the like can be reasonably selected according to the appearance and the.
Three different application scenarios in vertical motion are described below with reference to the accompanying drawings:
as shown in fig. 11, when the plurality of movable arms 6 are in a parallel posture, the planar workpiece 91 can be adsorbed, and at this time, the movable end of the first adjusting mechanism 2 and the movable end of the second adjusting mechanism 4 move centrifugally at the same time, so that the workpiece with a larger size can be adapted; the movable end of the first adjusting mechanism 2 and the movable end of the second adjusting mechanism 4 simultaneously move centripetally, so that the adjustable workpiece can be adapted to workpieces with smaller sizes.
As shown in fig. 12, when the plurality of movable arms 6 are in a posture in which the action ends approach, the convex workpiece 92 can be adsorbed, and at this time, the movable end of the first adjusting mechanism 2 performs centrifugal motion or/and the movable end of the second adjusting mechanism 4 performs centripetal motion, so that a convex surface with a smaller curvature radius can be adapted; the movable end of the first adjusting mechanism 2 moves centripetally or/and the movable end of the second adjusting mechanism 4 moves centrifugally, so that a convex surface with a smaller curvature radius can be adapted.
As shown in fig. 13, when the plurality of movable arms 6 are in a posture in which the action ends are far away, the concave workpiece 93 can be adsorbed, and at this time, the movable end of the first adjusting mechanism 2 moves centrifugally or/and the movable end of the second adjusting mechanism 4 moves centripetally, so that a concave surface with a larger curvature radius can be adapted; the movable end of the first adjusting mechanism 2 moves centripetally or/and the movable end of the second adjusting mechanism 4 moves centrifugally, so that the concave surface with smaller curvature radius can be adapted.
Further, the first adjusting mechanism 2 further includes a connecting plate 24, the connecting plate 24 is located at the center of the first spiral disk 21, and one end of each first cover plate 23 near the center of the first spiral disk 21 is fixedly connected to the connecting plate 24. Furthermore, the side of the first slider 22 away from the first spiral disk 21 is rotatably connected to the end of the movable arm 6 close to the first mounting plate 11. It can be understood that the plate surface of the first spiral plate 21 is larger, and the outer edge of the first cover plate 23 is fixedly connected with the first mounting plate 11, but the overhanging end near the middle part is longer, so the connecting plate 24 is provided, which can improve the stability of each first spiral plate 21.
Furthermore, a through hole is formed in the position, corresponding to the center of the first spiral disc 21, of the first mounting plate 11, a first driving mechanism 3 is arranged in the position, corresponding to the through hole, of the first mounting plate 11, and the output end of the first driving mechanism 3 penetrates through the through hole and is fixedly connected with the first spiral disc 21. Furthermore, a through hole is formed in the second mounting plate 12 corresponding to the center of the second spiral disk 41, a second driving mechanism 5 is arranged in the second mounting plate 12 corresponding to the through hole, and the output end of the second driving mechanism 5 penetrates through the through hole and is fixedly connected with the second spiral disk 41. It can be understood that the first driving mechanism 3 and the second driving mechanism 5 are both driving mechanisms capable of outputting circular motion, such as motors (including servo motors, stepping motors, etc.), rotating cylinders, etc., and can also be combined mechanisms through gears-chains, belt pulleys-belts, synchronizing wheels-synchronous belts, etc. in the scheme, a torque motor is adopted, and the torque motor can realize low-rotation-speed and high-torque output without a speed reducer, and has the advantages of small volume, light weight, space saving and high reliability.
Furthermore, a connecting rod 61 is arranged on the side surface, away from the second spiral disk 41, of the second slider 42, two ends of the connecting rod 61 are respectively connected with the second slider 42 and the middle of the movable arm 6 in a rotating manner, and a position, corresponding to the movable arm 6, of the second mounting plate 12 is provided with a abdicating groove. It can be understood that, set up connecting rod 61, thereby make connecting rod 61, the digging arm 6, first slider 22, four-bar linkage is constituteed jointly to second slider 42, thereby can be nimble, accurate, regulate and control the gesture of digging arm 6 firmly, and then adjust each adsorption component 7's state according to work piece topography feature, and then more laminate with the work piece, it is more firm safe to adsorb, as shown in fig. 4, set up and step down the groove corresponding with each digging arm 6, when can making the centripetal movement of second slider 42, digging arm 6 can be more close to the middle part, and then make device overall structure compacter.
Further, the adsorption component 7 comprises a sucker capable of interacting with the workpiece and a built-in vacuum generator, and an outlet of the vacuum generator is communicated with an interface of the sucker. It can be understood that the vacuum generator is built in the adsorption component 7, and the vacuum adsorption can be realized without an external air source, and the vacuum generator is a mature and commercially available ready-made product, has a wide application in the industry, is well known by those skilled in the art, is not a key point of the improvement of the present invention, and is not described herein again.
Further, the information collecting assembly 8 comprises a first camera 81, a second camera 82 and a projector 83, wherein the projector 83 projects a pattern to the surface of the workpiece, and the first camera 81 and the second camera 82 form a binocular measuring system for collecting information. It can be understood that the information acquisition component 8 mainly utilizes signals such as photoelectromagnetic signals to realize the acquisition of the appearance of the workpiece, and acquires information including detailed characteristics such as size, curvature and the like in order to obtain the best effect, the invention adopts a binocular measurement system consisting of two cameras and a projection in specific implementation, the projector 83 projects light and dark alternate stripes onto the surface of a measured object (to-be-adsorbed workpiece), and the stripe patterns deform on the surface of the measured object; the left camera and the right camera (a first camera 81 and a second camera 82) simultaneously acquire deformation fringe images modulated by the surface of the measured object and transmit the deformation fringe images to the control module, then the images are subjected to phase resolution in the control module to obtain an absolute phase diagram, and the absolute phase diagram is used for determining corresponding points between the cameras and the projector in the measuring system; finally, under the condition that the measuring system is calibrated, three-dimensional coordinates corresponding to a measuring point on the surface of the measured object are obtained through the calculation of the trigonometric principle, and the surface dimension, curvature and other shape information of the measured object can be accurately obtained through the three-dimensional coordinates, so that initial data support is provided for the states of the first adjusting mechanism 2 and the second adjusting mechanism 4 of the vacuum adsorption device, under the guidance of the control module, the first driving mechanism 3 and the second driving mechanism 5 perform corresponding actions so as to adapt to workpieces with different dimensions and profiles, and the guided actions of the control module are only the rotation of the driving mechanism, so that the single chip microcomputer or the PLC can be realized, and the binocular measuring system is a mature and marketable product, and can realize the acquisition of the shape information of the workpieces by selecting a distributed or integrated structure, such as an ATOS Capsule three-dimensional measuring instrument of Germany PSGOM company, The OptimScan-3m industrial three-dimensional scanner of Hangzhou's first-coming three-dimensional science and technology is a product that can be directly used, is well known to those skilled in the art, and is not described herein again for brevity.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention, and do not indicate or imply that the components or mechanisms so referred to must be in a particular orientation, constructed and operated in a particular orientation, and thus are not to be considered as limiting the invention.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The self-adjusting flexible adsorption device is characterized by comprising a first mounting plate (11) and a second mounting plate (12) which are arranged in parallel, wherein a plurality of connecting columns (13) are arranged between the first mounting plate (11) and the second mounting plate (12);
a first adjusting mechanism (2) is arranged on the surface, close to the second mounting plate (12), of the first mounting plate (11), a first driving mechanism (3) capable of enabling the first adjusting mechanism (2) to act is arranged on the surface, far away from the second mounting plate (12), of the first mounting plate (11), a second adjusting mechanism (4) is arranged on the surface, far away from the first mounting plate (11), of the second mounting plate (12), and a second driving mechanism (5) capable of enabling the second adjusting mechanism (4) to act is arranged on the surface, close to the first mounting plate (11), of the second mounting plate (12);
the movable end of the first adjusting mechanism (2) and the movable end of the second adjusting mechanism (4) are respectively connected with a movable arm (6), the movable arm (6) can move under the action of the first adjusting mechanism (2) and/or the second adjusting mechanism (4) in a controlled manner, the movable arm (6) extends from the first mounting plate (11) to the second mounting plate (12) and penetrates out of the second mounting plate (12), and an adsorption component (7) is arranged at one end, penetrating out of the second mounting plate (12), of the movable arm (6);
the device is characterized by further comprising an information acquisition assembly (8), wherein the information acquisition assembly (8) is in signal connection with the first driving mechanism (3), and the information acquisition assembly (8) is in signal connection with the second driving mechanism (5).
2. The self-adjusting flexible adsorption device of claim 1, wherein the first adjusting mechanism (2) comprises a first spiral disk (21) rotatably connected with the first mounting plate (11), a guide rail extending in a spiral line shape is arranged on a disk surface of the first spiral disk (21) far away from the first mounting plate (11), a plurality of first sliders (22) uniformly distributed along a circumference are arranged on the first spiral disk (21), a guide groove matched with the guide rail is arranged on a side surface of each first slider (22) close to the first spiral disk (21), a first cover plate (23) is arranged between the adjacent first sliders (22), and a slide way for the first sliders (22) to move along the radial direction of the first spiral disk (21) is formed between the adjacent first cover plates (23).
3. Self-adjusting flexible suction device according to claim 2, wherein the first adjusting means (2) further comprises a connection plate (24), the connection plate (24) is located at the center of the first spiral disc (21), and one end of each first cover plate (23) near the center of the first spiral disc (21) is fixedly connected with the connection plate (24).
4. A self-adjusting flexible suction device according to claim 2, wherein the first mounting plate (11) is provided with a through hole corresponding to the center of the first spiral disc (21), the first mounting plate (11) is provided with a first driving mechanism (3) corresponding to the through hole, and the output end of the first driving mechanism (3) passes through the through hole and is fixedly connected with the first spiral disc (21).
5. Self-adjusting flexible suction device according to claim 2, characterized in that the side of the first slider (22) remote from the first spiral (21) is pivotally connected to the end of the movable arm (6) close to the first mounting plate (11).
6. The self-adjusting flexible adsorption device of claim 1, wherein the second adjusting mechanism (4) comprises a second spiral disk (41) rotatably connected with the second mounting plate (12), a guide rail extending in a spiral line shape is arranged on a disk surface of the second spiral disk (41) far away from the second mounting plate (12), a plurality of second sliding blocks (42) uniformly distributed in a circumferential direction are arranged on the second spiral disk (41), a guide groove matched with the guide rail is arranged on a side surface of each second sliding block (42) close to the second spiral disk (41), a second cover plate (43) is arranged between the adjacent second sliding blocks (42), and a slide way for the second sliding blocks (42) to move along the radial direction of the second spiral disk (41) is formed between the adjacent second cover plates (43).
7. Self-adjusting flexible suction device according to claim 6, wherein the second mounting plate (12) is provided with a through hole corresponding to the center of the second spiral disc (41), the second mounting plate (12) is provided with a second driving mechanism (5) corresponding to the through hole, and the output end of the second driving mechanism (5) passes through the through hole and is fixedly connected with the second spiral disc (41).
8. The self-adjusting flexible adsorption device of claim 6, wherein a connecting rod (61) is arranged on the side surface of the second sliding block (42) far away from the second spiral disk (41), two ends of the connecting rod (61) are respectively connected with the second sliding block (42) and the middle part of the movable arm (6) in a rotating manner, and a yielding groove is formed in the position, corresponding to the movable arm (6), of the second mounting plate (12).
9. Self-adjusting flexible suction device according to claim 1, wherein the suction assembly (7) comprises a suction cup for interacting with the workpiece and further comprises a built-in vacuum generator, the outlet of which communicates with the suction cup interface.
10. The self-adjusting flexible adsorption device of claim 1 wherein the information collection assembly (8) comprises a first camera (81), a second camera (82) and a projector (83), the projector (83) projects a pattern onto the surface of the workpiece, and the first camera (81) and the second camera (82) form a binocular measurement system for information collection.
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| CN111646206B (en) | 2024-09-17 |
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