CN111792090A - Intelligent robot high accuracy vibrating rifle head cartoning device - Google Patents
Intelligent robot high accuracy vibrating rifle head cartoning device Download PDFInfo
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- CN111792090A CN111792090A CN202010521240.1A CN202010521240A CN111792090A CN 111792090 A CN111792090 A CN 111792090A CN 202010521240 A CN202010521240 A CN 202010521240A CN 111792090 A CN111792090 A CN 111792090A
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- boxing
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- gun head
- unit
- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/34—Arranging and feeding articles in groups by agitators or vibrators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/54—Means for supporting containers or receptacles during the filling operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/08—Packaging groups of articles, the articles being individually gripped or guided for transfer to the containers or receptacles
Abstract
The invention provides an intelligent robot high-precision vibrating type gun head boxing device which comprises an identification positioning unit, a vibration posture correcting unit, an automatic suction unit, an automatic boxing unit and an automatic box changing and closing unit, wherein the identification positioning unit is used for identifying the vibration posture of a gun head; the rectangular column disc of the vibration posture correcting unit continuously vibrates in the x and y directions in a plane, so that the posture correction of the gun head with the small head at the lower part and the large head at the upper part can be realized, and the posture correcting efficiency and accuracy of the gun head are improved; the automatic suction unit comprises a wheel-shaped turntable and suckers, a plurality of suckers are uniformly arranged on the axial surface of the wheel-shaped turntable according to a certain angle, and each sucker sucks one gun head, so that the mechanical arm can continuously suck a plurality of gun heads at one time, and the suction efficiency of the gun heads is improved; the automatic boxing unit is arranged inside the box groove and close to the edge of the boxing platform surface, the groove bottom groove is formed, the box replacing clamp of the automatic box replacing and closing unit is convenient to clamp and place the gun head box, and the clamping and replacement efficiency of the gun head box is high. The invention does not need manual participation and has no pollution to the gun head.
Description
Technical Field
The invention belongs to the field of automatic gun head filling equipment, and particularly relates to an intelligent robot high-precision vibrating type gun head boxing device.
Background
At present, in the fields of medical treatment, medicine, gene and protein research, biological research, medicine development laboratories, chemical analysis laboratories and other biotechnology application, laboratory samples often need to be manipulated by using pipettors and pipette tips in various laboratory operating rules, the pipette tips used in laboratories are made of plastic materials and have cone structures with different specifications, and the diameters of the large ends of the pipette tips change along with the different specifications of the pipette tips. The method has the characteristics of high efficiency, trouble saving and time saving for some ultra-clean laboratories or the selection of samples with higher requirements on experiments by using box-forming gun heads packaged by manufacturers, and can purchase sterile DNA/RNA enzyme which is directly discarded after being used up, and the most obvious defect of the selection is high price. Most of the tips produced by tip manufacturers are randomly packed, and in order to save costs, users generally purchase a large number of tips in bulk and manually load them into a magazine for convenient use. The manual dress box of rifle head by oneself is not only consuming time and difficultly, can pollute the rifle head moreover, influences its use, and this needs to consume too much time to repeat a mechanical dress box process simultaneously. Therefore, improvements in the current manner of loading lance tips are desirable.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent robot high-precision vibrating type gun head boxing device, which solves the problems of low efficiency and pollution caused by a pipetting gun head filling mode in the prior art.
The present invention achieves the above-described object by the following technical means.
An intelligent robot high-precision vibration type gun head boxing device comprises an identification positioning unit, a vibration posture correcting unit, an automatic suction unit, an automatic boxing unit and an automatic box changing and closing unit;
the recognition positioning unit comprises a monocular camera which is positioned right above the vibration posture correcting unit and is connected with the control system;
the vibration posture correcting unit comprises a vibration posture correcting table, an x-axis vibration motor, a y-axis vibration motor and a rectangular column disc, the rectangular column disc is uniformly fixed on the tray through a plurality of rectangular column gaps, the x-axis vibration motor and the y-axis vibration motor are arranged on the adjacent side surface of the vibration posture correcting table, a vibration platform of the x-axis vibration motor and a vibration platform of the y-axis vibration motor are fixed together in the vertical direction, and the tray is buckled on a vibration platform of an upper motor;
the automatic suction unit comprises a wheel-shaped turntable and suckers, the suckers are uniformly distributed on the axial surface of the wheel-shaped turntable, through holes are formed in the top end surface of each sucker, a boss is arranged on one side of the wheel-shaped turntable, and a main through hole is formed in the boss; the through hole is communicated with the main through hole, a valve is arranged on the communication pipeline, and the opening and closing of the valve are controlled by a control system;
the main through hole is connected with an end effector of the automatic boxing mechanical arm, the end effector is provided with an inner hole opposite to the main through hole, and the inner hole is also communicated with an air compressor;
the automatic boxing mechanical arm is arranged between the vibration posture correcting unit and the automatic boxing unit, and the automatic boxing unit is arranged between the automatic boxing mechanical arm and the automatic box changing and closing mechanical arm;
the automatic boxing unit is a boxing platform and comprises a boxing platform surface, a boxing groove and a groove bottom groove, the boxing groove is arranged on the boxing platform surface, and the groove bottom groove is formed in the boxing groove and close to the edge of the boxing platform surface;
the automatic box changing and closing unit is an automatic box changing and closing mechanical arm of which the end effector fixes a box changing clamping hand;
the clearance d1 of the rectangular column is 0.3-0.7mm smaller than the outer diameter r1 of the large end of the minimum-specification gun head;
the diameter d2 of the through hole is 0.3-0.7mm smaller than the inner diameter r2 of the large end of the minimum-specification gun head;
the diameter d3 of the circular plane at the top end of the sucker is 0.3-0.7mm larger than the outer diameter r3 of the large end of the maximum-specification gun head;
the depth of the groove bottom groove is greater than that of the box placing groove;
the size of the groove bottom groove is larger than that of the box changing clamping hand.
In the technical scheme, the monocular camera is arranged at the tail end of the camera support.
In the technical scheme, the connecting line of the center of the support of the automatic boxing mechanical arm and the center of the vibration posture correcting unit is vertical to the connecting line of the center of the support and the center of the boxing table.
In the technical scheme, the automatic box packing mechanical arm and the automatic box changing and closing mechanical arm adopt a six-degree-of-freedom mechanical arm, and the movement of the mechanical arm is controlled by a control system.
In the above technical scheme, the sucker is of a columnar structure, and the top end of the sucker is a circular plane.
In the above technical scheme, the wheel-shaped turntable is of a hollow structure.
In the technical scheme, the sucker is made of rubber, and the wheel-shaped turntable is made of plastic.
In the above technical scheme, the through hole is communicated with the main through hole through the plastic pipe.
In the technical scheme, when the wheel-shaped turntable is assembled with the mechanical arm forearm end effector, the end effector is positioned at a zero-degree position, and a sucker is arranged right below the wheel-shaped turntable.
Among the above-mentioned technical scheme, rifle head dress box carries out the initialization once when using, includes: and manually adjusting the coordinate origin of the monocular camera to coincide with the coordinate origin of the automatic boxing mechanical arm, and arranging the coordinate origin of the automatic boxing mechanical arm at one vertex angle of the boxing platform surface.
The invention has the beneficial effects that:
(1) the vibration posture correcting unit is arranged, and the posture correction of the gun head with the small head at the lower part and the large head at the upper part can be realized through the uninterrupted vibration in the x and y directions in the plane; in addition, the posture correction device (rectangular column disc) adopts a mode that a plurality of rectangular columns are arranged at certain intervals, so that the gun heads realize posture correction under the action of gravity and vibration, and the whole posture correction process has high efficiency and high posture correction accuracy; and the rectangular column disc is connected with the vibration platform of the motor through a buckle, so that the column discs in different specifications can be replaced in a detachable mode, and the posture correction of gun heads in different specifications and sizes can be carried out.
(2) The visual identification unit adopts a monocular camera, is erected right above the vibration posture correction unit, and can identify the plane coordinates of a plurality of gun heads at one time.
(3) The automatic suction unit comprises a wheel-shaped turntable and a sucker, wherein the wheel-shaped turntable is of a hollow structure and is made of a light-weight plastic material, so that the burden of a mechanical arm is greatly reduced; a plurality of sucking discs are evenly arranged on the axial surface of the wheel-shaped rotating disc according to a certain angle, each sucking disc utilizes the through hole to suck one gun head, the mechanical arm can continuously suck a plurality of gun heads at one time, and the suction efficiency of the gun heads is greatly improved.
(4) The automatic suction unit controls the suction of the through hole through the action of the pneumatic valve, so that the suction disc is switched between a working state and a non-working state, the suction disc sucks air in the suction working state, the suction disc is in a closed state when boxing is carried out, and the gun head automatically breaks away from the suction disc and falls into a gun head groove of the gun head box.
(5) According to the boxing platform, the groove bottom groove is formed in the box placing groove and close to the edge of the surface of the boxing platform, the size of the groove bottom groove is larger than that of the box changing clamping hand, the box changing clamping hand can conveniently clamp and place a gun head box, and the clamping and replacement efficiency of the mechanical arm for the gun head box is improved.
(6) The processes of sucking the gun heads, boxing, replacing boxes and closing boxes are all realized through the mechanical arms, manual participation is not needed, and the gun heads are not polluted.
Drawings
FIG. 1 is a schematic structural view of a high-precision vibrating type gun head boxing device of an intelligent robot in the invention;
FIG. 2 is a front view of the intelligent robot high-precision vibrating type gun head boxing device;
FIG. 3 is a left side view of the intelligent robot high-precision vibrating type gun head boxing device of the present invention;
FIG. 4 is a top view of the intelligent robot high-precision vibrating type gun head boxing device of the invention;
FIG. 5 is a schematic view of a camera stand and a monocular camera according to the present invention;
FIG. 6 is a schematic structural diagram of a vibration posture-correcting unit according to the present invention;
FIG. 7 is a schematic view of the structure of the automatic sucking unit according to the present invention;
FIG. 8 is a schematic view of a robotic arm according to the present invention;
FIG. 9 is a schematic view of the structure of the box loading platform according to the present invention;
fig. 10 is a schematic structural view of the box-changing gripper of the present invention.
Reference numerals: 1. the automatic box-changing machine comprises a camera support, 2 a monocular camera, 3 a vibration posture-correcting unit, 4 an automatic suction unit, 5 an automatic box-packing mechanical arm, 6 a box-packing table, 7 an automatic box-changing box-closing mechanical arm, 8 a vertical rod, 9 a horizontal large rod, 10 a horizontal small rod, 12 a vibration posture-correcting table, 13 an x-axis vibrating motor, 14 a posture-correcting rectangular column disc, 15 a y-axis vibrating motor, 16 a through hole, 17 a sucking disc, 18 a wheel-shaped rotating disc, 19 a total through hole, 20 a box-packing platform surface, 21 a groove bottom groove, 22 a box-placing groove and 23 a box-changing clamp.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, 2, 3 and 4, the intelligent robot high-precision vibrating type gun head boxing device comprises an identification positioning unit, a vibration posture correcting unit 3, an automatic suction unit 4, an automatic boxing unit and an automatic box changing and closing unit.
The discernment positioning unit includes camera support 1, 1 level of camera support is placed on ground, as shown in fig. 5, camera support 1 includes the support base, montant 8, horizontal bull stick 9, horizontal little pole 10, 8 bottoms of montant link firmly with the support base, the fixed horizontal bull stick 9 in 8 top horizontal directions of montant, horizontal bull stick 9 and horizontal little pole 10 pass through threaded connection, horizontal little pole 10 tail end installation monocular camera 2, adjust the position of monocular camera 2 through rotatory horizontal little pole 10, monocular camera 2 is located 1m department directly over the vibration appearance unit 3, guarantee that vibration appearance unit 3 wholly is located within the effective recognition range of monocular camera 2. And the information collected by the monocular camera 2 is transmitted to the control system.
As shown in fig. 6, the vibration posture-correcting unit 3 comprises a vibration posture-correcting table 12, an x-axis vibration motor 13, a y-axis vibration motor 15 and a rectangular column tray 14, the rectangular column tray 14 is uniformly fixed on the tray by a plurality of rectangular columns according to a certain gap, and the gap d1 of the rectangular column is slightly smaller than the outer diameter r1 of the large end of the minimum-specification gun head (r1 is 0.3-0.7mm larger than d 1); an x-axis vibration motor 13 and a y-axis vibration motor 15 are further arranged on the adjacent side surfaces of the vibration posture correcting table 12, a vibration platform of the x-axis vibration motor 13 and a vibration platform of the y-axis vibration motor 15 are fixed together in the vertical direction, and the tray is buckled on the vibration platform of the upper motor; and (3) pouring a bag of gun heads on the rectangular column disk 14, starting the x-axis vibration motor 13 and the y-axis vibration motor 15 to drive the rectangular column disk 14 to perform uninterrupted vibration in the x and y directions, so that the gun heads can reach a posture that small heads are below and large heads are above in the gaps of the rectangular column.
The automatic boxing mechanical arm 5 is placed between the vibration posture correcting unit 3 and the boxing table 6 and is placed according to a 90-degree direction (specifically, a connecting line of the center of a mechanical arm support and the center of the vibration posture correcting unit 3 is vertical to a connecting line of the center of the mechanical arm support and the center of the boxing table 6), so that the running stroke of the mechanical arm is effectively shortened. As shown in fig. 8, the automatic box packing mechanical arm 5 and the automatic box changing and closing mechanical arm 7 are composed of a mechanical arm small arm, a mechanical arm large arm and a mechanical arm support, wherein one end of the mechanical arm large arm is fixed on the mechanical arm support, and the other end of the mechanical arm large arm is fixed on the mechanical arm support; in this embodiment, the automatic box packing mechanical arm 5 and the automatic box changing and closing mechanical arm 7 are preferably six-degree-of-freedom mechanical arms, and the movement of the mechanical arms is controlled by a control system. The mechanical arm small arm end effector of the automatic boxing mechanical arm 5 is provided with external threads, and an inner hole is formed in the mechanical arm small arm end effector. As shown in fig. 10, the robot arm forearm end effector of the automatic cassette changing and closing robot 7 fixes the cassette changing gripper 23 to constitute an automatic cassette changing and closing unit.
As shown in fig. 7, the automatic suction unit 4 includes a wheel-shaped turntable 18 and a sucker 17, the sucker 17 is a columnar structure, the top end (the end in contact with the gun head) is a circular plane, the wheel-shaped turntable 18 is a hollow structure, a boss is arranged at the center position of one side of the wheel-shaped turntable 18, the sucker 17 is uniformly distributed on the axial surface of the wheel-shaped turntable 18 according to an angle θ, a through hole 16 is arranged on the top end surface of the sucker 17, a general through hole 19 is arranged on the boss of the wheel-shaped turntable 18, the wheel-shaped turntable 18 further includes a plastic pipe, one end of the plastic pipe is communicated with the through hole 16, the other end of the plastic pipe is communicated with the; the sucking disc 17 adopts the rubber material, and wheel-shaped carousel 18 adopts the plastics material, effectively lightens the weight of rim plate. The diameter d2 of the through hole 16 is slightly smaller than the inner diameter r2 of the large end of the minimum-specification gun head (r2 is 0.3-0.7mm larger than d 2), and the diameter d3 of the circular plane at the top end of the suction cup 17 is slightly larger than the outer diameter r3 of the large end of the maximum-specification gun head (d3 is 0.3-0.7mm larger than r 3).
The wheel-shaped turntable 18 is in threaded connection with the automatic boxing mechanical arm 5, and specifically comprises: the internal thread of the main through hole 19 is matched with the external thread of the mechanical arm small arm end effector, so that the inner hole is opposite to the main through hole 19; the inner hole of the mechanical arm small arm end effector is communicated with an air compressor (not shown in the figure) through an air pipe. When the wheel-shaped turntable 18 is assembled with the mechanical arm small arm end effector, the zero-degree position of the end effector (which can be read by a control system) is ensured, and a sucking disc 17 is arranged right below the manually operated wheel-shaped turntable 18.
The automatic boxing unit is boxing platform 6, boxing platform 6 is horizontally placed between automatic boxing mechanical arm 5 and automatic box changing and closing mechanical arm 7, the height of boxing platform 6 is located in the effective operation height range of mechanical arm forearm end effector, effective operation of the two mechanical arms on boxing platform 6 is guaranteed, automatic boxing mechanical arm 5 drives automatic suction unit 4 to complete gun head boxing, automatic box changing and closing mechanical arm 7 closes a gun head box cover after the gun head box cover is closed, box changing clamp hand 23 is driven to stretch into groove bottom groove 21 to clamp the gun head box away, an empty gun head box is clamped again and placed in box placing groove 22, and gun head boxing of the next round is carried out. Fig. 9 shows is a boxing platform 6, including boxing platform face 20, put box recess 22, recess kerve 21, it arranges on boxing platform face 20 to put box recess 22, it divide into different sizes according to the rifle head box of different specifications to put box recess 22, it sets up recess kerve 21 to put the inside recess kerve 20 edge of being close to boxing platform face of box recess 22, the degree of depth of recess kerve 21 is greater than the degree of depth of putting box recess 22, and the degree of depth, length, the width of every recess kerve 21 are the same, the size of recess kerve 21 is greater than the size of the box changing tong 23 as shown in fig. 10, ensure that the box changing tong 23 can stretch into in the recess kerve 21 and carry out the centre gripping replacement of rifle head box.
The invention relates to an intelligent robot high-precision vibrating type gun head boxing device which is initialized once when in use and comprises the following components: (1) manually adjusting the coordinate origin of the monocular camera 2 to coincide with the coordinate origin of the automatic boxing mechanical arm 5, so as to realize the coordinate identification of the gun head in a camera coordinate system; (2) the origin of coordinates of the automatic boxing mechanical arm 5 is arranged at a vertex angle of the boxing platform surface 20, and coordinates of each gun head groove in the gun head box in the box placing groove 22 are located in a coordinate system of the automatic boxing mechanical arm 5.
The working process of the intelligent robot high-precision vibrating type gun head boxing device comprises the following steps:
when a bag of gun heads are inverted on the vibration posture-correcting table 12, the x-axis vibration motor 13 and the y-axis vibration motor 15 are started to carry out uninterrupted vibration in the x and y directions, so that the posture correction of the gun heads on the rectangular column disc 14 with the small heads below and the large heads above is realized.
The air compressor is started, the monocular camera 2 works to obtain the coordinates of the gun head and transmit the coordinates to the control system, the control system controls the automatic boxing mechanical arm 5 to drive the wheel-shaped turntable 18 to move to the position above the vibration posture correcting unit 3, the coordinate system of the monocular camera 2 is superposed with the coordinate system of the automatic boxing mechanical arm 5, the automatic boxing mechanical arm 5 enables the suction disc 17 right below to be aligned with the gun head through the coordinates of a certain gun head, the control system controls the pneumatic valve on the plastic pipe communicated with the suction disc 17 to be opened, and the suction disc 17 sucks the gun head; and the control system controls the mechanical arm small arm end executor of the automatic boxing mechanical arm 5 to rotate by an angle theta, the process is repeated, the next gun head is sucked, and the process is repeated in the same way, so that the suction of a plurality of gun heads is completed.
The automatic boxing mechanical arm 5 drives the suction unit 4 to rotate above the boxing platform 6, the automatic box changing and closing mechanical arm 7 drives the box changing clamping hand 23 to place an empty gun head box in the box placing groove 22 of a certain specification and open the cover of the gun head box, the automatic boxing mechanical arm 5 controls the automatic suction unit 4 to position according to the coordinate of each gun head groove in the gun head box of the certain specification in the control system, after the positioning is finished, the pneumatic valve in the wheel-shaped turntable 18 is closed, and the gun head falls into the gun head groove under the action of gravity. Then the automatic boxing mechanical arm 5 drives the automatic suction unit 4 to position the next gun head groove, in the process, the sucker 17 which finishes gun head boxing is rotated away from a working area, the sucker 17 which sucks the gun head is rotated to the working area to perform boxing action of the next gun head groove, after the whole gun head box is completely filled, the automatic box changing and closing mechanical arm 7 controls the box changing clamp 23 to close the gun head box cover, then the box changing and closing mechanical arm stretches into the groove bottom groove 21, the filled gun head box is clamped away from the boxing platform 6, a new empty gun head box is placed in the box placing groove 22, and gun head filling work of the next round is performed.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. An intelligent robot high-precision vibration type gun head boxing device is characterized by comprising an identification positioning unit, a vibration posture correcting unit (3), an automatic suction unit (4), an automatic boxing unit and an automatic box changing and closing unit;
the identification positioning unit comprises a monocular camera (2), the monocular camera (2) is positioned right above the vibration posture correcting unit (3), and the monocular camera (2) is connected with the control system;
the vibration posture correcting unit (3) comprises a vibration posture correcting table (12), an x-axis vibration motor (13), a y-axis vibration motor (15) and a rectangular column tray (14), the rectangular column tray (14) is uniformly fixed on the tray through a plurality of rectangular column gaps, the x-axis vibration motor (13) and the y-axis vibration motor (15) are arranged on the adjacent side surfaces of the vibration posture correcting table (12), a vibration platform of the x-axis vibration motor (13) and a vibration platform of the y-axis vibration motor (15) are fixed together in the vertical direction, and the tray is buckled on the vibration platform of the upper motor;
the automatic suction unit (4) comprises a wheel-shaped turntable (18) and suckers (17), the suckers (17) are uniformly distributed on the axial surface of the wheel-shaped turntable (18), through holes (16) are formed in the top end surface of each sucker (17), a boss is arranged on one side of the wheel-shaped turntable (18), and a main through hole (19) is formed in the boss; the through hole (16) is communicated with the main through hole (19), a valve is arranged on the communicating pipeline, and the opening and closing of the valve are controlled by a control system;
the main through hole (19) is connected with an end effector of the automatic boxing mechanical arm (5), the end effector is provided with an inner hole opposite to the main through hole (19), and the inner hole is also communicated with an air compressor;
the automatic boxing mechanical arm (5) is placed between the vibration posture correcting unit (3) and the automatic boxing unit, and the automatic boxing unit is placed between the automatic boxing mechanical arm (5) and the automatic box changing and closing mechanical arm (7);
the automatic boxing unit is a boxing platform (6) and comprises a boxing platform surface (20), a boxing groove (22) and a groove bottom groove (21), the boxing groove (22) is arranged on the boxing platform surface (20), and the groove bottom groove (21) is formed in the boxing groove (22) close to the edge of the boxing platform surface (20);
the automatic box changing and closing unit is an automatic box changing and closing mechanical arm (7) of which the end effector fixes a box changing clamping hand (23);
the clearance d1 of the rectangular column is 0.3-0.7mm smaller than the outer diameter r1 of the large end of the minimum-specification gun head;
the diameter d2 of the through hole (16) is 0.3-0.7mm smaller than the inner diameter r2 of the large end of the gun head with the minimum specification;
the diameter d3 of the circular plane at the top end of the sucker (17) is 0.3-0.7mm larger than the outer diameter r3 of the large end of the maximum specification gun head;
the depth of the groove bottom groove (21) is greater than that of the box placing groove (22);
the size of the groove bottom groove (21) is larger than that of the box changing clamping hand (23).
2. The intelligent robot high-precision vibrating type gun head boxing device according to claim 1, wherein the monocular camera (2) is mounted at the tail end of the camera bracket (1).
3. The intelligent robot high-precision vibrating type gun head boxing device according to claim 1, wherein a connecting line of the circle center of the support of the automatic boxing mechanical arm (5) and the center of the vibration posture correcting unit (3) is perpendicular to a connecting line of the circle center of the support and the center of the boxing table (6).
4. The intelligent robot high-precision vibrating type gun head boxing device according to claim 1, wherein the automatic boxing mechanical arm (5) and the automatic box changing and closing mechanical arm (7) adopt a six-degree-of-freedom mechanical arm, and the movement of the mechanical arms is controlled by a control system.
5. The intelligent robot high-precision vibrating type gun head boxing device according to claim 1, wherein the sucker (17) is of a cylindrical structure, and the top end of the sucker is a circular plane.
6. The intelligent robot high-precision vibrating gun head boxing apparatus of claim 1, wherein the wheel-shaped turntable (18) is of a hollow structure.
7. The intelligent robot high-precision vibrating type gun head boxing device according to claim 5 or 6, wherein the sucker (17) is made of rubber, and the wheel-shaped turntable (18) is made of plastic.
8. The intelligent robot high-precision vibrating type gun head boxing device according to claim 1, wherein the through holes (16) are communicated with the main through hole (19) through plastic pipes.
9. The intelligent robot high-precision vibrating type gun head boxing device according to claim 1, wherein when the wheel-shaped turntable (18) is assembled with the mechanical arm small arm end effector, the end effector is at a zero-degree position, and a sucker (17) is arranged right below the wheel-shaped turntable (18).
10. An intelligent robot high precision vibrating rifle head cartoning device according to claim 1, wherein rifle head cartoning is initialized once in use, comprising: the coordinate origin of the manual adjustment monocular camera (2) is superposed with the coordinate origin of the automatic boxing mechanical arm (5), and the coordinate origin of the automatic boxing mechanical arm (5) is arranged at one vertex angle of the boxing platform surface (20).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010521240.1A CN111792090A (en) | 2020-06-10 | 2020-06-10 | Intelligent robot high accuracy vibrating rifle head cartoning device |
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| CN202010521240.1A CN111792090A (en) | 2020-06-10 | 2020-06-10 | Intelligent robot high accuracy vibrating rifle head cartoning device |
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| CN210555841U (en) * | 2019-08-26 | 2020-05-19 | 湖北迪晨生物科技有限公司 | Sucking disc formula manipulator of dressing packagine machine |
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| CN107837832A (en) * | 2017-11-13 | 2018-03-27 | 贵州金域医学检验中心有限公司 | A kind of portable unit box for quickly introducing pipette tips |
| CN210555841U (en) * | 2019-08-26 | 2020-05-19 | 湖北迪晨生物科技有限公司 | Sucking disc formula manipulator of dressing packagine machine |
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Application publication date: 20201020 |