CN112192569A - Control method for polishing robot to automatically identify workpiece and automatically replace clamp - Google Patents
Control method for polishing robot to automatically identify workpiece and automatically replace clamp Download PDFInfo
- Publication number
- CN112192569A CN112192569A CN202011071584.3A CN202011071584A CN112192569A CN 112192569 A CN112192569 A CN 112192569A CN 202011071584 A CN202011071584 A CN 202011071584A CN 112192569 A CN112192569 A CN 112192569A
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- clamp
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of polishing robots, in particular to a control method for a polishing robot to automatically identify a workpiece and automatically replace a clamp, and provides a scheme for solving the problem that the polishing robot in the prior art cannot automatically identify the workpiece and automatically replace the clamp. The automatic workpiece grinding device is reasonable in structure and simple in operation, so that the grinding robot can automatically identify the type of the workpiece and then replace the workpiece with a corresponding clamp, the operation difficulty of operators is greatly reduced, the production efficiency is improved, and the automatic workpiece grinding device is easy to popularize and use.
Description
Technical Field
The invention relates to the field of polishing robots, in particular to a control method for a polishing robot to automatically identify workpieces and automatically replace a clamp.
Background
In the field of machine manufacturing, it is often the case that grinding of some workpieces is involved. The most common way of grinding is by hand, but this method of grinding requires a lot of labor, and with the development of automation technology, grinding robots have been used in grinding parts. But because need change corresponding anchor clamps to different parts when polishing different work pieces, can just so fix the part better when polishing, prior art's polishing robot still can not be fine to different work pieces come the automatic corresponding anchor clamps of change, for this reason, this scheme has provided a polishing robot automatic identification work piece, the automatic control method who changes anchor clamps.
Disclosure of Invention
The invention provides a control method for a polishing robot to automatically identify a workpiece and automatically replace a clamp, which solves the problem that the polishing robot in the prior art cannot automatically identify the workpiece and automatically replace the clamp.
In order to achieve the purpose, the invention adopts the following technical scheme:
the control method comprises a video acquisition module, an analysis module, a control terminal and a clamp replacement module, wherein the video acquisition module is electrically connected with the analysis module, the analysis module is electrically connected with the control terminal, and the control terminal is electrically connected with the clamp replacement module.
Preferably, the analysis module is composed of a storage unit, a calling unit and a judging unit, wherein the calling unit is used for calling data stored in the storage unit, then inputting the data into the judging unit, and finally determining the type of the workpiece.
Preferably, the jig replacing unit is composed of a steering unit, a positioning unit, a telescopic unit, a locking unit and a robot control unit.
Preferably, the steering unit is used for controlling steering of the puncher robot, and the positioning unit is used for informing the steering position of the grinding robot.
Preferably, the telescopic unit is used for controlling the position of the clamp, and the locking unit is used for fixing or releasing the clamp.
Preferably, the device comprises a base, a video acquisition device arranged on the base, a control terminal and a clamp replacing device, wherein an analysis module for judging the type of the workpiece is contained in the control terminal.
Preferably, the video acquisition device is composed of a mounting frame fixed on the base and a video acquisition module fixed on the mounting frame.
Preferably, the installation cavity has been seted up to the inside of base, the anchor clamps are changed the device and are installed the arm on the chassis including installing motor, rotation installation chassis on the base in the installation cavity, install the first electric telescopic handle on the arm, install the connector at first electric telescopic handle extension end, detachably fix anchor clamps on the connector and fix the dish of placing at the base top and constitute, the one end and the chassis transmission of the output shaft of motor are connected, the top of placing the dish has been seted up a plurality of holes of placing.
Preferably, the connector is kept away from first electric telescopic handle's one end and has been seted up the card hole, install second electric telescopic handle on one side outer wall of connector, the connecting hole that is linked together with the card hole is seted up to one side of connector, the top of anchor clamps is fixed with the spliced pole, and the fixed orifices has been seted up to one side of spliced pole, the one end of connecting hole extends to the inside in card hole, the one end through connection hole of second electric telescopic handle extends to the inside of fixed orifices.
Preferably, a power connector is fixed to the top of the clamping hole, an electrifying connector electrically connected with the clamp is fixed to the top of the connecting column, and the electrifying connector is electrically connected with the power connector.
The invention has the beneficial effects that:
1. the purposes of automatically identifying the workpiece and automatically replacing the clamp are achieved through the cooperation of the video acquisition module, the analysis module, the control terminal and the clamp replacement module.
2. Through the cooperation between the video acquisition device and the clamp replacing device, the workpiece can be automatically identified when being polished, and then the corresponding clamp can be automatically replaced.
The automatic workpiece grinding device is reasonable in structure and simple in operation, so that the grinding robot can automatically identify the type of the workpiece and then replace the workpiece with a corresponding clamp, the operation difficulty of operators is greatly reduced, the production efficiency is improved, and the automatic workpiece grinding device is easy to popularize and use.
Drawings
FIG. 1 is a system diagram of the present invention.
Fig. 2 is a schematic structural diagram of the control device of the present invention.
Fig. 3 is an enlarged view of a portion a in fig. 2.
Reference numbers in the figures: 1 base, 2 mounting brackets, 3 look screen collection module, 4 control terminal, 5 installation chambeies, 6 motors, 7 chassis, 8 arms, 9 first electric telescopic handle, 10 second electric telescopic handle, 11 connectors, 12 spliced poles, 13 anchor clamps, 14 place dish, 15 fixed orificess, 16 calorie of holes, 17 power connection, 18 circular telegram connect, 19 connecting holes.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-3, a control method for automatically identifying a workpiece and automatically replacing a clamp by a polishing robot comprises a video acquisition module, an analysis module, a control terminal and a clamp replacement module, wherein the video acquisition module is electrically connected with the analysis module, the analysis module is electrically connected with the control terminal, the control terminal is electrically connected with the clamp replacement module, the analysis module comprises a storage unit, a calling unit and a judgment unit, the calling unit is used for calling data stored in the storage unit, then inputting the data into the judgment unit, and finally determining the type of the workpiece;
the clamp replacing unit consists of a steering unit, a positioning unit, a telescopic unit, a locking unit and a robot control unit, wherein the steering unit is used for controlling the steering of the hole puncher, the positioning unit is used for informing the steering position of the grinding robot, the telescopic unit is used for controlling the position of the clamp, and the locking unit is used for fixing or loosening the clamp;
a polishing robot automatic identification work piece, automatic control device to change anchor clamps, including the base 1, install the video pick device on the base 1, control terminal 4 and anchor clamps change the device, the inside of the control terminal 4 includes the analysis module to judge the type of work piece, the said video pick device is fixed on mounting bracket 2 and video pick module 3 fixed on mounting bracket 2 on the base 1 to make up, the video pick device is connected with control terminal 4 electrically, the clamp changes the device and control terminal electrical connection video pick device and inputs the information of the work piece scanned to the inside of the control terminal 4, confirm the kind of work piece after the analysis of the analysis module in the control terminal 4, then the control terminal 4 controls the anchor clamps to change the device and change the corresponding anchor clamps 13 again;
the interior of the base 1 is provided with an installation cavity 5, the clamp replacing device comprises a motor 6 arranged in the installation cavity 5, a mechanical arm 8 which is rotatably arranged on a base plate 7 of the base 1 and is arranged on the base plate 7, a first electric telescopic rod 9 arranged on the mechanical arm, a connector 11 arranged at the extending end of the first electric telescopic rod 9, a clamp 13 detachably fixed on the connector 11 and a placing disc 14 fixed at the top of the base 1, one end of an output shaft of the motor 6 is in transmission connection with the base plate 7, the top of the placing disc 14 is provided with a plurality of placing holes, one end of the connector 11 far away from the first electric telescopic rod 9 is provided with a clamping hole 16, the outer wall of one side of the connector 11 is provided with a second electric telescopic rod 10, one side of the connector 11 is provided with a connecting hole 19 communicated with the clamping hole 16, the top of the, one end of the connecting hole 12 extends to the inside of the locking hole 16, one end of the second electric telescopic rod 10 extends to the inside of the fixing hole 15 through the connecting hole 19, when the clamp replacing device is started, under the control of the steering unit, the motor 6 rotates to drive the chassis 7 to rotate, thereby driving the mechanical arm 8 to rotate, under the control of the positioning unit, the mechanical arm 8 rotates to a specific position, the motor 8 stops rotating, then under the control of the telescopic unit, the first electric telescopic rod 9 extends, so that the clamp 13 is lowered, and after the clamp 13 is dropped into the inside of the placing hole of the hole on the placing tray 14, the second electric telescopic bar 10 is extended and contracted, therefore, the extension end of the second electric telescopic rod 10 is withdrawn into the fixing hole 15, the clamp 13 falls into the inner part of the placing hole under the action of gravity, and the clamp can be conveniently fixed on the connector 11 due to the matching between the second electric telescopic rod 10 and the fixing hole 15;
the top of card hole 16 is fixed with power connector 17, and the top of spliced pole 12 is fixed with the circular telegram joint 18 that links with anchor clamps 13 electricity, and circular telegram joint 18 and power connector 17 electric connection through the cooperation between power connector 17 and the circular telegram joint 18 for anchor clamps 13 can insert the power, makes anchor clamps 13 can normally work.
The working principle is as follows: when a workpiece passes through the video acquisition device, the video acquisition unit 3 transmits acquired workpiece information to the inside of the control terminal 4, then the transfer unit transfers the types of the workpieces stored in the storage unit, the types of the workpieces are obtained through comparison of the judgment unit, after analysis of an analysis module in the control terminal 4, the control terminal controls the start of a clamp replacement module, under the control of a steering unit, the motor 6 rotates to drive the chassis 7 to rotate, so as to drive the mechanical arm 8 to rotate, under the control of the positioning unit, the mechanical arm 8 rotates to a specific position, the motor 8 stops rotating, at the moment, the clamp 13 is just positioned right above the placing disc 14, then under the control of the telescopic unit, the first electric telescopic rod 9 extends, so that the clamp 13 is lowered, after the clamp 13 falls into a placing hole of a hole on the placing disc 14, second electric telescopic handle 10 is flexible, thereby withdraw from the inside of fixed orifices 15 with the extension end of second electric telescopic handle 10, at this moment anchor clamps 13 will fall into the inside portion of placing the hole under the effect of gravity, then first electric telescopic handle 9 is at the shrink, later under the control of rotation unit, motor 6 drives arm 8 once more and rotates, thereby remove the anchor clamps top that needs to be changed with connector 11, first electric telescopic handle 9 extension afterwards, it descends to drive connector 11, thereby make the spliced pole 12 card at anchor clamps 13 top of changing to the inside of calorie hole 16, after power connector 17 touched with power connector 18, second electric telescopic handle 10 extension, thereby make the extension end card of electric telescopic handle 12 go into the inside of fixed orifices 15, and then fix new anchor clamps 13 on connector 11, finally, accomplish the automatic change to anchor clamps 13.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The control method is characterized by comprising a video acquisition module, an analysis module, a control terminal and a clamp replacement module, wherein the video acquisition module is electrically connected with the analysis module, the analysis module is electrically connected with the control terminal, and the control terminal is electrically connected with the clamp replacement module.
2. The control method for automatically identifying the workpiece and automatically replacing the clamp by the grinding robot as claimed in claim 1, wherein the analysis module comprises a storage unit, a calling unit and a judging unit, the calling unit is used for calling the data stored in the storage unit, inputting the data into the judging unit, and finally determining the type of the workpiece.
3. The control method for automatically identifying the workpiece and automatically replacing the clamp by the grinding robot as claimed in claim 1, wherein the clamp replacing unit is composed of a steering unit, a positioning unit, a telescopic unit, a locking unit and a robot control unit.
4. The control method for automatically identifying the workpiece and automatically replacing the clamp by the grinding robot as claimed in claim 3, wherein the steering unit is used for controlling the steering of the puncher, and the positioning unit is used for informing the steering position of the grinding robot.
5. A control method for automatically recognizing a workpiece and automatically replacing a clamp by a grinding robot as claimed in claim 3, wherein the telescopic unit is used for controlling the position of the clamp, and the locking unit is used for fixing or loosening the clamp.
6. The utility model provides a polishing robot automatic identification work piece, automatic change controlling means of anchor clamps which characterized in that, includes base (1), installs the video acquisition device on base (1), and control terminal (4) and anchor clamps change the device, the inside of control terminal (4) includes the analysis module who judges the work piece type.
7. The control device for automatically identifying the workpiece and automatically replacing the clamp of the grinding robot as claimed in claim 6, wherein the video acquisition device is composed of a mounting frame (2) fixed on the base (1) and a video acquisition module (3) fixed on the mounting frame (2).
8. The control device for automatically identifying the workpiece and automatically replacing the clamp of the polishing robot as claimed in claim 6, wherein the base (1) is provided with an installation cavity (5) therein, the clamp replacing device comprises a motor (6) installed in the installation cavity (5), a mechanical arm (8) rotatably installed on the base (1) and having a chassis (7) installed thereon, a first electric telescopic rod (9) installed on the mechanical arm, a connector (11) installed at an extending end of the first electric telescopic rod (9), a clamp (13) detachably fixed on the connector (11), and a placing plate (14) fixed on the top of the base (1), one end of an output shaft of the motor (6) is in transmission connection with the chassis (7), and the top of the placing plate (14) is provided with a plurality of placing holes.
9. The control device for automatically identifying the workpiece and automatically replacing the clamp of the polishing robot as claimed in claim 8, wherein a clamping hole (16) is formed in one end, away from the first electric telescopic rod (9), of the connector (11), a second electric telescopic rod (10) is installed on the outer wall of one side of the connector (11), a connecting hole (19) communicated with the clamping hole (16) is formed in one side of the connector (11), a connecting column (12) is fixed to the top of the clamp (13), a fixing hole (15) is formed in one side of the connecting column (12), one end of the connecting hole (12) extends to the inside of the clamping hole (16), and one end of the second electric telescopic rod (10) extends to the inside of the fixing hole (15) through the connecting hole (19).
10. The control device for automatically identifying the workpiece and automatically replacing the clamp of the grinding robot as claimed in claim 9, wherein a power supply connector (17) is fixed on the top of the clamping hole (16), a power-on connector (18) electrically connected with the clamp (13) is fixed on the top of the connecting column (12), and the power-on connector (18) is electrically connected with the power supply connector (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011071584.3A CN112192569A (en) | 2020-10-09 | 2020-10-09 | Control method for polishing robot to automatically identify workpiece and automatically replace clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011071584.3A CN112192569A (en) | 2020-10-09 | 2020-10-09 | Control method for polishing robot to automatically identify workpiece and automatically replace clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112192569A true CN112192569A (en) | 2021-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011071584.3A Pending CN112192569A (en) | 2020-10-09 | 2020-10-09 | Control method for polishing robot to automatically identify workpiece and automatically replace clamp |
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| CN (1) | CN112192569A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100605740B1 (en) * | 2005-07-29 | 2006-08-01 | 신영금속 주식회사 | Laser welding method and device |
| CN101015846A (en) * | 2006-02-11 | 2007-08-15 | 鸿富锦精密工业（深圳）有限公司 | Device for replacing grip device |
| CN106546173A (en) * | 2016-11-01 | 2017-03-29 | 宁波舜宇智能科技有限公司 | For detecting the equipment and its detection method of components and parts |
| CN207189375U (en) * | 2017-08-04 | 2018-04-06 | 东莞市安域机器人有限公司 | A kind of robot grinding device |
| CN107932481A (en) * | 2017-12-04 | 2018-04-20 | 湖南瑞森可机器人科技有限公司 | A kind of composite machine people and its control method |
| CN108698178A (en) * | 2016-02-26 | 2018-10-23 | 株式会社富士 | Robot arm control system |
| CN111702739A (en) * | 2020-07-14 | 2020-09-25 | 杭州智骨软件科技有限公司 | Maintenance robot with automatic replacement maintenance device and clamp device |
-
2020
- 2020-10-09 CN CN202011071584.3A patent/CN112192569A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100605740B1 (en) * | 2005-07-29 | 2006-08-01 | 신영금속 주식회사 | Laser welding method and device |
| CN101015846A (en) * | 2006-02-11 | 2007-08-15 | 鸿富锦精密工业（深圳）有限公司 | Device for replacing grip device |
| CN108698178A (en) * | 2016-02-26 | 2018-10-23 | 株式会社富士 | Robot arm control system |
| CN106546173A (en) * | 2016-11-01 | 2017-03-29 | 宁波舜宇智能科技有限公司 | For detecting the equipment and its detection method of components and parts |
| CN207189375U (en) * | 2017-08-04 | 2018-04-06 | 东莞市安域机器人有限公司 | A kind of robot grinding device |
| CN107932481A (en) * | 2017-12-04 | 2018-04-20 | 湖南瑞森可机器人科技有限公司 | A kind of composite machine people and its control method |
| CN111702739A (en) * | 2020-07-14 | 2020-09-25 | 杭州智骨软件科技有限公司 | Maintenance robot with automatic replacement maintenance device and clamp device |
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Application publication date: 20210108 |