CN112223335B - Multifunctional mechanical claw and robot for automatic feeding and discharging of rod body - Google Patents
Multifunctional mechanical claw and robot for automatic feeding and discharging of rod body Download PDFInfo
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- CN112223335B CN112223335B CN202010974633.8A CN202010974633A CN112223335B CN 112223335 B CN112223335 B CN 112223335B CN 202010974633 A CN202010974633 A CN 202010974633A CN 112223335 B CN112223335 B CN 112223335B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Manipulator (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a multifunctional mechanical paw and a robot for automatically feeding and discharging a rod body.A solenoid chuck driving cylinder is arranged on an integral frame of the paw; the pneumatic finger and the integrated frame arranged on the paw; the unilateral claw is arranged at the lower part of the whole gripper framework, the end part of the first side of the unilateral claw is rotatably connected with the whole gripper framework, and the first side is also connected with the unilateral claw driving device; the pressing plate driving cylinder is arranged on the paw integral frame, and the rod pressing plate is connected with a piston rod of the pressing plate driving cylinder; the laser radar vision positioning module is arranged at the lower part of the whole frame of the paw. In the robot, the lower end of a truss Z shaft is connected with a paw integral frame of a multifunctional mechanical paw. The automatic clamping device can automatically complete a series of actions such as box cover of the turnover box, bar body pressing strips, clamping and transferring of the bar body and the like.
Description
Technical Field
The invention belongs to the field of truss robots and laser radar positioning, and particularly relates to a multifunctional mechanical gripper and a robot for automatic feeding and discharging of a rod body.
Background
Aiming at the cylindrical bar body, the mechanical packaging is usually required in the production process, the whole process comprises the working procedures of manual auxiliary feeding and discharging, automatic oiling and film winding and the like, wherein the feeding and discharging process mainly depends on manual operation, and the labor intensity is high. Along with the development of society, industrial automation degree is higher and higher, adopts truss robot to go up the unloading process to current artifical supplementary, carries out automatic upgrading and reforms transform, reaches the effect that alleviates people's intensity of labour and improve the intelligent operation degree of mill. At present, the problem that the robot can automatically identify and acquire the space position information of a turnover box cover, a rod body pressing strip and a rod body in the automatic feeding and discharging process of the cylindrical rod body is solved, and actions such as clamping of the turnover box cover, the rod body pressing strip and the rod body can be completed by using a mechanical paw. The problem that gaps between the rod bodies on two sides and the wall of the box body are too small and symmetrical mechanical claws cannot be used for deep clamping is particularly solved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a multifunctional mechanical gripper and a robot for automatically feeding and discharging a cylindrical rod body.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a multifunctional mechanical gripper for automatic feeding and discharging of a rod comprises a gripper overall frame, an electromagnetic chuck driving cylinder, a pneumatic finger, a rod pressing plate, a single-side claw driving device, a pressing plate driving cylinder and a laser radar visual positioning module; the electromagnetic chuck driving cylinder is arranged on the whole frame of the paw, a piston rod of the electromagnetic chuck driving cylinder is connected with the electromagnetic chuck, the electromagnetic chuck is positioned below the whole frame of the paw, and a distance detector is arranged at the lower part of the electromagnetic chuck; the pneumatic fingers are arranged on the whole frame of the paw, and the clamping jaws of the pneumatic fingers are positioned below the whole frame of the paw; the unilateral claw is L-shaped, the unilateral claw structurally comprises a first side and a second side, the unilateral claw is arranged at the lower part of the whole paw frame, the end part of the first side of the unilateral claw is rotatably connected with the whole paw frame, the first side is also connected with a unilateral claw driving device, and the unilateral claw driving device is arranged on the whole paw frame; the single-side claw comprises a first single-side claw and a second single-side claw, and the first single-side claw and the second single-side claw are symmetrical; the pressing plate driving cylinder is arranged on the whole gripper framework, the rod pressing plate is connected with a piston rod of the pressing plate driving cylinder, and the rod pressing plate is positioned at the lower part of the whole gripper framework and positioned between the first single-side claw and the second single-side claw; and the laser radar vision positioning module is arranged at the lower part of the whole frame of the gripper.
Preferably, the unilateral claw driving device comprises a linear cylinder, a rack and a gear installed on the first side of the unilateral claw, the linear cylinder is installed on the whole frame of the claw, a piston rod of the linear cylinder is connected with the rack, and the rack is meshed with the gear.
Preferably, the rack is a bilateral rack, the bilateral rack is provided with a long hole along the movement direction of the rack, the inner wall of the long edge of the long hole is provided with teeth meshed with the gear, and the inner wall of the other side is a smooth inner wall and is abutted to the gear.
Preferably, the piston rod of the electromagnetic chuck driving cylinder is connected with the electromagnetic chuck through a swing joint.
Preferably, the laser radar vision positioning module comprises a longitudinal laser radar, a transverse laser radar, a laser radar fixing plate and a laser light source; the laser radar fixing plate is connected to the whole frame of the paw, the detection directions of the longitudinal laser radar and the transverse laser radar are perpendicular to each other, and the longitudinal laser radar and the transverse laser radar are both provided with laser light sources.
Preferably, pneumatic fingers are arranged on the whole frame of the paw on two sides of the whole first unilateral claw and the whole second unilateral claw; electromagnetic chucks are arranged on the two sides of the whole pneumatic finger on the whole paw frame.
Preferably, the rod pressing plate is of a wedge-shaped connection structure, and one end, facing the second side end portion of the single-side claw, of the rod pressing plate is a large end.
The invention also provides a robot for automatically feeding and discharging the rod body, which comprises a truss overall structure frame and the multifunctional mechanical gripper as claimed in any one of the claims, wherein the truss overall structure frame comprises a truss X shaft, a truss Y shaft, a truss Z shaft, a supporting component and a transmission device, and the lower end of the truss Z shaft is connected with the gripper overall frame of the multifunctional mechanical gripper.
Preferably, the tail end of the Z axis of the truss is provided with a servo rotating platform, and the upper part of the whole gripper frame is connected with the servo rotating platform.
Preferably, a truss Z-axis balancing device and a Z-axis fixing plate are mounted on the truss Z-axis, the Z-axis fixing plate is fixedly mounted on the truss Z-axis, and the truss Z-axis balancing device comprises a high-pressure nitrogen cylinder, a balancing oil cylinder and a pull rod; the high-pressure nitrogen cylinder and the balance oil cylinder are arranged on the Z-axis fixing plate and are connected through a high-pressure oil pipe, a piston rod of the balance oil cylinder is connected with the pull rod, and the pull rod extends to the lower portion of the Z-axis fixing plate and is connected with the Z-axis upright post.
The invention has the following beneficial effects:
according to the multifunctional mechanical gripper for automatically feeding and discharging the rods, the electromagnetic chuck can be driven to move by the electromagnetic chuck driving cylinder, so that the electromagnetic chuck is close to the box cover of the transfer box, whether the electromagnetic chuck contacts the box cover of the transfer box or not can be detected by the distance detector, and the electromagnetic chuck can suck and place the box cover of the transfer box after the electromagnetic chuck contacts the box cover of the transfer box, so that the transfer of the box cover of the transfer box is realized; the pneumatic fingers are arranged, so that the bar body pressing strip can be clamped and released through the clamping jaws of the pneumatic fingers, and the bar body pressing strip can be transferred; the unilateral claw can rotate by arranging the unilateral claw, the shape of the unilateral claw is L-shaped, the end part of the first side of the unilateral claw is rotatably connected with the whole paw frame, and the first side of the unilateral claw is also connected with the unilateral claw driving device, so that the unilateral claw can rotate; through setting up the barred body clamp plate, can compress tightly the barred body on unilateral claw after unilateral claw holds the barred body, guarantee the stability of barred body at the transfer in-process state, guarantee operation safety. By arranging the laser radar vision positioning module, the spatial position information of an object can be acquired, so that the multifunctional mechanical gripper can be automatically controlled to move to a proper position, and the transfer of the cover of the transfer box, the bar body pressing strip and the bar body can be accurately realized.
Furthermore, the rack adopts a bilateral rack, and the rack can ensure the stability of meshing between the teeth and the gear, so that the stress on two sides of the gear is relatively balanced, and the meshing effect is ensured.
Furthermore, through setting up the swing joint, can make electromagnet adapt to the unevenness condition on turnover case lid surface, and then effectively realize the absorption of case lid.
Further, pneumatic fingers are arranged on the whole frame of the paw on two sides of the whole first unilateral claw and the whole second unilateral claw; the electromagnetic chucks are arranged on the two sides of the whole pneumatic finger on the whole frame of the paw, and the layout is reasonable, so that the working efficiency is improved.
Furthermore, the rod pressing plate is of a wedge-shaped connection structure, one end, facing the second side end portion of the unilateral claw, of the rod pressing plate is a large end, the structure can guarantee that the rod pressing plate and the unilateral claw stably clamp the rod, and operation safety is guaranteed.
The robot for automatically feeding and discharging the rod body can automatically complete a series of actions such as a box cover of a turnover box, a rod body pressing strip, clamping and transferring of the rod body and the like, and completely realizes automatic operation in the whole rod body up-and-down process.
Furthermore, through setting up truss Z axle balancing unit, wherein, the high-pressure nitrogen cylinder can be through adjusting the air pressure in the balance cylinder and then drive hydraulic oil and get into the balance cylinder through high pressure fuel pipe for the load weight that Z axle stand is connected is fallen in balance cylinder internal pressure balance, thereby reaches and reduces truss Z axle servo motor load, improves truss Z axle servo motor life and can choose for use the truss Z axle servo motor of lower output, practices thrift the cost.
Drawings
FIG. 1 is an overall front view of the automatic rod feeding and discharging truss robot based on laser radar vision positioning, disclosed by the invention;
FIG. 2 is an overall axial view of the automatic bar feeding and discharging truss robot based on laser radar vision positioning;
FIG. 3 is a schematic view of a Z-axis balancing device of a rod automatic feeding and discharging truss robot based on laser radar vision positioning, disclosed by the invention;
FIG. 4 is a schematic view of a multifunctional mechanical gripper of a truss robot capable of automatically feeding and discharging rods based on laser radar vision positioning, disclosed by the invention;
FIG. 5 is a schematic view of a claw driving structure of the multi-functional manipulator claw according to the present invention;
FIG. 6 (a) is a schematic diagram of a first structure of the electromagnetic chuck of the multi-functional gripper according to the present invention;
FIG. 6 (b) is a second structural diagram of the electromagnetic chuck of the multi-functional manipulator of the present invention;
FIG. 7 is a schematic view of a clamping bar of the multi-function gripper according to the present invention;
FIG. 8 is a schematic view of the multi-function gripper of the present invention showing the finger entering the bar gap;
FIG. 9 is a schematic view of a gripping bar of the multi-function gripper of the present invention;
FIG. 10 is a schematic diagram of a laser radar positioning module of the automatic rod feeding and discharging truss robot based on laser radar visual positioning;
FIG. 11 is a schematic view of a laser radar positioning module scanning bar profile information according to the present invention;
FIG. 12 is a schematic diagram of a rod body requiring loading and unloading and a storage turnover box thereof of the robot of the invention:
in the figure:
1 is a truss integral structure frame;
2, a truss Z-axis balancing device, 201 a high-pressure nitrogen cylinder, 202 a high-pressure oil pipe, 203 a balancing oil cylinder, 204 a pull rod, 205 a Z-axis upright post, 206 a servo rotating platform and 207 a Z-axis fixing plate;
3, a multifunctional mechanical gripper module, 301, 302, 303, 304, a photoelectric sensor, 305, a pneumatic finger, 306, a bar pressing plate, 307, a single-side claw, 308, a pressing plate driving cylinder, 309, 3010, a double-side rack, 3011, a linear cylinder and 3012, wherein the electromagnetic chuck driving cylinder is used for driving an electromagnetic chuck, the photoelectric sensor is used for 304, the pneumatic finger is used for 305, the bar pressing plate is used for pressing a bar body, the single-side claw is used for 307, the pressing plate driving cylinder is used for 308, the gear is used for 309, the double-side rack is used for 3010, and the linear cylinder is used for 3011;
4, a laser radar vision positioning module, 401, 402, 403, a laser radar fixing plate, 404, a serial port data communication line and 405, wherein the laser radar vision positioning module is a longitudinal laser radar, the transverse laser radar, the laser radar fixing plate, the serial port data communication line and the laser light source are respectively arranged in the front of the laser radar vision positioning module and the front of the laser radar vision positioning module;
5 is a rod body and a storage turnover box module thereof, 501 is a turnover box cover, 502 is a rod body pressing bar, 503 is a box body, and 504 is a rod body.
Detailed Description
The invention is further described below with reference to the figures and examples.
Referring to fig. 1, 2, 4-9, the multifunctional mechanical gripper for automatic feeding and discharging of a rod of the present invention comprises a gripper overall frame 3012, an electromagnetic chuck 302, an electromagnetic chuck driving cylinder 301, a pneumatic finger 305, a rod pressing plate 306, a single-side gripper 307, a single-side gripper driving device, a pressing plate driving cylinder 308, and a laser radar vision positioning module 4; the electromagnetic chuck driving cylinder 301 is installed on the whole gripper framework 3012, a piston rod of the electromagnetic chuck driving cylinder 301 is connected with the electromagnetic chuck 302, the electromagnetic chuck 302 is located below the whole gripper framework 3012, and a distance detector is installed on the lower portion of the electromagnetic chuck 302; the pneumatic finger 305 is mounted on the whole paw frame 3012, and the clamping jaw of the pneumatic finger 305 is positioned below the whole paw frame 3012; the shape of the single-side claw 307 is L-shaped, the structure of the single-side claw 307 comprises a first side and a second side, the single-side claw 307 is arranged at the lower part of the whole claw frame 3012, the end part of the first side of the single-side claw 307 is rotatably connected with the whole claw frame 3012, the first side is further connected with a single-side claw driving device, and the single-side claw driving device is arranged on the whole claw frame 3012; the single-side claw 307 comprises a first single-side claw and a second single-side claw which are symmetrical; the pressing plate driving cylinder 308 is installed on the whole paw frame 3012, the rod pressing plate 306 is connected with a piston rod of the pressing plate driving cylinder 308, and the rod pressing plate 306 is located at the lower part of the whole paw frame 3012 and between the first single-side claw and the second single-side claw; the laser radar vision positioning module 4 is mounted at the lower part of the gripper overall frame 3012.
Referring to fig. 5, the single-sided claw driving device according to the preferred embodiment of the present invention includes a linear cylinder 3011, a rack, and a gear 309 mounted on a first side of the single-sided claw 307, the linear cylinder 3011 is mounted on the gripper overall frame 3012, a piston rod of the linear cylinder 3011 is connected to the rack, and the rack is engaged with the gear 309.
Referring to fig. 5, as a preferred embodiment of the present invention, the rack is a double-sided rack 3010, the double-sided rack 3010 is provided with a long hole along the moving direction of the rack, and of the inner walls of the long sides of the long hole, one inner wall is provided with teeth engaged with the gear 309, and the other inner wall is a smooth inner wall and abuts against the gear 309.
Referring to fig. 6 (a) and 6 (b), a piston rod of the electromagnetic chuck driving cylinder 301 is connected to the electromagnetic chuck 302 through a swing joint 303.
Referring to fig. 10, as a preferred embodiment of the present invention, the lidar vision positioning module 4 includes a longitudinal lidar 401, a transverse lidar 402, a lidar fixing plate 403, and a laser light source 405; the laser radar fixing plate 405 is connected to the whole gripper framework 3012, the detection directions of the longitudinal laser radar 401 and the transverse laser radar 402 are perpendicular to each other, and the longitudinal laser radar 401 and the transverse laser radar 402 are both provided with laser light sources 405.
As a preferred embodiment of the present invention, referring to fig. 4 and 7, the gripper overall frame 3012 is provided with pneumatic fingers 305 on both sides of the first single-sided gripper and the second single-sided gripper; the gripper overall frame 3012 is provided with electromagnetic chucks 302 on both sides of the pneumatic finger 305.
Referring to fig. 7 and 9, the bar pressing plate 306 is in a wedge-shaped structure, and one end of the bar pressing plate 306 facing to the second end of the single-sided claw 307 is a large end.
Referring to fig. 1 and 2, the robot for automatically feeding and discharging a bar body of the present invention comprises a truss overall structure frame 1 and the multifunctional gripper robot 3 of any one of claims 1 to 7, wherein the truss overall structure 1 comprises a truss X-axis, a truss Y-axis, and a truss Z-axis, and a support assembly and a transmission device, and the lower end of the truss Z-axis is connected to the gripper overall frame 3012 of the multifunctional gripper robot 3.
Referring to fig. 3, as a preferred embodiment of the present invention, a servo rotation platform 206 is provided at the Z-axis end of the truss, and the upper portion of the gripper unit frame 3012 is connected to the servo rotation platform 206.
Referring to fig. 3, a truss Z-axis balancing device 2 and a Z-axis fixing plate 207 are mounted on a truss Z-axis, the Z-axis fixing plate 207 is fixedly mounted on the truss Z-axis, and the truss Z-axis balancing device 2 comprises a high-pressure nitrogen gas cylinder 201, a balancing oil cylinder 203 and a pull rod 204; the high-pressure nitrogen cylinder 201 and the balance oil cylinder 203 are arranged on the Z-axis fixing plate 207, the high-pressure nitrogen cylinder 201 and the balance oil cylinder 203 are connected through a high-pressure oil pipe 202, a piston rod of the balance oil cylinder 203 is connected with a pull rod 204, and the pull rod 204 extends to the lower side of the Z-axis fixing plate 207 and is connected with a Z-axis upright column 205.
Examples
The robot for automatically feeding and discharging the rod body comprises a truss overall structure frame 1, a truss Z-axis balancing device 2 and a multifunctional mechanical gripper 3; truss overall structure frame 1 contains truss X axle, truss Y axle, truss Z axle, supporting component and transmission, and truss Z axle balancing unit 2 is in the same place with truss Z axle hub connection, and multifunctional mechanical gripper 3 is connected with truss Z axle terminal servo rotary platform 206, and laser radar vision orientation module 4 is fixed on multifunctional mechanical gripper 3. The truss Z-axis balancing device 2 comprises a high-pressure nitrogen cylinder 201, a high-pressure oil pipe 202, a balancing oil cylinder 203 and a pull rod 204. The high-pressure nitrogen cylinder 201 drives hydraulic oil to enter the balance cylinder 203 through the high-pressure oil pipe 202 by adjusting the air pressure in the balance cylinder, so that the internal pressure of the balance cylinder 203 balances the weight of a load connected with the Z-axis upright column 205, and the load of the Z-axis servo motor is reduced. Wherein the balance oil cylinder 203 is connected with the Z-axis upright column 205 through a pull rod 204. The multifunctional mechanical gripper 3 comprises an electromagnetic chuck driving air cylinder 301, an electromagnetic chuck 302, a swinging joint 303, a photoelectric sensor 304, a pneumatic finger 305, a bar pressing plate 306, a single-side claw 307, a pressing plate driving air cylinder 308, a gear 309, a double-side rack 3010, a linear air cylinder 3011 and a gripper overall frame 3012. The electromagnetic chuck 302 is connected with the electromagnetic chuck driving cylinder 301 through the swing joint 303, the electromagnetic chuck 302 is mainly used for taking and placing the container cover 501, the photoelectric sensor 304 is used for judging the distance between the electromagnetic chuck 302 and the container cover 501, and the swing joint 303 can enable the electromagnetic chuck 302 to adapt to the uneven condition of the surface of the container cover 501, so that the container cover can be effectively sucked; the pneumatic finger 305 is used for clamping the bar body pressing bar 502; a revolute pair is formed between the double-side rack 3010 and the gear 309, the linear cylinder 3011 drives the double-side rack 3010 to do linear motion to achieve rotation of the single-side claw 307, the pressing plate drives the cylinder 308 to drive the rod pressing plate 306 and the single-side claw 307 to achieve clamping of the rod 504, and the problem that the double-side claw cannot enter the clamping mode due to the fact that the gap between the rod 504 and the wall of the box body 503 is too small is effectively solved. The lidar vision positioning module 4 comprises a longitudinal lidar 401, a transverse lidar 402, a lidar fixing plate 403, a serial port data communication line 404 and a laser light source 405. The laser radar fixing plate 405 is connected to the gripper overall frame 3012, referring to fig. 10 and fig. 11, the transverse laser radar 401 is used for measuring the space length of the box 503, the longitudinal laser radar 402 is used for measuring the space width of the box 503 and the space profile information of the rod 504, and the measured distance information is transmitted through the serial data communication line 404.
When the robot for automatically feeding and discharging the rod body is used, firstly, the truss overall structure frame 1 is installed, and the overall structure frame is assembled; the installation of truss Z axle balancing unit is carried out, fix high-pressure nitrogen gas bottle 201 and balance cylinder 203 on Z axle fixed plate 207, connect through high-pressure fuel pipe 202 between the two, pull rod 204 is connected with truss Z axle stand 205, when the load that the truss Z axle was drawed changes, high-pressure nitrogen gas bottle 201 is with automatically regulated bottle internal gas pressure, and then the hydraulic oil in the drive bottle makes balance cylinder internal pressure change through high-pressure fuel pipe 202 inflow or outflow balance cylinder 203, thereby reach the purpose of balanced Z axle load, can alleviate Z axle servo motor's drive power greatly. Meanwhile, the servo rotating platform 206 is fixed with the truss Z-axis upright column, finally the multifunctional mechanical gripper 3 is connected with the servo rotating platform 206 through a flange, and the laser radar vision positioning module 4 is fixed on the multifunctional mechanical gripper 3.
Next, the lid 501 of the container is sucked: after a worker conveys the box 503 provided with the rod 504 to a feeding area, the longitudinal laser radar 401 and the transverse laser radar 402 scan the outline of the box 503 and acquire spatial position information of the box 503, the truss robot moves the multifunctional mechanical gripper 3 to a position at a certain distance above the turnover box cover 501, the electromagnetic chuck 302 driven by the electromagnetic chuck driving cylinder 301 moves downwards to be close to the turnover box cover 501, whether the electromagnetic chuck 302 contacts the turnover box cover 501 or not is judged based on feedback data of the photoelectric sensor 304, and after the electromagnetic chuck 302 contacts the turnover box cover 501, the electromagnetic chuck 302 is electrified to complete the suction of the turnover box cover 501, so that the first action of opening the turnover box cover is completed; swing joint 303 can ensure that electromagnet contacts the turnover case lid completely, and the absorption and the transfer that can accomplish the turnover case lid are switched on to electromagnet, and when the turnover case lid shifted the back in place, electromagnet cut off the power supply, accomplished the placing of turnover case lid.
Then, clamping the bar body pressing bar 502: the transverse laser radar 402 scans along the length direction of the box body 503, and the scanned spatial position information of the box body 403 is combined to obtain the distance information of the box body relative to the multifunctional mechanical gripper 3, the multifunctional mechanical gripper 3 moves to the position above the bar body pressing strip 502, and the bar body pressing strips 502 symmetrically distributed in the box body 503 are clamped and transferred for temporary storage through the symmetrically distributed pneumatic fingers 305.
Finally, the clamping and feeding actions of the rod 504 are carried out: the profile information of the rod 504 is scanned through the longitudinal laser radar 401, the central position information of the rod is obtained through a data processing algorithm, firstly, the linear air cylinder 3011 drives the double-sided rack to drive the gear 3010 to rotate, the single-sided claw 307 rotates 90 degrees and can enter the box body along a gap between adjacent rods 504, when the single-sided claw 307 reaches the position, the linear air cylinder 3011 moves reversely, the single-sided claw 307 rotates 90 degrees reversely and enters the bottom of the rod 504, the multifunctional mechanical claw 3 moves upwards in a small range to lift the rod 504, the single-sided claw 307 holds the rod 504, then the pressing plate driving air cylinder 308 drives the rod pressing plate 306 to move downwards to complete clamping of the rod 504, shaking of the rod 504 in the feeding process can be effectively prevented, and finally, the truss robot transfers the rod 504 to a feeding station. The blanking process of the rod 504 is automatically put into the box 503, which is the reverse of the feeding process.
The transverse laser radar 402 identifies the profile information of the bar body pressing bar 502 and obtains the spatial position information of the bar body pressing bar 502, and the clamping action of the bar body pressing bar 502 is completed through the pneumatic fingers 305 on the multifunctional mechanical gripper 3. The longitudinal laser radar 401 identifies profile information of the rod 504 and obtains spatial position information of the rod, firstly, the linear air cylinder 3011 drives the double-sided rack to drive the gear 3010 to rotate, so that the single-sided claw 307 rotates 90 degrees and can enter a gap between the rods 504, then the linear air cylinder 3011 moves reversely, so that the single-sided claw 307 enters the bottom of the rod 504, then the pressing plate drives the air cylinder 308 to drive the rod pressing plate 306 to move to complete clamping of the rod 504, and therefore feeding action of the rod 504 is achieved.
In conclusion, the invention provides a rod body automatic feeding and discharging truss robot based on laser radar visual positioning, which can effectively solve the problems of high labor intensity, low efficiency and the like in a manual auxiliary feeding and discharging process. The laser radar vision positioning system is used for acquiring the space position information of an object, a series of actions such as box cover, layering and bar clamping are automatically completed through the truss robot, and automatic operation of the whole bar in the up-and-down process is completely realized. From the above description, the automatic rod feeding and discharging truss robot based on laser radar vision positioning obtains the object outline and obtains the space position information of the object based on laser pen radar vision positioning, and completes the automatic operation of a plurality of clamping actions in the rod feeding and discharging process through the multifunctional mechanical gripper of the truss robot.
Claims (6)
1. A multifunctional mechanical gripper for automatic feeding and discharging of a rod is characterized by comprising a gripper overall frame (3012), an electromagnetic chuck (302), an electromagnetic chuck driving cylinder (301), a pneumatic finger (305), a rod pressing plate (306), a single-side claw (307), a single-side claw driving device, a pressing plate driving cylinder (308) and a laser radar visual positioning module (4); the electromagnetic chuck driving cylinder (301) is installed on the whole paw frame (3012), a piston rod of the electromagnetic chuck driving cylinder (301) is connected with the electromagnetic chuck (302), the electromagnetic chuck (302) is located below the whole paw frame (3012), and a distance detector is installed on the lower portion of the electromagnetic chuck (302); the pneumatic finger (305) is mounted on the paw integral frame (3012), and a clamping jaw of the pneumatic finger (305) is positioned below the paw integral frame (3012); the shape of the unilateral claw (307) is L-shaped, the unilateral claw (307) structurally comprises a first side and a second side, the unilateral claw (307) is arranged at the lower part of the whole paw frame (3012), the end part of the first side of the unilateral claw (307) is rotatably connected with the whole paw frame (3012), the first side is also connected with a unilateral claw driving device, and the unilateral claw driving device is arranged on the whole paw frame (3012); the single-side claw (307) comprises a first single-side claw and a second single-side claw which are symmetrical; the pressing plate driving cylinder (308) is installed on the paw integral frame (3012), the rod pressing plate (306) is connected with a piston rod of the pressing plate driving cylinder (308), and the rod pressing plate (306) is located at the lower part of the paw integral frame (3012) and between the first single-side hook and the second single-side hook; the laser radar vision positioning module (4) is arranged at the lower part of the paw integral frame (3012);
the unilateral claw driving device comprises a linear cylinder (3011), a rack and a gear (309) arranged on a first side of the unilateral claw (307), the linear cylinder (3011) is arranged on the whole frame (3012) of the claw, a piston rod of the linear cylinder (3011) is connected with the rack, and the rack is meshed with the gear (309);
the rack is a bilateral rack (3010), the bilateral rack (3010) is provided with a long hole along the motion direction of the rack, the inner wall of the long edge of the long hole is provided with teeth meshed with the gear (309), and the inner wall of the other side is a smooth inner wall and is abutted to the gear (309);
a piston rod of the electromagnetic chuck driving cylinder (301) is connected with the electromagnetic chuck (302) through a swinging joint (303);
the laser radar visual positioning module (4) comprises a longitudinal laser radar (401), a transverse laser radar (402), a laser radar fixing plate (403) and a laser light source (405); the laser radar fixing plate (403) is connected to the paw integral frame (3012), the detection directions of the longitudinal laser radar (401) and the transverse laser radar (402) are perpendicular to each other, and the longitudinal laser radar (401) and the transverse laser radar (402) are both provided with laser light sources (405);
the working process of the multifunctional mechanical gripper for automatic feeding and discharging of the bar body comprises the following steps:
carrying out the suction of a turnover box cover (501): after a box body (503) provided with a rod body (504) is conveyed to a feeding area, scanning of the outline of the box body (503) is carried out by a longitudinal laser radar (401) and a transverse laser radar (402) and spatial position information of the box body is obtained, a multifunctional mechanical gripper (3) is moved to a preset distance position right above a turnover box cover (501), an electromagnetic suction disc (302) driven by an electromagnetic suction disc driving cylinder (301) moves downwards to be close to the turnover box cover (501), whether the electromagnetic suction disc (302) contacts the turnover box cover (501) or not is judged based on feedback data of a photoelectric sensor (304), and after the electromagnetic suction disc (302) contacts the turnover box cover (501), the electromagnetic suction disc (302) is electrified to complete suction of the turnover box cover (501), and the action of opening the turnover box cover in the first step is completed; the swing joint (303) can ensure that the electromagnetic chuck is in full contact with the turnover box cover, the electromagnetic chuck is electrified to complete the absorption and transfer of the turnover box cover, and when the turnover box cover is transferred in place, the electromagnetic chuck is powered off to complete the placement of the turnover box cover;
clamping the bar body pressing bar (502): scanning along the length direction of a box body (503) through a transverse laser radar (402), and combining the scanned space position information of the box body (503) to obtain the distance information of the box body relative to the multifunctional mechanical claw (3), moving the multifunctional mechanical claw (3) above the bar body pressing strips (502), clamping the bar body pressing strips (502) which are symmetrically distributed in the box body (503) through symmetrically distributed pneumatic fingers (305), and transferring and temporarily storing the bar body pressing strips;
finally, the clamping and feeding actions of the rod body (504) are carried out: scanning contour information of a rod body (504) through a longitudinal laser radar (401), acquiring center position information of the rod body through a data processing algorithm, driving a double-side rack (3010) to drive a gear (309) to rotate by a linear cylinder (3011), enabling a single-side claw (307) to rotate 90 degrees and enter the box body along a gap between adjacent rod bodies (504), enabling the single-side claw (307) to reach a position, then enabling a linear cylinder (3011) to move in the reverse direction, enabling the single-side claw (307) to rotate 90 degrees in the reverse direction and enter the bottom of the rod body (504), enabling a multifunctional mechanical claw (3) to move upwards to lift the rod body (504), enabling the single-side claw (307) to lift the rod body (504), then driving a rod body pressing plate (306) to move downwards by a pressing plate driving cylinder (308) to complete clamping of the rod body (504), and finally transferring the rod body (504) to a feeding station by a truss robot; the blanking process of the rod body (504), namely, the automatic placement into the box body (503) is opposite to the feeding process.
2. The multifunctional mechanical paw for the automatic feeding and discharging of the rod bodies as claimed in claim 1, wherein pneumatic fingers (305) are arranged on the entire paw frame (3012) on both sides of the entire first single-sided paw and the entire second single-sided paw; electromagnetic chucks (302) are arranged on the two sides of the whole pneumatic finger (305) on the paw whole frame (3012).
3. The multifunctional mechanical gripper for the automatic feeding and discharging of the bars as claimed in claim 1, characterized in that the bar pressing plate (306) is in a wedge-shaped structure, and one end of the bar pressing plate (306) facing to the second end of the single-sided claw (307) is a big end.
4. A robot for automatic feeding and discharging of a rod body is characterized by comprising a truss overall structure frame (1) and the multifunctional mechanical gripper (3) of any one of claims 1 to 3, wherein the truss overall structure frame (1) comprises a truss X axis, a truss Y axis, a truss Z axis, a supporting component and a transmission device, and the lower end of the truss Z axis is connected with the gripper overall frame (3012) of the multifunctional mechanical gripper (3).
5. The robot for automatic feeding and discharging of rods according to claim 4, wherein a servo rotating platform (206) is arranged at the tail end of the Z-axis of the truss, and the upper part of the gripper overall frame (3012) is connected with the servo rotating platform (206).
6. The robot for the automatic feeding and discharging of the rods as claimed in claim 4, wherein a truss Z-axis balancing device (2) and a Z-axis fixing plate (207) are installed on a truss Z-axis, the Z-axis fixing plate (207) is fixedly installed on the truss Z-axis, and the truss Z-axis balancing device (2) comprises a high-pressure nitrogen gas cylinder (201), a balancing oil cylinder (203) and a pull rod (204); the high-pressure nitrogen cylinder (201) and the balance oil cylinder (203) are mounted on a Z-axis fixing plate (207), the high-pressure nitrogen cylinder (201) and the balance oil cylinder (203) are connected through a high-pressure oil pipe (202), a piston rod of the balance oil cylinder (203) is connected with a pull rod (204), and the pull rod (204) extends to the lower portion of the Z-axis fixing plate (207) and is connected with a Z-axis upright post (205).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010974633.8A CN112223335B (en) | 2020-09-16 | 2020-09-16 | Multifunctional mechanical claw and robot for automatic feeding and discharging of rod body |
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| CN202010974633.8A CN112223335B (en) | 2020-09-16 | 2020-09-16 | Multifunctional mechanical claw and robot for automatic feeding and discharging of rod body |
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| CN112223335B true CN112223335B (en) | 2022-12-09 |
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| CN112847415A (en) * | 2021-02-04 | 2021-05-28 | 广东金马领科智能科技有限公司 | Water tank-free closestool gripper, closestool gripping equipment and closestool production line |
| CN113211486B (en) * | 2021-05-20 | 2022-10-21 | 李文敏 | Medicine packing is with hand claw of getting it filled |
| CN113459172B (en) * | 2021-08-24 | 2023-09-08 | 广东斯博锐智能装备有限公司 | High-precision robot transmission truss |
| CN113909837A (en) * | 2021-09-30 | 2022-01-11 | 上汽通用五菱汽车股份有限公司 | Main bearing cap feeding device and method |
| CN114516519B (en) * | 2021-12-30 | 2023-09-29 | 无锡中车时代智能装备研究院有限公司 | Loading and unloading system and method for intelligent processing of copper bars |
| CN115847643A (en) * | 2022-10-21 | 2023-03-28 | 苏州光韵达自动化设备有限公司 | A go up unloading grabbing device for ceramic cutting equipment |
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| CN201871792U (en) * | 2010-05-22 | 2011-06-22 | 云南广和工控设备有限公司 | Nitrogen balancing system of numerical-control planer type milling machine |
| EP3369525A1 (en) * | 2017-03-01 | 2018-09-05 | Airbus SAS | Device for clamping a robotic tool to a workpiece |
| CN208759098U (en) * | 2018-09-10 | 2019-04-19 | 安徽恒辉机械有限公司 | A kind of high pressure nitrogen balance cylinder mechanism for machining center counterweight |
| CN209835004U (en) * | 2019-03-26 | 2019-12-24 | 迈巴赫机器人（昆山）有限公司 | Multifunctional gripper |
| CN210359129U (en) * | 2019-06-17 | 2020-04-21 | 壹利特机器人科技（常州）有限公司 | Robot shell-making gripper |
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