CN112549060B - Laser vision type electromagnetic gripper - Google Patents
Laser vision type electromagnetic gripper Download PDFInfo
- Publication number
- CN112549060B CN112549060B CN202011360251.2A CN202011360251A CN112549060B CN 112549060 B CN112549060 B CN 112549060B CN 202011360251 A CN202011360251 A CN 202011360251A CN 112549060 B CN112549060 B CN 112549060B
- Authority
- CN
- China
- Prior art keywords
- frame
- sensor
- plate
- vision
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- 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
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The application discloses a laser vision type electromagnetic gripper, which comprises a frame mechanism, an illuminating mechanism, a sensing mechanism, a connecting mechanism and at least one suction mechanism, wherein the connecting mechanism is used for being connected with a tail end shaft of a carrying robot, the suction mechanism is used for sucking a base plate; the suction mechanism is arranged below the frame mechanism and can slide relative to the frame mechanism, and the suction mechanism comprises an electromagnetic chuck for adsorbing the base plate. The sensor detects the position of the base plate, and the suction mechanism is matched with the robot to realize the grabbing and moving of the base plate, so that the problems of positioning and grabbing in the base plate carrying process are solved, and the automation degree of the base plate carrying is improved.
Description
Technical Field
The application relates to the technical field of railway base plates, in particular to a laser visual electromagnetic type gripper.
Background
The tie plate is an important part of the railway turnout and has the functions of bearing and locking the steel rail at the upper part and connecting with the turnout sleeper at the lower part through a turnout sleeper bolt to form a stable integral structure of the turnout track. The railway turnout base plate in China always adopts a group welding type structure, the processing time of the group welding type structure in the production and welding processes is long, the processing cost is high, and the base plate is manually moved in the welding and moving processes, so that the working efficiency is low.
Therefore, how to solve the problems of long processing time, increased workload of operators and low working efficiency caused by the need of manually carrying the backing plates in the process of producing and welding the backing plates is a key technical problem to be solved by the technical personnel in the field.
Disclosure of Invention
In order to overcome the problems in the related art at least to a certain extent, the application aims to provide the laser vision type electromagnetic gripper which can solve the problems that in the process of producing and welding base plates, the base plates need to be carried manually, so that the processing time is long, the workload of operators is increased, and the working efficiency is low.
The application provides a laser vision type electromagnetic gripper which comprises a frame mechanism, an illuminating mechanism, a sensing mechanism, a connecting mechanism and at least one suction mechanism, wherein the connecting mechanism is used for being connected with a tail end shaft of a carrying robot, the suction mechanism is used for adsorbing a base plate, the connecting mechanism is fixedly connected above the frame mechanism, the sensing mechanism is arranged between the frame mechanism and the connecting mechanism and used for acquiring laser vision information below an electromagnetic gripper device and sending the laser vision information to a preset carrying robot, and the illuminating mechanism is arranged at two ends of the frame mechanism and used for providing illumination for the sensing mechanism; the sucking mechanism is arranged below the frame mechanism and can slide relative to the frame mechanism, and the sucking mechanism comprises an electromagnetic chuck for adsorbing a base plate.
Optionally, the sensing mechanism includes: the device comprises a sensor mounting bracket, a vision sensor and a laser ranging sensor; the vision sensor and the laser ranging sensor are connected with a preset control device through the connecting mechanism and used for sending acquired information.
Optionally, the frame mechanism includes two frame main beams and a connecting plate disposed between the two frame main beams; the connecting plate comprises side panels arranged at two ends of the two frame main beam frames; the sensing mechanism mounting bracket is fixed between the two frame main beams; the illuminating mechanism is arranged on the side panel and provides illumination to the direction of the backing plate at two positions.
Optionally, the sensor mounting bracket includes a bracket fixing plate, a bracket fixing screw, a visual sensor mounting plate, a visual sensor screw mounting hole, a laser ranging sensor mounting plate, and a laser ranging sensor screw mounting hole; the bracket fixing plate and the bracket fixing screw are used for fixing the sensor mounting bracket on the frame mechanism or the connecting mechanism; the vision sensor mounting plate and the vision sensor screw mounting hole are used for fixing the vision sensor; the laser ranging sensor mounting plate and the laser ranging sensor screw mounting hole are used for fixing the laser ranging sensor.
Optionally, the connecting mechanism includes a lower connecting flange connected to the frame mechanism and an upper connecting flange connected to a tail end shaft of the transfer robot, and the upper connecting flange is fixedly connected to the lower connecting flange;
optionally, be provided with at least one proximity switch sensor in the frame mechanism, just the proximity switch sensor with the corresponding setting of actuation mechanism, be provided with in the actuation mechanism with the corresponding contact of proximity switch sensor, the proximity switch sensor with electromagnet is communicably connected, works as the contact gets into during proximity switch sensor's induction range, electromagnet connects the electricity.
Optionally, the suction mechanism further comprises a sucker connecting plate, the electromagnetic sucker is fixedly connected to the sucker connecting plate, the sucker connecting plate is connected with the frame mechanism in a sliding mode, and the contact piece is fixedly installed on the sucker connecting plate.
Optionally, the sucker connecting plate is connected with the frame mechanism in a sliding manner through a sliding assembly, and a through hole for the sliding assembly to extend into is formed in the frame mechanism.
Optionally, the sliding assembly includes a sucker guide rod having a bottom end fixedly connected to the sucker connecting plate, and the sucker guide rod is located in the through hole and slidably connected to the through hole through a linear bearing.
Optionally, a spring is further arranged in the through hole, the spring is sleeved outside the sucker guide rod, the bottom end of the spring abuts against the side wall of the through hole, a spring retaining sheet is arranged at the top end of the sucker guide rod, and the top end of the spring abuts against the spring retaining sheet.
The technical scheme provided by the application can comprise the following beneficial effects:
the application provides a laser vision type electromagnetic type tongs, including frame structure, coupling mechanism and at least one actuation mechanism, coupling mechanism fixed connection is in frame structure's top, and actuation mechanism sets up in frame structure's below, and coupling mechanism is used for being connected with the robot, sensing mechanism sets up frame structure with between the coupling mechanism, be used for acquireing the laser vision information of electromagnetic tongs device below sends to predetermined transfer robot, specifically, electromagnetic tongs device can install on supporting joint robot end shaft, and cooperation joint robot realizes grabbing of railway switch backing plate, and wherein, the robot can be based on the visual information control that sensing mechanism acquireed electromagnetic tongs device removes and snatchs to realize the removal of backing plate and transport. The illumination mechanisms are arranged at two ends of the frame mechanism and provide illumination for the sensing mechanism; the visual information acquired by the sensing mechanism is clearer. The attraction mechanism can slide relative to the frame mechanism to adjust the distance between the attraction mechanism and the frame mechanism, and the attraction mechanism is convenient to adsorb the base plate with an uneven surface, such as a welded finished base plate, through the matching of the plurality of attraction mechanisms. The suction mechanism comprises an electromagnetic chuck for sucking the base plate. So set up, through laser and vision sensor detection backing plate position to realize snatching, moving the fortune of backing plate through actuation mechanism cooperation robot, solved the location in the backing plate handling and snatched the problem, improved backing plate handling degree of automation.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.
Fig. 1 is a perspective view of a laser-vision type electromagnetic gripper, shown in accordance with some exemplary embodiments;
FIG. 2 is a perspective view of a frame mechanism shown in accordance with some exemplary embodiments;
FIG. 3 is a perspective view of a frame mechanism shown in accordance with some exemplary embodiments;
FIG. 4 is a perspective view of a frame mechanism shown in accordance with some exemplary embodiments;
FIG. 5 is a front view of a frame mechanism shown in accordance with some exemplary embodiments;
FIG. 6 is a bottom view of a frame mechanism shown in accordance with some exemplary embodiments;
FIG. 7 is a cross-sectional view of the device of FIG. 6;
FIG. 8 is a top view of a frame mechanism shown in accordance with some exemplary embodiments;
fig. 9 is a cross-sectional view of the present laser-vision type electromagnetic gripper, shown in accordance with some exemplary embodiments;
FIG. 10 is a cross-sectional view of a suction cup attachment plate shown in accordance with some exemplary embodiments;
FIG. 11 is a top view of a suction cup connection plate shown in accordance with some exemplary embodiments;
FIG. 12 is a block diagram illustrating a contact pad according to some exemplary embodiments;
FIG. 13 is a top view of a coupling mechanism shown in accordance with some exemplary embodiments;
in the figure:
1. a frame mechanism; 2. a suction mechanism; 3. a connecting mechanism; 4. a sensing mechanism; 5. an illumination mechanism; 11. a frame main beam; 111. a sucker guide rod mounting hole; 12. a side panel; 13. reinforcing the connecting plate; 133. A proximity switch sensor; 14. a connection support part; 15. a suction cup mounting seat; 151. a boss; 152. A through hole; 153. a linear bearing; 154. a suction cup guide rod; 155. a spring; 156. a spring catch; 157. Locking the nut; 16. a travel switch sensor; 161. a travel switch mounting plate; 1611. a travel switch fixing hole; 1612. a travel switch adjusting groove; 21. a sucker connecting plate; 211. a guide rod mounting hole; 212. mounting a counter bore on the nut; 213. a contact fixing hole; 22. an electromagnetic chuck; 23. the sucker fixes the screw; 231. a set screw hole; 24. fixing a nut; 25. a contact plate; 251. a contact adjusting groove; 31. An upper connecting flange; 32. a lower connecting flange; 33. a connecting plate; 321. a wire outlet hole; 41. a sensor mounting bracket; 42. a vision sensor; 43. a laser ranging sensor; 411. a bracket fixing plate is arranged; 4111. a bracket fixing screw; 412. a vision sensor mounting plate; 4121. a vision sensor screw mounting hole; 413. a laser ranging sensor mounting plate; 4131. and a laser ranging sensor screw mounting hole.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus consistent with certain aspects of the present application, as detailed in the appended claims.
Referring to fig. 1 to 13, the present embodiment provides a laser visual type electromagnetic gripper, including a frame mechanism 1, an illumination mechanism 5, a sensing mechanism 4, a connecting mechanism 3 for connecting to a tail end shaft of a transfer robot, and at least one suction mechanism 2 for sucking a pad, where the connecting mechanism 3 is fixedly connected above the frame mechanism 1, the sensing mechanism 4 is disposed between the frame mechanism 1 and the connecting mechanism 3, and is configured to obtain laser visual information below the electromagnetic gripper device and send the laser visual information to a preset transfer robot, and the illumination mechanism 5 is disposed at two ends of the frame mechanism 1 and provides illumination for the sensing mechanism 4; the suction mechanism 2 is arranged below the frame mechanism 1 and can slide relative to the frame mechanism 1, and the suction mechanism 2 comprises an electromagnetic chuck 22 for adsorbing a base plate.
Specifically, the electromagnetic gripper device can be arranged on a tail end shaft of a matched joint robot and is matched with the joint robot to realize the grabbing of the railway turnout base plate, wherein the robot can control the electromagnetic gripper device to move and grab based on visual information acquired by the sensing mechanism, so that the base plate is moved and transported. The illuminating mechanisms 5 are arranged at two ends of the frame mechanism 1 and provide illumination for the sensing mechanism 4; the visual information acquired by the sensing mechanism is clearer. The attraction mechanism can slide relative to the frame mechanism to adjust the distance between the attraction mechanism and the frame mechanism, and the attraction mechanism is matched with a plurality of attraction mechanisms to adsorb a backing plate with an uneven surface, such as a welded finished backing plate. The suction mechanism comprises an electromagnetic chuck for sucking the base plate. So set up, realize snatching, moving the fortune of backing plate through actuation mechanism cooperation robot, degree of automation is high, need not artifical transport, has saved the manpower, the cost is reduced has promoted work efficiency greatly. The problems that in the process of producing and welding the base plate, the base plate needs to be carried manually, so that the processing time is long, the workload of operators is increased, and the working efficiency is low are solved.
Specifically, the sensing mechanism 4 includes: a sensor mounting bracket 41, a vision sensor 42, a laser ranging sensor 43; the vision sensor 42 and the laser ranging sensor 43 are connected with a preset control device through the connecting mechanism 3, and send the acquired information. In the scheme that this application provided, vision sensor 42, laser range finding sensor can provide picture data information for the robot, supply the robot to confirm the position of backing plate based on these data of picture to snatch the backing plate.
Optionally, the frame mechanism 1 includes two frame main beams 11 and a connecting plate disposed between the two frame main beams 11; the connecting plate comprises side panels 12 arranged at two ends of the two frame main beam frames; the mounting bracket 41 of the sensing mechanism 4 is fixed between the two main frame beams 11; the illumination means 5 are arranged on the side panel 12 and provide illumination in two positions in the direction of the mat. So arranged, the illuminating mechanism 5 irradiates from two directions, and the two light sources make the image acquired by the sensing mechanism 4 clearer.
Specifically, the sensor mounting bracket 41 includes a bracket fixing plate 411, a bracket fixing screw 4111, a vision sensor mounting plate 412, a vision sensor screw mounting hole 4121, a laser distance measuring sensor mounting plate 413, and a laser distance measuring sensor screw mounting hole 4131; the bracket fixing plate 411 and the bracket fixing screw 4111 are used for fixing the sensor mounting bracket 41 on the frame mechanism 1 or the connecting mechanism 3; the vision sensor mounting plate 412 and the vision sensor screw mounting hole 4121 are used to fix the vision sensor 42; the laser ranging sensor mounting plate 413 and the laser ranging sensor screw mounting hole 4131 are used for fixing the laser ranging sensor 43.
Wherein, actuation mechanism 2 can with frame mechanism 1 relative slip to adjust actuation mechanism 2 and frame mechanism 1's distance, through the cooperation of a plurality of actuation mechanisms 2, be convenient for adsorb the uneven backing plate in surface, for example through the finished product backing plate after the welding.
The suction mechanism 2 comprises an electromagnetic chuck 22 for sucking the backing plate. The electromagnetic chuck 22 is embodied as an electromagnet in order to facilitate the gripping and releasing of the tie plate.
So set up, realize snatching, moving the fortune of backing plate through 2 cooperation robots of actuation mechanism, degree of automation is high, need not artifical transport, has saved the manpower, and the cost is reduced has promoted work efficiency greatly. The problems that in the process of producing and welding the base plates, the base plates need to be carried manually, so that the processing time is long, the workload of operators is increased, and the working efficiency is low are solved.
In this embodiment, as shown in fig. 7 and 12, at least one proximity switch sensor 133 is provided on the frame mechanism 1, and the proximity switch sensor 133 is provided at a position corresponding to the attraction mechanism 2. The attraction mechanism 2 is provided with a contact piece 25, the contact piece 25 is arranged corresponding to the proximity switch sensor 133, and the proximity switch sensor 133 can be matched with the contact piece 25. Here, the contact 25 may be a metal detection body, and when the metal detection body comes within a sensing range of the proximity switch sensor 133, the proximity switch sensor 133 is triggered.
The proximity switch sensor 133 is communicably connected to the electromagnetic chuck 22, and when the contact piece 25 comes within the sensing range of the proximity switch sensor 133, the proximity switch sensor 133 is activated to cause the electromagnetic chuck 22 to be energized, thereby generating a magnetic field to attract the pad.
The electromagnetic gripper device can be provided with a suction mechanism 2, the proximity switch sensor 133 and the contact piece 25 can be provided with one, and the proximity switch sensor 133 can be arranged at the position of the frame mechanism 1 corresponding to the suction mechanism 2. The electromagnetic gripper device can also be provided with two suction mechanisms 2 or a plurality of suction mechanisms 2, specifically, the frame mechanism 1 can be respectively provided with one proximity switch sensor 133 at the position corresponding to the suction mechanisms 2, namely, the proximity switch sensors 133 are the same as the suction mechanisms 2 in number, so that the base plate can be conveniently gripped by the suction mechanisms 2, and the strength of the suction base plate is improved.
In this embodiment, as shown in fig. 1 and 12, the electromagnetic gripper includes four attracting mechanisms 2.
The suction mechanism 2 further comprises a suction plate connecting plate 21, the electromagnetic suction plate 22 is fixedly connected with the suction plate connecting plate 21, and the suction plate connecting plate 21 is slidably connected with the frame mechanism 1 to drive the electromagnetic suction plate 22 to slide relative to the frame mechanism 1. Specifically, the contact piece 25 is fixedly mounted on the suction cup connection plate 21 so that the contact piece 25 can come within the sensing range of the proximity switch sensor 133.
Here, the suction cup connection plate 21 and the electromagnetic suction cup 22 are connected by a suction cup fixing screw 23 to achieve the fixed connection of the suction cup connection plate 21 and the electromagnetic suction cup 22. The suction plate connecting plate 21 is provided with a fixing screw hole 231 into which the suction plate fixing screw 23 is inserted.
Further, the suction cup connection plate 21 is slidably connected to the frame mechanism 1 through a sliding component, and a through hole 152 is provided on the frame mechanism 1 for the sliding component to extend into.
As shown in fig. 9, a contact piece fixing hole 213 into which a screw is inserted is provided at a side surface of the suction cup connection plate 21, and the contact piece 25 may be mounted on the contact piece fixing hole 213 of the suction cup connection plate 21 by a screw; and a contact piece adjusting groove 251 is provided on the contact piece 25, and the installation height of the contact piece 25 is adjusted by adjusting the relative position of the screw and the contact piece adjusting groove 251.
The sliding assembly includes a suction cup guide rod 154, and the suction cup guide rod 154 is located in the through hole 152 and is slidably connected to the through hole 152 through a linear bearing 153, so as to realize the relative sliding between the suction cup guide rod 154 and the through hole 152. The bottom end of the suction cup guide rod 154 is fixedly connected with the suction cup connecting plate 21, so that the relative sliding between the suction mechanism 2 and the frame mechanism 1 is realized through the sliding of the suction cup guide rod 154.
Preferably, as shown in fig. 7, a spring 155 is further disposed in the through hole 152, the spring 155 is sleeved outside the sucker guide rod 154, a bottom end of the spring 155 abuts against a side wall of the through hole 152, a spring stop 156 is disposed at a top end of the sucker guide rod 154, a top end of the spring 155 abuts against the spring stop 156, the spring stop 156 presses against the spring 155, and when the spring 155 is compressed by a force, the sucker guide rod 154 drives the spring stop 156 to enter the through hole 152. When the sucker guide rod 154 slides relative to the frame mechanism 1, i.e. when the sucker guide rod 154 slides upward relative to the frame mechanism 1, the spring blocking piece 156 no longer presses the spring 155, so that the spring 155 is deformed again, i.e. the spring 155 is in a relaxed state. When the robot grabs the backing plate, the spring is compressed by the gravity of the backing plate, so that impact acting force cannot be generated on the carrying robot, damage to the robot cannot be caused, and the service life of the gripper device is prolonged.
The top end of the suction cup guide 154 is provided with a lock nut 157 to restrain the spring catch 156 against the suction cup guide 154 and prevent the spring catch 156 from falling off the suction cup guide 154.
It should be noted that the through hole 152 includes a first cavity and a second cavity communicated with the first cavity, the linear bearing 153 is disposed in the first cavity, the spring 155 is disposed in the second cavity, and a boss 151 is disposed between the first cavity and the second cavity, an inner diameter of the boss 151 is larger than a diameter of the chuck guide rod 154 and smaller than an outer diameter of the spring 155, and a bottom end of the spring 155 abuts against the boss 151.
In this embodiment, as shown in fig. 8 and 9, a guide rod mounting hole 211 is formed in the suction cup connecting plate 21, the guide rod mounting hole 211 includes a guide rod guide hole and a nut mounting counter bore 212, the guide rod guide hole is communicated with the nut mounting counter bore 212, and the bottom end of the suction cup guide rod 154 penetrates through the guide rod guide hole and extends into the nut mounting counter bore 212, a fixing nut 24 is disposed in the nut mounting counter bore 212, the bottom end of the suction cup guide rod 154 extends into the nut mounting counter bore 212 and is fixedly connected with the fixing nut 24, and the diameter of the fixing nut 24 is greater than that of the guide rod guide hole, so that the bottom end of the suction cup guide rod 154 can be prevented from coming out of the nut mounting counter bore 212, and the suction cup guide rod 154 and the suction cup connecting plate 21 are fixedly connected.
Preferably, the laser vision type electromagnetic gripper further comprises at least one travel switch assembly, the travel switch assembly comprises a travel switch sensor 16 and a travel switch contact plate 27, the travel switch sensor 16 is arranged on the frame mechanism 1, the travel switch contact plate 27 is arranged on the sucker connecting plate 21, the travel switch contact plate 27 is opposite to the travel switch sensor 16, the travel switch sensor 16 is connected with the handling robot in a communication mode, when the travel switch sensor 16 is in contact with the travel switch contact plate 27, namely the handling robot drives the travel switch sensor 16 to descend to be in contact with the travel switch contact plate 27, the handling robot stops moving continuously, the frame mechanism 1 and the suction mechanism 2 are relatively static, and therefore the situation that the carrying robot is damaged due to the reactive force applied to the carrying robot by a base plate is avoided.
Specifically, the travel switch sensor 16 is mounted below the frame mechanism 1 through a travel switch mounting plate 161, as shown in fig. 2, the travel switch mounting plate 161 is Z-shaped, a travel switch fixing hole is provided on the travel switch mounting plate 161 to fix the travel switch mounting plate 161 on the frame by a bolt, a plurality of travel switch adjusting grooves are further provided on the travel switch mounting plate 161, and the travel switch sensor 16 is connected with the travel switch adjusting grooves so as to adjust the mounting position of the travel switch sensor 16.
In this embodiment, the frame mechanism 1 includes two frame main beams 11 and a connecting plate disposed between the two frame main beams 11, and the proximity switch sensor 133 may be disposed at a bottom end of the connecting plate so as to sense the contact 25.
Wherein, the connecting plate can be including the side board 12 that is located two frame girder 11 both sides and the connection plate 13 of enhancement that is located between two side boards 12, two frame girder 11 parallel arrangement, two side boards 12 are connected respectively in the both ends of two frame girder 11, side board 12 forms the rectangle frame construction with frame girder 11 fixed connection, connection plate 13 is placed between two frame girder 11, and is connected with two frame girder 11, thereby further increased frame structure 1's intensity.
The frame mechanism 1 further comprises a suction cup supporting portion and a connection supporting portion 14, the suction cup supporting portion is fixedly connected with the frame main beam 11 and located at the lower portion of the frame main beam 11, and the through hole 152 is arranged on the suction cup supporting portion to be connected with the suction mechanism 2 through the suction cup supporting portion. The connection support part 14 is arranged on the upper part of the frame main beam 11, two rows of threaded holes are arranged on the connection support part 14, and the frame mechanism 1 and the connection mechanism 3 are fixed into a whole through screws.
Here, the suction cup supporting portion includes two suction cup mounting seats 15, the two suction cup mounting seats 15 are respectively and fixedly connected with the two frame main beams 11, through holes 152 are respectively formed in the two suction cup mounting seats 15, suction cup guide rod mounting holes 111 through which suction cup guide rods 154 pass are formed in the frame main beams 11, and the suction cup guide rod mounting holes 111 are communicated with the through holes 152. Thus, the two sucker guide rods 154 are connected with the suction mechanism 2, so that the installation stability and the installation balance of the suction mechanism 2 are improved.
The connecting mechanism 3 comprises an upper connecting flange 31 and a lower connecting flange 32, the upper connecting flange 31 and the lower connecting flange 32 are connected into a whole through a connecting plate 33, the lower connecting flange 32 is fixedly connected with the frame mechanism 1, specifically, the lower connecting flange 32 is fixedly connected with the connecting support part 14 through a screw, and the upper connecting flange 31 is used for being connected with a tail end shaft of the transfer robot, so that the connection between the gripper device and the transfer robot is realized.
Here, the upper and lower connection flanges 31 and 32 are provided with outlet holes 321 for passing cables electrically connected to the grippers.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (4)
1. The laser vision type electromagnetic gripper is characterized by comprising a frame mechanism (1), a lighting mechanism (5), a sensing mechanism (4), a connecting mechanism (3) and at least one suction mechanism (2), wherein the connecting mechanism (3) is used for being connected with a tail end shaft of a carrying robot, the suction mechanism (2) is used for adsorbing a base plate, the connecting mechanism (3) is fixedly connected above the frame mechanism (1), the sensing mechanism (4) is arranged between the frame mechanism (1) and the connecting mechanism (3) and used for acquiring laser vision information below an electromagnetic gripper device and sending the laser vision information to a preset carrying robot, and the lighting mechanism (5) is arranged at two ends of the frame mechanism (1) and provides light for the sensing mechanism (4); the suction mechanism (2) is arranged below the frame mechanism (1) and can slide relative to the frame mechanism (1), and the suction mechanism (2) comprises an electromagnetic chuck (22) for adsorbing a base plate; the attraction mechanism (2) can slide relative to the frame mechanism (1) to adjust the distance between the attraction mechanism (2) and the frame mechanism (1), and the attraction mechanism is matched with the plurality of attraction mechanisms (2) to facilitate the adsorption of a base plate with an uneven surface;
wherein the sensing mechanism (4) comprises: a sensor mounting bracket (41), a vision sensor (42), and a laser ranging sensor (43); the visual sensor (42) and the laser ranging sensor (43) are connected with the frame mechanism (1) through the sensor mounting bracket (41), and the sensing mechanism (4) is connected with a preset control device in a communication mode and sends acquired information;
the frame mechanism (1) is provided with at least one proximity switch sensor (133), the proximity switch sensor (133) is arranged corresponding to the attraction mechanism (2), the attraction mechanism (2) is provided with a contact piece (25) corresponding to the proximity switch sensor (133), the proximity switch sensor (133) is in communication connection with the electromagnetic chuck (22), and when the contact piece (25) enters the sensing range of the proximity switch sensor (133), the electromagnetic chuck (22) is electrified;
the suction mechanism (2) further comprises a sucker connecting plate (21), the electromagnetic sucker (22) is fixedly connected to the sucker connecting plate (21), the sucker connecting plate (21) is connected with the frame mechanism (1) in a sliding mode, and the contact piece (25) is fixedly installed on the sucker connecting plate (21);
the sucker connecting plate (21) is connected with the frame mechanism (1) in a sliding mode through a sliding assembly, and a through hole (152) for the sliding assembly to extend into is formed in the frame mechanism (1);
the sliding assembly comprises a sucker guide rod (154) with the bottom end fixedly connected with the sucker connecting plate (21), and the sucker guide rod (154) is positioned in the through hole (152) and is in sliding connection with the through hole (152) through a linear bearing (153);
still be provided with spring (155) in through-hole (152), spring (155) cover is established outside sucking disc guide arm (154), just the bottom of spring (155) supports on the lateral wall of through-hole (152), the top of sucking disc guide arm (154) is provided with spring separation blade (156), the top of spring (155) supports on spring separation blade (156).
2. The laser-vision type electromagnetic gripper according to claim 1, characterized in that said frame structure (1) comprises two main frame beams (11) and a connection plate arranged between said two main frame beams (11); the connecting plate comprises side panels (12) arranged at two ends of the two frame main beam frames; the mounting bracket (41) of the sensing mechanism (4) is fixed between the two frame main beams (11); the lighting mechanism (5) is arranged on the side panel (12) and provides illumination to the direction of the backing plate at two positions.
3. The laser vision type electromagnetic gripper as claimed in claim 1, wherein said sensor mounting bracket (41) comprises a bracket fixing plate (411), a bracket fixing screw (4111), a vision sensor mounting plate (412), a vision sensor screw mounting hole (4121), a laser ranging sensor mounting plate (413), a laser ranging sensor screw mounting hole (4131); the bracket fixing plate (411) and the bracket fixing screw (4111) are used for fixing the sensor mounting bracket (41) on the frame mechanism (1) or the connecting mechanism (3); the vision sensor mounting plate (412) and the vision sensor screw mounting hole (4121) are used for fixing the vision sensor (42); the laser ranging sensor mounting plate (413) and the laser ranging sensor screw mounting hole (4131) are used for fixing the laser ranging sensor (43).
4. The laser-vision type electromagnetic gripper according to claim 1, wherein said connection means (3) comprise a lower connection flange (32) connected to said frame means (1) and an upper connection flange (31) for connection to the end shaft of the handling robot, said upper connection flange (31) being fixedly connected to said lower connection flange (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011360251.2A CN112549060B (en) | 2020-11-27 | 2020-11-27 | Laser vision type electromagnetic gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011360251.2A CN112549060B (en) | 2020-11-27 | 2020-11-27 | Laser vision type electromagnetic gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112549060A CN112549060A (en) | 2021-03-26 |
| CN112549060B true CN112549060B (en) | 2022-10-04 |
Family
ID=75046434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011360251.2A Active CN112549060B (en) | 2020-11-27 | 2020-11-27 | Laser vision type electromagnetic gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112549060B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115246578A (en) * | 2022-05-11 | 2022-10-28 | 视比特(长沙)机器人科技有限公司 | Steel plate pickup system and pickup method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201253768Y (en) * | 2008-07-11 | 2009-06-10 | 杨兴城 | Magnetic steel suction disk |
| CN202088203U (en) * | 2011-05-19 | 2011-12-28 | 上海发那科机器人有限公司 | Punched stator piece carrying paw apparatus used on a robot |
| DE102010040642A1 (en) * | 2010-09-13 | 2012-03-15 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Magnetic gripper for mounting on e.g. tool holder of handling device utilized in industrial robot, has spacer axially displaced relative to holding magnet between spacing layer for releasing workpiece and grab layer for holding workpiece |
| CN203527478U (en) * | 2013-11-04 | 2014-04-09 | 武汉奋进电力技术有限公司 | Single-arm electromagnetic chuck group manipulator |
| CN108436899A (en) * | 2018-02-12 | 2018-08-24 | 杭州长川科技股份有限公司 | Dedusting suction means and dedusting suction method |
| CN109531613A (en) * | 2018-11-09 | 2019-03-29 | 无锡威卓智能机器人有限公司 | A kind of robot gripper |
| CN110980288A (en) * | 2020-01-09 | 2020-04-10 | 中铁宝桥集团有限公司 | Device for realizing adsorption of non-planar object by electromagnetic chuck |
| CN111452079A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Electromagnet clamp for robot |
| CN211761628U (en) * | 2020-02-28 | 2020-10-27 | 上海鑫燕隆汽车装备制造有限公司 | Mechanical gripper |
-
2020
- 2020-11-27 CN CN202011360251.2A patent/CN112549060B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201253768Y (en) * | 2008-07-11 | 2009-06-10 | 杨兴城 | Magnetic steel suction disk |
| DE102010040642A1 (en) * | 2010-09-13 | 2012-03-15 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Magnetic gripper for mounting on e.g. tool holder of handling device utilized in industrial robot, has spacer axially displaced relative to holding magnet between spacing layer for releasing workpiece and grab layer for holding workpiece |
| CN202088203U (en) * | 2011-05-19 | 2011-12-28 | 上海发那科机器人有限公司 | Punched stator piece carrying paw apparatus used on a robot |
| CN203527478U (en) * | 2013-11-04 | 2014-04-09 | 武汉奋进电力技术有限公司 | Single-arm electromagnetic chuck group manipulator |
| CN108436899A (en) * | 2018-02-12 | 2018-08-24 | 杭州长川科技股份有限公司 | Dedusting suction means and dedusting suction method |
| CN109531613A (en) * | 2018-11-09 | 2019-03-29 | 无锡威卓智能机器人有限公司 | A kind of robot gripper |
| CN110980288A (en) * | 2020-01-09 | 2020-04-10 | 中铁宝桥集团有限公司 | Device for realizing adsorption of non-planar object by electromagnetic chuck |
| CN211761628U (en) * | 2020-02-28 | 2020-10-27 | 上海鑫燕隆汽车装备制造有限公司 | Mechanical gripper |
| CN111452079A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Electromagnet clamp for robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112549060A (en) | 2021-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112549060B (en) | Laser vision type electromagnetic gripper | |
| CN112551155B (en) | Laser and vision integrated base plate carrying joint robot device and positioning method | |
| CN112338956A (en) | Electromagnetic gripper device for carrying base plate | |
| CN210046204U (en) | Upright post welding robot production line | |
| CN210876869U (en) | Plate bending system | |
| CN111055100A (en) | Accurate positioning mechanism for door head plate | |
| JP3252752B2 (en) | Plates for lifting | |
| CN214140560U (en) | Automatic plate placing machine | |
| CN105855979A (en) | Intelligent workpiece machining device | |
| JPH053508Y2 (en) | ||
| US3685634A (en) | Conveyor belt for sheet metal | |
| CN214772130U (en) | Sorting manipulator and sorting robot for sorting thrust wheels | |
| JPWO2020202856A1 (en) | Traveling vehicle system | |
| JP2911853B2 (en) | Adsorption removal device | |
| CN112573201A (en) | Inclination angle self-adaptive electromagnetic type gripper device for carrying base plate | |
| JP3829470B2 (en) | Plate material transfer device | |
| CN114084665B (en) | Novel frame side beam high-speed transfer mechanism | |
| CN213325583U (en) | Mechanical gripper for grabbing sheet metal | |
| CN214818665U (en) | Flexible pick-up device for printing roller plug | |
| CN217437120U (en) | Automatic grabbing device for shaft parts | |
| CN217674782U (en) | Letter sorting subassembly and sorting device | |
| CN108972120B (en) | Brake disc sorting gripper | |
| CN113857800B (en) | Automatic assembling device | |
| CN218026556U (en) | Oiling station of jacquard machine subassembly | |
| CN103434853B (en) | Pre-high speed unstacking device for automobile frame punching line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |