CN112693876A - Glue spreading barrel device capable of accurately taking and placing special-shaped glue spreading barrel from heat preservation box - Google Patents
Glue spreading barrel device capable of accurately taking and placing special-shaped glue spreading barrel from heat preservation box Download PDFInfo
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- CN112693876A CN112693876A CN202011455203.1A CN202011455203A CN112693876A CN 112693876 A CN112693876 A CN 112693876A CN 202011455203 A CN202011455203 A CN 202011455203A CN 112693876 A CN112693876 A CN 112693876A
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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
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Abstract
The invention relates to a device for accurately taking and placing a special-shaped polishing and gluing barrel from a heat preservation box, which comprises a wire body supporting and conveying unit, a tray conveying device, a glue barrel moisturizing unit, a clamping unit, a rotating unit and a turning unit. The line body supporting and conveying unit is arranged at the bottom to support and convey; the glue barrel moisturizing unit is arranged at the upper end of the glue barrel to keep the humidity in the box and carry workpieces; the rotating unit and the overturning unit are arranged at one end of the glue barrel moisturizing unit, so that the functions of accurately positioning the workpiece, grabbing, rotating and moving and overturning and transposition are realized. The invention can realize automatic transportation and accurate grabbing and ensure the efficiency and accuracy of special-shaped grabbing.
Description
Technical Field
The invention relates to an automatic accurate grabbing system, in particular to a device for accurately taking and placing an irregular polishing and gluing barrel from a heat preservation box.
Background
At present, the insulation can of domestic throwing daubing bucket is mostly semi-automatization, needs artifical supplementary participation, especially opens the case and snatchs two work steps and adopts manual operation completely. This kind of snatchs mode has following drawback: firstly, manual operation is adopted in the process of discharging the projectile body out of the box when the product is grabbed, so that the labor intensity of operators is increased, and the efficiency is low; secondly, the special-shaped thin-wall glue barrel is easily deformed by manual grabbing, and the accurate control of the glue supplying process of the coating paste is influenced.
The equipment that the rubber coating bucket field was thrown to the accuracy is snatched the dysmorphism in China does not have accurate discernment to snatch, and the operating mode at present stage can not satisfy accurate discernment and snatch to throw and scribble the requirement of automation and high efficiency.
Disclosure of Invention
The technical problem of the invention is solved: aiming at the problems, the invention aims to realize automatic transportation and accurate grabbing and ensure the efficiency and accuracy of special-shaped grabbing.
The technical solution of the invention is as follows:
the utility model provides a get in the insulation can accurate and put dysmorphism and throw rubberizing barreled device, includes: a line body supporting and conveying unit, a tray conveying device, a glue barrel moisturizing unit, a clamping unit, an opening and closing mechanism unit, a rotating unit and a turning unit,
the line body supporting and conveying unit is arranged at the bottom of the whole device and used for supporting and conveying;
the glue barrel moisturizing unit is arranged in the line body supporting and conveying unit, and the material storage unit is filled with the material storage unit and can maintain the humidity of the bin material;
the rotating unit is connected with the overturning unit through a rotating rod and is arranged at one end of the glue barrel moisturizing unit, the workpiece is accurately positioned through a visual camera device, grabbing is realized through a claw device, rotating movement is realized through a rotating seat, and overturning transposition is realized through the overturning unit;
the opening and closing mechanism unit can automatically extend out of the sucker, suck a designated workpiece and automatically pull back, so that automatic telescopic sucking is realized;
the position of accurate discernment dysmorphism feed bin can be realized to tong unit to realize automatic snatching.
Further, the line body supporting and conveying unit comprises a lower line body driving device and a tray positioning device, the glue barrel moisturizing unit is arranged on the tray positioning device, and the clamping unit is positioned at the upper end of the glue barrel moisturizing unit; the lower line body driving device is arranged at the lower end of the line body supporting and conveying unit to provide motive power, and the tray positioning device is used for fixing and conveying the glue barrel moisturizing unit.
Further, glue bucket unit of moisturizing including gluing bucket activity box and special-shaped feed bin fixing device, special-shaped feed bin fixing device arranges in on gluing bucket activity box, wherein glue bucket unit of moisturizing and put on tray conveyor, support the conveying unit through the line body and transport to predetermined tray stop device position.
Further, the opening and closing mechanism unit comprises a sucker device and a jacking device, the sucker device is connected with the jacking device, and the jacking device stretches out after the glue barrel moisturizing unit reaches a preset position.
Furthermore, the clamping unit comprises a claw device, a vision camera device and a fixing device, and the fixing device is vertically connected with the rotating unit and is arranged at the lower end of the rotating unit;
the vision camera devices are positioned at the lower end of the fixing device, connected with the fixing device and symmetrically distributed on two sides; the claw hand device and the fixing device are connected through a sliding pair and symmetrically distributed on two sides of the rotating unit.
Further, the rotating unit comprises a rotating cylinder, a force sensor and a rotating seat, and the rotating seat and the force sensor are arranged at the lower end of the rotating cylinder; the force sensor is vertically connected with the rotary cylinder through a revolute pair and is arranged at the lower end of the overturning unit.
Further, the upset unit includes upset support, shaft coupling and servo motor, and the upset unit is arranged in the rotating unit upper end, the lower extreme end of upset support with the rotating unit is connected, upset support side with the shaft coupling passes through revolute pair coaxial coupling, and servo motor passes through revolute pair coaxial coupling with the shaft coupling.
Further, tray positioner includes tray stop device and positioner, and positioner arranges tray stop device in on, realizes the location to gluing bucket unit of moisturizing.
Furthermore, a plurality of suckers on the sucker device are in contact attraction with the glue barrel movable box body and used for pulling out the glue barrel movable box body.
Furthermore, the opening and closing mechanism unit and the clamping hand unit are positioned on the same side of the rubber barrel movable box body.
The invention has the advantages and positive effects that:
(1) the gripper unit can accurately identify the position of the special-shaped bin and realize the automatic and accurate identification and grabbing functions;
(2) the opening and closing mechanism unit can automatically extend out of the sucker, suck a designated workpiece and automatically pull back, so that the automatic telescopic sucking function is realized;
(3) the invention can realize the free movement of three dimensions in space coordinates;
(4) the glue barrel moisturizing unit can transport bin materials, keep constant humidity in the unit bin and realize the function of safe transportation and storage.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is an enlarged view taken at point I of FIG. 2;
fig. 4 is an enlarged view of fig. 1 at point ii.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in figure 1, the device for accurately taking and placing the special-shaped polishing gluing barrel from the heat preservation box. The method comprises the following steps: the line body supports conveying unit 1, tray conveyer 2, gluey bucket unit of moisturizing 3, tong unit 7, mechanism unit 17, roating seat 11 and upset unit 14 that opens and shuts. The line body supporting and conveying unit 1 is arranged at the bottom to support and convey; the glue barrel moisturizing unit 3 is arranged at the upper end of the glue barrel to maintain the humidity in the box and carry workpieces; the rotary seat 11 with the upset unit 14 is arranged in glue bucket unit 3 one end of moisturizing realizes the function of accurate location work piece, snatch, rotatory removal and upset transposition.
As shown in fig. 4, the wire support conveying unit 1 includes a lower wire driving device 74 and a tray positioning device 76, the glue barrel moisturizing unit 3 is disposed on the tray positioning device 81, and the gripper unit is disposed at the upper end of the glue barrel moisturizing unit 3. The lower wire body driving device 74 is arranged at the lower end of the wire body supporting and conveying unit 1 to provide source power, and the tray positioning device 81 comprises a tray limiting device 78 and a positioning device 76 to be used for fixing and conveying the glue barrel moisturizing unit 3 along the X-axis direction.
The glue barrel moisturizing unit 3 comprises a glue barrel movable box body 28 and a special-shaped stock bin fixing device 4. The glue barrel moisturizing unit 3 is placed on the tray conveying device 81 and is transported to the position of the preset tray limiting device 78 through rolling and sliding of the line body supporting and conveying unit 1. Waiting for the opening and closing mechanism to pull out the movable box 28.
As shown in fig. 2, the opening and closing mechanism unit 17 includes a suction cup device 96 and a lift device 90. The opening and closing mechanism unit 17 is on the same side as the gripper unit 7. The suction cup device 96 is connected with the jacking device 90. After the glue barrel moisturizing unit 3 reaches a preset position, the jacking device 90 extends out, and the plurality of suckers on the sucker device 96 are in contact suction with the glue barrel movable box 28 and are pulled out along the Y-axis direction.
As shown in fig. 3, the gripper unit 7 includes a gripper device 41, a visual camera device 6, and a fixing device 24. The vision camera devices 6 are positioned at the lower end of the fixing device 24, connected with the fixing device and distributed symmetrically on two sides; the claw hand devices 41 and the fixing devices are connected and distributed on two symmetrical sides of the rotating unit 10 through sliding pairs. After the opening and closing mechanism unit 7 pulls out the movable box body, the clamping hand unit 7 moves along the Z-axis direction, and after the visual camera device 6 identifies the bin material, the claw hand device 41 grabs the bin material and returns to the original position along the Z-axis direction.
The rotary unit 10 includes a rotary cylinder 13, a force sensor 12, and a rotary base 11. The rotating seat 11 and the force sensor 12 are arranged at the lower end; the force sensor 12 is vertically connected with the rotary cylinder 13 through a revolute pair and is arranged at the lower end of the rotary cylinder. The rotating unit 10 can rotate the clamping unit 10 connected with the rotating unit to complete the work of replaying and exchanging the bin materials.
As shown in fig. 1, the opening and closing mechanism unit 17 includes a flipping unit 14, a coupler 15, and a servo motor 16. The opening and closing mechanism unit 17 is disposed at the upper end of the rotating unit 10. The turning unit 14 is coaxially connected with the coupling 15 through a rotating pair. The opening and closing mechanism unit 17 provides power for the gripper unit to move along the Z axis.
The working principle of the invention is as follows:
defining: the horizontal conveying direction of the line body supporting and conveying unit 1 is an X axis, the working direction of the opening and closing mechanism unit 17 is a Y axis, the vertical movement direction of the gripper unit 7 is a Z axis, and the intersection point of the three axes is used as an origin.
The utility model provides a get in the insulation can accurate and put dysmorphism and throw rubberizing barreled device, includes: the line body supports conveying unit, tray conveyer, gluey bucket unit of moisturizing, tong unit, mechanism unit, rotary unit and the upset unit that opens and shuts. The line body supporting and conveying unit is arranged at the bottom to support and convey; the glue barrel moisturizing unit is arranged at the upper end of the glue barrel to keep the humidity in the box and carry workpieces; the rotating unit and the overturning unit are arranged at one end of the glue barrel moisturizing unit, so that functions of accurately positioning a workpiece, grabbing, rotating and moving and overturning and transposition are realized.
The line body supports the conveying unit and transports the gluey bucket unit of moisturizing on the tray conveyer to predetermineeing the position along the X axle direction, and the jacking device of the mechanism unit that opens and shuts stretches out along the Y axle, and the sucking disc device that links to each other with it pulls out movable box, demonstrates the special-shaped mount that is equipped with the storehouse material.
The clamping hand unit moves downwards to the warehouse material position along the Z axis, the vision camera automatically identifies the warehouse material characteristics, and the claw hand device grabs the warehouse material through the sliding pair and then lifts the warehouse material back to the original position along the Z axis in the opposite direction.
The rotating unit is driven by the overturning unit to rotate 180 degrees in the circumferential direction, the empty clamping hand device and the obtained clamping hand device with the bin materials are switched, the clamping hand devices on the two sides slide downwards along the Z axis at the same time, the clamping hand device with the bin materials puts down the bin materials to carry out the next procedure, and the empty clamping hand device repeats the automatic identification and grabbing operation. After the grabbing is finished, the robot is reversely lifted to the original position along the Z axis.
The gripper unit can accurately identify the position of the special-shaped bin and realize the automatic and accurate identification and grabbing functions; the opening and closing mechanism unit can automatically extend out of the sucker, suck a designated workpiece and automatically pull back, so that the automatic telescopic sucking function is realized.
The invention can realize the free movement of three dimensions in space coordinates; the glue barrel moisturizing unit can transport bin materials, and keeps constant humidity in the unit bin, so that the transportation safety storage function is realized.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a get accurate special-shaped of putting from insulation can and throw rubberizing barreled device which characterized in that includes: a line body supporting and conveying unit (1), a tray conveying device (2), a glue barrel moisturizing unit (3), a clamping unit (7), an opening and closing mechanism unit (17), a rotating unit (10) and a turning unit (14),
the line body supporting and conveying unit (1) is arranged at the bottom of the whole device and used for supporting and conveying;
the glue barrel moisturizing unit (3) is arranged on the line body supporting and conveying unit (1), and the glue barrel moisturizing unit is filled with hidden materials and can keep the humidity of the stored materials;
the glue barrel comprises a rotating unit (10) and a turning unit (14), wherein the rotating unit (10) is connected with the turning unit (14) through a rotating rod (13), is arranged at one end of a glue barrel moisturizing unit (3), realizes accurate positioning of a workpiece through a visual camera device (6), realizes grabbing through a claw device (41), realizes rotating movement through a rotating seat (11), and realizes turning transposition through the turning unit (14);
the opening and closing mechanism unit (17) can automatically extend out of the sucker, suck a designated workpiece and automatically pull back the workpiece, so that automatic telescopic sucking is realized;
the clamping hand unit (7) can accurately identify the position of the special-shaped bin and realize automatic grabbing.
2. The device for accurately taking, placing and coating the glue barrel in the thermal insulation box in the special shape according to claim 1, wherein the line body supporting and conveying unit (1) comprises a lower line body driving device (74) and a tray positioning device (81), the glue barrel moisturizing unit (3) is arranged above the tray positioning device (81), and the clamping hand unit (7) is arranged at the upper end of the glue barrel moisturizing unit (3); the lower wire body driving device (74) is arranged at the lower end of the wire body supporting and conveying unit (1) to provide motive power, and the tray positioning device (81) is used for fixing and conveying the glue barrel moisturizing unit (3).
3. The device for accurately taking, placing and placing the special-shaped throwing and gluing barrel in the thermal insulation box according to claim 2, wherein the glue barrel moisturizing unit (3) comprises a glue barrel movable box body (28) and a special-shaped bin fixing device (4), the special-shaped bin fixing device (4) is arranged on the glue barrel movable box body (28), the glue barrel moisturizing unit (3) is placed on the tray conveying device (81), and is conveyed to a preset tray limiting device (78) position through the line body supporting conveying unit (1).
4. The device for accurately taking, placing and polishing the special-shaped glue coating barrel in the heat preservation box according to the claim 3 is characterized in that the opening and closing mechanism unit (17) comprises a sucker device (96) and a jacking device (90), the sucker device (96) is connected with the jacking device (90), and the jacking device (90) extends out after the glue barrel moisturizing unit (3) reaches a preset position.
5. The device for accurately taking and placing the irregular shaped polishing gluing barrel from the heat preservation box according to the claim 1, wherein the clamping hand unit (7) comprises a claw hand device (41), a vision camera device (6) and a fixing device (24), the fixing device (24) is vertically connected with the rotating unit (10) and is arranged at the lower end of the rotating unit (10);
the vision camera devices (6) are positioned at the lower end of the fixing device (24), connected with the fixing device and symmetrically distributed on two sides; the claw hand devices (41) and the fixing devices (24) are connected through sliding pairs and symmetrically distributed on two sides of the rotating unit (10).
6. The device for accurately taking and placing the special-shaped polishing and gluing barrel in the heat preservation box according to the claim 5 is characterized in that the rotating unit (10) comprises a rotating cylinder (13), a force sensor (12) and a rotating base (11), wherein the rotating base (11) is connected with the force sensor (12) and is positioned at the lower end of the rotating cylinder (13); the force sensor (12) is vertically connected with the rotary cylinder (13) through a revolute pair and is arranged at the lower end of the overturning unit (14).
7. The device for accurately taking, placing and polishing the special-shaped glue coating barrel in the heat preservation box according to claim 1, wherein the overturning unit (14) comprises an overturning support (27), a coupler (15) and a servo motor (16), the overturning unit (14) is arranged at the upper end of the rotating unit (10), the lower end of the overturning support (27) is connected with the rotating unit (10), the side end of the overturning support (27) is coaxially connected with the coupler (15) through a rotating pair, and the servo motor (16) is coaxially connected with the coupler (15) through a rotating pair.
8. The device for accurately taking, placing and polishing the special-shaped glue spreading barrel from the heat preservation box according to claim 2, wherein the tray positioning device (81) comprises a tray limiting device (78) and a positioning device (76), and the positioning device (76) is arranged on the tray limiting device (78) to position the glue barrel moisturizing unit (3).
9. The device for accurately picking and placing the irregular-shaped polishing and gluing barrel in the thermal insulation box according to claim 6, wherein a plurality of suckers on the sucker device (96) are contacted and attracted with the movable box body (28) of the glue barrel for pulling out the movable box body (28) of the glue barrel.
10. The device for accurately taking and placing the special-shaped polishing gluing barrel from the heat preservation box according to claim 4, wherein the opening and closing mechanism unit (17) and the clamping hand unit (7) are positioned on the same side of the glue barrel movable box body (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011455203.1A CN112693876B (en) | 2020-12-10 | 2020-12-10 | Glue spreading barrel device capable of accurately taking and placing special-shaped glue spreading barrel from heat preservation box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011455203.1A CN112693876B (en) | 2020-12-10 | 2020-12-10 | Glue spreading barrel device capable of accurately taking and placing special-shaped glue spreading barrel from heat preservation box |
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| Publication Number | Publication Date |
|---|---|
| CN112693876A true CN112693876A (en) | 2021-04-23 |
| CN112693876B CN112693876B (en) | 2022-04-12 |
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| CN202011455203.1A Active CN112693876B (en) | 2020-12-10 | 2020-12-10 | Glue spreading barrel device capable of accurately taking and placing special-shaped glue spreading barrel from heat preservation box |
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2020
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