CN112743563A - Assembly structure and assembly method for tail end of manipulator - Google Patents
Assembly structure and assembly method for tail end of manipulator Download PDFInfo
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- CN112743563A CN112743563A CN202011469752.4A CN202011469752A CN112743563A CN 112743563 A CN112743563 A CN 112743563A CN 202011469752 A CN202011469752 A CN 202011469752A CN 112743563 A CN112743563 A CN 112743563A
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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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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Abstract
The invention discloses an assembly structure and an assembly method of the tail end of a manipulator, wherein the assembly structure comprises a bracket, and the bracket is used for being connected with the manipulator; the visual positioning mechanism is arranged on the first side of the bracket and used for acquiring the position information of the material or the accessory; the quick-change mechanism comprises a first connecting piece and a second connecting piece, the first connecting piece is arranged at the bottom of the bracket, and the second connecting piece is detachably connected to the first connecting piece; the grabbing mechanism is arranged on the second connecting piece and used for grabbing the materials according to the position information of the materials; and the assembling mechanism is arranged on the second side of the bracket and used for assembling the accessory to the material according to the position information of the accessory. The assembly structure can integrate the positioning, grabbing and assembling functions on one manipulator, so that the times of replacing the mechanism are reduced, the assembly time of the manipulator is further reduced, and the assembly efficiency of the manipulator is improved.
Description
Technical Field
The invention relates to the field of measuring equipment, in particular to an assembling structure and an assembling method of a tail end of a manipulator.
Background
Notebook computer, in notebook computer equipment, it is more and more common to use the manipulator to replace artifical completion operation, and wherein the most frequently used is snatch two actions of material and screw, usually snatch place the action after accomplishing, just need carry out the screw tightening action, for reducing the equipment time, improve assembly efficiency, need the manipulator end possess simultaneously and snatch and assemble two functions.
Because the material size of equipment notebook is different, need change different when snatching different materials and snatch the mechanism, consequently need snatch the change of mechanism comparatively convenient fast. At present, the common mode is that a station is arranged at the tail end of a manipulator, and a grabbing mechanism and a screw screwing mechanism are continuously switched in the assembling process, so that grabbing and assembling actions are sequentially completed. However, this method requires frequent replacement of the mechanism at the end of the robot, which is time consuming and inefficient in assembly.
Disclosure of Invention
The invention provides an assembling structure and an assembling method of a tail end of a manipulator, which aim to improve the assembling efficiency of the manipulator.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
in a first aspect of the present invention, there is provided an assembly structure of a robot end, including:
the support is used for being connected with the manipulator;
the visual positioning mechanism is arranged on the first side of the bracket and used for acquiring the position information of the material or the accessory;
the quick-change mechanism comprises a first connecting piece and a second connecting piece, the first connecting piece is arranged at the bottom of the bracket, and the second connecting piece is detachably connected to the first connecting piece;
the grabbing mechanism is arranged on the second connecting piece and used for grabbing the materials according to the position information of the materials;
and the assembling mechanism is arranged on the second side of the bracket and used for assembling the accessory to the material according to the position information of the accessory.
Preferably, the first connecting piece is pneumatically connected with the second connecting piece, and the second connecting piece can be connected with the first connecting piece in a first pressure state and can be separated from the first connecting piece in a second pressure state.
Preferably, the first connecting piece is fixed at the bottom of the support through a first flange, and the second connecting piece is fixedly connected with the grabbing mechanism through a second flange.
Preferably, the grabbing mechanism comprises a connecting support and a grabbing part, the connecting support is fixed on the second connecting piece, and the grabbing part is connected to the connecting support through an elastic piece, so that the grabbing part can elastically move relative to the connecting support within a set range.
Preferably, the gripping part is a suction cup or a clamping jaw.
Preferably, the assembling mechanism is an electric screwdriver, and a magnet is arranged at the end of the electric screwdriver so as to magnetically attract the accessory.
Preferably, the visual positioning mechanism comprises a CCD camera and a light source, the CCD camera and the light source are arranged on the same side of the support, the light source is located at one end where a lens of the CCD camera is located, and the light emitting direction of the light source is the same as the shooting direction of the lens.
In a second aspect of the present invention, there is provided a method for assembling a manipulator, including the steps of:
judging whether the material is matched with the grabbing mechanism or not so as to determine whether to control the quick-change mechanism to replace the grabbing mechanism or not;
controlling a visual positioning mechanism to obtain position information of the material;
controlling the grabbing mechanism to grab the material and place the material at a set position according to the position information of the material;
controlling a visual positioning mechanism to obtain position information of the accessory;
and controlling an assembling mechanism to grab the accessory and assemble the accessory onto the material according to the position information of the accessory.
Preferably, the judging whether the material is matched with the grabbing mechanism to determine whether to replace the grabbing mechanism specifically includes:
if the material to be grabbed is matched with the grabbing mechanism, the grabbing mechanism does not need to be replaced, and the material can be grabbed directly;
if the material to be grabbed is not matched with the grabbing mechanism, the first connecting piece and the second connecting piece of the quick-change mechanism are controlled to be separated, the support is controlled to move to the matched grabbing mechanism, and the first connecting piece is connected with the second connecting piece on the matched grabbing mechanism to replace the grabbing mechanism.
Preferably, the visual positioning mechanism can sequentially acquire position information of the first material to the Nth material, so that the grabbing mechanism can sequentially grab the first material to the Nth material according to the corresponding material position information; visual positioning mechanism can also acquire the positional information of first accessory to M accessory in proper order to make assembly devices can assemble first accessory to M accessory in proper order according to the accessory positional information that corresponds, and wherein N and M are positive integer and all are greater than 1.
Compared with the prior art, the invention has the following beneficial effects:
according to the technical scheme, when the material needs to be grabbed, whether the material is matched with the grabbing mechanism or not is judged, if the material is matched with the grabbing mechanism, the grabbing mechanism does not need to be replaced, if the material is not matched with the grabbing mechanism, the first connecting piece and the second connecting piece of the quick-change mechanism are controlled to be separated, the support is controlled to move to the matched grabbing mechanism, and the first connecting piece is connected with the second connecting piece on the matched grabbing mechanism to replace the grabbing mechanism. When the grabbing mechanism does not need to be replaced or is replaced completely, the visual positioning mechanism is used for acquiring the position information of the material, and then the grabbing mechanism is used for grabbing the material to a set position; then, acquiring the position information of the accessory by using a visual positioning mechanism; and finally, assembling the accessory to the material by using an assembling mechanism. From this, utilize this package assembly can with the location, snatch, assemble three function integration on a manipulator, quick change mechanism only is used for changing moreover and snatchs the mechanism, and assembly devices fixes on the manipulator through the support all the time, only needs simple adjustment assembly devices's angle can realize the assembly function to reduce the number of times of changing the mechanism, and then reduced the equipment time of manipulator, improved the packaging efficiency of manipulator.
Drawings
Fig. 1 is a schematic structural diagram of an assembly structure of a robot end according to an embodiment of the present invention;
FIG. 2 is a flow chart of the assembly of a robot tip provided by an embodiment of the present invention;
fig. 3 is a flowchart illustrating the assembly of the robot end according to an embodiment of the present invention.
In the drawings, each reference numeral denotes:
1. a support; 2. a visual positioning mechanism; 21. a CCD camera; 22. a light source; 211. a lens; 212. a camera support; 221. a light source holder; 3. a quick-change mechanism; 31. a first connecting member; 32. a second connecting member; 4. a grabbing mechanism; 41. connecting a bracket; 42. a grasping section; 5. an assembly mechanism; 6. a first flange plate; 7. a second flange.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1, an assembly structure of a robot end according to an embodiment of the present invention includes: the device comprises a support 1, a visual positioning mechanism 2, a quick-change mechanism 3, a grabbing mechanism 4 and an assembling mechanism 5.
The bracket 1 is used for connecting with a manipulator; the visual positioning mechanism 2 is arranged on the first side of the bracket 1 and used for acquiring the position information of the material or the accessory; the quick-change mechanism 3 comprises a first connecting piece 31 and a second connecting piece 32, the first connecting piece 31 is arranged at the bottom of the bracket 1, and the second connecting piece 32 is detachably connected to the first connecting piece 31; the grabbing mechanism 4 is arranged on the second connecting piece 32 and used for grabbing the materials according to the position information of the materials; the assembling mechanism 5 is arranged on the second side of the bracket 1 and is used for assembling the accessory to the material according to the position information of the accessory.
In this embodiment, when the material needs to be grabbed, whether the material is matched with the grabbing mechanism 4 or not is judged firstly, if the material is matched with the grabbing mechanism 4, the grabbing mechanism 4 does not need to be replaced, if the material is not matched with the grabbing mechanism, the first connecting piece 31 and the second connecting piece 32 of the quick-change mechanism 3 are controlled to be separated, and the support 1 is controlled to move to the matched grabbing mechanism, so that the first connecting piece 31 is connected with the second connecting piece 32 on the matched grabbing mechanism, and the grabbing mechanism 4 is replaced. When the grabbing mechanism 4 does not need to be replaced or the grabbing mechanism 4 is completely replaced, the visual positioning mechanism 2 is used for acquiring the position information of the material, and then the grabbing mechanism 4 is used for grabbing the material to a set position; then, the visual positioning mechanism 2 is used for acquiring the position information of the accessory; finally, the fitting is assembled to the material by the assembling mechanism 5. From this, utilize this package assembly can with the location, snatch, assemble three function integration on a manipulator, quick change mechanism 3 only is used for changing moreover and snatchs the mechanism, and assembly devices fixes on the manipulator through support 1 all the time, only needs simple adjustment assembly devices's angle can realize the assembly function to reduce the number of times of changing the mechanism, and then reduced the equipment time of manipulator, improved the packaging efficiency of manipulator.
In the above embodiment, it is preferable that the first connector 31 is pneumatically connected to the second connector 32, and the second connector 32 is connectable to the first connector 31 in the first pressure state and separable from the first connector 31 in the second pressure state. Specifically, in this embodiment, the surface of the first connecting member 31 has a plurality of suction holes, the suction holes are connected to the vacuum generator through a pipeline, and when the grasping mechanism 4 does not need to be replaced, the vacuum generator is always kept in a vacuum state, so that the first connecting member 31 and the second connecting member 32 are vacuum-sucked together, and at this time, the pressure state of the second connecting member 32 is the first pressure state; when different grabbing mechanisms 4 need to be replaced, the vacuum generator stops vacuumizing, so that the second connecting piece 32 and the grabbing mechanism connected to the second connecting piece 32 naturally fall due to the action of gravity and are further separated from the first connecting piece 31, and at the moment, the pressure state of the second connecting piece 32 is the second pressure state. From this, can change snatching mechanism 4 very fast through the mode of pneumatic connection, improve the convenience that snatchs mechanism 4 and change.
In the above embodiment, it is preferable that the end surface of the first connecting member 31 adjacent to the second connecting member 32 has a positioning protrusion or a positioning groove, and correspondingly, the end surface of the second connecting member 32 adjacent to the first connecting member has a positioning groove or a positioning protrusion, and the positioning protrusion can be engaged with or disengaged from the positioning groove. Generally, various different grabbing mechanisms 4 are placed on the support together, the end face of the second connecting piece 32 faces upwards, when the grabbing mechanism 4 is replaced, the first connecting piece 31 is firstly separated from the connected second connecting piece 32, then the manipulator drives the support 1 to move to the grabbing mechanism 4 needing to be replaced, the positioning protrusion or the positioning groove of the first connecting piece 31 is clamped with the positioning groove or the positioning protrusion of the second connecting piece 32, the first connecting piece 31 and the second connecting piece 32 are connected and positioned, so that the deviation of the first connecting piece 31 and the second connecting piece 32 is avoided, and after the positioning protrusion and the positioning groove are clamped in place, the vacuum generator starts to vacuumize to enable the first connecting piece and the second connecting piece to be adsorbed together, so that the grabbing mechanism 4 is replaced. Therefore, the connection precision of the positioning protrusion and the positioning groove can be improved in a clamping mode of the positioning protrusion and the positioning groove, and the structure and the arrangement mode of the positioning protrusion and the positioning groove are not limited.
It is understood that the connection of the first connecting member 31 and the second connecting member 32 by pneumatic connection in the above-described embodiment is only one of the preferred embodiments, and in other embodiments, the connection may be performed by other connection methods. For example: in another embodiment, an end surface of the first connecting member 31 close to the end surface of the second connecting member 32 is provided with an electromagnet, correspondingly, an end surface of the second connecting member 32 close to the first connecting member 31 is provided with a metal member, the electromagnet can generate magnetic force in a power-on state, so that the metal member on the second connecting member 32 is magnetically adsorbed, the first connecting member 31 is connected with the second connecting member 32, the magnetic force of the electromagnet disappears in a power-off state, and at this time, the second connecting member 32 and the grabbing mechanism connected to the second connecting member 32 naturally fall due to the action of gravity, and then are separated from the first connecting member 31. In addition, the electromagnet can also select the type that the magnetic force is generated under the power-off state and the magnetic force disappears under the power-on state, and the electromagnets of the two types are common structures on the market and are not described herein any more, so that a proper electromagnet can be selected according to actual needs to be magnetically connected, and electric energy is saved to the maximum extent.
In the above embodiment, preferably, the first connecting member 31 is fixed to the bottom of the bracket 1 by the first flange 6, and the second connecting member 32 is fixedly connected to the grasping mechanism 4 by the second flange 7. In this embodiment, the first connecting member 31 and the second connecting member 32 can be stably mounted on the bracket 1 and the grasping mechanism 4 through the flanges, and at the same time, when the first connecting member 31 and the second connecting member 32 have a problem, the first connecting member 31 and the second connecting member 32 can be conveniently detached, so that the convenience of replacing the first connecting member 31 and the second connecting member 32 is improved.
In the above embodiment, it is preferable that the grasping mechanism 4 includes the connecting bracket 41 and the grasping portion 42, the connecting bracket 41 is fixed to the second connecting member 32, and the grasping portion 42 is connected to the connecting bracket 41 by an elastic member (not shown in the figure) so that the grasping portion 42 can elastically move relative to the connecting bracket 41 within a set range. Specifically, in this embodiment, the elastic component is the spring, and when snatching mechanism 4 and snatching the material, snatch portion 42 and can contact with the material, because snatch portion 42 can be in certain within range elastic activity, even certain error appears when snatching also can avoid causing the damage to the material to can improve the security that snatchs portion 42 and snatch the material.
In the above embodiment, the gripping portion 42 is preferably a suction cup or a jaw. When grabbing portion 42 and being the sucking disc, then carry out the work of snatching of material through vacuum adsorption's mode, when grabbing portion 42 and being the clamping jaw, then carry out the work of snatching of material through the mode that the clamping jaw opened and shut, the concrete structure of grabbing portion 42 can be according to the needs of snatching of actual material and decide.
In the above embodiment, it is preferable that the assembling mechanism 5 is an electric screwdriver, and a magnet is provided at an end of the electric screwdriver to magnetically attract the fitting. Specifically, in this embodiment, the accessory is the screw, and after the material snatched the target in place, vision positioning mechanism acquireed the positional information of screw, then, the screwdriver moved to corresponding position according to this positional information, through the magnet magnetic adsorption screw of tip, then the screwdriver drives the screw and rotates to accomplish the assembly process of screw, this process can be repeated many times according to the difference of technology. In other embodiments, the assembling mechanism 5 can also be other electric devices to fulfill different assembling requirements.
Referring to fig. 1, in the above embodiment, preferably, the visual positioning mechanism 2 includes a CCD camera 21 and a light source 22, the CCD camera 21 and the light source 22 are disposed on the same side of the bracket 1, the light source 22 is located at an end where the lens 211 of the CCD camera 21 is located, and the light emitting direction of the light source 22 is the same as the shooting direction of the lens 211. Specifically, in this embodiment, the CCD camera 21 is first fixed to one side of the holder 1 by the camera holder 212, and then the light source 22 is fixed to the same side of the holder 1 by the light source holder 221, and the light source 22 is located below the CCD camera 21, so that the light emitting direction of the light source 22 coincides with the shooting direction of the lens 211. When position information of the material or the part needs to be acquired, the light source 22 firstly emits light to illuminate the area where the material or the part is located, and then the CCD camera 21 shoots the material or the part in the area. It should be understood that the visual positioning mechanism 2 is designed as the CCD camera 21 and the light source 22 in this embodiment, and other structures may be used instead in other embodiments.
Example two:
referring to fig. 2, the technical solution of the present invention further provides an assembling method of a manipulator, which includes the following steps:
and S10, judging whether the material is matched with the grabbing mechanism 4 or not to confirm whether the quick-change mechanism 3 is controlled to replace the grabbing mechanism 4 or not.
Specifically, if the material to be grabbed is matched with the grabbing mechanism 4, the grabbing mechanism 4 does not need to be replaced, and the material can be grabbed directly; if the material to be grabbed is not matched with the grabbing mechanism 4, the first connecting piece 31 and the second connecting piece 32 of the quick-change mechanism are controlled to be separated, and the support 1 is controlled to move to the matched grabbing mechanism 4, so that the first connecting piece 31 is connected with the second connecting piece 32 on the matched grabbing mechanism to replace the grabbing mechanism 4.
And S20, controlling the visual positioning mechanism 2 to acquire the position information of the material.
Specifically, the material can be one also can be a plurality of, and the material is placed in the material region, and when the positional information of material was acquireed to needs, manipulator drive support 1 moved to the position department at material place for CCD camera 21 aligns the material with light source 22, then, light source 22 sends light in order to illuminate the region at material place, and finally, CCD camera 21 shoots the region at material place, in order to obtain the image of material, through carrying out the analysis in order to obtain the positional information of material to the image.
And S30, controlling the grabbing mechanism 4 to grab the material and place the material at a set position according to the position information of the material.
Specifically, after the positional information of material acquires, the system can send the positional information of material for the robot, snatch mechanism 4 through robot control and remove the position department that moves to the material place and snatch the material, snatch the completion back when the material, the robot drives the material and removes to settlement position department (equipment station promptly) to place this material at this equipment station, in order to wait to assemble with other parts. In addition, the material can be grabbed for multiple times according to different processes, and before each grabbing, whether the grabbing mechanism 4 is replaced or not needs to be determined, for example: when the gripping by the suction cup is required, the gripping mechanism with the gripping jaws cannot be used, and vice versa; or, when the gripping mechanism is required to have two suction cups to grip, the gripping mechanism with only one suction cup cannot be used, and vice versa.
And S40, controlling the visual positioning mechanism 2 to acquire the position information of the accessory.
Specifically, the accessory can be one or a plurality of accessories, the accessories are placed in the accessory area, when the position information of the accessory needs to be acquired, the manipulator drives the support 1 to move to the position where the accessory is located, so that the CCD camera 21 and the light source 22 are aligned with the accessory, then the light source 22 emits light to illuminate the area where the accessory is located, and finally the CCD camera 21 shoots the area where the accessory is located to acquire the image of the accessory, and the image is analyzed to acquire the position information of the accessory.
And S50, controlling the assembly mechanism to grab the accessory and assemble the accessory onto the material according to the position information of the accessory.
Specifically, after the position information of accessory acquires, the system can send the position information of accessory for the robot, and control device assembly mechanism 5 through the robot removes the position department at accessory place and snatchs the accessory, snatchs when the accessory and accomplishes the back, and the robot drives the accessory and removes to equipment station department to assemble this accessory to the material on, in order to accomplish assembly work. In addition, the assembly process can be assembled multiple times according to different processes.
In the above embodiment, preferably, the visual positioning mechanism 2 can sequentially acquire the position information of the first to nth materials, so that the grasping mechanism 4 can sequentially grasp the first to nth materials according to the corresponding material position information; the visual positioning mechanism 2 can also acquire the position information of the first to mth accessories in turn, so that the assembling mechanism 5 can assemble the first to mth accessories in turn according to the corresponding accessory position information, wherein N and M are positive integers and are both greater than 1. Referring to fig. 3, during specific grabbing, after all components are assembled, the position information of the material 1 is obtained by using the visual positioning mechanism 2, so that the material 1 is grabbed in place by using the grabbing mechanism 4; then, whether the grabbing mechanism 4 needs to be replaced or not is judged between the grabbed materials 2, in the embodiment, the grabbing mechanism 4 does not need to be replaced for the grabbed materials 2, so that the position information of the materials 2 is continuously acquired by using the visual positioning mechanism 2, and the grabbing mechanism 4 is used for grabbing the materials 2 in place; when the material 3 needs to be grabbed, the grabbing mechanism 4 needs to be replaced, so that the grabbing mechanism is replaced through the quick-change mechanism 3, the visual positioning mechanism 2 is used for continuously acquiring the position information of the material 3, the replaced grabbing mechanism 4 is used for grabbing the material 3 in place, and the whole grabbing process of the material is completed at the moment. After the material snatchs and finishes, the manipulator is rotatory 90 for assembly devices 5 (promptly the electricity is criticized) is vertical downwards, then, acquires the positional information of screw through vision positioning mechanism 2, thereby utilizes the electricity to criticize and adsorb the screw and assemble in the corresponding position department of material. Meanwhile, it should be noted that the screw assembling process can be repeated for many times according to the process requirements until the assembly is completed, and the screw assembling process is the same every time, which is not described herein again.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the specific embodiment 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 the present invention shall be covered thereby. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An assembly structure of a robot arm tip, comprising:
the support is used for being connected with the manipulator;
the visual positioning mechanism is arranged on the first side of the bracket and used for acquiring the position information of the material or the accessory;
the quick-change mechanism comprises a first connecting piece and a second connecting piece, the first connecting piece is arranged at the bottom of the bracket, and the second connecting piece is detachably connected to the first connecting piece;
the grabbing mechanism is arranged on the second connecting piece and used for grabbing the materials according to the position information of the materials;
and the assembling mechanism is arranged on the second side of the bracket and used for assembling the accessory to the material according to the position information of the accessory.
2. The assembly structure according to claim 1, wherein the first connector is pneumatically connected to the second connector, the second connector being connectable to the first connector in a first pressure state and being separable from the first connector in a second pressure state.
3. The assembly of claim 1, wherein the first connector is secured to the bottom of the frame by a first flange and the second connector is secured to the grasping mechanism by a second flange.
4. The assembly structure according to claim 1, wherein the grasping mechanism includes a connecting bracket fixed to the second connecting member, and a grasping portion connected to the connecting bracket by an elastic member so that the grasping portion is elastically movable within a set range with respect to the connecting bracket.
5. The assembly structure according to claim 4, wherein the grasping portion is a suction cup or a jaw.
6. The assembly structure according to claim 1, wherein the fitting mechanism is an electric screwdriver, and a magnet is provided at an end of the electric screwdriver to magnetically attract the fitting.
7. The assembly structure of claim 1, wherein the visual positioning mechanism comprises a CCD camera and a light source, the CCD camera and the light source are disposed on the same side of the bracket, the light source is located at one end where a lens of the CCD camera is located, and the light emitting direction of the light source is the same as the shooting direction of the lens.
8. A method of assembling a manipulator, comprising the steps of:
judging whether the material is matched with the grabbing mechanism or not so as to determine whether to control the quick-change mechanism to replace the grabbing mechanism or not;
controlling a visual positioning mechanism to obtain position information of the material;
controlling the grabbing mechanism to grab the material and place the material at a set position according to the position information of the material;
controlling a visual positioning mechanism to obtain position information of the accessory;
and controlling an assembling mechanism to grab the accessory and assemble the accessory onto the material according to the position information of the accessory.
9. The assembly method according to claim 8, wherein the determining whether the material is adapted to the gripping mechanism to confirm whether the gripping mechanism is replaced specifically comprises:
if the material to be grabbed is matched with the grabbing mechanism, the grabbing mechanism does not need to be replaced, and the material can be grabbed directly;
if the material to be grabbed is not matched with the grabbing mechanism, the first connecting piece and the second connecting piece of the quick-change mechanism are controlled to be separated, the support is controlled to move to the matched grabbing mechanism, and the first connecting piece is connected with the second connecting piece on the matched grabbing mechanism to replace the grabbing mechanism.
10. The assembling method according to claim 1, wherein the visual positioning mechanism can sequentially acquire the position information of the first to nth materials, so that the grabbing mechanism can grab the first to nth materials sequentially according to the corresponding material position information; visual positioning mechanism can also acquire the positional information of first accessory to M accessory in proper order to make assembly devices can assemble first accessory to M accessory in proper order according to the accessory positional information that corresponds, and wherein N and M are positive integer and all are greater than 1.
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Cited By (1)
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|---|---|---|---|---|
| CN114012418A (en) * | 2021-12-14 | 2022-02-08 | 上海霸田机电设备有限公司 | Screw gun locking rack |
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| JP2018158405A (en) * | 2017-03-22 | 2018-10-11 | キヤノン株式会社 | Robot hand, tool replacement unit, and robot hand control method |
| CN107030696A (en) * | 2017-04-28 | 2017-08-11 | 广州瑞松北斗汽车装备有限公司 | A kind of vision guide handgrip |
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| CN211565012U (en) * | 2019-12-30 | 2020-09-25 | 广东利元亨智能装备股份有限公司 | Radiator gripping apparatus and radiator material loading assembly line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114012418A (en) * | 2021-12-14 | 2022-02-08 | 上海霸田机电设备有限公司 | Screw gun locking rack |
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