CN112850133B - Workpiece grabbing deviation adjusting system and method based on CCD correction - Google Patents
Workpiece grabbing deviation adjusting system and method based on CCD correction Download PDFInfo
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- CN112850133B CN112850133B CN202110014819.3A CN202110014819A CN112850133B CN 112850133 B CN112850133 B CN 112850133B CN 202110014819 A CN202110014819 A CN 202110014819A CN 112850133 B CN112850133 B CN 112850133B
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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
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Abstract
The invention discloses a workpiece grabbing deviation adjusting system and method based on CCD correction, wherein the workpiece grabbing deviation adjusting system comprises a feeding material flow line, a CCD correction transfer assembly, a rotary disc assembly and a rack, the bottom of the feeding material flow line and the ground are fixedly connected to the side edge of the rack, the CCD correction transfer assembly stretches across the feeding material flow line and the rack, the bottom of the CCD correction transfer assembly is fixedly connected to the ground, and the rotary disc assembly is fixedly connected to the top of the rack. The material tray with the workpiece is conveyed to the position below the CCD correction transfer assembly through the feeding material flow line, the CCD correction transfer assembly determines the position of the workpiece through CCD shooting and grabs the workpiece to be placed on the turntable assembly, and the turntable assembly brings the workpiece to the next station through rotation to perform subsequent processing.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a workpiece grabbing deviation adjusting system and method based on CCD correction.
Background
The grabbing of the workpiece is a common condition in the technical field of automation, the requirement on the positioning precision is not very high, a fixed route is usually set for a grabbing device, whether the workpiece is grabbed and placed in place by using a sensor to be detected, an industrial robot or an all-dimensional sensing suite aiming at a single workpiece is adopted for the workpiece with relatively high precision, the use cost of the industrial robot is high, and a matching program needs to be written for different workpieces, although the accuracy of the automatic grabbing device can be improved to a great extent by the aid of the sensing suite designed in a matching mode, the sensing suite can only be used for the single workpiece, and after the workpiece is replaced by another workpiece, relevant parameters change corresponding sensing suites and needs to be redesigned. The problem that the automatic industry is in urgent need to solve is to find a workpiece grabbing deviation adjusting system which is not only cheap, but also can be adaptive to various workpieces.
Disclosure of Invention
The invention aims to provide a workpiece grabbing deviation adjusting system and method based on CCD correction, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: workpiece grabbing deviation adjusting system and method based on CCD correction, the workpiece grabbing deviation adjusting system comprises a feeding material flow line, a CCD correction transfer assembly, a rotary table assembly and a rack, the bottom of the feeding material flow line and the ground are tightly connected to the side edge of the rack, the CCD correction transfer assembly stretches over the feeding material flow line and the rack, the bottom of the CCD correction transfer assembly is tightly connected to the ground, the rotary table assembly is tightly connected to the top of the rack, the CCD correction transfer assembly comprises a transfer assembly, a CCD correction assembly and a workpiece grabbing assembly, the transfer assembly and the ground are tightly connected, the CCD correction assembly and the workpiece grabbing assembly are installed on the transfer assembly, and the CCD correction assembly is located above the workpiece grabbing assembly. The material tray with the workpiece is conveyed to the position below the CCD correction transfer assembly through the feeding material flow line, when the transfer assembly drives the CCD correction assembly and the workpiece grabbing assembly to move, the CCD correction assembly determines the position and the deflection angle of the workpiece through photographing, the transfer assembly adjusts the position according to a feedback signal of the CCD correction assembly to ensure that the relative positions of the workpiece grabbing assembly and the workpiece are accurate, after the workpiece grabbing assembly grabs the workpiece after the corresponding position is reached, the transfer assembly moves again to bring the workpiece onto the rotary table, the workpiece grabbing assembly adjusts the deflection angle of the workpiece through rotation, and the transfer assembly drives the workpiece grabbing assembly to move downwards to place the workpiece into the mounting groove.
According to the invention, the CCD is used for continuously shooting the photos and comparing the photos with the template photos, the similarity rate between the shot photos and the template photos can be continuously changed when the transfer is moved, the transfer can adjust the displacement direction according to the change of the numerical value, and finally the similarity rate between the shot photos and the template photos is ensured to exceed the set value. The CCD is used for photographing and correcting the deviation without high cost, and the correction basis can be easily changed by only replacing the contrast picture when the workpiece is replaced.
Furthermore, feeding material flow line includes gear motor, output shaft, initiative synchronous pulley, driven shaft, driven synchronous pulley, commodity circulation synchronous belt, commodity circulation line frame, locking cylinder and material disc, gear motor installs at commodity circulation line frame side, and output shaft and driven shaft pass through the bearing and install in commodity circulation line frame both sides, and output shaft one end and gear motor key-type connection, two initiative synchronous pulley cluster on the output shaft with the shaft key-type connection, driven synchronous pulley cluster and driven shaft key-type connection on the driven shaft, synchronous pulley and axle adoption key-type connection, the commodity circulation synchronous belt is worn between initiative synchronous pulley and driven synchronous pulley, and locking cylinder installs on the middle rail of commodity circulation line frame, and the material disc is located the commodity circulation line top. The gear motor transmits torque to the output shaft, the output shaft and the driving synchronous pulley synchronously rotate, the driven synchronous pulley is driven to rotate through the logistics synchronous belt, the upper surface of the logistics synchronous belt rubs with the bottom of the material tray, the material tray is driven to advance, when the material tray filled with one tray enters a position to be grabbed, the stop cylinder stretches out, the empty material tray is taken away, the full material tray is placed into the cache area, after all workpieces in the filled material tray are grabbed, the stop cylinder retracts, the empty tray moves backwards, and a new full tray enters the position to be grabbed.
Further, move and carry subassembly and include stand, first module backup pad, guide rail, slider, second module backup pad, cylinder fixed bolster, rodless cylinder and cylinder curb plate, the stand bottom is installed subaerial, and top and first module backup pad, guide rail backup pad fastening connection, first module is installed in first module backup pad top, the guide rail is installed in guide rail mounting panel top, and the slider is installed on the guide rail, second module backup pad one end is fixed at the slider top, and the other end is fixed at first module top, and the second module is installed on second module fixed plate, the cylinder passes through the cylinder fixed bolster and installs at second module side, cylinder curb plate and cylinder side fastening connection. The removal of the spare part X axle direction of its top installation of first module steerable, when the workstation of first module removed, the second module backup pad of its top installation also followed and removed, and the slider of second module backup pad opposite side installation slides in step on the guide rail, and the existence of guide rail and slider has improved the stability of carrying the structure of carrying. The second module can drive the cylinder fixed support installed above the second module to move along the Y-axis direction, the rodless cylinder can drive the CCD correcting component and the workpiece grabbing component installed above the second module to move along the Z-axis direction, and the moving and carrying component realizes the open movement of the CCD correcting component and the workpiece grabbing component in the XYZ three directions in an effective working interface.
Further, the CCD correction assembly comprises a CCD camera, a camera fixing support, a diaphragm and a diaphragm fixing support, the CCD camera is installed on the camera fixing support, the camera fixing support is installed on the cylinder side plate, the diaphragm is installed on the diaphragm fixing support, the diaphragm fixing support is installed on the cylinder side plate, the diaphragm is located below the CCD camera, and the center of the diaphragm and the center of the CCD camera are located on the same axis. The camera fixing support and the diaphragm fixing support are both connected with the cylinder side plate through hexagon socket head cap screws in a fastening mode, the mounting hole in the support is a waist-shaped hole, the mounting position can be adjusted up and down, when the CCD correction assembly works, the diaphragm irradiates downwards, the CCD camera quickly shoots a clear top view, the top view is compared with a template picture, the similarity rate is output in a numerical value mode, when the shot picture is highly similar to a comparison picture, the numerical value exceeds a set value, and the CCD correction assembly outputs a signal to indicate that the picture reaches a specified position.
Further, the workpiece grabbing component comprises a sucker, a flow distribution disc, a vacuum generator, a connecting shaft, a bearing, a first synchronous belt wheel, a synchronous belt, a second synchronous belt wheel, a motor, a sliding table cylinder and a cylinder top plate, the top of the sucker is connected with a suction pipe, the top of the suction pipe is inserted into a splitter plate, an air inlet at the side edge of the splitter plate is connected with a vacuum generator through a hose, the vacuum generator is connected in series with a compressed air pipeline of the equipment, the top of the diverter disc is tightly connected with the bottom of the connecting shaft, the connecting shaft passes through the middle of the bearing, the first synchronous belt wheel is mounted at the top of the shaft end through key connection, the bearing is arranged in a bearing mounting seat of a cylinder top plate, the cylinder top plate is arranged on a sliding table at the top of a sliding table cylinder, the side of the motor is fixedly connected with the cylinder top plate, the output shaft of the motor is in key connection with the second synchronous belt pulley, and the second synchronous belt pulley realizes transmission with the first synchronous belt pulley through a conveying belt. When the CCD correction assembly sends a signal, the center of the CCD correction assembly and the center of the workpiece are overlapped, the controller outputs the signal at the moment, the sliding table cylinder can stretch out, the centers of the three suckers after the sliding table cylinder stretches out and the center of the CCD correction assembly are also overlapped, so that the centers of the three suckers just coincide with the center of the workpiece when the workpiece grabbing assembly falls, the design ensures that the three suckers are stressed uniformly, and the workpiece cannot deviate in the transportation process. When the sucker is contacted with the surface of a workpiece, the vacuum generator outputs negative pressure, and the negative pressure acts on the sucker through the flow distribution disc, so that the workpiece is sucked tightly. The in-process slip table cylinder of work piece transportation can retract to guarantee that CCD revises the subassembly and can normally work, when CCD revises the subassembly and reachs directly over the mounting groove, the slip table cylinder stretches out again, the motor begins to rotate this moment, the motor output shaft drives first synchronous pulley and rotates, first synchronous pulley drives the rotation of second synchronous pulley through the hold-in range, second synchronous pulley drives the diverter plate through the connecting axle and rotates, the diverter plate drives the work piece through the sucking disc and rotates, the work piece rotates the adjusting position, when being located in the frame that side photo and the contrast map similarity that another CCD revises the subassembly and shoot reach the settlement numerical value, it is correct to show the work piece angle.
Furthermore, the CCD correction assembly is also provided with a group of CCD correction assemblies which are arranged at the top of the frame, wherein the camera fixing support and the diaphragm fixing support are fixedly connected with the upper surface of the top of the frame, the CCD camera is arranged on the camera fixing support and keeps horizontal with the plane of the machine table, the diaphragm is arranged on the diaphragm fixing support, the diaphragm is positioned in front of the CCD camera, and the center of the diaphragm and the center of the CCD camera are kept on the same axis. The CCD correction assembly arranged at the top of the frame captures a picture of the side surface of the workpiece when the workpiece moves right above the mounting groove, and the picture is continuously shot at a high speed and compared with a comparison picture in the process that the workpiece grabbing assembly drives the workpiece to continuously rotate so as to determine whether the putting angle of the workpiece is accurate.
Further, the turntable assembly comprises an input motor, a speed reducer mounting seat, a coupling, a turntable shaft, an anti-loosening bearing nut, a disc spring, a thrust ball bearing, a bearing cushion block, a deep groove ball bearing, a turntable bearing seat, a turntable and a mounting groove, wherein the input motor is connected with the speed reducer, a speed reducer output shaft is connected with the turntable shaft through the coupling, the turntable shaft penetrates through the turntable bearing seat, the deep groove ball bearing, the bearing cushion block and the thrust ball bearing are sequentially mounted at two ends of the turntable bearing seat, the disc spring is further mounted at the side edge of the thrust ball bearing at the bottom side, the other side of the disc spring is propped against the anti-loosening bearing nut, the thrust ball bearing at the top side is propped against a positioning shaft shoulder of the turntable shaft, the deep groove ball bearing is in contact with a step inside the turntable shaft bearing seat, the anti-loosening bearing nut is in fastening connection with the turntable shaft through threads, one end of the speed reducer mounting seat is connected with the speed reducer, the other end is fixedly connected with the lower side of the table top of the machine frame, the turntable bearing seat is fixedly connected with the upper side of the table top of the machine frame, the turntable is connected with the top of the turntable shaft, and the mounting groove is arranged on the turntable. When the rotary table shaft works, the rotary table shaft axially bears the weight of the rotary table and radially bears the centrifugal effect generated by rotation, so that thrust ball bearings and deep groove ball bearings are selectively arranged at two ends of the bearing mounting seat, the butterfly spring can play a role of damping in the axial direction when the machine table vibrates, when a workpiece is placed in the mounting groove in the surface of the rotary table, the input motor rotates to drive the rotary table shaft to rotate, the rotary table shaft drives the rotary table to rotate, and the workpiece is conveyed to a subsequent processing station.
Further, the adjusting method of the workpiece grabbing deviation adjusting system based on CCD correction comprises the following steps:
And 2, the CCD correction assembly shoots a picture and compares the picture with a template picture in the process that the transfer assembly drives the workpiece to move, the picture similarity exceeds a set value when the workpiece reaches a specified position, and the workpiece stops moving.
And 3, rotating a motor on the workpiece grabbing component to drive the workpiece to rotate for adjusting the angle, shooting a side picture by the CCD correction component to be compared with a template picture, stopping rotating the workpiece when the similarity exceeds a set value, and driving the workpiece to fall and place the workpiece at a specified position by the transferring component.
Compared with the prior art, the invention has the following beneficial effects: the CCD is used for correcting the deviation of workpiece grabbing, so that the precision of the whole system is greatly improved, and particularly, the workpieces with complex characteristics on surfaces can be accurately grabbed and placed. Meanwhile, the invention can realize self-adaptation to various workpieces, and can correct the grabbing deviation only by replacing the template picture aiming at different types of workpieces, thereby greatly saving the production cost compared with the traditional one-workpiece one-system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an overall side view of the present invention;
FIG. 3 is an overall front view of the present invention;
FIG. 4 is a schematic structural view of a CCD correction transfer assembly according to the present invention;
FIG. 5 is a partial enlarged view of the CCD correction transfer assembly of the present invention;
FIG. 6 is a cross-sectional view of the turntable assembly of the present invention;
FIG. 7 is a front view of a feed stream line of the present invention;
FIG. 8 is a cross-sectional view of the feed stream line A-A of the present invention;
in the figure: 1-feeding material flow line, 11-speed reducing motor, 12-output shaft, 13-driving synchronous pulley, 14-driven shaft, 15-driven synchronous pulley, 16-material flow synchronous belt, 17-material flow line rack, 18-stopping air cylinder, 19-material disc, 2-CCD correction transfer component, 21-transfer component, 211-upright post, 212-first module, 213-first module support plate, 214-guide rail support plate, 215-guide rail, 216-slide block, 217-second module, 218-second module support plate, 219-air cylinder fixing bracket, 2110-rodless air cylinder, 2111-air cylinder side plate, 22-CCD correction component, 221-CCD camera, 222-camera fixing bracket, 223-aperture, 224-aperture fixing bracket, 23-workpiece grabbing component, 231-sucker, 232-sucker, 233-diverter disc, 234-vacuum generator, 235-connecting shaft, 236-bearing, 237-first synchronous pulley, 238-synchronous belt, 239-second synchronous pulley, 2310-motor, 2311-sliding table cylinder, 2312-cylinder top plate, 3-turntable component, 31-input motor, 32-speed reducer, 33-speed reducer mounting seat, 34-coupler, 35-turntable shaft, 36-anti-loosening bearing nut, 37-belleville spring, 38-thrust ball bearing, 39-bearing cushion block, 310-deep groove ball bearing, 311-turntable bearing seat, 312-turntable, 313-mounting groove and 4-frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-8, the present invention provides the following technical solutions:
as shown in fig. 1, workpiece grabbing deviation adjustment system based on CCD correction includes a feeding material flow line 1, a CCD correction transfer component 2, a turntable component 3 and a frame 4, the bottom of the feeding material flow line 1 and the ground are fastened and connected on the side of the frame 4, the CCD correction transfer component 2 spans over the feeding material flow line 1 and the frame 4, the bottom is fastened and connected on the ground, the turntable component 3 is fastened and connected on the top of the frame 4, the CCD correction transfer component 2 includes a transfer component 21, a CCD correction component 22 and a workpiece grabbing component 23, the transfer component 21 and the ground are fastened and connected, the CCD correction component 22 and the workpiece grabbing component 23 are mounted on the transfer component 21, and the CCD correction component 22 is located above the workpiece grabbing component 23. The material tray 19 with the workpieces is conveyed to the position below the CCD correction transferring component 2 by the material inlet flow line 1, when the transferring component 21 drives the CCD correction component 22 and the workpiece grabbing component 23 to move, the CCD correction component 22 determines the positions and deflection angles of the workpieces through photographing, the transferring component 21 performs position adjustment according to feedback signals of the CCD correction component 22 to ensure that the relative positions of the workpiece grabbing component 23 and the workpieces are accurate, after the corresponding positions are reached, the workpiece grabbing component 23 grabs the workpieces, the transferring component 21 moves again to bring the workpieces onto the rotary table 312, the workpiece grabbing component 23 adjusts the deflection angles of the workpieces through rotation, and the transferring component 21 drives the workpiece grabbing component 23 to move downwards to place the workpieces into the mounting groove 313.
According to the invention, the CCD is used for continuously shooting the photos and comparing the photos with the template photos, the similarity rate between the shot photos and the template photos can be continuously changed when the transfer is moved, the transfer can adjust the displacement direction according to the change of the numerical value, and finally the similarity rate between the shot photos and the template photos is ensured to exceed the set value. The CCD is used for photographing and correcting the deviation without high cost, and the correction basis can be easily changed by only replacing the contrast picture when the workpiece is replaced.
As shown in fig. 7 and 8, the feeding material flow line 1 includes a speed reducing motor 11, an output shaft 12, a driving synchronous pulley 13, a driven shaft 14, a driven synchronous pulley 15, a material flow synchronous belt 16, a material flow line rack 17, a stop cylinder 18 and a material tray 19, the speed reducing motor 11 is installed on the side of the material flow line rack 17, the output shaft 12 and the driven shaft 14 are installed on two sides of the material flow line rack 17 through bearings 236, one end of the output shaft 12 is connected with the speed reducing motor 11 in a key mode, the two driving synchronous pulleys 13 are connected to the output shaft 12 in series, the driven synchronous pulley 15 is connected to the driven shaft 14 in series, the synchronous belt 238 wheel and the shaft are connected in a key mode, the material flow synchronous belt 16 penetrates between the driving synchronous pulley 13 and the driven synchronous pulley 15, the stop cylinder 18 is installed on a middle cross rail of the material flow line rack 17, and the material tray 19 is located above the material flow line. The torque is transmitted to the output shaft 12 by the speed reducing motor 11, the output shaft 12 and the driving synchronous pulley 13 synchronously rotate, the driven synchronous pulley 15 is driven to rotate through the logistics synchronous belt 16, the upper surface of the logistics synchronous belt 16 rubs with the bottom of the material tray 19 to drive the material tray 19 to advance, when the material tray 19 filled with one tray enters a position to be grabbed, the stop cylinder 18 extends out, the empty material tray 19 is taken away, the full material tray 19 is placed into the cache area, after all workpieces in the full material tray 19 are grabbed, the stop cylinder 18 retracts, the empty tray moves backwards, and a new full tray enters the position to be grabbed.
As shown in fig. 2, 3 and 4, the transferring assembly 21 includes a vertical column 211, a first module 212, a first module supporting plate 213, a rail supporting plate 214, a rail 215, a slider 216, a second module 217, a second module supporting plate 218, a cylinder fixing bracket 219, a rodless cylinder 2110 and a cylinder side plate 2111, the bottom of the upright 211 is installed on the ground, the top is fastened with the first module supporting plate 213 and the rail supporting plate 214, the first module 212 is mounted above the first module support plate 213, the guide rail 215 is mounted above the guide rail support plate 214, the slider 216 is mounted on the guide rail 215, the second module support plate 218 has one end fixed to the top of the slide block 216 and the other end fixed to the top of the first module 212, the second module 217 mounted on the second module support plate 218, the cylinder passes through cylinder fixed bolster 219 and installs at second module 217 side, cylinder curb plate 2111 and cylinder side fastening connection. The first module 212 can control the movement of the component mounted above the first module 212 in the X-axis direction, when the worktable of the first module 212 moves, the second module supporting plate 218 mounted above the first module also moves, the sliding block 216 mounted on the other side of the second module supporting plate 218 synchronously slides on the guide rail 215, and the existence of the guide rail 215 and the sliding block 216 improves the stability of the transfer structure. The second module 217 can drive the cylinder fixing bracket 219 arranged above the second module to move along the Y-axis direction, the rodless cylinder 2110 can drive the CCD correction component 22 and the workpiece grabbing component 23 arranged above the second module to move along the Z-axis direction, and the transfer component 21 realizes the open movement of the CCD correction component 22 and the workpiece grabbing component 23 in the XYZ three directions within the effective working interface.
As shown in fig. 1, 3 and 4, the CCD correction assembly 22 includes a CCD camera 221, a camera fixing bracket 222, an aperture 223, and an aperture fixing bracket 224, the CCD camera 221 is mounted on the camera fixing bracket 222, the camera fixing bracket 222 is mounted on the cylinder side plate 2111, the aperture 223 is mounted on the aperture fixing bracket 224, the aperture fixing bracket 224 is mounted on the cylinder side plate 2111, the aperture 223 is located below the CCD camera 221, and the center thereof is located on the same axis as the center of the CCD camera 221. The camera fixing support 222 and the diaphragm fixing support 224 are fastened and connected with the cylinder side plate 2111 through hexagon socket head cap screws, a mounting hole in the supports is a waist-shaped hole, the mounting position can be adjusted up and down, when the CCD correction assembly 22 works, the diaphragm 223 irradiates downwards, the CCD camera 221 rapidly shoots a clear top view, the top view is compared with a template picture, the similarity rate is output in a numerical value mode, when the shot picture is highly similar to the comparison picture, the numerical value exceeds a set value, and the CCD correction assembly 22 outputs a signal to indicate that the shot picture reaches a specified position.
As shown in fig. 4 and 5, the workpiece grasping assembly 23 includes a suction cup 231, a suction pipe 232, a diverter plate 233, a vacuum generator 234, a connecting shaft 235, a bearing 236, a first synchronous pulley 237, a synchronous belt 238, a second synchronous pulley 239, a motor 2310, a sliding table cylinder 2311 and a cylinder top plate 2312, wherein the top of the suction cup 231 is connected with the suction pipe 232, the top of the suction pipe 232 is inserted into the diverter plate 233, an air inlet at the side of the diverter plate 233 is connected with the vacuum generator 234 through a hose, the vacuum generator 234 is connected in series with a compressed air pipeline of the apparatus, the top of the diverter plate 233 is fixedly connected with the bottom of the connecting shaft 235, the connecting shaft 235 passes through the middle of the bearing 236, the first synchronous pulley 237 is mounted at the top of the shaft end thereof through a key connection, the bearing 236 is mounted in a bearing 236 mounting seat of the cylinder top plate 2312, the cylinder top plate 2312 is mounted on a sliding table at the top of the sliding table cylinder 2311, the side of the motor 2310 is fixedly connected with the cylinder top plate 2312, the output shaft of the motor 2310 is in key connection with the second synchronous belt wheel 239, and the second synchronous belt wheel 239 realizes transmission through the transmission belt and the first synchronous belt wheel 237. When the CCD correcting component 22 sends out a signal, the center of the CCD correcting component 22 is coincident with the center of the workpiece, the controller outputs a signal at the moment, the sliding table cylinder 2311 can stretch out, and the centers of the three suckers 231 and the center of the CCD correcting component 22 are also coincident after the sliding table cylinder 2311 stretches out, so that the centers of the three suckers 231 are exactly coincident with the center of the workpiece when the workpiece grabbing component 23 falls down, the design ensures that the three suckers 231 are stressed uniformly, and the workpiece cannot deviate in the transportation process. When the suction cup 231 is in contact with the surface of the workpiece, the vacuum generator 234 outputs negative pressure, and the negative pressure is applied to the suction cup 231 through the diverter tray 233, so that the workpiece is tightly sucked. The sliding table cylinder 2311 retracts in the process of workpiece transportation to ensure that the CCD correcting assembly 22 can normally work, when the CCD correcting assembly 22 reaches the position right above the mounting groove 313, the sliding table cylinder 2311 extends out again, at the moment, the motor 2310 starts to rotate, the output shaft of the motor 2310 drives the first synchronous belt wheel 237 to rotate, the first synchronous belt wheel 237 drives the second synchronous belt wheel 239 to rotate through the synchronous belt 238, the second synchronous belt wheel 239 drives the diverter disc 233 to rotate through the connecting shaft 235, the diverter disc 233 drives the workpiece to rotate through the sucker 231, the workpiece rotates to adjust the position, and when the similarity of a side picture and a comparison picture shot by another CCD correcting assembly 22 on the rack 4 reaches a set value, the workpiece angle is indicated to be correct.
As shown in fig. 1, 2 and 3, the CCD correction assembly 22 is further provided with a group which is installed on the top of the frame 4, wherein the camera fixing bracket 222 and the diaphragm fixing bracket 224 are fastened and connected with the upper surface of the top of the frame 4, the CCD camera 221 is installed on the camera fixing bracket 222 and kept horizontal with the plane of the machine platform, the diaphragm 223 is installed on the diaphragm fixing bracket 224, the diaphragm 223 is located in front of the CCD camera 221, and the center of the diaphragm 223 is kept on the same axis with the center of the CCD camera 221. The CCD correction assembly 22 installed on the top of the frame 4 captures a picture of the side of the workpiece when the workpiece is moved directly above the mounting groove 313, and compares the picture with a comparison chart by continuously taking the picture at a high speed during the continuous rotation of the workpiece by the workpiece grasping assembly 23 to determine whether the input angle of the workpiece is accurate.
As shown in fig. 6, the turntable assembly 3 includes an input motor 31, a speed reducer 32, a speed reducer mounting seat 33, a coupling 34, a turntable shaft 35, a loosening-proof bearing nut 36, a belleville spring 37, a thrust ball bearing 38, a bearing pad 39, a deep groove ball bearing 310, a turntable bearing seat 311, a turntable 312 and a mounting groove 313, the input motor 31 is connected with the speed reducer 32, an output shaft of the speed reducer 32 is connected with the turntable shaft 35 through the coupling 34, the turntable shaft 35 passes through the turntable bearing seat 311, the two ends of the turntable bearing seat 311 are sequentially provided with the deep groove ball bearing 310, the bearing pad 39 and the thrust ball bearing 38, the side of the thrust ball bearing 38 at the bottom side is further provided with the belleville spring 37, the other side of the belleville spring 37 is pressed against the loosening-proof bearing nut 36, the thrust ball bearing 38 at the top side is pressed against a positioning shoulder of the turntable shaft 35, the deep groove ball bearing 310 is contacted with an inner side step of the turntable bearing seat 311, locking bearing nut 36 and carousel axle 35 pass through screw thread fastening connection, and reduction gear mount 33 one end is connected on reduction gear 32, and the other end and frame mesa downside fastening connection, carousel bearing frame 311 and frame mesa upside fastening connection, and carousel 312 links to each other with carousel axle 35 top, and mounting groove 313 installs on carousel 312. When working, the turntable shaft 35 axially bears the weight of the turntable 312, and radially bears the centrifugal effect generated by rotation, so that the thrust ball bearing 38 and the deep groove ball bearing 310 are selected to be arranged at two ends of the mounting seat of the bearing 236, the belleville spring 37 can play a role of damping in the axial direction when the machine vibrates, when a workpiece is placed in the mounting groove 313 on the surface of the turntable 312, the input motor 31 rotates to drive the turntable shaft 35 to rotate, the turntable shaft 35 drives the turntable 312 to rotate, and the workpiece is conveyed to a subsequent processing station.
As shown in fig. 1 to 8, the adjusting method of the workpiece grabbing deviation adjusting system based on CCD correction comprises the following steps:
And 2, the transferring component 21 drives the CCD correction component 22 to shoot a picture and compare the picture with a template picture in the moving process of the workpiece, the similarity of the pictures exceeds a set value when the workpiece reaches a specified position, and the workpiece stops moving.
And 3, rotating a motor 2310 on the workpiece grabbing component 23 to drive the workpiece to rotate for adjusting the angle, shooting a side picture by the CCD correcting component 22 to be compared with a template picture, stopping rotating the workpiece when the similarity exceeds a set value, and driving the workpiece to fall and place the workpiece at a specified position by the transferring component 21.
The working principle of the invention is as follows: when a full tray 19 enters a position to be grabbed, the stop cylinder 18 extends out, the empty tray 19 is taken away, the full tray 19 is placed in the cache area, the transfer assembly 21 drives the CCD correction assembly 22 and the workpiece grabbing assembly 23 which are arranged on the transfer assembly to move at the moment, the CCD correction assembly 22 arranged above the transfer assembly 21 continuously takes pictures below the transfer assembly and compares the pictures with the template pictures, when the axis of the CCD correction assembly 22 is superposed with the axis of the workpiece, the coincidence degree of the pictures reaches a set value, and the transfer assembly 21 stops moving. The sliding table cylinder 2311 in the workpiece grabbing assembly 23 extends out, the center position of the suction cup 231 after the sliding table cylinder 2311 extends out is overlapped with the center of the workpiece, the workbench 2110 of the rodless cylinder 2110 of the transferring assembly 21 moves downwards, the suction cup 231 is attached to the upper surface of the workpiece, the workbench 2110 moves upwards, and the sliding table cylinder 2311 is retracted. The moving and loading component 21 drives the workpiece to move, when the axis of the CCD correction component 22 is coincident with the axis of the mounting groove 313, the sliding table cylinder 2311 extends out, another group of CCD correction components 22 arranged above the rack 4 take pictures from the side, the pictures of the side surfaces of the workpiece are compared with the templates, the workpiece grabbing component 23 drives the workpiece to rotate, when the pictures of the side surfaces are coincident with the templates, the workpiece stops rotating, the rodless cylinder 2110 moves downwards to place the workpiece into the mounting groove 313 on the rotary table 312, the sucking disc 231 loosens the workpiece, the rodless cylinder 2110 moves upwards, the rotary table 312 rotates to drive the workpiece to enter a subsequent station, the moving and loading component 21 continues to grab the workpiece repeatedly, when all the workpieces in the full material tray 19 are grabbed, the stop cylinder 18 retracts, an empty tray moves backwards, and a new full tray enters a position to be grabbed.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. Work piece snatchs deviation governing system based on CCD correction, its characterized in that: the workpiece grabbing deviation adjusting system comprises a feeding material flow line (1), a CCD correction transfer component (2), a rotary disc component (3) and a rack (4), wherein the bottom of the feeding material flow line (1) is fixedly connected with the ground and is positioned on the side edge of the rack (4), the CCD correction transfer component (2) stretches over the feeding material flow line (1) and the rack (4), the bottom of the CCD correction transfer component is fixedly connected with the ground, the rotary disc component (3) is fixedly connected with the top of the rack (4), the CCD correction transfer component (2) comprises a transfer component (21), a CCD correction component (22) and a workpiece grabbing component (23), the transfer component (21) is fixedly connected with the ground, the CCD correction component (22) and the workpiece grabbing component (23) are installed on the transfer component (21), and the CCD correction component (22) is positioned above the workpiece grabbing component (23);
the transfer assembly (21) comprises an upright post (211), a first module (212), a first module supporting plate (213), a guide rail supporting plate (214), a guide rail (215), a sliding block (216), a second module (217), a second module supporting plate (218), a cylinder fixing bracket (219), a rodless cylinder (2110) and a cylinder side plate (2111), wherein the bottom of the upright post (211) is arranged on the ground, the top of the upright post is fixedly connected with the first module supporting plate (213) and the guide rail supporting plate (214), the first module (212) is arranged above the first module supporting plate (213), the guide rail (215) is arranged above the guide rail supporting plate (214), the sliding block (216) is arranged on the guide rail (215), one end of the second module supporting plate (218) is fixed at the top of the sliding block (216), the other end of the second module supporting plate is fixed at the top of the first module (212), and the second module (217) is arranged on the second module supporting plate (218), the rodless cylinder (2110) is arranged on the side edge of the second module (217) through a cylinder fixing support (219), and a cylinder side plate (2111) is fixedly connected with the side edge of the rodless cylinder (2110);
the CCD correction assembly (22) comprises a CCD camera (221), a camera fixing support (222), an aperture (223) and an aperture fixing support (224), the CCD camera (221) is installed on the camera fixing support (222), the camera fixing support (222) is installed on a cylinder side plate (2111), the aperture (223) is installed on the aperture fixing support (224), the aperture fixing support (224) is installed on the cylinder side plate (2111), the aperture (223) is located below the CCD camera (221), and the center of the aperture and the center of the CCD camera (221) are located on the same axis;
the CCD correction assembly (22) is also provided with a group of CCD correction assemblies which are arranged on the top of the rack (4), wherein a camera fixing support (222) and an aperture fixing support (224) are fixedly connected with the upper surface of the top of the rack (4), a CCD camera (221) is arranged on the camera fixing support (222) and keeps horizontal with the plane of the machine platform, an aperture (223) is arranged on the aperture fixing support (224), the aperture (223) is positioned in front of the CCD camera (221), and the center of the aperture and the center of the CCD camera (221) keep on the same axis;
the turntable assembly (3) comprises an input motor (31), a speed reducer (32), a speed reducer mounting seat (33), a coupler (34), a turntable shaft (35), a looseness-proof bearing nut (36), a belleville spring (37), a thrust ball bearing (38), a bearing cushion block (39), a deep groove ball bearing (310), a turntable bearing seat (311), a turntable (312) and a mounting groove (313), wherein the input motor (31) is connected with the speed reducer (32), an output shaft of the speed reducer (32) is connected with the turntable shaft (35) through the coupler (34), the turntable shaft (35) penetrates through the turntable bearing seat (311), the deep groove ball bearing (310), the bearing cushion block (39) and the thrust ball bearing (38) are sequentially mounted at two ends of the turntable bearing seat (311), the belleville spring (37) is further mounted at the side edge of the thrust ball bearing (38) at the bottom side, and the other side of the belleville spring (37) abuts against the looseness-proof bearing nut (36), thrust ball bearing (38) the top of top side is on carousel axle (35) location shoulder, deep groove ball bearing (310) and the inboard step contact of carousel bearing frame (311), locking bearing nut (36) and carousel axle (35) pass through screw thread fastening connection, reduction gear mount pad (33) one end is connected on reduction gear (32), the other end and frame (4) mesa downside fastening connection, carousel bearing frame (311) and frame (4) mesa upside fastening connection, carousel (312) and carousel axle (35) top link to each other, mounting groove (313) are installed on carousel (312).
2. The CCD correction-based workpiece gripping deviation adjustment system according to claim 1, wherein: the feeding material flow line (1) comprises a speed reducing motor (11), an output shaft (12), a driving synchronous pulley (13), a driven shaft (14), a driven synchronous pulley (15), a material flow synchronous belt (16), a material flow line rack (17), a stop cylinder (18) and a material disc (19), wherein the speed reducing motor (11) is installed on the side edge of the material flow line rack (17), the output shaft (12) and the driven shaft (14) are installed on two sides of the material flow line rack (17) through bearings, one end of the output shaft (12) is connected with the speed reducing motor (11) in a key mode, the two driving synchronous pulleys (13) are connected with a shaft key in a serial mode on the output shaft (12), the driven synchronous pulley (15) is connected with the shaft key in a serial mode on the driven shaft (14), the material flow synchronous belt (16) penetrates between the driving synchronous pulley (13) and the driven synchronous pulley (15), the stop cylinder (18) is installed on a middle cross bar of the material flow line rack (17), a material tray (19) is located above the stream line.
3. The CCD correction-based workpiece gripping deviation adjustment system according to claim 2, wherein: the workpiece grabbing assembly (23) comprises a suction cup (231), a suction pipe (232), a diverter disc (233), a vacuum generator (234), a connecting shaft (235), a bearing (236), a first synchronous pulley (237), a synchronous belt (238), a second synchronous pulley (239), a motor (2310), a sliding table cylinder (2311) and a cylinder top plate (2312), wherein the top of the suction cup (231) is connected with the suction pipe (232), the diverter disc (233) is inserted into the top of the suction pipe (232), an air inlet at the side edge of the diverter disc (233) is connected with the vacuum generator (234) through a hose, the vacuum generator (234) is connected in series with a compressed air pipeline of the equipment, the top of the diverter disc (233) is fixedly connected with the bottom of the connecting shaft (235), the connecting shaft (235) penetrates through the middle of the bearing (236), the first synchronous pulley (237) is mounted at the top of the shaft end of the first synchronous pulley through a key connection, and the bearing (236) is mounted in a bearing (236) mounting seat of the cylinder top plate (2312), the cylinder top plate (2312) is arranged on a sliding table at the top of the sliding table cylinder (2311), the side edge of the motor (2310) is fixedly connected with the cylinder top plate (2312), the output shaft of the motor (2310) is connected with a second synchronous belt wheel (239) in a key mode, and the second synchronous belt wheel (239) realizes transmission through the conveying belt and the first synchronous belt wheel (237).
4. The adjusting method of a workpiece gripping deviation adjusting system based on CCD correction according to claim 3, comprising the steps of:
step 1, comparing a CCD correction component (22) arranged above a shifting component (21) in the moving process with a template photo through continuous and rapid photographing, outputting similarity in a digital form, when the similarity value exceeds a set value, enabling the shifting component (21) to reach a designated position, and enabling a workpiece grabbing component (23) to grab a workpiece through negative pressure adsorption;
step 2, the shifting component (21) drives the CCD correction component (22) to shoot a picture and compare the picture with a template picture in the moving process of the workpiece, when the workpiece reaches a specified position, the picture similarity exceeds a set value, and the workpiece stops moving;
and 3, rotating a motor (2310) on the workpiece grabbing component (23) to drive the workpiece to rotate for adjusting the angle, shooting a side picture by the CCD correcting component (22) to be compared with a template picture, stopping rotating the workpiece when the similarity exceeds a set value, and driving the workpiece to fall and place the workpiece at a specified position by the transferring component (21).
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| CN113953813A (en) * | 2021-10-15 | 2022-01-21 | 珠海格力智能装备有限公司 | Adaptor dismounting device |
| CN114013962B (en) * | 2021-11-26 | 2024-04-05 | 东莞市爱康智能技术股份有限公司 | Automatic feeding and discharging mechanism for material frame and carrier plate |
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