CN112894862B - Three-dimensional grabbing mechanism and method suitable for bearing bush - Google Patents
Three-dimensional grabbing mechanism and method suitable for bearing bush Download PDFInfo
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- CN112894862B CN112894862B CN202110276099.8A CN202110276099A CN112894862B CN 112894862 B CN112894862 B CN 112894862B CN 202110276099 A CN202110276099 A CN 202110276099A CN 112894862 B CN112894862 B CN 112894862B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000006073 displacement reaction Methods 0.000 claims abstract description 88
- 230000005484 gravity Effects 0.000 claims description 34
- 230000008569 process Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 13
- 241000252254 Catostomidae Species 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 6
- 239000003381 stabilizer Substances 0.000 claims description 6
- 239000006096 absorbing agent Substances 0.000 claims description 4
- 230000035939 shock Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 description 11
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013007 heat curing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Engineering & Computer Science (AREA)
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Abstract
The invention provides a three-dimensional grabbing mechanism and a three-dimensional grabbing method suitable for a bearing bush, wherein the three-dimensional grabbing mechanism comprises a bracket 1, an actuator 2, a displacement mechanism, a driving device and a computer 11; the actuator 2 is connected with a displacement mechanism, the displacement mechanism is arranged on the bracket 1, the computer 11 is respectively connected with the bracket 1 and the actuator 2, and the driving device is connected with the actuator 2; the actuator 2 comprises an actuator main body 21, a grabbing device and a traction chain 9, wherein the grabbing device is arranged on the actuator main body 21, the actuator main body 21 is connected with a displacement mechanism through the traction chain 9, and the grabbing device is connected with a driving device; the grabbing equipment can grab the workpiece under the drive of the driving device, and the displacement mechanism can drive the actuator 2 to displace. The invention can realize the rapid grabbing and moving of the workpiece, has simplified and reliable structural design and stable operation, has larger working space and better stability compared with the mechanical arm frequently used at present, can realize the effect of automatically grabbing the workpiece by an actuator, and improves the degree of automation.
Description
Technical Field
The invention relates to the field of grabbing devices, in particular to a three-dimensional grabbing mechanism and method suitable for bearing bushes.
Background
The technical route of the bearing bush spraying process mainly comprises the following steps according to the sequence: surface cleaning, surface treatment, preheating, spraying, heat curing and the like. The grabbing and carrying of the bearing bushes are involved between the machining processes, and the manual carrying can cause pollution and even damage to the machining surface of the workpiece, so that the spraying robot with high automation degree becomes the first choice of the spraying machining process.
The spraying robot mainly comprises a robot body, a computer and a corresponding control system. Most of spraying robot bodies for automatic spraying of bearing bushes in the current market use mechanical arms. The automatic spraying mechanism of the manipulator has high manufacturing cost, high maintenance cost, difficult maintenance, limited working space and large system programming difficulty, and the technical index of the manipulator is directly related to the manufacturing cost of the manipulator.
Patent document with publication number CN210910018U discloses a bearing bush grabbing device, relates to the bearing bush field of making. At present, bearing bushes are required to undergo different working procedures in the production process, the bearing bushes are different in posture among different working procedures, the bearing bushes are required to be transferred and corrected manually among different working procedures according to the changing of the posture of the bearing bushes, the bearing bushes are not only efficient, but also high in labor cost. The support is provided with the lifting mechanism, the lifting mechanism is provided with the grabbing mechanism, the grabbing mechanism comprises at least two clamping pieces which are arranged on the lifting mechanism in a sliding mode, the clamping pieces slide to clamp the bearing bush, and the lifting mechanism drives the bearing bush to move, so that the bearing bush is transported and posture is corrected, compared with manual operation, the labor cost is saved, and the operation efficiency is improved. However, the utility model can only realize the grabbing action in the Z-axis direction, and can not flexibly move and classify when grabbing workpieces.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a three-dimensional grabbing mechanism and method suitable for a bearing bush.
The three-dimensional grabbing mechanism suitable for the bearing bush comprises a bracket, an actuator, a displacement mechanism, a driving device and a computer;
The actuator is connected with the displacement mechanism, the displacement mechanism is arranged on the bracket, the computer is respectively connected with the bracket and the actuator, and the driving device is connected with the actuator;
the actuator comprises an actuator main body, grabbing equipment and a traction chain, wherein the grabbing equipment is arranged on the actuator main body, the actuator main body is connected with a displacement mechanism through the traction chain, and the grabbing equipment is connected with a driving device;
the grabbing equipment can grab the workpiece under the drive of the driving device, and the displacement mechanism can drive the actuator to displace.
Preferably, the grabbing device comprises an actuator gripper, a sucker, a swing rod and an actuator rotating device;
the actuator rotating device is connected with the actuator main body and is coaxially arranged with the traction chain, the actuator rotating device is connected with one end of the swing rod, the other end of the swing rod is connected with the actuator gripper, one or more suckers are arranged on the inner side of the actuator gripper, and the suckers are connected with the driving device;
The actuator rotating device can drive the swing rod to rotate by taking the traction chain as an axis, and the sucker can grasp a workpiece under the drive of the driving device.
Preferably, the number of the swinging rods is one or more, and the actuator grippers are correspondingly connected with the swinging rods one by one;
the inside of the actuator gripper is provided with a rotating shaft, and the actuator gripper is vertically connected with the swing rod through the rotating shaft.
Preferably, the actuator grip is provided with a laser sensor;
the laser sensor is capable of detecting the size of the workpiece and transmitting this information to the computer.
Preferably, a gyroscope stabilizer is arranged between the actuator rotating device and the actuator main body;
the actuator body is provided with a damping dynamic shock absorber.
Preferably, the actuator further comprises a displacement adjusting device, a balancing weight and a gravity sensor;
the displacement adjusting device and the gravity sensor are arranged on the actuator main body, and the displacement adjusting device is connected with the balancing weight;
The gravity sensor can detect the gravity center change of the actuator and send the information to the computer, and the displacement adjusting device can change the position and the distance between the balancing weight and the actuator main body under the control of the computer.
Preferably, the displacement mechanism comprises a first displacement device, a second displacement device and a traction device;
the first displacement device, the second displacement device and the traction device are arranged on the bracket, the second displacement device is connected with the traction device, and the traction device is connected with the traction chain;
the support is provided with a track and a track bar which are mutually perpendicular, the first displacement device is arranged on the track, the second displacement device is arranged on the track bar, and the track bar is connected with the first displacement device;
The first displacement device can drive the track bar to reciprocate along the track, the second displacement device can drive the actuator to reciprocate along the track bar, and the traction device can drive the actuator to reciprocate along the vertical direction.
Preferably, a camera detector is arranged on the bracket;
the camera detector can detect the position of the workpiece and send the information to the computer;
the driving device comprises a pneumatic device.
According to the three-dimensional grabbing method suitable for the bearing bush, which is provided by the invention, the three-dimensional grabbing mechanism suitable for the bearing bush is adopted, and the three-dimensional grabbing method comprises the following steps:
step 1: the camera detector works to detect the position of the workpiece and feed back the position information of the workpiece to the computer;
Step 2: the computer receives and processes the position information of the workpiece, and controls the first displacement device, the second displacement device and the traction device to work so that the actuator reaches a designated position;
Step 3: the computer controls the actuator rotating device to work, so that the laser sensor faces the workpiece, and information is fed back to the computer after the laser sensor detects the size of the workpiece;
Step 4: the computer receives and processes the size information of the workpiece, and controls the swing rod and the actuator gripper to rotate so that the sucker is attached to the surface of the workpiece;
Step 5: the computer controls the driving device to work, so that the sucker adsorbs the workpiece to finish grabbing the workpiece;
Step 6: the gravity sensor works, detects the quality of the workpiece, and feeds the quality information of the workpiece back to the computer;
step 7: the computer receives and processes the quality information of the workpieces, and the computer controls the first displacement device, the second displacement device and the traction device to work, so that the executor conveys the workpieces to the corresponding positions, and classification of the workpieces is completed.
Preferably, the gravity sensor detects the gravity center change of the actuator in real time and sends the information to the computer;
The computer receives the information and processes the information, and the computer controls the displacement adjusting device to change the position and the distance between the balancing weight and the actuator main body, so that the gravity center of the actuator is kept near the balance point of the actuator.
Compared with the prior art, the invention has the following beneficial effects:
1. the manipulator has the advantages of simple structure, convenient operation, simple and reliable structural design, stable operation, larger working space and better stability compared with the manipulator frequently used at present, and can realize quick grabbing and moving of workpieces.
2. The invention adopts the technical means that a feedback system is formed by the camera detector and the computer, so that the effect of automatically grabbing the workpiece by the actuator can be realized, and the degree of automation is improved.
3. The invention adopts the technical means of adjusting the gravity center of the actuator through the displacement adjusting device, the balancing weight and the gravity sensor, can detect and adjust the gravity center position of the actuator in real time, and effectively reduces the situation of gravity center deviation of the actuator.
4. The invention adopts the technical means of detecting the size of the workpiece by the laser sensor, can enable the actuator to automatically adjust the gesture, grabs the workpiece by the matched gesture, and realizes the adaptation of the mechanism to workpieces with different sizes.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a front view structure of the present invention;
FIG. 3 is a schematic view of an actuator according to the present invention;
Fig. 4 is a schematic side view of an actuator according to the present invention.
The figure shows:
Laser sensor 17 of traction chain 9 of bracket 1
Actuator 2 barometric device 10 displacement adjustment device 18
The first displacement device 3 is provided with a counter weight 19 of a computer 11
Damping dynamic damper 20 for actuator grip 12 of camera detector 4
Actuator body 21 of suction cup 13 of traction device 5
Gravity sensor 22 of swing rod 14 of second displacement device 6
Track bar 7 actuator turning device 15
Track 8 gyroscope stabilizer 16
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The invention provides a three-dimensional grabbing mechanism suitable for a bearing bush, which is shown in fig. 1 and 2, and comprises a bracket 1, an actuator 2, a displacement mechanism, a driving device and a computer 11; the actuator 2 is connected with a displacement mechanism, the displacement mechanism is arranged on the bracket 1, the computer 11 is respectively connected with the bracket 1 and the actuator 2, and the driving device is connected with the actuator 2; the actuator 2 comprises an actuator main body 21, gripping equipment and a traction chain 9, wherein the gripping equipment is arranged on the actuator main body 21, the actuator main body 21 is connected with a displacement mechanism through the traction chain 9, and the gripping equipment is connected with a driving device; the grabbing equipment can grab the workpiece under the drive of the driving device, and the displacement mechanism can drive the actuator 2 to displace. The size of the bracket 1 can be improved according to working conditions, so that the working space of the invention can be far larger than that of a spraying robot.
Aiming at the defects in the prior art, the invention provides the three-dimensional grabbing mechanism suitable for the bearing bushes, which realizes batch grabbing and classifying of bearing bushes with different sizes in a three-dimensional space, and has the advantages of simple operation and reliable structure.
As shown in fig. 3 and 4, the gripping device comprises an actuator gripper 12, a sucker 13, a swing rod 14 and an actuator rotating device 15; the actuator rotating device 15 is connected with the actuator main body 21 and is coaxially arranged with the traction chain 9, the actuator rotating device 15 is connected with one end of the swing rod 14, the other end of the swing rod 14 is connected with the actuator gripper 12, one or more suckers 13 are arranged on the inner side of the actuator gripper 12, and the suckers 13 are connected with the driving device; the actuator rotating device 15 can drive the swing rod 14 to rotate by taking the traction chain 9 as an axis, and the sucker 13 can grasp a workpiece under the drive of the driving device.
One or more swinging rods 14 are arranged, and the actuator grippers 12 are connected with the swinging rods 14 in a one-to-one correspondence manner; a rotating shaft is arranged in the actuator gripper 12, and the actuator gripper 12 is vertically connected with the swing rod 14 through the rotating shaft. Preferably, a pair of actuator grippers 12 are connected to the actuator body 21 through two pairs of upper and lower swing rods 14, and a plurality of suction cups 13 are fixedly connected to the actuator grippers 12, and the pneumatic device 10 is used for conveying gas so as to achieve the function of grabbing workpieces by utilizing pneumatic pressure.
The actuator grip 12 is provided with a laser sensor 17; the laser sensor 17 is capable of detecting the size of the workpiece and transmitting this information to the computer 11. The angle and distance between the sucker 13 are adjusted by controlling and adjusting the actuator grip 12 and the swing rod 14 through the computer 11 so as to be suitable for workpieces with different sizes.
A gyroscope stabilizer 16 is arranged between the actuator rotating device 15 and the actuator main body 21; the actuator body 21 is provided with a damping dynamic shock absorber 20. The gyro stabilizer 16 can stabilize the actuator 2 during movement, and the damping dynamic vibration reducer 20 can effectively reduce vibration caused by external disturbance.
The actuator 2 further comprises a displacement adjusting device 18, a balancing weight 19 and a gravity sensor 22; the displacement adjusting device 18 and the gravity sensor 22 are arranged on the actuator main body 21, and the displacement adjusting device 18 is connected with the balancing weight 19; the gravity sensor 22 can detect the gravity center change of the actuator 2 and send the information to the computer 11, the displacement adjusting device 18 can change the position and the distance between the balancing weight 19 and the actuator main body 21 under the control of the computer 11 so as to adjust the gravity center position of the actuator 2 and ensure the gravity center balance in the working process of the actuator 2, the gravity sensor 22 can also calculate the coating thicknesses of workpieces in different spraying batches by detecting the quality of the workpieces, and the computer 11 collects and analyzes data to control the actuator 2 to automatically classify the workpieces after spraying.
The displacement mechanism comprises a first displacement device 3, a second displacement device 6 and a traction device 5; the first displacement device 3, the second displacement device 6 and the traction device 5 are arranged on the bracket 1, the second displacement device 6 is connected with the traction device 5, and the traction device 5 is connected with the traction chain 9; the support 1 is provided with a track 8 and a track bar 7 which are mutually perpendicular, the first displacement device 3 is arranged on the track 8, the second displacement device 6 is arranged on the track bar 7, and the track bar 7 is connected with the first displacement device 3; the first displacement device 3 can drive the track bar 7 to reciprocate along the track 8, the second displacement device 6 can drive the actuator 2 to reciprocate along the track bar 7, and the traction device 5 can drive the actuator 2 to reciprocate along the vertical direction. Preferably, the traction chain 9 is fixedly connected to the traction means 5, and the traction means 5 is fixedly connected to the second displacement means 6.
A camera detector 4 is arranged on the bracket 1; the camera detector is capable of detecting the position of the workpiece and transmitting this information to the computer 11; the computer 11 controls the actuator 2 to automatically perform the gripping action. Preferably, the driving means comprises pneumatic means 10.
The invention provides a three-dimensional grabbing method suitable for a bearing bush, which adopts the three-dimensional grabbing mechanism suitable for the bearing bush and comprises the following steps:
step 1: the camera detector 4 works to detect the position of the workpiece and feed back the position information of the workpiece to the computer 11;
Step 2: the computer 11 receives and processes the position information of the workpiece, and the computer 11 controls the first displacement device 3, the second displacement device 6 and the traction device 5 to work so that the actuator 2 reaches a designated position;
Step 3: the computer 11 controls the actuator rotating device 15 to work, so that the laser sensor 17 faces the workpiece, and the laser sensor 17 feeds information back to the computer 11 after detecting the size of the workpiece;
Step 4: the computer 11 receives and processes the size information of the workpiece, and the computer 11 controls the swing rod 14 and the actuator gripper 12 to rotate so that the sucker 13 is attached to the surface of the workpiece;
step 5: the computer 11 controls the driving device to work, so that the sucker 13 adsorbs the workpiece to finish grabbing the workpiece;
step 6: the gravity sensor 22 works to detect the quality of the workpiece and feed the quality information of the workpiece back to the computer 11;
Step 7: the computer 11 receives and processes the quality information of the workpieces, and the computer 11 controls the first displacement device 3, the second displacement device 6 and the traction device 5 to work, so that the actuator 2 conveys the workpieces to the corresponding positions, and the workpieces are classified. In step 7, the thickness of the coating is calculated based on the known mass of the workpiece in the computer 11 and the workpiece size detected by the laser sensor 17, and the computer 11 divides the predicted workpiece thickness into sections and designates the corresponding storage position in the working space.
Before step 1 is performed, an installation step is required, and the installation step includes:
1) Assembling the actuator component: two pairs of swinging rods 14, a gyroscope stabilizer 16, a laser sensor 17, a displacement adjusting device 18, a balancing weight 19, a damping power shock absorber 20 and a gravity sensor 22 are arranged on an actuator main body 21, the positions of actuator grippers 12 are determined before the swinging rods 14 are arranged, the swinging rods 14 are arranged together when being arranged, then suction cups 13 are arranged on the actuator grippers 12, and finally an actuator rotating device 15 and a traction chain 9 are assembled on the actuator main body 21.
2) Overall assembly steps: after the bracket 1 is installed, the rails 8 are paved at the corresponding positions of the bracket 1, the camera detectors 4 are installed at the two sides of the bracket 1, the first displacement device 3, the traction device 5 and the second displacement device 6 are matched with the rail bar 7 to be assembled on the rails 8, the actuator 2 is connected to the traction device 5 through the traction chain 9, and the computer 11 and the air pressure device 10 are connected.
When the computer 11 controls the actuator 2 to move, the gravity sensor 22 detects the gravity center change of the actuator 2 in real time and sends the information to the computer 11;
The computer 11 receives this information and processes it, and the computer 11 controls the displacement adjustment device 18 to change the position and distance between the weight 19 and the actuator body 21 such that the center of gravity of the actuator 2 is maintained near the balance point of the actuator 2.
The three-dimensional grabbing mechanism suitable for the bearing bush provided by the invention realizes a larger working space, has the function of automatically positioning and grabbing the bearing bush, can be suitable for bearing bushes with different sizes, automatically detects the thickness of a coating of the bearing bush and classifies the bearing bushes, and has the advantages of simplified and reliable structural design, stable operation and easiness in operation.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (5)
1. The three-dimensional grabbing mechanism suitable for the bearing bush is characterized by comprising a bracket (1), an actuator (2), a displacement mechanism, a driving device and a computer (11);
The actuator (2) is connected with a displacement mechanism, the displacement mechanism is arranged on the bracket (1), the computer (11) is respectively connected with the bracket (1) and the actuator (2), and the driving device is connected with the actuator (2);
the actuator (2) comprises an actuator main body (21), grabbing equipment and a traction chain (9), wherein the grabbing equipment is arranged on the actuator main body (21), the actuator main body (21) is connected with the displacement mechanism through the traction chain (9), and the grabbing equipment is connected with the driving device;
the grabbing device can grab a workpiece under the drive of the driving device, and the displacement mechanism can drive the actuator (2) to displace;
the grabbing device comprises an actuator gripper (12), a sucker (13), a swing rod (14) and an actuator rotating device (15);
the actuator rotating device (15) is connected with the actuator main body (21) and is coaxially arranged with the traction chain (9), the actuator rotating device (15) is connected with one end of the swing rod (14), the other end of the swing rod (14) is connected with the actuator gripper (12), one or more suckers (13) are arranged on the inner side of the actuator gripper (12), and the suckers (13) are connected with the driving device;
The actuator rotating device (15) can drive the swing rod (14) to rotate by taking the traction chain (9) as an axis, and the sucker (13) can grab a workpiece under the drive of the driving device;
a laser sensor (17) is arranged on the actuator grip (12);
The laser sensor (17) is capable of detecting the size of the workpiece and transmitting the size to the computer (11);
the actuator (2) further comprises a displacement adjusting device (18), a balancing weight (19) and a gravity sensor (22);
The displacement adjusting device (18) and the gravity sensor (22) are arranged on the actuator main body (21), and the displacement adjusting device (18) is connected with the balancing weight (19);
The gravity sensor (22) can detect the gravity center change of the actuator (2) and send the gravity center change to the computer (11), and the displacement adjusting device (18) can change the position and the distance between the balancing weight (19) and the actuator main body (21) under the control of the computer (11);
The displacement mechanism comprises a first displacement device (3), a second displacement device (6) and a traction device (5);
The first displacement device (3), the second displacement device (6) and the traction device (5) are arranged on the bracket (1), the second displacement device (6) is connected with the traction device (5), and the traction device (5) is connected with the traction chain (9);
the support (1) is provided with a track (8) and a track bar (7) which are perpendicular to each other, the first displacement device (3) is arranged on the track (8), the second displacement device (6) is arranged on the track bar (7), and the track bar (7) is connected with the first displacement device (3);
The first displacement device (3) can drive the track bar (7) to reciprocate along the track (8), the second displacement device (6) can drive the actuator (2) to reciprocate along the track bar (7), and the traction device (5) can drive the actuator (2) to reciprocate along the vertical direction;
a camera detector (4) is arranged on the bracket (1);
The camera detector is capable of detecting the position of the workpiece and transmitting the detected position of the workpiece to the computer (11);
the drive means comprises pneumatic means (10).
2. The three-dimensional grabbing mechanism suitable for bearing bushes according to claim 1, wherein the number of the swinging rods (14) is one or more, and the actuator grippers (12) are connected with the swinging rods (14) in a one-to-one correspondence manner;
The inside of executor tongs (12) is provided with the pivot, and executor tongs (12) are connected with pendulum rod (14) perpendicularly through the pivot.
3. Three-dimensional gripping mechanism suitable for bearing bushes according to claim 1, characterized in that a gyroscopic stabilizer (16) is arranged between the actuator turning device (15) and the actuator body (21);
the actuator body (21) is provided with a damping dynamic shock absorber (20).
4. A three-dimensional grabbing method suitable for a bearing bush, adopting the three-dimensional grabbing mechanism suitable for a bearing bush according to any one of claims 1-3, and comprising the following steps:
step 1: the camera detector (4) works to detect the position of the workpiece and feed back the position information of the workpiece to the computer (11);
Step 2: the computer (11) receives and processes the position information of the workpiece, and the computer (11) controls the first displacement device (3), the second displacement device (6) and the traction device (5) to work so that the actuator (2) reaches a designated position;
step 3: the computer (11) controls the actuator rotating device (15) to work, so that the laser sensor (17) faces the workpiece, and the laser sensor (17) feeds information back to the computer (11) after detecting the size of the workpiece;
Step 4: the computer (11) receives and processes the size information of the workpiece, and the computer (11) controls the swing rod (14) and the actuator gripper (12) to rotate so that the sucker (13) is attached to the surface of the workpiece;
Step 5: the computer (11) controls the driving device to work, so that the sucker (13) adsorbs the workpiece to finish grabbing the workpiece;
Step 6: the gravity sensor (22) works to detect the quality of the workpiece and feed the quality information of the workpiece back to the computer (11);
Step 7: the computer (11) receives and processes the quality information of the workpieces, and the computer (11) controls the first displacement device (3), the second displacement device (6) and the traction device (5) to work, so that the actuator (2) conveys the workpieces to the corresponding positions, and the workpieces are classified.
5. The three-dimensional grabbing method suitable for bearing bushes according to claim 4, wherein the gravity sensor (22) detects the gravity center change of the actuator (2) in real time and sends the information to the computer (11);
The computer (11) receives the information and processes the information, and the computer (11) controls the displacement adjusting device (18) to change the position and the distance between the balancing weight (19) and the actuator main body (21) so that the gravity center of the actuator (2) is kept near the balance point of the actuator (2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110276099.8A CN112894862B (en) | 2021-03-15 | 2021-03-15 | Three-dimensional grabbing mechanism and method suitable for bearing bush |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110276099.8A CN112894862B (en) | 2021-03-15 | 2021-03-15 | Three-dimensional grabbing mechanism and method suitable for bearing bush |
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| CN112894862A CN112894862A (en) | 2021-06-04 |
| CN112894862B true CN112894862B (en) | 2024-05-14 |
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