CN112938407B

CN112938407B - Gripping device and gripping method

Info

Publication number: CN112938407B
Application number: CN202110304401.6A
Authority: CN
Inventors: 张琪; 路萌克; 刘超; 张朋涛
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2021-03-22
Filing date: 2021-03-22
Publication date: 2022-08-02
Anticipated expiration: 2041-03-22
Also published as: CN112938407A

Abstract

The invention provides a grabbing device and a grabbing method, wherein the grabbing device comprises: the discharging assembly line is used for conveying workpieces; the detection part of the first visual detection piece is arranged towards the discharging assembly line so as to detect the position and the posture of the workpiece on the material assembly line through the detection part of the first visual detection piece; the clamping structure is movably arranged, the clamping part of the clamping structure is movably arranged, and the control structure, the first visual detection part and the clamping structure are connected with the control structure, so that the control structure controls the action of the clamping structure according to the information detected by the first visual detection part. By adopting the technical scheme provided by the invention, the technical problem of low working efficiency of grabbing the foot pad in the prior art can be solved.

Description

Gripping device and gripping method

Technical Field

The invention relates to the technical field of grabbing devices, in particular to a grabbing device and a grabbing method.

Background

At present, three foot pads are required to be placed in the production process of the air conditioner outdoor unit, and the compressor is fixedly supported through the three foot pads. In the prior art, the operation is generally carried out manually. Specifically, the operator typically first detaches each individual footbed from a bag and then places each individual footbed in a particular location.

However, the above-mentioned assembling work is time-consuming and laborious in operation, and requires a rest for the worker, which affects the tact time of the product.

Disclosure of Invention

The invention mainly aims to provide a grabbing device and a grabbing method, and aims to solve the technical problem that the working efficiency of grabbing a foot pad in the prior art is low.

In order to achieve the above object, according to one aspect of the present invention, there is provided a grasping apparatus including: the discharging assembly line is used for conveying workpieces; the detection part of the first visual detection piece is arranged towards the discharging assembly line so as to detect the position and the posture of the workpiece on the material assembly line through the detection part of the first visual detection piece; the clamping structure is movably arranged, the clamping part of the clamping structure is movably arranged, and the control structure, the first visual detection part and the clamping structure are connected with the control structure, so that the control structure controls the action of the clamping structure according to the information detected by the first visual detection part.

Further, the grabbing device still includes: the feeding assembly line and the discharging assembly line are arranged at intervals so that the clamping structure transfers the workpieces on the discharging assembly line onto the feeding assembly line; and the detection head of the second visual detection piece is arranged towards the feeding assembly line so as to detect the workpiece placing condition on the feeding assembly line through the second visual detection piece.

Further, the grabbing device still includes: the feed bin sets up the pay-off entry end at ejection of compact assembly line to carry the work piece to ejection of compact assembly line through the feed bin.

Furthermore, the bottom of the storage bin is provided with a discharge port, and the discharge port is positioned above the feeding inlet end.

According to another aspect of the present invention, there is provided a grasping method using the grasping apparatus provided above, the grasping method including: acquiring position data and state data of a workpiece, wherein the position data and the state data are data generated by detecting the position of the workpiece by a first visual detection piece of a grabbing device; and determining the movement of the clamping structure according to the position data and the state data of the workpiece.

Further, acquiring position data and state data of the workpiece includes: acquiring a posture photo of the workpiece, wherein the posture photo is obtained by shooting the workpiece by the first visual detection part in a visual detection range; and determining the movement of the clamping structure according to the attitude picture of the workpiece.

Further, determining the motion of the gripping structure from the attitude photograph of the workpiece includes: acquiring motion information of the clamping structure, wherein the motion information is obtained by comparing a control structure of the clamping device with a preset posture according to a posture picture of a workpiece; and controlling the clamping structure to clamp the workpiece according to the motion information.

Further, the gripping device is the gripping device provided above, and after the gripping structure is controlled to grip the workpiece according to the motion information, the gripping method further includes: acquiring workpiece placement information on the feeding assembly line, wherein the workpiece placement information is data generated by detecting the workpiece placement condition of the feeding assembly line by a second visual detection piece of the gripping device; and determining the movement of the clamping structure according to the workpiece placement information on the feeding assembly line.

Further, confirm to press from both sides the motion of getting the structure according to the work piece information of putting on the pay-off assembly line, include: when the workpieces on the feeding assembly line are placed in a full state, the clamping structure and the feeding assembly line are controlled to be arranged at intervals by the control structure; when the workpieces on the feeding assembly line are placed in a material shortage state, the clamping structure is controlled by the control structure to transfer the workpieces to the feeding assembly line.

Further, before determining the movement of the gripping structure from the position data and the state data of the workpiece, the gripping method further includes: acquiring detection information of a first visual detection piece, wherein the detection information is information for judging whether a workpiece exists in a detection range of the first visual detection piece by the first visual detection piece; and controlling the movement of the discharging assembly line according to the detection information of the first visual detection piece.

By applying the technical scheme of the invention, the foot pad can be conveniently and automatically clamped and placed, the automation degree of operation is improved, and the working efficiency is favorably improved. Consequently, through the grabbing device that this embodiment provided, can solve the callus on the sole among the prior art and snatch the lower technical problem of work efficiency.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram illustrating a gripping device according to an embodiment of the present invention.

Wherein the figures include the following reference numerals:

10. a discharge assembly line; 20. a first visual inspection piece; 30. a gripping structure; 40. a feed line; 50. a storage bin.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1, the first embodiment of the present invention provides a gripping device, which includes an outfeed line 10, a first vision inspection member 20, and a gripping structure 30, wherein the outfeed line 10 is used for conveying a workpiece. The detection portion of the first visual detection member 20 is disposed toward the discharge line 10 to detect the position and posture of the workpiece on the discharge line 10 by the detection portion of the first visual detection member 20. The gripping part of the gripping structure 30 is movably arranged, and the control structure, the first vision inspection part 20 and the gripping structure 30 are connected with the control structure, so that the control structure controls the movement of the gripping structure 30 according to the information detected by the first vision inspection part 20. The workpiece in this embodiment is mainly a foot pad.

Adopt the grabbing device that this embodiment provided, can be convenient for get and place the callus on the sole automatically to press from both sides, improved the degree of automation of operation, be favorable to improving work efficiency. Consequently, through the grabbing device that this embodiment provided, can solve the callus on the sole among the prior art and snatch the lower technical problem of work efficiency.

Specifically, the gripping device in this embodiment further includes a feeding line 40 and a second visual inspection unit, and the feeding line 40 and the discharging line 10 are spaced apart from each other, so that the gripping structure 30 transfers the workpiece on the discharging line 10 to the feeding line 40. The detection head of the second visual detection piece is arranged towards the feeding assembly line 40 so as to detect the placement condition of the workpieces on the feeding assembly line 40 through the second visual detection piece. By adopting the structure, whether the clamping structure 30 is used for clamping and waiting or is used for placing the workpiece on the feeding assembly line 40 can be conveniently determined according to the workpiece placing condition on the feeding assembly line 40.

Specifically, the second visual detection element in this embodiment is used for detecting the placement gap on the feeding line 40, and the second visual detection element is used for detecting the placement gap on the feeding line 40. Specifically, the second visual inspection piece shoots the feeding assembly line 40 and transmits information to the control structure, and the control structure judges whether enough clearance exists on the feeding assembly line 40 according to the actual proportion and the size of the clearance in the picture so as to place the workpiece. When the control structure judges that the placing gap is satisfied, determining the position information of the placing gap and controlling the movement of the clamping structure 30 through the control structure; when the control structure determines that the placing gap is insufficient, the clamping structure 30 clamps the workpiece at the waiting station.

Specifically, the feeding assembly line 40 can be further provided with a weight detection piece and an alarm device, a full load weight range is set, when the weight detected by the weight detection piece is within the full load weight range, the feeding assembly line 40 is determined to be in a full load state, and the alarm device gives an alarm prompt, that is, no enough placing gap exists; when the weight detected by the weight detecting member is smaller than the full load weight range, it is preliminarily determined that there is a sufficient placing gap in the feeding line 40, and then the feeding line 40 is further detected by the second visual detecting member, so as to detect the placing gap position and determine the movement information of the gripping structure 30 for gripping the workpiece. The alarm device in this embodiment may be an alarm bell or an indicator light.

In this embodiment, the gripping device further comprises a bin 50, and the bin 50 is arranged at the feeding inlet end of the discharging line 10 so as to convey the workpiece to the discharging line 10 through the bin 50. With such a structural arrangement, a large number of workpieces can be supplied to the discharging assembly line 10 through the stock bin 50, so that the feeding operation is convenient.

Specifically, the bottom of the storage bin 50 in this embodiment is provided with a discharge port, and the discharge port is located above the feeding inlet end, so as to facilitate discharging.

The second embodiment of the invention provides a grabbing method, which adopts the grabbing device provided by the invention, and the grabbing method comprises the following steps: acquiring position data and state data of the workpiece, wherein the position data and the state data are data generated by detecting the position of the workpiece by a first visual detection piece 20 of the grabbing device; the movement of the gripping structure 30 is determined based on the position data and the state data of the workpiece. By adopting the structure, the position and the state of the workpiece can be detected, and the state of the workpiece is determined firstly, so that whether the workpiece is clamped or not is judged; when the workpiece is in a state (also extremely the attitude) that facilitates the gripping operation, the movement of the gripping structure 30 is determined for accurate gripping by detecting the position data of the workpiece; when the workpiece state is not convenient for clamping operation, the next workpiece is detected and judged until the workpiece conforming to the clamping state is detected. The method can further improve the clamping accuracy and is convenient for improving the clamping efficiency.

In this embodiment, acquiring the position data and the state data of the workpiece includes: acquiring a posture photo of the workpiece, wherein the posture photo is obtained by shooting the workpiece by the first visual detection part 20 in a visual detection range; the movement of the gripping structure 30 is determined from the attitude photograph of the workpiece. By adopting the structure, the workpiece which is in accordance with the clamping state (clamping gesture) can be obtained quickly in the visual detection range, so that the clamping accuracy is improved. Specifically, the clamping state is met when the posture of the workpiece is consistent with the posture during installation; when the posture of the workpiece is inconsistent with the posture during installation, such as the workpiece is standing or waiting, the posture of the workpiece is inconsistent with the clamping state.

Specifically, determining the movement of the gripping structure 30 based on the attitude photograph of the workpiece includes: acquiring motion information of the clamping structure 30, wherein the motion information is obtained by comparing a control structure of the clamping device with a preset posture according to a posture picture of a workpiece; the gripping structure 30 is controlled to grip the workpiece according to the motion information. With such a structural arrangement, by judging the posture of the workpiece and the position where the workpiece is located, it is possible to conveniently and accurately judge the movement information of the gripping structure 30, thereby facilitating further improvement of the accuracy of gripping.

In this embodiment, the grasping apparatus is the grasping apparatus provided above, and after controlling the grasping structure 30 to grasp the workpiece according to the motion information, the grasping method further includes: acquiring workpiece placement information on the feeding assembly line 40, wherein the workpiece placement information is data generated by detecting the workpiece placement condition of the feeding assembly line 40 by a second visual detection piece of the gripping device; the movement of the gripping structure 30 is determined based on the workpiece placement information on the feed line 40. By adopting the method, the intelligent degree of grabbing can be conveniently improved, so that whether the clamping structure 30 clamps the workpiece onto the feeding assembly line 40 for feeding or not can be conveniently determined according to the workpiece placement information on the feeding assembly line 40, the working efficiency is further improved, and the invalid clamping operation is avoided.

Specifically, determining the movement of the gripping structure 30 according to the workpiece placement information on the feeding line 40 includes: when the workpieces on the feeding assembly line 40 are placed in a full state, the clamping structure 30 and the feeding assembly line 40 are controlled to be arranged at intervals by the control structure; when the workpieces on the feeding assembly line 40 are placed in a material shortage state, the clamping structure 30 is controlled by the control structure to transfer the workpieces to the feeding assembly line 40. By adopting the structure, whether the feeding operation is carried out through the clamping structure 30 can be determined conveniently according to the feeding condition on the feeding assembly line 40 in real time, and the overall intelligent degree and the working efficiency of the device are further improved.

In the present embodiment, before determining the movement of the gripping structure 30 from the position data and the state data of the workpiece, the gripping method further includes: acquiring detection information of the first visual detection part 20, wherein the detection information is information that the first visual detection part 20 judges whether a workpiece exists in a detection range of the first visual detection part 20; the movement of the discharging assembly line 10 is controlled according to the detection information of the first visual detection member 20. With such a configuration, the presence or absence of the workpiece within the detection range of the first visual inspection unit 20 is used to facilitate the determination of the necessity of the feeding operation by the operator.

In the use, can install feed bin 50 earlier, once tear 25 packet callus on the sole open, can hold 500 callus on the sole, adopt the robot (the clamp in this embodiment gets structure 30 can be the robot) and arrange visual system and carry out the accurate material of getting. The material taking machine is started by one key, can take pictures visually, can be clamped automatically, does not need manual participation, and can efficiently finish the material taking task. The feeding bin 50 for placing 25 foot pads can be manually placed at one time, the number of the foot pads is up to 500, and the foot pads are prevented from being frequently unpacked and taken manually. The robot is matched with the vision system to replace manual operation, so that the efficiency is high, the precision is high, and the beat of the product is fast.

There is a discharge port above the bin 50 and the vision system is mounted directly above the discharge belt. The human body can place 25 foot pads at one time, namely 500 foot pads. When the equipment is started to operate, the equipment can be started by pressing a start button by one key manually. When the robot runs to a waiting point, the vision system starts to take a picture, and the foot pad with the set model is automatically captured in a certain vision range. When no foot pad exists in the visual range, the discharging belt rotates, the foot pad in the bin 50 falls onto the discharging belt, and the belt stops rotating until the foot pad enters the visual system range. When materials exist in the shooting range of the vision system, the postures of the foot pads are obtained through the vision through shooting, the templates set by the vision are compared, and the foot pads which accord with the grabbing operation postures of the robot are automatically screened out. And then sending the data to the robot through the Ethernet, assigning the data to a grabbing point, and moving the robot from the waiting point to the grabbing point for grabbing. After the grabbing action is finished, the robot judges whether the material is stored on the buffer belt or not. If the belt is full of materials, the robot runs to an excessive point to wait, and the vision is started again to take pictures (providing data coordinates for next grabbing and reducing station beats). If the belt is not full of material, then the robot moves to the point of placing, places the callus on the sole on the belt, transports the callus on the sole by the buffer memory belt and places the automatic grabbing point of equipment of callus on the sole. After the robot finishes placing, the robot moves to a waiting point, and the vision shooting finishes the cycle work.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the grabbing efficiency of the foot pad is improved.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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

1. A grasping device, comprising:

the discharging assembly line (10), the discharging assembly line (10) is used for conveying workpieces;

a first visual inspection member (20), a detection portion of the first visual inspection member (20) being disposed toward the discharge line (10) to detect a position and a posture of a workpiece on the discharge line (10) by the detection portion of the first visual inspection member (20);

a gripping structure (30), the gripping part of the gripping structure (30) being movably arranged;

the first visual inspection piece (20) and the clamping structure (30) are connected with the control structure, so that the control structure controls the action of the clamping structure (30) according to the information detected by the first visual inspection piece (20);

the feeding assembly line (40) is arranged at an interval with the discharging assembly line (10) so that the clamping structure (30) transfers the workpieces on the discharging assembly line (10) to the feeding assembly line (40);

a second visual detection member, the detection head of which is arranged towards the feeding assembly line (40) so as to detect the placing gap on the feeding assembly line (40) through the second visual detection member;

when the control structure judges that the placing gap meets the placing requirement of the workpiece, the position information of the placing gap is determined, and the movement of the clamping structure (30) is controlled through the control structure;

and when the control structure judges that the placing gap is insufficient, the clamping structure (30) is controlled to be in a waiting station.

2. The grasping apparatus according to claim 1, wherein the grasping apparatus further includes:

the bin (50) is arranged at the feeding inlet end of the discharging production line (10) and used for conveying workpieces to the discharging production line (10) through the bin (50).

3. The gripping device according to claim 2, characterized in that the bottom of the magazine (50) is provided with a discharge opening, which is located above the feed inlet end.

4. A grasping method characterized by using the grasping apparatus according to any one of claims 1 to 3, the grasping method comprising:

acquiring position data and state data of the workpiece, wherein the position data and the state data are data generated by detecting the position of the workpiece by a first visual detection piece of the gripping device;

and determining the movement of the clamping structure according to the position data and the state data of the workpiece.

5. The grasping method according to claim 4, wherein acquiring the position data and the state data of the workpiece includes:

acquiring a posture photo of the workpiece, wherein the posture photo is obtained by shooting the workpiece by the first visual detection part in a visual detection range;

and determining the movement of the clamping structure according to the attitude picture of the workpiece.

6. The grasping method according to claim 5, wherein determining the movement of the grasping structure from the attitude photograph of the workpiece includes:

acquiring motion information of the clamping structure, wherein the motion information is obtained by comparing a control structure of the clamping device with a preset posture according to the posture picture of the workpiece;

and controlling the clamping structure to clamp the workpiece according to the motion information.

7. The grasping method according to claim 6, wherein after controlling the grasping structure to grasp the workpiece according to the motion information, the grasping method further comprises:

acquiring workpiece placement information on the feeding assembly line, wherein the workpiece placement information is data generated by detecting the workpiece placement condition of the feeding assembly line by a second visual detection piece of the gripping device;

and determining the movement of the clamping structure according to the workpiece placement information on the feeding assembly line.

8. The method of claim 6, wherein the grasping apparatus is the grasping apparatus of claim 2, and determining the movement of the gripping structure according to the information on the placement of the workpiece on the feeding line comprises:

when the workpieces on the feeding assembly line are placed in a full state, the clamping structure and the feeding assembly line are controlled to be arranged at intervals by the control structure;

when the workpieces on the feeding assembly line are placed in a material shortage state, the clamping structure is controlled by the control structure to transfer the workpieces to the feeding assembly line.

9. The grasping method according to any one of claims 4 to 8, wherein before determining the movement of the gripping structure from the position data and the state data of the workpiece, the grasping method further includes:

acquiring detection information of the first visual detection piece, wherein the detection information is information for judging whether a workpiece exists in a detection range of the first visual detection piece by the first visual detection piece;

and controlling the movement of the discharging assembly line according to the detection information of the first visual detection piece.