CN113428635B - Material posture adjusting device, adjusting system and adjusting method - Google Patents
Material posture adjusting device, adjusting system and adjusting method Download PDFInfo
- Publication number
- CN113428635B CN113428635B CN202110647584.1A CN202110647584A CN113428635B CN 113428635 B CN113428635 B CN 113428635B CN 202110647584 A CN202110647584 A CN 202110647584A CN 113428635 B CN113428635 B CN 113428635B
- Authority
- CN
- China
- Prior art keywords
- posture
- driving device
- clamping device
- clamping
- fixing piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The present disclosure provides a material attitude adjusting apparatus, which includes: the first clamping device is arranged on the first fixing part and used for clamping the material in the initial posture; the first driving device is arranged on the first fixing part and used for driving the first clamping device and enabling the material to move from an initial posture to an intermediate posture; the second clamping device is arranged on the first fixing piece and used for clamping the material in the middle posture; and the second driving device is arranged on the first fixing piece and used for driving the second clamping device and enabling the material to move from the middle posture to the final posture. The disclosure also provides a material attitude adjusting system and a material attitude adjusting method.
Description
Technical Field
The present disclosure relates to material processing apparatuses, and particularly to a material posture adjusting device, an adjusting system, and an adjusting method.
Background
When materials are loaded and unloaded, the materials need to be taken out of a storage container and placed on a production line, or placed on the periphery of the production line and manually loaded; or the materials are taken down from the production line and placed in a storage container.
Considering that the posture of the material in the storage container is different from the posture of the material on the production line, the material needs to be adjusted from one posture to another posture to meet the feeding and discharging requirements.
However, the device in the prior art, including some multi-degree-of-freedom mechanical arms, can only realize some simple attitude adjustments to meet the requirements of an automatic production line.
Therefore, it is necessary to design a material posture adjusting apparatus and an adjusting method thereof, so as to be suitable for most production lines.
Disclosure of Invention
In order to solve one of the technical problems, the present disclosure provides a material posture adjusting apparatus, an adjusting system and an adjusting method.
According to an aspect of the present disclosure, there is provided a material posture adjusting apparatus, including:
a first fixing member for fixing the first fixing member,
the first clamping device is arranged on the first fixing piece and used for clamping the material in the initial posture;
the first driving device is arranged on the first fixing piece and used for driving the first clamping device and enabling the material to move from an initial posture to an intermediate posture;
the second clamping device is arranged on the first fixing piece and used for clamping the material in the middle posture; and
and the second driving device is arranged on the first fixing piece and used for driving the second clamping device and enabling the material to move from the middle posture to the final posture.
The material posture adjusting apparatus according to at least one embodiment of the present disclosure further includes:
and the second fixing piece is arranged on the first fixing piece, and when the material is in the middle posture, the material is supported by the second fixing piece.
The material posture adjusting apparatus according to at least one embodiment of the present disclosure further includes:
and the positioning device is arranged on the second fixing piece so as to enable the material to be kept in a middle posture through the positioning device.
According to at least one embodiment of this disclosure's material attitude adjusting equipment, positioner includes:
the left limiting block is arranged on the second fixing piece so as to limit the material from one side;
the right limiting block is arranged on the second fixing piece, and the material is located between the left limiting block and the right limiting block so as to be limited from the other side by the right limiting block;
the limiting column is arranged on the second fixing piece; and
the limiting push block is arranged on the second fixing piece, and a part of the material is kept between the limiting column and the limiting push block;
at least one of the limiting column and the limiting push block is driven, so that the limiting column and the limiting push block can approach or depart from each other.
According to the material posture adjusting device of at least one embodiment of the present disclosure, when the material is located between the left limiting block and the right limiting block and is clamped by the limiting column and the limiting push block, the material is in a middle posture.
According to the material posture adjusting equipment of at least one embodiment of the present disclosure, one end of the limiting push block, which is close to the limiting column, is formed into a V-shaped groove, so that the limiting column is matched with the V-shaped groove of the limiting push block, and the material is kept in a middle posture.
According to at least one embodiment of this disclosure's material attitude adjustment equipment, positioner still includes:
and the limiting push block driving device is arranged on the second fixing piece to drive the limiting push block to be close to or far away from the limiting column.
According to the material posture adjusting device of at least one embodiment of the present disclosure, an opening is formed on the second fixing member, and a part of the first clamping device passes through the opening of the second fixing member to place the material on the second fixing member.
According to at least one embodiment of this disclosure's material attitude adjustment equipment, the first clamp device includes:
at least two jaws, at least one of which is driven so that it grips material in an initial attitude and holds it between the at least two jaws.
According to at least one embodiment of this disclosure's material attitude adjusting equipment, first drive arrangement includes:
the first linear driving device is arranged on the first fixing piece; and
the first rotating driving device is arranged on the first linear driving device and is used for driving the first clamping device to rotate; the rotating shaft center of the first rotating driving device is separated from the clamping jaw of the first clamping device by a preset distance;
when the first linear driving device acts, the first clamping device is driven to approach or separate from the second fixing piece.
According to the material posture adjusting device of at least one embodiment of the present disclosure, the first gripping device is fixed to a rotation shaft of the first rotary driving device.
According to at least one embodiment of this disclosure, the material posture adjustment apparatus, the second driving device includes:
the second rotary driving device is arranged on the first fixing piece; and
the second linear driving device is arranged on the second rotary driving device and is used for driving the second linear driving device to rotate through the second rotary driving device;
the second clamping device is fixed on the second linear driving device, so that after the second clamping device clamps the workpiece, the second linear driving device drives the second clamping device to be far away from the second fixing part.
The material posture adjusting apparatus according to at least one embodiment of the present disclosure further includes:
the detection device is arranged on the second linear driving device, so that whether the material is located in the middle posture or not is judged through the detection device.
According to the material posture adjusting equipment of at least one embodiment of the present disclosure, a positioning hole is provided on the material, and when a part of the detection device is inserted into the positioning hole, it is determined that the material is in the middle posture.
According to at least one embodiment of this disclosure's material attitude adjustment equipment, detection device includes:
the connecting plate is fixed on the second linear driving device so as to drive the connecting plate to move when the second linear driving device moves, wherein a through hole is formed in the connecting plate;
the probe rod is slidably arranged in the through hole, two fixing clamps are fixed on the probe rod, and the two fixing clamps are respectively positioned on two sides of the connecting plate;
the spring is arranged between the connecting plate and one of the two fixing clamps, so that the probe rod is restored to an initial position through a restoring force provided by the spring; and
the sensor is not triggered when the probe rod is inserted into the positioning hole; when the probe rod is not inserted into the positioning hole, the sensor is triggered.
According to another aspect of the present disclosure, a material posture adjusting system is provided, which includes the material posture adjusting apparatus.
The material attitude adjustment system according to at least one embodiment of the present disclosure further includes:
the mechanical arm at least has two degrees of freedom, and the first fixing piece is fixed at the tail end joint of the mechanical arm so as to convey the material clamped by the second clamping device to a preset position through the mechanical arm.
The material attitude adjustment system according to at least one embodiment of the present disclosure further includes:
the 3D vision module is used for shooting images of the materials to be clamped and obtaining the pose of the materials in the storage container according to the images of the materials to be clamped; and controlling the mechanical arm to act according to the pose of the material in the storage container, so that the first clamping device clamps the material.
According to another aspect of the present disclosure, there is provided a material posture adjustment method, including:
clamping the material in the initial posture by a first clamping device;
driving the first clamping device to move through a first driving device, and enabling the material to move from an initial posture to an intermediate posture;
clamping the material in the middle posture by a second clamping device; and
and driving the second clamping device through a second driving device, and enabling the material to move from the middle posture to the final posture.
According to the material posture adjusting method of at least one embodiment of the present disclosure, the material is positioned at the intermediate posture by the positioning device.
According to the material posture adjusting method of at least one embodiment of the disclosure, the first clamping device places the material between the left limiting block and the right limiting block, and the limiting push block is driven to act, so that a part of the material is kept between the limiting column and the limiting push block, and the material is positioned in the middle posture.
According to the material posture adjusting method of at least one embodiment of the present disclosure, after a first clamping device clamps a material, the first rotation driving device drives the first clamping device to rotate by a preset angle, so that the material is located above a second fixing member; when the first clamping device loosens the materials, the materials fall to the position between the left limiting block and the right limiting block, and the parts of the materials are located between the limiting columns and the limiting push blocks.
According to the material posture adjusting method, after the first clamping device releases the material, the first linear driving device drives the clamping jaw to be far away from the second fixing piece, so that the first clamping device is far away from the material.
According to the material posture adjusting method, the second linear driving device drives the second clamping device and the detection device to act, and when the detection device judges that the material is in the middle posture, the second clamping device is controlled to clamp the material.
According to the material posture adjusting method of at least one embodiment of the present disclosure, the second linear driving device drives the second gripping device to move away from the second fixed member, and the second rotary driving device drives the second gripping device to rotate by a preset angle, so that the material is in a final posture.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a schematic structural view of a material posture adjustment apparatus according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural view of another angle of the material posture adjustment apparatus according to an embodiment of the present disclosure.
Fig. 3 is a schematic structural view of another angle of the material posture adjustment apparatus according to an embodiment of the present disclosure.
Fig. 4 is an enlarged schematic view of a portion a of fig. 3.
Fig. 5 is a schematic structural diagram of a material attitude adjustment system according to one embodiment of the present disclosure.
Fig. 6 is a flow chart of a material attitude adjustment method according to one embodiment of the present disclosure.
The reference numbers in the figures are specifically:
100. material posture adjusting equipment
110. First fixed part
120. First clamping device
121. Clamping jaw
130. First driving device
131. First linear driving device
132. First rotary driving device
140. Second clamping device
150. Second driving device
151. Second rotary drive device
152. Second linear driving device
160. Second fixing part
170. Positioning device
171. Left limiting block
172. Right limiting block
173. Limiting column
174. Limiting push block
175. Spacing ejector pad drive arrangement
180. Detection device
181. Connecting plate
182. Probe rod
183. Spring
184. Sensor with a sensor element
185. Fixing clamp
190 3D vision module
200. Material posture adjusting system
220. Mechanical arm
210. And (4) moving the workbench.
Detailed description of the preferred embodiments
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.
The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality among the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in an order reverse to the order described. In addition, like reference numerals denote like parts.
When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.
For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" upper, "and" side (e.g., as in "sidewall") to describe the relationship of one component to another (other) component as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" may encompass both an "above" and "below" orientation. Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the stated features, integers, steps, operations, elements, components and/or groups thereof are stated to be present but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.
Fig. 1 is a schematic structural view of a material attitude adjusting apparatus according to an embodiment of the present disclosure. Fig. 2 is a schematic structural view of another angle of the material posture adjustment apparatus according to an embodiment of the present disclosure.
As shown in fig. 1 and 2, the material posture adjusting apparatus 100 of the present disclosure includes:
the first fixing member 110 is provided at a position corresponding to the first fixing member,
the first clamping device 120, the first clamping device 120 being disposed on the first fixed member 110, and being configured to clamp the material in the initial posture;
the first driving device 130 is arranged on the first fixing part 110, and is used for driving the first clamping device 120 and moving the material from the initial posture to the intermediate posture;
the second clamping device 140 is arranged on the first fixing part 110, and is used for clamping the material in the middle posture; and
a second driving device 150, wherein the second driving device 150 is disposed on the first fixing member 110, and is used for driving the second clamping device 140 and moving the material from the intermediate posture to the final posture.
Therefore, in the material posture adjusting device disclosed by the disclosure, by setting the intermediate posture and completing the change process of the whole posture through the first clamping device 120 and the second clamping device 140, the material posture adjusting device disclosed by the disclosure can be applied to most production lines; the material posture adjusting equipment is fixed at the tail end of the cooperative mechanical arm, and the material (especially a circular tubular part) is grabbed and the posture is adjusted under the driving of the cooperative mechanical arm.
The first clamping device 120 is used for primarily grabbing from the material tank for the first time, and the second clamping device is used for grabbing after the circular tube part is accurately positioned.
In this disclosure, the material posture adjusting apparatus 100 further includes:
and a second fixing member 160, wherein the second fixing member 160 is disposed on the first fixing member 110, and when the material is in the intermediate posture, the material is supported by the second fixing member 160.
In an optional embodiment of the present disclosure, the material posture adjusting apparatus 100 further includes:
a positioning device 170, wherein the positioning device 170 is disposed on the second fixing member 160, so that the material is maintained in an intermediate posture by the positioning device 170.
That is, in the present disclosure, the intermediate postures include an intermediate original posture and an intermediate precise posture, wherein when the first gripping device 120 places the material on the second fixing member 160, the material is located at the intermediate original posture; when the first gripping device 120 is in the intermediate precise position, the second gripping device 140 is allowed to grip the material.
As an implementation form, in the present disclosure, the positioning device 170 includes:
the left limiting block 171 is arranged on the second fixing member 160, so that the material is limited from one side by the left limiting block 171;
the right limiting block 172 is arranged on the second fixing member 160, and the material is located between the left limiting block 171 and the right limiting block 172, so that the material is limited from the other side by the right limiting block 172;
the limit post 173 is disposed on the second fixing member 160; and
a limit push block 174, wherein the limit push block 174 is arranged on the second fixing member 160, and a part of the material is held between the limit post 173 and the limit push block 174;
wherein at least one of the restraining post 173 and the restraining pusher 174 is driven so that the restraining post 173 and the restraining pusher 174 can approach or move away from each other.
In an alternative embodiment of the present disclosure, when the material is located between the left limiting block 171 and the right limiting block 172 and is clamped by the limiting post 173 and the limiting push block 174, the material is in a middle posture; more specifically, the material is in an intermediate precise attitude.
More specifically, one end of the limit pusher 174 near the limit post 173 is formed as a V-shaped groove, so that the limit post 173 is engaged with the V-shaped groove of the limit pusher 174, so that the material is held in a middle posture.
More preferably, the positioning device 170 further comprises:
a limit push block driving device 175 (pneumatic, hydraulic, electric, etc. linear driving mechanisms may be used), and the limit push block driving device 175 is disposed on the second fixing member to drive the limit push block 174 to approach or leave the limit post 173.
In the present disclosure, the limiting push block driving device 175 may be a linear driving device, and may be selected from a pneumatic linear driving mechanism, a hydraulic linear driving mechanism, an electric linear driving mechanism, and the like; the electric linear driving mechanism can be a linear motor or a ball screw and the like; in the present disclosure, the specific form of the limiting push block driving device 175 is not limited.
In an alternative embodiment of the present disclosure, the second fixing member 160 is formed with an opening, and a portion of the first grasping device 120 passes through the opening of the second fixing member 160 to place the material on the second fixing member 160.
Therefore, when the first clamping device 120 places the material on the second fixing member 160, the material is located between the left limiting block 171 and the right limiting block 172, and the material is located at the middle initial posture.
In the present disclosure, preferably, the first grasping apparatus 120 includes:
at least two clamping jaws 121, at least one of the at least two clamping jaws 121 being driven such that the at least two clamping jaws 121 pick up the material in the initial attitude and hold the material between the at least two clamping jaws 121.
On the other hand, the second gripping device 140 may have the same structure as the first gripping device 120, so that the material in the intermediate posture is gripped by the jaws of the second gripping device 140.
In an optional embodiment of the present disclosure, the first driving device 130 includes:
a first linear driving device 131, wherein the first linear driving device 131 is disposed on the first fixing member 110; and
a first rotation driving device 132, wherein the first rotation driving device 132 is disposed on the first linear driving device 131, and the first rotation driving device 132 is configured to drive the first clamping device 120 to rotate; wherein, the rotation axis of the first rotation driving device 132 is spaced from the clamping jaw 121 of the first clamping device 120 by a preset distance;
when the first linear driving device 131 is operated, the first clamping device 120 is driven to approach or move away from the second fixing member 160.
In the present disclosure, the first gripper 120 is fixed to the rotation shaft of the first rotation driving device 132.
In an optional embodiment of the present disclosure, the second driving device 150 includes:
a second rotation driving device 151, wherein the second rotation driving device 151 is disposed on the first fixing member 110; and
a second linear driving device 152, wherein the second linear driving device 152 is disposed on the second rotary driving device 151, so that the second linear driving device 152 is driven to rotate by the second rotary driving device 151;
the second gripping device 140 is fixed to the second linear driving device 152, so that after the second gripping device 140 grips the workpiece, the second linear driving device 152 drives the second gripping device 140 to move away from the second fixed member.
According to at least one embodiment of the present disclosure, the material posture adjusting apparatus 100 further includes:
the detection device 180 is disposed on the second linear driving device 152, so as to determine whether the material is located in the middle posture through the detection device 180.
Specifically, a positioning hole is formed in the material, and when part of the detection device 180 is inserted into the positioning hole, the material is judged to be in a middle posture; otherwise, judging that the material is not in the middle posture.
Fig. 3 is a schematic structural view of another angle of the material posture adjustment apparatus according to an embodiment of the present disclosure. Fig. 4 is an enlarged schematic view of a portion a of fig. 3.
As one implementation form, as shown in fig. 3 and 4, the detection device 180 includes:
the connecting plate 181 is fixed to the second linear driving device 152, so that when the second linear driving device 152 moves, the connecting plate 181 is driven to move, wherein a through hole is formed in the connecting plate 181;
the probe rod 182 is slidably arranged in the through hole, two fixing clamps 185 are fixed on the probe rod 182, and the two fixing clamps 185 are respectively positioned on two sides of the connecting plate 181; and
a spring 183, wherein the spring 183 is disposed between the connection plate 181 and one of the two fixing clips 185, so that the probe 182 is restored to the initial position by a restoring force provided by the spring 183.
More preferably, the spring 183 may be sleeved on the probe 182, so as to apply a pulling force or a pressing force to the probe 182.
In the present disclosure, the detecting device 180 further includes a sensor 184, where the sensor 184 may be disposed on the connecting plate 181, and may be selected as a structure such as a travel switch, and when the probe 182 is inserted into the positioning hole, the sensor 184 is not triggered; when the probe 182 is not inserted into the positioning hole, the sensor 184 is triggered.
In this disclosure, material attitude adjustment equipment still includes:
a robot arm 220, wherein the robot arm 220 has at least two degrees of freedom, and the first fixing member 110 is fixed to a joint at an end of the robot arm 220, so as to transport the material gripped by the second gripping device 140 to a predetermined position through the robot arm 220.
Fig. 5 is a schematic structural diagram of a material attitude adjustment system according to one embodiment of the present disclosure.
According to another aspect of the present disclosure, as shown in fig. 5, the present disclosure provides a material posture adjustment system 200 including the material posture adjustment apparatus described above.
In an optional embodiment of the present disclosure, the material posture adjustment system 200 further includes:
a robot arm 220, wherein the robot arm 220 has at least two degrees of freedom, and the first fixing member 110 is fixed to a joint at an end of the robot arm 220, so as to transport the material gripped by the second gripping device 140 to a predetermined position through the robot arm 220.
More preferably, the robotic arm 220 may be a cooperating robotic arm, such as a 7-degree-of-freedom cooperating robotic arm or the like; therefore, the grabbing posture can be adjusted in real time according to the posture of the material; moreover, the cooperation mechanical arm has a safety collision detection function, is high in safety, can work in the same environment with workers, does not need a safety fence, and is small in occupied area.
Further, the material posture adjusting system 200 further includes:
the 3D vision module 190 is used for shooting images of the materials to be clamped and obtaining the poses of the materials in the storage container according to the images of the materials to be clamped; the mechanical arm 220 is controlled to act according to the pose of the material in the storage container, so as to clamp the material by the first clamping device 120.
Therefore, in the disclosure, the 3D vision module 190 is used for positioning the outer contour and the position of the material, and the accurate positioning can be completed without being limited by the complexity of the appearance of the object.
Moreover, due to the arrangement of the 3D vision module 190, when the materials are placed in the material box, the materials do not need to be placed according to accurate positions, the real-time positions and postures of the materials can be recognized in real time through the 3D vision module 190, and position data information of the materials is fed back to the cooperative mechanical arm to be grabbed.
In the present disclosure, the robot arm 220 and the 3D vision module 190 may be disposed on the movable table 210, so that the material posture adjusting apparatus of the present disclosure can be moved to different positions, thereby being adapted to a flexible production line.
Fig. 6 is a flow chart of a material attitude adjustment method according to one embodiment of the present disclosure.
According to another aspect of the present disclosure, as shown in fig. 6, there is provided a material posture adjusting method, including:
102. the material in the initial posture is clamped by the first clamping device 120;
104. driving the first clamping device 120 to move through a first driving device 130, and moving the material from the initial posture to an intermediate posture;
106. the material in the middle posture is clamped by the second clamping device 140; and
108. the second gripping device 140 is driven by a second driving device 150 and moves the material from the intermediate posture to the final posture.
More preferably, the material is positioned in an intermediate attitude, i.e. the material is positioned in an intermediate precise attitude, by means of the positioning device 170.
In an alternative embodiment of the present disclosure, the first gripping device 120 places the material between the left limiting block 171 and the right limiting block 172, and by driving the limiting push block 174 to act, a part of the material is held between the limiting post 173 and the limiting push block 174, so that the material is positioned in a middle posture.
According to at least one embodiment of the present disclosure, after the first gripping device 120 grips the material, the first rotation driving device 132 drives the first gripping device 120 to rotate by a preset angle, for example, 180 °, so that the material is located above the second fixed member 160; when the first gripper 120 releases the material, the material falls to a position between the left stopper 171 and the right stopper 172, and a part of the material is located between the stopper post 173 and the stopper pusher 174.
In an alternative embodiment of the present disclosure, when the first gripping device 120 releases the material, the first linear driving device 131 drives the clamping jaw 121 away from the second fixing member 160, so that the first gripping device 120 is away from the material; when the first gripper device 120 moves away from the material, the first rotary driving device 132 drives the first gripper device 120 to rotate by a preset angle, for example, 180 °, so that the first gripper device 120 returns to the initial position.
In an optional embodiment of the present disclosure, the second linear driving device 152 drives the second gripping device 140 and the detecting device 180 to move, and when the detecting device 180 determines that the material is in the middle posture, the second gripping device 140 is controlled to grip the material.
In the present disclosure, the second linear driving device 152 drives the second gripping device 140 to move away from the second fixing member 160, and the second rotary driving device 151 drives the second gripping device 140 to rotate by a preset angle, for example, 90 °, so that the material is in the final posture.
In the present disclosure, the material clamped by the second clamping device is conveyed to a preset position by the mechanical arm 220.
More preferably, an image of the material to be clamped is shot through the 3D vision module, and the pose of the material in the storage container is obtained according to the image of the material to be clamped; and controlling the mechanical arm to act according to the pose of the material in the storage container, so that the first clamping device clamps the material.
According to the material posture adjusting device and the material posture adjusting method, due to the inherent characteristics of the cooperative mechanical arm, the cooperative mechanical arm and a person can work in the same scene in a cooperative mode, and extra protective measures are not needed; the 3D vision module can complete the posture and position positioning of various special-shaped and complex-shaped parts, and has strong compatibility; the secondary positioning and the posture adjustment of the parts can be completed in the feeding process, so that the working time is saved, and the productivity is improved; the automation degree is high, and the manpower is saved to the maximum extent.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (25)
1. A material attitude adjusting apparatus, comprising:
a first fixing member for fixing the first fixing member,
the first clamping device is arranged on the first fixing part and used for clamping the material in the initial posture;
the first driving device is arranged on the first fixing piece and used for driving the first clamping device and enabling the material to move from an initial posture to an intermediate posture;
the second clamping device is arranged on the first fixing piece and used for clamping the material in the middle posture; and
the second driving device is arranged on the first fixing part and used for driving the second clamping device and enabling the material to move from the middle posture to the final posture;
wherein, the change process of the whole posture is completed by the first clamping device and the second clamping device together.
2. The material attitude adjusting apparatus according to claim 1, further comprising:
and the second fixing piece is arranged on the first fixing piece, and when the material is in the middle posture, the material is supported by the second fixing piece.
3. The material attitude adjusting apparatus according to claim 2, further comprising:
the positioning device is arranged on the second fixing piece, so that the material is kept in a middle posture through the positioning device.
4. The material attitude adjusting apparatus according to claim 3, characterized in that the positioning means includes:
the left limiting block is arranged on the second fixing piece so as to limit the material from one side;
the right limiting block is arranged on the second fixing piece, and the material is located between the left limiting block and the right limiting block so as to be limited from the other side by the right limiting block;
the limiting column is arranged on the second fixing piece; and
the limiting push block is arranged on the second fixing piece, and a part of the material is kept between the limiting column and the limiting push block;
at least one of the limiting column and the limiting push block is driven, so that the limiting column and the limiting push block can approach or depart from each other.
5. The material posture adjusting apparatus according to claim 4, wherein when the material is located between the left stopper and the right stopper and is clamped by the stopper post and the stopper push block, the material is in a middle posture.
6. The material posture adjusting apparatus of claim 4, wherein an end of the stopper pushing block near the stopper post is formed as a V-shaped groove so that the stopper post is engaged with the V-shaped groove of the stopper pushing block, so that the material is held in a middle posture.
7. The material attitude adjusting apparatus according to claim 4, characterized in that the positioning device further comprises:
and the limiting push block driving device is arranged on the second fixing piece to drive the limiting push block to be close to or far away from the limiting column.
8. The material posture adjusting apparatus of claim 4, wherein the second fixed member is formed with an opening, and a portion of the first gripper passes through the opening of the second fixed member to place the material on the second fixed member.
9. The material attitude adjusting apparatus according to claim 1, characterized in that the first gripper comprises:
at least two jaws, at least one of which is driven such that the at least two jaws grip material in an initial attitude and retain the material between the at least two jaws.
10. The material attitude adjusting apparatus according to claim 2, characterized in that the first drive means includes:
the first linear driving device is arranged on the first fixing piece; and
the first rotating driving device is arranged on the first linear driving device and is used for driving the first clamping device to rotate; the rotating shaft center of the first rotating driving device is separated from the clamping jaw of the first clamping device by a preset distance;
when the first linear driving device acts, the first clamping device is driven to approach or separate from the second fixing piece.
11. The material posture adjusting apparatus of claim 10, wherein the first gripping device is fixed to a rotation shaft of the first rotary driving device.
12. The material attitude adjusting apparatus according to claim 2, characterized in that the second drive means includes:
the second rotary driving device is arranged on the first fixing piece; and
the second linear driving device is arranged on the second rotary driving device and is used for driving the second linear driving device to rotate through the second rotary driving device;
the second clamping device is fixed on the second linear driving device, so that after the second clamping device clamps the workpiece, the second linear driving device drives the second clamping device to be far away from the second fixing part.
13. The material attitude adjusting apparatus according to claim 12, further comprising:
and the detection device is arranged on the second linear driving device so as to judge whether the material is positioned in the middle posture through the detection device.
14. The material posture adjusting apparatus according to claim 13, wherein a positioning hole is provided in the material, and when a part of the detecting device is inserted into the positioning hole, it is judged that the material is in the intermediate posture.
15. The material attitude adjusting apparatus according to claim 14, characterized in that the detecting device includes:
the connecting plate is fixed on the second linear driving device so as to drive the connecting plate to move when the second linear driving device moves, wherein a through hole is formed in the connecting plate;
the probe rod is slidably arranged in the through hole, two fixing clamps are fixed on the probe rod, and the two fixing clamps are respectively positioned on two sides of the connecting plate;
the spring is arranged between the connecting plate and one of the two fixing clamps, so that the probe rod is restored to an initial position through a restoring force provided by the spring; and
the sensor is not triggered when the probe rod is inserted into the positioning hole; when the probe rod is not inserted into the positioning hole, the sensor is triggered.
16. A material attitude adjustment system, characterized by comprising a material attitude adjustment apparatus according to any one of claims 1 to 15.
17. The material attitude adjustment system of claim 16, further comprising:
the mechanical arm at least has two degrees of freedom, and the first fixing piece is fixed at the tail end joint of the mechanical arm so as to convey the material clamped by the second clamping device to a preset position through the mechanical arm.
18. The material attitude adjustment system of claim 17, further comprising:
the 3D vision module is used for shooting images of the materials to be clamped and obtaining the pose of the materials in the storage container according to the images of the materials to be clamped; and controlling the mechanical arm to act according to the pose of the material in the storage container, so that the first clamping device clamps the material.
19. A material posture adjusting method is characterized by comprising the following steps:
clamping the material in the initial posture by a first clamping device;
the first clamping device is driven to move through a first driving device, and the material is enabled to move from an initial posture to an intermediate posture;
clamping the material in the middle posture by a second clamping device; and
driving the second clamping device through a second driving device, and enabling the material to move from the middle posture to the final posture;
wherein, the change process of the whole posture is completed by the first clamping device and the second clamping device together.
20. The material posture adjustment method as claimed in claim 19, characterized in that the material is positioned in an intermediate posture by a positioning device.
21. The material posture adjustment method according to claim 20, wherein the first gripping device places the material between the left stopper and the right stopper, and by driving the stopper pusher to act, a part of the material is held between the stopper post and the stopper pusher, thereby positioning the material in the intermediate posture.
22. The material posture adjusting method of claim 21, wherein after the first gripping device grips the material, the first rotation driving device drives the first gripping device to rotate by a preset angle so that the material is located above the second fixed member; when the first clamping device loosens the materials, the materials fall to the position between the left limiting block and the right limiting block, and the parts of the materials are located between the limiting columns and the limiting push blocks.
23. The material attitude adjusting method according to claim 22, wherein when the first gripper releases the material, the first linear drive drives the gripper away from the second mount to move the first gripper away from the material.
24. The material posture adjusting method according to claim 23, wherein a second linear driving device drives the second gripping device and a detecting device to move, and when the detecting device judges that the material is in the intermediate posture, the second gripping device is controlled to grip the material.
25. The material posture adjustment method of claim 24, wherein the second linear driving means drives the second gripping means away from the second fixed member, and the second rotary driving means drives the second gripping means to rotate by a preset angle so that the material is in a final posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110647584.1A CN113428635B (en) | 2021-06-10 | 2021-06-10 | Material posture adjusting device, adjusting system and adjusting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110647584.1A CN113428635B (en) | 2021-06-10 | 2021-06-10 | Material posture adjusting device, adjusting system and adjusting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113428635A CN113428635A (en) | 2021-09-24 |
| CN113428635B true CN113428635B (en) | 2023-03-14 |
Family
ID=77755638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110647584.1A Active CN113428635B (en) | 2021-06-10 | 2021-06-10 | Material posture adjusting device, adjusting system and adjusting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113428635B (en) |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203497719U (en) * | 2013-08-30 | 2014-03-26 | 富鼎电子科技(嘉善)有限公司 | Feeding device |
| JP6838895B2 (en) * | 2016-07-05 | 2021-03-03 | 川崎重工業株式会社 | Work transfer device and its operation method |
| CN107381023B (en) * | 2017-07-26 | 2023-08-18 | 深圳市嘉熠精密自动化科技有限公司 | Multidirectional material transfer device |
| CN207807775U (en) * | 2018-01-15 | 2018-09-04 | 珠海创思新能源科技有限公司 | A kind of multiaxis material folding robot |
| CN208932474U (en) * | 2018-08-02 | 2019-06-04 | 深圳市智信精密仪器有限公司 | Double-station high speed feeding manipulator |
| CN109132523B (en) * | 2018-10-26 | 2023-11-28 | 苏州富强科技有限公司 | Material taking device |
| CN109928205B (en) * | 2019-04-22 | 2020-07-24 | 昆山经坤自动化科技有限公司 | Crankshaft position sensor pre-adjusting device |
| CN212075519U (en) * | 2020-04-17 | 2020-12-04 | 广州市新帅机械制造有限公司 | Compressor cylinder processing attitude adjusting device |
| CN111661595B (en) * | 2020-05-26 | 2021-07-27 | 广东宏石激光技术股份有限公司 | Pipe feeding equipment and pipe feeding method using same |
| CN212825392U (en) * | 2020-08-10 | 2021-03-30 | 创意塑胶工业（苏州）有限公司 | Automatic change processing transfer mechanism |
| CN111822969B (en) * | 2020-08-17 | 2021-12-24 | 广西科技大学鹿山学院 | Hydraulic oil cylinder through hole identification and adjustment device and method and automatic assembly system |
| CN112249691B (en) * | 2020-09-25 | 2022-04-15 | 苏州富强科技有限公司 | Carrier loading and unloading device and loading method for battery detection |
| CN112110188A (en) * | 2020-09-30 | 2020-12-22 | 江苏逸飞激光设备有限公司 | Battery cell sequence conversion device and battery module assembly method |
| CN215709916U (en) * | 2021-06-10 | 2022-02-01 | 北京思灵机器人科技有限责任公司 | Material posture adjustment equipment and adjustment system |
-
2021
- 2021-06-10 CN CN202110647584.1A patent/CN113428635B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113428635A (en) | 2021-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4653159A (en) | Flexible automated manufacturing system | |
| US20220314455A1 (en) | Production system | |
| US20140277694A1 (en) | Robot system and method for producing to-be-processed material | |
| CN107571246B (en) | Part assembling system and method based on double-arm robot | |
| JP7015265B2 (en) | A robot device equipped with a work tool for gripping a work including a connector and a work tool. | |
| US20180215035A1 (en) | Robot and method of controlling the same | |
| JP2009148845A (en) | Small-size production equipment | |
| CN107249780B (en) | Clamping device for mechanical fasteners | |
| CN112379243B (en) | Automatic loading and unloading and plugging system and method for normal-temperature test of circuit board | |
| EP2481529B1 (en) | Method for manipulating a series of successively presented identical workpieces by means of a robot. | |
| CN114248086B (en) | Flexible three-dimensional vision-guided robot alignment system and method | |
| CN215709916U (en) | Material posture adjustment equipment and adjustment system | |
| CN111070197A (en) | Automatic clamp, automatic grabbing device, mechanical arm and robot | |
| US10207413B2 (en) | End effector, robot, and robot control apparatus | |
| CN113428635B (en) | Material posture adjusting device, adjusting system and adjusting method | |
| EP0182592A2 (en) | Flexible automated manufacturing system | |
| US20230364724A1 (en) | Sealant Application Station And Assembly System For Connecting Components | |
| CN113771042B (en) | Vision-based method and system for clamping tool by mobile robot | |
| JP2010158763A (en) | Handling system | |
| JPH03128126A (en) | Press brake robot | |
| CN210360512U (en) | CNC full-automatic clamping combination tool | |
| CN111278612B (en) | Component transfer device | |
| CN211002106U (en) | Tobacco clamping device | |
| TWI804444B (en) | Wire threading device and method | |
| CN116714000B (en) | Experimental container transfer system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |