CN113828530A - Grabbing device based on visual detection - Google Patents
Grabbing device based on visual detection Download PDFInfo
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- CN113828530A CN113828530A CN202010573342.8A CN202010573342A CN113828530A CN 113828530 A CN113828530 A CN 113828530A CN 202010573342 A CN202010573342 A CN 202010573342A CN 113828530 A CN113828530 A CN 113828530A
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- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 230000000007 visual effect Effects 0.000 title claims abstract description 14
- 238000004458 analytical method Methods 0.000 claims description 16
- 238000011179 visual inspection Methods 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 13
- 241000252254 Catostomidae Species 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000004378 air conditioning Methods 0.000 claims 1
- 230000002457 bidirectional effect Effects 0.000 abstract description 3
- 230000002950 deficient Effects 0.000 description 14
- 239000000696 magnetic material Substances 0.000 description 4
- 230000006698 induction Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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Abstract
The invention discloses a grabbing device based on visual detection, wherein a second belt pulley is arranged on a rotating shaft, a first motor is arranged on the upper surface of a mounting plate, two second electro-hydraulic push rods are arranged on the lower surface of a movable plate, a grabbing plate is arranged at the lower end of each second electro-hydraulic push rod, a second motor support is arranged on the side wall of each grabbing plate, a mounting groove is formed in the lower surface of each grabbing plate, one end of a bidirectional screw rod is rotatably connected with the side wall of the mounting groove, the other end of the bidirectional screw rod penetrates through the grabbing plate to be fixedly connected with the output end of the second motor, a third electro-hydraulic push rod is arranged on the lower surface of a third fixing plate, and a sucking disc is arranged at the extending end of the third electro-hydraulic push rod.
Description
Technical Field
The invention relates to the technical field of visual detection, in particular to a grabbing device based on visual detection.
Background
The visual detection means that a machine vision product converts a shot target into an image signal, the image signal is transmitted to a special image processing system, the image signal is converted into a digital signal according to information such as pixel distribution, brightness and color, the image system performs various operations on the signal to extract the characteristics of the target, the field equipment action is controlled according to the judgment result, and a grabbing device is required to take out unqualified products after the detection;
the prior application No. CN201921201611.7 discloses a gripping device based on visual inspection, which can grip defective products based on a visual inspection control panel to improve the production efficiency, a conveying plate can convey products, the visual inspection control panel can check the defective products of the products, a gripping part can grip the defective products, after the defective products are checked and found by the visual inspection control panel, an induction switch is turned on, the induction switch turns on a left motor or a right motor, the left motor or the right motor drives a left lead screw and a right lead screw to rotate, the left lead screw or the right lead screw drives a thread block to move, so as to drive a clamping jaw to move to two sides to grip the defective products, thereby facilitating the use of users, but the arrangement can only grip all unqualified products to the same position, and cannot classify and place unqualified products caused by different reasons, the practicality does not exist, and the mode of snatching of current grabbing device is generally got for splint clamp, and the mode of snatching is more single, does not have the commonality.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the existing defects, and provide a gripping device based on visual inspection, which can place unqualified products due to different reasons in a classified manner, has practicability, can grip the products by adopting various gripping modes, has universality, and can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a grabbing device based on visual detection comprises a mounting plate, a rotating unit and a grabbing unit;
mounting a plate: the upper surface of the mounting plate is provided with four first fixing plates;
a rotating unit: the device comprises a first belt pulley, a first motor, a belt, a rotating shaft and a second belt pulley, wherein the rotating shaft is arranged on the upper surface of a mounting plate, the lower end of the rotating shaft is rotatably connected with the mounting plate, the rotating shaft is provided with the second belt pulley, the first motor is arranged on the upper surface of the mounting plate, the output end of the first motor is provided with the first belt pulley, the belt is arranged between the first belt pulley and the second belt pulley, the upper end of the rotating shaft is provided with a connecting plate, the connecting plate is provided with a through groove, the upper surface of the connecting plate is provided with two second fixing plates, a sliding rod is arranged between the two second fixing plates, a movable plate is arranged in the through groove on the connecting plate, the upper end of the movable plate is in sliding connection with the sliding rod, two first electro-hydraulic push rods are arranged between the movable plate and one of the second fixing plates, the lower surface of the movable plate is provided with two second electro-hydraulic push rods, the lower end of the second electro-hydraulic push rod is provided with a grabbing plate, the side wall of the grabbing plate is provided with a second motor support, the lower surface of the grabbing plate is provided with a mounting groove;
a grabbing unit: the clamping device comprises a sucker, a third electro-hydraulic push rod, a third fixing plate, clamping plates, an electromagnet, a two-way screw and a second motor, wherein the second motor is arranged on a second motor support, the two-way screw is arranged in a mounting groove, one end of the two-way screw is rotatably connected with the side wall of the mounting groove, the other end of the two-way screw penetrates through a grabbing plate and is fixedly connected with the output end of the second motor, the two clamping plates are both arranged in the mounting groove, the two clamping plates are respectively in threaded connection with a positive screw and a negative screw on the two-way screw, the electromagnet is arranged on the outer side wall of each clamping plate, the three fixing plates are respectively arranged on two sides of the grabbing plate, the third electro-hydraulic push rod is arranged on the lower surface of the third fixing plate, and the sucker is arranged at the extending end of the third electro-hydraulic push rod;
the device comprises a mounting plate, a single chip microcomputer, a first motor, a first electro-hydraulic push rod, a second electro-hydraulic push rod, a third electro-hydraulic push rod and a second motor, wherein the mounting plate is mounted on the upper surface of the mounting plate;
when the product grabbing device is used, visual detection is carried out on a product through the camera and the video analyzer, when unqualified products are found, the second electro-hydraulic push rod is opened and can drive the grabbing plate to move downwards, then the second motor is opened, the output end of the second motor can drive the two-way screw rod to rotate, the two-way screw rod can drive the two clamping plates to move relatively, so that the unqualified products can be grabbed through the clamping plates, when the unqualified products are made of magnetic materials, the unqualified products can be adsorbed by opening the electromagnet, when the unqualified products cannot be clamped by the clamping plates, the third electro-hydraulic push rod is opened and can drive the sucker to move downwards, the unqualified products can be adsorbed by the sucker, so that the product grabbing device can be used for grabbing the product in multiple grabbing modes, and has universality, when the unqualified products caused by different reasons are found, open first motor, the output of first motor can drive first belt pulley and rotate, and first belt pulley drives the second belt pulley through the belt and rotates, and the second belt pulley can drive the pivot and rotate to can drive and snatch the unit and rotate, thereby can lead to unqualified product to classify because of different reasons and place, have the practicality.
Furthermore, the collecting box is further included, the number of the collecting boxes is two, the collecting boxes are arranged on the upper surface of the mounting plate, and the collecting boxes can be used for collecting unqualified products.
Furthermore, the device also comprises four supports and a base, wherein the four supports are respectively arranged at four corners of the lower surface of the mounting plate, and the base is arranged at the lower end of each support and can be used for supporting the mounting plate.
Further, still include intake pipe and solenoid valve, the intake pipe is two, and arranges the lateral wall of two sucking discs respectively in, and the one end intercommunication sucking disc of intake pipe, the other end of intake pipe are equipped with the solenoid valve, and the output of singlechip is connected to the input electricity of solenoid valve, can be used for letting in gas in to the sucking disc.
Furthermore, still include the rubber pad, quantity is two, and places the inside wall of two splint respectively in, can be used for preventing splint damage product.
Further, still include conveyer belt and motorized pulley, motorized pulley is two, and places respectively between two first fixed plates on the right side and between two first fixed plates on the left side, is equipped with the conveyer belt between two motorized pulley, and the output of singlechip is connected to motorized pulley's input electricity, can be used for transporting the product.
Further, still include backup pad, camera and video analysis appearance, the upper surface of mounting panel is all arranged in to backup pad and video analysis appearance, and the inside wall of backup pad is equipped with two cameras, and the output of camera is connected to video analysis appearance's input electricity, and the input of singlechip is connected to video analysis appearance's output electricity, can be used to carry out visual detection to the product.
Further, still include the warning light, install the upper surface at the mounting panel, the output of singlechip is connected to the input electricity of warning light, can in time send the warning when discovering the defective work.
Further, still include signal receiver, install the upper surface at the mounting panel, signal receiver's output electricity connects the input of singlechip, can be used for carrying out remote control.
Furthermore, the support device also comprises a support rod which is arranged on the lower surface of the connecting plate, the lower end of the support rod is arranged in the semicircular chute, and the support rod is connected with the mounting plate in a sliding manner and can be used for supporting the connecting plate.
Compared with the prior art, the invention has the beneficial effects that: this grabbing device based on visual detection has following benefit:
1. the rotating unit is arranged, the first belt pulley is driven to rotate through the first motor, the first belt pulley drives the second belt pulley to rotate through the belt, and the second belt pulley can drive the rotating shaft to rotate, so that the grabbing unit can be driven to rotate, unqualified products caused by different reasons can be placed in a classified mode, and the practicability is achieved;
2. the grabbing unit is further arranged, the two-way screw rod is driven to rotate through the second motor, the two-way screw rod can drive the two clamping plates to do relative motion, unqualified products can be grabbed through the clamping plates, when the unqualified products are made of magnetic materials, the unqualified products can be adsorbed through the electromagnet by turning on the electromagnet, when the unqualified products cannot be clamped by the clamping plates, the third electro-hydraulic push rod is turned on and can drive the sucker to move downwards, the unqualified products can be adsorbed through the sucker, and therefore products can be grabbed through multiple grabbing modes, and the grabbing unit has universality;
3. the first electro-hydraulic push rod and the movable plate are further arranged, the movable plate can be pushed to move along the through groove through the first electro-hydraulic push rod, and the movable plate can drive the grabbing unit to move, so that unqualified products located at different positions can be grabbed;
4. still set up camera and video analysis appearance, can shoot the picture of product through the camera, then the camera can transmit the picture to video analysis appearance, and video analysis appearance can carry out the analysis by the picture to can carry out visual detection to the product.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the back structure of the present invention;
FIG. 3 is a schematic view of the enlarged structure of part A of the present invention.
In the figure: the device comprises a mounting plate 1, a first fixing plate 2, a connecting plate 3, a rotating unit 4, a first belt pulley 41, a first motor 42, a belt 43, a rotating shaft 44, a second belt pulley 45, a grabbing unit 5, a sucking disc 51, a third electro-hydraulic push rod 52, a third fixing plate 53, a clamping plate 54, an electromagnet 55, a bidirectional screw 56, a second motor 57, a collecting box 6, a bracket 7, a base 8, a single chip microcomputer 9, a second fixing plate 10, a first electro-hydraulic push rod 11, a sliding rod 12, a movable plate 13, a second electro-hydraulic push rod 14, a grabbing plate 15, a second motor bracket 16, an air inlet pipe 17, an electromagnetic valve 18, a rubber pad 19, a conveying belt 20, an electric roller 21, a supporting plate 22, a camera 23, a video analyzer 24, a warning lamp 25, a signal receiver 26 and a supporting rod 27.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a grabbing device based on visual detection comprises a mounting plate 1, a rotating unit 4 and a grabbing unit 5;
mounting plate 1: the upper surface is provided with a semicircular chute, and the upper surface of the mounting plate 1 is provided with four first fixing plates 2;
the rotating unit 4: comprises a first belt pulley 41, a first motor 42, a belt 43, a rotating shaft 44 and a second belt pulley 45, wherein the rotating shaft 44 is arranged on the upper surface of the mounting plate 1, the lower end of the rotating shaft 44 is rotatably connected with the mounting plate 1, the rotating shaft 44 is provided with the second belt pulley 45, the first motor 42 is arranged on the upper surface of the mounting plate 1, the output end of the first motor 42 is provided with the first belt pulley 41, the belt 43 is arranged between the first belt pulley 41 and the second belt pulley 45, the upper end of the rotating shaft 44 is provided with a connecting plate 3, the connecting plate 3 is provided with a through groove, the upper surface of the connecting plate 3 is provided with two second fixing plates 10, a slide bar 12 is arranged between the two second fixing plates 10, a movable plate 13 is arranged in the through groove on the connecting plate 3, the upper end of the movable plate 13 is slidably connected with the slide bar 12, two first electro-hydraulic push rods 11 are arranged between the movable plate 13 and one of the second fixing plates 10, and two second electro-hydraulic push rods 14 are arranged on the lower surface of the movable plate 13, the lower end of the second electro-hydraulic push rod 14 is provided with a grabbing plate 15, the side wall of the grabbing plate 15 is provided with a second motor support 16, the lower surface of the grabbing plate 15 is provided with a mounting groove, when unqualified products caused by different reasons are found, the first motor 42 is turned on, the output end of the first motor 42 drives the first belt pulley 41 to rotate, the first belt pulley 41 drives the second belt pulley 45 to rotate through a belt 43, the second belt pulley 45 can drive a rotating shaft 44 to rotate, so that the grabbing unit 5 can be driven to rotate, the unqualified products caused by different reasons can be classified and placed, and the electric-hydraulic grabbing device has practicability;
the grasping unit 5: the device comprises a suction cup 51, a third electro-hydraulic push rod 52, a third fixing plate 53, clamping plates 54, electromagnets 55, two-way screws 56 and a second motor 57, wherein the second motor 57 is arranged on a second motor support 16, the two-way screws 56 are arranged in a mounting groove, one end of each two-way screw 56 is rotatably connected with the side wall of the mounting groove, the other end of each two-way screw 56 penetrates through the grabbing plate 15 and is fixedly connected with the output end of the second motor 57, the two clamping plates 54 are arranged in the mounting groove, the two clamping plates 54 are respectively in threaded connection with a positive screw and a reverse screw on the two-way screws 56, the electromagnets 55 are arranged on the outer side walls of the clamping plates 54, the three fixing plates 53 are respectively arranged on two sides of the grabbing plate 15, the third electro-hydraulic push rod 52 is arranged on the lower surface of the third fixing plate 53, the suction cup 51 is arranged at the extending end of the third electro-hydraulic push rod 52, when in use, the product is visually detected by a camera 23 and a video analyzer 24, when an unqualified product is found, the second electro-hydraulic push rod 14 is opened, the second electro-hydraulic push rod 14 can drive the grabbing plate 15 to move downwards, then the second motor 57 is opened, the output end of the second motor 57 can drive the two-way screw 56 to rotate, the two-way screw 56 can drive the two clamping plates 54 to move relatively, so that the unqualified product can be grabbed through the clamping plates 54, when the unqualified product is made of magnetic materials, the unqualified product can be adsorbed by opening the electromagnet 55, when the unqualified product cannot be grabbed by the clamping plates 54, the third electro-hydraulic push rod 52 is opened, the third electro-hydraulic push rod 52 can drive the suction cup 51 to move downwards, the unqualified product can be adsorbed by the suction cup 51, and therefore the product can be grabbed by adopting various grabbing modes, and the device has universality;
the electric control device further comprises a single chip microcomputer 9 which is installed on the upper surface of the installation plate 1, the input end of the single chip microcomputer 9 is electrically connected with the output end of an external power supply, and the output end of the single chip microcomputer 9 is electrically connected with the input ends of the first motor 42, the first electro-hydraulic push rod 11, the second electro-hydraulic push rod 14, the third electro-hydraulic push rod 52 and the second motor 57.
The device also comprises two collecting boxes 6 which are arranged on the upper surface of the mounting plate 1 and can be used for collecting unqualified products.
The mounting plate support comprises a mounting plate 1 and is characterized by further comprising four supports 7 and a base 8, wherein the four supports 7 are respectively arranged at four corners of the lower surface of the mounting plate 1, and the base 8 is arranged at the lower end of each support 7 and can be used for supporting the mounting plate 1.
The gas-liquid separator further comprises two gas inlet pipes 17 and two electromagnetic valves 18, the two gas inlet pipes 17 are respectively arranged on the side walls of the two suckers 51, one end of each gas inlet pipe 17 is communicated with the suckers 51, the electromagnetic valve 18 is arranged at the other end of each gas inlet pipe 17, and the input end of each electromagnetic valve 18 is electrically connected with the output end of the single chip microcomputer 9 and can be used for introducing gas into the suckers 51.
The rubber pads 19 are arranged on the inner side walls of the two clamping plates 54 respectively and can be used for preventing the clamping plates 54 from damaging products.
Wherein, still include conveyer belt 20 and motorized pulley 21, motorized pulley 21 is two, and places respectively between two first fixed plates 2 on the right side and between two first fixed plates 2 on the left side, is equipped with conveyer belt 20 between two motorized pulley 21, and the output of singlechip 9 is connected to motorized pulley 21's input electricity, can be used for transporting the product.
Wherein, still include backup pad 22, camera 23 and video analysis appearance 24, the upper surface of mounting panel 1 is all arranged in to backup pad 22 and video analysis appearance 24, and the inside wall of backup pad 22 is equipped with two cameras 23, and the output of camera 23 is connected to video analysis appearance 24's input electricity, and singlechip 9's input is connected to video analysis appearance 24's output electricity, can be used for carrying out visual detection to the product.
Wherein, still include warning light 25, install at the upper surface of mounting panel 1, the output of singlechip 9 is connected to the input electricity of warning light 25, can in time send the warning when discovering the defective work.
The device also comprises a signal receiver 26 which is arranged on the upper surface of the mounting plate 1, and the output end of the signal receiver 26 is electrically connected with the input end of the singlechip 9 and can be used for remote control.
The connecting plate comprises a connecting plate body 1, a support rod 27 and a connecting plate 3, wherein the support rod 27 is arranged on the lower surface of the connecting plate body 3, the lower end of the support rod 27 is arranged in a semicircular sliding groove, and the support rod 27 is connected with the mounting plate body in a sliding mode and can be used for supporting the connecting plate body 3.
When in use: the product is visually detected through the camera 23 and the video analyzer 24, when a defective product is found, the second electro-hydraulic push rod 14 is opened, the second electro-hydraulic push rod 14 can drive the grabbing plate 15 to move downwards, then the second motor 57 is opened, the output end of the second motor 57 can drive the two-way screw 56 to rotate, the two-way screw 56 can drive the two clamping plates 54 to move relatively, so that the defective product can be grabbed through the clamping plates 54, when the defective product is made of a magnetic material, the defective product can be adsorbed through the electromagnet 55 by opening the electromagnet 55, when the defective product cannot be grabbed by the clamping plates 54, the third electro-hydraulic push rod 52 is opened, the third electro-hydraulic push rod 52 can drive the suction cup 51 to move downwards, the defective product can be adsorbed through the suction cup 51, so that the product can be grabbed in various grabbing modes, the product has universality, when the defective product is found due to different reasons, open first motor 42, first motor 42's output can drive first belt pulley 41 and rotate, and first belt pulley 41 drives second belt pulley 45 through belt 43 and rotates, and second belt pulley 45 can drive pivot 44 and rotate to can drive and snatch unit 5 and rotate, thereby can lead to unqualified product to classify because of different reasons and place, have the practicality.
It is to be noted that the first motor 42 and the second motor 57 disclosed in this embodiment may be of a type Y160M1-2, the first electro-hydraulic push rod 11, the second electro-hydraulic push rod 14, and the third electro-hydraulic push rod 52 may be of a type ANT-03, a core chip of the single chip microcomputer 9 is a PLC single chip microcomputer of a specific type S7-200, and the single chip microcomputer 9 controls the first motor 42, the first electro-hydraulic push rod 11, the second electro-hydraulic push rod 14, the third electro-hydraulic push rod 52, and the second motor 57 to operate by a method commonly used in the prior art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a grabbing device based on visual detection which characterized in that: comprises a mounting plate (1), a rotating unit (4) and a grabbing unit (5);
mounting plate (1): the upper surface is provided with a semicircular sliding groove, and the upper surface of the mounting plate (1) is provided with four first fixing plates (2);
rotating unit (4): comprises a first belt pulley (41), a first motor (42), a belt (43), a rotating shaft (44) and a second belt pulley (45), wherein the rotating shaft (44) is arranged on the upper surface of a mounting plate (1), the lower end of the rotating shaft (44) is rotatably connected with the mounting plate (1), the rotating shaft (44) is provided with the second belt pulley (45), the first motor (42) is arranged on the upper surface of the mounting plate (1), the output end of the first motor (42) is provided with the first belt pulley (41), the belt (43) is arranged between the first belt pulley (41) and the second belt pulley (45), the upper end of the rotating shaft (44) is provided with a connecting plate (3), the connecting plate (3) is provided with a through groove, the upper surface of the connecting plate (3) is provided with two second fixing plates (10), a sliding rod (12) is arranged between the two second fixing plates (10), and a movable plate (13) is arranged in the through groove on the connecting plate (3), the upper end of the movable plate (13) is connected with the sliding rod (12) in a sliding mode, two first electro-hydraulic push rods (11) are arranged between the movable plate (13) and one second fixing plate (10), two second electro-hydraulic push rods (14) are arranged on the lower surface of the movable plate (13), a grabbing plate (15) is arranged at the lower end of each second electro-hydraulic push rod (14), a second motor support (16) is arranged on the side wall of the grabbing plate (15), and a mounting groove is formed in the lower surface of the grabbing plate (15);
gripping unit (5): comprises a sucker (51), a third electro-hydraulic push rod (52), a third fixing plate (53), clamping plates (54), electromagnets (55), two-way screw rods (56) and a second motor (57), wherein the second motor (57) is arranged on a second motor bracket (16), the two-way screw rods (56) are arranged in a mounting groove, one end of each two-way screw rod (56) is rotatably connected with the side wall of the mounting groove, the other end of each two-way screw rod (56) penetrates through a grabbing plate (15) to be fixedly connected with the output end of the second motor (57), the two clamping plates (54) are arranged in the mounting groove, the two clamping plates (54) are respectively in threaded connection with a positive screw rod and a negative screw rod on the two-way screw rods (56), the electromagnets (55) are arranged on the outer side wall of each clamping plate (54), the third fixing plates (53) are respectively arranged on two sides of the grabbing plate (15), the third electro-hydraulic push rod (52) is arranged on the lower surface of the third fixing plate (53), a suction disc (51) is arranged at the extending end of the third electro-hydraulic push rod (52);
the electric control device is characterized by further comprising a single chip microcomputer (9) which is installed on the upper surface of the installation plate (1), the input end of the single chip microcomputer (9) is electrically connected with the output end of an external power supply, and the output end of the single chip microcomputer (9) is electrically connected with the input ends of a first motor (42), a first electro-hydraulic push rod (11), a second electro-hydraulic push rod (14), a third electro-hydraulic push rod (52) and a second motor (57).
2. The visual inspection-based grasping apparatus according to claim 1, wherein: the device also comprises two collecting boxes (6) which are arranged on the upper surface of the mounting plate (1).
3. The visual inspection-based grasping apparatus according to claim 1, wherein: the mounting plate is characterized by further comprising four supports (7) and a base (8), wherein the four supports (7) are respectively arranged at four corners of the lower surface of the mounting plate (1), and the base (8) is arranged at the lower end of each support (7).
4. The visual inspection-based grasping apparatus according to claim 1, wherein: the novel air-conditioning device is characterized by further comprising two air inlet pipes (17) and two electromagnetic valves (18), wherein the side walls of the two suckers (51) are arranged in the air inlet pipes (17) respectively, one ends of the air inlet pipes (17) are communicated with the suckers (51), the electromagnetic valves (18) are arranged at the other ends of the air inlet pipes (17), and the input ends of the electromagnetic valves (18) are electrically connected with the output end of the single chip microcomputer (9).
5. The visual inspection-based grasping apparatus according to claim 1, wherein: the rubber pads (19) are arranged in two numbers and are respectively arranged on the inner side walls of the two clamping plates (54).
6. The visual inspection-based grasping apparatus according to claim 1, wherein: still include conveyer belt (20) and motorized pulley (21), motorized pulley (21) are two, and place in respectively between two first fixed plates (2) on the right side and between two first fixed plates (2) on the left side, are equipped with conveyer belt (20) between two motorized pulley (21), and the output of singlechip (9) is connected to motorized pulley's (21) input electricity.
7. The visual inspection-based grasping apparatus according to claim 1, wherein: still include backup pad (22), camera (23) and video analysis appearance (24), the upper surface of mounting panel (1) is all arranged in to backup pad (22) and video analysis appearance (24), and the inside wall of backup pad (22) is equipped with two camera (23), and the output of camera (23) is connected to the input electricity of video analysis appearance (24), and the input of singlechip (9) is connected to the output electricity of video analysis appearance (24).
8. The visual inspection-based grasping apparatus according to claim 1, wherein: the LED lamp is characterized by further comprising a warning lamp (25) which is installed on the upper surface of the installation plate (1), and the input end of the warning lamp (25) is electrically connected with the output end of the single chip microcomputer (9).
9. The visual inspection-based grasping apparatus according to claim 1, wherein: the device is characterized by further comprising a signal receiver (26) which is installed on the upper surface of the installation plate (1), and the output end of the signal receiver (26) is electrically connected with the input end of the single chip microcomputer (9).
10. The visual inspection-based grasping apparatus according to claim 1, wherein: the support device is characterized by further comprising a support rod (27) which is arranged on the lower surface of the connecting plate (3), the lower end of the support rod (27) is arranged in the semicircular sliding groove, and the support rod (27) is in sliding connection with the mounting plate (1).
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