CN114655700A

CN114655700A - Full-automatic suction system

Info

Publication number: CN114655700A
Application number: CN202210224011.2A
Authority: CN
Inventors: 于海龙; 肖铿; 陈海燕
Original assignee: Zhonglufu Intelligent Technology Suzhou Co ltd
Current assignee: Zhonglufu Intelligent Technology Suzhou Co ltd
Priority date: 2022-03-09
Filing date: 2022-03-09
Publication date: 2022-06-24

Abstract

The invention discloses a full-automatic suction system which comprises a chassis, a bearing seat, a mechanical arm and a mounting frame, wherein a fixed seat is arranged above the chassis, a driving mechanism is arranged at the upper end of the mechanical arm, the front side of the driving mechanism is connected with a rotating shaft, the front side of the rotating shaft is connected with a connecting arm, a rotating disc is arranged below a movable block, a connecting rod is connected below the rotating disc, the mounting frame is arranged below the connecting rod, a second controller is arranged on the right side of the mounting frame, a second supporting plate is arranged at the bottom of the second controller, and a sucking disc is arranged at the bottom of the second supporting plate. According to the invention, through the arrangement of the mechanical gripping clamp and the sucker, the mechanical gripping clamp and the sucker are respectively arranged at the bottom of the mounting frame, and meanwhile, the vision sensor is arranged at the center of the bottom of the mounting frame, so that the shape and the surface roughness of an article can be judged by adopting the vision sensor, and the suction mode or the gripping mode can be automatically judged.

Description

Full-automatic suction system

Technical Field

The invention relates to the technical field of automatic suction equipment, in particular to a full-automatic suction system.

Background

The mechanical arm is a high-precision and high-speed dispensing robot hand, the mechanical arm is a complex system with multiple inputs and multiple outputs, high nonlinearity and strong coupling, in the field of production and manufacturing, people increasingly adopt various mechanical equipment to replace manual work to complete partial operation so as to reduce the labor intensity of work and improve the production efficiency, the mechanical arm comprises a piece-taking full-automatic suction device, and the automation of the system can be realized through automatic suction.

The prior full-automatic suction system does not have two action modes of automatic switching suction or grabbing in use, for example, a micro-operation mechanical arm for underwater biological printing disclosed in application number CN202010383457.0, when the prior suction system faces a plurality of objects, the prior suction system can only suck or grab the objects in sequence, the structure is single, the suction or the grabbing cannot be determined according to the shapes of the objects, meanwhile, the prior suction device can only suck the objects with the same shape in a unified mode, the use has certain limitation, manual participation is needed, and a large amount of labor force is enhanced.

Therefore, it is necessary to develop a fully automatic suction system to solve the above problems.

Disclosure of Invention

The invention aims to provide a full-automatic suction system, which aims to solve the problems that the prior suction system does not have two action modes of automatically switching suction or gripping, when facing a plurality of objects, the prior suction system can only suck or grip objects in sequence, has a single structure, cannot determine suction or gripping according to the shapes of the objects, and can only suck the objects with the same shape uniformly, so that the prior suction device has certain limitation in use, needs manual participation and enhances a large amount of labor force.

In order to achieve the above purpose, the invention provides the following technical scheme: the utility model provides a full-automatic suction system, includes chassis, bearing frame, robotic arm and mounting bracket, the top on chassis is provided with the fixing base, robotic arm's upper end is provided with actuating mechanism, actuating mechanism's front side is connected with the pivot, the front side of pivot is connected with the linking arm, both ends are provided with the mounting panel around the linking arm, the below of movable block is provided with the carousel, the below of carousel is connected with the connecting rod, the below of connecting rod is provided with the mounting bracket, the right side of mounting bracket is provided with the second controller, the bottom of second controller is provided with the second backup pad, the bottom of second backup pad is provided with the sucking disc, suction system comprises drive arrangement and detection device, suction system divide into two kinds of suction methods.

Preferably, the fixing base is designed to be a round platform-shaped structure, the fixing base and the chassis are perpendicular to each other, a bearing seat is arranged above the fixing base, and a mechanical arm is arranged above the bearing seat in an inclined mode, so that the fixing base can stably support the suction device.

Preferably, robotic arm is provided with 2, robotic arm's middle part is provided with the boss, robotic arm is central symmetry about each other between the boss for the boss can strengthen the steadiness when robotic arm uses.

Preferably, the mounting panel is provided with 2, the front end of mounting panel is provided with the movable block, there is the fixed pin to be provided with between mounting panel and the movable block for the security of movable block when using the regulation can be guaranteed to the fixed pin.

Preferably, the mounting bracket is the structural design of "U" font of falling and forms, mutually perpendicular between mounting bracket and the connecting rod for the mounting bracket can stabilize and support mechanical grabhook and sucking disc.

Preferably, one side of the left lower side of the mounting rack is provided with a first controller, a first supporting plate is arranged below the first controller, and a mechanical grabbing clamp is arranged at the bottom of the first supporting plate, so that objects with irregular shapes and rough planes can be grabbed by the mechanical grabbing clamp.

Preferably, the sucking disc is the design of rectangle structure and forms, mutually perpendicular between sucking disc and the second backup pad, the bottom center department of mounting bracket is provided with vision sensor for the sucking disc can absorb the work to the more smooth article of shape rule, plane.

Preferably, the vision sensor is designed to be of a rectangular structure, and the vision sensor and the mounting rack are perpendicular to each other, so that the vision sensor can judge the shape and the surface roughness of an article, and automatically judges whether to adopt a suction mode or a grabbing mode.

Preferably, the suction system controls the mechanical arm by a driving device, the suction system controls the manner of sucking the article by a detection device, and the visual sensor judges the shape and the surface roughness of the article to automatically judge whether the suction mode or the gripping mode is adopted.

Preferably, the two suction modes are divided into a gripping clamp suction mode and a sucking disc suction mode, the first controller drives the mechanical gripping clamp to grip the article, the second controller drives the sucking disc to suck the article, the two suction modes can be suitable for different articles, and the suction system achieves automation.

In the technical scheme, the invention provides the following technical effects and advantages:

1. through the arrangement of the mechanical gripping clamp and the sucker, the mechanical gripping clamp and the sucker are respectively arranged at the bottom of the mounting frame, and meanwhile, the visual sensor is arranged at the center of the bottom of the mounting frame, so that the shape and the surface roughness of an article can be judged by adopting the visual sensor, and the suction mode or the gripping mode can be automatically judged;

2. when the vision sensor detects that article shape is more regular, the plane is more smooth, start the second controller, can drive the sucking disc through the second controller and absorb article, and detect article shape irregular, the plane is more crude when the vision sensor, when unable adoption absorbs the mode, start first controller, can drive machinery through first controller and grab the clamp and snatch article, so can raise the efficiency greatly through absorbing the mode and snatching the mode, do not need artifical the participation.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic perspective view of a rotating shaft and a connecting arm according to the present invention;

FIG. 3 is a schematic perspective view of the mounting plate and the movable block of the present invention;

FIG. 4 is a schematic perspective view of the turntable and the connecting rod according to the present invention;

FIG. 5 is a schematic perspective view of a mount of the present invention;

FIG. 6 is a schematic perspective view of the mechanical gripper and suction cup of the present invention;

FIG. 7 is a schematic perspective view of a vision sensor according to the present invention;

fig. 8 is a schematic view of the work flow structure of the present invention.

Description of the reference numerals:

1. a chassis; 2. a fixed seat; 3. a bearing seat; 4. a robot arm; 5. a reinforcing block; 6. a drive mechanism; 7. a rotating shaft; 8. a connecting arm; 9. mounting a plate; 10. a movable block; 11. a fixing pin; 12. a turntable; 13. a connecting rod; 14. a mounting frame; 15. a first controller; 16. a first support plate; 17. a mechanical gripper; 18. a second support plate; 19. a second controller; 20. a suction cup; 21. a vision sensor.

Detailed Description

In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.

The invention provides a full-automatic suction system as shown in figures 1-8, which comprises a chassis 1, a bearing seat 3, a mechanical arm 4 and a mounting frame 14, wherein a fixed seat 2 is arranged above the chassis 1, a driving mechanism 6 is arranged at the upper end of the mechanical arm 4, a rotating shaft 7 is connected to the front side of the driving mechanism 6, a connecting arm 8 is connected to the front side of the rotating shaft 7, mounting plates 9 are arranged at the front end and the rear end of the connecting arm 8, a rotating disc 12 is arranged below a movable block 10, a connecting rod 13 is connected below the rotating disc 12, the mounting frame 14 is arranged below the connecting rod 13, a second controller 19 is arranged on the right side of the mounting frame 14, a second supporting plate 18 is arranged at the bottom of the second controller 19, a sucking disc 20 is arranged at the bottom of the second supporting plate 18, the suction system consists of a driving device and a detection device, and the suction system is divided into two suction modes.

Fixing base 2 is round platform shape structural design and forms, mutually perpendicular between fixing base 2 and the chassis 1, the top of fixing base 2 is provided with bearing frame 3, the oblique top of bearing frame 3 is provided with robotic arm 4, robotic arm 4 is provided with 2, robotic arm 4's middle part is provided with boss 5, robotic arm 4 is about mutual central symmetry between boss 5, mounting panel 9 is provided with 2, mounting panel 9's front end is provided with movable block 10, there is fixed pin 11 to be provided with between mounting panel 9 and the movable block 10.

The installation frame 14 is designed into an inverted U-shaped structure, the installation frame 14 is perpendicular to the connecting rod 13, a first controller 15 is arranged on one side of the left lower side of the installation frame 14, a first supporting plate 16 is arranged below the first controller 15, a mechanical gripping clamp 17 is arranged at the bottom of the first supporting plate 16, a sucker 20 is designed into a rectangular structure, the sucker 20 is perpendicular to a second supporting plate 18, a vision sensor 21 is arranged at the center of the bottom of the installation frame 14, the vision sensor 21 is designed into a rectangular structure, the vision sensor 21 is perpendicular to the installation frame 14, a mechanical arm is controlled by a driving device of the suction system, the suction system is controlled by a detection device to suck articles, the vision sensor judges whether the shape and the surface roughness of the articles are automatically judged to adopt a suction mode or a gripping mode, the two suction modes are divided into gripping suction and suction by the sucker suction, the first controller drives the mechanical gripper to grab the article, the second controller drives the sucker to suck the article, the two suction modes can be suitable for different articles, and the suction system realizes automation.

The working principle of the invention is as follows:

referring to the attached drawings 1-8 of the specification, when the device is used, firstly, the suction device is stably installed and placed at a proper position through the chassis 1, then the device is started, so that the suction device is in a working state, meanwhile, the mechanical arm 4 can be vertically adjusted under the action of the bearing block 3, when the driving mechanism 6 is opened, the rotating shaft 7 and the connecting arm 8 can be driven to rotate through the driving mechanism 6, when articles with different shapes need to be sucked, the mounting frame 14 is adjusted to be above the articles needing to be sucked, and because the center of the bottom of the mounting frame 14 is provided with the visual sensor 21, the shape and the surface roughness of the articles can be judged by adopting the visual sensor 21, so that the suction mode or the grabbing mode can be automatically judged;

referring to the attached drawings 1-8 of the specification, when the device is used, when the vision sensor 21 detects that the shape of an article is irregular, the plane is rough, and the absorption mode cannot be adopted, the first controller 15 is started, the mechanical grabbing clamp 17 can be driven to grab the article through the first controller 15, the article is placed at a proper position to be processed, when the vision sensor 21 detects that the shape of the article is regular and the plane is smooth, the second controller 19 is started again, the sucker 20 can be driven to absorb the article through the second controller 19, so that the absorption equipment can simultaneously start two working modes, the absorption equipment is more convenient to use, meanwhile, the working efficiency can be greatly improved, and the labor consumption is reduced.

Claims

1. The utility model provides a full-automatic suction system, includes chassis (1), bearing frame (3), robotic arm (4) and mounting bracket (14), its characterized in that: the upper portion of the chassis (1) is provided with a fixing seat (2), the upper end of the mechanical arm (4) is provided with a driving mechanism (6), the front side of the driving mechanism (6) is connected with a rotating shaft (7), the front side of the rotating shaft (7) is connected with a connecting arm (8), mounting plates (9) are arranged at the front end and the rear end of the connecting arm (8), a turntable (12) is arranged below the movable block (10), a connecting rod (13) is connected below the turntable (12), a mounting frame (14) is arranged below the connecting rod (13), a second controller (19) is arranged on the right side of the mounting frame (14), a second supporting plate (18) is arranged at the bottom of the second controller (19), a sucking disc (20) is arranged at the bottom of the second supporting plate (18), and the sucking system consists of a driving device and a detecting device, the suction system is divided into two suction modes.

2. The fully automatic extraction system of claim 1, further comprising: the fixing seat (2) is designed into a round platform-shaped structure, the fixing seat (2) and the chassis (1) are perpendicular to each other, a bearing seat (3) is arranged above the fixing seat (2), and a mechanical arm (4) is arranged above the bearing seat (3) in an inclined mode.

3. The fully automatic suction system as claimed in claim 2, wherein: the number of the mechanical arms (4) is 2, the middle of each mechanical arm (4) is provided with a reinforcing block (5), and the mechanical arms (4) are in central symmetry with respect to the reinforcing blocks (5).

4. The fully automatic extraction system of claim 1, further comprising: mounting panel (9) are provided with 2, the front end of mounting panel (9) is provided with movable block (10), be provided with between mounting panel (9) and movable block (10) fixed pin (11).

5. The fully automatic extraction system of claim 1, further comprising: mounting bracket (14) are "U" font structural design and form, mutually perpendicular between mounting bracket (14) and connecting rod (13).

6. The fully automatic extraction system of claim 5, wherein: the left side below one side of mounting bracket (14) is provided with first controller (15), the below of first controller (15) is provided with first backup pad (16), the bottom of first backup pad (16) is provided with mechanical grab clamp (17).

7. The fully automatic extraction system of claim 1, further comprising: sucking disc (20) are the design of rectangle structure and form, mutually perpendicular between sucking disc (20) and second backup pad (18), the bottom center department of mounting bracket (14) is provided with vision sensor (21).

8. The fully automatic extraction system of claim 7, further comprising: the vision sensor (21) is designed to be of a rectangular structure, and the vision sensor (21) is perpendicular to the mounting frame (14).

9. The fully automatic extraction system of claim 1, further comprising: the suction system controls a mechanical arm (4) by a driving device, the suction system controls the manner of sucking articles by a detection device, and the visual sensor (21) judges the shape and the surface roughness of the articles to automatically judge whether a suction mode or a grabbing mode is adopted.

10. The fully automatic extraction system of claim 1, further comprising: the two suction modes are divided into a gripping clamp suction mode and a sucking disc suction mode, the first controller (15) drives the mechanical gripping clamp (17) to grab the articles, the second controller (19) drives the sucking disc (20) to suck the articles, the two suction modes can be suitable for different articles, and the suction system achieves automation.