CN114772279A - Casket-like bowl reloading robot and terminal executive device thereof - Google Patents
Casket-like bowl reloading robot and terminal executive device thereof Download PDFInfo
- Publication number
- CN114772279A CN114772279A CN202210448771.1A CN202210448771A CN114772279A CN 114772279 A CN114772279 A CN 114772279A CN 202210448771 A CN202210448771 A CN 202210448771A CN 114772279 A CN114772279 A CN 114772279A
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- China
- Prior art keywords
- mounting plate
- sagger
- end effector
- module
- fixed
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- 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.)
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Classifications
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- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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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
-
- 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
-
- 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
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a sagger refueling robot and a tail end executing device thereof, wherein the tail end executing device comprises a mounting plate, a connecting flange for mounting on the sagger refueling robot is fixed on the mounting plate, a clamping module, an adsorption module and a detection module are mounted on the mounting plate, the clamping module is used for clamping saggers, the adsorption module is used for adsorbing materials, and the detection module is used for detecting whether a base plate in the sagger is damaged or not. The sagger reloading robot can perform feeding and discharging work on two tunnel furnace sintering lines, can load resistance cards to be sintered into empty saggers after discharging the sintered resistance cards, and can also complete the operations of conveying the saggers and replacing backing plates, so that two production lines can be connected, the production lines can be simplified, the production cost is saved, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a box bowl material changing robot and an end executing device of the box bowl material changing robot.
Background
In the field of industrial processing, industrial robots usually replace manual work to complete high-strength work such as loading, unloading, sorting, transferring, stacking and the like on automatic production lines. The robot can accomplish various works based on 3D vision system technology, for example, can scan the material through 3D vision system, sends information such as position with the material to control system again, and control system calculates the motion trail of control robot according to the data to control robot is through corresponding action completion work.
The automatic production line of the tunnel furnace is used for sintering the resistance card, the resistance card is a cake-shaped or annular zinc oxide resistance card green body pressed by a forming machine before sintering, and the zinc oxide piezoresistor ceramic resistance card can be formed after sintering. On tunnel furnace automatic production line, the robot is used for accomplishing two material loading and unloading operations of firing into the line usually, including resistance card letter sorting, resistance card dress alms bowl, pile up the casket bowl, transport, resistance card are unloaded and are put etc..
The existing robot is provided with a single tail end clamp, generally one robot can only complete one-step operation in the operations, and more robots can only be put into use on a production line, so that the production line is long and complex, the production cost is increased, and the production efficiency is difficult to improve.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a box bowl material changing robot and an end executing device thereof.
The invention provides a tail end execution device of a box bowl material changing robot, which comprises:
the mounting plate is fixed with a connecting flange which is used for being mounted on the sagger refueling robot;
the clamping module is arranged on the mounting plate and used for clamping the saggar;
the adsorption module is arranged on the mounting plate and used for adsorbing materials;
and the detection module is arranged on the mounting plate and used for detecting whether the base plate in the saggar is damaged or not.
Preferably, the clamping module comprises two clamping assemblies symmetrically fixed at the bottom of the mounting plate, each clamping assembly comprises an air cylinder and a clamping plate fixedly connected to one end of a piston rod of the air cylinder, and a clamping block is fixed on each clamping plate.
Preferably, the cylinder is connected with the air source device through an electromagnetic valve and an air pipe, the electromagnetic valve is fixed on the mounting plate, and an air pipe support for the air supply pipe to pass through is further fixed on the mounting plate.
Preferably, the adsorption module comprises a vacuum chuck, the vacuum chuck is fixed at the bottom of the mounting plate through a flange connecting seat, and the vacuum chuck is connected with a vacuum-pumping tube.
Preferably, the shape of the vacuum chuck is the same as that of the inner cavity of the sagger, and the vacuum chuck is a sponge chuck.
Preferably, a vacuum tube support for the vacuum tube to pass through is further fixed on the mounting plate.
Preferably, the adsorption module is located between two clamping assemblies of the clamping module.
Preferably, the detection module comprises an industrial camera and a fibre optic sensor fixed to the bottom of the mounting plate.
Preferably, the detection module further comprises a mounting bracket fixed at the bottom of the mounting plate and a light source mounted on the mounting bracket and located at both sides of the industrial camera.
The invention also provides a box bowl material changing robot which comprises a manipulator and the tail end execution device, wherein the tail end execution device is fixedly connected with a tail end shaft of the manipulator through a connecting flange.
In the invention, the tail end executing device is arranged on the sagger refueling robot through the mounting plate, and the mounting plate is provided with the clamping module, the adsorption module and the detection module. When the robot works, the sagger can be clamped by the clamping module of the tail end execution device, so that the sagger can be stacked and transported; the material can be adsorbed by the adsorption module, and the loading or unloading of the saggar is completed; still can survey whether the backing plate in the casket-like bowl has the damage through detecting the module to adsorb the backing plate through absorption module and change.
Therefore, the sagger refueling robot can carry out feeding and discharging work on two tunnel furnace sintering lines, after sintered resistance pieces are discharged, the resistance pieces to be sintered can be loaded into an empty sagger, and the operations of conveying the sagger and replacing a base plate can be completed, so that two production lines can be connected, the production lines can be simplified, the production cost is saved, and the production efficiency is improved.
Drawings
Fig. 1 is a perspective view of an end effector of a magazine reloading robot according to an embodiment;
FIG. 2 is a perspective view of the end effector of FIG. 1 from a bottom perspective;
FIG. 3 is a perspective view of the end effector of FIG. 1 loading a sagger;
fig. 4 is a perspective view of a magazine reloading robot provided in the embodiment.
Detailed Description
Referring to fig. 1 to 4, a magazine reloading robot according to an embodiment of the present invention includes a manipulator 10 and an end effector. The manipulator 10 is a six-axis manipulator, the end effector is provided with a mounting plate 1, a connecting flange 101 is fixed on the mounting plate 1, and the end effector is fixedly connected with an end shaft of the manipulator 10 through the connecting flange 101.
The mounting plate 1 of the tail end execution device is provided with a clamping module, an adsorption module and a detection module. The clamping module is used for clamping the saggar; the adsorption module is used for adsorbing materials; the detection module is used for detecting whether the base plate in the sagger is damaged or not. This end effector can be applied to and unload and the material loading to the saggar, can also carry the saggar and change the backing plate of damage in the casket body.
The end effector of the sagger refueling robot will be described in detail below.
In this embodiment, the clamping module includes that two symmetry fix the centre gripping subassembly 2 in mounting panel 1 bottom, and every centre gripping subassembly 2 all includes cylinder 201 and splint 202, and splint 202 fixed connection is fixed with clamp splice 203 in the piston rod one end of cylinder 201 on splint 202.
The air cylinder 201 of the clamping assembly 2 is connected to an air supply device (the air pipe and the air supply device are not shown in the figure) through a solenoid valve 204 and an air pipe. The electromagnetic valve 204 is fixed on the mounting plate 1, the air pipe support 102 for the air supply pipe to pass through is also fixed on the mounting plate 1, and the air pipe support 102 enables the air pipe to be neatly arranged.
When the clamping assembly 2 is in operation, the two clamping plates 202 can be driven by the two air cylinders 201 respectively, and the two clamping plates 202 can be close to each other or far away from each other. When the two clamping plates 202 are far away, the saggars can be loosened.
The adsorption module of the tail end execution device comprises a vacuum chuck 3, and the vacuum chuck 3 is fixed at the bottom of the mounting plate 1 through a flange connecting seat 4. The shape of the vacuum chuck 3 is the same as the shape of the inner cavity of the sagger, so that the vacuum chuck 3 can extend into the sagger and can adsorb materials in all positions of the inner cavity of the sagger. The vacuum chuck 3 adopts a sponge chuck which has the advantage of being not easy to damage materials. The vacuum chuck 3 is connected with a vacuumizing tube 5, and can be connected into a vacuumizing device through the vacuumizing tube 5 to work. A vacuum tube support 103 for the vacuum tube 5 to pass through is further fixed on the mounting plate 1, and the vacuum tube support 103 can also enable the vacuum tube 5 to be neatly arranged.
In this embodiment, the adsorption module is located between two clamping assemblies 2 of the clamping module. Such arrangement mode can make the centre gripping module when the centre gripping casket-like bowl, the material in the adsorption module can be to the casket-like bowl adsorbs, can further improve work efficiency.
This end final actuating device's detection module includes industrial camera 6 and optical fiber sensor 7, and industrial camera 6 and optical fiber sensor 7 are all fixed in mounting panel 1 bottom, can shoot and laser inspection through industrial camera 6 and optical fiber sensor 7 to the backing plate in the sagger, can detect whether the backing plate damages. And when the control system of the robot judges that the base plate is damaged according to signals sent by the industrial camera 6 and the optical fiber sensor 7, the base plate is required to be replaced, and then the robot is controlled to replace the base plate in the sagger. When the base plate is replaced, the vacuum chuck 3 can be used for adsorbing the base plate, the damaged base plate in the saggar is taken out firstly, and a new base plate is installed again.
Furthermore, the detection module further comprises an installation rack 8 and a light source 9, the installation rack 8 is fixed at the bottom of the installation board 1, the installation rack 8 is composed of two transverse boards and two longitudinal boards which are arranged in the horizontal direction, the two longitudinal boards are respectively and fixedly provided with the light source 9, and the light sources 9 are located on two sides of the industrial camera 6. The light source 9 can enhance the shooting effect of the industrial camera 6, thereby increasing the accuracy of the detection result.
The sagger refueling robot and the tail end executing device thereof can be applied to a tunnel furnace sintered resistance card production line for loading and unloading, and the robot can perform the following operations during working:
the sagger is clamped by the clamping module of the tail end execution device, so that the sagger can be carried and stacked;
the adsorption module adsorbs the resistance cards, the sintered resistance cards in the saggar are taken out, and the unsintered resistance cards can also be filled into an empty saggar, so that the saggar can be reloaded;
whether the base plate in the sagger is damaged or not is detected through the detection module, and the base plate is adsorbed through the adsorption module to be replaced.
In conclusion, the sagger material-changing robot can carry out feeding and discharging work on two tunnel furnace sintering lines, so that the two production lines can be connected, the production lines can be simplified, the production cost is saved, and the production efficiency is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. An end effector of a magazine reloading robot, comprising:
the mounting plate (1) is fixedly provided with a connecting flange (101) which is used for being mounted on the sagger refueling robot;
the clamping module is arranged on the mounting plate (1) and used for clamping the sagger;
the adsorption module is arranged on the mounting plate (1) and used for adsorbing materials;
and the detection module is arranged on the mounting plate (1) and used for detecting whether the base plate in the saggar is damaged or not.
2. The end effector of a sagger refueling robot according to claim 1, characterized in that the gripping module comprises two gripping members (2) symmetrically fixed at the bottom of the mounting plate (1), the gripping members (2) comprise a cylinder (201) and a clamping plate (202) fixedly connected to one end of the piston rod of the cylinder (201), and a clamping block (203) is fixed on the clamping plate (202).
3. The end effector of the saggar refueling robot as claimed in claim 2, wherein the air cylinder (201) is connected with the air source device through a solenoid valve (204) and an air pipe, the solenoid valve (204) is fixed on the mounting plate (1), and an air pipe support (102) for passing an air supply pipe is further fixed on the mounting plate (1).
4. The end effector of a sagger refueling robot according to claim 1, characterized in that the suction module comprises a vacuum chuck (3), the vacuum chuck (3) is fixed at the bottom of the mounting plate (1) through a flange connection seat (4), and the vacuum chuck (3) is connected with a vacuum tube (5).
5. The end effector of a saggar refueling robot according to claim 4, characterized in that the shape of the vacuum chuck (3) is the same as the shape of the saggar cavity, the vacuum chuck (3) being a sponge chuck.
6. End effector of a sagger replenisher robot according to claim 4, characterized by the fact that a vacuum tube support (103) for the passage of the evacuation tube (5) is fixed on the mounting plate (1).
7. End effector of a saggar refueling robot according to claims 2 or 4 characterized by the fact that the suction module is located between two gripping assemblies (2) of the gripping module.
8. End effector of a saggar refueling robot according to claim 1, characterized by the detection module comprising an industrial camera (6) and a fiber optic sensor (7) fixed at the bottom of the mounting plate (1).
9. The end effector of a saggar refueling robot according to claim 8, characterized in that the detection module further comprises a mounting bracket (8) and a light source (9), the mounting bracket (8) is fixed at the bottom of the mounting plate (1), and the light source (9) is mounted on the mounting bracket (8) and located at both sides of the industrial camera (6).
10. A magazine reloading robot comprising a manipulator (10), characterized in that it further comprises an end effector according to any of claims 1-9, which is fixedly connected to an end shaft of the manipulator (10) via a connecting flange (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210448771.1A CN114772279A (en) | 2022-04-27 | 2022-04-27 | Casket-like bowl reloading robot and terminal executive device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210448771.1A CN114772279A (en) | 2022-04-27 | 2022-04-27 | Casket-like bowl reloading robot and terminal executive device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114772279A true CN114772279A (en) | 2022-07-22 |
Family
ID=82432741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210448771.1A Pending CN114772279A (en) | 2022-04-27 | 2022-04-27 | Casket-like bowl reloading robot and terminal executive device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114772279A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0497717U (en) * | 1991-01-16 | 1992-08-24 | ||
| CN204935641U (en) * | 2015-08-26 | 2016-01-06 | 北京机械工业自动化研究所 | A kind of feeding robot paw |
| CN110271031A (en) * | 2019-05-09 | 2019-09-24 | 湖南视比特机器人有限公司 | A kind of lifting pinching vacuum chuck fixture and application method |
| CN212763571U (en) * | 2020-08-17 | 2021-03-23 | 广东埃华路机器人工程有限公司 | Unstacking robot with visual identification function and unstacking system |
| CN112934725A (en) * | 2021-02-23 | 2021-06-11 | 深圳市智立方自动化设备股份有限公司 | Automatic chip appearance detection equipment and control method thereof |
| CN114379666A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot adsorption detection robot with mechanical arm |
-
2022
- 2022-04-27 CN CN202210448771.1A patent/CN114772279A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0497717U (en) * | 1991-01-16 | 1992-08-24 | ||
| CN204935641U (en) * | 2015-08-26 | 2016-01-06 | 北京机械工业自动化研究所 | A kind of feeding robot paw |
| CN110271031A (en) * | 2019-05-09 | 2019-09-24 | 湖南视比特机器人有限公司 | A kind of lifting pinching vacuum chuck fixture and application method |
| CN212763571U (en) * | 2020-08-17 | 2021-03-23 | 广东埃华路机器人工程有限公司 | Unstacking robot with visual identification function and unstacking system |
| CN112934725A (en) * | 2021-02-23 | 2021-06-11 | 深圳市智立方自动化设备股份有限公司 | Automatic chip appearance detection equipment and control method thereof |
| CN114379666A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot adsorption detection robot with mechanical arm |
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