CN116872186B - Industrial robot for intelligent manufacturing workshop - Google Patents
Industrial robot for intelligent manufacturing workshop Download PDFInfo
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- CN116872186B CN116872186B CN202311064564.7A CN202311064564A CN116872186B CN 116872186 B CN116872186 B CN 116872186B CN 202311064564 A CN202311064564 A CN 202311064564A CN 116872186 B CN116872186 B CN 116872186B
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 20
- 230000000712 assembly Effects 0.000 claims abstract description 32
- 238000000429 assembly Methods 0.000 claims abstract description 32
- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 238000001179 sorption measurement Methods 0.000 claims description 45
- 238000004458 analytical method Methods 0.000 claims description 12
- 238000010191 image analysis Methods 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000005389 magnetism Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 238000009423 ventilation Methods 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an industrial robot for an intelligent manufacturing workshop, which belongs to the field of robots, wherein a total clamping assembly is arranged on two sides of the bottom end of a connecting box connected with a control end of a mechanical arm and is formed by splicing an upper sub-clamping assembly and a lower sub-clamping assembly, so that the total clamping assembly can be formed by selecting a proper number of sub-clamping assemblies according to the overall specification of different objects to be clamped, swing arms on two sides of the formed total clamping assembly are respectively driven to rotate by three different driving motors, a plurality of laser displacement sensors respectively collect the linear distance from a clamping wheel to the end wall of the object to be clamped, and the angle between a single arm and a connecting seat can be adjusted according to the actual environment by utilizing the transmission of distance information.
Description
Technical Field
The invention relates to the field of robots, in particular to an industrial robot for an intelligent manufacturing workshop.
Background
The intelligent manufacturing should include an intelligent manufacturing technology and an intelligent manufacturing system, and the intelligent manufacturing system not only can continuously enrich a knowledge base in practice, but also has a self-learning function, and also has the capability of collecting and understanding environment information and self information, analyzing, judging and planning self behaviors, and the industrial robot also needs to adapt to the environment, so that the intelligent manufacturing production characteristics are met.
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, is a machine for realizing various functions by self power and control capability, can accept human command, can also operate according to a pre-arranged program, can act according to the principle outline formulated by an artificial intelligence technology, is suitable for an intelligent manufacturing workshop, and is used for clamping and feeding products.
In the prior art, most of clamping structures of industrial robots move inwards mechanically to clamp workpieces, and the clamping structures are in contact and clamp with the surfaces of the workpieces. When objects with different shapes are processed, in order to improve the clamping effect, the corresponding clamping structure needs to be replaced for clamping, so that the application range of the common clamp is small, and the working efficiency is reduced; and the common clamp has inflexible action of the grippers, is limited by a plurality of types, and is difficult to be better suitable for clamping operation of an intelligent manufacturing workshop.
Disclosure of Invention
Compared with the prior art, the industrial robot for the intelligent manufacturing workshop is provided, the total clamping assembly is formed by splicing the upper sub-clamping assemblies and the lower sub-clamping assemblies, so that the total clamping assembly can be formed by selecting a proper number of sub-clamping assemblies according to the overall specification of different objects to be clamped, swing arms on two sides of the total clamping assembly are respectively driven to rotate by different driving motors, a plurality of laser displacement sensors respectively acquire the linear distance from the clamping wheel to the end wall of the object to be clamped, and the angle between the single arm and the connecting seat can be adjusted according to the actual environment by using the transmission of distance information.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides an industrial robot for intelligent manufacturing workshop, including the arm, arm control end fixed mounting has anchor clamps, anchor clamps include the link box of installing on the arm, the spout has been seted up to link box bottom inside, it has the screw rod to rotate between the relative inner wall of spout, the equal threaded connection of both ends has the screw thread cover that all links up with the slide spout inner wall slip about the screw rod, and link box end fixing has the driving motor one that drives the screw rod, all fixedly connected with links up the arm of a pair of screw rod lower extreme, all fixedly connected with rotary box of a pair of links up arm bottom, rotary box bottom rotation installs the backup pad, drive motor two that drive to the backup pad top is installed to rotary box end, all fixedly mounted total centre gripping subassembly on the relative end wall of a pair of backup pad;
the main clamping assembly is formed by splicing a plurality of sub clamping assemblies up and down, the sub clamping assemblies comprise connecting seats positioned on the inner sides of a supporting plate, swing arms are respectively arranged at the left end and the right end of the connecting seats and comprise rotating sleeves which are rotatably mounted at the end parts of the connecting seats, clamping arms are fixedly mounted in the rotating sleeves, clamping wheels are fixedly connected to the outer ends of the clamping arms, the inner ends of the clamping arms positioned in the axial direction of the rotating sleeves are fixedly connected with magnetic sleeves which extend to the upper ends of the rotating sleeves, the magnetic sleeves positioned below are fixedly embedded at the bottom end parts of the rotating sleeves positioned above, driving assemblies for rotating the magnetic sleeves are fixedly arranged at the two ends of the connecting seats positioned at the uppermost ends, and laser displacement sensors are embedded and mounted in the inner parts of a pair of clamping wheels positioned at the topmost ends.
Further, the connecting seat at the uppermost end is fixedly connected with the inner end wall of the supporting plate, the upper end and the lower end of the rotating sleeve are respectively provided with a magnetic attraction groove matched with the magnetic sleeve, the rotating sleeve and the magnetic sleeve are made of magnetic materials, the clamping arms are rotationally sleeved at the end parts of the connecting seat by virtue of the rotating sleeve, the upper sub-clamping assembly and the lower sub-clamping assembly are magnetically attracted and fixedly connected with the rotating sleeve above through the magnetic sleeve below, and therefore the total clamping assembly can be formed by selecting a proper number of sub-clamping assemblies according to actual needs.
Further, the drive assembly is including rotating the meshing gear train of installing on the connecting seat of top, one of them gear fixed cover on the meshing gear train is located on the magnetic sleeve, another gear on the meshing gear train rotates and installs on the connecting seat, and fixedly connected with is to another gear driven driving motor three on the connecting seat, utilize driving motor three and the cooperation of meshing gear train, realize carrying out synchronous rotation to a plurality of swing arms that set up from top to bottom, and the swing arm that the left and right sides set up is by three drives of different driving motors, thereby can be according to actual clamping needs, drive respectively and adjust two sets of swing arm rotation angle through two driving motor three, the centre gripping flexibility of total holding assembly is effectively improved.
Further, the inner end of the clamping wheel is fixedly connected with an adsorption bag pad which extends to the inner end of the clamping arm, the adsorption bag pad is of an outwards-protruding arc-shaped structure, the inner end of the adsorption bag pad is attached with a supporting plate matched with the adsorption bag pad in shape, and the outer end wall of the adsorption bag pad is provided with a plurality of adsorption holes which extend to the inner end wall of the supporting plate.
Further, the inside ventilation slot that is linked together with adsorbing the bag pad of having offered of centre gripping arm, the centre gripping arm is located the inner of rotating the cover axial direction and has offered upper and lower opening and inhale the through-hole that the inslot chi footpath size is unanimous with magnetism, and the through-hole is linked together with ventilation slot, magnetism sleeve respectively and is set up.
Further, fixedly connected with trachea on the magnetic sleeve that is located the top, a pair of trachea other end all runs through the linking arm and is connected with the air pump of fixed mounting on the linking arm jointly, and the rotation cover bottom fixed engagement that is located the bottommost has the sealing plug.
Further, the outer end wall of the adsorption bag pad is coated with an anti-slip pad, and the anti-slip pad is also provided with holes matched with the adsorption holes.
Further, a transparent protective cover matched with the ranging end head of the laser displacement sensor is arranged on the inner end wall of the clamping wheel.
Further, the industrial camera is installed at the bottom of the connecting box, the laser displacement sensor is further externally connected with an industrial control system connected with the industrial camera in the same signal mode, the industrial control system comprises a regulation and control module, a visual image analysis module and a distance analysis module, the industrial camera is used for collecting a 3D entity image of a connecting arm of an object to be clamped, meanwhile, scanning and obtaining width dimension information of the object to be clamped, the 3D entity image of the connecting arm and the width dimension information form real-time object information together, the laser displacement sensor is used for collecting linear distance information from a clamping wheel to an end wall of the object to be clamped after the position is regulated, and the regulation and control module is used for regulating and controlling a first driving motor, a second driving motor and a third driving motor, and the specific analysis and regulation processes are as follows:
step one: the visual image analysis module compares and analyzes real-time object information with similar object information pre-stored in a database, wherein the similar object information refers to similar objects within a certain same length, width and height size range, the comparison information is transmitted to the regulation and control module, the regulation and control module regulates the initial state clamping position of the total clamping assembly through driving the first driving motor and the rotary box, namely regulates the clamping distance between the pair of total clamping assemblies through the matched driving of the first driving motor and the screw rod, and respectively regulates the clamping angles of the two total clamping assemblies through driving of the second driving motor to obtain the initial state clamping position;
step two: after the initial clamping positions of the pair of total clamping assemblies are determined, linear distances from the clamping wheels to the end walls of the objects to be clamped are respectively acquired by utilizing the plurality of laser displacement sensors, the linear distances are sent to the distance analysis module for analysis and evaluation to obtain distance information, the regulation and control module respectively drives and controls the driving motor III according to the distance information, and swing arms on two sides of the connecting seat are respectively driven to clamp the objects to be clamped, so that clamping work is completed.
Compared with the prior art, the invention has the advantages that:
(1) According to the technical scheme, the total clamping assemblies are arranged on two sides of the bottom end of the connecting box connected with the control end of the mechanical arm and are formed by splicing the upper sub-clamping assemblies and the lower sub-clamping assemblies, so that the total clamping assemblies can be formed by selecting proper numbers of sub-clamping assemblies according to the overall sizes of objects to be clamped, swing arms on two sides of the total clamping assemblies are respectively driven to rotate by three different driving motors, the linear distances from the clamping wheels to the end walls of the objects to be clamped are respectively collected by utilizing the laser displacement sensors, the transmission of distance information is utilized, the angle between the single arm and the connecting seat can be adjusted according to actual environments, the clamping gesture between the single arms on two sides of the total clamping assemblies can be accurately adjusted, the application range is wide, and the action flexibility of the gripper is enhanced.
(2) According to the technical scheme, the adsorption bag pad which is connected with the clamping wheel is additionally arranged on the inner side of the clamping arm, when the swing arms on the left side and the right side of the connecting seat are utilized to clamp one end of an object, the clamping wheel, the adsorption bag pad and the outer wall of the object are tightly attached, the air pump and the air pipe are matched to exhaust air outwards, the inside of the adsorption bag pad is in a negative pressure state, so that the adsorption effect between the adsorption bag pad and the outer wall of the object is effectively realized through a plurality of adsorption holes, the matching of negative pressure adsorption clamp and the mechanical clamp is further effectively improved, the clamping effect on the object is further improved, the flexible adsorption bag pad is matched in the clamping process, the object is not easily damaged on one hand, and the object is not easily caused to fall off on the other hand.
(3) According to the technical scheme, the industrial camera is installed at the bottom of the connecting box, the laser displacement sensor is further externally connected with the industrial control system, the industrial camera is used for collecting 3D entity images of the connecting arms of the objects to be clamped, meanwhile, the width dimension information of the objects to be clamped is obtained through scanning, the 3D entity images of the connecting arms and the width dimension information form real-time object information together, the visual image analysis module compares and analyzes the real-time object information with the same class ratio stored in the database in advance, the regulation and control module regulates the initial state clamping position of the total clamping assembly through driving of the driving motor I and the rotating box, the laser displacement sensor is used for collecting the linear distance information from the clamping wheels to the end walls of the objects to be clamped at the initial state clamping position, and the swing arms on two sides of the connecting seat are driven to clamp the objects to be clamped according to the linear distance information respectively, so that clamping work is completed.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a clamp according to the present invention;
FIG. 3 is a second schematic diagram of the structure of the clamp of the present invention;
FIG. 4 is a disassembled view I of the present invention with the general clamping assembly disengaged from the spin basket;
FIG. 5 is a second exploded view of the present invention with the total clamp assembly disengaged from the spin basket;
FIG. 6 is a schematic view of the structure of the total clamping assembly of the present invention after rotation at the rotary box;
FIG. 7 is a schematic view of the total clamp assembly and sub-clamp assembly of the present invention in a disengaged configuration;
FIG. 8 is a schematic view of the structure of the sub-clamping assembly of the present invention;
FIG. 9 is a schematic diagram of a connection base and a swing arm according to the present invention;
FIG. 10 is a second schematic diagram of the connection base and swing arm of the present invention;
FIG. 11 is a third schematic diagram of the connection base and swing arm of the present invention;
fig. 12 is a schematic view showing a state when the laser displacement sensor is used for ranging according to the present invention.
The reference numerals in the figures illustrate:
1. a mechanical arm; 2. a connection box; 3. a linking arm; 4. a thread sleeve; 5. a screw; 6. driving a first motor; 7. a rotating box; 8. a support plate; 9. a second driving motor; 10. a connecting seat; 11. a rotating sleeve; 12. a clamping arm; 121. a vent groove; 13. a clamping wheel; 14. an adsorption bag pad; 141. adsorption holes; 15. a magnetic sleeve; 16. a sealing plug; 17. a meshing gear set, 18 and a driving motor III; 19. an air pipe; 20. air pump, 21 laser displacement sensor.
Detailed Description
The drawings in the embodiments of the present invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only a few embodiments of the present invention; but not all embodiments, are based on embodiments in the present invention; all other embodiments obtained by those skilled in the art without undue burden; all falling within the scope of the present invention.
Example 1:
the invention discloses an industrial robot for an intelligent manufacturing workshop, referring to fig. 1-6, the industrial robot comprises a mechanical arm 1, a clamp is fixedly arranged at the control end of the mechanical arm 1, the clamp comprises a connecting box 2 fixedly arranged at the control end of the mechanical arm 1, a sliding groove is formed in the bottom end of the connecting box 2, a screw rod 5 is rotated between the opposite inner walls of the sliding groove, screw sleeves 4 which are in sliding connection with the inner walls of the sliding groove are connected at the left end and the right end of the screw rod 5 in a threaded manner, a first driving motor 6 for driving the screw rod 5 is fixedly arranged at the end of the connecting box 2, a connecting arm 3 is fixedly connected at the lower end of the screw rod 5, a rotary box 7 is fixedly connected at the bottom end of the connecting arm 3, a supporting plate 8 is rotatably arranged at the bottom end of the rotary box 7, a second driving motor 9 for driving the top of the supporting plate 8 is fixedly arranged at the end of the rotary box 7, a pair of the total clamping components are matched with the first driving motor 6, the pair of total clamping components are oppositely or reversely moved through the screw rod 5, the driving of the second driving motor 9 are realized, and the total clamping components are obliquely turned up and down, so that the application range of the pair of total clamping components is improved.
Referring to fig. 7-11, the total clamping assembly is formed by splicing a plurality of sub-clamping assemblies up and down, the sub-clamping assemblies comprise a connecting seat 10 positioned at the inner side of a supporting plate 8, swing arms are respectively arranged at the left end and the right end of the connecting seat 10, each swing arm comprises a rotating sleeve 11 rotatably mounted at the end part of the connecting seat 10, a clamping arm 12 is fixedly mounted in each rotating sleeve 11, the outer ends of the clamping arms 12 are fixedly connected with clamping wheels 13, the inner ends of the clamping arms 12 positioned in the axial direction of the rotating sleeves 11 are fixedly connected with magnetic sleeves 15 extending to the upper ends of the rotating sleeves 11, the lower magnetic sleeves 15 are fixedly embedded at the bottom end parts of the rotating sleeves 11 positioned above, the connecting seat 10 positioned at the uppermost end is fixedly connected with the inner end wall of the supporting plate 8, magnetic grooves matched with the magnetic sleeves 15 are respectively formed in the upper end and the lower ends of the rotating sleeves 11, the rotating sleeves 11 and the magnetic sleeves 15 are made of magnetic materials, the clamping arms 12 are rotatably mounted at the end parts of the connecting seat 10 by means of the rotating sleeves 11, the upper sub-clamping assemblies and the lower sub-clamping assemblies are fixedly connected with the upper rotating sleeves 11 through the lower magnetic sleeves 15, and the upper sub-clamping assemblies in a magnetic attraction manner, and the proper number of sub-clamping assemblies can be selected according to practical requirements.
The driving assembly for rotating the magnetic sleeve 15 is fixedly arranged at two ends of the connecting seat 10 at the uppermost end, the driving assembly comprises a meshing gear set 17 rotatably arranged on the connecting seat 10 at the uppermost end, one gear on the meshing gear set 17 is fixedly sleeved on the magnetic sleeve 15, the other gear on the meshing gear set 17 is rotatably arranged on the connecting seat 10, the driving motor III 18 for driving the other gear is fixedly connected on the connecting seat 10, the driving motor III 18 is matched with the meshing gear set 17 to realize synchronous rotation of a plurality of swing arms arranged up and down, the connecting seat 10 between the two swing arms plays a role of rotation limit, and the swing arms arranged at the left side and the right side are driven by different driving motors III 18, so that the two groups of swing arms can be respectively driven and adjusted by the two driving motors III 18 according to actual clamping requirements, and the clamping flexibility of the total clamping assembly is effectively improved.
Example 2;
in this embodiment, on the basis of embodiment 1, an adsorption bag pad 14 engaged with a clamping wheel 13 is added at the inner end of a clamping arm 12, the adsorption bag pad 14 is communicated with the inside of the clamping arm 12, and a magnetic sleeve 15, which is arranged in a vertically butt joint manner, is mutually communicated with a rotating sleeve 11 and the clamping arm 12, so that the adsorption effect of a plurality of adsorption bag pads 14 is realized through the suction operation of an air pump 20, and the specific steps are as follows:
referring to fig. 6-11, an adsorption bag pad 14 extending to an inner end of a clamping arm 12 is fixedly connected to an inner end of the clamping wheel 13, the adsorption bag pad 14 has an arc structure protruding outwards, a supporting plate matched with the shape of the adsorption bag pad 14 is attached to the inner end of the adsorption bag pad 14, a plurality of adsorption holes 141 extending to an inner end wall of the supporting plate are formed in an outer end wall of the adsorption bag pad 14, an anti-slip pad is coated on an outer end wall of the adsorption bag pad 14, holes matched with the adsorption holes 141 are formed in the anti-slip pad, an air vent 121 communicated with the inside of the adsorption bag pad 14 is formed in the clamping arm 12, through holes with the same size as the inner ruler diameter of the magnetic suction groove are formed in the inner end of the clamping arm 12 in the axial direction of the rotating sleeve 11, and the through holes are respectively communicated with the air vent 121 and the magnetic sleeve 15.
The magnetic sleeve 15 at the top is fixedly connected with the air pipe 19, the other ends of the air pipes 19 penetrate through the connecting arm 3 and are jointly connected with the air pump 20 fixedly installed on the connecting arm 3, the bottom end of the rotating sleeve 11 at the lowest position is fixedly connected with the sealing plug 16, the swing arms which are arranged in an up-down butt joint mode are mutually communicated through the matching of the magnetic sleeve 15 and the rotating sleeve 11, when one end of an object is clamped by the swing arms on the left side and the right side of the connecting seat 10, the clamping wheel 13, the adsorption bag pad 14 are tightly attached to the outer wall of the object, the air pump 20 and the air pipe 19 are matched for exhausting outwards, the inside of the adsorption bag pad 14 is in a negative pressure state, accordingly, the adsorption effect between the adsorption bag pad 14 and the outer wall of the object is effectively achieved through the plurality of adsorption holes 141, the clamping effect of clamping the object is further effectively improved, the object is not damaged due to the fact that the flexible adsorption bag pad 14 is matched, and the object is not prone to falling off.
Example 3:
in this embodiment, on the basis of embodiment 2, an industrial camera is added at the bottom of the connection box 2, a laser displacement sensor 21 is added on the inner wall of the clamping wheel 13 at the top end, and the laser displacement sensor 21 is externally connected with an industrial control system, so that the clamping gesture of the total clamping assembly is more optimally regulated and controlled by utilizing the cooperation of the industrial camera, the laser displacement sensor 21 and the industrial control system, specifically as follows:
referring to fig. 12, a pair of holding wheels 13 at the top end are embedded with a transparent protective cover matched with the ranging end of the laser displacement sensor 21 on the inner end wall of the holding wheel 13 provided with the laser displacement sensor 21;
the industrial camera is installed at the bottom of the connecting box 2, which is not explicitly marked in the figure, the laser displacement sensor 21 is also externally connected with an industrial control system which is connected with the industrial camera by the same signal, the industrial control system comprises a regulation and control module, a visual image analysis module and a distance analysis module, the industrial camera is used for collecting a 3D entity image of a connecting arm of an object to be clamped, and simultaneously scanning and acquiring width dimension information of the object to be clamped, the 3D entity image of the connecting arm and the width dimension information form real-time object information together, the laser displacement sensor 21 is used for collecting linear distance information from a clamping wheel 13 to an end wall of the object to be clamped after the position is regulated, and the regulation and control module is used for regulating and controlling a first driving motor 6, a second driving motor 9 and a third driving motor 18, and the specific analysis and regulation and control process is as follows:
step one: the visual image analysis module compares and analyzes the real-time object information with the similar object information pre-stored in the database, and transmits the comparison information to the regulation and control module, and the regulation and control module regulates the initial state clamping position of the total clamping assembly through driving the driving motor I6 and the rotating box 7, namely regulates the clamping distance between the pair of total clamping assemblies through the matched driving of the driving motor I6 and the screw 5, and respectively regulates the clamping angles of the two total clamping assemblies through the driving of the driving motor II 9 to obtain the initial state clamping position;
setting the similar object information stored in the database in advance, wherein the similar object information refers to similar objects in a certain range of the same length, width and height, and the information of all objects is not required to be stored in the database in advance, so that the comparison range is enlarged, and the retrieval difficulty is reduced;
step two: after the initial clamping positions of the pair of total clamping assemblies are determined, linear distances from the clamping wheels 13 to the end walls of the objects to be clamped are respectively acquired by utilizing the plurality of laser displacement sensors 21, the linear distances are sent to the distance analysis module for analysis and evaluation to obtain distance information, the regulation and control module respectively drives and controls the driving motors III 18 according to the distance information, and the swing arms on two sides of the connecting seat 10 are respectively driven to clamp the objects to be clamped, so that clamping work is completed.
The above; is only a preferred embodiment of the present invention; the scope of the invention is not limited in this respect; any person skilled in the art is within the technical scope of the present disclosure; equivalent substitutions or changes are made according to the technical proposal of the invention and the improved conception thereof; are intended to be encompassed within the scope of the present invention.
Claims (5)
1. The utility model provides an industrial robot for intelligent manufacturing workshop, includes arm (1), arm (1) control end fixed mounting has anchor clamps, its characterized in that: the clamp comprises a connecting box (2) arranged on a mechanical arm (1), a sliding groove is formed in the bottom end of the connecting box (2), a screw rod (5) is rotated between opposite inner walls of the sliding groove, screw sleeves (4) sliding with the sliding groove are connected at the left end and the right end of the screw rod (5) in a threaded mode, a first driving motor (6) for driving the screw rod (5) is fixed at the end portion of the connecting box (2), a connecting arm (3) is fixedly connected to the lower end of the screw rod (5), a rotating box (7) is fixedly connected to the bottom end of the connecting arm (3), a supporting plate (8) is rotatably arranged at the bottom end of the rotating box (7), a second driving motor (9) for driving the top of the supporting plate (8) is arranged at the end portion of the rotating box (7), and a total clamping assembly is fixedly arranged on opposite end walls of the supporting plate (8);
the total clamping assembly is formed by splicing a plurality of sub-clamping assemblies up and down, the sub-clamping assemblies comprise a connecting seat (10) positioned on the inner side of a supporting plate (8), swing arms are respectively arranged at the left end and the right end of the connecting seat (10), each swing arm comprises a rotating sleeve (11) rotatably mounted at the end part of the connecting seat (10), a clamping arm (12) is fixedly mounted in each rotating sleeve (11), a clamping wheel (13) is fixedly connected to the outer end of each clamping arm (12), a magnetic sleeve (15) extending to the upper end of each rotating sleeve (11) is fixedly connected to the inner end of each clamping arm (12) positioned in the axial direction of each rotating sleeve (11), the magnetic sleeve (15) positioned below is fixedly embedded at the bottom end part of each rotating sleeve (11) positioned above, a driving assembly for rotating each magnetic sleeve (15) is fixedly mounted at the two ends of the connecting seat (10) positioned at the uppermost end, and a laser displacement sensor (21) is embedded in each clamping wheel (13) positioned at the topmost end;
the connecting seat (10) at the uppermost end is fixedly connected with the inner end wall of the supporting plate (8), the upper end and the lower end of the rotating sleeve (11) are provided with magnetic attraction grooves matched with the magnetic sleeve (15), the rotating sleeve (11) and the magnetic sleeve (15) are made of magnetic materials, the driving assembly comprises a meshing gear set (17) rotatably arranged on the uppermost connecting seat (10), one gear on the meshing gear set (17) is fixedly sleeved on the magnetic sleeve (15), the other gear on the meshing gear set (17) is rotatably arranged on the connecting seat (10), and a driving motor III (18) for driving the other gear is fixedly connected on the connecting seat (10);
be equipped with on the interior end wall of grip pulley (13) with laser displacement sensor (21) range finding end assorted transparent protection casing, industry camera is installed to joint box (2) bottom, laser displacement sensor (21) still external have the industrial control system with industry camera same signal connection, industrial control system includes regulation and control module, vision image analysis module and distance analysis module, industry camera is used for gathering the link arm 3D entity image of waiting to press from both sides the article to scan simultaneously and acquire the width dimension information of waiting to press from both sides the article, link arm 3D entity image constitutes real-time article information with width dimension information jointly, laser displacement sensor (21) are used for gathering the straight line distance information of grip pulley (13) after the adjustment position to waiting to press from both sides and get article end wall, regulation and control module is used for regulating and control driving motor one (6), driving motor two (9) and driving motor three (18), and concrete analysis regulation and control process is as follows:
step one: the visual image analysis module compares and analyzes real-time object information with similar object information pre-stored in a database, wherein the similar object information refers to similar objects within a certain same length, width and height size range, the comparison information is transmitted to the regulation and control module, the regulation and control module regulates the initial state clamping position of the total clamping assembly through driving the driving motor I (6) and the rotating box (7), namely, regulates the clamping distance between the pair of total clamping assemblies through the matched driving of the driving motor I (6) and the screw (5), and respectively regulates the clamping angles of the two total clamping assemblies through the driving of the driving motor II (9) to obtain the initial state clamping position;
step two: after the initial state clamping positions of a pair of total clamping assemblies are determined, linear distances from the clamping wheels (13) to the end walls of the objects to be clamped are respectively acquired by utilizing a plurality of laser displacement sensors (21), the linear distances are sent to a distance analysis module for analysis and evaluation to obtain distance information, a regulation and control module respectively drives and controls a driving motor III (18) according to the distance information, and swing arms on two sides of a connecting seat (10) are respectively driven to clamp the objects to be clamped, so that clamping work is completed.
2. An industrial robot for an intelligent manufacturing shop as claimed in claim 1, wherein: the inner end of the clamping wheel (13) is fixedly connected with an adsorption bag pad (14) extending to the inner end of the clamping arm (12), the adsorption bag pad (14) is of an outwards protruding arc-shaped structure, a supporting sheet matched with the shape of the adsorption bag pad is attached to the inner end of the adsorption bag pad (14), and a plurality of adsorption holes (141) extending to the inner end wall of the supporting sheet are formed in the outer end wall of the adsorption bag pad (14).
3. An industrial robot for an intelligent manufacturing shop as claimed in claim 2, wherein: the inside ventilation groove (121) that is linked together with adsorbing bag pad (14) is offered to centre gripping arm (12), the inner that centre gripping arm (12) are located the axle center direction of rotating sleeve (11) is offered and is opened from top to bottom and inhale the through-hole that the inslot chi footpath size is unanimous with magnetism, and the through-hole is linked together with ventilation groove (121), magnetism sleeve (15) respectively and is set up.
4. An industrial robot for an intelligent manufacturing shop as claimed in claim 3, wherein: the magnetic sleeve (15) at the top end is fixedly connected with an air pipe (19), the other ends of the air pipes (19) penetrate through the connecting arm (3) and are jointly connected with an air pump (20) fixedly installed on the connecting arm (3), and the bottom end of the rotating sleeve (11) at the lowest part is fixedly connected with a sealing plug (16).
5. An industrial robot for an intelligent manufacturing shop as claimed in claim 4, wherein: the outer end wall of the adsorption bag pad (14) is coated with an anti-slip pad, and the anti-slip pad is also provided with holes matched with the adsorption holes (141).
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