CN117001647A - Multi-angle grabbing device based on three-dimensional positioning and grabbing method thereof - Google Patents
Multi-angle grabbing device based on three-dimensional positioning and grabbing method thereof Download PDFInfo
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- CN117001647A CN117001647A CN202311284067.8A CN202311284067A CN117001647A CN 117001647 A CN117001647 A CN 117001647A CN 202311284067 A CN202311284067 A CN 202311284067A CN 117001647 A CN117001647 A CN 117001647A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 39
- 230000001276 controlling effect Effects 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 6
- 238000012994 industrial processing Methods 0.000 abstract description 4
- 230000007423 decrease Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification 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
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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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
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention relates to the technical field of industrial processing, in particular to a multi-angle grabbing device and method based on three-dimensional positioning. The device comprises an operation table, wherein a storage chamber is arranged in the operation table; the top of the operating table is provided with a product conveying belt; four groups of lens storage grooves are symmetrically formed in the edges of two sides of the top of the operating platform; the four groups of lens storage grooves are symmetrically arranged on two sides of the product conveying belt. According to the invention, the four groups of mounting posts are driven by the four groups of first electric push rods to be separated from the four groups of lens storage grooves to rise to a proper height, then the scanning cameras in the four groups of mounting posts scan and analyze three-dimensional data of the parts from different angles, and then the grabbing mechanism is controlled to grab proper positions of the parts and transfer the parts to the limiting mechanism for limiting and fixing so as to facilitate processing work, thereby realizing three-dimensional positioning grabbing of the parts, avoiding the problem of unstable grabbing of grabbing devices with different shapes of the parts and improving the working efficiency of the grabbing device.
Description
Technical Field
The invention belongs to the technical field of industrial processing, and particularly relates to a multi-angle grabbing device and method based on three-dimensional positioning.
Background
In industrial processing, various parts are often required to be processed, and automation is required in the processing process in consideration of safety, efficiency and the like, so that a gripping device is used.
Through searching, in the prior art, chinese patent bulletin number: CN209706804U, bulletin day: 2019-11-29, which relate to the field of industrial processing, mainly aim to solve the problems of low efficiency and poor safety of the manual taking and placing process; this frivolous type product vision location extracting device, including the operation panel, be equipped with the product conveyer belt that is used for carrying the product on the operation panel, still be equipped with four-axis robot on the operation panel, be equipped with industrial camera on the four-axis robot, industrial camera is connected with control system, control system connects four-axis robot again, be equipped with the suction nozzle on four-axis robot's the arm of snatching, improved the efficiency that the product snatched and the security of snatching, also reduced the manual consumption simultaneously.
However, the reclaimer still has the following defects:
in the prior art, when the material taking device is used, the parts can be grabbed and then transferred to the corresponding positions and then fixed, so that the next processing work can be conveniently performed, but the shapes of various parts are different, the gravity centers are also different, the material taking device cannot be adjusted in real time, the problems that the parts fall off easily in the material taking process and the like are caused, the safety risk is improved, and the work efficiency is lacked.
Disclosure of Invention
Aiming at the problems, the invention provides a multi-angle grabbing device based on three-dimensional positioning, which comprises an operation table, wherein a storage chamber is arranged in the operation table; the top of the operating table is provided with a product conveying belt; four groups of lens storage grooves are symmetrically formed in the edges of two sides of the top of the operating platform; the four groups of lens accommodating grooves are symmetrically arranged on two sides of the product conveying belt; four groups of first electric push rods are arranged on the inner wall of the top of the storage chamber; each group of the first electric push rods are positioned right below a corresponding group of lens accommodating grooves; the output end of each group of the first electric push rod movably penetrates through the corresponding group of lens accommodating grooves, and is in transmission connection with a group of mounting columns; a group of scanning cameras are arranged in each group of mounting columns; each group of mounting posts movably penetrates through the corresponding group of lens accommodating grooves; the top of the operating platform is provided with a grabbing mechanism; a limiting mechanism is arranged at the top of the operating platform; the limiting mechanism is located at one side of the operating platform away from the product conveying belt.
Further, a storage groove is formed in the bottom of the operation table; a supporting plate is connected in the storage groove in a damping sliding manner along the vertical direction; a plurality of groups of universal wheels are arranged at the bottom edge of the supporting plate; a plurality of groups of sliding cavities are arranged in the supporting plate; each group of the sliding cavities is connected with a movable baffle in a sliding way; two groups of movable holes are symmetrically formed in the inner walls of the top and the bottom of each group of sliding cavity.
Further, the bottom of the supporting plate is provided with a plurality of groups of first electric sliding tables with the same number as that of the sliding cavities; the output end of each group of the first electric sliding table is in transmission connection with a corresponding group of movable baffles; each group of movable baffles movably seals the two corresponding groups of movable holes; a plurality of groups of second electric push rods with the same number as the movable baffles are arranged at the top edge of the storage groove; the output end of each group of second electric push rods is in transmission connection with a group of backing plates; each group of the backing plates movably penetrate through the corresponding two groups of movable holes.
Further, the grabbing mechanism comprises a second electric sliding table; the second electric sliding table is arranged at the top of the operating table; the output end of the second electric sliding table is in transmission connection with a mounting block; an electric turntable is arranged at the top of the mounting block; the top of the electric turntable is in transmission connection with a lifting column; the output end of the lifting column is in transmission connection with a first connecting block; a telescopic arm is arranged at one end of the first connecting block, which is far away from the lifting column; a first adjusting motor is arranged on one side arm of the first connecting block; the output end of the first adjusting motor is in transmission connection with the telescopic arm.
Further, a second connecting block is arranged at one end of the telescopic arm far away from the first connecting block; a rotating arm is arranged at one end of the second connecting block, which is far away from the telescopic arm; a second adjusting motor is arranged on one side wall of the second connecting block; the output end of the second regulating motor is in transmission connection with the rotating arm; a third connecting block is arranged at one end of the rotating arm far away from the second connecting block; a clamp is arranged on one side wall of the third connecting block, which is far away from the rotating arm; a third adjusting motor is arranged on one side wall of the third connecting block; the output end of the third regulating motor is in transmission connection with the rotating arm.
Further, the rotating arm includes a fixed arm; the fixed arm is connected with the second connecting block; one end of the fixed arm far away from the second connecting block is rotatably connected with a rotating arm; one end of the rotating arm far away from the fixed arm is connected with a third connecting block; a fourth adjusting motor is arranged at one end, close to the rotating arm, of the fixed arm; the output end of the fourth regulating motor is in transmission connection with the rotating arm.
Further, the limiting mechanism comprises a shell; two groups of first sliding grooves are symmetrically formed in the edges of two sides of the top of the shell; a group of first limiting plates are slidably connected in each group of first sliding grooves; two groups of second sliding grooves are symmetrically formed in the top of the shell along the direction perpendicular to the two groups of first sliding grooves; a group of second limiting plates are slidably connected in each group of second sliding grooves; an adjusting cavity is arranged in the shell.
Further, two groups of first screw rods are arranged in the adjusting cavity along the sliding direction of the first limiting plate; one ends of the two groups of first screw rods are fixedly connected, and the other ends of the two groups of first screw rods are respectively and rotatably connected to the inner walls at two sides of the adjusting cavity; the thread directions of the two groups of first screw rods are opposite, and the central axes of the two groups of first screw rods are on the same straight line; two groups of first sliding blocks are connected to the inner wall of the bottom of the adjusting cavity in a sliding manner along the central axis direction of the first screw rod; the two groups of first sliding blocks are respectively in threaded connection with one group of first screw rods; the two groups of first sliding blocks are respectively connected with one group of first limiting plates in a transmission way.
Further, two groups of second screw rods are arranged in the adjusting cavity along the sliding direction of the second limiting plate; one ends of the two groups of second screw rods are fixedly connected, and the other ends of the two groups of second screw rods are respectively and rotatably connected to the inner walls at two sides of the adjusting cavity; the thread directions of the two groups of second screw rods are opposite, and the central axes of the two groups of second screw rods are on the same straight line; two groups of second sliding blocks are connected to the inner wall of the bottom of the adjusting cavity in a sliding manner along the central axis direction of the second screw rod; the two groups of second sliding blocks are respectively in threaded connection with one group of second screw rods; the two groups of second sliding blocks are respectively in transmission connection with one group of second limiting plates; the central axes of the first screw rod and the second screw rod are not on the same horizontal plane; two side walls of the shell are respectively provided with a group of limiting motors; the output ends of the two groups of limiting motors are respectively connected with a corresponding group of first screw rods and second screw rods in a transmission way.
A gripping method of a multi-angle gripping device based on three-dimensional positioning, the gripping method comprising:
starting a grabbing device;
controlling the four groups of first electric push rods to drive the four groups of mounting columns to ascend;
controlling the product conveying belt to transfer the parts to corresponding positions;
controlling four groups of scanning cameras to scan and analyze three-dimensional data of the parts from different angles;
the grabbing mechanism is controlled to grab the parts and transfer the parts to the limiting mechanism;
the limiting mechanism is controlled to limit and fix the parts;
and (5) completing grabbing work.
The beneficial effects of the invention are as follows:
1. the four groups of mounting posts are driven by the four groups of first electric push rods to be separated from the four groups of lens storage grooves and rise to a proper height, then the scanning cameras in the four groups of mounting posts scan and analyze three-dimensional data of parts from different angles, and then the grabbing mechanism is controlled to grab proper positions of the parts and transfer the parts to the limiting mechanism to be limited and fixed so as to facilitate processing work, three-dimensional positioning grabbing of the parts is realized, the problem that grabbing devices with different shapes of the parts are unstable is avoided, and the working efficiency of the grabbing device is improved.
2. The plurality of groups of second electric push rods are controlled to drive the plurality of groups of base plates to descend, the plurality of groups of base plates can be abutted against the ground and lift the operation table after passing through corresponding movable holes, so that the height of the grabbing device is adjusted, when the grabbing device needs to be moved, the plurality of groups of second electric push rods can be controlled to drive the plurality of groups of base plates to ascend to the upper side of the supporting plate, then the plurality of groups of first electric sliding tables are controlled to drive the movable baffle to block the corresponding movable holes, the plurality of groups of base plates are controlled to drive the plurality of groups of base plates to descend and abut against the movable baffle, the supporting plate drives the plurality of groups of universal wheels to descend and abut against the ground and lift the operation table, and at the moment, the grabbing device can be directly moved, so that the use convenience of the grabbing device is improved.
3. Through controlling two sets of first lead screws and second lead screws to rotate, under the threaded connection relation of first lead screw and first slider, make two sets of first sliders drive two sets of first limiting plates centre gripping on the opposite both sides wall of spare part, two sets of second sliders drive two sets of second limiting plates centre gripping on the other both sides wall of spare part with the same reason, thereby form fixedly to the spare part, when the spare part needs to be taken down, only need two sets of limiting motor reverse rotation release two sets of first limiting plates and second limiting plates to the fixed of spare part can, and no matter the shape of spare part is all can accomplish spacing fixed work, grabbing device's compatibility has been improved.
4. When the grabbing device is idle, the four groups of first electric push rods can be controlled to drive the four groups of mounting columns to be recycled into the four groups of lens storage grooves, the problem that the lens of the scanning camera is exposed to the outside and is easy to damage is avoided, and the protection performance of the grabbing device is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic structural view of a gripping device according to an embodiment of the present invention;
FIG. 2 shows an enlarged schematic view at A of FIG. 1, according to an embodiment of the invention;
FIG. 3 shows a schematic cross-sectional view of a gripping device according to an embodiment of the invention;
FIG. 4 shows a schematic bottom view of a gripping device according to an embodiment of the invention;
FIG. 5 shows a schematic bottom cross-sectional view of a support plate according to an embodiment of the invention;
fig. 6 shows a schematic structural view of a gripping mechanism according to an embodiment of the present invention;
FIG. 7 shows a schematic cross-sectional view of a rotating arm according to an embodiment of the invention;
FIG. 8 shows a schematic structural view of a spacing mechanism according to an embodiment of the present invention;
fig. 9 shows a schematic top cross-sectional view of a spacing mechanism according to an embodiment of the present invention.
In the figure: 1. an operation table; 2. a storage chamber door; 3. a product conveyor belt; 4. a mounting plate; 5. a distance sensor; 6. a lens accommodating groove; 7. a first electric push rod; 8. a grabbing mechanism; 9. a limiting mechanism; 10. a mounting column; 11. scanning the camera; 12. a storage chamber; 13. a storage groove; 14. a support plate; 15. a universal wheel; 16. a second electric push rod; 17. a backing plate; 18. a first electric slipway; 19. a movable hole; 20. a sliding chamber; 21. a movable baffle; 801. the second electric sliding table; 802. a mounting block; 803. an electric turntable; 804. lifting columns; 805. a first connection block; 806. a telescoping arm; 807. a first adjustment motor; 808. a second connection block; 809. a rotating arm; 810. a second adjustment motor; 811. a third connecting block; 812. a third adjustment motor; 813. a clamp; 8091. a fixed arm; 8092. a rotating arm; 8093. a fourth adjustment motor; 901. a housing; 902. a first chute; 903. a first limiting plate; 904. a second chute; 905. a second limiting plate; 906. a limit motor; 907. a regulating chamber; 908. a first screw rod; 909. a first slider; 910. a second screw rod; 911. and a second slider.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a multi-angle grabbing device based on three-dimensional positioning, which comprises an operation table 1. As shown in fig. 1, 2, 3, 4 and 5, the console 1 is provided with a storage chamber 12; an opening is formed in one side wall of the accommodating chamber 12; the opening is provided with a storage room door 2; the top of the operating table 1 is provided with a product conveying belt 3; four groups of lens storage grooves 6 are symmetrically formed in the edges of two sides of the top of the operating platform 1; the four groups of lens accommodating grooves 6 are symmetrically arranged on two sides of the product conveying belt 3; four groups of first electric push rods 7 are arranged on the top inner wall of the storage chamber 12; each group of first electric push rods 7 are positioned right below the corresponding group of lens accommodating grooves 6; the output end of each group of the first electric push rod 7 movably penetrates through the corresponding group of lens accommodating grooves 6, and is in transmission connection with a group of mounting columns 10; a group of scanning cameras 11 are arranged in each group of mounting columns 10; each group of mounting posts 10 movably penetrates through a corresponding group of lens accommodating grooves 6; the top of the operating platform 1 is provided with a grabbing mechanism 8; the top of the operating platform 1 is provided with a limiting mechanism 9; the limiting mechanism 9 is positioned on one side of the operating table 1 away from the product conveying belt 3. A storage groove 13 is formed in the bottom of the operation table 1; a supporting plate 14 is connected in the accommodating groove 13 in a damping sliding manner along the vertical direction; a plurality of groups of universal wheels 15 are arranged at the bottom edge of the supporting plate 14; a plurality of groups of sliding cavities 20 are arranged in the supporting plate 14; each group of the sliding cavities 20 is connected with a movable baffle 21 in a sliding way; two groups of movable holes 19 are symmetrically formed in the inner walls of the top and the bottom of each group of sliding cavity 20; the bottom of the supporting plate 14 is provided with a plurality of groups of first electric sliding tables 18 with the same number as that of the sliding cavities 20; the output end of each group of the first electric sliding table 18 is in transmission connection with a corresponding group of movable baffles 21; each group of movable baffles 21 movably seals the corresponding two groups of movable holes 19; a plurality of groups of second electric push rods 16 with the same number as the movable baffles 21 are arranged at the top edge of the storage groove 13; a group of backing plates 17 are connected to the output end of each group of second electric push rods 16 in a transmission way; each group of the backing plates 17 is movably penetrated into the corresponding two groups of movable holes 19.
When the grabbing device is used, the plurality of groups of second electric push rods 16 can be controlled to drive the plurality of groups of backing plates 17 to descend, the plurality of groups of backing plates 17 can be abutted against the ground and lift the operating platform 1 after passing through the corresponding movable holes 19, so that the height of the grabbing device is adjusted, when the grabbing device needs to be moved, the plurality of groups of second electric push rods 16 can be controlled to drive the plurality of groups of backing plates 17 to ascend to the upper side of the supporting plate 14, then the plurality of groups of first electric sliding tables 18 are controlled to drive the movable baffle plates 21 to block the corresponding movable holes 19, the plurality of groups of backing plates 17 are controlled to be driven by the plurality of groups of second electric push rods 16 to descend and abut against the movable baffle plates 21, the supporting plate 14 can drive the plurality of groups of universal wheels 15 to descend and abut against the ground and lift the operating platform 1, and at the moment, the grabbing device can be directly moved, and the use convenience of the grabbing device is improved. When the grabbing device works, the four groups of first electric push rods 7 are controlled to drive the four groups of mounting columns 10 to be separated from the four groups of lens storage grooves 6 and ascend to a proper height, then workers place parts on the product conveying belt 3, after the parts move to corresponding positions, the distance sensor 5 senses the parts and controls the product conveying belt 3 to stop, then the scanning cameras 11 in the four groups of mounting columns 10 scan and analyze three-dimensional data of the parts from different angles, then the grabbing mechanism 8 is controlled to grab proper positions of the parts and transfer the parts to the limiting mechanism 9 to be limited and fixed so as to facilitate processing work, three-dimensional positioning grabbing of the parts is realized, the problem that grabbing devices with different shapes of the parts are unstable is avoided, and the working efficiency of the grabbing device is improved.
As shown in fig. 6 and 7, the gripping mechanism 8 includes a second electric slide 801; the second electric sliding table 801 is arranged at the top of the operation table 1; the output end of the second electric sliding table 801 is in transmission connection with a mounting block 802; an electric turntable 803 is arranged at the top of the mounting block 802; the top of the electric turntable 803 is in transmission connection with a lifting column 804; the output end of the lifting column 804 is in transmission connection with a first connecting block 805; a telescopic arm 806 is arranged at one end of the first connecting block 805 away from the lifting column 804; a first adjusting motor 807 is arranged on one side arm of the first connecting block 805; the output end of the first adjusting motor 807 is in transmission connection with the telescopic arm 806; a second connection block 808 is arranged at one end of the telescopic arm 806 far away from the first connection block 805; a rotating arm 809 is arranged at one end of the second connecting block 808 away from the telescopic arm 806; a second adjusting motor 810 is arranged on one side wall of the second connecting block 808; the output end of the second adjusting motor 810 is in transmission connection with the rotating arm 809; a third connecting block 811 is arranged at one end of the rotating arm 809 away from the second connecting block 808; a clamp 813 is arranged on one side wall of the third connecting block 811 far away from the rotating arm 809; a third adjusting motor 812 is arranged on one side wall of the third connecting block 811; the output end of the third adjusting motor 812 is in transmission connection with the rotating arm 809. The rotating arm 809 includes a stationary arm 8091; the fixed arm 8091 is connected with a second connecting block 808; a rotating arm 8092 is rotatably connected to one end of the fixed arm 8091 away from the second connecting block 808; one end of the rotating arm 8092 away from the fixed arm 8091 is connected with a third connecting block 811; a fourth adjusting motor 8093 is arranged at one end of the fixed arm 8091, which is close to the rotating arm 8092; the output end of the fourth adjusting motor 8093 is in transmission connection with the rotating arm 8092.
When the grabbing device works, the lifting column 804 can adjust the height of the clamp 813, the telescopic arm 806 is matched with the second electric sliding table 801 to adjust the horizontal position of the clamp 813, the rotary arm 809 is matched with the third connecting block 811 to adjust the clamp angle of the clamp 813, after the parts are clamped, the electric rotary table 803 drives the clamp 813 and the parts to rotate to the limiting mechanism 9 to limit and fix the parts, and multi-angle grabbing of the grabbing device is achieved.
As shown in fig. 8 and 9, the limit mechanism 9 includes a housing 901; two groups of first sliding grooves 902 are symmetrically formed in the edges of two sides of the top of the shell 901; a set of first limiting plates 903 are slidably connected in each set of first sliding grooves 902; two groups of second sliding grooves 904 are symmetrically formed on the top of the shell 901 along the direction perpendicular to the two groups of first sliding grooves 902; a set of second limiting plates 905 are slidably connected in each set of second sliding grooves 904; an adjusting cavity 907 is arranged in the shell 901; two groups of first screw rods 908 are arranged in the adjusting cavity 907 along the sliding direction of the first limiting plate 903; one ends of the two groups of first screw rods 908 are fixedly connected, and the other ends of the two groups of first screw rods 908 are respectively and rotatably connected to the inner walls of two sides of the adjusting cavity 907; the thread directions of the two groups of first screw rods 908 are opposite, and the central axes are on the same straight line; two groups of first sliding blocks 909 are connected on the inner wall of the bottom of the adjusting cavity 907 in a sliding manner along the central axis direction of the first screw rod 908; the two groups of first sliding blocks 909 are respectively in threaded connection with one group of first screw rods 908; the two groups of first sliding blocks 909 are respectively in transmission connection with one group of first limiting plates 903; two groups of second screw rods 910 are arranged in the adjusting cavity 907 along the sliding direction of the second limiting plate 905; one ends of the two groups of second screw rods 910 are fixedly connected, and the other ends are respectively and rotatably connected to the inner walls of two sides of the adjusting cavity 907; the thread directions of the two groups of second screw rods 910 are opposite, and the central axes are on the same straight line; two groups of second sliding blocks 911 are slidably connected to the bottom inner wall of the adjusting cavity 907 along the central axis direction of the second screw rod 910; the two groups of second sliding blocks 911 are respectively in threaded connection with one group of second screw rods 910; the two groups of second sliding blocks 911 are respectively in transmission connection with a group of second limiting plates 905; the central axes of the first screw 908 and the second screw 910 are not on the same horizontal plane; two side walls of the shell 901 are respectively provided with a group of limiting motors 906; the output ends of the two sets of limiting motors 906 are respectively in transmission connection with a corresponding set of first screw rods 908 and second screw rods 910.
When the grabbing device works, the grabbing mechanism 8 transfers the parts to the top of the shell 901, then the two groups of limiting motors 906 are controlled to drive the two groups of first lead screws 908 and the second lead screws 910 to rotate respectively, under the threaded connection relation of the first lead screws 908 and the first sliding blocks 909, the two groups of first sliding blocks 909 drive the two groups of first limiting plates 903 to be clamped on two opposite side walls of the parts, the two groups of second sliding blocks 911 drive the two groups of second limiting plates 905 to be clamped on the other two side walls of the parts, so that the parts are fixed, when the parts are required to be removed, only the two groups of limiting motors 906 are controlled to reversely rotate to release the fixing of the parts by the two groups of first limiting plates 903 and the second limiting plates 905, and the limiting fixing work can be completed no matter how the parts are, so that the compatibility of the grabbing device is improved.
The multi-angle grabbing device based on three-dimensional positioning provided by the invention has the following operating principle and application method: when the grabbing device is used, the plurality of groups of second electric push rods 16 can be controlled to drive the plurality of groups of backing plates 17 to descend, the plurality of groups of backing plates 17 can be abutted against the ground and lift the operating platform 1 after passing through the corresponding movable holes 19, so that the height of the grabbing device is adjusted, when the grabbing device needs to be moved, the plurality of groups of second electric push rods 16 can be controlled to drive the plurality of groups of backing plates 17 to ascend to the upper side of the supporting plate 14, then the plurality of groups of first electric sliding tables 18 are controlled to drive the movable baffle plates 21 to block the corresponding movable holes 19, the plurality of groups of backing plates 17 are controlled to be driven by the plurality of groups of second electric push rods 16 to descend and abut against the movable baffle plates 21, the supporting plate 14 can drive the plurality of groups of universal wheels 15 to descend and abut against the ground and lift the operating platform 1, and the grabbing device can be directly moved at the moment. When the grabbing device works, firstly, four groups of first electric push rods 7 are controlled to drive four groups of mounting posts 10 to be separated from four groups of lens storage grooves 6 and ascend to a proper height, then workers place parts on a product conveying belt 3, after the parts move to corresponding positions, a distance sensor 5 senses the parts and controls the product conveying belt 3 to stop, then scanning cameras 11 in the four groups of mounting posts 10 scan and analyze three-dimensional data of the parts from different angles, then lifting posts 804 are controlled to adjust the height of a clamp 813, a telescopic arm 806 is matched with a second electric sliding table 801 to adjust the horizontal position of the clamp 813, a rotating arm 809 is matched with a third connecting block 811 to adjust the clamp angle of the clamp 813, and after the parts are clamped by the clamp 813, the electric rotating disc 803 drives the clamp 813 and the parts to rotate to a limiting mechanism 9, so that three-dimensional positioning grabbing of the parts is realized; the grabbing mechanism 8 transfers the parts to the top of the shell 901, then respectively controls the two groups of limiting motors 906 to drive the two groups of first screw rods 908 and the second screw rods 910 to rotate, under the threaded connection relation between the first screw rods 908 and the first sliding blocks 909, the two groups of first sliding blocks 909 drive the two groups of first limiting plates 903 to clamp on two opposite side walls of the parts, and similarly the two groups of second sliding blocks 911 drive the two groups of second limiting plates 905 to clamp on the other two side walls of the parts, so that the parts are fixed, and when the parts are required to be removed, only the two groups of limiting motors 906 are controlled to reversely rotate to release the fixing of the parts by the two groups of first limiting plates 903 and the second limiting plates 905.
By controlling the two groups of first lead screws 908 and second lead screws 910 to rotate, under the threaded connection relation between the first lead screws 908 and the first sliding blocks 909, the two groups of first sliding blocks 909 drive the two groups of first limiting plates 903 to be clamped on two opposite side walls of the part, and the two groups of second sliding blocks 911 drive the two groups of second limiting plates 905 to be clamped on the other two side walls of the part, so that the part is fixed, when the part needs to be taken down, only the two groups of limiting motors 906 are controlled to reversely rotate to release the fixing of the two groups of first limiting plates 903 and the second limiting plates 905 to the part, and the limiting fixing work can be completed no matter the shape of the part, so that the compatibility of the grabbing device is improved.
Through a plurality of groups of second electric putter 16 drive a plurality of groups of backing plates 17 decline, a plurality of groups of backing plates 17 can conflict subaerial and carry out the lifting with operation panel 1 behind corresponding movable hole 19, realize grabbing device's altitude mixture control, when needs remove grabbing device, steerable a plurality of groups of second electric putter 16 drive a plurality of groups of backing plates 17 rise to the top of backup pad 14, then a plurality of groups of first electric slipways 18 drive movable baffle 21 shutoff corresponding movable hole 19, a plurality of groups of backing plates 17 of control a plurality of groups of second electric putter 16 drive the decline conflict on movable baffle 21 again, make backup pad 14 drive a plurality of groups of universal wheels 15 decline conflict subaerial and carry out the lifting with operation panel 1, but direct removal grabbing device this moment has improved grabbing device's convenience of use.
The four groups of mounting posts 10 are driven by the four groups of first electric push rods 7 to be separated from the four groups of lens storage grooves 6 and rise to a proper height, then the scanning cameras 11 in the four groups of mounting posts 10 scan and analyze three-dimensional data of parts from different angles, then the grabbing mechanism 8 is controlled to grab proper positions of the parts and transfer the parts to the limiting mechanism 9 for limiting and fixing so as to facilitate processing work, three-dimensional positioning grabbing of the parts is realized, the problem that grabbing devices with different shapes of the parts are unstable is avoided, and the working efficiency of the grabbing device is improved.
On the basis of the multi-angle grabbing device based on three-dimensional positioning, the embodiment of the invention also provides a grabbing method for the multi-angle grabbing device based on three-dimensional positioning, which comprises the following steps:
starting a grabbing device;
controlling the four groups of first electric push rods to drive the four groups of mounting columns to ascend;
controlling the product conveying belt to transfer the parts to corresponding positions;
controlling four groups of scanning cameras to scan and analyze three-dimensional data of the parts from different angles;
the grabbing mechanism is controlled to grab the parts and transfer the parts to the limiting mechanism;
the limiting mechanism is controlled to limit and fix the parts;
and (5) completing grabbing work.
Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. Multi-angle grabbing device based on three-dimensional location, including operation panel (1), its characterized in that: a storage chamber (12) is arranged in the operation table (1); the top of the operating table (1) is provided with a product conveying belt (3); four groups of lens storage grooves (6) are symmetrically formed in the edges of two sides of the top of the operating table (1); the four groups of lens accommodating grooves (6) are symmetrically arranged on two sides of the product conveying belt (3); four groups of first electric push rods (7) are arranged on the inner wall of the top of the accommodating chamber (12); each group of first electric push rods (7) is positioned right below a corresponding group of lens accommodating grooves (6); the output end of each group of the first electric push rod (7) movably penetrates through a corresponding group of lens accommodating grooves (6), and is in transmission connection with a group of mounting columns (10); a group of scanning cameras (11) are arranged in each group of mounting columns (10); each group of mounting posts (10) movably penetrates through a corresponding group of lens accommodating grooves (6); the top of the operating table (1) is provided with a grabbing mechanism (8); a limiting mechanism (9) is arranged at the top of the operating platform (1); the limiting mechanism (9) is located at one side, far away from the product conveying belt (3), of the operating platform (1).
2. The multi-angle gripping device based on three-dimensional positioning according to claim 1, wherein: a storage groove (13) is formed in the bottom of the operating platform (1); a supporting plate (14) is connected in the storage groove (13) in a damping sliding manner along the vertical direction; a plurality of groups of universal wheels (15) are arranged at the bottom edge of the supporting plate (14); a plurality of groups of sliding cavities (20) are arranged in the supporting plate (14); each group of sliding cavities (20) is connected with a movable baffle (21) in a sliding way; two groups of movable holes (19) are symmetrically formed in the inner walls of the top and the bottom of each group of sliding cavity (20).
3. The multi-angle gripping device based on three-dimensional positioning according to claim 2, wherein: the bottom of the supporting plate (14) is provided with a plurality of groups of first electric sliding tables (18) with the same number as that of the sliding cavities (20); the output end of each group of the first electric sliding table (18) is in transmission connection with a corresponding group of movable baffles (21); each group of movable baffles (21) movably closes two corresponding groups of movable holes (19); a plurality of groups of second electric push rods (16) with the same number as the movable baffles (21) are arranged at the top edge of the storage groove (13); the output end of each group of second electric push rods (16) is in transmission connection with a group of backing plates (17); each group of the backing plates (17) is movably penetrated into the corresponding two groups of movable holes (19).
4. The multi-angle gripping device based on three-dimensional positioning according to claim 2, wherein: the grabbing mechanism (8) comprises a second electric sliding table (801); the second electric sliding table (801) is arranged at the top of the operating platform (1); the output end of the second electric sliding table (801) is in transmission connection with a mounting block (802); an electric turntable (803) is arranged at the top of the mounting block (802); the top of the electric turntable (803) is in transmission connection with a lifting column (804); the output end of the lifting column (804) is in transmission connection with a first connecting block (805); a telescopic arm (806) is arranged at one end of the first connecting block (805) far away from the lifting column (804); a first adjusting motor (807) is arranged on one side arm of the first connecting block (805); the output end of the first adjusting motor (807) is in transmission connection with the telescopic arm (806).
5. The three-dimensional positioning-based multi-angle grabbing device as claimed in claim 4, wherein: a second connecting block (808) is arranged at one end of the telescopic arm (806) far away from the first connecting block (805); a rotating arm (809) is arranged at one end of the second connecting block (808) far away from the telescopic arm (806); a second adjusting motor (810) is arranged on one side wall of the second connecting block (808); the output end of the second adjusting motor (810) is in transmission connection with the rotating arm (809); a third connecting block (811) is arranged at one end of the rotating arm (809) far away from the second connecting block (808); a clamp (813) is arranged on one side wall of the third connecting block (811) far away from the rotating arm (809); a third adjusting motor (812) is arranged on one side wall of the third connecting block (811); the output end of the third regulating motor (812) is in transmission connection with the rotating arm (809).
6. The three-dimensional positioning-based multi-angle grabbing device as claimed in claim 5, wherein: the rotating arm (809) comprises a stationary arm (8091); the fixed arm (8091) is connected with a second connecting block (808); one end, far away from the second connecting block (808), of the fixed arm (8091) is rotatably connected with a rotating arm (8092); one end of the rotating arm (8092) far away from the fixed arm (8091) is connected with a third connecting block (811); a fourth adjusting motor (8093) is arranged at one end, close to the rotating arm (8092), of the fixed arm (8091); the output end of the fourth adjusting motor (8093) is in transmission connection with the rotating arm (8092).
7. The multi-angle gripping device based on three-dimensional positioning according to claim 2, wherein: the limiting mechanism (9) comprises a shell (901); two groups of first sliding grooves (902) are symmetrically formed in the edges of two sides of the top of the shell (901); a group of first limiting plates (903) are slidably connected in each group of first sliding grooves (902); two groups of second sliding grooves (904) are symmetrically formed in the top of the shell (901) along the direction perpendicular to the two groups of first sliding grooves (902); a group of second limiting plates (905) are slidably connected in each group of second sliding grooves (904); an adjusting cavity (907) is arranged in the shell (901).
8. The three-dimensional positioning-based multi-angle grabbing device as claimed in claim 7, wherein: two groups of first screw rods (908) are arranged in the adjusting cavity (907) along the sliding direction of the first limiting plate (903); one ends of the two groups of first screw rods (908) are fixedly connected, and the other ends of the two groups of first screw rods are respectively and rotatably connected to the inner walls of the two sides of the adjusting cavity (907); the thread directions of the two groups of first screw rods (908) are opposite, and the central axes are on the same straight line; two groups of first sliding blocks (909) are connected on the inner wall of the bottom of the adjusting cavity (907) in a sliding manner along the central axis direction of the first screw rod (908); the two groups of first sliding blocks (909) are respectively in threaded connection with one group of first screw rods (908); the two groups of first sliding blocks (909) are respectively connected with a group of first limiting plates (903) in a transmission way.
9. The multi-angle gripping device based on three-dimensional positioning according to claim 8, wherein: two groups of second screw rods (910) are arranged in the adjusting cavity (907) along the sliding direction of the second limiting plate (905); one ends of the two groups of second screw rods (910) are fixedly connected, and the other ends of the two groups of second screw rods are respectively and rotatably connected to the inner walls of the two sides of the adjusting cavity (907); the thread directions of the two groups of second screw rods (910) are opposite, and the central axes are on the same straight line; two groups of second sliding blocks (911) are connected to the inner wall of the bottom of the adjusting cavity (907) in a sliding manner along the central axis direction of the second screw rod (910); the two groups of second sliding blocks (911) are respectively in threaded connection with one group of second screw rods (910); the two groups of second sliding blocks (911) are respectively in transmission connection with a group of second limiting plates (905); the central axes of the first screw rod (908) and the second screw rod (910) are not on the same horizontal plane; two side walls of the shell (901) are respectively provided with a group of limiting motors (906); the output ends of the two groups of limiting motors (906) are respectively in transmission connection with a corresponding group of first screw rods (908) and second screw rods (910).
10. A gripping method by the three-dimensional positioning-based multi-angle gripping device according to any one of claims 1 to 9, characterized in that: the grabbing method comprises the following steps:
starting a grabbing device;
controlling the four groups of first electric push rods to drive the four groups of mounting columns to ascend;
controlling the product conveying belt to transfer the parts to corresponding positions;
controlling four groups of scanning cameras to scan and analyze three-dimensional data of the parts from different angles;
the grabbing mechanism is controlled to grab the parts and transfer the parts to the limiting mechanism;
the limiting mechanism is controlled to limit and fix the parts;
and (5) completing grabbing work.
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| CN202311284067.8A CN117001647B (en) | 2023-10-07 | 2023-10-07 | Multi-angle grabbing device based on three-dimensional positioning and grabbing method thereof |
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| CN202311284067.8A CN117001647B (en) | 2023-10-07 | 2023-10-07 | Multi-angle grabbing device based on three-dimensional positioning and grabbing method thereof |
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| CN117001647B CN117001647B (en) | 2024-01-26 |
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