CN205310245U - Grasping system - Google Patents
Grasping system Download PDFInfo
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- CN205310245U CN205310245U CN201520900668.1U CN201520900668U CN205310245U CN 205310245 U CN205310245 U CN 205310245U CN 201520900668 U CN201520900668 U CN 201520900668U CN 205310245 U CN205310245 U CN 205310245U
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- 230000007246 mechanism Effects 0.000 claims abstract description 93
- 239000000463 material Substances 0.000 claims abstract description 47
- 238000004891 communication Methods 0.000 claims abstract description 37
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims description 15
- 230000008859 change Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 230000001788 irregular Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Abstract
The utility model provides a grasping system, including snatching mechanism, industrial robot, holding the change platform in hand. It before being connected with industrial robot, arranging in and holds the change bench in hand to snatch the mechanism, it passes through the quick change device and is connected with industrial robot's work arm to snatch the mechanism. Snatch and set up material detection module, material identification module, front end communication module in the mechanism, material identification module based on materials parameters the adjustment snatch the mechanism open opening range from with snatch the moment of torsion, material detection module judges that it snatchs or do not snatch the material snatching the in -process to snatch the mechanism, front end communication module accept with the transmission instruction. The last terminal communication module that is equipped with of industrial robot for receive and launch signal in front end communication module.
Description
Technical field
The utility model relates to a kind of industry Sorting Technique automatically, particularly a kind of to grasping system irregular, the bigger metalliferous material of weight.
Background technology
Along with the continuous rising of labor cost, by utilizing advanced automated production equipment to carry out technological transformation upgrading, reduce enterprise's production labor total amount further, optimize Technology flow process, it is to increase labour productivity is the inexorable trend of industrial development.
Existing grasping mechanism is that industrial robot carries pneumatic hand crawl mostly, cannot realize a hand and grab the crawl to multiple irregular material, and grasping mechanism utilization ratio is lower. And hand grabs and do not have fault detection capability, hand is grabbed does not have Signal transmissions between grasping mechanism and industrial robot, cannot judge to perform end state, and security and adaptability are poor.
Summary of the invention
The purpose of this utility model is to provide a kind of grasping system, and it can realize the crawl to multiple irregular material and to the detection and control performing end state, mechanism's adaptability, cost performance is higher.
A kind of grasping system, comprise grasping mechanism, industrial robot, hand grab changing table. Described grasping mechanism, before being connected with industrial robot, is placed in hand and grabs in changing table; Described grasping mechanism is connected with the working arm of industrial robot by fast replacing device. Described grasping mechanism arranges material detection module, material recognition module, front end communication module, the Distance geometry that opens that material recognition module adjusts grasping mechanism based on parameter of materials captures moment of torsion, material detection module judges that grasping mechanism captures in crawl process or do not grab material, and front end communications module accepts and launch intruction. Described industrial robot is provided with terminal communication module, for receiving and launch signal in front end communication module.
Preferably, described grasping mechanism comprises plurality of specifications, chooses corresponding grasping mechanism according to material size, shape.
The utility model is compared with prior art, have the following advantages: (1) passes through Signal transmissions between grasping mechanism and industrial robot, make industrial robot can judge whether grasping mechanism completes grasping movement, and then carry out further work, security and accuracy again and promote all to some extent; (2) grasping mechanism setting different size, according to the corresponding grasping mechanism of material shapes size Selection, and completes assembling by fast replacing device between industrial robot and grasping mechanism, it is possible to the sorting work of the different situation of reply, strong adaptability.
Below in conjunction with Figure of description, the utility model is described further.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present utility model.
Fig. 2 is grasping mechanism structural representation.
Fig. 3 is fast replacing device structural representation.
Fig. 4 is practical novel main program flow chart.
Embodiment
Composition graphs 1, a kind of grasping system, comprise grasping mechanism 1, industrial robot 3, hand grab changing table 4. Described grasping mechanism 1, before being connected with industrial robot 3, is placed in hand and grabs in changing table 4; Described grasping mechanism 1 is connected with the working arm of industrial robot 3 by fast replacing device 2. Described grasping mechanism 1 arranges material detection module 1-1, material recognition module 1-2, front end communication module 1-3, material recognition module 1-2 captures moment of torsion based on the Distance geometry that opens of material 6 parameter adjustment grasping mechanism, material detection module 1-1 judges that grasping mechanism captures in crawl process or do not grab material 6, and front end communications module 1-3 accepts and launch intruction. Described industrial robot 3 is provided with terminal communication module, for receiving and launch signal in front end communication module.
This system also comprises a upper computer 5, and industrial robot 3 is manipulated by this upper computer 5.
Described grasping mechanism 1 comprises plurality of specifications, chooses corresponding grasping mechanism 1 according to material 6 size, shape. Composition graphs 2, described crawl structure 1 comprises a step type structure, is convenient to be positioned over hand and grabs in changing table 4.
Composition graphs 3, described fast replacing device 2 comprises grasping mechanism end 2-1, industrial robot end 2-2, the 3rd communication module 2-3; Described grasping mechanism end 2-1 is arranged on grasping mechanism 1; Described industrial robot end 2-2 is arranged on working arm; Described 3rd communication module 2-3 is positioned on industrial robot end 2-2, sends signal to terminal communication module after grasping mechanism end 2-1 and industrial robot end 2-2 connects; Described terminal communication module also receives the 3rd communication module by signal. The grasping mechanism end 2-1 and industrial robot end 2-2 of fast replacing device 4 realizes connecting and disconnecting by air pressure adjustment.
Described hand grabs the through hole that changing table 4 is provided with carrying grasping mechanism 1, and described grasping mechanism 1 is stuck in this through hole, and grasping mechanism end 2-1 is upwards.
Described hand is grabbed and is also arranged one the 4th communication module in changing table 4, and described 4th communication module is positioned over hand at grasping mechanism 1 and grabs after in changing table 4 to terminal communication module 3-1 transmission signal; Described terminal communication module 3-1 also receives the 4th communication module by signal.
Transmission signal involved between each parts in native system and corresponding actions have following several:
(1) in crawl process, industrial robot 3 sends " material combinations " signal (material 6 parameter that this signal transmits is determined) according to upper computer 5 to grasping mechanism 3, grasping mechanism 1 adjusts hand and grabs and open distance, and grasping mechanism 1 is urged to material 6 place by the working arm of industrial robot 3;
(2) in crawl process, when grasping mechanism 1 is positioned at material 6 place, industrial robot 3 sends " crawl " signal to grasping mechanism 1, and material 6 is captured by grasping mechanism 1;
(3) in crawl process, after grasping mechanism 1 captures material 6, adjustment moment of torsion is until meet when can capture material 6, and grasping mechanism 1 sends " firmly grasping " signal to industrial robot 3, and industrial robot 3 lifts the point of destination that working arm moves to material 6;
(4) in crawl process, if grasping mechanism 1 fails to grab material 6, grasping mechanism 1 sends " grabbing sky " signal to industrial robot 3, and industrial robot performs fault handling pattern;
(5) in crawl process, when grasping mechanism 1 arrives the point of destination of material 6, industrial robot 3 sends " unclamping " signal to grasping mechanism 1, and grasping mechanism 1 performs to unclamp action;
(6) in crawl process, unclamping in action executing process at grasping mechanism 1, if unclamping, then grasping mechanism 1 sends " unclamping " signal to industrial robot 3, and industrial robot 3 lifts working arm to carry out next and take turns grasping movement; If unclamping, then sending trouble signal, industrial robot performs fault handling pattern;
(7) in the process of changing the outfit, after the grasping mechanism end 2-1 and industrial robot end 2-2 of fast replacing device 2 lock, fast replacing device 2 sends " locking " signal to industrial robot 3, and industrial robot 3 lifts working arm, drives grasping mechanism to leave hand and grabs changing table 4;
(8) in the process of changing the outfit, grab in changing table 4 when industrial robot 3 drives grasping mechanism 1 to be returned to hand, if grasping mechanism 1 is stuck in through hole, hand is grabbed changing table 4 and is sent " putting well " signal to the 3rd communication module 2-3, and the grasping mechanism end 2-1 of fast replacing device 2 is separated with industrial robot end 2-2.
Composition graphs 4, the workflow based on said system: after industrial robot topworks 3 receives upper computer order, in one's hands grabbing is connected and installed corresponding hand by fast replacing device 2 in changing table 4 and grabs grasping mechanism 1; After installing, hand is grabbed changing table 4 and is fed back " locking " signal to industrial robot topworks 3, and working arm lifts after receiving " locking " signal in industrial robot topworks 3, and band is started to grab grasping mechanism 1 and left hand and grab changing table 4; Then industrial robot topworks 3 grabs grasping mechanism 1 to hand and sends " material combinations " signal, hand is grabbed grasping mechanism 1 and is automatically adjusted hand according to " material combinations " signal received and grab the distance opened, and hand is grabbed grasping mechanism 1 and moved to the material position needing to capture by industrial robot topworks 3 simultaneously. After putting in place, industrial robot topworks 3 grabs grasping mechanism 1 to hand and sends " firmly grasping " order; Hand is grabbed grasping mechanism 1 and is performed promptly action, and judges whether current torque meets requirement, and torque feeds back " firmly grasping " signal to industrial robot topworks 3 after meeting requirement; Hand is grabbed material detecting sensor on grasping mechanism 1, if not catching material, then feed back " grabbing sky " signal to industrial robot topworks 3, and fault handling is done by industrial robot topworks 3. After industrial robot topworks 3 receives " firmly grasping " feedback, start to grab grasping mechanism 1 according to the path band that teaching is good and material is moved to the position needing to place. After putting in place, industrial robot topworks 3 grabs grasping mechanism 1 to hand and sends " unclamping " order, and hand is grabbed grasping mechanism 1 and performed to unclamp action, and judges whether normally to unclamp, if normal, feeds back " unclamping " signal to industrial robot topworks 3. So far complete once to capture work. If letting slip in journey grabbing, hand grabs grasping mechanism 1 can detect self working order automatically, can feed back to industrial robot topworks 3 in time if there is fault.
In above-mentioned case study on implementation workflow, if needing to change dissimilar hand to grab grasping mechanism 1, then changing flow process is: former hand is grabbed grasping mechanism 1 and put back to corresponding hand and grab changing table 4 by industrial robot topworks 3, hand is grabbed has detector switch in changing table 4, after putting well, hand is grabbed changing table 4 and is fed back " putting well " signal to industrial robot topworks 3, after industrial robot topworks 3 receives " putting well " signal, unclamp the tool side of fast replacing device 2, fast replacing device 4 feeds back " locking " signal to industrial robot topworks 3, mechanical arm lifts after receiving " locking " signal in industrial robot topworks 3, former hand is grabbed grasping mechanism 1 and is departed from industrial robot topworks 3.Then, industrial robot topworks 3 goes the hand installing corresponding types to grab grasping mechanism 1 according to order again, and installation process is shown in upper case-work flow process.
Claims (5)
1. a grasping system, it is characterised in that, comprise grasping mechanism (1), industrial robot (3), hand grab changing table (4);
Described grasping mechanism (1), before being connected with industrial robot (3), is placed in hand and grabs in changing table (4);
Described grasping mechanism (1) is connected by the working arm of fast replacing device (2) with industrial robot (3);
Described grasping mechanism (1) arranges material detection module (1-1), material recognition module (1-2), front end communication module (1-3),
The Distance geometry that opens that material recognition module (1-2) adjusts grasping mechanism based on parameter of materials captures moment of torsion,
Material detection module (1-1) judges that grasping mechanism captures in crawl process or do not grab material,
Front end communications module (1-3) accepts and launch intruction;
Described industrial robot (3) is provided with terminal communication module (3-1), for receiving and launch signal in front end communication module.
2. system according to claim 1, it is characterised in that, described grasping mechanism (1) comprises plurality of specifications, chooses corresponding grasping mechanism (1) according to material size, shape.
3. system according to claim 1 and 2, it is characterised in that, described fast replacing device (2) comprises grasping mechanism end (2-1), industrial robot end (2-2), the 3rd communication module (2-3);
Described grasping mechanism end (2-1) is arranged on grasping mechanism (1);
Described industrial robot end (2-2) is arranged on working arm;
Described 3rd communication module (2-3) connects backward terminal communication module (3-1) at grasping mechanism end (2-1) and industrial robot end (2-2) and sends signal;
Described terminal communication module (3-1) also receives the 3rd communication module (2-3) signal.
4. system according to claim 3, it is characterized in that, described hand grabs the through hole that changing table (4) is provided with carrying grasping mechanism (1), and described grasping mechanism (1) is stuck in this through hole, and grasping mechanism end (2-1) is upwards.
5. system according to claim 3, it is characterized in that, described hand is grabbed and is also arranged one the 4th communication module in changing table (4), and described 4th communication module is positioned over hand at grasping mechanism (1) and grabs upper backward 3rd communication module (2-3) of changing table (4) and send signal; Described 3rd communication module (2-3) also receives the 4th communication module by signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520900668.1U CN205310245U (en) | 2015-11-12 | 2015-11-12 | Grasping system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520900668.1U CN205310245U (en) | 2015-11-12 | 2015-11-12 | Grasping system |
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| CN205310245U true CN205310245U (en) | 2016-06-15 |
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| CN201520900668.1U Active CN205310245U (en) | 2015-11-12 | 2015-11-12 | Grasping system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252519A (en) * | 2015-11-12 | 2016-01-20 | 中国船舶重工集团公司第七一六研究所 | Grabbing system |
| CN108687749A (en) * | 2017-04-05 | 2018-10-23 | 发那科株式会社 | Robot rack |
-
2015
- 2015-11-12 CN CN201520900668.1U patent/CN205310245U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105252519A (en) * | 2015-11-12 | 2016-01-20 | 中国船舶重工集团公司第七一六研究所 | Grabbing system |
| CN108687749A (en) * | 2017-04-05 | 2018-10-23 | 发那科株式会社 | Robot rack |
| CN108687749B (en) * | 2017-04-05 | 2020-08-18 | 发那科株式会社 | Rack for robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201126 Address after: 222061 Jiangsu city of Lianyungang Province Lake Road No. 18 Patentee after: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Patentee after: CSIC Information Technology Co.,Ltd. Address before: 222061 Jiangsu city of Lianyungang Province Lake Road No. 18 Patentee before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Patentee before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee after: The 716th Research Institute of China Shipbuilding Corp. Patentee after: CSIC Information Technology Co.,Ltd. Address before: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Patentee before: CSIC Information Technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee after: The 716th Research Institute of China Shipbuilding Corp. Patentee after: China Shipbuilding Digital Information Technology Co.,Ltd. Address before: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee before: The 716th Research Institute of China Shipbuilding Corp. Patentee before: CSIC Information Technology Co.,Ltd. |