CN207890635U - A kind of ceramic tile truss mechanical device with vision system - Google Patents
A kind of ceramic tile truss mechanical device with vision system Download PDFInfo
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- CN207890635U CN207890635U CN201820057782.6U CN201820057782U CN207890635U CN 207890635 U CN207890635 U CN 207890635U CN 201820057782 U CN201820057782 U CN 201820057782U CN 207890635 U CN207890635 U CN 207890635U
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- 239000000919 ceramic Substances 0.000 title claims abstract description 86
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000003287 optical effect Effects 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 20
- 230000004044 response Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 239000011449 brick Substances 0.000 description 9
- 230000036544 posture Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229910052573 porcelain Inorganic materials 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model is a kind of ceramic tile truss mechanical device with vision system, specifically include rack, control mechanism, grasping mechanism and with the ceramic tile flat car, the ceramic tile shelf that match, the rack includes x-axis part, y-axis part, z-axis part includes z-axis mechanical arm described in z-axis part, optical camera is installed on the z-axis mechanical arm, identification point is provided on the ceramic tile flat car, the optical camera can measure the deviation angle of flat car x-axis, y-axis, z-axis coordinate and flat car according to identification point on the ceramic tile flat car.The present apparatus has used the ceramic tile truss manipulator with vision system, compared with traditional truss manipulator positioning method, flat car coordinate and deviation angle can accurately be measured, the posture of mechanical arm fixture can be adjusted according to the deviation angle of flat car, ceramic tile is greatly improved in the accuracy for picking up point, placing point location, stacking effect can be allowed more neat.
Description
Technical field
The utility model belongs to production equipment for ceramic tiles technical field, and in particular to a kind of ceramic tile truss with vision system
Mechanical device.
Background technology
In ceramic tile production sector, the stacking of ceramic tile is realized, due to the heavier and frangible characteristic of ceramic tile itself, select people
Power is carried and fork truck efficiency is low and of high cost, therefore uses six-joint robot, stacking machine or truss manipulator mostly, application
Automation equipment, not only production efficiency increases, while can also save great amount of cost.But six-joint robot code
Pile ceramic tile mechanical arm brachium is limited, so working range is small, it is desirable to which using the mechanical arm for reaching ideal rated load, cost is again too
Height, so not being suitable for a large amount of ceramic tile palletizings.Stacking machine is complicated, and is limited by practical stacking environment, and applicability is simultaneously
It is not strong.It is at present for the most suitable solution of ceramic tile palletizing, in practical applications, ceramic tile using truss mechanical arm stacking
The stacking method that can use setting reference axis, then in adapted space three axial directions encoder for servo motor, accomplish basic
Positioning.
206318497 U of CN disclose a kind of multistation palletizing apparatus, and it includes rack, walking to specifically disclose the device
Mechanism, grasping mechanism and control device, walking mechanism are mounted in rack, and grasping mechanism is mounted in walking mechanism, walking
Mechanism and grasping mechanism are connected with control device, and the lower part of rack is equipped with pallet library and multiple ceramic tile libraries, multiple ceramic tile libraries
It is arranged along ceramic tile conveying direction, control device controls walking mechanism and grasping mechanism, and ceramic tile detection unit, porcelain are additionally provided in rack
Brick detection unit is used to detect the classification of ceramic tile, and signal is passed to control device, and control device is believed according to the classification of ceramic tile
Number, it controls walking mechanism and grasping mechanism and captures ceramic tile, and by the stacking in different ceramic tile libraries respectively of different classes of ceramic tile.So
And although the device application ceramic tile detection unit improves work efficiency, this method is difficult in equipment works long hours
Exempt from error occur, and the placement in pallet library and multiple ceramic tile libraries that frame lower is equipped with may not be parallel to three axial directions.
205870516 U of CN disclose a kind of panel installation truss manipulator, and it includes by standing to specifically disclose truss main body
The rectangular frame of column support, the rectangular frame corresponding sides are provided with a pair of of X guide rails, and a Y guide rail is slidably arranged in the pair of X and leads
On rail, Z guide rails are located in through sliding block in the Y guide rail:It is characterized in that:One end of an X guide rail is provided with dyestripping mechanism, another
One end is provided with testing agency.Particularly, the testing agency include be fixed on line-scan digital camera on the downside of the rectangular frame and
Scaling board, scaling board are in the next and arrange, and parallel with rectangular frame sideline, and line-scan digital camera shooting image information is adopted by image
Truck conversion sends control system to.However, the pixel of line-scan digital camera is low, it is necessary to camera is repeatedly excited with excitation apparatus, into
Row is repeatedly taken pictures, then several " item " the shape images that will be taken, and is merged into a huge figure, therefore, which is difficult in energy
It is enough to realize precision controlling in a short time, it is not suitable for the stacking of ceramic tile.
In conclusion the truss mechanical arm of the prior art is placed not to flat car when the stacking of flat car long-time or stacking
Just, some errors are inevitably will produce, the problems such as positioning is inaccurate, stacking is uneven is further resulted in.
Utility model content
The purpose of this utility model is on the basis of existing technology, optical alignment camera to be added, according to specific ceramic tile
Placement direction is finely adjusted, and keeps palletization more accurate, safe efficient.Therefore, the utility model provides a kind of truss machine
The vision system solution of tool hand can provide the deflection of ceramic tile flat car in truss manipulator is to the palletization of ceramic tile
Angle, truss mechanical arm adjusts fixture postures according to the deflection angle of measurement, to realize the accurate gripping of ceramic tile, from very great Cheng
Stacking regularity is increased on degree.Technical solutions of the utility model are as follows：
A kind of ceramic tile truss mechanical device with vision system, which is characterized in that including rack, control mechanism, crawl
Mechanism and ceramic tile flat car, ceramic tile shelf, the rack include x-axis part, y-axis part, z-axis part, and the x-axis part includes
First x-axis disposed in parallel part and the second x-axis part, the y-axis part are vertically installed in the first x-axis part and the second x-axis
Between part and with the first x-axis part and the second x-axis part slidable connection, the z-axis straightened portion is set to y-axis part
Upper and the slidable connection on y-axis part, the grasping mechanism are connect with the z-axis part；The z shaft portions include z-axis
Mechanical arm, z-axis servo motor, z-axis servo-driver are equipped with optical camera, the ceramic tile flat car on the z-axis mechanical arm
On be provided with identification point.
The optical camera can be measured according to identification point on the ceramic tile flat car flat car x-axis, y-axis, z-axis coordinate and
The position of flat car, is then transferred to control mechanism by location information, by control mechanism calculate x-axis, y-axis, z-axis coordinate with
And the deviation angle of flat car.Therefore, the present apparatus can provide ceramic tile tablet in truss manipulator is to the palletization of ceramic tile
The deflection angle of vehicle, truss mechanical arm adjusts fixture postures according to the deflection angle of measurement, to realize the accurate gripping of ceramic tile,
From largely increasing stacking regularity.
Preferably, on the ceramic tile flat car there are three identification point settings.Three identification points can be measured more accurately
Flat car deviation angle.
Preferably, being provided with ceramic tile article No. identification Quick Response Code on the ceramic tile shelf, the optical camera is provided with two
Tie up code identifying system.Quick Response Code is arranged in ceramic tile shelf, can record the appearance and size information of ceramic tile, and optical camera identifies Quick Response Code,
After reading data, control mechanism is transferred information to, control mechanism controls rolling clamp in turn can be by the size or length of size
It is captured, is greatly improved work efficiency.
Preferably, the grasping mechanism includes rolling clamp, and the crawl servo motor being connect with the rolling clamp.
Preferably, the grasping mechanism further includes the magnetic switch for being fixed on the rolling clamp both ends, the magnetism
Switch, to detect gripping in place and reset signal.
Preferably, the grasping mechanism further includes limit switch, the limit switch is set on the rolling clamp.
The limit to x-axis part, y-axis part, z-axis part and fixture rotating part, anti-locking apparatus may be implemented in the limit switch
There is position, collision, to play a protective role.
Preferably, the grasping mechanism further includes photoelectric sensor, the photoelectric sensor is set to the rotating clamp
Tool lower section.The photoelectric sensor is to judge to pick up ceramic tile packet number, to precisely fixed by calculating the realization when placing ceramic tile
Position.
Preferably, the control mechanism includes PLC controller, servo-drive system, touch screen.The x-axis, y-axis and z-axis portion
Divide and be both provided with servo motor, servo-driver, the PLC controller is responsible for receiving the pulse of photoelectric sensor and limit switch
Then signal carries out calculation processing to signal, sending pulse signal according to handling result controls servo-drive system；The servo-drive system
It is made of servo motor, servo-driver, is the motion parts of truss manipulator, control machinery hand is moved along x-axis, y-axis, z-axis
And the rotation of control rolling clamp, speed and direction are by encoder feedback on motor to PLC；The touch screen is man-machine mutual
The monitoring of the control and real-time status that are moved to truss may be implemented in arena face.
The beneficial effects of the utility model have：
(1) present apparatus has used the ceramic tile truss manipulator with vision system, with traditional truss manipulator positioning side
Formula is compared, and flat car coordinate and deviation angle can be accurately measured, can be according to the deviation angle of flat car to mechanical arm fixture
Posture be adjusted, greatly improve ceramic tile pick up point, place point location accuracy, stacking effect can be allowed more whole
Together；
(2) present apparatus ceramic tile shelf are provided with the Quick Response Code of the appearance and size information of recordable ceramic tile, optical camera identification
Quick Response Code, after reading data, control system can be captured by the size or length of size, be greatly improved work efficiency；
(3) present apparatus high degree of automation compared with prior art, at low cost, space layout is reasonable, being capable of large-scale promotion
Using.
Description of the drawings
The structural schematic diagram of Fig. 1 utility model devices；
The control schematic diagram of Fig. 2 utility model devices.
Reference numeral：Rack 1, x-axis part 2, y-axis part 3, z-axis part 4, rolling clamp 5, optical camera 6, ceramic tile are flat
Wooden handcart 7, identification point 8, ceramic tile shelf 9, ceramic tile article No. identify Quick Response Code 10；X-axis servo motor 11, y-axis servo motor 12, z-axis
Servo motor 13, crawl servo motor 14, ceramic tile 15.
Specific implementation mode
Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings：
A kind of ceramic tile truss mechanical device with vision system, as shown in Figure 1, including rack 1, control mechanism, crawl
Mechanism and with the ceramic tile flat car 7, the ceramic tile shelf 9 that match, the rack includes x-axis part 2, y-axis part 3, z-axis part 4,
The x-axis part 2 includes the first x-axis disposed in parallel part and the second x-axis part, and the y-axis part 3 is vertically installed in first
Between x-axis part and the second x-axis part and with the first x-axis part and the second x-axis part slidable connection, the z-axis part 4
It is vertically arranged on y-axis part and the slidable connection on y-axis part, the grasping mechanism is connect with the z-axis part 4；Institute
It includes rolling clamp 5 to state grasping mechanism, and the crawl servo motor 14 being connect with the rolling clamp；It wraps the x-axis part 2
X-axis mechanical arm, x-axis servo motor 11, x-axis servo-driver are included, the y-axis part 3 includes y-axis mechanical arm, y-axis servo electricity
Machine 12, y-axis servo-driver, the z-axis part 4 include z-axis mechanical arm, z axis servo motor 13, z-axis servo-driver, institute
It states and optical camera 6 is installed on z-axis mechanical arm, identification point 8 is provided on the ceramic tile flat car 7, the optical camera 6 can
The deviation angle that flat car x-axis, y-axis, z-axis coordinate and flat car are measured according to identification point 8 on the ceramic tile flat car 7, into
And the deflection angle of ceramic tile flat car can be provided in truss manipulator is to the palletization of ceramic tile 15, truss mechanical arm according to
The deflection angle of measurement adjusts fixture postures, neat from stacking is largely increased to realize the accurate gripping of ceramic tile
Property.Ceramic tile article No. identification Quick Response Code 10 is provided on the ceramic tile shelf 9, the optical camera 6 is provided with Quick Response Code identification system
System.Quick Response Code is arranged in ceramic tile shelf 9, can record the appearance and size information of ceramic tile 15, and optical camera 6 identifies Quick Response Code, reads number
According to rear, control system can be captured by the size or length of size, be greatly improved work efficiency.
As preferred embodiment, on the ceramic tile flat car 7 there are three the settings of identification point 8.Three identification points 8 can be more
Add accurate measurement flat car deviation angle.
As preferred embodiment, the grasping mechanism further includes the magnetic switch for being fixed on 5 both ends of the rolling clamp,
The magnetic switch, to detect gripping in place and reset signal.
As preferred embodiment, the grasping mechanism further includes limit switch, and the limit switch is set to the rotation
Turn on fixture 5.The limit switch may be implemented to x-axis part 2, y-axis part 3, z-axis part 4 and rolling clamp 5 part
Limit, there is position, collision in anti-locking apparatus, to play a protective role.
As preferred embodiment, the grasping mechanism further includes photoelectric sensor, and the photoelectric sensor is set to institute
State 5 lower section of rolling clamp.The photoelectric sensor is to judge to pick up ceramic tile packet number, to real when placing ceramic tile by calculating
Existing precise positioning.
The control mechanism is as shown in Fig. 2, including PLC controller, servo-drive system, touch screen.The x-axis part 2, y axis
Part 3 and z-axis part 4 are both provided with servo motor, servo-driver, the PLC controller be responsible for receiving photoelectric sensor and
Then the pulse signal of limit switch carries out calculation processing to signal, pulse signal control servo system is sent according to handling result
System；The servo-drive system is made of servo motor, servo-driver, is the motion parts of truss manipulator, control machinery hand is along x
Axis, y-axis, z-axis movement and the rotation of control rolling clamp, speed and direction are by encoder feedback on motor to PLC；It is described
Touch screen is man-machine interaction interface, and the monitoring of the control and real-time status that are moved to truss may be implemented.
When using present apparatus stacking ceramic tile, it can follow these steps to carry out：
(1) confirming that equipment operating environment is normal, connecting power supply, ceramic tile is inputted in touch screen and takes brick coordinate
Starting point places coordinate terminal with ceramic tile, confirms errorless rear startup, starts to position；
(2) PLC sends enabling signal to servo-drive system, and servo-drive system setting in motion makes optical camera 6 run to porcelain first
Brick article No. identifies 10 region of Quick Response Code, reads 2 D code information, then runs to 8 position of identification point of ceramic tile flat car 7, simultaneously
To at this time space coordinate and flat car deviation angle record；Record finishes takes brick coordinate starting point oblique upper to transport backward
It is dynamic, change the posture of rolling clamp 5 according to the deviation angle of measurement, is then lowered into and brick point is taken to carry out that brick is taken to act, when taking brick
It is recorded using photoelectric sensor taking the packet number of brick to be sent to PLC；
(3) after taking brick, 5 pan-up of rolling clamp moves to and places 8 top of coordinate points, according to ceramic tile flat car
7 angular deviation adjusts 5 posture of rolling clamp, is then lowered into and places that coordinate points carry out placement action, placement action terminates
Rear jig pan-up, a cycle terminate.
(4) it is recycled next time, this time cycle handles the angle and ceramic tile packet number data of last cycle, counts
It calculates the origin coordinates of next cycle and places coordinate, deviation angle only needs to measure once, so this cycle perspective is not
Become；
(5) stacking work terminates after photoelectric sensor can't detect starting point ceramic tile, grasping mechanism automatic running to origin
Power supply is closed in position and stop motion, terminates equipment operation.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and is changed.Therefore, the utility model is not limited to specific implementation mode disclosed and described above, right
Some modifications and changes of utility model should also be as falling into the protection scope of the claims of the present utility model.In addition, although
Some specific terms are used in this specification, these terms are merely for convenience of description, not to the utility model structure
At any restrictions.
Claims (8)
1. a kind of ceramic tile truss mechanical device with vision system, which is characterized in that including rack, control mechanism, gripper
Structure and ceramic tile flat car, ceramic tile shelf, the rack include x-axis part, y-axis part, z-axis part, and the x-axis part includes flat
The the first x-axis part and the second x-axis part of row setting, the y-axis part is vertically installed in the first x-axis part and the second x-axis portion
/ and with the first x-axis part and the second x-axis part slidable connection, the z-axis straightened portion is set on y-axis part,
And the slidable connection on y-axis part, the grasping mechanism are connect with the z-axis part；The z-axis part includes z-axis machinery
Arm is equipped with optical camera on the z-axis mechanical arm, identification point is provided on the ceramic tile flat car.
2. a kind of device as described in claim 1, which is characterized in that on the ceramic tile flat car there are three identification point settings.
3. a kind of device as claimed in claim 2, which is characterized in that be provided with ceramic tile article No. identification two on the ceramic tile shelf
Code is tieed up, the optical camera is provided with Quick Response Code identifying system.
4. a kind of device as described in claim 1, which is characterized in that the grasping mechanism includes rolling clamp and and rotating clamp
Has the crawl servo motor of connection.
5. a kind of device as claimed in claim 4, which is characterized in that the grasping mechanism further includes magnetic switch, the magnetic
Property switch be fixed on the rolling clamp both ends.
6. a kind of device as claimed in claim 4, which is characterized in that the grasping mechanism further includes limit switch, the limit
Bit switch is set on the rolling clamp.
7. a kind of device as claimed in claim 4, which is characterized in that the grasping mechanism further includes photoelectric sensor, described
Photoelectric sensor is set to below the rolling clamp.
8. a kind of device as claimed in claim 2, which is characterized in that the control mechanism includes PLC controller, servo system
System, touch screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820057782.6U CN207890635U (en) | 2018-01-11 | 2018-01-11 | A kind of ceramic tile truss mechanical device with vision system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820057782.6U CN207890635U (en) | 2018-01-11 | 2018-01-11 | A kind of ceramic tile truss mechanical device with vision system |
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| Publication Number | Publication Date |
|---|---|
| CN207890635U true CN207890635U (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820057782.6U Active CN207890635U (en) | 2018-01-11 | 2018-01-11 | A kind of ceramic tile truss mechanical device with vision system |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016878A (en) * | 2018-01-11 | 2018-05-11 | 广东科达洁能股份有限公司 | A kind of ceramic tile truss mechanical device with vision system |
| CN113353643A (en) * | 2020-03-06 | 2021-09-07 | 富鼎电子科技(嘉善)有限公司 | Stacking device |
-
2018
- 2018-01-11 CN CN201820057782.6U patent/CN207890635U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016878A (en) * | 2018-01-11 | 2018-05-11 | 广东科达洁能股份有限公司 | A kind of ceramic tile truss mechanical device with vision system |
| WO2019136998A1 (en) * | 2018-01-11 | 2019-07-18 | 广东科达洁能股份有限公司 | Mechanical ceramic tile truss device having visual system |
| CN113353643A (en) * | 2020-03-06 | 2021-09-07 | 富鼎电子科技(嘉善)有限公司 | Stacking device |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 528313, No. 1, West Road, Guang Long Industrial Park, Chencun Town, Shunde District, Guangdong, Foshan Patentee after: Keda Manufacturing Co., Ltd Address before: 528313, No. 1, West Road, Guang Long Industrial Park, Chencun Town, Guangdong, Foshan Patentee before: KEDA CLEAN ENERGY Co.,Ltd. |
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| CP03 | Change of name, title or address |