CN209853285U - Aluminum template carrying robot - Google Patents
Aluminum template carrying robot Download PDFInfo
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- CN209853285U CN209853285U CN201920274671.5U CN201920274671U CN209853285U CN 209853285 U CN209853285 U CN 209853285U CN 201920274671 U CN201920274671 U CN 201920274671U CN 209853285 U CN209853285 U CN 209853285U
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 title claims abstract description 58
- 229910052782 aluminium Inorganic materials 0.000 title claims abstract description 58
- 238000006073 displacement reaction Methods 0.000 claims abstract description 137
- 230000005540 biological transmission Effects 0.000 claims description 51
- 238000009415 formwork Methods 0.000 claims description 6
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 description 4
- 239000004411 aluminium Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Abstract
The utility model relates to an aluminum mould board transfer robot, include: the system comprises an AGV trolley, a rotating mechanism, a displacement mechanism, a grabbing mechanism, a first camera, a second camera and a control module, wherein the AGV trolley, the rotating mechanism, the displacement mechanism, the grabbing mechanism, the first camera and the second camera are all electrically connected with the control module, the grabbing mechanism, the displacement mechanism and the rotating mechanism are all arranged on the AGV trolley, the rotating mechanism is used for driving the grabbing mechanism to rotate on the horizontal plane, the displacement mechanism is used for driving the grabbing mechanism to respectively carry out position adjustment along the directions of an X axis, a Y axis and a Z axis, the first camera is used for acquiring vertical deflection data of the grabbing mechanism, and feeds back the vertical offset data to the control module, the second camera is used for acquiring the horizontal offset data of the grabbing mechanism and the AGV, and the horizontal deviation data is fed back to the control module, and the aluminum template carrying robot can effectively ensure higher operation precision even if working in a severe environment.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to an aluminum mould board transfer robot.
Background
With the development of society, in order to reduce the working strength of personnel and improve the working efficiency, robots are gradually applied in various industries. However, in the building industry, the robot is difficult to popularize, and due to the fact that the working environment of the building industry is severe, the running precision of the robot is difficult to guarantee in the building site, and the situation that the robot fails to work often occurs.
SUMMERY OF THE UTILITY MODEL
In view of the above, there is a need to provide an aluminum form handling robot with high operation accuracy.
In order to achieve the above object, the utility model provides an aluminum mould board transfer robot, aluminum mould board transfer robot include: AGV dolly, rotary mechanism, displacement mechanism, snatch mechanism, first camera, second camera and control module, the AGV dolly the rotary mechanism, displacement mechanism snatch the mechanism the first camera with the second camera all with control module electric connection, snatch the mechanism, displacement mechanism and rotary mechanism all installs on the AGV dolly, rotary mechanism is used for driving snatch the mechanism and rotate on the horizontal plane, displacement mechanism is used for driving snatch the mechanism and carry out position control along X axle, Y axle and Z axle direction respectively, first camera is used for acquireing the vertical deflection data of snatching the mechanism, and will vertical deflection data feed back to control module, the second camera is used for acquireing snatch the mechanism with the horizontal deflection data of AGV dolly, and feeding back the horizontal deviation data to the control module.
Compared with the prior art, the aluminum template carrying robot at least has the following beneficial effects: the AGV trolley runs along a set route, after a grabbing point is reached, a second camera is started for the first time to shoot to obtain a picture A, the picture A is fed back to a control module, the control module analyzes the picture A to judge whether the AGV trolley is parallel to a workpiece, if the AGV trolley is not parallel to the workpiece, a rotating mechanism is started to compensate angle deviation of the grabbing mechanism caused by the fact that the AGV trolley is not parallel to the workpiece, if the AGV trolley is parallel to the workpiece, the second camera is started for the second time to shoot to obtain a picture B, the picture B is fed back to the control module, the control module analyzes the picture B to judge whether the grabbing mechanism corresponds to the workpiece in position on a horizontal plane, if the grabbing mechanism does not correspond to the workpiece in position on the horizontal plane, a displacement mechanism is started to adjust the position of the grabbing mechanism along the X axis and the Y axis until the grabbing mechanism corresponds to the workpiece in position on the horizontal plane, and if, the first camera starts to shoot to obtain a picture C, the picture C is fed back to the control module, the control module analyzes the picture C to obtain the offset of vertical displacement of the grabbing mechanism and the workpiece, and the displacement mechanism is started to adjust the position of the grabbing mechanism along the Z-axis direction until the grabbing mechanism grabs the workpiece. Therefore, after the pictures shot by the first camera and the second camera are analyzed by the control module, the control module adjusts the position of the grabbing mechanism, so that the grabbing mechanism can accurately align to the workpiece and grab the workpiece, and higher operation precision can be effectively guaranteed even if the grabbing mechanism works in a severe environment.
In one embodiment, the displacement mechanism includes an X-axis displacement assembly, a Y-axis displacement assembly, and a Z-axis displacement assembly, the X-axis displacement assembly is mounted on the rotating mechanism, the Y-axis displacement assembly is mounted on the X-axis displacement assembly, the X-axis displacement assembly is used for driving the Y-axis displacement assembly to move along the X-axis direction, the Z-axis displacement assembly is mounted on the Y-axis displacement assembly, the Y-axis displacement assembly is used for driving the Z-axis displacement assembly to move along the Y-axis direction, the grasping mechanism is mounted on the Z-axis displacement assembly, and the Z-axis displacement assembly is used for driving the grasping mechanism to move along the Z-axis direction.
In one embodiment, the X-axis displacement assembly includes a first base, a first driver and a first transmission assembly, the first base is horizontally installed on the rotating mechanism, the first transmission assembly is installed on the first base along the X-axis direction, the first driver is electrically connected with the control module, and the first driver drives the Y-axis displacement assembly to move along the X-axis direction through the first transmission assembly.
In one embodiment, the first transmission assembly includes a first lead screw and a first ball nut, the first lead screw is mounted on the first base along the X-axis direction, one end of the first lead screw is connected with the output end of the first driver, the first ball nut is in threaded fit with the first lead screw, and the Y-axis displacement assembly is mounted on the first ball nut.
In one embodiment, a first slide rail is arranged on the first base, and the Y-axis displacement assembly is slidably connected with the first slide rail.
In one embodiment, the Y-axis displacement assembly includes a second base, a second driver, and a second transmission assembly, the second base is horizontally mounted on the X-axis displacement assembly, the second transmission assembly is mounted on the second base along the Y-axis direction, the second driver is electrically connected to the control module, and the second driver drives the Z-axis displacement assembly to move along the Y-axis direction through the second transmission assembly.
In one embodiment, the second transmission assembly includes a second lead screw and a second ball nut, the second lead screw is mounted on the second base along the Y-axis direction, one end of the second lead screw is connected with the output end of the second driver, the second ball nut is in threaded fit with the second lead screw, and the Z-axis displacement assembly is mounted on the second ball nut.
In one embodiment, a second slide rail is arranged on the second base, and the Z-axis displacement assembly is slidably connected with the second slide rail.
In one embodiment, the Z-axis displacement assembly includes a third base, a third driver, and a third transmission assembly, the third base is vertically installed on the Y-axis displacement assembly, the third transmission assembly is installed on the third base along the Z-axis direction, the third driver is electrically connected to the control module, and the third driver drives the grabbing mechanism to move along the Z-axis direction through the third transmission assembly.
In one embodiment, the third transmission assembly includes a third screw and a third ball nut, the third screw is mounted on the third base along the Z-axis direction, one end of the third screw is connected to the output end of the third driver, the third ball nut is in threaded fit with the third screw, and the grabbing mechanism is mounted on the third ball nut.
In one embodiment, a third slide rail is arranged on the third base, and the grabbing mechanism is connected with the third slide rail in a sliding manner.
In one embodiment, the grabbing mechanism comprises a bracket and a first bolt, the bracket is mounted on the Z-axis displacement component, the first bolt is fixedly mounted on the bracket, and the first bolt is used for being inserted into the taking hole of the workpiece to grab the workpiece.
In one embodiment, the grasping mechanism further includes a telescopic rod device and a second pin, the telescopic rod device is fixedly installed on the bracket, the telescopic rod device is electrically connected with the control module, the second pin is detachably installed on the output end of the telescopic rod device, and the second pin is used for being inserted into the pre-fixing hole of the workpiece to pre-fix the workpiece.
In one embodiment, an electromagnet is arranged at the output end of the telescopic rod device, and the electromagnet is used for performing magnetic pre-fixing on the workpiece before the second bolt is inserted into the pre-fixing hole of the workpiece.
In one embodiment, the grabbing mechanism further comprises a connector, the connector is in a right-angled triangle structure, a right-angled surface of the connector is used for being connected with the Z-axis displacement assembly, and the other right-angled surface of the connector is used for being connected with the support.
Drawings
Fig. 1 is a schematic structural view of an aluminum form handling robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a displacement mechanism in the aluminum formwork handling robot shown in fig. 1;
fig. 3 is a schematic structural view of a gripping mechanism in the aluminum formwork handling robot shown in fig. 1;
fig. 4 is a schematic structural view of the aluminum mold plate transfer robot shown in fig. 1 in a use state.
10. The AGV comprises an AGV trolley, 20, a rotating mechanism, 30, a displacement mechanism, 31, an X-axis displacement component, 311, a first base, 3111, a first slide rail, 312, a first driver, 313, a first screw rod, 32, a Y-axis displacement component, 321, a second base, 3211, a second slide rail, 322, a second driver, 323, a second screw rod, 324, a second ball nut, 33, a Z-axis displacement component, 331, a third base, 3311, a third slide rail, 332, a third driver, 333, a third screw rod, 40, a grabbing mechanism, 41, a support, 42, a first bolt, 43, a telescopic rod device, 431, an electromagnet, 44, a second bolt, 45, a connecting piece, 50, a first camera, 60, a second camera, 70, a control module, 80 and an aluminum film plate.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," and the like are used herein for illustrative purposes only. In the present invention, the terms "first", "second" and "third" do not denote any particular quantity or order, but are merely used to distinguish names.
As shown in fig. 1, an aluminum formwork handling robot includes: the AGV comprises an AGV trolley 10, a rotating mechanism 20, a displacement mechanism 30, a grabbing mechanism 40, a first camera 50, a second camera 60 and a control module 70, wherein the AGV trolley 10, the rotating mechanism 20, the displacement mechanism 30, the grabbing mechanism 40, the first camera 50 and the second camera 60 are all electrically connected with the control module 70. Among them, an Automated Guided Vehicle, abbreviated as AGV, also commonly referred to as an AGV cart, refers to a transport Vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions. The gripping mechanism 40, the displacement mechanism 30 and the rotation mechanism 20 are all mounted on the AGV cart 10. Wherein, the installation can be direct installation or indirect installation. For example, the rotating mechanism 20 is mounted directly on the AGV cart 10 and the displacement mechanism 30 is mounted on top of the rotating mechanism 20 such that the displacement mechanism 30 is indirectly mounted on the AGV cart 10 through the rotating mechanism 20. The rotating mechanism 20 is used for driving the grabbing mechanism 40 to rotate on the horizontal plane, the displacement mechanism 30 is used for driving the grabbing mechanism 40 to adjust the position along the X-axis direction, the Y-axis direction and the Z-axis direction respectively, the first camera 50 is used for acquiring vertical offset data of the grabbing mechanism 40 and feeding back the vertical offset data to the control module 70, and the second camera 60 is used for acquiring horizontal offset data of the grabbing mechanism 40 and the AGV trolley 10 and feeding back the horizontal offset data to the control module 70.
Specifically, the first camera 50 is mounted on the gripping mechanism 40 in the horizontal direction, and the second camera 60 is mounted on the gripping mechanism 40 in the vertical direction.
The AGV trolley 10 runs along a set route, after reaching a grabbing point, the second camera 60 starts to shoot for the first time to obtain a picture A, the picture A is fed back to the control module 70, the control module 70 analyzes the picture A to judge whether the AGV trolley 10 is parallel to a workpiece, if the AGV trolley 10 is not parallel to the workpiece, the rotating mechanism 20 is started to compensate for the angle deviation of the grabbing mechanism 40 caused by the fact that the AGV trolley 10 is not parallel to the workpiece, if the AGV trolley 10 is parallel to the workpiece, the second camera 60 starts to shoot for the second time to obtain a picture B, the picture B is fed back to the control module 70, the control module 70 analyzes the picture B to judge whether the grabbing mechanism 40 corresponds to the workpiece in position on the horizontal plane, if the AGV trolley 10 is not parallel to the workpiece, the displacement mechanism 30 is started to adjust the grabbing mechanism 40 in position along the X-axis direction and the Y-axis direction until the grabbing mechanism 40 corresponds to the workpiece in, if the two positions correspond to each other on the horizontal plane, the first camera 50 starts to take a picture to obtain a picture C, the picture C is fed back to the control module 70, the control module 70 analyzes the picture C to obtain the vertical displacement offset of the grabbing mechanism 40 and the workpiece, and the displacement mechanism 30 is started to adjust the position of the grabbing mechanism 40 along the Z-axis direction until the grabbing mechanism 40 grabs the workpiece. It can be seen that after the pictures taken by the first camera 50 and the second camera 60 are analyzed by the control module 70, the control module 70 adjusts the position of the grabbing mechanism 40, so that the grabbing mechanism 40 can accurately align with and grab the workpiece, and even if the robot works in a severe environment, the robot can effectively ensure high operation precision.
The first camera 50 and the second camera 60 can be selected as industrial cameras, so that the adaptability of the aluminum formwork carrying robot in severe working environments is improved, and the running precision is further improved.
In one embodiment, referring to fig. 2, displacement mechanism 30 includes an X-axis displacement assembly 31, a Y-axis displacement assembly 32, and a Z-axis displacement assembly 33, X-axis displacement assembly 31 is mounted on rotation mechanism 20, Y-axis displacement assembly 32 is mounted on X-axis displacement assembly 31, X-axis displacement assembly 31 is configured to drive Y-axis displacement assembly 32 to move along the X-axis direction, Z-axis displacement assembly 33 is mounted on Y-axis displacement assembly 32, Y-axis displacement assembly 32 is configured to drive Z-axis displacement assembly 33 to move along the Y-axis direction, gripper mechanism 40 is mounted on Z-axis displacement assembly 33, and Z-axis displacement assembly 33 is configured to drive gripper mechanism 40 to move along the Z-axis direction. When the control module 70 analyzes the picture B and then judges that the position of the grabbing mechanism 40 does not correspond to the position of the workpiece on the horizontal plane, the control module 70 starts the X-axis displacement assembly 31 to enable the Y-axis displacement assembly 32, the Z-axis displacement assembly 33 and the grabbing mechanism 40 to carry out position adjustment along the X-axis direction, and simultaneously starts the Y-axis displacement assembly 32 to enable the Z-axis displacement assembly 33 and the grabbing mechanism 40 to carry out position adjustment along the Y-axis direction so as to enable the grabbing mechanism 40 to correspond to the position of the workpiece on the horizontal plane; when the control module 70 analyzes the picture C and then determines that the position of the grabbing mechanism 40 does not correspond to the position of the workpiece on the vertical plane, the control module 70 starts the Z-axis displacement assembly 33 to adjust the position of the grabbing mechanism 40 along the Z-axis direction, so that the grabbing mechanism 40 corresponds to the position of the workpiece on the vertical plane.
Specifically, referring to fig. 2, the X-axis displacement assembly 31 includes a first base 311, a first driver 312 and a first transmission assembly, the first base 311 is horizontally installed on the rotation mechanism 20, the first transmission assembly is installed on the first base 311 along the X-axis direction, the first driver 312 is electrically connected to the control module 70, and the first driver 312 drives the Y-axis displacement assembly 32 to move along the X-axis direction through the first transmission assembly. When the control module 70 analyzes the picture B and then determines that the position of the grabbing mechanism 40 does not correspond to the position of the workpiece on the horizontal plane, the control module 70 starts the first driver 312, the first driver 312 drives the Y-axis displacement assembly 32 to move along the X-axis direction through the first transmission assembly, and then drives the Z-axis displacement mechanism 30 and the grabbing mechanism 40 to move along the X-axis direction, so as to realize the position adjustment operation of the grabbing mechanism 40 along the X-axis direction.
Wherein, the first driver 312 can be selected as a servo motor.
Further, referring to fig. 2, the first transmission assembly includes a first lead screw 313 and a first ball nut (not shown in the drawing), the first lead screw 313 is mounted on the first base 311 along the X-axis direction, one end of the first lead screw 313 is connected to the output end of the first driver 312, the first ball nut is in threaded fit with the first lead screw 313, and the Y-axis displacement assembly 32 is mounted on the first ball nut. After the control module 70 controls the first driver 312 to start, the first driver 312 drives the first lead screw 313 to rotate, so that the first ball nut moves along the guide of the first lead screw 313, and further drives the Y-axis displacement assembly 32 to move along the guide of the first lead screw 313, thereby realizing the position adjustment operation of the grabbing mechanism 40 along the X-axis direction. The first transmission assembly adopts the structure form, so that the position adjusting precision of the displacement mechanism 30 can be effectively improved, and further the operation precision of the aluminum template carrying robot is further improved. Of course, the first transmission assembly may also adopt other structural forms, such as a belt transmission structure or a rack transmission structure.
In an embodiment, referring to fig. 2, a first slide rail 3111 is disposed on the first base 311, and the Y-axis displacement assembly 32 is slidably connected to the first slide rail 3111, so that the Y-axis displacement assembly 32 can move more stably along the X-axis direction, and meanwhile, the position of the grabbing mechanism 40 can be adjusted more stably along the X-axis direction, thereby reducing an adjustment error and further improving the operation accuracy of the aluminum mold plate handling robot.
Specifically, referring to fig. 2, the Y-axis displacement assembly 32 includes a second base 321, a second driver 322, and a second transmission assembly, the second base 321 is horizontally installed on the X-axis displacement assembly 31, the second transmission assembly is installed on the second base 321 along the Y-axis direction, the second driver 322 is electrically connected to the control module 70, and the second driver 322 drives the Z-axis displacement assembly 33 to move along the Y-axis direction through the second transmission assembly. When the control module 70 analyzes the picture B and then determines that the position of the grabbing mechanism 40 does not correspond to the position of the workpiece on the horizontal plane, the control module 70 starts the second driver 322, the second driver 322 drives the Z-axis displacement assembly 33 to move along the Y-axis direction through the second transmission assembly, and then drives the grabbing mechanism 40 to move along the Y-axis direction, so as to realize the position adjustment operation of the grabbing mechanism 40 along the Y-axis direction.
Wherein the second driver 322 can be selected as a servo motor.
Further, referring to fig. 2, the second transmission assembly includes a second lead screw 323 and a second ball nut 324, the second lead screw 323 is mounted on the second base 321 along the Y-axis direction, one end of the second lead screw 323 is connected to the output end of the second driver 322, the second ball nut 324 is in threaded engagement with the second lead screw 323, and the Z-axis displacement assembly 33 is mounted on the second ball nut 324. After the control module 70 controls the second driver 322 to be started, the second driver 322 drives the second lead screw 323 to rotate, so that the second ball nut 324 moves along the guide of the second lead screw 323, and further drives the Z-axis displacement assembly 33 to move along the guide of the second lead screw 323, thereby realizing the position adjustment operation of the grabbing mechanism 40 along the Y-axis direction. The second transmission assembly adopts the structure form, so that the position adjusting precision of the displacement mechanism 30 can be effectively improved, and further the operation precision of the aluminum template transfer robot is further improved. Of course, the second transmission assembly may also adopt other structural forms, such as a belt transmission structure or a rack transmission structure.
In an embodiment, referring to fig. 2, a second slide rail 3211 is disposed on the second base 321, and the Z-axis displacement assembly 33 is slidably connected to the second slide rail 3211, so that the Z-axis displacement assembly 33 can move more stably along the Y-axis direction, and meanwhile, the position of the grabbing mechanism 40 can be adjusted more stably along the Y-axis direction, thereby reducing an adjustment error and further improving the operation accuracy of the aluminum template handling robot.
Specifically, referring to fig. 2, the Z-axis displacement assembly 33 includes a third base 331, a third driver 332 and a third transmission assembly, the third base 331 is vertically installed on the Y-axis displacement assembly 32, the third transmission assembly is installed on the third base 331 along the Z-axis direction, the third driver 332 is electrically connected to the control module 70, and the third driver 332 drives the grabbing mechanism 40 to move along the Z-axis direction through the third transmission assembly. When the control module 70 analyzes the picture C and then determines that the position of the grabbing mechanism 40 does not correspond to the position of the workpiece on the vertical plane, the control module 70 starts the third driver 332, and the third driver 332 drives the grabbing mechanism 40 to move along the Z-axis direction through the third transmission assembly, so as to realize the position adjustment operation of the grabbing mechanism 40 along the Z-axis direction.
Wherein the third driver 332 can be selected as a servo motor.
In an embodiment, referring to fig. 2, the third transmission assembly includes a third screw 333 and a third ball nut (not shown in the drawing), the third screw 333 is mounted on the third base 331 along the Z-axis direction, one end of the third screw 333 is connected to the output end of the third driver 332, the third ball nut is in threaded fit with the third screw 333, and the grabbing mechanism 40 is mounted on the third ball nut. After the control module 70 controls the third driver 332 to start, the third driver 332 drives the third screw 333 to rotate, so that the third ball nut moves along the guide of the third screw 333, and further drives the grabbing mechanism 40 to move along the guide of the third screw 333, thereby realizing the position adjustment operation of the grabbing mechanism 40 along the Z-axis direction. The third transmission assembly adopts the structure form, so that the position adjusting precision of the displacement mechanism 30 can be effectively improved, and further the operation precision of the aluminum template transfer robot is further improved. Of course, the third transmission assembly may also adopt other structural forms, such as a belt transmission structure or a rack transmission structure.
In an embodiment, referring to fig. 2, the third base 331 is provided with a third slide rail 3311, and the grabbing mechanism 40 is slidably connected to the third slide rail 3311, so that the grabbing mechanism 40 can perform position adjustment along the Z-axis direction more stably, thereby reducing adjustment errors and further improving the operation accuracy of the aluminum mold plate handling robot.
In one embodiment, referring to fig. 3, the grabbing mechanism 40 comprises a bracket 41 and a first pin 42, the bracket 41 is mounted on the Z-axis displacement assembly 33, the first pin 42 is fixedly mounted on the bracket 41, and the first pin 42 is used for being inserted into the fetching hole of the workpiece to grab the workpiece. Referring to fig. 4, taking the capture of the aluminum film plate 80 as an example, when the AGV 10 reaches the capture point, the second camera 60 starts to take a picture for the first time to obtain a picture a, and feeds back the picture a to the control module 70, the control module 70 analyzes the picture a to determine whether the AGV 10 is parallel to the workpiece, if not, the rotating mechanism 20 is started to compensate for the angular deviation of the capture mechanism 40 caused by the fact that the AGV 10 is not parallel to the workpiece, if so, the second camera 60 starts to take a picture for the second time to obtain a picture B, and feeds back the picture B to the control module 70, the control module 70 analyzes the picture B to determine whether the first pin 42 corresponds to the pick-and-place hole of the aluminum film plate 80 in the horizontal plane, if not, the X-axis displacement assembly 31 and the Y-axis displacement assembly 32 are started to adjust the position of the capture mechanism 40 along the X-axis and the Y-axis directions, until the first bolt 42 corresponds to the picking and placing hole of the aluminum film plate 80 in the horizontal plane, if the first bolt 42 corresponds to the picking and placing hole of the aluminum film plate 80 in the horizontal plane, the first camera 50 starts to take a picture to obtain a picture C, the picture C is fed back to the control module 70, the control module 70 analyzes the picture C to obtain the vertical displacement offset of the picking and placing hole of the first bolt 42 and the aluminum film plate 80, and the Z-axis displacement assembly 33 is started. The aluminum plate 80 is grabbed through the process.
The number of the first pins 42 is plural, and the upper and lower ends of the bracket 41 are respectively provided with two first pins 42 in the drawing, but the invention is not limited thereto, and the number of the first pins 42 can be set according to actual needs.
Specifically, the first pin 42 is disposed vertically upward, and the second camera 60 is disposed vertically downward.
In an embodiment, referring to fig. 3, the grabbing mechanism 40 further includes a telescopic rod device 43 and a second pin 44, the telescopic rod device 43 is fixedly installed on the bracket 41, the telescopic rod device 43 is electrically connected to the control module 70, the second pin 44 is detachably installed on an output end of the telescopic rod device 43, and the second pin 44 is used for being inserted into a pre-fixing hole of a workpiece to pre-fix the workpiece. Referring to fig. 4, taking the aluminum film plate 80 as an example, after the aluminum template carrying robot carries the aluminum film plate 80 to a mounting point, the second camera 60 starts to take a photograph for the third time to obtain a photograph D, and feeds back the photograph D to the control module 70, the control module 70 analyzes the photograph D to determine whether the AGV cart 10 is parallel to the aluminum film plate 80, if not, the rotating mechanism 20 is started to compensate for the angular deviation of the grasping mechanism 40 caused by the non-parallel relationship between the AGV cart 10 and the aluminum film plate 80, if so, the second camera 60 starts to take a photograph for the fourth time to obtain a photograph E, and feeds back the photograph E to the control module 70, the control module 70 analyzes the photograph E to determine whether the pre-fixing holes of the second pins 44 and the aluminum film plate 80 are in a position corresponding to each other in a horizontal plane, and if not, the X-axis displacement assembly 31 and the Y-axis displacement assembly 32 are started, carry out position control along X axle and Y axle direction with snatching mechanism 40, until the pre-fixing hole that grabs second bolt 44 and aluminium lamina 80 corresponds in position on the horizontal plane, later control module 70 starts telescopic link device 43, and telescopic link device 43 drive second bolt 44 outwards stretches out, and inserts in the pre-fixing hole of aluminium lamina 80 to fix aluminium lamina 80 in advance, make things convenient for the workman to carry out subsequent installation work, reduce workman's work load, practice thrift the human cost.
Specifically, referring to fig. 3, the telescopic rod device 43 includes an air cylinder and a pneumatic rod, the pneumatic rod is installed at an output end of the air cylinder, the second pin 44 is installed at an end of the pneumatic rod away from the air cylinder, and the air cylinder drives the pneumatic rod to extend outward and simultaneously drives the second pin 44 to be inserted into the pre-fixing hole of the workpiece. Of course, the telescopic rod device 43 can also adopt other structural forms, such as a motor combined with a screw rod structure.
Specifically, the first camera 50 takes a picture in the same direction as the projecting direction of the pre-fixing latch.
In an embodiment, please refer to fig. 3, an electromagnet 431 is disposed on the output end of the telescopic rod 43, and the electromagnet 431 is used for magnetically pre-fixing the workpiece before the second pin 44 is inserted into the pre-fixing hole of the workpiece. Continuing with the example of the aluminum film plate 80, before the second latch 44 is inserted into the pre-fixing hole of the aluminum film plate 80, the electromagnet 431 is kept in the power-on state to suck the aluminum film plate 80 and pre-fix the aluminum film plate 80, after the second latch 44 is inserted into the pre-fixing hole of the aluminum film plate 80, the electromagnet 431 is powered off, and at the same time, the telescopic rod device 43 is reset, at this time, the second latch 44 replaces the electromagnet 431 to pre-fix the aluminum film plate 80, and the aluminum template handling robot returns to the original point along the set route under the driving of the AGV cart 10.
In one embodiment, referring to fig. 3, the grabbing mechanism 40 further comprises a connecting member 45, the connecting member 45 is in a right triangle structure, a right-angled surface of the connecting member 45 is used for connecting with the Z-axis displacement assembly 33, and another right-angled surface of the connecting member 45 is used for connecting with the bracket 41. Above-mentioned connecting piece 45 plays the effect of being connected snatching mechanism 40 and Z axle displacement assembly 33, because connecting piece 45 adopts the right triangle structure, effectively improves the joint strength who snatchs mechanism 40 and Z axle displacement assembly 33, and then improves above-mentioned aluminum mould board transfer robot's bearing capacity.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (15)
1. An aluminum formwork handling robot, characterized in that, the aluminum formwork handling robot includes: AGV dolly, rotary mechanism, displacement mechanism, snatch mechanism, first camera, second camera and control module, the AGV dolly the rotary mechanism, displacement mechanism snatch the mechanism the first camera with the second camera all with control module electric connection, snatch the mechanism, displacement mechanism and rotary mechanism all installs on the AGV dolly, rotary mechanism is used for driving snatch the mechanism and rotate on the horizontal plane, displacement mechanism is used for driving snatch the mechanism and carry out position control along X axle, Y axle and Z axle direction respectively, first camera is used for acquireing the vertical deflection data of snatching the mechanism, and will vertical deflection data feed back to control module, the second camera is used for acquireing snatch the mechanism with the horizontal deflection data of AGV dolly, and feeding back the horizontal deviation data to the control module.
2. The aluminum template handling robot of claim 1, wherein the displacement mechanism comprises an X-axis displacement assembly, a Y-axis displacement assembly and a Z-axis displacement assembly, the X-axis displacement assembly is mounted on the rotating mechanism, the Y-axis displacement assembly is mounted on the X-axis displacement assembly, the X-axis displacement assembly is used for driving the Y-axis displacement assembly to move along an X-axis direction, the Z-axis displacement assembly is mounted on the Y-axis displacement assembly, the Y-axis displacement assembly is used for driving the Z-axis displacement assembly to move along a Y-axis direction, the gripping mechanism is mounted on the Z-axis displacement assembly, and the Z-axis displacement assembly is used for driving the gripping mechanism to move along a Z-axis direction.
3. The aluminum template handling robot of claim 2, wherein the X-axis displacement assembly comprises a first base, a first driver and a first transmission assembly, the first base is horizontally mounted on the rotating mechanism, the first transmission assembly is mounted on the first base along the X-axis direction, the first driver is electrically connected with the control module, and the first driver drives the Y-axis displacement assembly to move along the X-axis direction through the first transmission assembly.
4. The aluminum die plate handling robot of claim 3, wherein the first transmission assembly comprises a first lead screw and a first ball nut, the first lead screw is mounted on the first base along the X-axis direction, one end of the first lead screw is connected with the output end of the first driver, the first ball nut is in threaded engagement with the first lead screw, and the Y-axis displacement assembly is mounted on the first ball nut.
5. The aluminum template handling robot of claim 3, wherein the first base is provided with a first slide rail, and the Y-axis displacement assembly is slidably connected to the first slide rail.
6. The aluminum template handling robot of claim 2, wherein the Y-axis displacement assembly comprises a second base, a second driver and a second transmission assembly, the second base is horizontally mounted on the X-axis displacement assembly, the second transmission assembly is mounted on the second base along the Y-axis direction, the second driver is electrically connected to the control module, and the second driver drives the Z-axis displacement assembly to move along the Y-axis direction through the second transmission assembly.
7. The aluminum template handling robot according to claim 6, wherein the second transmission assembly comprises a second lead screw and a second ball nut, the second lead screw is mounted on the second base along the Y-axis direction, one end of the second lead screw is connected with the output end of the second driver, the second ball nut is in threaded fit with the second lead screw, and the Z-axis displacement assembly is mounted on the second ball nut.
8. The aluminum template handling robot of claim 6, wherein a second slide rail is provided on the second base, and the Z-axis displacement assembly is slidably connected to the second slide rail.
9. The aluminum template handling robot of claim 2, wherein the Z-axis displacement assembly comprises a third base, a third driver and a third transmission assembly, the third base is vertically mounted on the Y-axis displacement assembly, the third transmission assembly is mounted on the third base along the Z-axis direction, the third driver is electrically connected to the control module, and the third driver drives the grabbing mechanism to move along the Z-axis direction through the third transmission assembly.
10. The aluminum die plate handling robot according to claim 9, wherein the third transmission assembly includes a third lead screw and a third ball nut, the third lead screw is mounted on the third base along the Z-axis direction, one end of the third lead screw is connected to an output end of the third actuator, the third ball nut is in threaded engagement with the third lead screw, and the gripping mechanism is mounted on the third ball nut.
11. The aluminum template handling robot as recited in claim 9, wherein a third slide rail is provided on the third base, and the gripping mechanism is slidably connected to the third slide rail.
12. The aluminum die plate handling robot of claim 2, wherein the gripping mechanism comprises a bracket mounted on the Z-axis displacement assembly and a first pin fixedly mounted on the bracket for insertion into a workpiece access hole to grip a workpiece.
13. The aluminum template handling robot according to claim 12, wherein the grabbing mechanism further comprises a telescopic rod device and a second pin, the telescopic rod device is fixedly installed on the support, the telescopic rod device is electrically connected with the control module, the second pin is detachably installed on the output end of the telescopic rod device, and the second pin is used for being inserted into the pre-fixing hole of the workpiece so as to pre-fix the workpiece.
14. The aluminum die plate handling robot of claim 13, wherein an electromagnet is disposed on an output end of the telescopic rod device, and the electromagnet is configured to magnetically pre-fix the workpiece before the second pin is inserted into the pre-fixing hole of the workpiece.
15. The aluminum form handling robot of claim 12, wherein the grasping mechanism further comprises a connector having a right triangle configuration, one right side of the connector being adapted to couple to the Z-axis displacement assembly and the other right side of the connector being adapted to couple to the bracket.
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| CN201920274671.5U CN209853285U (en) | 2019-03-05 | 2019-03-05 | Aluminum template carrying robot |
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| CN201920274671.5U CN209853285U (en) | 2019-03-05 | 2019-03-05 | Aluminum template carrying robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109928202A (en) * | 2019-03-05 | 2019-06-25 | 广东博智林机器人有限公司 | Aluminum alloy pattern plate transfer robot |
| CN113664124A (en) * | 2021-08-20 | 2021-11-19 | 中铁四局集团第二工程有限公司 | Cutting machine for steel strand of railway box girder anchor recess |
| CN114033183A (en) * | 2021-11-04 | 2022-02-11 | 广东天凛高新科技有限公司 | Robot with model building wall, control method and building construction equipment |
| CN117253026A (en) * | 2023-10-08 | 2023-12-19 | 北京信诺时代科技发展有限公司 | Intelligent detection system and detection method based on image recognition |
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2019
- 2019-03-05 CN CN201920274671.5U patent/CN209853285U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109928202A (en) * | 2019-03-05 | 2019-06-25 | 广东博智林机器人有限公司 | Aluminum alloy pattern plate transfer robot |
| CN113664124A (en) * | 2021-08-20 | 2021-11-19 | 中铁四局集团第二工程有限公司 | Cutting machine for steel strand of railway box girder anchor recess |
| CN114033183A (en) * | 2021-11-04 | 2022-02-11 | 广东天凛高新科技有限公司 | Robot with model building wall, control method and building construction equipment |
| CN117253026A (en) * | 2023-10-08 | 2023-12-19 | 北京信诺时代科技发展有限公司 | Intelligent detection system and detection method based on image recognition |
| CN117253026B (en) * | 2023-10-08 | 2024-04-09 | 北京信诺时代科技发展有限公司 | Intelligent detection system and detection method based on image recognition |
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