CN209903253U

CN209903253U - Carrying detection device

Info

Publication number: CN209903253U
Application number: CN201920511263.7U
Authority: CN
Inventors: 江祖进; 冯骥龙; 李光智
Original assignee: GAC Honda Automobile Co Ltd
Current assignee: GAC Honda Automobile Co Ltd
Priority date: 2019-04-15
Filing date: 2019-04-15
Publication date: 2020-01-07
Anticipated expiration: 2029-04-15

Abstract

The utility model relates to the technical field of handling equipment, and provides a handling detection device which comprises a mechanical arm, a grabbing mechanism which is arranged on the mechanical arm and can grab an object to be conveyed when the mechanical arm approaches the object to be conveyed towards a preset direction, and a first laser range finder arranged on the mechanical arm; the first laser rangefinder faces a predetermined direction. Before a grabbing mechanism on a mechanical arm grabs an object to be conveyed towards a preset direction, a first laser range finder firstly measures the distance of the object to be conveyed towards the preset direction, and after the first laser range finder irradiates the object to be conveyed, a user judges whether the object to be conveyed is placed at a correct position or not through the distance of the object to be conveyed obtained by the first laser range finder; when the object to be transported is located at the correct position, the mechanical arm drives the grabbing mechanism to grab the object to be transported in the preset direction, so that the object to be transported is prevented from being damaged in the grabbing/assembling process.

Description

Carrying detection device

Technical Field

The utility model belongs to the technical field of haulage equipment, more specifically say, relate to a transport detection device.

Background

In modern automatic production process, parts are required to be carried frequently, and particularly in automobile production process, a large number of parts are required to be carried by a mechanical arm for assembly. During the handling of the components, the robot arm usually grips directly adjacent to the location where the component is placed, but if the component is placed in an incorrect position, it is easy to cause damage to the component or the robot arm during the gripping/assembling process.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a transport detection device to solve the technical problem that the robotic arm that exists among the prior art directly is close to the place of placing the part and snatchs and causes part or robotic arm to damage easily in snatching/assembling process.

In order to achieve the above object, the utility model adopts the following technical scheme: the carrying detection device comprises a mechanical arm, a grabbing mechanism and a first laser range finder, wherein the grabbing mechanism is arranged on the mechanical arm and can grab an object to be carried when the mechanical arm approaches the object to be carried in a preset direction; the first laser range finder faces the predetermined direction.

Further, the grabbing mechanism comprises a plurality of mounting seats and a plurality of suckers; the plurality of mounting seats correspond to the plurality of suckers one by one, each sucker faces to the preset direction, and each sucker is connected to the mechanical arm through the corresponding mounting seat.

Further, the number of the suckers is three.

Furthermore, three sucking discs are distributed in an isosceles triangle shape.

Furthermore, each of the mounting seats is slidably disposed on the mechanical arm, and each of the mounting seats is detachably fixed to the mechanical arm through a fastener.

Further, the sliding direction of each of the mounting seats is perpendicular to the predetermined direction.

Furthermore, a second laser range finder with the same direction as the first laser range finder is arranged on the mechanical arm; the range of the first laser range finder is smaller than that of the second laser range finder.

Further, the accuracy of the first laser range finder is greater than that of the second laser range finder.

Furthermore, the first laser range finder and the second laser range finder are respectively located at two opposite ends of the mechanical arm.

The carrying device further comprises a supporting frame, wherein the supporting frame is provided with an accommodating position for placing the object to be carried; the mechanical arm can be switched between at least two preset positions; when the mechanical arm is located at any one of the preset positions, the containing position is located on an irradiation path of the first laser range finder.

The utility model provides a transport detection device's beneficial effect lies in: compared with the prior art, the carrying detection device provided by the utility model has the advantages that the mechanical arm drives the grabbing mechanism and the first laser range finder to move in the moving process; before the grabbing mechanism on the mechanical arm grabs the object to be transported towards the preset direction, the first laser range finder firstly measures the distance of the object to be transported towards the preset direction, after the first laser range finder irradiates the object to be transported, the user judges whether the object to be conveyed is placed at the correct position or not through the obtained distance of the object to be conveyed of the first laser range finder (the correct position judgment mode can be selected as that the first laser range finder moves to a second coordinate position of the object to be conveyed at the upstream of the preset direction on the assumption that the correct position of the object to be conveyed is located at a first coordinate position; when the object to be transported is located at the correct position, the mechanical arm drives the grabbing mechanism to grab the object to be transported in the preset direction, so that the object to be transported is prevented from being damaged in the grabbing/assembling process.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic perspective view of a carrying detection device according to an embodiment of the present invention;

fig. 2 is a schematic front view of a carrying detection device according to an embodiment of the present invention;

fig. 3 is a schematic top view of a conveyance detection device according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

1-a mechanical arm; 2-a gripping mechanism; 21-a mounting seat; 22-a suction cup; 31-a first laser rangefinder; 32-a second laser rangefinder; f-predetermined direction.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 to fig. 3, a transportation detection device according to the present invention will be described. The conveying detection device comprises a mechanical arm 1, a grabbing mechanism 2 which is arranged on the mechanical arm 1 and can grab an object to be conveyed (not shown) when the mechanical arm 1 approaches the object to be conveyed in a preset direction F, and a first laser range finder 31 which is arranged on the mechanical arm 1; the first laser rangefinder 31 is oriented in a predetermined direction F.

Thus, the mechanical arm 1 drives the grabbing mechanism 2 and the first laser range finder 31 to move in the moving process; before the gripping mechanism 2 on the robot arm 1 grips the object to be conveyed in the predetermined direction F, the first laser range finder 31 measures the distance of the object to be conveyed in the predetermined direction F, after the first laser range finder 31 irradiates the object to be conveyed, the user determines whether the object to be conveyed is placed at the correct position by the distance of the object to be conveyed obtained by the first laser range finder 31 (the correct position determination method may be selected as that, assuming that the correct position of the object to be conveyed is located at the first coordinate position, the first laser range finder 31 moves to the second coordinate position of the object to be conveyed upstream in the predetermined direction F, the user can obtain what the distance displayed by the first laser range finder 31 should be when the object to be conveyed is located at the correct position by the first coordinate position and the second coordinate position, if the distance displayed by the laser range finder is the same as the distance between the first coordinate position and the second coordinate position (optionally, the "same" here may be tolerated with a certain error. Specifically, the error is within 5%. ) It indicates that the object to be carried is placed at the correct position); when the object to be transported is located at the correct position, the mechanical arm 1 drives the grabbing mechanism 2 to grab the object to be transported in the predetermined direction F, so that the object to be transported is prevented from being damaged in the grabbing/assembling process.

Optionally, in one embodiment, the object to be carried is glass.

Optionally, in an embodiment, according to actual needs, after the object to be conveyed is placed at one position by the grabbing mechanism 2, whether the object to be conveyed is placed at the correct position may also be measured by the first laser distance meter 31.

Optionally, in an embodiment, after the first laser range finder 31 obtains the distance parameter, the user directly reads, and the user controls the mechanical arm 1 to move along a reasonable track according to the distance parameter and captures the object to be transported by the capturing mechanism 2; or the first laser distance measuring instrument 31 sends the distance parameter to the mechanical arm 1 so that the mechanical arm 1 can move along a reasonable track and grab the object to be conveyed through the grabbing mechanism 2.

Further, referring to fig. 1 to 3, as a specific embodiment of the carrying detection device provided by the present invention, the grabbing mechanism 2 includes a plurality of mounting seats 21 and a plurality of suckers 22; the plurality of mounting seats 21 and the plurality of suction cups 22 correspond to each other one by one, each suction cup 22 faces the predetermined direction F, and each suction cup 22 is connected to the robot arm 1 through the corresponding mounting seat 21. In this way, the robot arm 1 approaches the object to be conveyed in the predetermined direction F and can suck the object to be conveyed by the suction cup 22; in addition, the plurality of suction pads 22 can more firmly suck the object to be conveyed.

Further, referring to fig. 1 to 3, as an embodiment of the carrying detection device of the present invention, the number of the suction cups 22 is three. In this way, the three suction pads 22 can be very stably sucked with the object to be conveyed.

Further, referring to fig. 1 to 3, as an embodiment of the carrying detection device of the present invention, three suction cups 22 are distributed in an isosceles triangle. In this manner, the force between the three suction cups 22 is more uniform.

Further, referring to fig. 1 to 3, as an embodiment of the carrying detection device of the present invention, each mounting seat 21 is slidably disposed on the robot arm 1, and each mounting seat 21 is detachably fixed on the robot arm 1 by a fastening member. In this way, the suction cup 22 can change its relative position with respect to the robot arm 1 via the mount 21.

Further, referring to fig. 1 to 3, as an embodiment of the carrying detection device of the present invention, the sliding direction of each mounting seat 21 is perpendicular to the predetermined direction F. Thus, the mounting seat 21 is not easily pushed to slide when the suction cup 22 contacts with the object to be conveyed in the predetermined direction F.

Further, referring to fig. 1 to 3, as a specific embodiment of the carrying detection device provided by the present invention, the robot arm 1 is further provided with a second laser range finder 32 facing the same direction as the first laser range finder 31; the range of the first laser rangefinder 31 is smaller than the second laser rangefinder 32. Thus, the range of different laser range finders is limited; firstly, measuring the distance of the object to be conveyed by the second laser range finder 32 with a large measuring range, then enabling the mechanical arm 1 to approach the object to be conveyed according to the distance obtained by the second laser range finder 32, and finally measuring and calculating the distance again by the first laser range finder 31 with a small measuring range; the laser range finders with two ranges are matched with each other more conveniently, and the cost is reduced.

Further, referring to fig. 1 to fig. 3, as a specific embodiment of the carrying detection device provided by the present invention, the precision of the first laser range finder 31 is greater than that of the second laser range finder 32.

Further, referring to fig. 1 to fig. 3, as a specific embodiment of the carrying detection apparatus provided by the present invention, the first laser range finder 31 and the second laser range finder 32 are respectively located at two opposite ends of the robot arm 1. Thus, the first laser range finder 31 and the second laser range finder 32 do not easily interfere with each other.

Further, referring to fig. 1 to 3, as a specific embodiment of the carrying detection device provided by the present invention, the carrying detection device further includes a supporting frame (not shown), the supporting frame has a receiving position (not shown) for placing the object to be carried; the mechanical arm 1 can be switched between at least two preset positions; when the robot arm 1 is located at any one of the predetermined positions, the accommodation position is located on the irradiation path of the first laser range finder 31. Therefore, when the object to be transported is placed in the accommodating position and the mechanical arm 1 moves to each preset position, the first laser range finder 31 measures the distance of different positions of the object to be transported on the accommodating position respectively, and whether the object to be transported is placed at the correct position can be judged more reliably through detection of at least two preset positions.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. Transport detection device, its characterized in that: the device comprises a mechanical arm, a grabbing mechanism and a first laser range finder, wherein the grabbing mechanism is arranged on the mechanical arm and can grab an object to be conveyed when the mechanical arm approaches the object to be conveyed in a preset direction; the first laser range finder faces the predetermined direction.

2. The conveyance detection apparatus according to claim 1, characterized in that: the grabbing mechanism comprises a plurality of mounting seats and a plurality of suckers; the plurality of mounting seats correspond to the plurality of suckers one by one, each sucker faces to the preset direction, and each sucker is connected to the mechanical arm through the corresponding mounting seat.

3. The conveyance detection apparatus according to claim 2, characterized in that: the number of the suckers is three.

4. The conveyance detection apparatus according to claim 3, characterized in that: the three suckers are distributed in an isosceles triangle shape.

5. The conveyance detection apparatus according to claim 2, characterized in that: each mounting seat is respectively arranged on the mechanical arm in a sliding mode, and each mounting seat is detachably fixed on the mechanical arm through a fastener.

6. The conveyance detection apparatus according to claim 5, characterized in that: the sliding direction of each mounting seat is perpendicular to the preset direction.

7. The conveyance detection apparatus according to claim 1, characterized in that: the mechanical arm is also provided with a second laser range finder which has the same direction as the first laser range finder; the range of the first laser range finder is smaller than that of the second laser range finder.

8. The conveyance detection apparatus according to claim 7, wherein: the precision of the first laser range finder is greater than that of the second laser range finder.

9. The conveyance detection apparatus according to claim 7, wherein: the first laser range finder and the second laser range finder are respectively located at two opposite ends of the mechanical arm.

10. The conveyance detection apparatus according to any one of claims 1 to 9, characterized in that: the device also comprises a support frame, wherein the support frame is provided with an accommodating position for placing the object to be conveyed; the mechanical arm can be switched between at least two preset positions; when the mechanical arm is located at any one of the preset positions, the containing position is located on an irradiation path of the first laser range finder.