CN210192762U

CN210192762U - Grabbing device suitable for compound robot system

Info

Publication number: CN210192762U
Application number: CN201921062736.6U
Authority: CN
Inventors: Zhanchun Xiao; 肖占春; Youlai Zheng; 郑友来; Dongyang Zhang; 张东阳; Yiting Wang; 汪益停; Chenxi Du; 杜晨曦; Baihua Yin; 印柏华
Original assignee: Anji Eight Tower Robot Co Ltd
Current assignee: Anji Eight Tower Robot Co Ltd
Priority date: 2019-07-09
Filing date: 2019-07-09
Publication date: 2020-03-27
Anticipated expiration: 2029-07-09

Abstract

The utility model relates to an automation equipment design field, concretely relates to grabbing device suitable for compound robot system. The utility model discloses a can realize through following technical scheme: the utility model provides a grabbing device suitable for compound robot system, contains grabbing device, grabbing device contains the connection frame and a plurality of connection is in connect the cotton ware of stinging on the connection frame, it contains the actuating lever and the needle that stings out under the drive of actuating lever to sting cotton ware. The utility model aims at providing a grabbing device suitable for compound robot system does not rely on the manual work to snatch the material, and degree of automation is high, and can entangle the piece removal to the material, promotes the roughness and the alignment degree of material.

Description

Grabbing device suitable for compound robot system

Technical Field

The utility model relates to an automation equipment design field, concretely relates to grabbing device suitable for compound robot system.

Background

The composite cushion is a product commonly used in life of people, and comprises a pillow cushion, a mattress and a cushion according to different use purposes. In industry, there are also many products such as cushion pads and elastic pads. In various composite mattresses, such as the one disclosed in chinese patent document No. CN201185778Y, a multifunctional composite mattress includes a plurality of cushion layers with different functions, such as a far infrared heat storage combined layer, a moisture-discharging heat storage combined layer, an anti-mite functional layer, an isolation layer, a filling layer, a far infrared functional layer, etc. During the production of these composite mats, the individual layers need to be superimposed one on top of the other, in particular in the correct position and angle of the superimposed layers.

In the prior art, the overlapping operation of the composite layers is performed manually, on one hand, the labor intensity of workers is high, and on the other hand, the phenomena of inaccurate alignment, uneven local tiling and the like easily occur when the film correction operation is performed by means of personal experience of the workers.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a grabbing device suitable for compound robot system does not rely on the manual work to snatch the material, and degree of automation is high, and can entangle the piece removal to the material, promotes the roughness and the alignment degree of material.

The above technical purpose of the present invention can be achieved by the following technical solutions: the utility model provides a grabbing device suitable for compound robot system, contains grabbing device, grabbing device contains the connection frame and a plurality of connection is in connect the cotton ware of stinging on the connection frame, it contains the actuating lever and the needle that stings out under the drive of actuating lever to sting cotton ware.

As the utility model discloses a preferred, every set the thorn cotton ware all contains two stings cotton unit, two the crisscross slope of thorn cotton unit sets up, and the slope mode is for pressing the direction that the acupuncture goes out is apart from the crescent each other.

As the utility model discloses a preferred, the thorn cotton ware still contain with the guide pin seat that the connecting frame is connected, include on the guide pin seat and supply the guide way that the needle passes through, the actuating lever end-to-end connection has the stopper, the needle is installed on the stopper, the guide pin seat contain be used for with the conflict inclined plane that the stopper was contradicted.

As the utility model discloses a preferred, the connection box middle part is connected with the runner assembly, the connection box contain the frame and with the frame is connected and will the regional division frame that separates into a plurality of cubic regions in the frame, the middle part position on four limits of frame all is equipped with well swash plate, connection box middle part position is equipped with central fixed block, central fixed block with the runner assembly is connected.

As the utility model discloses a preferred, be equipped with central light source on the central authorities fixed block.

As the utility model discloses a preferred, central authorities' light source contain with the light source support that the fixed block of central authorities is connected, install a plurality of LED lamps of light source support, be located the light source support is close to mix the worn-out fur and be located of LED lamp one side the light source support is kept away from the circuit board of LED lamp one side.

As the utility model discloses a preferred, the light source support with the installation department that the LED lamp is connected, with the transition portion that the installation department is connected and with the acute angle portion of bending that the transition portion is connected, the acute angle portion of bending place plane with the planar contained angle in installation department place is the acute angle, be equipped with a plurality of circular shape through-holes that are in the transition portion.

As the utility model discloses an prefer, the corner position of connecting frame is equipped with marginal vision device.

As the utility model discloses a preferred, edge vision device contain with the vision mounting bracket that the carriage is connected, with camera and edge light filling ware that the vision mounting bracket is connected, edge light filling ware contains the aluminum hull, installs lamp in the aluminum hull, install the glass and the preceding clamp plate of aluminum hull lower surface, the aluminum hull contain aluminum hull main part and with the radiating part that aluminum hull main part is connected.

To sum up, the utility model discloses following beneficial effect has:

1. the automatic stacking robot has high automation degree, replaces manual operation posts such as a porter and a palletizer, and runs by using the stacking robot in the whole process.

2. By adopting the technical scheme of stereoscopic vision, the aligning mechanism in the traditional technology is saved, and the device can automatically adapt to boring different sizes and specifications.

3. The safety is high, if the robot illegally enters a robot working area, laser guard rails around the palletizing robot are triggered, and the robot immediately stops moving.

Description of the drawings:

FIG. 1 is a schematic diagram of a first embodiment;

FIG. 2 is a schematic view of one of the stations of FIG. 1;

FIG. 3 is a schematic view of a palletizing robot;

FIG. 4 is a schematic view of the grasping device in FIG. 3;

FIG. 5 is a schematic view of a central light source;

FIG. 6 is a schematic view of an edge vision apparatus;

fig. 7 is a schematic view of a tampon unit.

In the figure: 1. a grabbing device, 11, a rotating component, 12, a connecting frame, 121, an outer frame, 122, a separating frame, 123, a middle inclined plate, 124, a central fixing block, 2, a central light source, 21, a light source bracket, 22, a light mixing plate, 23, a circuit board, 211, a mounting part, 212, a transition part, 213, an acute-angle bending part, 214, a through hole, 24, an LED lamp, 3, an edge vision device, 31, a vision mounting frame, 32, a camera, a supplementary light source, 33, an aluminum shell, 331, an aluminum shell main part, 332, a heat dissipation part, 34, a front pressing plate, 35, glass, 4, a cotton pricker, 41, a cotton pricker unit, 411, a driving rod, 412, a limiting block, 413, a needle guide seat, 4131, an interference inclined plane, 4132, a guide channel, 414, a needle, 5, a vision catching device, 51, a coarse vision device, 511, a multi-connecting-rod detachable frame, 512, a shooting device, 52, a fine vision device, 6, a machine, 62. the multi-joint mechanical arm comprises 621, a fixed arm, 622, a first rotating arm, 623, a second rotating arm, 624, a third rotating arm, 7, a robot seat, 71, an upper supporting plate, 72, an inclined diffusion plate, 73, a flow hole, 81, a backing material conveying device, 82, an upper material conveying device, 83, a gluing machine, 84, a broken needle detector, 9 and an electronic fence.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.

In example 1, as shown in fig. 1, an upper bed material conveying device 82 and a lower bed material conveying device 81 were provided in the entire plant. The specific material of the bottom material and the top material, which is not limited herein, may be a cushion, a sponge, a blanket, etc. While the bed material is being transported on the bed material transporting device 81, the surface is subjected to sizing by the size-applicating machine 83. The glue applicator 83 may be a mature product of the prior art, often containing rollers and lifting structures. And (3) contacting the roller coated with the glue with the upper surface of the backing material to finish gluing.

In fig. 1, the whole workshop can be divided into a plurality of stations, each station is provided with a stacking robot, and the stacking robot is used for automatically placing the upper materials on the upper material conveying device 82 onto the backing materials on the backing material conveying device 81. Wherein, the upper material conveying device 82 often adopts a conveying scheme of a plurality of rollers, and the bottom material conveying device 81 can be a conveyor belt, so as to provide a smoother, more stable and less fluctuant pasting environment and visual capture environment.

As shown in fig. 2 and 3, each station contains a palletizing robot, which is mounted on a robot base 7. The robot base 7 includes four inclined diffuser plates 72 that gradually diffuse outward from top to bottom. Each inclined diffuser plate 72 is provided with flow holes 73, which are designed to ensure robustness, deformation damping and heat dissipation.

The specific structure of the palletizing robot comprises a machine body 6 and a gripping device 1 connected with the machine body. The machine body 6 comprises a machine body rotating seat 61 and a multi-joint mechanical arm 62 connected with the machine body rotating seat, and the multi-joint mechanical arm 62 can rotate in the horizontal direction under the driving of the machine body rotating seat 61. The body rotation base 61 may comprise a conventional structure in the art such as a rotary disk and a motor. In the present case, the multi-section mechanical arm 62 adopts a multi-section articulated design, specifically, the fixed arm 621 is connected to the body rotating base 61, and then the first rotating arm 622, the second rotating arm 623 and the third rotating arm 624 are sequentially articulated, the three rotating arms can rotate in the vertical direction under the driving of a driving component such as a motor, and the multi-section articulated design and the body rotating base 61 enable the position of the gripping device 1 to be flexibly adjusted.

As shown in fig. 4, the grasping apparatus 1 includes a rotating member 11 rotatably connected to an end of a multi-joint robot arm 62. The rotating assembly 11 may include conventional components such as a rotating bearing, a rotating shaft, a rotating motor, etc. The rotating assembly 11 is connected to a central fixed block 124. The entire connection frame 12 includes an outer frame 121 and a partition frame 112 connected to the outer frame 121. The partition frame 112 divides the middle area of the entire outer frame 121 into a plurality of checkered patterns. At the middle position of the four sides of the outer frame 121, a middle sloping plate 123 is provided.

A plurality of lint pickers 4 are connected to the gripping device 1, as shown in fig. 7. Each of the ginning devices 4 is provided with two sets of ginning units 41 which are arranged obliquely opposite to each other. Each set of the sponge units 41 includes an independent driving rod 411, such as a pneumatic rod. The end of the driving rod 411 is provided with a limit block 412, and the limit block 412 is provided with a specified number of needles 414. In this case, each of the stoppers 412 is provided with two pins.

In such an angularly staggered arrangement, the needle 414 is extended when the upper cushion is to be forked, as driven by the pneumatic rod. The two sets of needles are obliquely pricked out and downwards and outwards, so that the upper cushion can be pricked, the cushion is not easy to slip, and the fixation is good.

In order to ensure the extending direction of the needle and avoid the needle from penetrating too deeply to damage the upper cushion, the technical scheme is provided with a limiting structure. Specifically, the needle guide seat 413 is included, and the needle guide seat 413 can be fixed on the connecting frame 12 by a fixing member such as a bolt. The needle guide seat 413 is provided with a guide path 4132, the direction of which is inclined and preset, and the needle 414 runs in the guide path 4132 to play a role of guiding the needle running direction. Two sides of the needle guide seat 413 include abutting inclined surfaces 4131 for abutting against the lower surface of the stopper 412 to prevent the stopper 412 from descending too much and the needle 414 from protruding too much.

As shown in fig. 4, a plurality of the lint pickers 4 are provided on the entire connection frame 12. The number and arrangement position of the cotton prickers 4 can be specifically adjusted according to the size, dimension, thickness, weight, etc. of the cushion used by the manufacturer.

The actions of the multi-joint mechanical arm 62 and the actions of the cotton stabbing devices 4 are controlled by the robot control cabinet through a wireless network. The data source of these control signals comes from the visual recognition technology.

Specifically, the vision capture device 5 is included, which is composed of two parts, a coarse vision device 51 and a fine vision device 52. The rough vision device 51 is used for shooting pictures of upper materials and bottom materials, does not move, and is structurally shown in fig. 2 to comprise a multi-link detachable frame 511, and the specific positions of the tail end shooting device 512 in the horizontal direction and the height direction can be conveniently adjusted through the detachment of a link. When the coarse vision device 51 recognizes the positions of the upper layer material and the bottom layer material, corresponding signals are transmitted to the robot control cabinet. The robot control software installed in the robot control cabinet calculates the movement data of the multi-joint robot arm 62 by a preset software algorithm.

The fine vision device 52 is different from the above, and is not fixedly installed on the ground directly through a bracket, but installed on the gripping device 1, and takes a specific picture along with the movement of the gripping device 1.

Specifically, as shown in fig. 4, the edge vision devices 3 are mounted at the four corners of the connection frame 12. The edge vision device 3 is the fine vision device 52 as described above. As shown in fig. 6, it includes a vision mount 31 connected to the connection frame 12 and a camera 32 connected to the vision mount 31. And a supplementary light source is also included to increase the brightness and the definition of a shot picture. The supplemental light source includes an aluminum case 33, and the aluminum case 33 includes an aluminum case main portion 331 and a heat dissipating portion 332 thereon. Glass 35 and a front pressure plate 34 are also arranged below the aluminum shell 33.

As shown in fig. 4 and 5, to further enhance the brightness of the working environment, a good light base is provided for visual recognition. The central light source 2 is disposed at the middle of the connection frame 12, i.e., mounted on the central fixing block 124. The central light source 2 includes a light source holder 21, and an LED lamp 24 is mounted on the light source holder 21. The light source holder 21 is provided with a light mixing plate 22 on one side facing the LED lamp and a circuit board 23 on the opposite side. And the light source bracket 21 adopts a bending hollow design. Specifically, it includes a mounting portion 211 and an acute-angled bent portion 213. The acute angle bending part 213 can be connected with the connecting frame 12, and the LED lamp 24 is arranged on the mounting part 211. The included angle between the planes of the two parts after extending is acute, and is generally between 60 and 75 degrees. The two sections are connected by a transition section 212, and a plurality of through holes 214 are provided in the transition section 212.

The reason and the advantage of this arrangement are several, and on the one hand, the distance between the mounting portion 211 and the LED lamp 24 and the connecting frame 12 is increased, so that the space for light radiation is better and the illumination angle is optimized. On the other hand, the heat dissipation of the circuit board is facilitated. Finally, the design of the through holes not only enhances the air convection and heat dissipation, but also prevents the collection of flying dust flying from the transfer mat on the light source support 21.

In the present case, the palletizing robot picks the upper layer material and places it on the lower layer material by the coarse vision device 51. The backing material is provided with glue which has certain viscosity. Subsequently, the fine visual device 52 and the coarse visual device 51 find a certain position uneven. For example, the lower right corner unevenness of upper strata material, grabbing device 1 is close to the upper strata material once more, only pricks out the needle on the cotton ware 4 of stinging of the partial lower right corner of whole linking frame 12 this moment, snatchs the material of this part, pulls this part through the action of stacking robot afterwards and rectifies a deviation, promotes the planarization of upper strata material.

As shown in fig. 1, an electronic fence 9 is arranged in the peripheral area of each station, the electronic fence 9 can include a plurality of photoelectric sensors, and when a worker intrudes into the working area, the photoelectric sensors can capture the work immediately, so that a signal is generated and sent to the robot control cabinet, and the stacking robot stops working to prevent the worker from being injured.

Claims

1. A gripping device suitable for a compound robot system, comprising a gripping device (1), characterized in that: grabbing device (1) contain connecting frame (12) and a plurality of connection connect in cotton ware (4) of stinging on connecting frame (12), it contains drive lever (411) and is in to sting cotton ware (4) needle (414) that drive of drive lever (411) is followed.

2. The grasping apparatus adapted for the compound robot system according to claim 1, wherein: each set of the cotton punching device (4) comprises two cotton punching units (41), the two cotton punching units (41) are arranged in a staggered and inclined mode, and the distance between the two cotton punching units (41) is gradually increased according to the punching direction of the needles (414).

3. The grasping apparatus adapted for the compound robot system according to claim 2, wherein: the cotton picker (4) further comprises a needle guide seat (413) connected with the connecting frame (12), the needle guide seat (413) comprises a guide channel (4132) for the needle (414) to pass through, the tail end of the driving rod (411) is connected with a limiting block (412), the needle (414) is installed on the limiting block (412), and the needle guide seat (413) comprises a collision inclined plane (4131) used for colliding with the limiting block (412).

4. The grasping apparatus adapted for the compound robot system according to claim 1, wherein: connecting frame (12) middle part is connected with runner assembly (11), connecting frame (12) contain frame (121) and with frame (121) are connected and will regional division frame (122) of separating into a plurality of cubic regions in frame (121), the middle part position on four limits of frame (121) all is equipped with well swash plate (123), connecting frame (12) middle part position is equipped with central fixed block (124), central fixed block (124) with runner assembly (11) are connected.

5. The grasping apparatus adapted for the compound robot system according to claim 4, wherein: and a central light source (2) is arranged on the central fixing block (124).

6. The grasping apparatus adapted for the compound robot system according to claim 5, wherein: the central light source (2) comprises a light source support (21) connected with the central fixing block (124), a plurality of LED lamps (24) arranged on the light source support (21), a light mixing plate (22) located on one side, close to the LED lamps (24), of the light source support (21), and a circuit board (23) located on one side, far away from the LED lamps (24), of the light source support (21).

7. The grasping apparatus adapted for the compound robot system according to claim 6, wherein: light source support (21) with installation department (211) that LED lamp (24) are connected, with transition portion (212) that installation department (211) are connected and with acute angle portion (213) of bending that transition portion (212) are connected, acute angle portion (213) the place plane with installation department (211) place planar contained angle is the acute angle, be equipped with a plurality of circular shape through-holes (214) that are on transition portion (212).

8. The grasping apparatus adapted for the compound robot system according to claim 1, wherein: and edge vision devices (3) are arranged at the corner positions of the connecting frame (12).

9. The grasping apparatus for a compound robot system according to claim 8, wherein: edge vision device (3) contain with vision mounting bracket (31) that linking frame (12) are connected, with camera (32) and edge light filling ware that vision mounting bracket (31) are connected, edge light filling ware contains aluminum hull (33), installs lamp in aluminum hull (33), install glass (35) and preceding clamp plate (34) of aluminum hull (33) lower surface, aluminum hull (33) contain aluminum hull main part (331) and with heat dissipation portion (332) that aluminum hull main part (331) is connected.