CN212711589U - Large-stroke two-shaft feeding manipulator - Google Patents
Large-stroke two-shaft feeding manipulator Download PDFInfo
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- CN212711589U CN212711589U CN202020772120.4U CN202020772120U CN212711589U CN 212711589 U CN212711589 U CN 212711589U CN 202020772120 U CN202020772120 U CN 202020772120U CN 212711589 U CN212711589 U CN 212711589U
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Abstract
The utility model relates to a large-stroke two-shaft feeding manipulator, which comprises a transverse feeding device, a longitudinal feeding device, a feeding mechanism and a position control device; the longitudinal feeding device is connected with the transverse feeding device through a connecting plate; the transverse feeding device and the longitudinal feeding device are respectively in communication connection with the position control device; the feeding mechanism is arranged on the transverse feeding device, and the transverse feeding device is used for driving the feeding mechanism to horizontally reciprocate between an initial position and a material taking position; the longitudinal feeding device is used for driving the feeding mechanism to ascend and descend so as to enable the feeding plate to vertically reciprocate between the material taking position and the material placing position; and the position control device is used for comparing the actual position information of the feeding mechanism with the prestored position information and carrying out position compensation on the transverse feeding device and the longitudinal feeding device according to the comparison result.
Description
Technical Field
The utility model belongs to the technical field of automatic feeding manipulator is relevant, especially, relate to a big stroke diaxon material loading manipulator.
Background
The existing control mode of the feeding manipulator usually programs corresponding control signals on the basis of design requirements to realize the control of the manipulator, and the control mode generates corresponding errors along with the actual use process, and needs to continuously adjust programs to increase corresponding operation complexity; meanwhile, errors are generated between the actual position of the feeding and the designed position in the using process, and the feeding position precision is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome prior art and go up the material manipulator stroke shorter, and the not high problem of material loading position precision.
In order to achieve the purpose, the utility model provides a large-stroke two-shaft feeding manipulator, which comprises a transverse feeding device, a longitudinal feeding device, a feeding mechanism and a position control device; the longitudinal feeding device and the transverse feeding device are connected through a connecting plate; the transverse feeding device and the longitudinal feeding device are respectively in communication connection with the position control device;
the feeding mechanism is arranged on the transverse feeding device, and the transverse feeding device is used for driving the feeding mechanism to horizontally reciprocate between an initial position and a material taking position;
the longitudinal feeding device is used for driving the feeding mechanism to ascend and descend so that the feeding mechanism vertically reciprocates between the material taking position and the material placing position;
and the position control device is used for comparing the actual position information of the feeding mechanism with prestored position information according to the actual position information of the feeding mechanism and carrying out position compensation on the transverse feeding device and the longitudinal feeding device according to a comparison result.
The position control device comprises a vision module and a control module, wherein the vision module is in communication connection with the control module.
Wherein the vision module comprises a camera or a vision sensor.
The horizontal feeding device comprises a horizontal pneumatic cylinder and a horizontal feeding chain connected with the horizontal pneumatic cylinder.
The longitudinal feeding device comprises a longitudinal pneumatic cylinder and a longitudinal feeding chain connected with the longitudinal pneumatic cylinder.
The feeding manipulator further comprises a manipulator attachment device, the manipulator attachment device comprises an attachment plate and an attachment suction cup, and the feeding manipulator is connected with the attachment suction cup through the attachment plate.
The utility model discloses a big stroke diaxon automatic feeding manipulator can effectively match the user demand between various material loading height and width through vertical, horizontal big stroke transportation chain, promotes the general performance of loading attachment; in addition, the relation between the feeding position and the design position is judged in real time through the visual control device, so that the real-time position compensation and adjustment in the feeding process can be realized; moreover, the vision module is in communication connection with the control end, so that the remote monitoring of the feeding process can be realized, and the operation convenience of the feeding device is improved.
Drawings
Fig. 1 is a schematic view of an overall structure of a large-stroke two-axis feeding manipulator according to an embodiment of the present invention;
fig. 2 is a top view of a large-stroke two-axis feeding manipulator according to an embodiment of the present invention;
fig. 3 is the front view of the large-stroke two-axis feeding manipulator of the embodiment of the present invention.
Reference numbers in the figures: 1-manipulator attachment device, 2-longitudinal feeding device, 3-vision module, 4-transverse feeding device, 5-limiting block, 6-attachment sucker, 7-attachment plate, 8-transverse feeding chain, 9-longitudinal feeding chain, 10-connecting plate, 11-transverse pneumatic cylinder, 12-feeding plate, 13-longitudinal pneumatic cylinder and 14-feeding mechanism.
Detailed Description
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 1-3, the present embodiment relates to a large-stroke two-axis feeding manipulator, which mainly includes a horizontal feeding device 4, a vertical feeding device 2, a position control device, and a feeding mechanism 14. Wherein, the feeding mechanism is arranged on the transverse feeding device 4, and the feeding mechanism 14 further comprises a feeding plate 12. The transverse feeding device 4 is provided with a transverse feeding mechanism, the transverse feeding mechanism is used for driving the feeding mechanism to horizontally reciprocate between an initial position and a material taking position, the feeding mechanism 14 places the obtained material on the upper material plate 12 at the material taking position (for example, a telescopic mechanical arm can be adopted, the telescopic mechanical arm extends out when reaching the material taking position, the material to be processed is placed on the upper material plate 12 and then retracts when reaching the material taking position), and the limiting block 5 is used for limiting the plane position of the material for positioning; the longitudinal feeding device 2 is connected with the transverse feeding device 4 through a connecting plate 10, the longitudinal feeding device 2 is provided with a longitudinal feeding mechanism, the longitudinal feeding mechanism is used for driving the feeding mechanism 14 to ascend and descend, so that the feeding mechanism 14 vertically reciprocates between a material taking position and a material placing position, namely the longitudinal feeding mechanism drives the feeding mechanism 14 to ascend to the material placing position, and after materials are placed at a corresponding station of the next process, the feeding mechanism 14 is driven to descend to the material taking position.
The transverse feeding device 4 and the longitudinal feeding device 2 are respectively in communication connection with the position control device. The position control device further comprises a vision module 3 and a control module, wherein the vision module 3 can be a high-definition camera, a vision sensor and other devices capable of realizing vision identification. The vision module 3 and the control module can be connected by a line or in a wireless communication mode. And the visual control device is used for acquiring the actual position information of the feeding mechanism, comparing the actual position information with the prestored position information, and performing position compensation on the transverse feeding device and the longitudinal feeding device according to the comparison result. Under the control of the control module, the feeding plate 12 and/or the materials loaded thereon are adjusted to a preset position, so that the error-free feeding and taking process is realized.
Further, in this embodiment, control motors are arranged at the bottoms of the longitudinal feeding device and the transverse feeding device, a rotating shaft is installed at the output end of each motor through a coupler, one end of each coupler is connected with the transverse feeding mechanism, and the other end of each coupler is connected with the longitudinal feeding mechanism. The transverse feeding mechanism comprises a transverse pneumatic cylinder 11 and a transverse feeding chain 8 connected with the transverse pneumatic cylinder 11, and the longitudinal feeding mechanism comprises a longitudinal pneumatic cylinder 13 and a longitudinal feeding chain 9 connected with the longitudinal pneumatic cylinder 13.
Further, the utility model discloses a preferred embodiment still includes manipulator adhesion device 1, and this manipulator adhesion device 1 includes attachment plate 7 and adheres to sucking disc 6, and diaxon material loading manipulator passes through attachment plate 7 and links to each other with adhering to sucking disc 6, can make up with any mechanical device through adhering to sucking disc 6.
The utility model discloses big stroke diaxon material loading manipulator utilizes position control device to carry out position control's process description as follows:
step S1, the vision module acquires the actual position information of the feeding plate and transmits the information to the control module;
the actual position information of the feeding plate comprises transverse position information of the feeding plate reaching the material taking position; or the longitudinal position information of the feeding plate reaching the discharging position.
Step S2, the control module compares the actual position information with the pre-stored position information and obtains the corresponding position compensation amount according to the comparison result;
specifically, the control module may determine whether the actual position exceeds a predetermined range according to the comparison result, for example, determine whether a difference ratio between the actual position information and the pre-stored position information is greater than a predetermined threshold, if so, calculate a corresponding position supplement amount, and continue to perform the position compensation operation; otherwise, return to step S1.
And step S3, the control module carries out position compensation on the transverse feeding device and the longitudinal feeding device according to the position compensation amount.
Specifically, the control module calculates corresponding position compensation amount according to the actual position information and the pre-stored position information, and converts the data signal into a control electric signal so as to control the execution device to perform position compensation; the executing device specifically refers to a transverse feeding device or a longitudinal feeding device. And the execution device performs position compensation on the transverse and longitudinal feeding devices according to the control electric signals of the control module.
While the preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. A large-stroke two-shaft feeding manipulator is characterized by comprising a transverse feeding device, a longitudinal feeding device, a feeding mechanism and a position control device; the longitudinal feeding device and the transverse feeding device are connected through a connecting plate; the transverse feeding device and the longitudinal feeding device are respectively in communication connection with the position control device;
the feeding mechanism is arranged on the transverse feeding device, and the transverse feeding device is used for driving the feeding mechanism to horizontally reciprocate between an initial position and a material taking position;
the longitudinal feeding device is used for driving the feeding mechanism to ascend and descend so that the feeding mechanism vertically reciprocates between the material taking position and the material placing position;
and the position control device is used for comparing the actual position information of the feeding mechanism with prestored position information according to the actual position information of the feeding mechanism and carrying out position compensation on the transverse feeding device and the longitudinal feeding device according to a comparison result.
2. The large-stroke two-shaft loading manipulator according to claim 1, wherein the transverse feeding device comprises a transverse pneumatic cylinder and a transverse feeding chain connected with the transverse pneumatic cylinder.
3. The large-stroke two-shaft loading manipulator according to claim 1, wherein the longitudinal feeding device comprises a longitudinal pneumatic cylinder and a longitudinal feeding chain connected with the longitudinal pneumatic cylinder.
4. The large-stroke two-shaft feeding manipulator according to claim 1, further comprising a manipulator attachment device, wherein the manipulator attachment device comprises an attachment plate and an attachment suction cup, and the feeding manipulator is connected with the attachment suction cup through the attachment plate.
5. The large-stroke two-shaft loading manipulator according to claim 1, wherein the position control device comprises a vision module and a control module, and the vision module is in communication connection with the control module.
6. The large-stroke two-shaft loading manipulator according to claim 5, wherein the vision module comprises a camera or a vision sensor.
7. The large-stroke two-shaft loading manipulator according to claim 5, wherein the vision module is connected with the control module in a line connection or wireless communication mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020772120.4U CN212711589U (en) | 2020-05-12 | 2020-05-12 | Large-stroke two-shaft feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020772120.4U CN212711589U (en) | 2020-05-12 | 2020-05-12 | Large-stroke two-shaft feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212711589U true CN212711589U (en) | 2021-03-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020772120.4U Active CN212711589U (en) | 2020-05-12 | 2020-05-12 | Large-stroke two-shaft feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212711589U (en) |
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2020
- 2020-05-12 CN CN202020772120.4U patent/CN212711589U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A large stroke two axis feeding manipulator Effective date of registration: 20211122 Granted publication date: 20210316 Pledgee: Guangdong Shunde Rural Commercial Bank Co.,Ltd. science and technology innovation sub branch Pledgor: Dajie Intelligent Technology (Guangdong) Co.,Ltd. Registration number: Y2021980012920 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |