CN213532662U

CN213532662U - Quick mechanical sucker device based on image recognition pneumatic adjustment automatic positioning

Info

Publication number: CN213532662U
Application number: CN202022328881.3U
Authority: CN
Inventors: 谢林君; 沈昕; 林韩波; 王昌训; 徐阳锋; 陈闰洛
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2021-06-25
Anticipated expiration: 2030-10-19

Abstract

The utility model discloses a quick mechanical sucker device for pneumatically adjusting and automatically positioning based on image recognition, which comprises a fixed frame, a T-shaped connecting piece, an I-shaped grabbing component, a small wide-angle camera and a pneumatic auxiliary grabbing component; the pneumatic auxiliary grabbing component is a pair of pneumatic piston structures arranged side by side; the T-shaped connecting piece comprises a T-shaped main arm and a T-shaped vertical arm, a ball groove with an upward opening is arranged right above the other end of the T-shaped vertical arm, and a small wide-angle camera is arranged right below the other end of the T-shaped vertical arm; the I-shaped grabbing component comprises a cross beam and two rod pieces which are perpendicular to the cross beam, the cross beam consists of two linear cylinders which are arranged in opposite directions, and the end parts of piston rods of the two linear cylinders are respectively and vertically connected with the two rod pieces; the utility model discloses rely on visual forming to have the object that automatic identification was snatched to can be according to the position automatic adjustment sucking disc angle and the direction of snatching the work piece, snatch reliably, can carry out the waste product screening, simple structure, the degree of freedom is high.

Description

Quick mechanical sucker device based on image recognition pneumatic adjustment automatic positioning

Technical Field

The utility model relates to a mechanical automation field, more specifically the theory that says so especially relates to a quick mechanical sucker device based on image recognition pneumatic adjustment automatic positioning.

Background

At present, due to the continuous rise of labor cost, artificial intelligence and industrial mechanical automation equipment are increasingly used by enterprises. The industrial manipulator becomes an optimal tool in industrial automatic production by virtue of the characteristics of high precision, wide application range, high efficiency and the like. The manipulator can continuously work in a toxic and dangerous environment; frequent, monotonous and repeated labor, such as loading and unloading, carrying and the like can also be finished. In the manipulator, the vacuum chuck is used more and more on automatic operation lines such as product packaging, feeding and discharging, object transmission, mechanical assembly and the like by virtue of the advantages of simple structure, high cost performance and the like. The national stamping parts account for a large proportion of electromechanical, daily necessities and hardware parts, but at present, most of the stamping parts adopt manual loading and unloading, so that the problems of low efficiency, more industrial accidents and the like are caused. The most effective safe production measure is to adopt a feeding manipulator to replace manual feeding. The manipulator not only can realize safe operation, has also improved product quality.

The flexible and elastic sucker can conveniently realize the carrying functions of holding, separating, transferring and the like of workpieces and ensure that the acting objects are not damaged. However, the conventional suction cup robot can only transport and place parts having relatively simple and regular shapes, and requires that parts be regularly stacked in advance and that the parts also have regular shapes. In addition, the grabbing positions of the existing sucker manipulator are relatively fixed, the existing sucker manipulator does not have the function of automatically tracking, identifying and grabbing parts, can only complete given work mechanically, and cannot be used in some complex environments. If the arrangement of the suckers is unreasonable, the sucked workpiece can generate a large bending moment, the contact area between the suckers and the workpiece is reduced, and the acting force of the suckers on the workpiece is reduced, so that the number of the suckers is increased. Meanwhile, in the process of accelerating rotation, the contact is poor, or the vibration is too large, so that the workpiece is easy to slide off, and a large unstable factor is generated in the production process. In an automobile welding production line, an automobile body is formed by combining a plurality of thin plate parts and has an irregular shape, the sucker manipulator is required to be more complex and more degrees of freedom, and the multi-degree-of-freedom sucker manipulator becomes the key point of equipment manufacturing research on the production line.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the existing sucking disc manipulator degree of freedom less, irregular to the shape, the spare part of stacking at will can not snatch or snatch the incorrect work piece landing that leads to in position, does not possess the problem of screening function to the spare part that became invalid simultaneously, has provided a quick mechanical sucking disc device based on image recognition pneumatic adjustment automatic positioning, its simple structure, and the degree of freedom is many, through visual positioning, snatchs reliably, possesses the function of waste product screening simultaneously.

The utility model discloses a following technical scheme realizes above-mentioned purpose: a rapid mechanical sucker device based on image recognition, pneumatic adjustment and automatic positioning comprises a fixed frame, a T-shaped connecting piece, an I-shaped grabbing component, a small wide-angle camera and a pneumatic auxiliary grabbing component;

the pneumatic auxiliary grabbing component is a pair of pneumatic piston structures arranged side by side, each pneumatic piston structure comprises a cylinder barrel and an extensible piston, the cylinder barrel is fixed on the fixed rack, one end of the extensible piston extends into the cylinder barrel, the end part of the other end of the extensible piston is in a horizontally placed U shape, and the size of an opening of the U shape is consistent with that of a beam of the I-shaped grabbing component; after the pneumatic piston structure extends, the U-shaped opening at the end part of the extensible piston just clamps the cross beam of the I-shaped grabbing component;

the T-shaped connecting piece comprises a T-shaped main arm and a T-shaped vertical arm, one end of the T-shaped vertical arm is vertically fixed in the middle of the T-shaped main arm, and two ends of the T-shaped main arm are respectively fixed on the outer walls of the cylinder bodies of the two pneumatic piston structures; a ball groove with an upward opening is arranged right above the other end of the T-shaped vertical arm, and a small wide-angle camera is arranged right below the other end of the T-shaped vertical arm;

the I-shaped grabbing component comprises a cross beam and two rod pieces perpendicular to the cross beam, the cross beam consists of two linear cylinders which are arranged in opposite directions, cylinder barrels of the two linear cylinders are connected to form a cross beam main body, the end parts of piston rods of the two linear cylinders are respectively perpendicular to the two rod pieces, a hemispherical structure is arranged below the center of the cross beam, the hemispherical structure below the cross beam is matched with a spherical groove on a T-shaped vertical arm of the T-shaped connecting piece to form spherical matching, and the I-shaped grabbing component freely rotates on the T-shaped connecting piece around the spherical matching; a vacuum suction head assembly is fixed at both ends of each rod piece.

Further, the linear cylinder of the I-shaped grabbing component is a rectangular cylinder.

Further, the vacuum suction head assembly comprises a rubber suction cup, a mounting stud, an upper end fixing bolt, a lower end fixing bolt and a spring, a bolt hole is formed in the end portion of each rod piece, the mounting stud is mounted in the bolt hole, the upper end of the mounting stud is limited through the upper end fixing bolt, the lower end of the mounting stud is connected with the rubber suction cup, and the spring and the lower end fixing bolt are sequentially sleeved on the mounting stud between the rod piece and the rubber suction cup from top to bottom.

Furthermore, the lower end fixing bolt and the mounting stud are provided with matched through positioning holes, and the positioning rod penetrates through the positioning holes in the lower end fixing bolt and the mounting stud to realize the positioning of the lower end fixing bolt.

Furthermore, the rubber sucker is a pneumatic sucker, and each rod piece is provided with a hollow groove for arranging a rubber sucker pipeline.

Furthermore, the hemisphere structure of crossbeam and the ball groove of the perpendicular arm of T shape all are the hemisphere, and the contact surface roughness between hemisphere structure and the ball groove is less than 0.8 micron.

Furthermore, the cross section of the cross beam of the I-shaped grabbing component is of a rectangular hollow structure, the center of the cross beam is separated by a light material, a through hole in the cross beam is divided into two working cavities, each working cavity is provided with an air inlet and an air outlet, and the air inlet and the air outlet are connected with an air compressor through plastic hoses.

Furthermore, the T-shaped connecting piece and the I-shaped grabbing component which are matched in a spherical mode enable the I-shaped grabbing component to rotate around the spherical matching position through one-way output of the two linear cylinders. The rotation of the I-shaped grabbing component is controlled through different air inflow of the two linear cylinders.

The beneficial effects of the utility model reside in that:

1. the utility model discloses rely on visual forming to have the object that automatic identification was snatched to can be according to the position automatic adjustment sucking disc angle and the direction of snatching the work piece, snatch reliably, can carry out the waste product screening, simple structure, the degree of freedom is high.

2. The utility model discloses a T shape connecting piece, I shape snatch the component and pass through the spherical vice cooperation that forms between hemisphere structure and the ball groove and be connected, make whole I-beam rotatory around spherical contact position through pneumatic promotion, can realize 360 degrees all around rotations of rubber suction cup.

3. The utility model discloses utilize the pneumatic supplementary U type groove that snatchs the tip of two protractile pistons of component and the crossbeam phase-match that the component was snatched to the I-shaped, just block the crossbeam when extendible piston extends to form the support to the crossbeam when snatching the work piece, improve the stability when whole device snatchs the work piece.

4. The utility model discloses use four small-size suction heads simultaneously can guarantee to snatch stability and reliability of in-process.

Drawings

Fig. 1 is the utility model discloses a quick mechanical sucker device's overall structure schematic diagram based on image recognition pneumatic adjustment automatic positioning.

Fig. 2 is a schematic structural diagram of the pneumatic piston structure of the present invention.

Fig. 3 is a top view of the T-shaped connector of the present invention.

Figure 4 is an end cross-sectional view of the T-connector of the present invention.

Fig. 5 is a top view of the i-shaped grasping member of the present invention.

Fig. 6 is a sectional view of the connection position of the T-shaped connecting member and the i-shaped grabbing member of the present invention.

Figure 7 is a front view of the vacuum tip assembly of the present invention.

In the figure, 1-T-shaped connecting piece, 2-I-shaped grabbing component, 3-pneumatic auxiliary grabbing component, 4-small wide-angle camera, 5-vacuum sucker assembly, 11-T-shaped main arm, 12-T-shaped vertical arm, 13-spherical groove, 21-cross beam, 22-rod piece, 23-linear cylinder, 24-air inlet, 25-air outlet, 26-hemispherical structure, 31-cylinder barrel, 32-extensible piston, 33-U-shaped opening, 51-rubber sucker, 52-mounting stud, 53-upper end fixing bolt, 54-lower end fixing bolt, 55-spring and 56-positioning rod.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

as shown in figures 1-7, the rapid mechanical sucker device based on image recognition, pneumatic adjustment and automatic positioning comprises a fixed frame, a T-shaped connecting piece 1, an I-shaped grabbing component 2, a small wide-angle camera 4 and a pneumatic auxiliary grabbing component 3.

The pneumatic auxiliary grabbing component 3 is a pair of pneumatic piston structures arranged side by side, each pneumatic piston structure comprises a cylinder barrel 31 and an extensible piston 32, the cylinder barrel 31 is fixed on the fixed rack, one end of the extensible piston 32 extends into the cylinder barrel 31, the end part of the other end of the extensible piston 32 is horizontally placed in a U shape, and the size of an opening 33 of the U shape is consistent with that of a cross beam 21 of the I-shaped grabbing component 2; the U-shaped opening 33 at the end of the extendable piston 32 after the extension of the pneumatic piston structure just grips the cross beam 21 of the i-shaped gripping member 2.

The T-shaped connecting piece 1 comprises a T-shaped main arm 11 and a T-shaped vertical arm 12, one end of the T-shaped vertical arm 12 is vertically fixed in the middle of the T-shaped main arm 11, and two ends of the T-shaped main arm 11 are respectively fixed on the outer walls of cylinder bodies 31 of the two pneumatic piston structures; a ball groove 13 with an upward opening is arranged right above the other end of the T-shaped vertical arm 12, and a small wide-angle camera 4 is arranged right below the other end of the T-shaped vertical arm 12.

The I-shaped grabbing component 2 comprises a cross beam 21 and two rod pieces 22 perpendicular to the cross beam 21, the cross beam 21 consists of two linear cylinders 23 arranged in opposite directions, cylinder barrels of the two linear cylinders 23 are connected to form a main body of the cross beam 21, the end parts of piston rods of the two linear cylinders 23 are respectively and perpendicularly connected with the two rod pieces 22, a hemispherical structure 26 is arranged below the center of the cross beam 21, the hemispherical structure 26 below the cross beam 21 is matched with a spherical groove 13 on a T-shaped vertical arm 12 of the T-shaped connecting piece 1 to form spherical matching, and the I-shaped grabbing component 2 freely rotates on the T-shaped connecting piece 1 around the spherical matching; a vacuum nozzle assembly 5 is fixed to each end of each rod 22.

The vacuum suction head assembly 5 comprises a rubber suction cup 51, a mounting stud 52, an upper end fixing bolt 53, a lower end fixing bolt 54 and a spring 55, a bolt hole is formed in the end portion of each rod piece 22, the mounting stud 52 is mounted in the bolt hole, the upper end of the mounting stud 52 is limited through the upper end fixing bolt 53, the lower end of the mounting stud 52 is connected with the rubber suction cup 51, and the spring 55 and the lower end fixing bolt 54 are sequentially sleeved on the mounting stud 52 between the rod piece 22 and the rubber suction cup 51 from top to bottom. The lower end fixing bolt 54 and the mounting stud 52 are provided with matched through positioning holes, and the positioning rod 56 passes through the positioning holes on the lower end fixing bolt 54 and the mounting stud 52 to realize the positioning of the lower end fixing bolt 54.

The rubber sucker 51 is a pneumatic sucker, and each rod piece 22 is provided with a hollow groove for arranging pipelines of the rubber sucker 51.

The hemispherical structure 26 of the cross beam 21 and the spherical groove 13 of the T-shaped vertical arm 12 are both hemispherical, and the roughness of the contact surface between the hemispherical structure 26 and the spherical groove 13 is less than 0.8 micrometer.

The linear cylinder 23 of the I-shaped grabbing component 2 is a rectangular cylinder. The cross beam 21 of the I-shaped grabbing component 2 is of a rectangular hollow structure, the center of the cross beam 21 is separated by a light material, a through hole in the cross beam 21 is divided into two working cavities, each working cavity is provided with an air inlet 24 and an air outlet 25, and the air inlet 24 and the air outlet are connected with an air compressor through plastic hoses.

The T-shaped connecting piece 1 and the I-shaped grabbing component 2 which are matched in a spherical mode enable the I-shaped grabbing component 2 to rotate around the spherical matching position through one-way output of the two linear air cylinders 23.

The utility model discloses a device has the effect that a plurality of direction adjustment snatched the work piece, can adjust the suction head that snatchs according to the not unidimensional work piece in different positions. When grabbing is started, firstly the whole device is assembled, then the specific position and size of a workpiece are obtained through the small wide-angle camera 4, the workpiece is transmitted into the system for analysis, then the obtained position information is sent to the control system, then the T-shaped connecting piece 1 is matched with the spherical shape of the I-shaped grabbing component 2, the I-shaped grabbing component 2 is pushed pneumatically to rotate, so that 4 rubber suckers 51 are uniformly distributed right above the workpiece, and meanwhile, the distance between the 4 rubber suckers 51 can be adjusted by stretching the cross beam 21 of the I-shaped grabbing component 2. When the 4 rubber suction cups 51 are positioned right above the workpiece, the air of the rubber suction cups 51 is absorbed by an external vacuum device to achieve the purpose of sucking the workpiece. After the positioning grabbing is completed, the cross beam 21 is just clamped by the U-shaped opening when the extensible piston 32 extends, so that the cross beam 21 is supported when the workpiece is grabbed, the support in the vertical direction is provided for the workpiece, and the stability of the whole device when the workpiece is grabbed is improved. From this, the whole set of device accomplishes the overall process from work piece discernment, to rotatory flexible location, sucking disc snatch, extensible piston assistance provides the load.

The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not to the limitation of the technical solution of the present invention, as long as the technical solution can be realized on the basis of the above-mentioned embodiment without creative work, all should be regarded as falling into the protection scope of the right of the present invention.

Claims

1. The utility model provides a quick mechanical sucker device based on image recognition pneumatic adjustment automatic positioning which characterized in that: the device comprises a fixed frame, a T-shaped connecting piece (1), an I-shaped grabbing component (2), a small wide-angle camera (4) and a pneumatic auxiliary grabbing component (3);

the pneumatic auxiliary grabbing component (3) is a pair of pneumatic piston structures arranged side by side, each pneumatic piston structure comprises an air cylinder barrel (31) and a stretchable piston (32), the air cylinder barrel (31) is fixed on the fixed rack, one end of each stretchable piston (32) stretches into the air cylinder barrel (31), the end part of the other end of each stretchable piston (32) is horizontally placed in a U shape, and the size of an opening (33) of each U shape is consistent with that of a beam (21) of the I-shaped grabbing component (2); the U-shaped opening (33) at the end part of the piston (32) can be extended after the pneumatic piston structure is extended to just clamp the beam (21) of the I-shaped grabbing component (2);

the T-shaped connecting piece (1) comprises a T-shaped main arm (11) and a T-shaped vertical arm (12), one end of the T-shaped vertical arm (12) is vertically fixed in the middle of the T-shaped main arm (11), and two ends of the T-shaped main arm (11) are respectively fixed on the outer walls of cylinder bodies (31) of the two pneumatic piston structures; a ball groove (13) with an upward opening is arranged right above the other end of the T-shaped vertical arm (12), and a small wide-angle camera (4) is arranged right below the other end of the T-shaped vertical arm (12);

the I-shaped grabbing component (2) comprises a cross beam (21) and two rod pieces (22) perpendicular to the cross beam (21), the cross beam (21) is composed of two linear cylinders (23) arranged in opposite directions, cylinder barrels of the two linear cylinders (23) are connected into a main body of the cross beam (21), end portions of piston rods of the two linear cylinders (23) are respectively and perpendicularly connected with the two rod pieces (22), a hemispherical structure (26) is arranged below the center of the cross beam (21), the hemispherical structure (26) below the cross beam (21) is matched with a spherical groove (13) in a T-shaped vertical arm (12) of the T-shaped connecting piece (1) to form spherical matching, and the I-shaped grabbing component (2) freely rotates on the T-shaped connecting piece (1) around the spherical matching; a vacuum suction head assembly (5) is fixed at both ends of each rod piece (22).

2. The fast mechanical sucker device for pneumatically adjusting automatic positioning based on image recognition as claimed in claim 1, wherein: the straight-line cylinder (23) of the I-shaped grabbing component (2) is a rectangular cylinder.

3. The fast mechanical sucker device for pneumatically adjusting automatic positioning based on image recognition as claimed in claim 1, wherein: vacuum suction head subassembly (5) include rubber suction cup (51), installation double-screw bolt (52), upper end fixing bolt (53), lower extreme fixing bolt (54) and spring (55), the tip of every member bar (22) is provided with a bolt hole, installation double-screw bolt (52) are installed and are spacing through upper end fixing bolt (53) at the downthehole and upper end of bolt, rubber suction cup (51) is connected to the lower extreme of installation double-screw bolt (52), install on double-screw bolt (52) between member bar (22) and rubber suction cup (51) from last to overlapping in proper order down and be equipped with spring (55) and lower extreme fixing bolt (54).

4. The fast mechanical sucker device with image recognition based pneumatic adjustment and automatic positioning function as claimed in claim 3, wherein: the lower end fixing bolt (54) and the mounting stud (52) are provided with matched penetrating positioning holes, and the positioning rod (56) penetrates through the positioning holes in the lower end fixing bolt (54) and the mounting stud (52) to realize the positioning of the lower end fixing bolt (54).

5. The fast mechanical sucker device with image recognition based pneumatic adjustment and automatic positioning function as claimed in claim 4, wherein: the rubber suction cups (51) are pneumatic suction cups, and each rod piece (22) is provided with a hollow groove for arranging pipelines of the rubber suction cups (51).

6. The fast mechanical sucker device for pneumatically adjusting automatic positioning based on image recognition as claimed in claim 1, wherein: the semi-spherical structure (26) of the cross beam (21) and the spherical groove (13) of the T-shaped vertical arm (12) are both semi-spherical, and the roughness of the contact surface between the semi-spherical structure (26) and the spherical groove (13) is less than 0.8 micrometer.

7. The fast mechanical sucker device for pneumatically adjusting automatic positioning based on image recognition as claimed in claim 1, wherein: the cross section of a cross beam (21) of the I-shaped grabbing component (2) is of a rectangular hollow structure, the center of the cross beam (21) is separated by a light material, a through hole in the cross beam (21) is divided into two working cavities, each working cavity is provided with an air inlet (24) and an air outlet (25), and the air inlets (24) and the air outlets are connected with an air compressor through plastic hoses.

8. The fast mechanical sucker device for pneumatically adjusting automatic positioning based on image recognition as claimed in claim 1, wherein: the T-shaped connecting piece (1) and the I-shaped grabbing component (2) which are matched in a spherical mode enable the I-shaped grabbing component (2) to rotate around the spherical matching position through one-way output of the two linear cylinders (23).