CN214924493U - Workpiece falling detection device and workpiece grabbing robot - Google Patents
Workpiece falling detection device and workpiece grabbing robot Download PDFInfo
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- CN214924493U CN214924493U CN202120818863.5U CN202120818863U CN214924493U CN 214924493 U CN214924493 U CN 214924493U CN 202120818863 U CN202120818863 U CN 202120818863U CN 214924493 U CN214924493 U CN 214924493U
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Abstract
The utility model provides a workpiece falling detection device and a workpiece grabbing robot, wherein the workpiece falling detection device comprises a vacuum grabbing component, an air pressure detection sensor and an optical fiber sensor; the vacuum grabbing component comprises a vacuum generator, an air pipe and a sucker fixture; the vacuum generator is connected with an external air source, the air pipe is connected with the sucker fixture, and the vacuum generator, the air pipe and the air pressure detection sensor are communicated through an air passage; the vacuum generator is used for generating vacuum to grab the workpiece through the air pipe and the sucker fixture; the optical fiber sensor is used for detecting whether the workpiece falls for the first time, and the air pressure detection sensor is used for detecting whether the workpiece falls for the second time. The utility model can greatly improve the stability and accuracy of the drop detection of the workpiece by combining the optical fiber detection and the air pressure detection, and has lower cost; the utility model discloses compact structure, small and exquisite etc. characteristics still have.
Description
Technical Field
The utility model belongs to the technical field of automated inspection, concretely relates to work piece detection device and work piece snatchs robot that drops.
Background
In recent years, industries such as e-commerce and express rapidly rise, and good development opportunities are created for logistics industries. With the maturity of technologies such as artificial intelligence, machine vision, etc., in the most basic part of storage, transport, sorting these logistics, automated equipment is more and more, and it is great tendency that industrial robot replaces the manual work. The suction cup fixture is used as an important component of an industrial robot and is increasingly applied to the logistics industry, the 3C industry and the food industry.
The industrial robot, the logistics industry, the 3C industry and the food industry pay attention to the high efficiency and stability. At present, the discernment location of work piece is usually accomplished by 3D smart camera, and supporting sucking disc fixture snatchs to whether detect the work piece through atmospheric pressure detection sensor (vacuum detects promptly) and drop. The working principle of the air pressure detection sensor is as follows: presetting a numerical value, and if the actually measured numerical value is larger than the preset numerical value, determining that the workpiece does not fall off; and if the actual measurement value is smaller than the preset value, the workpiece is considered to fall off. However, when the sucking disc of the same specification sucks workpieces made of different materials, such as a box shape, a bag shape, a nylon piece, a metal piece, a plastic piece and the like, the numerical value of the air pressure detection sensor can be greatly changed, and when the air pressure of an air source is insufficient, the numerical value of the air pressure detection sensor can be lower, so that whether the workpiece falls or not can be judged difficultly and stably in a mode of presetting a numerical value.
Aiming at the problem that whether a workpiece is dropped or not is difficult to detect stably by using an air pressure detection sensor in the prior art, the numerical value detected by the air pressure detection sensor is increased as much as possible by increasing the pipe diameter of an air path, increasing the displacement of a vacuum generator, replacing a larger-capacity air source, shortening the distance between the air pressure detection sensor and the vacuum generator and the like. However, this method still cannot stably detect whether the workpiece has dropped after the actual test and is more expensive in cost.
SUMMERY OF THE UTILITY MODEL
In view of this, the to-be-solved technical problem of the present invention is to provide a workpiece drop detection device and a workpiece grabbing robot.
According to a first aspect of embodiments of the present invention, the present invention provides a workpiece drop detection device, which includes a vacuum gripping assembly, an air pressure detection sensor and an optical fiber sensor;
the vacuum grabbing component comprises a vacuum generator, an air pipe and a sucker fixture; the vacuum generator is connected with an external air source, the air pipe is connected with the sucker fixture, and the vacuum generator, the air pipe and the air pressure detection sensor are communicated through an air passage;
the vacuum generator is used for generating vacuum so as to grab a workpiece through the air pipe and the sucker fixture; the optical fiber sensor is used for detecting whether the workpiece falls for the first time, and the air pressure detection sensor is used for detecting whether the workpiece falls for the second time.
In the workpiece falling detection device, the workpiece falling detection device further comprises a carrying box, the vacuum generator, the air pipe and the air pressure detection sensor are all arranged on the end face of one end of the carrying box, and an air path formed by mutually connecting the vacuum generator, the air pipe and the air pressure detection sensor is arranged in the carrying box; the optical fiber sensor comprises an optical fiber amplifier and a detection probe, wherein the optical fiber amplifier is arranged on the side surface adjacent to the end surface of the object carrying box provided with the vacuum generator.
In the workpiece falling detection device, the number of the sucker clamps is three, and every two of the three sucker clamps are arranged on the clamp bracket at intervals of 120 degrees.
Further, the detection probe of the optical fiber sensor is arranged at the center of the fixture bracket.
In the workpiece falling detection device, an air inlet of the vacuum generator is connected with an external air source; an electromagnetic valve is arranged at the air inlet of the vacuum generator;
the air outlet of the vacuum generator is connected with the air pressure detection sensor through an air exhaust, and the opposite end of the air pipe, which is connected with the end of the sucker fixture, is connected with the air exhaust.
Further, at least one connecting hole pair is arranged on the air bar, and the connecting hole pair comprises a first connecting hole and a second connecting hole; the first connection hole and the second connection hole are communicated.
Furthermore, the air outlet of the vacuum generator is connected with the first connecting hole of the air bar through an elbow joint, the air outlet is positioned at the opposite side of the air bar connected with the elbow joint, and the inlet of the air pressure detection sensor is connected with the first connecting hole through a straight joint; the air pipe and the air pressure detection sensor are positioned on the same side of the air exhaust, and the opposite end of one end, connected with the sucker fixture, of the air pipe is connected with the second connecting hole.
Furthermore, the vacuum generator is positioned in the loading box, a guide rail is arranged on a bottom plate of the loading box, and a guide groove is arranged at the bottom end of the vacuum generator and matched with the guide rail, so that the vacuum generator is fixedly connected with the bottom plate of the loading box.
Furthermore, the supporting seat is arranged outside the carrying box, and the bottom plate of the carrying box is provided with the supporting seat.
According to the utility model discloses in the second aspect of the embodiment, the utility model also provides a work piece snatchs robot, it includes above-mentioned arbitrary work piece detection device that drops.
According to the above embodiments of the present invention, at least the following advantages are obtained: the utility model has the advantages that the stability and accuracy of workpiece drop detection can be greatly improved by arranging the air pressure detection sensor and the optical fiber sensor and utilizing the mode of combining optical fiber detection and air pressure detection, and the cost is lower; the utility model discloses compact structure, small and exquisite etc. characteristics still have.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the invention, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic structural diagram of a workpiece drop detection device according to an embodiment of the present invention.
Fig. 2 is a schematic view of an external structure of a workpiece drop detection device according to an embodiment of the present invention.
Fig. 3 is a side view of a suction cup fixture in a workpiece drop detection device according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of an air exhaust in the workpiece drop detection device according to an embodiment of the present invention.
Description of reference numerals:
1. a vacuum gripping assembly; 11. a vacuum generator; 12. an air tube; 13. a suction cup fixture; 131. a fixture support; 14. an electromagnetic valve; 15. air exhaust; 151. a first connection hole; 152. a second connection hole; 16. a pipe bending joint; 17. a straight-through joint;
2. an air pressure detection sensor;
3. an optical fiber sensor;
4. a carrying box; 41. a guide rail;
5. and (4) supporting the base.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the spirit of the present invention will be described in detail with reference to the accompanying drawings, and any person skilled in the art can change or modify the techniques taught by the present invention without departing from the spirit and scope of the present invention after understanding the embodiments of the present invention.
The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.
As used herein, the terms "first," "second," …, etc. do not denote any order or sequential importance, nor are they used to limit the invention, but rather are used to distinguish one element from another or from another element or operation described in the same technical language.
With respect to directional terminology used herein, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Accordingly, the directional terminology used is intended to be illustrative and is not intended to be limiting of the present teachings.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
References to "plurality" herein include "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".
Certain words used to describe the invention are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the invention.
Fig. 1 is a schematic structural diagram of a workpiece drop detection device according to an embodiment of the present invention. Fig. 2 is a schematic view of an external structure of a workpiece drop detection device according to an embodiment of the present invention.
As shown in fig. 1 and 2, the utility model provides a workpiece drop detection device includes that the vacuum snatchs subassembly 1, atmospheric pressure detection sensor 2 and optical fiber sensor 3. Wherein the vacuum gripping assembly 1 comprises a vacuum generator 11, an air tube 12 and a suction cup fixture 13. The vacuum generator 11 is connected with an external air source, the air pipe 12 is connected with the sucker fixture 13, and the vacuum generator 11, the air pipe 12 and the air pressure detection sensor 2 are communicated through an air passage. The vacuum generator 11 is used to generate vacuum to grasp a workpiece by the air tube 12 and the suction cup chuck 13. The optical fiber sensor 3 is used for detecting whether the workpiece falls for the first time, and the air pressure detection sensor 2 is used for detecting whether the workpiece falls for the second time according to the primary detection result. Through the cooperation detection of optical fiber sensor 3 and pneumatic detection sensor 2, can improve and snatch the work piece that subassembly 1 snatched to the vacuum and whether drop the stability and the rate of accuracy that detect.
Specifically, the optical fiber sensor 3 detects whether the workpiece is dropped using the workpiece gripped by the vacuum gripper assembly 1 as a light source. The air pressure detection sensor 2 detects whether the workpiece falls or not by the pressure value when the vacuum grabbing component 1 grabs the workpiece.
The optical fiber sensor 3 comprises an optical fiber amplifier and a detection probe, wherein the optical fiber amplifier is connected with the detection probe, and the optical fiber amplifier and the detection probe are matched for use.
Fig. 3 is a side view of a suction cup fixture in a workpiece drop detection device according to an embodiment of the present invention.
Specifically, as shown in fig. 3, three suction cup fixtures 13 are provided, and the three suction cup fixtures 13 are provided on the fixture support 131 at intervals of 120 ° in pairs. A detection probe in the optical fiber sensor 3 is provided at the center of the chuck holder 131 to facilitate detection of the work sucked by the suction cup chuck 13.
It should be noted that the optical fiber sensor 3 is an existing device, and may be a fiber sensor with signals ER2-22N of the boyi seminal family. The optical fiber sensor 3 has the advantages of high response speed, high sensitivity and small size.
Of course, a photoelectric sensor may be used instead of the optical fiber sensor 3 according to actual engineering requirements.
In another embodiment, the utility model provides a work piece detection device that drops still includes carries thing box 4, and wherein, vacuum generator 11, trachea 12 and pneumatic detection sensor 2 all set up on the terminal surface of carrying thing box 4 one end, and vacuum generator 11, trachea 12 and pneumatic detection sensor 2 interconnect's gas circuit setting is carrying in thing box 4. The fiber amplifier in the fiber sensor 3 is arranged on the side adjacent to the end face of the carrier box 4 where the vacuum generator 11 is arranged.
In a specific embodiment, the air inlet of the vacuum generator 11 is connected to an external air source, and the air inlet is provided with a solenoid valve 14.
The air outlet of the vacuum generator 11 is connected with the air pressure detection sensor 2 through the air exhaust 15, and the opposite end of the air pipe 12 connected with the end of the suction disc clamp 13 is connected with the air exhaust 15, so that the vacuum generator 11, the air pipe 12 and the air pressure detection sensor 2 are all in a communicated state.
When the vacuum generator 11 is vacuumized, the valve of the electromagnetic valve 14 is closed, and the vacuum generator 11 is matched to vacuumize the air passage connected with the vacuum generator 11, the air pipe 12 and the air pressure detection sensor 2, so that the sucking disc clamp 13 connected with the air pipe 12 can grab a workpiece. When the vacuum generator 11 is not vacuumized, the valve of the electromagnetic valve 14 is opened, so that the air in the external air source enters the air path connected with the vacuum generator 11, the air pipe 12 and the air pressure detection sensor 2.
Fig. 4 is a schematic structural view of an air exhaust in the workpiece drop detection device according to an embodiment of the present invention.
Specifically, as shown in fig. 4, at least one pair of coupling holes including a first coupling hole 151 and a second coupling hole 152 is provided on the gas discharge duct 15. Wherein the first connection hole 151 and the second connection hole 152 communicate.
The outlet of the vacuum generator 11 is connected to the first connection hole 151 of the air bar 15 through the elbow joint 16, and is located on the opposite side of the air bar 15 to which the elbow joint 16 is connected, and the inlet of the air pressure detecting sensor 2 is connected to the first connection hole 151 through the through joint 17. The opposite end of the air tube 12 to which the suction cup jig 13 is connected to the second connection hole 152 on the same side of the air outlet 15 as the air pressure detecting sensor 2.
In another specific embodiment, three independent pairs of connecting holes are provided on the exhaust duct 15, three vacuum generators 11, three air pipes 12 and three air pressure detecting sensors 2 are provided, and each pair of connecting holes connects one vacuum generator 11, one air pipe 12 and one air pressure detecting sensor 2.
In another embodiment, the vacuum generator 11 is located inside the carrier box 4, a guide rail 41 is provided on the bottom plate of the carrier box 4, and a guide groove is provided at the bottom end of the vacuum generator 11, and the guide groove is matched with the guide rail 41, so that the vacuum generator 11 is fixedly connected with the bottom plate of the carrier box 4.
In another embodiment, located outside the carrier 4, a support base 5 is provided on the bottom plate of the carrier 4. Can install year thing box 4 on the triaxial of robot through supporting seat 5, make the utility model provides a work piece detection device that drops can move together along with the robot, does not influence the robot again simultaneously and snatchs the work piece.
The utility model provides a work piece detection device that drops compact structure, small and exquisite through the mode that optical fiber detection and atmospheric pressure detected the combination, can promote the work piece stability and the rate of accuracy that drops the detection by a wide margin, and the cost is lower.
In another embodiment, the workpiece drop detection device provided by the present invention further comprises a signal conversion circuit board and a main controller. The vacuum generator 11, the air pressure detection sensor 2, the optical fiber sensor 3 and the electromagnetic valve 14 are all connected with the main controller through a signal conversion circuit board. The main controller controls the vacuum generator 11, the air pressure detection sensor 2, the optical fiber sensor 3 and the electromagnetic valve 14 to work.
When the workpiece falling detection device provided by the utility model is installed in the process of randomly grabbing workpieces in a deep basket, after the sucker fixture 13 sucks the workpieces, the main controller controls the optical fiber sensor 3 to detect the workpieces in priority, and judges whether the workpieces fall or not according to the detection result of the optical fiber sensor 3; if the workpiece is judged not to fall off, the robot places the workpiece normally; if the workpiece is judged to fall, the main controller controls the air pressure detection sensor 2 to detect again, and judges whether the workpiece falls or not according to the detection result of the air pressure detection sensor 2. A pressure threshold value is preset in the main controller, and if the measured value of the air pressure detection sensor 2 is greater than or equal to the preset pressure threshold value, the workpiece is judged not to fall off; if the measured value of the air pressure detection sensor 2 is smaller than the preset pressure threshold value, the workpiece is judged to fall.
Through a large amount of tests discovery, the utility model provides a work piece detection device that drops's detection rate of accuracy can reach 99%. The control mode of the main controller is simple, and the grabbing beat is not occupied.
It should be noted that the present invention provides a workpiece drop detection device that does not involve the improvement of software.
In another embodiment, the present invention further provides a workpiece grabbing robot, which includes any one of the workpiece falling detection devices described above. The workpiece drop detection device may be mounted on three axes of the robot.
The foregoing is only an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present invention should fall within the protection scope of the present invention.
Claims (10)
1. A workpiece falling detection device is characterized by comprising a vacuum grabbing component, an air pressure detection sensor and an optical fiber sensor;
the vacuum grabbing component comprises a vacuum generator, an air pipe and a sucker fixture; the vacuum generator is connected with an external air source, the air pipe is connected with the sucker fixture, and the vacuum generator, the air pipe and the air pressure detection sensor are communicated through an air passage;
the vacuum generator is used for generating vacuum so as to grab a workpiece through the air pipe and the sucker fixture; the optical fiber sensor is used for detecting whether the workpiece falls for the first time, and the air pressure detection sensor is used for detecting whether the workpiece falls for the second time.
2. The workpiece drop detection device according to claim 1, further comprising a carrying box, wherein the vacuum generator, the air pipe and the air pressure detection sensor are all arranged on an end face of one end of the carrying box, and an air path connecting the vacuum generator, the air pipe and the air pressure detection sensor is arranged in the carrying box; the optical fiber sensor comprises an optical fiber amplifier and a detection probe, wherein the optical fiber amplifier is arranged on the side surface adjacent to the end surface of the object carrying box provided with the vacuum generator.
3. The workpiece drop detection device as recited in claim 2, wherein three suction cup clamps are provided, and the three suction cup clamps are arranged on the clamp bracket at intervals of 120 ° in pairs.
4. The workpiece drop detection apparatus as recited in claim 3, wherein the detection probe is disposed at a center of the chuck holder.
5. The workpiece drop detection device according to claim 1 or 2, wherein an air inlet of the vacuum generator is connected to an external air source; an electromagnetic valve is arranged at the air inlet of the vacuum generator;
the air outlet of the vacuum generator is connected with the air pressure detection sensor through an air exhaust, and the opposite end of the air pipe, which is connected with the end of the sucker fixture, is connected with the air exhaust.
6. The workpiece drop detection device of claim 5, wherein the gas bar is provided with at least one pair of connection holes, the pair of connection holes comprising a first connection hole and a second connection hole; the first connection hole and the second connection hole are communicated.
7. The workpiece drop detection apparatus according to claim 6, wherein the air outlet of the vacuum generator is connected to the first connection hole of the air bar through an elbow joint, which is located on the opposite side of the air bar from the side to which the elbow joint is connected, and the inlet of the air pressure detection sensor is connected to the first connection hole through a through joint; the air pipe and the air pressure detection sensor are positioned on the same side of the air exhaust, and the opposite end of one end, connected with the sucker fixture, of the air pipe is connected with the second connecting hole.
8. The workpiece falling detection device according to claim 2, wherein the vacuum generator is located inside the carrying box, a guide rail is arranged on a bottom plate of the carrying box, and a guide groove is arranged at the bottom end of the vacuum generator and is matched with the guide rail, so that the vacuum generator is fixedly connected with the bottom plate of the carrying box.
9. The workpiece drop detection apparatus according to claim 2, wherein a support base is provided on a bottom plate of the magazine, outside the magazine.
10. A workpiece gripping robot comprising a workpiece drop detection apparatus according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120818863.5U CN214924493U (en) | 2021-04-21 | 2021-04-21 | Workpiece falling detection device and workpiece grabbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120818863.5U CN214924493U (en) | 2021-04-21 | 2021-04-21 | Workpiece falling detection device and workpiece grabbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214924493U true CN214924493U (en) | 2021-11-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120818863.5U Active CN214924493U (en) | 2021-04-21 | 2021-04-21 | Workpiece falling detection device and workpiece grabbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214924493U (en) |
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2021
- 2021-04-21 CN CN202120818863.5U patent/CN214924493U/en active Active
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