CN114524269A - Plate conveying equipment and method based on visual monitoring and intelligent grabbing - Google Patents
Plate conveying equipment and method based on visual monitoring and intelligent grabbing Download PDFInfo
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- CN114524269A CN114524269A CN202210166801.XA CN202210166801A CN114524269A CN 114524269 A CN114524269 A CN 114524269A CN 202210166801 A CN202210166801 A CN 202210166801A CN 114524269 A CN114524269 A CN 114524269A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 17
- 230000000007 visual effect Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims description 14
- 238000009434 installation Methods 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims description 22
- 230000007246 mechanism Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000252253 Catostomus Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0028—Force sensors associated with force applying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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Abstract
The invention provides a plate conveying device based on visual monitoring and intelligent grabbing, which comprises: a mounting frame; the driving component can drive the sucker components to move in a plane where the mounting frame is located relative to the mounting frame, and each sucker component can independently move relative to the mounting frame; the sucking disc subassembly includes: the suction end of the sucking disc faces downwards; the air guide cylinder is vertically arranged, and the lower end of the air guide cylinder is communicated with the upper end of the sucking disc; the connecting cylinder is arranged at the upper end of the gas cylinder, is coaxial with the gas cylinder, is blocked at the upper end and is opened at the lower end, and is provided with a gas inlet which is communicated with the negative pressure device through a pipeline; the installation barrel is sleeved on the gas cylinder, coaxially arranged with the gas cylinder and connected to the driving assembly. The invention is suitable for moving the plates processed by the jacking.
Description
Technical Field
The invention relates to the field of plate processing, in particular to plate conveying equipment and a method based on visual monitoring and intelligent grabbing.
Background
In sheet material processing, in order to save materials, trepanning processing is often required, for example, stamping is taken as an example, after one material is stamped, the rest sheet material can also be stamped on the other material, so that the sheet material can be more fully utilized.
When the plates are moved among different stamping devices, because the shapes of the rest plates can be different after different trepanning processing is finished, the plates with different shapes are difficult to adapt to through the common sucker.
Disclosure of Invention
The invention mainly aims to provide a plate conveying device and a method based on visual monitoring and intelligent grabbing.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows: a panel conveying equipment based on visual monitoring intelligence snatchs includes:
a mounting frame;
the driving component can drive the sucker components to move in a plane where the mounting frame is located relative to the mounting frame, and each sucker component can independently move relative to the mounting frame; the sucking disc subassembly includes:
the suction end of the sucking disc faces downwards;
the air guide cylinder is vertically arranged, and the lower end of the air guide cylinder is communicated with the upper end of the sucking disc;
the connecting cylinder is arranged at the upper end of the gas cylinder, is coaxial with the gas cylinder, is blocked at the upper end and is opened at the lower end, and is provided with a gas inlet which is communicated with the negative pressure device through a pipeline;
the installation barrel is sleeved on the gas cylinder, coaxially arranged with the gas cylinder and connected to the driving assembly.
Preferably, the chuck assembly further comprises:
the first guide cylinder is arranged in the connecting cylinder, the upper end of the first guide cylinder is fixed on the lower surface of the top of the connecting cylinder, the lower end of the first guide cylinder extends into the gas cylinder, and the first guide cylinder and the gas cylinder are coaxially arranged;
the second guide cylinder is arranged in the gas cylinder, the upper end of the second guide cylinder is sleeved on the first guide cylinder, and the first guide cylinder can move up and down relative to the first guide cylinder so that the lower end of the second guide cylinder can extend downwards or retract upwards from the sucker;
the camera is arranged at the lower end of the second guide cylinder and shoots downwards, and at least the lower end part of the second guide cylinder is transparent.
Preferably, a circle of first flange is arranged on the outer side surface of the lower end of the first guide cylinder, a circle of second flange is arranged on the inner side surface of the upper end of the second guide cylinder, and the upper surface of the first flange can abut against the lower surface of the second flange; the first guide cylinder is sleeved with a second spring, the upper end of the second spring abuts against the lower surface of the top of the first guide cylinder, the lower end of the second spring abuts against the upper surface of the second flange, and the length of the second spring is equal to the distance between the upper surface of the second flange and the lower surface of the connecting cylinder when the second flange abuts against the first flange.
Preferably, a pressure sensor is arranged at the upper end of the mounting cylinder, the gas cylinder penetrates through the pressure sensor, a nut is arranged on the part, located above the pressure sensor, of the gas cylinder in a threaded manner, the nut can abut against the upper surface of the pressure sensor, the gas cylinder can move up and down relative to the pressure sensor, and the pressure sensor is used for detecting the acting force of the plate on the suction cup when the plate is sucked.
Preferably, a fitting part having a cross-sectional shape conforming to a cross-sectional shape of an inner surface of a mounting cylinder and being movable up and down with respect to the mounting cylinder is provided at a position of the gas cylinder near a lower end thereof, the fitting part being at least partially inserted into the mounting cylinder; the gas cylinder is sleeved with a first spring, the upper end of the first spring is abutted against the lower surface of the pressure sensor, the lower end of the first spring is abutted against the upper surface of the matching part, and the first spring is always in a compressed state.
Preferably, the driving assembly includes:
the sucker assemblies correspond to the first driving arms and the second driving arms, the extending directions of the first driving arms and the second driving arms are mutually vertical, the mounting frame is square, the first driving arms and the second driving arms are respectively parallel to two mutually vertical sides of the mounting frame, and the first driving arms are positioned above the second driving arms; the first driving arm is provided with a first sliding groove extending along the length direction of the first driving arm, the second driving arm is provided with a second sliding groove extending along the length direction of the second driving arm, the first sliding groove penetrates through the first driving arm in the vertical direction, the second sliding groove penetrates through the second driving arm in the vertical direction, the mounting barrel on each sucker assembly is respectively positioned in the corresponding first sliding groove and the corresponding second sliding groove, and the mounting barrels can slide relative to the first sliding groove and the second sliding groove; the first and second drive arms are movable in a horizontal direction perpendicular to their direction of extension, respectively.
Preferably, the driving assembly further comprises:
the first guide rods are arranged on the mounting frame, the first guide rods are parallel to each other and the moving direction of the first driving arms, two ends of each first guide rod are fixed on the mounting frame, and two ends of each driving arm are respectively arranged on one first guide rod in a sliding manner;
and the second guide rods are arranged on the mounting frame, the second guide rods are parallel to each other and parallel to the moving direction of the second driving arms, two ends of each second guide rod are fixed on the mounting frame, and two ends of each second driving arm are respectively arranged on one second guide rod in a sliding mode.
Preferably, an upper limiting ring and a lower limiting ring are respectively arranged at the upper end and the lower end of the outer side surface of the mounting cylinder, the lower surface of the upper limiting ring abuts against the upper surface of the first driving arm, and the upper surface of the lower limiting ring abuts against the lower surface of the second driving arm; the positions of the mounting cylinder, matched with the surfaces of the two sides of the first sliding groove, are arranged to be planes, and the positions of the mounting cylinder, matched with the surfaces of the two sides of the second sliding groove, are arranged to be planes.
Preferably, the driving assembly further comprises:
the first driving arm is used for driving the first driving arm to move along a preset direction, the first driving arm sequentially penetrates through the first driving arm and is connected with the first driving arm through a clutch mechanism, and the first driving arm can be in transmission connection with or disconnected from the first driving arm through the clutch mechanism;
a plurality of first steering wheels provided on an upper surface of the mounting frame, the first driving belt being sequentially wound around the plurality of first steering wheels, the plurality of first steering wheels being used to change a direction of the first driving belt;
the second driving arm is driven to move along a preset direction by a second driving belt, the second driving belt sequentially penetrates through the second driving arm and is connected with the second driving arm through a clutch mechanism, and the second driving belt can be in transmission connection with or disconnected from the second driving arm through the clutch mechanism;
and the second steering wheels are arranged on the lower surface of the mounting frame, the second driving belt is wound on the second steering wheels in sequence, and the steering wheels are used for changing the direction of the second driving belt.
The invention also provides a plate conveying method, which adopts the plate conveying equipment and is characterized by comprising the following steps:
the method comprises the following steps: the plate conveying equipment moves to a position right above the plate;
step two: the camera of each sucker component shoots the plate, and whether the plate which can be sucked up is arranged under each sucker component is judged according to the shot picture;
step three: if a sheet material which can be sucked up is arranged right below each sucker assembly, the sheet material conveying equipment moves downwards until all the sucker assemblies suck the sheet material;
step four: moving the plate conveying equipment to move the plate to a required position;
when the third step is executed, if no plate for sucking up is available under part of the sucker assemblies, the following steps are executed:
step 3.1: judging whether the sucker assembly without the plate right below can move to the position right above the plate according to the shot picture;
step 3.2: if the plate conveying equipment can be used, the driving component drives the sucker components without the plate right below to move right above the plate, and the plate conveying equipment moves downwards until all the sucker components suck the plate; if the plate conveying equipment cannot move downwards, only the suction disc assembly with the plate right below works to suck the plate;
when the fourth step is executed, the method specifically comprises the following steps:
step 4.1: firstly, moving a plate conveying device upwards for a certain distance;
and 4.2: acquiring data detected by a pressure sensor, and judging whether the force borne by a working sucker assembly exceeds a preset value or not;
step 4.3: if the preset value is not exceeded, the plate conveying equipment moves the plate to a required position; if the force borne by the partially working sucker assembly exceeds the preset value, the plate conveying equipment puts the plate back to the original position again, the sucker assembly with the force exceeding the preset value is moved according to the force borne by the plate conveying equipment, the sucker assembly with the force exceeding the preset value moves for a preset distance in the direction away from other working sucker assemblies, and after the plate conveying equipment finishes moving, the plate is sucked and moved to the required position again.
Compared with the prior art, the invention has the following beneficial effects:
the relative positions of a plurality of sucker components of the plate conveying equipment can be adjusted, and the plate conveying equipment is suitable for conveying plates in plate jacking processing.
Drawings
FIGS. 1-4 are perspective views according to the present invention;
figure 5 is a block diagram of the first drive arm or the second drive arm;
FIG. 6 is a structural view of the clutch mechanism;
figures 7 and 8 are block diagrams of the chuck assembly.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Example one
As shown in fig. 1-8, a panel conveying equipment based on visual monitoring intelligence snatchs, including installation frame 1 and a plurality of sucking disc subassemblies 3 of installing on installation frame 1, a plurality of sucking disc subassemblies 3 can move and the removal of different sucking disc subassemblies 3 is independent relatively to installation frame 1, sucking disc subassembly 3 can move to required position, sucks up the panel, sucking disc subassembly 3 adopts drive assembly 2 drive.
The sucking disc assembly 3 comprises a sucking disc 31, an air guide cylinder 32 and an installation cylinder 33, wherein the working end of the sucking disc 31 faces downwards, the air guide cylinder 32 is vertically arranged, and the lower end of the air guide cylinder is installed at the upper end of the sucking disc 31. The upper end of the air cylinder 32 is communicated with the negative pressure device through a pipeline, and then the plate is adsorbed. The mounting cylinder 33 is sleeved on the gas cylinder 32, the gas cylinder 32 is arranged on the mounting cylinder 33, and the mounting cylinder 33 is connected with the driving assembly 2.
Further, the suction cup assembly 3 further comprises a connecting cylinder 35, the connecting cylinder 35 is in threaded connection with the upper end of the gas cylinder 32, the upper end of the connecting cylinder 35 is sealed and has an open lower end, an air inlet 351 is arranged on the connecting cylinder 35, and the air inlet 351 is communicated with the negative pressure device through a pipeline.
Be provided with first guide cylinder 37 in the connecting cylinder 35, the upper end of first guide cylinder 37 is fixed on the lower surface at the top of connecting cylinder 35, the lower extreme of first guide cylinder 37 stretches into gas cylinder 32, the axis of first guide cylinder 37 respectively with the axis of connecting cylinder 35, the axis collineation of gas cylinder 32 be provided with second guide cylinder 38 in the gas cylinder 32, the upper end cover of second guide cylinder 38 on first guide cylinder 37 just first guide cylinder 38 can reciprocate relatively first guide cylinder 37 so that the lower extreme of second guide cylinder 38 can be followed sucking disc 31 is stretched out downwards or is upwards retracted.
The camera 310 is arranged in the second guide cylinder 38, the camera 310 shoots downwards, the second guide cylinder 38 is made of transparent materials, the lower end of the second guide cylinder is sealed, the plate right below the suction cup 31 can be shot through the camera 310, and then the position of the plate is judged, and whether the plate part which can be sucked is arranged right below the plate is judged. If so, the suction cups 31 do not need to be moved relative to the mounting frame 1, and when the sheet material needs to be sucked up, the whole sheet material conveying apparatus moves downward, the second guide cylinder 38 first contacts the sheet material, and the second guide cylinder 38 moves upward under the pushing action of the sheet material until the suction cups 31 suck the sheet material. The camera 310 communicates with a controller provided outside through a wire 311, and the wire 311 goes up along the second guide cylinder 38, the first guide cylinder 37 and penetrates the top of the connection cylinder 35.
Further, a ring of first flanges 312 is provided on the outer side surface of the lower end of the first guide cylinder 37, a ring of second flanges 313 is provided on the inner side surface of the upper end of the second guide cylinder 38, and the upper surface of the first flanges 312 can abut against the lower surface of the second flanges 313. The first guide cylinder 37 is sleeved with a second spring 39, the upper end of the second spring 39 abuts against the lower surface of the top of the first guide cylinder 37, the lower end of the second spring 39 abuts against the upper surface of the second flange 313, and the second spring 39 is compressed at least when the lower end of the second guide cylinder 38 is completely retracted into the suction cup 31. preferably, the length of the second spring 39 is equal to the distance between the upper surface of the second flange 313 and the lower surface of the connecting cylinder 35 when the second flange 313 abuts against the first flange 312, so that the second guide cylinder 38 can be ensured to be extended downwards from the suction cup 31 when no external force is applied, and can be ensured to be moved upwards easily when the second guide cylinder 38 abuts against a plate.
The upper end of the mounting cylinder 33 is provided with a pressure sensor 312, the gas cylinder 32 penetrates through the pressure sensor 32, a nut 36 is arranged on the part, located above the pressure sensor 312, of the gas cylinder 32 in a threaded manner, the nut 36 can abut against the upper surface of the pressure sensor 312, the gas cylinder 32 can move up and down relative to the pressure sensor 312, and therefore the force applied to the suction cup 31 can act on the pressure sensor 312. Through pressure sensor 312, can acquire the power that receives behind every sucking disc 31 absorption panel to whether can judge according to the power that every sucking disc 31 received and whether having already inhaled the panel, and compare the power that different sucking discs 31 received, judge the approximate position of panel focus, and when the power deviation that different sucking discs 31 received exceeds the default, readjust the position of sucking disc 31, make the focus of panel be located the focus department of a plurality of sucking discs 31 as far as possible, even the atress of a plurality of sucking discs 31 is as even as far as possible.
A fitting portion 321 is provided at a position near the lower end of the gas cylinder 32, a cross-sectional shape of the fitting portion 321 coincides with a cross-sectional shape of an inner surface of the mounting cylinder 33 and the fitting portion 321 is movable up and down with respect to the mounting cylinder 33, the fitting portion 321 is at least partially inserted into the mounting cylinder 33, and the fitting portion 321 can function as a guide.
The gas cylinder 32 is sleeved with a first spring 34, the upper end of the first spring 34 abuts against the lower surface of the pressure sensor 312, the lower end of the first spring 34 abuts against the upper surface of the matching part 321, the spring is always in a compressed state, so that the gas cylinder 32 always has a downward movement tendency, and the first spring 34 can also play a role in buffering.
The driving assembly 2 comprises a plurality of first driving arms 21 and a plurality of second driving arms 25, each suction cup assembly 3 corresponds to one first driving arm 21 and one second driving arm 25, the extending directions of the first driving arms 21 and the second driving arms 25 are perpendicular to each other, the mounting frame 1 is square, and the first driving arms 21 and the second driving arms 25 are respectively parallel to two perpendicular sides of the mounting frame 1. The first drive arm 21 is located above the second drive arm 25.
The first driving arm 21 is provided with a first sliding slot 211 extending along the length direction thereof, the second driving arm 25 is provided with a second sliding slot 251 extending along the length direction thereof, the first sliding slot 211 penetrates the first driving arm 21 in the up-down direction, the second sliding slot 251 penetrates the second driving arm 25 in the up-down direction, the mounting tube 33 on each suction cup assembly 3 is respectively positioned in the corresponding first sliding slot 211 and second sliding slot 251, and the mounting tube 33 is slidable relative to the first sliding slot 211 and second sliding slot 251. The first driving arm 21 and the second driving arm 25 can move along a horizontal direction perpendicular to the extending direction of the first driving arm 21, and when the first driving arm 21 moves, the first driving arm can drive the mounting tube 33 to move back and forth on the second sliding groove 251, and similarly, when the second driving arm 25 moves, the second driving arm can drive the mounting tube 33 to move in the first sliding groove 211, and further, the sucker assembly 3 can be moved.
A plurality of first guide rods 212 are disposed on the mounting frame 1, the plurality of first guide rods 212 are parallel to each other and to the moving direction of the first driving arms 21, both ends of each first guide rod 212 are fixed to the mounting frame 1, and both ends of each first driving arm 21 are slidably disposed on one first guide rod 212, respectively. Meanwhile, a plurality of second guide rods 252 are further disposed on the mounting frame 1, the plurality of second guide rods 252 are parallel to each other and parallel to the moving direction of the second driving arms 25, and both ends of each of the second driving arms 25 are slidably disposed on one of the second guide rods 252, respectively.
Further, an upper limit ring 331 and a lower limit ring 332 are respectively arranged at the upper end and the lower end of the outer side surface of the mounting cylinder 33, the lower surface of the upper limit ring 331 abuts against the upper surface of the first driving arm 21, and the upper surface of the lower limit ring 332 abuts against the lower surface of the second driving arm 25, so that the stability of the mounting cylinder 33 can be ensured.
In order to further ensure the stability of the mounting cylinder 33, the positions of the mounting cylinder 33, which are engaged with the two side surfaces of the first slide groove 211, are set to be flat, and the positions of the mounting cylinder 33, which are engaged with the two side surfaces of the second slide groove 251, are set to be flat, so that the contact area of the mounting cylinder 33 with the first slide groove 211 and the second slide groove 251 is increased.
The driving assembly 2 further comprises a first driving belt 22, the first driving belt 22 is used for driving the first driving arm 21 to move along a preset direction, the first driving belt 22 sequentially penetrates through the first driving arm 21 and is connected with the first driving arm 21 through a clutch mechanism 4, and the first driving belt 22 can drive the required first driving arm 21 to move back and forth by controlling the clutch of the clutch mechanism 4. A plurality of first turning wheels 23 are provided on the upper surface of the mounting frame 1, the first driving belt 22 is sequentially wound around the plurality of first turning wheels 23, and the plurality of first turning wheels 23 are used to change the direction of the first driving belt 22. Preferably, a circle of the first mounting groove 11 is provided on the upper surface of the mounting frame 1, and the first steering wheel 23 and the first driving belt 22 are located in the first mounting groove 11. A first cover plate 13 is disposed at an opening of the first installation groove 11 to cover the first installation groove 11. A first drive motor 24 is arranged on the mounting frame 1, said first drive motor 24 being connected to one of the first deflection wheels 23, the first drive belt 22 being driven by the first drive motor 24.
The driving assembly 2 further includes a second driving belt 26, the second driving arm 25 is driven by the second driving belt 26 to move along a predetermined direction, the second driving belt 26 sequentially passes through the second driving arm 25 and is connected to the second driving arm 25 through the clutch mechanism 4, and the second driving belt 26 can drive the required second driving arm 25 to move by controlling the clutch of the clutch mechanism 4. A plurality of second steering wheels 27 are provided on the lower surface of the mounting frame 1, and a second belt 26 is sequentially wound around the plurality of second steering wheels 27. Preferably, a circle of the second mounting groove 12 is provided on the lower surface of the mounting frame 1, and the second driving belt 26 and the second diverting pulley 27 are disposed in the second mounting groove 12. A second drive motor 28 is arranged on the mounting frame 1, the second drive motor 28 is in transmission connection with one of the second steering wheels 27, and the second drive arm 25 can be driven to move by the second drive motor 28. Also, a second cover plate 14 is provided at an opening of the second mounting groove 12.
Preferably, a mounting hole 213 is formed at one end of each of the first and second drive arms 21 and 25, and the clutch mechanism 4 is disposed in the mounting hole 213. The clutch mechanism 4 includes a bottom plate 47 disposed at the bottom of the mounting hole 213, a fixed plate 43 vertically disposed on the bottom plate 47, and a movable plate 42 rotatably disposed on the bottom plate 47, wherein the first transmission belt 22 or the second transmission belt 26 can pass through a gap between the movable plate 42 and the fixed plate 43, the movable plate 42 can rotate in a direction close to or away from the fixed plate 43, and can clamp or unclamp the first transmission belt 22 or the second transmission belt 26, when clamped, the first transmission belt 22 or the second transmission belt 26 can drive the first driving arm 21 or the second driving arm 25 to move, and when unclamped, the first transmission belt 22 or the second transmission belt 26 cannot drive the first driving arm 21 or the second driving arm 25 to move.
Preferably, the movable plate 42 is disposed on the bottom plate 47 through a rotating shaft 45, and a torsion spring 46 is disposed on the rotating shaft 45, wherein the torsion spring 46 makes the movable plate 42 always have a tendency to move toward the fixed plate 43. An electromagnet 41 is disposed on the bottom plate 47 on a side opposite to the fixed plate 43 with respect to the movable plate 42, and the electromagnet 41 can attract the movable plate 42 and move the movable plate 42 away from the fixed plate 43, thereby loosening the first transmission belt 22 or the second transmission belt 26. Preferably, a plurality of pressing teeth 44 are provided on a side of the movable plate 42 facing the fixed plate 43.
Preferably, the sheet material transport device further comprises a connection mechanism 5 for connection to a further drive device, which may be mounted, for example, on the free end of a robot arm, which moves the sheet material transport device. Preferably, a first linear module 51 and a second linear module 52 may be installed on the upper side of the mounting frame 1, the second linear module 52 being disposed on the output end of the first linear module 51, and the connection mechanism 5 being disposed on the output end of the second linear module 52.
Example two
The embodiment is a use method of the first embodiment, and specifically comprises the following steps:
the method comprises the following steps: the plate conveying equipment moves to a position right above the plate;
step two: the camera 310 of each sucker component 3 shoots the plate, and whether the plate which can be sucked up is arranged right below each sucker component 3 is judged according to the shot picture;
step three: if a sheet material which can be sucked up is arranged right below each sucker assembly 3, the sheet material conveying equipment moves downwards until all the sucker assemblies 3 suck the sheet material;
step four: and moving the plate conveying equipment to move the plate to a required position.
When the third step is executed, if no plate for sucking up is available under part of the sucker assemblies 3, the following steps are executed:
step 3.1: judging whether the sucker component 3 without the plate right below can move to the position right above the plate according to the shot picture;
step 3.2: if the plate conveying equipment can be used, the driving assembly 2 drives the sucker assemblies 3 without the plate right below to move right above the plate, and the plate conveying equipment moves downwards until all the sucker assemblies 3 suck the plate; if not, the board conveying device moves downwards, and only the suction cup assembly 3 with the board right below works to suck the board.
When the fourth step is executed, the method specifically comprises the following steps:
step 4.1: firstly, moving a plate conveying device upwards for a certain distance;
step 4.2: acquiring data detected by a pressure sensor, and judging whether the force borne by the working sucker component 3 exceeds a preset value or not;
step 4.3: if the preset value is not exceeded, the plate conveying equipment moves the plate to a required position; if the force that the sucking disc subassembly 3 of part work received exceeds the predetermined value, it is great for the focus deviation of panel to the suction of sucking disc subassembly 3 to panel, panel probably drops at the in-process that removes, then panel conveying equipment puts back panel to original position again, and according to the power that receives, remove the sucking disc subassembly 3 that the atress is great, the sucking disc subassembly 3 that the atress is great moves towards the direction of keeping away from sucking disc subassembly 3 of other work, make the center of the effort of sucking disc subassembly 3 be located the focus of panel as far as possible promptly, after the removal is accomplished, panel conveying equipment catches panel once more and moves the position that needs. It should be noted that the maximum suction force of the suction cup assembly 3 is determined according to the weight of the board to be processed, that is, in normal use, the selected board conveying equipment can suck up the board, and when the predetermined value is exceeded, only a slight movement is needed to make the force applied to the suction cup assembly 3 smaller than the predetermined value, and the situation that the force cannot be smaller than the predetermined value cannot occur.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A panel conveying equipment based on visual monitoring intelligence snatchs includes:
a mounting frame;
the driving component can drive the sucker components to move in a plane where the mounting frame is located relative to the mounting frame, and each sucker component can independently move relative to the mounting frame; the sucking disc subassembly includes:
the suction end of the sucking disc faces downwards;
the air guide cylinder is vertically arranged, and the lower end of the air guide cylinder is communicated with the upper end of the sucking disc;
the connecting cylinder is arranged at the upper end of the gas cylinder, is coaxial with the gas cylinder, is blocked at the upper end and is opened at the lower end, and is provided with a gas inlet which is communicated with the negative pressure device through a pipeline;
the installation barrel is sleeved on the gas cylinder, coaxially arranged with the gas cylinder and connected to the driving assembly.
2. The sheet conveying equipment based on visual monitoring intelligent grabbing of claim 1, wherein the sucker assembly further comprises:
the first guide cylinder is arranged in the connecting cylinder, the upper end of the first guide cylinder is fixed on the lower surface of the top of the connecting cylinder, the lower end of the first guide cylinder extends into the gas cylinder, and the first guide cylinder and the gas cylinder are coaxially arranged;
the second guide cylinder is arranged in the gas cylinder, the upper end of the second guide cylinder is sleeved on the first guide cylinder, and the first guide cylinder can move up and down relative to the first guide cylinder so that the lower end of the second guide cylinder can extend downwards or retract upwards from the sucker;
the camera is arranged at the lower end of the second guide cylinder and shoots downwards, and at least the lower end part of the second guide cylinder is transparent.
3. The intelligent grabbing based on visual monitoring of the plate conveying equipment according to claim 2, wherein a circle of first flange is arranged on the outer side surface of the lower end of the first guide cylinder, a circle of second flange is arranged on the inner side surface of the upper end of the second guide cylinder, and the upper surface of the first flange can abut against the lower surface of the second flange; the first guide cylinder is sleeved with a second spring, the upper end of the second spring abuts against the lower surface of the top of the first guide cylinder, the lower end of the second spring abuts against the upper surface of the second flange, and the length of the second spring is equal to the distance between the upper surface of the second flange and the lower surface of the connecting cylinder when the second flange abuts against the first flange.
4. The intelligent grabbing-based panel conveying equipment based on visual monitoring as claimed in claim 2, wherein a pressure sensor is arranged at the upper end of the mounting cylinder, the gas cylinder penetrates through the pressure sensor, a nut is arranged on the part, located above the pressure sensor, of the gas cylinder in a threaded mode, the nut can abut against the upper surface of the pressure sensor, the gas cylinder can move up and down relative to the pressure sensor, and the pressure sensor is used for detecting the acting force of the panel on the suction cup when the panel is sucked.
5. The intelligent grabbing based on visual monitoring of the board conveying equipment according to claim 4, wherein an engagement part is arranged at a position close to the lower end of the gas cylinder, the shape of the cross section of the engagement part is consistent with that of the cross section of the inner surface of the installation cylinder, the engagement part can move up and down relative to the installation cylinder, and the engagement part is at least partially inserted into the installation cylinder; the gas cylinder is sleeved with a first spring, the upper end of the first spring is abutted against the lower surface of the pressure sensor, the lower end of the first spring is abutted against the upper surface of the matching part, and the first spring is always in a compressed state.
6. The intelligent grabbing based panel conveying apparatus based on visual monitoring as claimed in claim 5, wherein the driving assembly comprises:
the sucker assemblies correspond to the first driving arms and the second driving arms, the extending directions of the first driving arms and the second driving arms are mutually vertical, the mounting frame is square, the first driving arms and the second driving arms are respectively parallel to two mutually vertical sides of the mounting frame, and the first driving arms are positioned above the second driving arms; the first driving arm is provided with a first sliding groove extending along the length direction of the first driving arm, the second driving arm is provided with a second sliding groove extending along the length direction of the second driving arm, the first sliding groove penetrates through the first driving arm in the vertical direction, the second sliding groove penetrates through the second driving arm in the vertical direction, the mounting barrel on each sucker assembly is respectively positioned in the corresponding first sliding groove and the corresponding second sliding groove, and the mounting barrels can slide relative to the first sliding groove and the second sliding groove; the first and second drive arms are movable in a horizontal direction perpendicular to their direction of extension, respectively.
7. The intelligent grabbing based panel conveying apparatus based on visual monitoring as claimed in claim 6, wherein the driving assembly further comprises:
the first guide rods are arranged on the mounting frame, the first guide rods are parallel to each other and parallel to the moving direction of the first driving arms, two ends of each first guide rod are fixed on the mounting frame, and two ends of each first driving arm are respectively arranged on one first guide rod in a sliding mode;
and the second guide rods are arranged on the mounting frame, the second guide rods are parallel to each other and the moving direction of the second driving arms, two ends of each second guide rod are fixed on the mounting frame, and two ends of each second driving arm are respectively arranged on one second guide rod in a sliding manner.
8. The sheet conveying equipment based on visual monitoring intelligent grabbing of claim 6, wherein an upper limiting ring and a lower limiting ring are respectively arranged at the upper end and the lower end of the outer side surface of the mounting cylinder, the lower surface of the upper limiting ring abuts against the upper surface of the first driving arm, and the upper surface of the lower limiting ring abuts against the lower surface of the second driving arm; the positions of the mounting cylinder, matched with the surfaces of the two sides of the first sliding groove, are arranged to be planes, and the positions of the mounting cylinder, matched with the surfaces of the two sides of the second sliding groove, are arranged to be planes.
9. The intelligent grabbing based panel conveying apparatus based on visual monitoring of claim 1, wherein the driving assembly further comprises:
the first driving arm is used for driving the first driving arm to move along a preset direction, the first driving arm sequentially penetrates through the first driving arm and is connected with the first driving arm through a clutch mechanism, and the first driving arm can be in transmission connection with or disconnected from the first driving arm through the clutch mechanism;
a plurality of first steering wheels provided on an upper surface of the mounting frame, the first driving belt being sequentially wound around the plurality of first steering wheels, the plurality of first steering wheels being used to change a direction of the first driving belt;
the second driving arm is driven to move along a preset direction by a second driving belt, the second driving belt sequentially penetrates through the second driving arm and is connected with the second driving arm through a clutch mechanism, and the second driving belt can be in transmission connection with or disconnected from the second driving arm through the clutch mechanism;
and the second steering wheels are arranged on the lower surface of the mounting frame, the second driving belt is wound on the second steering wheels in sequence, and the steering wheels are used for changing the direction of the second driving belt.
10. The method for conveying the plates adopts the plate conveying equipment based on the visual monitoring intelligent grabbing according to claim 4, and is characterized by comprising the following steps:
the method comprises the following steps: the plate conveying equipment moves to a position right above the plate;
step two: the camera of each sucker component shoots the plate, and whether the plate which can be sucked up is arranged under each sucker component is judged according to the shot picture;
step three: if a sheet material which can be sucked up is arranged right below each sucker assembly, the sheet material conveying equipment moves downwards until all the sucker assemblies suck the sheet material;
step four: moving the plate conveying equipment to move the plate to a required position;
when the third step is executed, if no plate for sucking up is available under part of the sucker assemblies, the following steps are executed:
step 3.1: judging whether the sucker assembly without the plate right below can move to the position right above the plate according to the shot picture;
step 3.2: if the plate conveying equipment can be used, the driving assembly drives the sucker assemblies without the plate right below to move right above the plate, and the plate conveying equipment moves downwards until all the sucker assemblies suck the plate; if the plate conveying equipment cannot move downwards, only the suction disc assembly with the plate right below works to suck the plate;
when the fourth step is executed, the method specifically comprises the following steps:
step 4.1: firstly, moving a plate conveying device upwards for a certain distance;
step 4.2: acquiring data detected by a pressure sensor, and judging whether the force borne by a working sucker component exceeds a preset value or not;
step 4.3: if the preset value is not exceeded, the plate conveying equipment moves the plate to a required position; if the force borne by the partially working sucker assembly exceeds the preset value, the plate conveying equipment puts the plate back to the original position again, the sucker assembly with the force exceeding the preset value is moved according to the force borne by the plate conveying equipment, the sucker assembly with the force exceeding the preset value moves for a preset distance in the direction away from other working sucker assemblies, and after the plate conveying equipment finishes moving, the plate is sucked and moved to the required position again.
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| CN202210166801.XA CN114524269B (en) | 2022-02-23 | 2022-02-23 | Board conveying equipment and method based on visual monitoring intelligent grabbing |
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| CN202210166801.XA CN114524269B (en) | 2022-02-23 | 2022-02-23 | Board conveying equipment and method based on visual monitoring intelligent grabbing |
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| CN114524269B (en) | 2024-01-05 |
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Denomination of invention: A sheet metal conveying equipment and method based on visual monitoring and intelligent grasping Granted publication date: 20240105 Pledgee: Xiamen Haicang Sub branch of Agricultural Bank of China Co.,Ltd. Pledgor: XIAMEN LAIMAN NEW MATERIAL TECHNOLOGY CO.,LTD. Registration number: Y2024980011403 |