An assembly line transport manipulator and its working method

Abstract

The invention discloses an assembly line transportation manipulator and its working method, comprising: a base, a support plate, an electric control manipulator, a camera, a transmission line and a pick-up station. A supporting shell is installed on the base, and an outwardly extending receiving plate is arranged on one side of the supporting shell; the transmission executive assembly includes: a fixed base block, a riser, a front and rear eccentric wheel assembly, and a transmission assembly. The electronically controlled manipulator includes: a second slider, an electric lifting assembly and a vacuum suction cup assembly. The visual inspection device includes a monocular camera arranged on one side of the electronically controlled manipulator, a laser scanning device arranged on one side of the monocular camera, and an imaging light source arranged on a turntable; the visual inspection device is connected to computer equipment through a line. According to the image positioning information fed back by the visual detection device, the present invention accurately positions and flexibly controls the lifting position of the electronically controlled manipulator, reduces damage to the workpiece and scratches on the surface of the workpiece, and reduces the rate of missing and defective products.

Description

technical field [0001] The invention belongs to the field of manipulators, in particular to an assembly line transportation manipulator and its working method. Background technique [0002] In recent years, manipulators have become the main direction of replacing manual labor. In the production process of glass sheets, due to the uneven shape of the surface of the workpiece, the hardness of the material itself, and the thickness, it is necessary for the manipulator to set different suction forces and movements according to different workpieces. High, the traditional manipulator cannot flexibly adjust the suction strength of the manipulator and the pressure on the workpiece according to the characteristics of the glass, resulting in scratches on the glass sheet or even the scrapping of the workpiece, affecting the normal operation of the production schedule. [0003] Secondly, the lack of detection mechanism to accurately locate the workpiece and conduct preliminary inspectio...

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Problems solved by technology

[0002] In recent years, manipulators have become the main direction of replacing manual labor. In the production process of glass sheets, due to the uneven shape of the surface of the workpiece, the hardness of the material itself, and the thickness, it is necessary for the manipulator to set different suction forces and movements according to different workpieces. High, the traditional manipulator cannot flexibly adjust the suction strength of the manipulator and the pressure on the workpiece according to the characteristics of the glass, resulting in scratches on the glass sheet or even the scrapping of the workpiece, which affects the normal operation of the production schedule

[0003] Secondly, the lack of a detection mechanism to accurately locate the workpiece and conduct preliminary inspections on the surface of the workpiece increases the occurrence rate of surface defects on the workpiece and affects the post-processing effect

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