A device for identifying large and small holes at the front end of an intelligent pendant

Abstract

The present invention provides a device for identifying large and small holes at the front end of an intelligent pendant, and relates to the technical field of hot-dip galvanizing industry. The device for identifying large and small holes comprises a base, a grabbing mechanical arm is arranged at the right rear end of the top of the right base, a flipping mechanism is fixedly connected between the two bases, a rotating mechanism is arranged at the top of the flipping mechanism, a first pushing mechanism is arranged at the top of the left base, and a second pushing mechanism is arranged at the top of the right base. The polyurethane wheel is driven to rotate by the first pulley and the first belt under the action of the servo motor, thereby driving the cross bar to rotate, and the rotation stops within the allowable error range of 10% after camera recognition, so that the small hole of the cross bar is approximately perpendicular to the rotating plate, and then the cross bar is sent to the top of the fixed rod through the second pulley, the second belt, the rotating arm and the flipping plate under the action of the reduction motor, and then the cross bar slides between the two V-blocks, so that the large hole of the cross bar faces downward, and the positioning is completed.

Description

Technical Field

[0001] The invention relates to the technical field of hot-dip galvanizing industry, and in particular to a device for identifying large and small holes at the front end of an intelligent pendant. Background Art

[0002] Hot-dip galvanizing is to make the molten metal react with the iron matrix to produce an alloy layer, thereby combining the matrix and the coating. Hot-dip galvanizing is to first pickle the steel parts to remove the iron oxide on the surface of the steel parts. After pickling, they are cleaned in an ammonium chloride or zinc chloride aqueous solution or a mixed ammonium chloride and zinc chloride aqueous solution tank, and then sent to the hot-dip plating tank.

[0003] After the galvanizing is completed, the crossbar needs to be placed. When placing, the size holes at the front end of the crossbar need to be identified first, and then the crossbar is placed in the order of the hole diameter. At present, the identification of the size holes of the crossbar is basically based on manual distinction, which has high labor intensity and low work efficiency. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the present invention provides a device for identifying the size holes on the front end of an intelligent pendant, which solves the problem that the identification of the size holes on the crossbar is currently basically based on manual distinction, resulting in high labor intensity.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a device for identifying the large and small holes at the front end of a smart pendant, comprising a base, a grabbing robot arm is arranged at the right rear end of the top of the base on the right side, a negative pressure suction cup is arranged at the top of the grabbing robot arm, a flipping mechanism is fixedly connected between the two bases, a rotating mechanism is arranged on the top of the flipping mechanism, a first pushing mechanism is arranged on the top of the left base, and a second pushing mechanism is arranged on the top of the right base, the two bases are fixedly connected to the middle position on the right side of the top, the output ends of the driving motors are fixedly connected to the screw rods, the screw rods are threaded with nut pairs, the tops of the nut pairs are fixedly connected to the base plate, and the middle position on the top of the base plate is fixedly connected to the second support frame.

[0008] Preferably, the first pushing mechanism and the second pushing mechanism both include a cylinder, a second fixed plate, a camera, a guide rod and a guide sleeve, the second support frame is fixedly connected to a cylinder in the middle position at the top, the output end of the cylinder is fixedly connected to the second fixed plate, the front end of the second fixed plate adjacent to the rotating mechanism is fixedly connected to a camera, and the guide sleeves are fixedly connected to the front and rear ends of the second support frame at the top adjacent to the flipping mechanism and the front and rear ends of the middle position of the top.

[0009] The transmission gear of the second end is connected with the support gear of the first end through the linking rod and the transmission gear of the second end through the linking rod.

[0010] Preferably, the rotating mechanism includes a rotating plate, a servo motor, a first pulley, a first belt, a polyurethane wheel, a first rotating rod, a driving wheel and a first support frame, the rotating plate is fixedly connected to the top of the flip plate, the first support frames are fixedly connected to the front and rear ends of the top middle of the rotating plate, the polyurethane wheels are rotatably connected to the inner sides of the first support frames, the first rotating rod is fixedly connected between the two relatively arranged polyurethane wheels, the first rotating rod is fixedly connected to the outer diameter of the first rotating rod, the servo motor is fixedly connected to the left side of the top middle of the rotating plate, the first pulley is fixedly connected to the output end of the servo motor, and the first belt is arranged between the two first pulleys.

[0011] Preferably, both front and rear ends of the top of the base are fixedly connected with slide rails, and the four corners of the bottom of the base plate are fixedly connected with sliders, and the sliders are slidably connected to the slide rails respectively.

[0012] Preferably, a cross bar is provided between two adjacent polyurethane wheels, and the front and rear ends of the cross bar are slidably connected on the turning plate.

[0013] Preferably, the rear end of one side of the base adjacent to the flipping mechanism is fixedly connected with a fixing rod, the top of the fixing rod is fixedly connected with a V-shaped block and the position of the V-shaped block corresponds to the rear end position of the flipping plate, and the two ends of the cross bar are respectively slidably connected in the V-shaped block.

[0014] Preferably, guide rods are fixedly connected to the front and rear ends of the middle position of the side of the second fixed plate opposite to the flip mechanism, and the guide rods are slidably connected to the guide sleeve.

[0015] Working principle: The crossbar is placed between the two grooves at the front end of the flipping plate, and then the first and second push mechanisms on both sides start to work. The cylinder is turned on to drive the second fixed plate to move toward the direction of the rotating mechanism respectively. The crossbar is located in the middle of the top of the rotating plate through the two second fixed plates. At the same time, the position of the large and small holes on the crossbar is captured by the camera. The reduction motor drives the second pulley to rotate, and then drives the second belt to rotate. The flipping plate is driven to move through the rotating arm. Two grooves are arranged on the flipping plate. The crossbar located in the middle of the top of the rotating plate can be moved to between the two polyurethane wheels through the front groove, and the crossbar located between the two polyurethane wheels can be moved to between the two V-blocks through the rear groove. Under the automatic action of the crossbar, the position is corrected so that the large hole of the crossbar faces downward, and the positioning is completed. Then the grabbing robot arm works to grab the crossbar located between the V-blocks for transportation through the negative pressure suction cup. Under the action of the servo motor, the polyurethane wheel is driven to rotate by the first pulley and the first belt, and the crossbar located between the two polyurethane wheels is driven to rotate by the friction force of the polyurethane wheel. At the same time, after being recognized by the camera, it stops rotating within the allowable error range of 10%, so that the small hole of the crossbar is approximately perpendicular to the rotating plate.

[0016] (III) Beneficial effects

[0017] The present invention provides a device for identifying the size of the front hole of a smart pendant. It has the following beneficial effects:

[0018] The present invention places a cross bar at the front end of the top of the rotating mechanism, and then the first pushing mechanism and the second pushing mechanism on both sides work. First, the cross bar is pushed to the middle position of the top of the rotating mechanism, and the position of the large and small holes is captured by a camera at the same time. Under the action of a servo motor, the polyurethane wheel is driven to rotate by the first pulley and the first belt, and the friction force of the polyurethane wheel drives the cross bar to rotate. After recognition by the camera, the rotation stops within the allowable error range of 10%, so that the small hole of the cross bar is approximately perpendicular to the rotating plate. Then, under the action of a reduction motor, the cross bar is sent to the top of the fixed rod via the second pulley, the second belt, the rotating arm and the flipping plate, and then the cross bar slides between the two V-blocks and is automatically adjusted to the position under the action of the cross bar so that the large hole of the cross bar faces downward, and the positioning is completed, thereby improving the degree of automation of front-end loading, minimizing the labor consumption in the loading link, improving the success rate of intelligent pendants, and reducing the difficulty of hanging. The large and small hole recognition of the cross bar is designed as an image algorithm, which is intended to capture the position of the large and small holes, and the servo motor is controlled to start and stop by electrical signals to achieve rough positioning, automatic positioning and loading operations, reduce labor costs, and improve discharge efficiency, which is worthy of vigorous promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A perspective view of the present invention;

[0020] Figure 2 It is a front view of the present invention;

[0021] Figure 3 A top view of the rotating mechanism of the present invention;

[0022] Figure 4 It is a three-dimensional diagram of the rotating mechanism of the present invention;

[0023] Figure 5 It is a side view of the turning mechanism of the present invention;

[0024] Figure 6 It is a three-dimensional diagram of the turning mechanism of the present invention;

[0025] Figure 7 It is a side view of the pushing mechanism of the present invention;

[0026] Figure 8 A three-dimensional diagram of the push-to-align mechanism of the present invention;

[0027] Fig. 9 It is a schematic diagram of the fixing rod structure of the present invention.

[0028] Among them, 1. rotating mechanism; 2. flipping mechanism; 3. first pushing mechanism; 4. second pushing mechanism; 5. fixing rod; 6. grabbing robot arm; 7. negative pressure suction cup; 8. servo motor; 9. first pulley; 10. first belt; 11. polyurethane wheel; 12. first rotating rod; 13. driving wheel; 14. first support frame; 15. reduction motor; 16. second pulley; 17. second belt; 18. rotating arm; 19. flipping plate; 20. support Support seat; 21. second rotating rod; 22. first guide wheel; 23. second guide wheel; 24. first fixed plate; 25. driving motor; 26. screw rod; 27. nut pair; 28. bottom plate; 29. ​​second supporting frame; 30. cylinder; 31. second fixed plate; 32. camera; 33. guide rod; 34. guide sleeve; 35. slider; 36. slide rail; 37. base; 38. V-block; 39. rotating plate; 40. flip plate; 41. cross bar. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Example:

[0031] like Figure 1-9As shown, an embodiment of the present invention provides a device for identifying large and small holes at the front end of a smart pendant, including a base 37, a grabbing mechanical arm 6 is arranged at the right rear end of the top of the right base 37, a negative pressure suction cup 7 is arranged at the top of the grabbing mechanical arm 6, a flipping mechanism 2 is fixedly connected between the two bases 37, a rotating mechanism 1 is arranged on the top of the flipping mechanism 2, a first pushing mechanism 3 is arranged on the top of the left base 37, and a second pushing mechanism 4 is arranged on the top of the right base 37, a driving motor 25 is fixedly connected to the middle position of the top right side of the two bases 37, the output end of the driving motor 25 is fixedly connected to a screw rod 26, a nut pair 27 is threadedly connected to the screw rod 26, the top of the nut pair 27 is fixedly connected to a bottom plate 28, and the middle position of the top of the bottom plate 28 is fixedly connected to a second support frame 29, the driving motor 25 drives the screw rod 26 to rotate, and the bottom plate 28 is driven to move through the threaded action between the nut pair 27 and the screw rod 26, and the bottom plate 28 moves while driving the slider 35 to slide in the slide rail 36.

[0032] The first pushing mechanism 3 and the second pushing mechanism 4 both include a cylinder 30, a second fixed plate 31, a camera 32, a guide rod 33 and a guide sleeve 34. The cylinder 30 is fixedly connected to the middle position of the top of the second support frame 29, and the output end of the cylinder 30 is fixedly connected to the second fixed plate 31. The front end of the second fixed plate 31 adjacent to the rotating mechanism 1 is fixedly connected to the camera 32. The front and rear ends of the side of the top of the second support frame 29 adjacent to the flipping mechanism 2 and the front and rear ends of the middle position of the top are fixedly connected to the guide sleeve 34. The cross bar 41 is placed between the two grooves at the front end of the flipping plate 19. Then the first pushing mechanism 3 and the second pushing mechanism 4 on both sides start to work, and the cylinder 30 is turned on to drive the second fixed plate 31 to move toward the direction of the rotating mechanism 1 respectively. The cross bar 41 is located in the middle position of the top of the rotating plate 39 through the two second fixed plates 31, and the position of the large and small holes on the cross bar 41 is captured by the camera 32.

[0033] The flipping mechanism 2 includes a flipping plate 40, a reduction motor 15, a second pulley 16, a second belt 17, a rotating arm 18, a flipping plate 19, a support seat 20, a second rotating rod 21, a first guide wheel 22, a second guide wheel 23 and a first fixed plate 24. The four corners of the top of the flipping plate 40 are fixedly connected to the support seat 20, and the two relatively arranged support seats 20 are rotatably connected to the second rotating rod 21. The front ends of the second rotating rods 21 penetrate the support seat 20 and are fixedly connected to the first guide wheel 22. The flipping plate 40 A reduction motor 15 is fixedly connected to the middle position of the bottom, and a second pulley 16 is fixedly connected to the output end of the reduction motor 15. A second belt 17 is arranged between the second pulley 16 and the two first guide wheels 22. A first fixed plate 24 is fixedly connected to the middle position of the front end of the top of the flip plate 40. Both sides of the front end of the first fixed plate 24 are rotatably connected to the second guide wheels 23, and the two ends of the second belt 17 pass around the second guide wheels 23 respectively. The front and rear ends of the second rotating rod 21 are fixedly connected to the rotating arms 18, and the space between the two adjacent rotating arms 18 is rotatably connected to the second guide wheels 23. The second belt 17 is driven by the reduction motor 15 to rotate, and the second belt 17 is driven to rotate, and the flipping plate 19 is driven to move by the rotating arm 18. Two grooves are arranged on the flipping plate 19, and the cross bar 41 located at the middle position of the top of the rotating plate 39 can be moved between the two polyurethane wheels 11 through the front groove, and the cross bar 41 located between the two polyurethane wheels 11 can be moved between the two V-blocks 38 through the rear groove. Under the automatic action of the cross bar 41, the position is corrected so that the large hole of the cross bar 41 faces downward, and the positioning is completed. Subsequently, the grabbing mechanical arm 6 works to grab the cross bar 41 located between the V-blocks 38 for transportation through the negative pressure suction cup 7, thereby improving the degree of automation of front-end loading, minimizing the labor consumption in the loading link, improving the success rate of intelligent pendants, and reducing the difficulty of hanging. The large and small holes of the cross bar 41 are recognized as image algorithms, which are intended to capture the positions of the large and small holes, and the servo motor 8 is controlled to start and stop through electrical signals to achieve rough positioning, automatic positioning and loading operations, reduce labor costs, and improve discharge efficiency.

[0034] The rotating mechanism 1 includes a rotating plate 39, a servo motor 8, a first pulley 9, a first belt 10, a polyurethane wheel 11, a first rotating rod 12, a driving wheel 13 and a first support frame 14. The top of the flip plate 40 is fixedly connected to the rotating plate 39, the middle of the top of the rotating plate 39 is fixedly connected to the front and rear ends of both sides, the inner side of the first support frame 14 is rotatably connected to the polyurethane wheel 11, the first rotating rod 12 is fixedly connected between the two oppositely arranged polyurethane wheels 11, and the first pulley is fixedly connected to the outer diameter of the first rotating rod 12. 9. A servo motor 8 is fixedly connected to the left side of the top middle of the rotating plate 39, and a first pulley 9 is fixedly connected to the output end of the servo motor 8. A first belt 10 is arranged between the two first pulleys 9. Under the action of the servo motor 8, the polyurethane wheel 11 is driven to rotate via the first pulley 9 and the first belt 10, and the friction force of the polyurethane wheel 11 drives the cross bar 41 located between the two polyurethane wheels 11 to rotate. At the same time, after being recognized by the camera 32, the rotation stops within the allowable error range of 10%, so that the small hole of the cross bar 41 is approximately perpendicular to the rotating plate 39.

[0035] The front and rear ends of the top of the base 37 are fixedly connected with slide rails 36 , and the four corners of the bottom of the bottom plate 28 are fixedly connected with sliders 35 , and the sliders 35 are slidably connected to the slide rails 36 .

[0036] A cross bar 41 is provided between two adjacent polyurethane wheels 11 , and the front and rear ends of the cross bar 41 are slidably connected on the turning plate 19 .

[0037] The rear end of the base 37 adjacent to the flipping mechanism 2 is fixedly connected with a fixing rod 5, the top of the fixing rod 5 is fixedly connected with a V-shaped block 38 and the position of the V-shaped block 38 corresponds to the rear end position of the flipping plate 19, and the two ends of the cross bar 41 are respectively slidably connected in the V-shaped block 38.

[0038] A guide rod 33 is fixedly connected to both the front and rear ends of the middle position of the side of the second fixed plate 31 opposite to the flip mechanism 2 , and the guide rod 33 is slidably connected to the guide sleeve 34 .

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for identifying large and small holes at the front end of a smart pendant, comprising a base (37), characterized in that: A grabbing mechanical arm (6) is arranged at the right rear end of the top of the right base (37), and a negative pressure suction cup (7) is arranged at the top of the grabbing mechanical arm (6). A flipping mechanism (2) is fixedly connected between the two bases (37), and a rotating mechanism (1) is arranged at the top of the flipping mechanism (2). A first pushing mechanism (3) is arranged at the top of the left base (37), and a second pushing mechanism (4) is arranged at the top of the right base (37). A driving motor (25) is fixedly connected to the middle position of the top right of the two bases (37), and the output end of the driving motor (25) is fixedly connected to a screw rod (26), and a nut pair (27) is threadedly connected to the screw rod (26). The top of the nut pair (27) is fixedly connected to a bottom plate (28), and the middle position of the top of the bottom plate (28) is fixedly connected to a second support frame (29); The first aligning mechanism (3) and the second aligning mechanism (4) both comprise a cylinder (30), a second fixing plate (31), a camera (32), a guide rod (33) and a guide sleeve (34); the cylinder (30) is fixedly connected to the middle position of the top of the second support frame (29); the output end of the cylinder (30) is fixedly connected to the second fixing plate (31); the front end of the second fixing plate (31) adjacent to the rotating mechanism (1) is fixedly connected to the camera (32); the front and rear ends of the top of the second support frame (29) adjacent to the flipping mechanism (2) and the front and rear ends of the middle position of the top are fixedly connected to the guide sleeve (34); The flipping mechanism (2) comprises a flipping plate (40), a reduction motor (15), a second pulley (16), a second belt (17), a rotating arm (18), a flipping plate (19), a support seat (20), a second rotating rod (21), a first guide wheel (22), a second guide wheel (23) and a first fixed plate (24); the top four corners of the flipping plate (40) are fixedly connected to the support seat (20); two oppositely arranged support seats (20) are rotatably connected to the second rotating rod (21); the front ends of the second rotating rods (21) penetrate the support seat (20) and are fixedly connected to the first guide wheel (22); the bottom of the flipping plate (40) is fixedly connected to the support seat (20); A reduction motor (15) is fixedly connected at an intermediate position, a second pulley (16) is fixedly connected to the output end of the reduction motor (15), a second belt (17) is arranged between the second pulley (16) and the two first guide wheels (22), a first fixed plate (24) is fixedly connected to the middle position of the top front end of the flip plate (40), both sides of the front end of the first fixed plate (24) are rotatably connected to the second guide wheels (23) and both ends of the second belt (17) pass around the second guide wheels (23), the front and rear ends of the second rotating rod (21) are fixedly connected to rotating arms (18), and a flip plate (19) is rotatably connected between two adjacent rotating arms (18); The rotating mechanism (1) comprises a rotating plate (39), a servo motor (8), a first pulley (9), a first belt (10), a polyurethane wheel (11), a first rotating rod (12), a driving wheel (13) and a first support frame (14); the rotating plate (39) is fixedly connected to the top of the flip plate (40); the first support frames (14) are fixedly connected to the front and rear ends of the middle of the top of the rotating plate (39); the polyurethane wheels (11) are rotatably connected to the inner side of the first support frame (14); the first rotating rod (12) is fixedly connected between two oppositely arranged polyurethane wheels (11); the first rotating rod (12) is fixedly connected to the outer diameter of the first rotating rod (12); the servo motor (8) is fixedly connected to the left side of the middle of the top of the rotating plate (39); the first pulley (9) is fixedly connected to the output end of the servo motor (8); and the first belt (10) is arranged between the two first pulleys (9).

2. The device for identifying the large and small holes at the front end of a smart pendant according to claim 1, characterized in that: The front and rear ends of the top of the base (37) are fixedly connected to slide rails (36), and the four corners of the bottom of the bottom plate (28) are fixedly connected to sliders (35), and the sliders (35) are slidably connected to the slide rails (36) respectively.

3. The device for identifying large and small holes at the front end of a smart pendant according to claim 1, characterized in that: A cross bar (41) is provided between two adjacent polyurethane wheels (11), and the front and rear ends of the cross bar (41) are slidably connected on the turning plate (19).

4. The device for identifying the large and small holes at the front end of a smart pendant according to claim 3, characterized in that: The rear end of one side of the base (37) adjacent to the turning mechanism (2) is fixedly connected to a fixing rod (5), the top end of the fixing rod (5) is fixedly connected to a V-shaped block (38), and the position of the V-shaped block (38) corresponds to the rear end position of the turning plate (19), and the two ends of the cross bar (41) are respectively slidably connected in the V-shaped block (38).

5. The device for identifying the large and small holes at the front end of a smart pendant according to claim 2, characterized in that: A guide rod (33) is fixedly connected to both the front and rear ends of the middle position of the side of the second fixed plate (31) opposite to the turning mechanism (2), and the guide rod (33) is slidably connected to the guide sleeve (34).

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