A safety picking and placing device for large thin-walled vulnerable parts

Abstract

The present invention discloses a safety picking and placing device for large thin-walled vulnerable parts, comprising: a platform assembly including a lower bottom plate and an upper bottom plate arranged oppositely for supporting a target heavy object; a grasping execution assembly for grasping the target heavy object located on the platform assembly; more than one buffer assembly located between the lower bottom plate and the upper bottom plate for adjusting the positional relationship between the lower bottom plate and the upper bottom plate and collecting the pressure signal therebetween; a displacement acquisition assembly for acquiring the relative position change relationship between the lower bottom plate and the upper bottom plate; and an interaction unit for displaying the data collected by the displacement acquisition assembly and the buffer assembly for the operator to observe. The present invention has the advantages of simple and compact structure, convenient operation, higher reliability and precision, etc.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of intelligent picking and placing devices, and particularly refers to a safe picking and placing device suitable for large-sized thin-walled and vulnerable parts. Background Art

[0002] The safe grasping and placing of objects is one of the important links in the industrial field, especially for objects such as large-sized thin-walled and vulnerable parts. At present, the devices for realizing the safe grasping function generally adopt methods such as flexible grasping and force feedback to improve the success rate of safe grasping, but generally these devices have no error correction mechanism.

[0003] Existing safe grasping devices all improve the success rate of safe grasping through ideas such as designing structures and updating algorithms. However, the fact is that no method can guarantee that the success rate of safe grasping is 100%. When the grasping is unreliable, existing safe grasping devices cannot achieve the functions of error feedback and grasping again under the premise of ensuring safety, which greatly increases the possibility of damage to the target objects (especially valuable, vulnerable or dangerous objects).

[0004] That is to say, the idea of existing safe grasping devices to achieve safe grasping is: to improve the reliability of grasping as much as possible, but in fact, no method can guarantee that every grasping is reliable. Therefore, when the grasping is unreliable, the safe grasping device must give a reminder under the premise of ensuring the safety of the target object, and then reset and execute the grasping action again.

[0005] In the execution decision of safe grasping, the following technical deficiencies exist in existing devices:

[0006] a. The basis for existing safe grasping devices to determine whether the grasping is reliable is insufficient;

[0007] Most existing safe grasping devices determine whether the grasping is reliable by measuring whether the grasping force of the end effector reaches the set value. If the set value is too small, the grasping is unreliable; if the set value is too large, the rigid end effector will damage the surface of the target object. Even if the end effector is flexible, it cannot guarantee that the grasping after the grasping force reaches the set value is reliable.

[0008] b. Existing safe grasping devices have no mechanism to judge whether the placement is reliable;

[0009] Existing safe grasping devices are limited to realizing the grasping work of target objects, but the placement of objects is also an important link in the working process of the grasping device. Obviously, the safe placement of objects is not considered, and thus it cannot be guaranteed that the end effector is completely separated from the object when placing the object, and there is a risk of damaging the object during placement. Summary of the Invention

[0010] The technical problem to be solved by the present invention lies in: aiming at the technical problems existing in the prior art, the present invention provides a safety picking and placing device for large thin-walled vulnerable parts with a simple and compact structure, easy operation, higher reliability and accuracy.

[0011] To solve the above technical problems, the present invention adopts the following technical solutions:

[0012] A safety picking and placing device for large thin-walled vulnerable parts, comprising:

[0013] A platform assembly, including a lower bottom plate and an upper bottom plate arranged oppositely, used to support the target heavy object;

[0014] A grasping execution assembly, used to grasp the target heavy object located on the platform assembly;

[0015] One or more buffer assemblies, located between the lower bottom plate and the upper bottom plate, used to adjust the positional relationship between the lower bottom plate and the upper bottom plate and collect the pressure signal therebetween;

[0016] A displacement acquisition assembly, used to acquire the relative position change relationship between the lower bottom plate and the upper bottom plate;

[0017] An interaction unit, used to display the data collected by the displacement acquisition assembly and the buffer assembly for the operator to observe.

[0018] As a further improvement of the present invention: the displacement acquisition assembly includes a pointer, a scale and an image acquisition unit, the scale is located on the side edge of one of the lower bottom plate and the upper bottom plate, and the pointer is located on the side edge of the other, and the position of the pointer corresponds to the scale to indicate a clear value; the image acquisition unit is used to perform image acquisition on the position of the pointer on the scale.

[0019] As a further improvement of the present invention: the field of view of the image acquisition unit includes the top end of the pointer and all scales, and the interaction unit displays the video feedback by the image acquisition unit and the data information of the pressure signal feedback.

[0020] As a further improvement of the present invention: the buffer assembly includes a pin, an upper flange, a compression spring, a lower flange and a pressure sensor, the upper flange, the compression spring and the lower flange are sequentially sleeved on the pin, and the pressure sensor is located at one end of the pin, used to collect the pressure signal between the lower bottom plate and the upper bottom plate.

[0021] As a further improvement of the present invention: one or more safety mechanisms are arranged between the lower bottom plate and the upper bottom plate, and the safety mechanisms are used to fix the lower bottom plate and the upper bottom plate and keep a certain distance between the lower bottom plate and the upper bottom plate.

[0022] As a further improvement of the present invention: The safety mechanism is a fixing plate, which is located on the side of the lower bottom plate and the upper bottom plate. One end of the fixing plate can be connected and locked to the lower bottom plate, and the other end can be connected and locked to the upper bottom plate.

[0023] As a further improvement of the present invention: More than one locking mechanism is provided on the upper bottom plate to lock the target heavy object to the upper bottom plate.

[0024] Compared with the prior art, the advantages of the present invention are as follows:

[0025] 1. The safety picking and placing device for large thin-walled and vulnerable parts of the present invention has a simple and compact structure, is easy to operate, has higher reliability and accuracy. It can more reliably judge whether the grasping / placing action is completed, and at the same time can protect the target item and give the operator the opportunity to grasp / place it for the second or even multiple times when unreliable grasping / placing occurs. Especially for the safe grasping and placing of large thin-walled and vulnerable parts.

[0026] 2. The safety picking and placing device for large thin-walled and vulnerable parts of the present invention uses a camera system and force sensor components to respectively determine whether the grasping / placing is reliable. Through the change of the data fed back by the force sensor, it can be judged whether the target item is reliably grasped / placed. Considering the possibility of damage to the force sensor, multiple force sensors are provided inside the device. In order to avoid the influence of the simultaneous failure of all force sensors inside the device on the normal operation of the device in extreme cases, a camera system is set up to manually judge whether the grasping / placing action is completed.

[0027] 3. The safety picking and placing device for large thin-walled and vulnerable parts of the present invention can monitor in real time whether the grasping is reliable, and at the same time feedback to the operator and assist in completing the second grasping when unreliable grasping occurs. If the second grasping is unreliable, this step is repeated until safe grasping is achieved. According to this idea, safe placing work can also be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic structural principle diagram of the present invention in a specific application example.

[0029] Figure 2 It is a schematic front-view structural principle diagram of the present invention in a specific application example.

[0030] Figure 3 It is a schematic side-view structural principle diagram of the present invention in a specific application example.

[0031] Figure 4 It is a schematic structural principle diagram of the buffer structure of the present invention in a specific application example.

[0032] Figure 5 It is a schematic flow diagram of the grasping process of the present invention in a specific application example.

[0033] Figure 6 It is a schematic flow diagram of the placement of the present invention in a specific application example.

[0034] Legend:

[0035] 101, lower bottom plate; 102, upper bottom plate; 2, safety mechanism; 3, target heavy object; 4, grasping execution component; 5, locking mechanism; 6, buffer component; 601, pin; 602, upper flange; 603, compression spring; 604, lower flange; 605, pressure sensor; 7, interaction unit; 8, image acquisition unit; 9, pointer; 10, scale. Detailed implementation mode

[0036] The following will further describe the present invention in detail with reference to the accompanying drawings of the specification and specific embodiments.

[0037] As Figures 1-4 shown, a safety picking and placing device for large thin-walled and easily damaged parts of the present invention includes:

[0038] A platform component, including a lower bottom plate 101 and an upper bottom plate 102 arranged oppositely, used to support the target heavy object 3;

[0039] A grasping execution component 4, used to grasp the target heavy object 3 located on the platform component;

[0040] One or more buffer components 6, located between the lower bottom plate 101 and the upper bottom plate 102, used to adjust the positional relationship between the lower bottom plate 101 and the upper bottom plate 102 and collect the pressure signal between the two;

[0041] A displacement acquisition component, used to collect the relative position change relationship between the lower bottom plate 101 and the upper bottom plate 102;

[0042] An interaction unit 7, used to display the data collected by the displacement acquisition component and the buffer component 6 for the operator to observe.

[0043] In a specific application example, the displacement acquisition component includes a pointer 9, a scale 10 and an image acquisition unit 8. The scale 10 is located on the side of one of the lower bottom plate 101 and the upper bottom plate 102, and the pointer 9 is located on the side of the other. The position of the pointer 9 corresponds to the scale 10 to indicate a clear value; the image acquisition unit 8 (such as a camera) is used to perform image acquisition on the position of the pointer 9 on the scale 10.

[0044] As a preferred embodiment, the field of view of the image acquisition unit 8 includes the top of the pointer 9 and all the scales 10, and the interaction unit 7 displays the video feedback by the image acquisition unit 8 and the data information of the pressure signal feedback.

[0045] In a specific application example, the buffer assembly 6 includes a pin post 601, an upper flange 602, a compression spring 603, a lower flange 604, and a pressure sensor 605. The upper flange 602, the compression spring 603, and the lower flange 604 are sequentially sleeved on the pin post 601. The pressure sensor 605 is located at one end of the pin post 601 and is used to collect the pressure signal between the lower bottom plate 101 and the upper bottom plate 102.

[0046] In a specific application example, further, one or more safety mechanisms 2 are provided between the lower bottom plate 101 and the upper bottom plate 102. The safety mechanism 2 is used to fix the lower bottom plate 101 and the upper bottom plate 102 and keep a certain distance between the lower bottom plate 101 and the upper bottom plate 102.

[0047] In a specific example, the safety mechanism 2 can adopt a fixing plate according to actual needs. The fixing plate is located on the sides of the lower bottom plate 101 and the upper bottom plate 102. One end of the fixing plate can be connected and locked to the lower bottom plate 101, and the other end can be connected and locked to the upper bottom plate 102.

[0048] In a specific application example, further, one or more locking mechanisms 5 are provided on the upper bottom plate 102 to firmly lock the target heavy object 3 to the upper bottom plate 102.

[0049] In a specific application example, the grasping execution assembly 4 can adopt one or more of a mechanical grasping method, a pneumatic locking grasping method, a hydraulic locking grasping method, and a flexible mechanism grasping method according to actual needs, as long as it can meet the requirements of grasping or releasing, and all should be within the protection scope of the present invention.

[0050] In a specific application example, the locking mechanism 5 can adopt one or more of a pin locking method, a pneumatic locking method, a hydraulic locking method, and a mechanical locking method according to actual needs, as long as it can meet the requirements of grasping or releasing, and all should be within the protection scope of the present invention.

[0051] As Figure 5 shown, it is a flowchart of the safety grasping process of the safety picking and placing device of the present invention during operation. Its detailed process includes:

[0052] Step S1: The grasping execution assembly 4 moves to the position of the target heavy object 3 and locks it, and then unlocks the safety mechanism 2 so that the upper bottom plate 102 can move relative to the lower bottom plate 101.

[0053] Step S2: Subsequently, raise the grasping and executing component 4 in the locked state to a first preset height (set according to the size and mass of the heavy object). During the process of performing this action, the operator observes the image captured by the image acquisition unit 8 (such as a camera image) and the pressure sensor data displayed on the interaction unit 7 (such as a computer interface). There is one pressure sensor in each of the four buffer mechanisms within the device to avoid misjudgment caused by sensor failure, and make two judgments: a significant drop in the value feedback by the pressure sensor and the scale change of the pointer in the camera image being the same as the elevation distance of the actuator. Only when both judgments are yes can it be considered that the grasping is reliable and the next step can be executed (the purpose of introducing the camera system is to prevent the extreme situation where all four pressure sensors are damaged simultaneously).

[0054] If one or both judgments are no, it proves that the locking of the grasping and executing component 4 is unreliable, and the grasping action needs to be performed again. The process is to drive the grasping and executing component 4 to lower the target heavy object 3 to the initial position, then lock the safety mechanism 2, and then unlock the target heavy object 3 by the grasping and executing component 4. After adjusting the position and posture of the grasping and executing component 4, the grasping process is performed again.

[0055] If both judgments are yes, it proves reliability. Drive the grasping and executing component 4 to lower the target heavy object 3 to the initial position, then lock the safety mechanism 2 and unlock the locking mechanism 5. At this time, the safe grasping action is completed, and the grasping and executing component 4 can be driven to move the target heavy object 3 to the target position.

[0056] As Figure 6 shown, the following is the flowchart of the safe placement during the working process of the safe picking and placing device of the present invention. Its detailed process includes:

[0057] Step S1: Drive the grasping and executing component 4 to move the target heavy object 3 to the position of the locking mechanism 5, then lock the locking mechanism 5 and unlock the safety mechanism 2;

[0058] Step S2: Subsequently, raise the grasping and executing component 4 in the locked state to a first preset height. During the raising process, the operator observes the image captured by the image acquisition unit 8 (such as a camera image) and the pressure sensor data displayed on the interaction unit 7 (such as a computer interface). There is one pressure sensor in each of the four buffer mechanisms within the device to avoid misjudgment caused by sensor failure, and make two judgments: a significant drop in the value feedback by the pressure sensor and the scale change of the pointer in the camera image being the same as the elevation distance of the actuator. Only when both judgments are yes can it be considered that the locking mechanism 5 is locked reliably, and the next step can be executed;

[0059] If one or both judgments are no, it proves that the locking mechanism 5 is not locked successfully, and the locking action needs to be performed again. The process is to drive the grasping actuator to lower the heavy object to the initial position, then lock the locking mechanism 5, and re - execute Step S2.

[0060] Step S3: Subsequently, drive the grasping execution component 4 to lower the target heavy object 3 to the initial position, unlock the grasping execution component 4 and raise it to the second preset height. During the raising process, the operator observes the images collected by the image acquisition unit 8 (such as a camera image) and the pressure sensor data displayed on the interaction unit 7 (such as a computer interface), and makes two judgments: the value feedback by the pressure sensor remains basically unchanged and the scale of the pointer in the camera image remains basically unchanged. Only when both judgments are yes can it be considered that the grasping execution component 4 is successfully unlocked, and then the next step is executed;

[0061] If one or both judgments are no, it proves that the gripper actuator is not successfully unlocked, and the unlocking action needs to be performed again. The process is to drive the gripper actuator to lower the heavy object to the initial position, unlock the gripper actuator, and then re-execute Step S3. If both judgments are yes, it proves that the placement is reliable, lock the safety mechanism 2, and complete the placement action.

[0062] The above is only the preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should be regarded as within the protection scope of the present invention.

Claims

1. A safety picking and placing device for large thin-walled vulnerable parts, characterized in that, Comprising: A platform component, including a relatively arranged lower base plate (101) and an upper base plate (102), for supporting a target heavy object (3); A grasping execution component (4), for grasping the target heavy object (3) located on the platform component; One or more buffer components (6), located between the lower base plate (101) and the upper base plate (102), for adjusting the positional relationship between the lower base plate (101) and the upper base plate (102) and collecting the pressure signal therebetween; A displacement acquisition component, for acquiring the relative position change relationship between the lower base plate (101) and the upper base plate (102); An interaction unit (7), for displaying the data collected by the displacement acquisition component and the buffer component (6) for the operator to observe; One or more locking mechanisms (5) are arranged on the upper base plate (102), for locking the target heavy object (3) to the upper base plate (102); When grasping the target heavy object (3), the grasping execution component (4) moves to the position of the target heavy object (3) and locks it, and then unlocks the safety mechanism (2) to enable the upper base plate (102) to move relative to the lower base plate (101); Subsequently, the grasping execution component (4) in the locked state is lifted to a first preset height. During the execution of this action, observe the picture collected by the displacement acquisition component and the pressure sensor data displayed by the interaction unit (7), and make two judgments: whether there is a significant drop in the value feedback by the pressure sensor and whether the scale change of the pointer in the picture is the same as the elevation distance of the actuator. If both judgments are yes, it is considered that the grasping is reliable and the next step is executed; If one or both judgments are no, it proves that the locking of the grasping execution component (4) is unreliable, and the grasping action needs to be performed again. The process is to drive the grasping execution component (4) to lower the target heavy object (3) to the initial position, then lock the safety mechanism (2), and then the grasping execution component (4) unlocks the target heavy object (3). After adjusting the position and posture of the grasping execution component (4), the grasping process is performed again; If both judgments are yes, it proves reliability. Drive the grasping execution component (4) to lower the target heavy object (3) to the initial position, then lock the safety mechanism (2) and unlock the locking mechanism (5). At this time, the safe grasping action ends, and the grasping execution component (4) can be driven to move the target heavy object (3) to the target position.

2. The safety picking and placing device for large thin-walled vulnerable parts according to claim 1, characterized in that, The displacement acquisition component includes a pointer (9), a scale (10) and an image acquisition unit (8). The scale (10) is located on the side of one of the lower base plate (101) and the upper base plate (102), and the pointer (9) is located on the side of the other. The position of the pointer (9) corresponds to the scale (10) to indicate a clear value; the image acquisition unit (8) is used to perform image acquisition on the position of the pointer (9) on the scale (10).

3. The safety picking and placing device for large thin-walled vulnerable parts according to claim 2, characterized in that The field of view of the image acquisition unit (8) includes the top of the pointer (9) and all the scales (10), and the interaction unit (7) displays the video feedback by the image acquisition unit (8) and the data information of the pressure signal feedback.

4. The safety picking and placing device for large thin-walled vulnerable parts according to any one of claims 1-3, characterized in that, The buffer assembly (6) includes a pin post (601), an upper flange (602), a compression spring (603), a lower flange (604), and a pressure sensor (605). The upper flange (602), the compression spring (603), and the lower flange (604) are sequentially sleeved on the pin post (601). The pressure sensor (605) is located at one end of the pin post (601) and is used to collect the pressure signal between the lower bottom plate (101) and the upper bottom plate (102).

5. The safety picking and placing device for large thin-walled vulnerable parts according to any one of claims 1-3, characterized in that, One or more safety mechanisms (2) are arranged between the lower bottom plate (101) and the upper bottom plate (102). The safety mechanism (2) is used to fix the lower bottom plate (101) and the upper bottom plate (102) and keep a certain distance between the lower bottom plate (101) and the upper bottom plate (102).

6. The safety picking and placing device for large thin-walled vulnerable parts according to claim 5, characterized in that, The safety mechanism (2) is a fixing plate. The fixing plate is located on the sides of the lower bottom plate (101) and the upper bottom plate (102). One end of the fixing plate can be connected and locked to the lower bottom plate (101), and the other end can be connected and locked to the upper bottom plate (102).

Images