New energy visual double-piece pneumatic gripping apparatus and gripping method thereof

Abstract

The invention discloses a new energy visual double-piece pneumatic gripping apparatus and a gripping method thereof, and the gripping apparatus comprises a frame main body; the flange plate is arranged at the top of the frame body and used for being connected with an external robot; the visual system is arranged at the bottom of the frame main body and is used for identifying the specific position of the workpiece to be grabbed; the first grabbing module is arranged on the frame main body and is used for grabbing the front beam; and the second grabbing module is arranged on the frame body and used for grabbing the inner cross beam. The automatic grabbing and positioning device has the following beneficial effects that 1, the positions of the parts are automatically recognized, accurate grabbing and positioning are conducted, and the visual intelligent production process is achieved; 2, grabbing of the two parts can be achieved at a time, the intermediate transportation time is saved, the production efficiency is improved, and the cost is reduced. And 3, due to the targeted design, firm grabbing is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and in particular to a new energy visual two-piece pneumatic gripper and a gripping method thereof. Background Art

[0002] With the rapid development of new energy vehicles, more and more visual system intelligent single-piece pneumatic grippers have been widely used. In the production process of new energy vehicles, there are many workpieces that need to be automatically grasped and transported, but currently they are all single-piece grasping, which affects the production rhythm, requires a large number of robots, and has a high production cost. Summary of the invention

[0003] According to an embodiment of the present invention, a new energy visual two-piece pneumatic gripper is provided, comprising: Framework body; A flange is provided on the top of the frame body and is used for connecting to an external robot; A visual system, which is arranged at the bottom of the frame body and is used to identify the specific position of the workpiece to be grasped; A first grabbing module, the first grabbing module is arranged on the frame body and is used to grab the front beam; The second grabbing module is arranged on the frame body and is used for grabbing the inner cross beam.

[0004] Furthermore, the first gripping module comprises: a plurality of clamping cylinders, the plurality of clamping cylinders are arranged on one side of the frame body, and two clamping claws are arranged at the output end of any clamping cylinder.

[0005] Furthermore, the first grabbing module also includes: a pushing cylinder, which is arranged on one side of the frame body, and a pushing plate is provided at the output end of the pushing cylinder.

[0006] Furthermore, the second crawling module includes: Two flip cylinders, the two flip cylinders are arranged on the other side of the frame body, and an insertion rack is arranged at the output end of any flip cylinder; Two downward pressure cylinders are arranged on the other side of the frame body, and a downward pressure block is arranged at the output end of any downward pressure cylinder.

[0007] Furthermore, a positioning pin is provided at the output end of any pressure-lowering cylinder.

[0008] Furthermore, the second gripping module also includes: two lifting cylinders, the two lifting cylinders are arranged on the other side of the frame body, and the output ends of the two lifting cylinders are both provided with vacuum suction cups.

[0009] Furthermore, a spring buffer mechanism is provided on the vacuum suction cup.

[0010] According to another embodiment of the present invention, a gripping method based on a new energy vision two-piece pneumatic gripper is provided, comprising the following steps: Connected to the robot through a flange, the robot controls the new energy vision two-piece pneumatic gripper to the grasping position of the front beam; The visual system identifies the position of the front beam, and then the robot controls multiple clamping cylinders to move to the top of the front beam based on the identified position, and drives the clamping claws to clamp the front beam through multiple clamping cylinders; The robot then controls the new energy vision two-piece pneumatic gripper to the gripping position of the inner beam; The visual system identifies the position of the front beam, and then the robot controls the insertion frame of the flip cylinder and the positioning pin of the downward pressing cylinder to be located at the insertion slot and the top of the positioning hole of the inner cross beam respectively based on the identified position; The insertion frame is driven to flip by the flip cylinder, inserted into the insertion slot of the inner beam and pressed against the top inner wall of the inner beam, the downward pressing cylinder drives the positioning pin and the downward pressing block to press down, the downward pressing block presses down the top inner wall of the inner beam, the positioning pin is inserted into the positioning hole, and the suction cup is driven by the lifting cylinder to adsorb the inner beam; The robot controls the front beam and inner beam to be grabbed and moved to the loading position; When the robot reaches the loading position of the front beam, it moves the front beam to the specified position, and then multiple clamping cylinders release the clamped front beam, and the push cylinder drives the push plate to descend and push the front beam. When the loading position of the front beam is reached, the robot moves the inner beam to the specified position, the flip cylinder drives the insertion frame to disengage from the insertion slot, the downward pressure cylinder drives the positioning pin to disengage from the positioning pin, and finally the suction cup disengages from the inner beam and no longer adsorbs.

[0011] A new energy visual two-piece pneumatic gripper and a gripping method thereof according to an embodiment of the present invention have the following beneficial effects: 1. Automatically identify the position of parts, accurately grasp and locate them, and realize visual intelligent production process 2. Two parts can be grabbed at one time, saving intermediate transportation time, improving production efficiency and reducing costs.

[0012] 3. Targeted design ensures a secure grip.

[0013] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a first stereoscopic structural schematic diagram of a new energy visual two-piece pneumatic gripper according to an embodiment of the present invention.

[0015] Figure 2It is a second three-dimensional structural schematic diagram of a new energy visual two-piece pneumatic gripper according to an embodiment of the present invention.

[0016] Figure 3 It is a schematic diagram of the three-dimensional structure of the front beam in the prior art.

[0017] Figure 4 It is a schematic diagram of the three-dimensional structure of the inner cross beam in the prior art.

[0018] Figure 5 The present invention is a flow chart of a grasping method based on a new energy vision two-piece pneumatic gripper according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0020] First, combine Figures 1 to 4 A new energy visual two-piece pneumatic gripper according to an embodiment of the present invention is described, which is used for grasping the front beam 6 and the inner cross beam 7 and has a wide range of application scenarios.

[0021] like Figures 1 to 4 As shown, a new energy visual two-piece pneumatic gripper according to an embodiment of the present invention comprises a frame body 1, a flange 2, a visual system 3, a first gripping module and a second gripping module.

[0022] Specifically, Figures 1 to 4 As shown, a flange 2 is disposed on the top of the frame body 1 for connecting to an external robot.

[0023] Specifically, Figure 1~2 As shown, the visual system 3 is arranged at the bottom of the frame body 1. The visual system 3 identifies the characteristic edge or hole of the workpiece to be grasped, and the information is transmitted to the computer for analysis and calculation to determine the exact position that the gripper should grasp.

[0024] Specifically, Figures 1 to 3 As shown, the first grabbing module is arranged on the frame body 1, and is used to grab the front beam 6. The first grabbing module comprises: a plurality of clamping cylinders 41, which are arranged on one side of the frame body 1, and two clamping claws 411 are arranged at the output end of any clamping cylinder 41.

[0025] Further, if Figures 1 to 3 As shown, the first grabbing module further includes: a pushing cylinder 42 , which is arranged on one side of the frame body 1 , and a pushing plate 421 is provided at the output end of the pushing cylinder 42 .

[0026] Specifically, Figure 1~2As shown in Figures 4 and 5, the second grabbing module is arranged on the frame body 1, and is used to grab the inner cross beam 7, and the inner cross beam 7 is provided with a positioning hole 71 and an insertion slot 72. The second grabbing module comprises: two flip cylinders 51 and two pressing cylinders 52. The two flip cylinders 51 are arranged on the other side of the frame body 1, and an insertion frame 511 is arranged at the output end of any flip cylinder 51; the two pressing cylinders 52 are arranged on the other side of the frame body 1, and a pressing block 521 is arranged at the output end of any pressing cylinder 52.

[0027] Further, if Figure 1~2 As shown, a positioning pin 522 is also provided at the output end of any pressure cylinder 52 for inserting into the positioning hole 71 of the inner cross beam 7 .

[0028] Further, if Figure 1~2 As shown, the second gripping module further includes: two lifting cylinders 53, the two lifting cylinders 53 are arranged on the other side of the frame body 1, and the output ends of the two lifting cylinders 53 are both provided with vacuum suction cups 531. The vacuum suction cups 531 are provided with spring buffer mechanisms to ensure that the vacuum suction cups 531 land softly.

[0029] Working principle: Connected to the robot through the flange 2, the robot controls the new energy vision two-piece pneumatic gripper to the grasping position of the front beam 6; The visual system 3 identifies the position of the front beam 6, and then the robot controls the multiple clamping cylinders 41 to move to the top of the front beam 6 based on the identified position, and drives the clamping claws 411 to clamp the front beam 6 through the multiple clamping cylinders 41; The robot then controls the new energy vision two-piece pneumatic gripper to the gripping position of the inner crossbeam 7; The visual system 3 identifies the position of the front beam 6, and then the robot controls the insertion frame 511 of the flip cylinder 51 and the positioning pin 522 of the pressing cylinder 52 to be located at the insertion slot 72 of the inner cross beam 7 and the top of the positioning hole 71 based on the identified position; The insertion frame 511 is driven to flip by the flip cylinder 51, inserted into the insertion slot 72 of the inner beam 7 and pressed against the top inner wall of the inner beam 7, the downward pressing cylinder 52 drives the positioning pin 522 and the downward pressing block 521 to press down, the downward pressing block 521 presses down the top inner wall of the inner beam 7, the positioning pin 522 is inserted into the positioning hole 71, and the suction cup is driven by the lifting cylinder 53 to adsorb the inner beam 7; The robot controls the front beam 6 and the inner beam 7 to be grasped to the loading position; When the loading position of the front beam 6 is reached, the robot moves the front beam 6 to the designated position, and then the plurality of clamping cylinders 41 release the clamped front beam 6, and the pushing cylinder 42 drives the pushing plate 421 to descend, pushing the front beam 6; When the loading position of the front beam 6 is reached, the robot moves the inner beam 7 to the specified position, and the turning cylinder 51 drives the insertion frame 511 to disengage from the insertion slot 72, and the pressing cylinder 52 drives the positioning pin 522 to disengage from the positioning pin 522, and finally the suction cup disengages from the inner beam 7 and no longer adsorbs.

[0030] like Figures 1 to 4 As shown, the new energy visual two-piece pneumatic gripper and the gripping method thereof according to the embodiment of the present invention have the following beneficial effects: 1. Automatically identify the position of parts, accurately grasp and locate them, and realize visual intelligent production process 2. Two parts can be grabbed at one time, saving intermediate transportation time, improving production efficiency and reducing costs.

[0031] 3. Targeted design ensures a secure grip.

[0032] The above combined with Figures 1 to 4 A new energy vision two-piece pneumatic gripper according to an embodiment of the present invention is described. Further, the present invention can also be applied to a gripping method based on a new energy vision two-piece pneumatic gripper.

[0033] like Figure 5 As shown, another embodiment of the present invention provides a grasping method based on a new energy vision double-piece pneumatic gripper, comprising the following steps: S1: connected to the robot through flange 2, and the robot controls the new energy vision two-piece pneumatic gripper to the grasping position of the front beam 6.

[0034] S2: The vision system 3 identifies the position of the front beam 6, and then the robot controls the multiple clamping cylinders 41 to move to the top of the front beam 6 based on the identified position, and drives the clamping claws 411 to clamp the front beam 6 through the multiple clamping cylinders 41.

[0035] S3: The robot then controls the new energy vision two-piece pneumatic gripper to the gripping position of the inner crossbeam 7.

[0036] S4: The visual system 3 identifies the position of the front beam 6, and then the robot controls the insertion frame 511 of the flip cylinder 51 and the positioning pin 522 of the pressing cylinder 52 to be located at the insertion groove 72 and the top of the positioning hole 71 of the inner cross beam 7 respectively based on the identified position.

[0037] S5: The insertion frame 511 is driven to flip by the flipping cylinder 51, inserted into the insertion groove 72 of the inner beam 7 and pressed against the top inner wall of the inner beam 7, the pressing cylinder 52 drives the positioning pin 522 and the pressing block 521 to press down, the pressing block 521 presses down the top inner wall of the inner beam 7, the positioning pin 522 is inserted into the positioning hole 71, and the suction cup is driven by the lifting cylinder 53 to adsorb the inner beam 7.

[0038] S6: The robot controls the front beam 6 and the inner beam 7 to be grasped to the loading position.

[0039] S7: When the loading position of the front beam 6 is reached, the robot moves the front beam 6 to the specified position, and the multiple clamping cylinders 41 release the clamped front beam 6, and the pushing cylinder 42 drives the pushing plate 421 to descend to push the front beam 6.

[0040] S8: When reaching the loading position of the front beam 6, the robot moves the inner beam 7 to the specified position, and the turning cylinder 51 drives the insertion frame 511 to disengage from the insertion slot 72, and the pressing cylinder 52 drives the positioning pin 522 to disengage from the positioning pin 522, and finally the suction cup disengages from the inner beam 7 and no longer adsorbs.

[0041] It should be noted that, in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0042] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A new energy visual two-piece pneumatic gripper, characterized in that: Include: Framework body; A flange, which is arranged on the top of the frame body and is used for connecting to an external robot; A visual system, which is arranged at the bottom of the frame body and is used to identify the specific position of the workpiece to be grasped; a first grabbing module, the first grabbing module being arranged on the frame body and being used for grabbing the front beam; A second grabbing module is provided on the frame body and is used for grabbing the inner cross beam.

2. The new energy visual two-piece pneumatic gripper as claimed in claim 1, characterized in that: The first grasping module comprises: a plurality of clamping cylinders, the plurality of clamping cylinders are arranged on one side of the frame body, and the output end of any of the clamping cylinders is provided with two clamping claws.

3. The new energy visual two-piece pneumatic gripper as claimed in claim 2, characterized in that: The first grabbing module further comprises: a pushing cylinder, which is arranged on one side of the frame body, and a pushing plate is arranged at the output end of the pushing cylinder.

4. The new energy visual two-piece pneumatic gripper as claimed in claim 1, characterized in that: The second crawling module comprises: Two flip cylinders, the two flip cylinders are arranged on the other side of the frame body, and an insertion rack is provided at the output end of any flip cylinder; Two downward pressing cylinders are arranged on the other side of the frame body, and a downward pressing block is arranged at the output end of any of the downward pressing cylinders.

5. The new energy visual two-piece pneumatic gripper as claimed in claim 4, characterized in that: The output end of any of the downward pressure cylinders is also provided with a positioning pin.

6. The new energy visual two-piece pneumatic gripper as claimed in claim 4, characterized in that: The second grabbing module further comprises: two lifting cylinders, the two lifting cylinders are arranged on the other side of the frame body, and the output ends of the two lifting cylinders are both provided with vacuum suction cups.

7. The new energy visual two-piece pneumatic gripper as claimed in claim 6, characterized in that: A spring buffer mechanism is arranged on the vacuum suction cup.

8. A grasping method based on a new energy vision double-piece pneumatic gripper, characterized in that: The following steps are included: Connected to the robot through a flange, the robot controls the new energy vision two-piece pneumatic gripper to the grasping position of the front beam; The visual system identifies the position of the front beam, and then the robot controls multiple clamping cylinders to move to the top of the front beam based on the identified position, and drives the clamping claws to clamp the front beam through the multiple clamping cylinders; The robot then controls the new energy vision two-piece pneumatic gripper to the gripping position of the inner beam; The visual system identifies the position of the front beam, and then the robot controls the insertion frame of the flip cylinder and the positioning pin of the downward pressing cylinder to be located at the insertion slot and the top of the positioning hole of the inner cross beam respectively based on the identified position; The insertion frame is driven to flip by the flip cylinder, inserted into the insertion slot of the inner beam and pressed against the top inner wall of the inner beam, the downward pressing cylinder drives the positioning pin and the downward pressing block to press down, the downward pressing block presses down the top inner wall of the inner beam, the positioning pin is inserted into the positioning hole, and the suction cup is driven by the lifting cylinder to adsorb the inner beam; The robot controls the front beam and inner beam to be grabbed and moved to the loading position; When the robot reaches the loading position of the front beam, it moves the front beam to the specified position, and then multiple clamping cylinders release the clamped front beam, and the push cylinder drives the push plate to descend and push the front beam. When the loading position of the front beam is reached, the robot moves the inner beam to the specified position, the flip cylinder drives the insertion frame to disengage from the insertion slot, the downward pressure cylinder drives the positioning pin to disengage from the positioning pin, and finally the suction cup disengages from the inner beam and no longer adsorbs.

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