Shaft part matrix moving picking and placing device and positioning correction control method thereof
By combining the positioning control module and the flexible gripping mechanism, the problems of low accuracy and low efficiency in the matrix picking and placing of shaft parts are solved, realizing efficient, accurate and non-destructive matrix picking and placing of shaft parts, thereby improving production efficiency and workpiece quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-30
- Publication Date
- 2026-03-13
AI Technical Summary
In existing technologies, the matrix movement and placement of shaft parts has low precision and low efficiency, and it is impossible to achieve efficient and accurate full-matrix adaptive placement while ensuring zero damage to the workpiece surface. In particular, there is a lack of dedicated flexible gripping and coordinate self-correction methods for hollow shaft parts.
A matrix moving and picking device for shaft parts, including a positioning control module, a horizontal moving mechanism, a vertical driving mechanism, and a flexible gripping mechanism, is adopted. It uses a ball screw module driven by a servo motor to achieve two-dimensional movement, combined with airbag fingers for flexible internal support gripping, and achieves precise positioning through three-point teaching and coordinate correction algorithms.
It significantly improves production efficiency and pick-and-place accuracy, protects workpiece quality, enhances adaptability, optimizes production processes, reduces costs, and achieves efficient, precise, and non-destructive matrix pick-and-place of shaft parts.
Smart Images
Figure CN121651114A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of shaft parts picking and placing technology, and particularly relates to a matrix moving picking and placing device for shaft parts and its positioning correction control method. Background Technology
[0002] Shaft parts, as typical workpieces in the field of machining, require frequent handling and positioning in automated loading, unloading, inspection and assembly processes.
[0003] Currently, conventional gripping methods mostly employ rigid mechanical grippers or pneumatic external clamps, directly contacting the outer wall or inner hole of the part. During high-speed or high-frequency operations, this can easily cause scratches, indentations, or even deformation on the workpiece surface. This is especially problematic for parts with high surface quality requirements or thin-walled hollow parts, as such damage directly affects the finished product yield and dimensional accuracy. On the other hand, while using matrix pallets for batch loading can increase storage capacity, due to installation position deviations, mechanical wear from long-term use, and slight deformation caused by temperature and humidity changes, the actual row and column axes of the matrix pallet often exhibit parallel offsets or rotational tilts compared to the preset machine coordinate system, resulting in systematic positional errors. Traditional teaching methods only calibrate a few points, making it difficult to cover the entire matrix position. This leads to the accumulation of errors when gripping workpieces in different rows and columns, resulting in missed gripping, misalignment, or collision risks, severely restricting the cycle time and stability of automated production lines.
[0004] While some existing technologies employ visual correction or complex multi-axis linkage solutions, these systems are costly, complex to debug, and lack dedicated flexible gripping and highly adaptable pose correction methods for hollow shaft-type parts. Consequently, they cannot achieve efficient and precise full-matrix adaptive pick-and-place while ensuring zero damage to the workpiece surface. Therefore, there is an urgent need to develop a dedicated device and method that combines flexible gripping functionality with coordinate self-correction capabilities to overcome these technical bottlenecks. Summary of the Invention
[0005] To address the problems of low accuracy, low efficiency, and inability to guarantee zero damage to the workpiece surface in existing matrix-moving and placing devices for shaft parts, this invention proposes a matrix-moving and placing device for shaft parts, comprising a positioning control module, a horizontal moving mechanism, a vertical driving mechanism, and a flexible gripping mechanism. The positioning control module is electrically connected to the horizontal moving mechanism, the vertical driving mechanism, and the flexible gripping mechanism. The horizontal moving mechanism includes a first linear module and a second linear module arranged perpendicularly to each other. A second module fixing seat is provided on the second linear module. A second module base is provided on the first linear module. A supporting column is provided between the second module fixing seat and the second module base. The second linear module is positioned above the first linear module via the supporting column. The first linear module is equipped with a first servo motor at one end; the first linear module is driven by the first servo motor, and the bottom end of the support column is fixedly connected to the slide of the first linear module via the base of the second module, which is used to drive the second linear module to move along the Y-axis; the second linear module is equipped with a second servo motor at one end; the second linear module is driven by the second servo motor; the vertical drive mechanism is provided on the slide of the second linear module, which is used to drive the flexible gripping mechanism connected thereto to move along the X-axis; the vertical drive mechanism is a slide cylinder, the cylinder body of which is fixed on the slide of the second linear module, and the piston rod extends vertically downward; The first linear module is equipped with a photoelectric limit sensor on its slide. The second linear module is equipped with a photoelectric limit sensor on its slide. The flexible gripping mechanism includes airbag fingers and an airbag fixing plate. The airbag fixing plate is fixedly connected to the piston rod end of the slide cylinder through the airbag fixing plate. The airbag fingers are installed on the airbag fixing plate and are connected to an air source. The airbag fingers expand and contract radially by inflating and deflating the air to adapt to the inner hole size of hollow shaft-type parts and perform flexible internal support gripping. The positioning control module is electrically connected to the first servo motor, the second servo motor, the slide cylinder, and the airbag finger to achieve precise positioning and placement of workpieces at any position within the matrix tray.
[0006] According to the above-described matrix moving and picking device for shaft parts, the positioning control module includes a programmable logic controller (PLC), a first relay, a fuse Fu, a first servo driver S1, a second servo driver S2, a first relay KA01, and a second relay KA02. The first output terminal Out1 of the programmable logic controller (PLC) is electrically connected to one end of the first relay KA01; the other end of the first relay KA01 is electrically connected to one end of the slide cylinder 6 and the fuse Fu; the second output terminal Out2 of the PLC is electrically connected to one end of the second relay KA02; the other end of the second relay KA02 is electrically connected to one end of the airbag finger 7 and the fuse Fu; the other end of the fuse Fu is electrically connected to the Com terminal of the PLC. The first input terminal IN1 of the programmable logic controller (PLC) is electrically connected to one end of the negative limit signal terminal FK1 of the first module photoelectric limit sensor. The second input terminal IN2 of the programmable logic controller (PLC) is electrically connected to one end of the origin signal terminal YK1 of the first module photoelectric limit sensor. The third input terminal IN3 of the programmable logic controller (PLC) is electrically connected to one end of the positive limit signal terminal ZK1 of the first module photoelectric limit sensor. The fourth input terminal IN4 of the programmable logic controller (PLC) is electrically connected to one end of the negative limit signal terminal FK2 of the second module photoelectric limit sensor. The fifth input terminal IN5 of the programmable logic controller (PLC) is electrically connected to one end of the origin signal terminal YK2 of the second module photoelectric limit sensor. The sixth input terminal IN6 of the programmable logic controller (PLC) is electrically connected to one end of the positive limit signal terminal ZK2 of the second module photoelectric limit sensor. The seventh input terminal IN7 of the programmable logic controller (PLC) is electrically connected to one end of the feedback signal terminal HFK1 of the slide cylinder. The eighth input terminal IN8 of the programmable logic controller (PLC) is electrically connected to one end of the feedback signal terminal SFK1 of the airbag finger. The other end of the negative limit signal terminal FK1 of the first module photoelectric limit sensor, the other end of the origin signal terminal YK1 of the first module photoelectric limit sensor, the other end of the positive limit signal terminal ZK1 of the first module photoelectric limit sensor, the other end of the negative limit signal terminal FK2 of the second module photoelectric limit sensor, the other end of the origin signal terminal YK2 of the second module photoelectric limit sensor, the other end of the positive limit signal terminal ZK2 of the second module photoelectric limit sensor, the other end of the feedback signal terminal HFK1 of the slide cylinder, and the other end of the feedback signal terminal SFK1 of the airbag finger are electrically connected and then electrically connected to the Com terminal of the programmable controller PLC. The first CW pulse output port CW1 and the first CCW pulse output port CCW1 of the programmable logic controller (PLC) are electrically connected to one end of the first servo driver S1; the other end of the first servo driver S1 is electrically connected to the first servo motor. The second CW pulse output port CW2 and the second CCW pulse output port CCW2 of the programmable logic controller (PLC) are electrically connected to one end of the second servo driver S2; the other end of the second servo driver S2 is electrically connected to the second servo motor.
[0007] According to the above-described matrix moving and picking device for shaft parts, both the first linear module and the second linear module are ball screw modules.
[0008] According to the above-described matrix moving and picking device for shaft parts, the device further includes a guide rail slide arranged parallel to the first linear module; there are two support columns; there are two second module bases; the two support columns are respectively fixedly connected to the slide of the first linear module and the slider of the guide rail slide through the two second module bases.
[0009] According to the above-described matrix moving and picking device for shaft parts, the airbag fingers are made of elastic rubber or silicone material, and multiple expansion cavities that can be independently or synchronously inflated are distributed on their outer circumference to accommodate irregular or tapered inner holes.
[0010] According to the above-described matrix moving and placing device for shaft parts, the airbag fixing plate is an L-shaped quick-change joint structure, its vertical sidewall is screwed to the telescopic end of the slide cylinder, and its horizontal sidewall is provided with mounting holes for airbag fingers.
[0011] The positioning correction control method for a matrix moving and picking device for shaft-type parts described above includes the following steps: Step S1: The first linear module and the second linear module return to the origin set by the positioning control module; Step S2: Obtain the 3 vertices of the matrix tray , , The coordinates are used to correct the positional deviation of the matrix tray; Step S3: Input the target part number to be picked up or placed in the matrix tray; Step S4: Calculate the coordinate position of the target serial number part after correcting the position deviation of the matrix tray in step S2; Step S5: Control the first linear module and the second linear module to position themselves at the coordinates of the specified target part; Step S6: Control the movement of the cylinder slide and the airbag finger to move and pick up / place the target part. Step S7: Loop and Judgment: Check if the matrix tray is empty. If it is not empty, repeat steps S3-S6. If it is empty, the process ends.
[0012] According to the positioning correction control method for a matrix moving and picking device for shaft parts described above, step S2 includes the following steps: Step S2.1: Establish the coordinate matrix model: Establish a planar coordinate system XOY for the first linear module and the second linear module, where: the Y-axis represents the travel of the first linear module; the X-axis represents the travel of the second linear module; the matrix part to be taken is equivalent to a matrix tray with equal row and column spacing of i rows and j columns, and its positional relationship with the coordinate system XOY is divided into the following three cases: parallel to the coordinate system, rotated counterclockwise in the coordinate system, and rotated clockwise in the coordinate system; Step S2.2: Obtain the coordinates of the three vertices of the matrix tray and perform positioning coordinate correction; Select 3 vertices from the four vertices of the matrix tray. , , , serving as teaching points for the matrix tray; where P2 and P3 are not adjacent; The airbag fingers are moved sequentially by the programmable logic controller (PLC). , , At these three grab points, the coordinates of these three grab points are recorded. , , The input is sent to the programmable logic controller (PLC).
[0013] According to the positioning correction control method of the matrix moving and picking device for shaft parts described above, in step S4: calculate the coordinates of the target sequence part in the matrix tray of row i and column j. ; a. When the matrix tray is parallel to the coordinate axes, i.e., the slope of the line connecting P1 and P2. When =0,
[0014]
[0015] in: ; b. When the matrix tray rotates counterclockwise, i.e., the slope of the line connecting P1 and P2. When >0,
[0016]
[0017] in: ; c. When the matrix tray rotates clockwise, i.e., the slope of the line connecting P1 and P2. <0:
[0018]
[0019] In the above formula:
[0020]
[0021]
[0022]
[0023]
[0024]
[0025]
[0026]
[0027]
[0028] According to the positioning correction control method of the matrix moving and picking device for shaft parts described above, in step S6: the positioning control module drives the first servo motor and the second servo motor to position the flexible gripping mechanism directly above the target serial number part based on the coordinate position of the target serial number part after the position deviation of the correction matrix tray is calculated in step S4, then controls the slide cylinder to descend, then inflates the airbag finger to expand it and internally supports the inner hole of the target serial number part, and finally lifts the slide cylinder to complete the gripping.
[0029] The beneficial effects of this invention are as follows: 1. Significantly improves production efficiency and capacity. This invention utilizes a servo motor and ball screw module for rapid positioning and smooth operation of the two-dimensional moving platform; the slide cylinder enables rapid lifting and lowering; and the airbag finger inflation and deflation response is fast. The entire pick-and-place cycle is short. Simultaneously, through three-point teaching, it quickly adapts to matrix trays of various sizes and specifications, reducing the long downtime for debugging caused by fine-tuning the matrix tray position in traditional equipment, effectively improving the overall utilization rate of the equipment and the overall production line capacity.
[0030] 2. Significantly improves pick-and-place accuracy and work quality. Traditional manual or simple mechanical positioning is affected by operator skill and fatigue, making it difficult to guarantee accuracy. This invention adopts a servo closed-loop control system, combined with a high-precision linear module and photoelectric limit feedback, to achieve micron-level repeatability positioning accuracy. The three-point coordinate correction algorithm can automatically compensate for positional and angular deviations in pallet placement, ensuring precise alignment with the workpiece's inner hole every time it is picked up. This avoids collisions, drops, or pick-up failures caused by inaccurate positioning, greatly improving the consistency and reliability of operations.
[0031] 3. Effectively protects workpiece quality and achieves non-destructive gripping. For hollow, thin-walled, or precision-machined shaft parts, traditional external grippers are prone to causing gripping marks or deformation. This invention innovatively uses flexible air-cushioned fingers for internal support gripping. After inflation, the elastic material evenly conforms to the inner wall of the hole, resulting in a large force-bearing area, low pressure, and flexible contact, completely eliminating the risk of surface damage and deformation. Especially for tapered or irregular inner holes, the air-cushion's adaptive deformation capability ensures gripping stability and workpiece integrity, making it particularly suitable for handling precision parts with high-quality requirements.
[0032] 4. Enhanced Adaptability. Many existing specialized automated equipment lack flexibility, requiring redesign of fixtures or extensive adjustments to the mechanical structure when changing products or pallet specifications. This invention, through three-point teaching and a versatile airbag finger gripping method, requires only a few parameters to be input into the PLC interface, such as the number of rows and columns and spacing, and a single quick teaching operation to adapt to matrix pallets of different sizes and arrangements. This significantly shortens changeover time, lowers the technical threshold and labor intensity for operators, and enables the equipment to flexibly handle small-batch, multi-variety production modes.
[0033] 5. Optimize production processes and save manpower and overall costs. This invention replaces repetitive, highly focused manual labor that previously required skilled workers, directly saving labor costs and avoiding the risk of product scrap or equipment damage due to human error. Its high reliability reduces equipment failures and maintenance time. Simultaneously, non-destructive gripping reduces workpiece rework or scrap rates. Highly efficient continuous operation reduces work-in-process inventory and waiting time between processes, optimizing production cycle time. Production costs are significantly reduced. Attached Figure Description
[0034] Figure 1 This is a schematic diagram of the structure of a matrix moving and picking device for shaft-type parts according to the present invention.
[0035] Figure 2 This is a partial enlarged view along direction A of a structural schematic diagram of a matrix moving and picking device for shaft-type parts according to the present invention.
[0036] Figure 3 This is a circuit diagram of the positioning control module of a matrix moving and picking device for shaft-type parts according to the present invention.
[0037] Figure 4 This is a schematic diagram illustrating the steps of a positioning correction control method for a matrix moving and picking device for shaft-type parts according to the present invention.
[0038] Figure 5 Let the slope of the line connecting the two vertices P1 and P2 of the matrix tray be... A schematic diagram of the matrix tray in the coordinate system when =0.
[0039] Figure 6 Let the slope of the line connecting the two vertices P1 and P2 of the matrix tray be... A schematic diagram of the matrix tray in the coordinate system when >0.
[0040] Figure 7 Let the slope of the line connecting the two vertices P1 and P2 of the matrix tray be... A schematic diagram of the matrix tray in the coordinate system when <0.
[0041] Figure 8 Let the slope of the line connecting the two vertices P1 and P2 of the matrix tray be... A schematic diagram of the three vertices P1P2P3 of the matrix tray in the coordinate system when =0.
[0042] Figure 9 Let the slope of the line connecting the two vertices P1 and P2 of the matrix tray be... A schematic diagram of the three vertices P1, P2, and P3 of the matrix tray in the coordinate system when >0.
[0043] Figure 10 Let the slope of the line connecting the two vertices P1 and P2 of the matrix tray be... A schematic diagram of the three vertices P1, P2, and P3 of the matrix tray in the coordinate system when <0.
[0044] Figure 11 This is a diagram illustrating the first type of capture sequence.
[0045] Figure 12 This is a diagram illustrating the second type of grabbing sequence.
[0046] Figure 13 This is a diagram illustrating the third type of fetching order.
[0047] Figure 14 This is a diagram illustrating the fourth type of grabbing sequence. Detailed Implementation
[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0049] like Figures 1 to 2 As shown: This embodiment of a matrix moving and picking device for shaft-type parts includes a horizontal moving mechanism, a support structure, a vertical driving mechanism, and a flexible gripping mechanism.
[0050] The horizontal movement mechanism includes a first linear module 1 and a second linear module 2 arranged perpendicularly to each other. In this embodiment, the first linear module 1 and the second linear module 2 preferably employ high-precision ball screw modules to ensure smooth movement and positioning accuracy.
[0051] The first linear module 1 is responsible for movement in the Y-axis direction. A first servo motor 4 is installed at one end of it as a drive source. The slide of the first linear module 1 can slide precisely along its guide rail.
[0052] The second linear module 2 is responsible for movement along the X-axis. It is mounted above the first linear module 1 via a support column 3. Specifically, the bottom end of the support column 3 is fixedly connected to the slide of the first linear module 1 via a second module base 301. The top end of the support column 3 is fixedly connected to the body of the second linear module 2 via a second module mounting base 302. Therefore, when the first servo motor 4 drives the slide of the first linear module 1 to move, the entire second linear module 2 will move along the Y-axis via the support column 3.
[0053] The second linear module 2 is driven by the second servo motor 5, enabling its slide to move independently along the X-axis.
[0054] To further enhance the motion stability of the second linear module 2 in the straddle structure, this embodiment also includes a guide rail slide 9 arranged parallel to the first linear module 1. Two support columns 3 are provided, and correspondingly, two second module bases 301 are also provided. The bottoms of the two support columns 3 are respectively connected to two second module bases 301. One second module base 301 is fixedly connected to the slide of the first linear module 1, and the other second module base 301 is fixedly connected to the slider of the guide rail slide 9. The tops of the two support columns 3 are respectively connected to two second module fixing seats 302, jointly supporting the second linear module 2. This double-column, double-support structure effectively prevents torsion or vibration that may occur during the movement of the second linear module 2, improving overall rigidity.
[0055] The vertical drive mechanism is mounted on the slide of the second linear module 2 and is responsible for the vertical lifting and lowering of the gripping mechanism. In this embodiment, a slide cylinder 6 is used as the vertical drive mechanism. Its cylinder body is directly fixed to the slide of the second linear module 2, and the piston rod extends vertically downward. The slide cylinder 6 has the characteristics of compact structure, rapid action, and moderate load capacity, making it suitable for rapid lifting and lowering operations.
[0056] The flexible gripping mechanism is connected to the end of the piston rod of the slide cylinder 6 and is the actuator that directly contacts the workpiece. It includes the airbag finger 7 and the airbag fixing plate 8.
[0057] The airbag fixing plate 8 has an L-shaped quick-change joint structure. Its vertical sidewall is connected to the end of the piston rod of the slide cylinder 6 by bolts; its horizontal sidewall is machined with mounting holes for fixing the airbag fingers 7. This quick-change structure facilitates the disassembly and replacement of the airbag fingers 7 to accommodate parts of different sizes.
[0058] The airbag finger 7 is made of highly elastic rubber or silicone material. It contains multiple independent expansion chambers distributed circumferentially inside. The airbag finger 7 is connected to an external air source, such as compressed air controlled by a solenoid valve, via an air tube. When inflated, the multiple chambers expand synchronously, causing the outer diameter of the airbag finger 7 to increase uniformly, thereby internally tightening the inner wall of shaft-like parts to achieve gripping. When deflated, the airbag contracts, releasing the workpiece. This internal support gripping method avoids surface indentations or deformation that may be caused by traditional external clamps, and is especially suitable for hollow, thin-walled, or tapered parts. The multiple chamber design also enhances adaptability to irregular inner holes.
[0059] To achieve precise motion control and limit protection, a first-module photoelectric limit sensor 110 is installed on the slide of the first linear module 1 to detect the negative limit, origin, and positive limit positions in the Y-axis direction. Similarly, a second-module photoelectric limit sensor 210 is installed on the slide of the second linear module 2 to detect the corresponding position in the X-axis direction. The slide cylinder 6 and the airbag finger 7 are respectively equipped with a slide cylinder feedback signal terminal HFK1 and an airbag finger feedback signal terminal SFK1 to feed back their status, such as descent into position or gripping completion, to the control system.
[0060] like Figure 3 As shown: The positioning control module includes a programmable logic controller (PLC). The PLC receives position signals from the first module photoelectric limit sensor 110 and the second module photoelectric limit sensor 210, as well as feedback signals from the slide cylinder 6 and the airbag finger 7. The PLC output controls the pneumatic solenoid valves of the slide cylinder 6 and the airbag finger 7 via the first relay KA01 and the second relay KA02, respectively. Simultaneously, the PLC sends pulse and direction signals to the first servo driver S1 and the second servo driver S2 through its high-speed pulse output ports: the first CW pulse output port CW1, the first CCW pulse output port CCW1, the second CW pulse output port CW2, and the second CCW pulse output port CCW2, respectively, to precisely control the operation of the first servo motor 4 and the second servo motor 5, thereby achieving precise positioning of the flexible gripping mechanism at any position within the coordinate system. A fuse Fu provides circuit protection.
[0061] like Figure 4 As shown, for a matrix tray 100 containing i rows and j columns of shaft-type parts, the correction control method for positioning, moving, picking up, and placing shaft-type parts using a shaft-type parts matrix moving and picking device according to this embodiment includes the following steps: Step S1: Coordinate system initialization: After the device is powered on, the positioning control module PLC first drives the first linear module 1 and the second linear module 2 to move their slides to their respective origin positions, thus completing the coordinate system initialization.
[0062] Step S2: Matrix tray position teaching and correction: Since the matrix tray 100 may have translational or rotational deviations when actually placed, position correction is required.
[0063] Step S2.1: Model Establishment: Establish a planar coordinate system XOY with the stroke of the first linear module 1 as the Y-axis and the stroke of the second linear module 2 as the X-axis. Idealize the matrix tray 100 as a grid with equal row and column spacing.
[0064] Step S2.2: Three-point teaching: The operator controls the airbag finger 7 to move sequentially to three pre-selected vertex positions on the tray via the PLC's human-machine interface. , , Among them, P2 and P3 are not adjacent. At each point, the encoder feedback value of the first servo motor 4 and the second servo motor 5 is recorded, i.e., the coordinate value, and input into the PLC. These three points actually define the actual position and rotation angle of the matrix tray 100 in the coordinate system.
[0065] Step S3: Target specification: The operator enters the serial number of the target part to be picked up and placed in the matrix, for example, the serial number of the part in the 2nd row and the 3rd column.
[0066] Step S4: Coordinate Calculation: The PLC automatically calculates the actual placement angle of the pallet based on the stored coordinates of the three teaching points. It determines whether the rotation is parallel, counter-clockwise, or clockwise by calculating the slope k of the line connecting P1 and P2, and applies the corresponding coordinate transformation formula. Combining the known row and column numbers i and j, row spacing dy, column spacing dx, and the target part number, these are converted into row number m and column number n, allowing for the accurate calculation of the actual coordinates of the target part's center in the current device's XOY coordinate system. Through calculation, the theoretical grid coordinates are corrected to the actual placement of the pallet.
[0067] The specific calculation process is as follows: like Figures 5 to 10 As shown: a. When matrix tray 100 is parallel to the coordinate axis, i.e., the slope of the line connecting P1 and P2. When =0,
[0068]
[0069] in: ; b. When matrix tray 100 rotates counterclockwise, i.e., the slope of the line connecting P1 and P2. When >0,
[0070]
[0071] in: ; c. When matrix tray 100 rotates clockwise, i.e., the slope of the line connecting P1 and P2. <0:
[0072]
[0073] In the above formula:
[0074]
[0075]
[0076]
[0077]
[0078]
[0079]
[0080]
[0081]
[0082]
[0083] Step S5: Precise Positioning: The PLC calculates the coordinates of the target part. The first servo motor 4 and the second servo motor 5 are controlled by the servo driver to drive the horizontal moving mechanism, which moves the flexible gripping mechanism mounted on the slide of the second linear module 2 to directly above the target serial number part.
[0084] Step S6: Grabbing and Placement Action: After positioning, the PLC controls the slide cylinder 6 to descend, causing the air spring finger 7 to insert into the inner hole of the target shaft-like part. Next, the air spring finger 7 is controlled to inflate and expand, internally supporting the inner wall of the part. Then, the slide cylinder 6 rises, lifting the part. Finally, the horizontal moving mechanism transports the part to the target location, such as another pallet or processing station, and the air spring finger 7 deflates and retracts, releasing the part, completing one grabbing and placing operation. The placement action is the reverse of this process.
[0085] Step S7: Loop Judgment: The PLC is programmed to cyclically pick up and put down parts until the entire matrix tray 100 is empty, at which point the process ends.
[0086] like Figures 11 to 14 As shown: Due to the different teaching positions of P1, P2 and P3, there are 4 grasping sequences as described in the figure.
[0087] This device enables efficient, high-precision, and flexible automatic handling of matrix-arranged shaft parts, especially hollow shaft parts.
[0088] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A matrix moving and picking device for shaft-type parts, characterized in that, The system includes a positioning control module, a horizontal movement mechanism, a vertical drive mechanism, and a flexible gripping mechanism. The positioning control module is electrically connected to the horizontal movement mechanism, the vertical drive mechanism, and the flexible gripping mechanism. The horizontal movement mechanism includes a first linear module (1) and a second linear module (2) arranged perpendicularly to each other. A second module mounting base (302) is provided on the second linear module (2). A second module base (301) is provided on the first linear module (1). A support column (3) is provided between the second module mounting base (302) and the second module base (301). The second linear module (2) is positioned above the first linear module (1) via the support column (3). The first linear module (1) is provided with a first servo motor (4) at one end; the first linear module (1) is driven by the first servo motor (4), and the bottom end of the support column (3) is fixedly connected to the slide of the first linear module (1) through the second module base (301) for driving the second linear module (2) to move along the Y-axis direction; the second linear module (2) is provided with a second servo motor (5) at one end; the second linear module (2) is driven by the second servo motor (5); the vertical drive mechanism is provided on the slide of the second linear module (2) for driving the flexible gripping mechanism connected thereon to move along the X-axis direction; the vertical drive mechanism is a slide cylinder (6), the cylinder body of which is fixed on the slide of the second linear module (2), and the piston rod extends vertically downward; The first linear module (1) is provided with a first module photoelectric limit sensor (110) on its slide. The second linear module (2) is equipped with a second module photoelectric limit sensor (210) on its slide table. The flexible gripping mechanism includes airbag fingers (7) and airbag fixing plate (8). The airbag fixing plate (8) is fixedly connected to the piston rod end of the slide cylinder (6) through the airbag fixing plate (8). The airbag fingers (7) are installed on the airbag fixing plate (8). The airbag fingers (7) are connected to the air source and achieve radial expansion and contraction by inflation and deflation to adapt to the inner hole size of hollow shaft parts and perform flexible internal support gripping. The positioning control module is electrically connected to the first servo motor (4), the second servo motor (5), the slide cylinder (6) and the airbag finger (7) to realize the precise positioning and placement of workpieces at any position in the matrix tray.
2. The matrix moving and picking device for shaft-type parts according to claim 1, characterized in that, The positioning control module includes a programmable logic controller (PLC), a first relay, a fuse Fu, a first servo driver S1, a second servo driver S2, a first relay KA01, and a second relay KA02. The first output terminal Out1 of the programmable logic controller (PLC) is electrically connected to one end of the first relay KA01; the other end of the first relay KA01 is electrically connected to one end of the slide cylinder 6 and the fuse Fu; the second output terminal Out2 of the PLC is electrically connected to one end of the second relay KA02; the other end of the second relay KA02 is electrically connected to one end of the airbag finger 7 and the fuse Fu; the other end of the fuse Fu is electrically connected to the Com terminal of the PLC. The first input terminal IN1 of the programmable logic controller (PLC) is electrically connected to one end of the negative limit signal terminal FK1 of the first module photoelectric limit sensor (110); The second input terminal IN2 of the programmable logic controller (PLC) is electrically connected to one end of the origin signal terminal YK1 of the first module photoelectric limit sensor (110); The third input terminal IN3 of the programmable logic controller (PLC) is electrically connected to one end of the positive limit signal terminal ZK1 of the first module photoelectric limit sensor (110). The fourth input terminal IN4 of the programmable logic controller (PLC) is electrically connected to one end of the negative limit signal terminal FK2 of the second module photoelectric limit sensor (210). The fifth input terminal IN5 of the programmable logic controller (PLC) is electrically connected to one end of the origin signal terminal YK2 of the second module photoelectric limit sensor (210); The sixth input terminal IN6 of the programmable logic controller (PLC) is electrically connected to one end of the positive limit signal terminal ZK2 of the second module photoelectric limit sensor (210); The seventh input terminal IN7 of the programmable logic controller (PLC) is electrically connected to one end of the feedback signal terminal HFK1 of the slide cylinder (6); The eighth input terminal IN8 of the programmable logic controller (PLC) is electrically connected to one end of the feedback signal terminal SFK1 of the airbag finger (7); The other end of the negative limit signal terminal FK1 of the first module photoelectric limit sensor (110), the other end of the origin signal terminal YK1 of the first module photoelectric limit sensor (110), the other end of the positive limit signal terminal ZK1 of the first module photoelectric limit sensor (110), the other end of the negative limit signal terminal FK2 of the second module photoelectric limit sensor (210), the other end of the origin signal terminal YK2 of the second module photoelectric limit sensor (210), the other end of the positive limit signal terminal ZK2 of the second module photoelectric limit sensor (210), the other end of the feedback signal terminal HFK1 of the slide cylinder (6), and the other end of the feedback signal terminal SFK1 of the airbag finger (7) are electrically connected and then electrically connected to the Com terminal of the programmable controller PLC. The first CW pulse output port CW1 and the first CCW pulse output port CCW1 of the programmable logic controller (PLC) are electrically connected to one end of the first servo driver S1; the other end of the first servo driver S1 is electrically connected to the first servo motor (4). The second CW pulse output port CW2 and the second CCW pulse output port CCW2 of the programmable controller PLC are electrically connected to one end of the second servo driver S2; the other end of the second servo driver S2 is electrically connected to the second servo motor (5).
3. The matrix moving and picking device for shaft-type parts according to claim 2, characterized in that, Both the first linear module (1) and the second linear module (2) are ball screw modules.
4. The matrix moving and picking device for shaft-type parts according to claim 3, characterized in that, The device also includes a guide rail slide (9) arranged parallel to the first linear module (1); there are two support columns (3); there are two second module bases (301); the two support columns (3) are respectively fixedly connected to the slide of the first linear module (1) and the slider of the guide rail slide (9) through the two second module bases (301).
5. The matrix moving and picking device for shaft-type parts according to claim 4, characterized in that, The airbag finger (7) is made of elastic rubber or silicone material, and has multiple expansion cavities that can be inflated independently or simultaneously distributed on its outer circumference to accommodate irregular or tapered inner holes.
6. The matrix moving and picking device for shaft-type parts according to claim 5, characterized in that, The airbag fixing plate (8) is an L-shaped quick-connect joint structure. Its vertical sidewall is screwed to the telescopic end of the slide cylinder (6), and its horizontal sidewall is provided with mounting holes for airbag fingers (7).
7. The positioning correction control method for a matrix moving and picking device for shaft-type parts according to claim 2 or 6, characterized in that, Includes the following steps: Step S1: The first linear module (1) and the second linear module (2) return to the origin set by the positioning control module; Step S2: Obtain the coordinates of the three vertices P1(x1, y1), P2(x2, y2), and P3(x3, y3) of the matrix tray (100) and correct the positional deviation of the matrix tray (100); Step S3: Input the target part number to be picked up or placed in the matrix tray (100); Step S4: Calculate the coordinate position of the target serial number part after correcting the position deviation of the matrix tray in step S2; Step S5: Control the first linear module (1) and the second linear module (2) to position themselves at the coordinates of the specified target part; Step S6: Control the movement of the cylinder slide and the airbag finger to move and pick up / place the target part. Step S7: Loop and judgment: Check if the matrix tray (100) is empty. If it is not empty, repeat steps S3-S6. If it is empty, the process ends.
8. The positioning correction control method for a matrix moving and picking device for shaft parts according to claim 7, characterized in that, Step S2 includes the following steps: Step S2.1: Establish the coordinate matrix model: Establish a planar coordinate system XOY for the first linear module (1) and the second linear module (2), where: the Y-axis represents the travel of the first linear module (1); the X-axis represents the travel of the second linear module (2); the matrix part to be taken is equivalent to a matrix tray (100) with equal row and column spacing of i rows and j columns, and its positional relationship with the coordinate system XOY is divided into the following three cases: parallel to the coordinate system, rotated counterclockwise in the coordinate system, and rotated clockwise in the coordinate system; Step S2.2: Obtain the coordinates of the three vertices of the matrix tray and perform positioning coordinate correction; Three vertices P1(x1, y1), P2(x2, y2), and P3(x3, y3) are selected from the four vertices of the matrix tray (100) as teaching points of the matrix tray (100); where P1 is located between P2 and P3. The airbag finger (7) is controlled by the programmable logic controller (PLC) to move sequentially to the three gripping points P1 (x1, y1), P2 (x2, y2), and P3 (x3, y3), and the position coordinates of the three gripping points P1 (x1, y1), P2 (x2, y2), and P3 (x3, y3) are input into the programmable logic controller (PLC).
9. The positioning correction control method for a matrix moving and picking device for shaft-type parts according to claim 8, characterized in that, In step S4: calculate the coordinates of the target sequence part in the matrix tray (100) of row i and column j. ; a. When the matrix pallet (100) is parallel to the coordinate axis, i.e., the slope of the line connecting P1 and P2. When =0, in: ; b. When the matrix tray (100) rotates counterclockwise, i.e., the slope of the line connecting P1 and P2. When >0, in: ; c. When the matrix tray (100) rotates clockwise, i.e., the slope of the line connecting P1 and P2. <0: In the above formula: 。 10. The positioning correction control method of the matrix moving pick-and-place device for shaft parts according to claim 9, in step S6: the positioning control module drives the first servo motor (4) and the second servo motor (5) to position the flexible gripping mechanism directly above the target serial number part according to the coordinate position of the target serial number part after the position deviation of the correction matrix tray (100) calculated in step S4, then controls the slide cylinder (6) to descend, then inflates the airbag finger (7) to expand it and internally supports the inner hole of the target serial number part, and finally lifts the slide cylinder (6) to complete the gripping.