Mechanical arm flexible plate non-contact carrying device

Abstract

The utility model discloses a mechanical arm flexible plate non-contact carrying device which comprises a mechanical arm body and a tail end suction carrying device, and the tail end suction carrying device comprises a deviation rectifying device, a moving assembly and an image collecting device. The deviation correcting device comprises a steel frame which is arranged in a crossed mode, a rotation driving device is arranged in the center of the steel frame and drives the steel frame to rotate, an image collecting device is arranged below the center of the steel frame, and four moving assemblies are arranged on the steel frame. Each set of moving assembly comprises a horizontal moving assembly and a vertical moving assembly, the horizontal moving assembly is installed on the steel frame and can move in the horizontal plane along the steel frame, the vertical moving assembly is installed on the horizontal moving assembly and can move in the vertical direction along the horizontal moving assembly, and a pneumatic suction cup is installed at the tail end of the vertical moving assembly.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial production, in particular to a non-contact conveying device for a flexible plate of a mechanical arm. Background Art

[0002] In the production process of industrial products, it is often necessary to suck and transport flexible sheets. Flexible sheets are a kind of industrial raw materials with a large area and a thin height. In the actual production process, due to the relatively thin structure and large area of ​​different flexible sheets, the robot arm cannot find a suitable suction point in the suction and transportation project. If the position selected is too far outside, the middle of the thin sheet will be concave. If the position selected is too far inside, the two ends will be concave. In addition, the position of the flexible sheet cannot be kept consistent and there is an angle deviation, which leads to the inability to find a suitable and effective angle for suction during the suction process. In addition, the shape and surface height of the flexible sheet are often irregular. Therefore, during the suction process of the robot arm, it cannot be guaranteed that the pneumatic suction cup at each position can have a suitable relative height with the flexible sheet, resulting in different suction forces of the pneumatic suction cups at different positions, which leads to suction failure, causing the flexible sheet to fall off and be damaged, reducing production efficiency, causing personal injury and other problems. Utility Model Content

[0003] In order to solve the problems raised by the above background technology, the utility model provides a non-contact handling device of a flexible plate with a robotic arm.

[0004] To achieve the above purpose, the utility model provides the following solutions:

[0005] A non-contact handling device for flexible plates of a robotic arm, comprising a robotic arm body and an end-suction handling device, wherein the end-suction handling device comprises a deviation correction device, a moving component and an image acquisition device;

[0006] The correction device includes a steel frame arranged in a cross shape, a rotation drive device is arranged at the center position of the steel frame, the rotation drive device drives the steel frame to rotate, and an image acquisition device is arranged below the center position of the steel frame, four sets of moving components are arranged on the steel frame, each set of moving components includes a horizontal moving component and a vertical moving component, the horizontal moving component is installed on the steel frame, and can move along the steel frame in a horizontal plane, the vertical moving component is installed on the horizontal moving component, the vertical moving component can move in a vertical direction along the horizontal moving component, and a pneumatic suction cup is installed at the end of the vertical moving component.

[0007] As a further technical solution, the horizontal moving assembly includes a horizontal linear driving device, a slide rail fixedly connected to the top of the steel frame, and a slider fixedly connected to the mounting frame. The slide rail is fixed to the steel frame by bolts, and the slider is fixedly connected to the mounting frame by bolts. The slider is driven by the horizontal linear driving device to move back and forth along the slide rail.

[0008] As a further technical solution, the horizontal linear drive device is a linear drive motor.

[0009] As a further technical solution, the vertical moving assembly includes a vertical linear drive device and a connecting rod. The vertical linear drive device is installed on the mounting frame. The end of the vertical linear drive device is connected to the connecting rod, and the connecting rod is connected to the pneumatic suction cup.

[0010] As a further technical solution, the vertical linear drive device is a linear drive motor.

[0011] As a further technical solution, the rotation drive device includes a motor and a coupling, and the rotating shaft of the motor is connected to the steel frame through the coupling to drive the steel frame to rotate.

[0012] As a further technical solution, the motor is connected to the robot body via a connecting plate.

[0013] As a further technical solution, the steel frame includes two vertically intersecting steel beams, which are connected together by hinges to form a whole, and the rotating shaft passes through the hinges and is connected to the steel frame.

[0014] As a further technical solution, the image acquisition device is a 3D camera.

[0015] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0016] The utility model obtains the image information of the flexible sheet material to be clamped by using an image acquisition device, and then the robot controls the deviation correction device and the moving component to move according to the image information. After the motor drives the steel frame to rotate to a suitable angle, the vertical moving component and the horizontal moving component at the end of the steel frame can be adjusted in the horizontal and vertical directions. The relative position of the flexible sheet material sucked by the suction cup can be changed by adjusting in the horizontal direction to achieve the suction of flexible sheets of different sizes, and prevent the flexible sheet material from being unable to be sucked due to its small size, or the pneumatic suction cup is positioned to the outside, causing the middle of the flexible sheet material to sag due to gravity and cause deformation. The vertical adjustment can be used to achieve the same relative height between a certain flexible sheet material and the suction cup at different positions, so that all suction cups have the same suction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is an overall schematic diagram of the terminal suction and handling device of the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the deviation correction device of the utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the mobile component of the utility model;

[0021] Figure 5 It is a schematic diagram of the structure of the mobile component of the utility model.

[0022] In the figure: 1, robot body; 2, end suction and handling device; 201, pneumatic suction cup; 202, 3D camera; 203, steel frame; 204, hinge; 205, L-shaped connecting plate; 206, motor; 207, rotating shaft; 208, coupling; 209, vertical moving component; 210, mounting frame; 211, slider; 212, horizontal moving component; 213, mounting frame; 214 linear drive device; 215, connecting rod; 216, slide rail;

[0023] Ⅰ. Correction device;

[0024] Ⅱ. Mobile components. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] like Figures 1 to 5 As shown, this embodiment discloses a non-contact handling device for flexible plates of a robotic arm, comprising a robotic arm body 1 and an end-suction handling device 2, wherein the end-suction handling device 2 comprises a deviation correction device I, a moving component II and a 3D camera 202;

[0027] The correcting device I includes an L-shaped connecting plate 205, a motor 206, a coupling 208, a rotating shaft 207, a hinge 204 and a steel frame 203. The L-shaped connecting plate 205 is connected to the robot arm body 1, and the motor 206 is installed on the L-shaped connecting plate 205. The rotating shaft 207 of the motor 206 is connected to the steel frame 203 through the coupling 208 to drive the steel frame 203 to rotate. The steel frame 203 includes two vertically intersecting steel beams, and the two vertically intersecting steel beams are connected together by a hinge 204 to form a whole, and the rotating shaft 207 passes through the hinge 204.

[0028] The moving assembly II includes a horizontal moving assembly 212 and a vertical moving assembly 209. The horizontal moving assembly 212 is installed on the steel frame 203 and can move in a horizontal plane along the steel frame 203. The vertical moving assembly 209 is installed on the horizontal moving assembly 212 and can move in a vertical direction along the horizontal moving assembly 212. A pneumatic suction cup 201 is installed at the end of the vertical moving assembly 209.

[0029] Furthermore, the vertical moving assembly 209 includes a linear drive device 214 and a connecting rod 215. The linear drive device 214 is mounted on the mounting frame 213. The end of the linear drive device 214 is connected to the connecting rod 215. The connecting rod 215 is connected to the pneumatic suction cup 201. The pneumatic suction cup 201 is mounted on the connecting rod 215 at the end of the vertical moving assembly through bolt connection.

[0030] Furthermore, the horizontal moving component 212 consists of a slide rail 216 fixedly connected to the top of the steel frame 203, a slider 211 fixedly connected to the mounting frame 213, and a corresponding linear drive device. The slide rail 216 is fixed to the steel frame 203 by bolts, and the slider 211 is fixedly connected to the mounting frame 213 by bolts. The slider 211 can move back and forth along the slide rail 216 under the drive of the linear drive device.

[0031] It should be noted that the two vertically intersecting steel beams of the steel frame 203 form four horizontal steel beam sections, and the four horizontal steel beam sections are perpendicular to each other. A moving component II is provided on each horizontal steel beam section. Therefore, the device includes four moving components II, that is, four suction cups.

[0032] Furthermore, the 3D camera 202 is fixedly connected to the lower part of the center of the steel frame 203 by bolts.

[0033] Furthermore, the vertical moving assembly 209 is mounted on the mounting frame 213 by bolts.

[0034] Furthermore, the motor 206 can solve the problem of the offset angle of the flexible sheet when placed by rotating, and find a suitable suction position for the pneumatic suction cup 201. The horizontal moving component 212 can adjust the position of the pneumatic suction cup 201 relative to the flexible sheet by moving in the horizontal direction, and can solve the problem of different sizes of flexible sheets. The vertical moving component 209 can solve the relative height of different positions of the flexible sheet relative to the pneumatic suction cup 201 by moving in the vertical direction, and keep the relative height consistent.

[0035] The specific working method is as follows:

[0036] First, when the corresponding suction and handling task is obtained, the three joints of the robot body 1 rotate and move respectively to the top of the flexible plate to be grasped. At this time, the 3D camera 202 of the end grasping mechanism takes a picture of the flexible plate to be grasped to obtain the point cloud information of the flexible plate, and converts the point cloud information in the camera coordinate system obtained by the 3D camera to the robot base coordinate system through the following formula:

[0037]

[0038] Where: is the point cloud position information in the robot coordinate system, is the point cloud position information in the camera coordinate system, is the hand-eye transformation matrix, is the homogeneous transformation matrix of the robot; then the robot controls the motor 206, the vertical moving component 209 and the horizontal moving component 212 to move the required distance according to the collected information, and performs suction and transportation at a suitable position and height; it should be noted that the above-mentioned conversion formula between the 3D camera and the robot base coordinate system belongs to the existing formula, and the robot controls the motor 206, the vertical moving component 209 and the horizontal moving component 212 to move the required distance according to the coordinates, which can also be completely controlled by the existing control and can be realized by the robot's internal automatic program.

[0039] In this embodiment, the motor 206 is rotated to change the angle position of the pneumatic suction cup 201 relative to the flexible sheet, so as to prevent the flexible sheet from being unable to be grasped due to the placement angle problem, and the horizontal moving component obtains a suitable length through the coordinated movement of the slide rail 216 and the slider 211, so as to absorb a larger flexible sheet or a smaller flexible sheet, so that the absorption process is more stable and the sheet will not be sunken. And the vertical moving component 215 changes the relative height of the four pneumatic suction cups 201 through the up and down movement of the linear drive device 214, so that they have the same relative height during the absorption process, and the pneumatic suction cups at the four positions have the same suction force with the flexible sheet, so as to avoid falling off due to insufficient suction force.

[0040] The horizontal moving component of this embodiment determines the horizontal position by moving the slider 211 on the slide rail 216, and the slider is connected to the mounting frame 210 by bolts, driving the mounting frame 210 to move. The vertical moving component 209 is installed on the mounting frame 210, and the connecting rod 215 at the end of the vertical moving component 209 is connected to the pneumatic suction cup 201, thereby determining the horizontal position of the suction cup.

[0041] In particular, the entire suction and handling range is determined by the rotation angle of the rotation axis contained in the conventional robot arm body 1, the lifting height of the sliding guide rail, and the size of the upper and lower arms. If the handling range of the event condition is large, the size of the upper and lower arms of the robot arm body 1 and the height of the sliding guide rail can be increased. Flexible and changeable, it can be used in a variety of complex working conditions.

[0042] In particular, the vertical moving assembly 209 is fixedly mounted on the mounting plate 213 by bolt connection, and the vertical moving assembly determines the position of the pneumatic suction cup 201 in the vertical direction by moving the linear drive device 214 to achieve an optimal suction height.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A non-contact handling device for flexible plates using a robotic arm, characterized in that: It includes a robot arm body and an end-suction and handling device, wherein the end-suction and handling device includes a deviation correction device, a moving component and an image acquisition device; The correction device includes a steel frame arranged in a cross shape, a rotation drive device is arranged at the center position of the steel frame, the rotation drive device drives the steel frame to rotate, and an image acquisition device is arranged below the center position of the steel frame, four sets of moving components are arranged on the steel frame, each set of moving components includes a horizontal moving component and a vertical moving component, the horizontal moving component is installed on the steel frame, and can move along the steel frame in a horizontal plane, the vertical moving component is installed on the horizontal moving component, the vertical moving component can move in a vertical direction along the horizontal moving component, and a pneumatic suction cup is installed at the end of the vertical moving component.

2. The non-contact handling device for flexible plates using a robotic arm as claimed in claim 1, characterized in that: The horizontal moving assembly includes a horizontal linear driving device, a slide rail fixedly connected to the top of the steel frame, and a slider fixedly connected to the mounting frame. The slide rail is fixed to the steel frame by bolts, and the slider is fixedly connected to the mounting frame by bolts. The slider is driven by the horizontal linear driving device to move back and forth along the slide rail.

3. The non-contact handling device for flexible plates using a robotic arm as claimed in claim 2, characterized in that: The horizontal linear drive device is a linear drive motor.

4. The non-contact handling device for flexible plates using a robotic arm as claimed in claim 2, characterized in that: The vertical moving assembly comprises a vertical linear drive device and a connecting rod. The vertical linear drive device is mounted on the mounting frame. The end of the vertical linear drive device is connected to the connecting rod, and the connecting rod is connected to the pneumatic suction cup.

5. The non-contact handling device for flexible plates using a robotic arm as claimed in claim 4, characterized in that: The vertical linear drive device is a linear drive motor.

6. The non-contact handling device for flexible plates using a robotic arm as claimed in claim 1, characterized in that: The rotation driving device comprises a motor and a coupling. The rotating shaft of the motor is connected to the steel frame through the coupling to drive the steel frame to rotate.

7. The non-contact handling device for flexible plates using a robot arm as claimed in claim 6, characterized in that: The motor is connected to the mechanical arm body through a connecting plate.

8. The non-contact handling device for flexible plates using a robotic arm as claimed in claim 4, characterized in that: The steel frame comprises two vertically intersecting steel beams, which are connected together through hinges to form a whole, and the rotating shaft of the motor passes through the hinge and is connected to the steel frame.

9. The non-contact handling device for flexible plates using a robotic arm as claimed in claim 1, characterized in that: The image acquisition device is a 3D camera.

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