Reel grabbing device

Abstract

The utility model provides a reel grabbing device which comprises a mounting seat, and a fixing plate is arranged on the mounting seat. A laser distance measuring sensor, a visual detection module and a grabbing module are arranged on the fixed plate; the laser distance measuring sensor is used for acquiring Z-direction data of reel materials; the visual detection module is used for identifying the reel material to obtain image information of the reel material, and the visual detection module is also used for processing the obtained image information of the reel material to obtain X-Y direction data of the reel material; the grabbing module is used for grabbing a reel; the mounting seat is connected with a collaborative robot, and the collaborative robot is electrically connected with the laser distance measuring sensor and the visual detection module so as to receive the Z-direction data and the X-Y-direction data; the collaborative robot is further electrically connected with the grabbing module. The reel grabbing device solves the problems that in the prior art, the labor intensity is large, the labor cost is high and the operation efficiency is low when reel type materials are manually fed.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a reel grabbing device. Background Art

[0002] In tobacco packaging workshops, loading reels is a heavy and boring job. Currently, most of the materials are loaded manually. Since reels are usually heavy and the loading channels are usually over 1.8m, the manual loading method is labor-intensive and consumes a lot of workers' physical strength. Therefore, there is an urgent need for a device that can realize the loading of reels. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide a reel grabbing device for solving the problems of high labor intensity, high labor cost and low operating efficiency in the prior art for manually loading reel-type materials.

[0004] To achieve the above-mentioned purpose and other related purposes, the utility model provides a reel grasping device, including a mounting seat, on which a fixed plate is provided; a laser ranging sensor, which is arranged on the fixed plate, and the laser ranging sensor is used to obtain the Z-direction data of the reel material; a visual detection module, which is arranged on the fixed plate, and the visual detection module is used to identify the reel material to obtain the image information of the reel material, and the visual detection module also processes the obtained image information of the reel material to obtain the XY-direction data of the reel material; a grasping module, which is arranged on the fixed plate, and the grasping module is used to grasp the reel; a collaborative robot, which is connected to the mounting seat and is electrically connected to the laser ranging sensor and the visual detection module to receive the Z-direction data and the XY-direction data; the collaborative robot is also electrically connected to the grasping module.

[0005] Preferably, the visual detection module is a camera.

[0006] Preferably, the grasping module comprises a servo motor and a three-jaw gripper, the servo motor is electrically connected to the collaborative robot, and the three-jaw gripper is transmission-connected to the servo motor.

[0007] Preferably, the laser ranging sensor is fixed on the fixing plate via a first mounting plate.

[0008] Preferably, the visual inspection module is fixed on the fixing plate via a second mounting plate.

[0009] As described above, a reel grabbing device of the utility model has the following beneficial effects: when in use, firstly, the Z-direction data of the reel material, i.e., the height coordinate, is obtained by a laser ranging sensor, and then the reel material and other debris are identified by a visual detection module, and the image information of the identified reel material is obtained, and then the visual detection module processes the obtained image information of the reel material to obtain the XY-direction data of the reel material, i.e., the horizontal position coordinate, and the laser ranging sensor sends the Z-direction data of the reel material to the collaborative robot, and the visual detection module sends the XY-direction data of the reel material to the collaborative robot, and the collaborative robot drives the grabbing module installed on the mounting seat to grab the corresponding reel based on the received Z-direction data (height coordinate) and XY-direction data (horizontal position coordinate) of the reel material, and then the grabbed reel is put on the loading channel by the collaborative robot, thereby completing the grabbing and loading of the reel. Compared with the prior art, the reel grabbing device of the utility model can realize automatic grabbing and feeding of reel materials, greatly reducing the labor intensity of operators, saving labor costs, and also greatly improving operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 The utility model is a schematic diagram of the structure of the reel grabbing device provided by the utility model.

[0011] Figure 2 This is a schematic diagram of the first operating state of the reel grabbing device (with the collaborative robot omitted) provided by the utility model.

[0012] Figure 3 This is a schematic diagram of the second operating state of the reel grabbing device (with the collaborative robot omitted) provided by the utility model.

[0013] Description of Reference Numerals

[0014] 10 Mounting seat

[0015] 11 Fixing plate

[0016] 20 Laser distance sensor

[0017] 21 First mounting plate

[0018] 30 Visual Inspection Module

[0019] 31 Second mounting plate

[0020] 40 Grab Module

[0021] 41 Servo motor

[0022] 42 Three-jaw gripper

[0023] 50 Collaborative Robots

[0024] 100 Reels DETAILED DESCRIPTION

[0025] The following is an explanation of the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0026] In the description of the present utility model, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like used in the present invention to indicate the orientation or position relationship is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0028] See also Figures 1 to 3 It should be noted that the illustrations provided in this embodiment are only used to schematically illustrate the basic concept of the utility model, and the drawings only show the components related to the utility model rather than the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0029] The utility model provides a reel grabbing device, such as Figure 1As shown, the reel grasping device includes a mounting seat 10, on which a fixed plate 11 is provided, on which a laser distance sensor 20 is provided, and the laser distance sensor 20 is used to obtain the Z-direction data of the reel material. A visual detection module 30 is also provided on the fixed plate 11, and the visual detection module 30 is used to identify the reel material to obtain the image information of the reel material. The visual detection module 30 also processes the obtained image information of the reel material to obtain the XY-direction data of the reel material; a grasping module 40 is also provided on the fixed plate 11, and the grasping module 40 is used to grasp the reel 100; the mounting seat 10 is connected to a collaborative robot 50, and the collaborative robot 50 is electrically connected to the laser distance sensor 20 and the visual detection module 30 to receive the Z-direction data and the XY-direction data of the reel material, and the collaborative robot 50 is also electrically connected to the grasping module 40.

[0030] When the reel grabbing device of the utility model is in use, the laser ranging sensor 20 is first used to emit a laser and receive reflected light to obtain the data of the reel material in the Z direction, that is, the height coordinate, and then the visual detection module 30 is used to identify the reel material and other debris, and obtain its image information for the identified reel material, and then the visual detection module 30 processes the obtained image information of the reel material to obtain the XY direction data of the reel material, that is, the horizontal position coordinate, and the laser ranging sensor 20 sends the Z direction data of the reel material to the collaborative robot 50, and the visual detection module 30 sends the XY direction data of the reel material to the collaborative robot 50, and the collaborative robot 50 drives the grabbing module 40 installed on the mounting seat 10 to grab the corresponding reel 100 based on the received Z direction data (height coordinate) and XY direction data (horizontal position coordinate) of the reel material, and then the grabbed reel 100 is put on the loading channel by the collaborative robot 50, thereby completing the grabbing and loading of the reel. Compared with the prior art, the reel grabbing device of the utility model can realize automatic grabbing and feeding of reel materials, greatly reducing the labor intensity of operators, saving labor costs, and also greatly improving operating efficiency.

[0031] Specifically, Figure 2 As shown, in this embodiment, the laser ranging sensor 20 is mounted and fixed on the fixing plate 11 through the first mounting plate 21 , and the visual detection module 30 is mounted and fixed on the fixing plate 11 through the second mounting plate 31 .

[0032] Specifically, Figure 2 and Figure 3As shown, in this embodiment, the gripping module 40 includes a servo motor 41 and a three-claw gripper 42, wherein the servo motor 41 is electrically connected to the collaborative robot 50, and the three-claw gripper 42 is transmission-connected to the servo motor 41. During operation, the collaborative robot 50 controls the operation of the servo motor 41, and the servo motor 41 drives the three-claw gripper 42 to move.

[0033] Preferably, Figure 1 As shown, in this embodiment, the visual inspection module 30 is a camera. In the actual operation process, the visual inspection module 30 can also analyze the image information of the reel material obtained to determine the type of the reel material. Figure 2 and Figure 3 As shown, for Figure 2 For a reel having an inner hole, the collaborative robot can control the grasping module 40 to grasp the inner hole of the reel based on the received reel material information; Figure 3 For a reel without an inner hole, the collaborative robot controls the grabbing module 40 to grab the outer contour of the reel based on the received reel material information. Thus, the reel grabbing device can grab two types of reels according to two different grabbing modes. Specifically, based on the two grabbing modes, the reel grabbing device of the utility model can grab reel materials with an inner diameter of 35mm-176mm and an outer diameter of 4mm-152mm.

[0034] In summary, the reel grabbing device of the utility model can realize automatic grabbing and loading of reel-type materials, and can replace the manual loading method in the prior art, greatly reducing the labor intensity of operators, saving labor costs, and also greatly improving the working efficiency. Therefore, the utility model effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0035] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A reel grabbing device, characterized in that: include: A mounting seat, wherein a fixing plate is provided on the mounting seat; A laser distance measuring sensor is arranged on the fixed plate, and the laser distance measuring sensor is used to obtain Z-direction data of the reel material; A visual inspection module is disposed on the fixed plate, and is used to identify the reel material to obtain image information of the reel material. The visual inspection module also processes the obtained image information of the reel material to obtain XY direction data of the reel material; A grabbing module, the grabbing module is arranged on a fixed plate, and the grabbing module is used to grab the reel; A collaborative robot, wherein the collaborative robot is connected to the mounting seat, and the collaborative robot is electrically connected to the laser ranging sensor and the visual detection module to receive the Z-direction data and the XY-direction data; the collaborative robot is also electrically connected to the grasping module.

2. A reel grabbing device according to claim 1, characterized in that: The visual detection module is a camera.

3. A reel grabbing device according to claim 1, characterized in that: The grasping module includes a servo motor and a three-jaw gripper, the servo motor is electrically connected to the collaborative robot, and the three-jaw gripper is transmission-connected to the servo motor.

4. A reel grabbing device according to claim 1, characterized in that: The laser distance measuring sensor is fixed on the fixing plate through a first mounting plate.

5. A reel grabbing device according to claim 1, characterized in that: The visual inspection module is fixed on the fixing plate via a second mounting plate.

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