CN112621732A - Conveying and clamping robot for liner materials and conveying and clamping method thereof - Google Patents
Conveying and clamping robot for liner materials and conveying and clamping method thereof Download PDFInfo
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- CN112621732A CN112621732A CN202011496096.7A CN202011496096A CN112621732A CN 112621732 A CN112621732 A CN 112621732A CN 202011496096 A CN202011496096 A CN 202011496096A CN 112621732 A CN112621732 A CN 112621732A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种用于药型罩物料的搬运夹装机器人及其搬运夹装方法，该装置包括：转动座，设置在转动座上的机械臂，以及安装在机械臂执行端的搬运夹具。所述搬运夹具包括：固定安装在机械臂执行端的转动基座，固定安装在转动基座上的夹装组件，固定安装在夹装组件上的多组图像检测单元，以及设置在夹装组件上的吸附装置。本发明通过第一抱夹板和第二抱夹板在机械臂的带动下套接在工件的外部，进而移动机构带动夹紧装置向着工件表面移动，从而使夹紧装置对工件进行径向夹紧的同时夹紧装置中的吸盘组件与工件表面吸附，提供吸附力防止工件在夹紧过程中出现打滑。
The invention discloses a handling and clamping robot for medicine-type cover materials and a handling and clamping method thereof. The device comprises a rotating seat, a mechanical arm arranged on the rotating seat, and a handling fixture installed on the execution end of the mechanical arm. The transport fixture includes: a rotating base fixedly installed on the execution end of the mechanical arm, a clamping assembly fixedly installed on the rotating base, a plurality of groups of image detection units fixedly installed on the clamping assembly, and a clamping assembly arranged on the clamping assembly. on the adsorption device. In the invention, the first clamping plate and the second clamping plate are sleeved on the outside of the workpiece under the driving of the mechanical arm, and then the moving mechanism drives the clamping device to move toward the surface of the workpiece, so that the clamping device can radially clamp the workpiece. At the same time, the suction cup assembly in the clamping device is adsorbed on the surface of the workpiece to provide adsorption force to prevent the workpiece from slipping during the clamping process.
Description
Technical Field
The invention belongs to the field of liner production equipment, and particularly relates to a liner material conveying and clamping robot and a liner material conveying and clamping method.
Background
The existing liner has various sizes and models, and the shape of each type of liner is also different, so that the invention discloses a clamping robot applicable to liners with different structures, and secondly, the liner has a conical structure with an arc-shaped curved surface on the surface and has different slope rates at the bottom and the top in the clamping process, so that the clamping force is too light in the process of clamping different workpieces, the workpieces are easy to slip and fail to be clamped, and the scratch on the surfaces of the workpieces and the deformation of the workpieces are easy to be caused due to the too high clamping force.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a carrying and clamping robot for liner materials and a carrying and clamping method thereof, which are used for solving the problems in the prior art.
The technical scheme is as follows: a handling and clamping robot for liner materials, comprising:
the rotary seat, set up the arm on the rotary seat to and install the transport anchor clamps at the arm execution end.
In a further embodiment, the handling fixture comprises: the image detection device comprises a rotating base fixedly installed at an execution end of the mechanical arm, a clamping assembly fixedly installed on the rotating base, a plurality of groups of image detection units fixedly installed on the clamping assembly, and an adsorption device arranged on the clamping assembly.
In a further embodiment, the rotating base comprises: the clamping device comprises a driving mechanism fixedly arranged at the execution end of the mechanical arm and a clamping frame fixedly arranged at the output end of the driving mechanism.
In a further embodiment, the clip assembly comprises: the clamping mechanism comprises a first clamping plate and a second clamping plate which are hinged and symmetrically installed on a clamping frame, a clamping connecting rod set inserted on the clamping frame, a first hydraulic push rod assembly fixedly installed on the clamping connecting rod set, and a connecting shaft rod fixedly connected to the output end of the first hydraulic push rod set and fixedly installed on the outer sides of the first clamping plate and the second clamping plate.
In a further embodiment, the adsorption device comprises: the device comprises a shifting mechanism fixedly arranged in a first clamping plate and a second clamping plate, a clamping device fixedly connected to the shifting mechanism, and a sucker assembly fixedly arranged on the clamping device; the shift mechanism is more than two groups, and the shift mechanism comprises: the electric push rod is fixedly arranged on the first clamping plate and the second clamping plate, the sliding rail assembly is fixedly arranged on the first clamping plate and the second clamping plate, and the telescopic connecting rod group is arranged on the sliding rail assembly; the sliding rail assembly comprises a sliding rail fixedly arranged on the first clamping plate and the second clamping plate and a sliding seat clamped on the sliding rail and fixedly connected with the output end of the electric push rod at one side; and the electric push rod drives the sliding seat to move on the sliding rail.
In a further embodiment, the pantograph linkage comprises: the connecting rods are hinged to one side of the top of the sliding seat, and the second hydraulic push rod is fixedly arranged on the top of the sliding seat; the plurality of groups of connecting rods and the second hydraulic push rod are symmetrically arranged on two sides of the sliding seat, the other ends of the plurality of groups of connecting rods are hinged on two sides of the clamping device, and the output end of the second hydraulic push rod is fixedly connected to two sides of the clamping device; and the second hydraulic push rod drives the clamping device to perform lifting motion on one side of the sliding seat.
In a further embodiment, the clamping device comprises: the support part is connected with the output ends of the plurality of groups of connecting rods and the hydraulic push rod, the air bag is embedded in the support part, and the flexible hinged plate is sleeved on the outer side of the support part; the opening has been seted up to one side of supporting part, install on the opening and supply the flange structure who pegs graft with the gas tube.
In a further embodiment, the sucker assembly comprises a plurality of groups of suction nozzles inserted on the flexible hinge plate, vacuum pipes communicated with the suction nozzles, and a differential pressure sensor arranged at the bottoms of the suction nozzles.
In a further embodiment, a sealing elastic seat is arranged at the bottom of the suction nozzle, and a flexible adsorption cover is sleeved outside the suction nozzle; the flexible adsorption cover is of a paraboloid circular structure, and the interior of the flexible adsorption cover is of a sandwich structure.
In a further embodiment, the following working steps are included:
s1, moving the conveying clamp at the execution end of the mechanical arm to the upper part of the workpiece through linkage of the rotating seat and the mechanical arm;
s2, scanning the workpiece by an image detection device on the clamping assembly to detect the position information and the size information of the workpiece;
s3, adjusting the rotating base according to the position information of the workpiece to drive the clamping assembly to rotate to correspond to the workpiece stacking pile;
s4, the clamping assembly adjusts the telescopic length of the first hydraulic push rod assembly according to the size information of the workpiece, and then the first hydraulic push rod assembly drives the first clamping plate and the second clamping plate to move relatively, so that the diameter size formed between the first clamping plate and the second clamping plate corresponds to the diameter size of the workpiece, and the clamping device is convenient to clamp;
s5, sleeving the first clamping plate and the second clamping plate outside the workpiece under the driving of the mechanical arm, and driving the clamping device to move towards the surface of the workpiece by the moving mechanism, so that the sucker assembly is adsorbed on the surface of the workpiece;
s6, because the workpiece is an arc-shaped surface, the air bag in the clamping device is inflated through the inflating device, the air bag drives the flexible hinged plate to deform after being inflated, the sucker component is changed in position according to the arc-shaped surface, and meanwhile, the air bag extrudes the flexible adsorption cover in the inflating process to enable the flexible adsorption cover to be attached to the arc-shaped surface better, so that a vacuum state is formed in the flexible adsorption cover when the flexible adsorption cover is clamped and adsorbed, and the workpiece is clamped.
Has the advantages that: compared with the existing clamping fixture, the invention has the following advantages:
1. the image device detects the size of the workpiece, and then obtains the curvature and the conical gradient of the surface of the workpiece in advance to adjust the carrying clamp in advance, so that the carrying clamp can be applied to clamping of different types of liner workpieces.
2. The first hydraulic push rod assembly drives the first clamping plate and the second clamping plate to clamp oppositely, so that a plurality of groups of clamping devices are indirectly abutted through workpieces, a clamping contact surface is enlarged, a sucker assembly in each clamping device is adsorbed to the surface of each workpiece while clamping is carried out, and adsorption force is provided to prevent the workpieces from slipping in the carrying and clamping process; the success rate of getting is improved, and then work efficiency is improved.
3. The flexible hinged plate is driven to deform after the air bag is inflated, so that the position of the sucker component is changed according to the arc-shaped surface, and the air bag extrudes the flexible adsorption cover in the inflating process to enable the flexible adsorption cover to be attached to the arc-shaped curved surface better while avoiding the clamping marks on the surface of a workpiece caused by the clamping device in the clamping process.
Drawings
FIG. 1 is a schematic diagram of a gripping robot for handling liner materials according to the present invention.
Fig. 2 is a schematic view of the construction of the clamping assembly of the present invention.
Fig. 3 is a schematic view of the construction of the clamping assembly of the present invention.
FIG. 4 is a schematic view of the structure of the adsorption apparatus of the present invention.
FIG. 5 is a schematic view of the installation of the air bag of the present invention.
Reference numerals: the vacuum suction device comprises a rotating seat 1, a mechanical arm 2, a conveying clamp 3, a rotating base 30, a driving mechanism 300, a clamping frame 301, a clamping assembly 31, a first clamping plate 310, a second clamping plate 311, a clamping connecting rod group 312, a first hydraulic push rod assembly 313, a connecting shaft rod 314, an adsorption device 32, a shifting mechanism 320, an electric push rod 3200, a sliding rail 3201, a sliding seat 3202, a telescopic connecting rod group 3203, a clamping device 321, a supporting part 3210, an air bag 3211, a flexible hinge plate 3212, a through hole 3213, a flange structure 3214, a second hydraulic push rod 3215, a suction cup assembly 322, a suction nozzle 3220, a vacuum tube 3221, a sealing elastic seat 3222 and a flexible adsorption cover 3223.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The applicant finds that in the clamping process of the shaped charge liner, due to the fact that the surface of the shaped charge liner is of a cone structure with an arc-shaped curved surface and the slope rates of the bottom and the top are different, clamping force is too light in the process of clamping different workpieces, the workpieces are prone to slipping and clamping failure, and scratches on the surfaces of the workpieces and deformation of the workpieces are prone to being caused due to too high clamping force.
A handling and clamping robot for liner material as shown in fig. 1 to 5 comprises: the vacuum suction device comprises a rotating seat 1, a mechanical arm 2, a conveying clamp 3, a rotating base 30, a driving mechanism 300, a clamping frame 301, a clamping assembly 31, a first clamping plate 310, a second clamping plate 311, a clamping connecting rod group 312, a first hydraulic push rod assembly 313, a connecting shaft rod 314, an adsorption device 32, a shifting mechanism 320, an electric push rod 3200, a sliding rail 3201, a sliding seat 3202, a telescopic connecting rod group 3203, a clamping device 321, a supporting part 3210, an air bag 3211, a flexible hinge plate 3212, a through hole 3213, a flange structure 3214, a second hydraulic push rod 3215, a suction cup assembly 322, a suction nozzle 3220, a vacuum tube 3221, a sealing elastic seat 3222 and a flexible adsorption cover 3223.
Wherein the bottom of rotating seat 1 is equipped with driving motor and 2 fixed mounting of carousel arm on the carousel, and driving motor drives the carousel and carries out 360 ascending rotations in the side, and then realizes getting the adjustment of getting the station under the rotation of 2 carousels of arm.
The type of medicine cover is that the opening superposes into cylindricly downwards in proper order usually, therefore treats to get the medicine type cover and the lock of next type of medicine cover together, gets the in-process because the block between the type of medicine cover, can make between a plurality of type of medicine covers begin to press from both sides the type of medicine cover that gets before and the bottom have frictional force, and then make the resistance grow that anchor clamps detected to the clamp force output that makes anchor clamps get at the beginning is too big, very easily causes the deformation of type of medicine cover.
The existing force type clamp clamps the conical cover body structure in the clamping process, because the surface of the clamp is of a conical structure with an arc-shaped curved surface and the slope rate of the bottom and the top of the clamp is different, the clamping force is too light in the process of clamping different workpieces, the workpiece is very easy to slip and clamp failure, and the clamping force is too large, so that scratches on the surface of the workpiece and the deformation of the workpiece are easily caused. Therefore, the carrying clamp 3 of the invention can overcome the requirements of different cone steepness and curved surfaces, and can not fall off in the carrying process.
The conveyance jig 3 includes: a rotating base 30 fixedly installed at an execution end of the robot arm 2, a clamping assembly 31 fixedly installed on the rotating base 30, a plurality of groups of image detection units fixedly installed on the clamping assembly 31, and an adsorption device 32 arranged on the clamping assembly 31; the image detection unit detects the position information and the size information of the workpiece, and then drives the clamping assembly 31 to adjust the position and the distance between the clamping plates.
The rotating base 30 includes: a drive mechanism 300 fixedly mounted at the executing end of the robot arm 2, and a gripper block 301 fixedly mounted at the output end of the drive mechanism 300. After the position of the workpiece is detected, the holding frame 301 is rotated to vertically correspond to the workpiece. The clamping assembly 31 includes: the clamping device comprises a first clamping plate 310 and a second clamping plate 311 which are hinged and symmetrically installed on a clamping frame 301, a clamping linkage 312 inserted on the clamping frame 301, a first hydraulic push rod assembly 313 fixedly installed on the clamping linkage 312, and a connecting shaft rod 314 fixedly connected at the output end of the first hydraulic push rod assembly and fixedly installed outside the first clamping plate 310 and the second clamping plate 311. And then the power of first hydraulic pressure push rod group output end drives first clamp 310 and the relative motion of second clamp 311 of embracing to change first clamp 310 and embrace the clamp 311 to embrace the clamp and make its size with the maximum diameter of work piece with the second and correspond apart from the diameter, thereby the distance diameter of inside sucking disc subassembly 322 is greater than or equal to the maximum diameter size of work piece, can realize the tight absorption of clamp to the work piece.
The curvatures of the curved surfaces of the liner are different, so that the vacuum state is difficult to form by adopting a horizontally placed sucker. The adsorption device 32 in the present invention includes: a shifting mechanism 320 fixedly installed inside the first clamping plate 310 and the second clamping plate 311, a clamping device 321 fixedly connected to the shifting mechanism 320, and a suction cup assembly 322 fixedly arranged on the clamping device 321; the number of the displacement mechanisms 320 is two or more, and the displacement mechanisms 320 include: the electric push rod 3200 is fixedly installed on the first holding plate 310 and the second holding plate 311, the sliding rail 3201 assembly is fixedly arranged on the first holding plate 310 and the second holding plate 311, and the telescopic connecting rod 3203 is arranged on the sliding rail 3201 assembly; the sliding rail 3201 assembly comprises a sliding rail 3201 fixedly installed on the first holding clamp plate 310 and the second holding clamp plate 311, and a sliding seat 3202 clamped on the sliding rail 3201 and fixedly connected with the output end of the electric push rod 3200 at one side; the electric push rod 3200 drives the sliding base 3202 to move on the sliding rail 3201. When the slide 3202 slides, the telescopic link 3203 and the clamping device 321 are driven to adjust the position in the vertical direction, so that the clamping device 321 can change the clamping point according to the height of the liner.
The gradient of the liner from top to bottom is different, so the diameters of the liners with different heights are different, and a device for horizontally adjusting the clamping device 321 is needed to meet the clamping requirements on the surfaces of workpieces with different diameters. In the invention, the telescopic connecting rod 3203 drives the clamping device 321 to move in the horizontal direction so as to meet the clamping requirements of different workpieces; the telescopic linkage 3203 includes: a plurality of groups of connecting rods hinged on one side of the top of the sliding seat 3202, and a second hydraulic push rod 3215 fixedly arranged on the top of the sliding seat 3202; the plurality of groups of connecting rods and the second hydraulic push rod 3215 are symmetrically installed at two sides of the sliding base 3202, the other ends of the plurality of groups of connecting rods are hinged at two sides of the clamping device 321, and the output end of the second hydraulic push rod 3215 is fixedly connected at two sides of the clamping device 321; the second hydraulic rod 3215 drives the clamping device 321 to reciprocate relative to one side of the sliding seat 3202; finally, the adjustment of the position of the workpiece surface on the other side relative to the slide 3202 is achieved, so that the clamping device 321 can be adjusted in time according to the slope of the workpiece surface.
The clamping devices 321 can be arranged into more than two groups according to the material, weight and size of the liner, and are symmetrically arranged on the first clamping plate 310 and the second clamping plate 311 respectively; so as to clamp the workpiece from three directions; the clamping force in three directions forms a triangular closed loop in the clamping process, so that the clamping process is kept stable; the clamping device 321 includes: a supporting part 3210 connected to the output ends of the plurality of groups of connecting rods and the hydraulic push rod, an air bag 3211 embedded in the supporting part 3210, and a flexible hinge plate 3212 sleeved outside the supporting part 3210; a through opening 3213 is formed in one side of the supporting portion 3210, and a flange structure 3214 for inserting an inflation tube is installed on the through opening 3213. Considering that the air bags 3211 are inflated by inflation tubes during clamping operation of the conical structure and the arc-shaped curved surfaces, the air bags 3211 in the invention are in multiple groups, and the linear array-type arrangement of the supporting parts 3210 is adopted to correspond to the surface of the workpiece, so that the air bags 3211 are inflated to squeeze the upper side of the supporting parts 3210, and further the sucker assemblies 322 on the flexible hinged plates 3212 and the flexible hinged plates 3212 are driven to squeeze the workpiece, thereby enlarging the contact area of the curved surfaces and increasing the clamping force.
The clamping device 321 of the invention mainly adopts clamping, and vacuum adsorption is adopted to increase the adsorption force between the workpiece and the clamp after the workpiece is clamped, so that the workpiece is prevented from sliding off in the clamping process due to overlarge slope or curvature of the workpiece.
Meanwhile, the surface of the workpiece can be prevented from being marked by clamping marks by adopting the sucking disc; the sucker assembly 322 comprises a plurality of groups of suction nozzles 3220 inserted on the flexible hinge plate 3212, a vacuum tube 3221 communicated with the suction nozzles 3220, and a differential pressure sensor arranged at the bottom of the suction nozzles 3220; the vacuum tube 3221 is provided with a plurality of evacuation ports on the suction cup, the differential pressure sensor calculates a pressure difference value from two sides of the suction nozzle 3220, so that a difference value between the extrusion force of the air bag 3211 on the suction nozzle 3220 and the adsorption force of the suction nozzle 3220 on the workpiece can be detected, a force output value of the clamping device 321 for keeping a stable clamping force on the surface of the workpiece is further controlled, and whether the suction cup forms a vacuum adsorption state on the curved surface is detected; the bottom of the suction nozzle 3220 is provided with a sealed elastic seat 3222 which can damp the extrusion force transmitted by the air bag 3211, and meanwhile, when the workpiece is put down after the clamping is completed, the air bag 3211 retracts to the sealed elastic seat 3222 which can quickly drive the suction nozzle 3220 to retract backwards when the air bag 3211 deflates, so as to drive the suction nozzle 3220 to quickly loosen the workpiece, thereby accelerating the sensitivity of the suction disc for clamping and placing the workpiece; a flexible adsorption cover 3223 is sleeved outside the suction nozzle 3220; the flexible adsorption cover 3223 is of a parabolic circular structure, the interior of the flexible adsorption cover 3223 is of a sandwich structure, the contact area between the suction nozzle 3220 and the curved surface can be further increased due to the sandwich design, and meanwhile, the flexible adsorption cover 3223 can be matched with the curvature of the curved surface under the extrusion of the air bag 3211, so that the flexible adsorption cover 3223 is closed with the curved surface during vacuum pumping, and the flexible adsorption cover 3223 is in a vacuum state.
The working principle is as follows:
the rotary seat 1 and the mechanical arm 2 are linked to move a conveying clamp 3 at the execution end of the mechanical arm 2 to the upper part of a workpiece; the image detection device on the clamping assembly 31 scans the workpiece to detect the position information and the size information of the workpiece; the rotating base 30 adjusts and drives the clamping assembly 31 to rotate according to the position information of the workpiece, and the workpiece is stacked and corresponds to the workpiece; the clamping assembly 31 adjusts the telescopic length of the first hydraulic push rod assembly 313 according to the size information of the workpiece, and then the first hydraulic push rod assembly 313 drives the first clamping plate 310 and the second clamping plate 311 to move relatively, so that the diameter size formed between the first clamping plate 310 and the second clamping plate 311 corresponds to the diameter size of the workpiece, and the clamping device 321 is convenient to clamp; the first clamping plate 310 and the second clamping plate 311 are sleeved outside the workpiece under the driving of the mechanical arm 2, and then the moving mechanism drives the clamping device 321 to move towards the surface of the workpiece, so that the sucker assembly is adsorbed on the surface of the workpiece; because the work piece is the arcwall face, and then aerify gasbag 3211 in clamping device 321 through aerating device, gasbag 3211 drives flexible hinged plate 3212 after aerifing, makes sucking disc subassembly 322 take place the position change according to the arcwall face, and simultaneously gasbag 3211 extrudees flexible absorption cover 3223 and makes the better adhesion of flexible absorption cover 3223 and arc curved surface in the inflation process, forms the vacuum state when pressing from both sides the absorption in making flexible absorption cover 3223, accomplishes the clamp and adorns to the work piece.
The imaging device detects the size of the workpiece, further obtains the curvature and the conical gradient of the surface of the workpiece in advance, and adjusts the carrying clamp 3 in advance, so that the carrying clamp 3 can be applied to clamping of different types of liner workpieces. The first clamping plate 310 and the second clamping plate 311 are sleeved outside the workpiece under the driving of the mechanical arm 2, and then the moving mechanism drives the clamping device 321 to move towards the surface of the workpiece, so that the sucker assembly is adsorbed on the surface of the workpiece; the flexible hinged plate 3212 is driven to deform after the air bag 3211 is inflated, so that the position of the sucker assembly 322 changes according to the arc-shaped surface, and the air bag 3211 extrudes the flexible adsorption cover 3223 to enable the flexible adsorption cover 3223 to be attached to the arc-shaped curved surface better in the inflating process, so that the adsorption force can be provided for clamping a workpiece while the workpiece is prevented from slipping in the clamping process.
It should be noted that, in the above embodiments, the parameters can be freely selected according to different situations without contradiction. The present invention is not further described with respect to various possible parameter schemes in order to avoid unnecessary repetition.
Claims (10)
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| CN202011496096.7A CN112621732B (en) | 2020-12-17 | 2020-12-17 | Conveying and clamping robot for liner materials and conveying and clamping method thereof |
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| CN202011496096.7A CN112621732B (en) | 2020-12-17 | 2020-12-17 | Conveying and clamping robot for liner materials and conveying and clamping method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118009823A (en) * | 2024-04-09 | 2024-05-10 | 南京尚景智造科技有限公司 | Automatic bullet pressing method and device based on visual robot |
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| CN112621732B (en) | 2021-12-24 |
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Effective date of registration: 20240117 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: No. 532-2, Zhongshan East Road, Qinhuai District, Nanjing City, Jiangsu Province, 210005 Patentee before: Nanjing Vocational University of Industry Technology |