CN119566935A - Automatic caterpillar link feeding device and working method thereof - Google Patents
Automatic caterpillar link feeding device and working method thereof Download PDFInfo
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- CN119566935A CN119566935A CN202411902121.5A CN202411902121A CN119566935A CN 119566935 A CN119566935 A CN 119566935A CN 202411902121 A CN202411902121 A CN 202411902121A CN 119566935 A CN119566935 A CN 119566935A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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Abstract
本发明涉及一种链轨节自动化上料装置，包括机架、链轨节识别模块、摆料机械手组件、链轨节翻转机构、链轨节定位输送机构、上料机械手组件和控制系统；链轨节识别模块通过工业相机拍摄转运箱内链轨节图像，获取其形状、位置及姿态信息；摆料机械手组件通过摆料机械手抓取链轨节，调整其姿态后放到链轨节翻转机构中，再将其抓取放到随动定位板上；链轨节翻转机构用于翻转链轨节；链轨节定位输送机构通过输送机构将随动定位板上的链轨节输送到上料机械手处；上料机械手组件通过上料机械手抓取随动定位板上的链轨节并放在加工设备上。该装置自动化程度高，上料效率高，且可以在上料过程中对链轨节进行精准定位，以提高下一工序的加工精度。
The present invention relates to an automatic feeding device for chain rail segments, comprising a frame, a chain rail segment recognition module, a swinging material manipulator assembly, a chain rail segment flipping mechanism, a chain rail segment positioning and conveying mechanism, a feeding manipulator assembly and a control system; the chain rail segment recognition module uses an industrial camera to shoot the chain rail segment image in the transfer box to obtain its shape, position and posture information; the swinging material manipulator assembly grabs the chain rail segment through the swinging material manipulator, adjusts its posture and puts it into the chain rail segment flipping mechanism, and then grabs it and puts it on the follower positioning plate; the chain rail segment flipping mechanism is used to flip the chain rail segment; the chain rail segment positioning and conveying mechanism conveys the chain rail segment on the follower positioning plate to the feeding manipulator through the conveying mechanism; the feeding manipulator assembly grabs the chain rail segment on the follower positioning plate through the feeding manipulator and puts it on the processing equipment. The device has a high degree of automation and high feeding efficiency, and can accurately position the chain rail segment during the feeding process to improve the processing accuracy of the next process.
Description
Technical Field
The invention relates to the technical field of caterpillar link processing, in particular to an automatic caterpillar link feeding device and a working method thereof.
Background
The caterpillar track section is taken as an important component of the tracked vehicle, and the processing quality plays a crucial role in the whole vehicle performance. The end face milling process of the caterpillar link is a key link in the processing flow, but the prior art mostly relies on manual feeding, so that the production efficiency is low, the surface of a workpiece is easy to damage or position errors are easy to cause in the carrying process, and the quality of products is influenced.
In the prior art, some patents for automatic feeding of caterpillar links, such as patent CN213104311U and CN113665881a, have been disclosed, and manual intervention is reduced by using a manipulator or a conveyor to convey the caterpillar links from a storage device to a processing station. However, these implementations still suffer from the following disadvantages:
1. The automatic degree is low, the feeding efficiency is insufficient, the automatic adjustment capability of the traditional device is weak, the feeding can be completed smoothly only by manual intervention when the operations such as recognition, sorting and grabbing of the caterpillar links are performed, the labor force is wasted, the feeding speed is low, and the requirement of the efficient production line is difficult to meet.
2. The positioning accuracy is insufficient, because the positions and the postures of the caterpillar links in the transfer boxes are different, most of equipment lacks accurate positioning and correcting mechanisms in the conveying and feeding processes of the caterpillar links, so that the deviation exists in the positioning of the caterpillar links in the feeding process, and the deviation can influence the machining accuracy of the next working procedure of the caterpillar links, thereby further influencing the assembly accuracy of the caterpillar links.
Disclosure of Invention
The invention aims to provide an automatic feeding device for caterpillar links and a working method thereof, which are high in automation degree and feeding efficiency, and can accurately position the caterpillar links in the feeding process so as to improve the processing precision of the next working procedure.
In order to achieve the aim, the technical scheme adopted by the invention is that the caterpillar link automatic feeding device comprises a frame, wherein a caterpillar link identification module, a swinging manipulator assembly, a caterpillar link overturning mechanism, a caterpillar link positioning and conveying mechanism, a feeding manipulator assembly and a control system are arranged on the frame;
The caterpillar track section identification module comprises a discharging goods shelf, an industrial camera and a bracket thereof, wherein the discharging goods shelf is used for placing a transfer box provided with caterpillar track sections, the industrial camera is used for shooting images of the caterpillar track sections in the transfer box, and acquiring shape, position and gesture information of the caterpillar track sections through an image processing system so as to provide guidance for the operation of a follow-up material placing manipulator;
The material placing manipulator assembly comprises a material placing manipulator and a first driving mechanism, wherein the material placing manipulator is arranged above the front side of the frame through the first driving mechanism and is used for grabbing a caterpillar track section in the transfer box, adjusting the gesture of the caterpillar track section and then placing and positioning the caterpillar track section on a follow-up positioning plate of a caterpillar track section positioning and conveying mechanism, or adjusting the preliminary gesture of the caterpillar track section and then placing the caterpillar track section on a caterpillar track section overturning mechanism, and grabbing the caterpillar track section and then placing the caterpillar track section on the follow-up positioning plate of the caterpillar track section positioning and conveying mechanism after the caterpillar track section overturning mechanism overturns;
the caterpillar track section overturning mechanism is positioned in the working area of the material arranging manipulator and is used for overturning the caterpillar track section placed on the caterpillar track section overturning mechanism;
the caterpillar track section positioning and conveying mechanism comprises a follow-up positioning plate and a conveying mechanism, wherein the follow-up positioning plate is positioned on the conveying mechanism and moves back and forth along the conveying direction of the caterpillar track section so as to convey the precisely positioned caterpillar track section to a working area of the feeding manipulator and reset the working area;
The feeding manipulator assembly comprises a feeding manipulator and a second driving mechanism, wherein the feeding manipulator is arranged above the rear side of the frame through the second driving mechanism and is used for grabbing a caterpillar track section on the follow-up positioning plate and placing the caterpillar track section on next process processing equipment for processing;
The control system is used for automatically controlling the whole working process of the caterpillar link automatic feeding device.
The industrial camera comprises a camera universal adjusting frame, a camera lifting frame, a vertical sliding groove, a camera lifting frame and a chain track section conveying direction, wherein the industrial camera is arranged on the camera universal adjusting frame to flexibly adjust the angle of the industrial camera, the camera lifting frame is provided with a first sliding groove along the length direction, the camera universal adjusting frame is slidably assembled in the first sliding groove of the camera lifting frame and can slide back and forth along the first sliding groove, the frame is provided with the vertical sliding groove, the camera lifting frame is arranged on the vertical sliding groove of the frame, the length direction of the camera lifting frame is parallel to the chain track section conveying direction, and therefore the installation height and the front and back directions of the industrial camera are adjusted by changing the installation position of the camera lifting frame on the vertical sliding groove and the position of the camera universal adjusting frame in the first sliding groove.
Further, the discharging goods shelf is located beside the caterpillar link overturning mechanism and the caterpillar link positioning and conveying mechanism, a transfer box with the caterpillar link is placed on the discharging goods shelf, an industrial camera performs image acquisition on the caterpillar link in the transfer box and analyzes acquired image data through an image processing system to identify the shape characteristics, the spatial position and the angle posture of the caterpillar link, and the method is used for grabbing, posture adjusting and carrying the caterpillar link by a follow-up guiding material placing manipulator, so that accuracy and stability of the whole feeding process are ensured.
Further, the first driving mechanism is a three-degree-of-freedom truss structure composed of an X-axis screw sliding table, a Y-axis screw sliding table and a Z-axis screw sliding table, the Y-axis screw sliding table is arranged above the front side of the frame, the X-axis screw sliding table is arranged on the Y-axis screw sliding table, the Z-axis screw sliding table is arranged on the X-axis screw sliding table, and the material placing manipulator is arranged on the Z-axis screw sliding table so as to move in three directions under the driving of the first driving mechanism.
Further, the material swinging manipulator comprises a manipulator connecting frame, a manipulator base, a swinging manipulator, a tail end connecting plate and a mechanical clamping jaw, wherein the manipulator base is installed on a first driving mechanism through the manipulator connecting frame, the swinging manipulator is installed on the manipulator base, a swinging driving device is arranged in the manipulator base to drive the swinging manipulator to swing, the tail end connecting plate is installed on the swinging manipulator, a first rotary driving device is arranged in the swinging manipulator to drive the tail end connecting plate to rotate, and the mechanical clamping jaw is installed on the tail end connecting plate and can clamp and put.
Further, caterpillar link tilting mechanism includes rotatory clamping jaw, rotatory carousel and tilting mechanism base, rotatory carousel passes through tilting mechanism base mount in the frame, and is provided with the rotatory drive arrangement of second in the tilting mechanism base in order to drive rotatory carousel rotation, rotatory clamping jaw installs on rotatory carousel and can press from both sides the action of putting.
Further, the conveying mechanism comprises two driving driven chain wheels, a driven shaft, two driving chains, two driving chain wheels, a driving shaft, a motor driven chain wheel, a motor driving chain wheel, a power motor and a chain supporting guide rail; the driven shaft is rotatably connected with the front end of the frame, the two driving driven chain wheels are arranged on the left side and the right side of the driven shaft, the driving shaft is rotatably connected with the rear end of the frame, the two driving chain wheels are arranged on the left side and the right side of the driving shaft, the two driving chains are respectively wound between the driving driven chain wheels and the driving chain wheels which are arranged on the left side and the right side, the motor driven chain wheels are arranged at one end of the driving shaft, the power motor is arranged on the frame, the output end of the motor driven chain wheels is connected with the motor driving chain wheels, the motor driving chain wheels are in matched transmission with the motor driven chain wheels through motor driving chain wheels so as to drive the driving shaft and the driving chain wheels on the motor driving chain wheels to rotate, a plurality of chain supporting guide rails are arranged on the frame along the conveying direction of chain sections so as to support the driving chain, the left end and the right end of the follow-up positioning plate are respectively fixedly connected with the two driving chain so as to move along with the running of the driving chain, and a plurality of positioning pin columns used for positioning the chain sections are arranged on the follow-up positioning plate.
Further, conveying mechanism still includes two chain drive adjustment module, two chain drive adjustment module set up respectively in frame front end left and right sides to with frame sliding fit, and can be fixed in the frame through the fastener, both ends are rotated with two chain drive adjustment module and are connected about the driven shaft, thereby adjust drive chain's tensioning degree through the relative position that changes chain drive adjustment module and frame.
Further, the second actuating mechanism includes material loading manipulator Z axle motor, motor mount pad, compound slip table, material loading manipulator X axle motor, X axle slip table and material loading manipulator, material loading manipulator Z axle motor passes through motor mount pad fixed mounting in frame rear side top, material loading manipulator Z axle motor drive compound slip table moves up and down along the Z axle direction, material loading manipulator X axle motor fixed mounting is on compound slip table, material loading manipulator X axle motor drive X axle slip table moves back and forth along the X axle direction, material loading manipulator installs at X axle slip table and can press from both sides and put the action to press from both sides and get the caterpillar link and accurately put it on next process processing equipment and carry out processing.
The invention also provides a working method of the caterpillar link automatic feeding device, which comprises the following steps:
s1, shooting an image of a caterpillar link in a transfer box on a discharging goods shelf through an industrial camera, and then acquiring shape, position and gesture information of the caterpillar link through an image processing system;
S2, judging whether to perform overturning treatment and calculating the operation flow of the material placing manipulator according to the shape, position and posture information of the chain track section, if the overturning treatment is required, controlling the material placing manipulator to grasp the chain track section in the transfer box, adjusting the initial posture of the chain track section, then placing the chain track section into a chain track section overturning mechanism, controlling the chain track section overturning mechanism to perform overturning treatment on the chain track section, and then controlling the material placing manipulator to grasp the chain track section on the chain track section overturning mechanism, adjusting the posture of the chain track section, then placing and positioning the chain track section on a follow-up positioning plate;
S3, controlling a conveying mechanism to convey the precisely positioned caterpillar links to a working area of the feeding manipulator, and resetting after the feeding manipulator grabs;
s4, controlling the feeding manipulator to grasp the caterpillar track section on the follow-up positioning plate, and placing the caterpillar track section on processing equipment of the next procedure for processing.
The invention has the advantages that the invention provides the automatic feeding device for the caterpillar links and the working method thereof, the device is based on the comprehensive technology of image recognition, mechanical arm grabbing, automatic overturning, accurate positioning and conveying, the automatic feeding process of the caterpillar links is realized, an industrial camera collects caterpillar link images and recognizes, a material placing mechanical arm grabs the caterpillar links according to the recognition information and adjusts the attitude of the caterpillar links by matching with a overturning mechanism, then the caterpillar links are accurately positioned on a follow-up positioning plate and conveyed to a feeding mechanical hand working area, finally the caterpillar links are grabbed by the feeding mechanical arm and placed in processing equipment of the next process, the automation degree of the whole device is high, the feeding efficiency is greatly improved, the caterpillar links can be accurately positioned in the feeding process, the processing precision of the next process of the caterpillar links is improved, and the assembly precision of the caterpillar links is further improved. Therefore, the invention has strong practicability and wide application prospect.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automated caterpillar link feeding device according to an embodiment of the present invention;
FIG. 2 is a schematic view of an industrial camera and its stand according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a material arranging manipulator according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a caterpillar link turnover mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a follow-up positioning plate according to an embodiment of the present invention.
The device comprises a 1-frame, a 2-discharging goods shelf, a 3-swinging mechanical arm, a 4-industrial camera and a bracket thereof, a 5-chain track section turnover mechanism, a 6-chain transmission adjusting module, a 7-driven shaft, an 8-transmission driven sprocket, a 9-transmission chain, a 10-X-axis lead screw sliding table, a 11-Y-axis lead screw sliding table, a 12-Z-axis lead screw sliding table, a 13-chain track section, a 14-follow-up positioning plate, a 15-feeding mechanical arm Z-axis motor, a 16-motor mounting seat, a 17-composite sliding table, a 18-feeding mechanical arm X-axis motor, a 19-X-axis sliding table, a 20-feeding mechanical arm, a 21-transmission driving sprocket, a 22-driving shaft, a 23-motor driven sprocket, a 24-motor driving chain, a 25-motor driving sprocket, a 26-power motor, a 27-chain support guide rail, a 28-mechanical arm connecting frame, a 29-mechanical arm base, a 30-swinging mechanical arm, a 31-end connecting plate, 32-mechanical clamping jaws, a 33-industrial camera, a 34-camera universal adjusting frame, a 35-camera lifting bracket, a 36-rotating turntable, a 37-rotating turntable, a turntable 38-rotating turntable, a positioning pin and a 39-positioning pin.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
As shown in fig. 1-5, the embodiment provides an automatic feeding device for a caterpillar link, which comprises a frame 1, wherein a caterpillar link identification module, a swinging manipulator assembly, a caterpillar link overturning mechanism 5, a caterpillar link positioning and conveying mechanism, a feeding manipulator assembly and a control system are arranged on the frame 1.
The caterpillar link identification module comprises a discharging goods shelf 2, an industrial camera and a bracket 4 thereof, wherein the discharging goods shelf 2 is used for placing a transfer box with caterpillar links, the industrial camera 33 is used for shooting images of the caterpillar links in the transfer box, and acquiring shape, position and gesture information of the caterpillar links through an image processing system, so that accurate guidance is provided for the operation of a follow-up material placing manipulator 3.
The swing manipulator assembly comprises a swing manipulator 3 and a first driving mechanism, wherein the swing manipulator 3 is arranged above the front side of the frame 1 through the first driving mechanism and is used for grabbing a caterpillar link 13 in a transfer box, adjusting the gesture of the swing manipulator assembly and then placing and positioning the swing manipulator assembly on a follow-up positioning plate 14 of a caterpillar link positioning and conveying mechanism, or adjusting the preliminary gesture of the swing manipulator assembly and then placing the swing manipulator assembly into a caterpillar link overturning mechanism 5, and grabbing the swing manipulator assembly and placing the swing manipulator assembly on the follow-up positioning plate 14 of the caterpillar link positioning and conveying mechanism after overturning through the caterpillar link overturning mechanism 5.
The caterpillar track section overturning mechanism 5 is located in the working area of the material arranging manipulator 3 and is used for carrying out 180-degree overturning treatment on the caterpillar track section placed on the caterpillar track section overturning mechanism, so that the caterpillar track section can reach a preset posture, and the requirement of subsequent processing is met.
The caterpillar link positioning and conveying mechanism comprises a follow-up positioning plate 14 and a conveying mechanism, wherein the follow-up positioning plate 14 is positioned on the conveying mechanism and moves back and forth along the conveying direction of the caterpillar link so as to convey the precisely positioned caterpillar link to the working area of the feeding manipulator 20 and reset the working area. The follow-up positioning plate is used for positioning, so that the accuracy of follow-up grabbing and placing is ensured.
The feeding manipulator assembly comprises a feeding manipulator 20 and a second driving mechanism, wherein the feeding manipulator 20 is arranged above the rear side of the frame 1 through the second driving mechanism and is used for grabbing a caterpillar link on a follow-up positioning plate and placing the caterpillar link on processing equipment (in the embodiment, a caterpillar link end face milling machine) in the next process for processing.
The control system is used for automatically controlling the whole working process of the caterpillar link automatic feeding device.
All the modules, the assemblies and the mechanisms are designed and installed in one integral frame, and the coordination and the stability among the modules can be effectively improved through the structural support and the integral design of the frame, so that the system is ensured to have good stability, precision and reliability in the long-term operation process.
As shown in fig. 2, the support of the industrial camera 33 comprises a camera universal adjusting frame 34 and a camera lifting support 35, the industrial camera 33 is mounted on the camera universal adjusting frame 34 to flexibly adjust the angle of the industrial camera, the camera lifting support 35 is provided with a first sliding groove along the length direction, the camera universal adjusting frame 34 is slidably assembled in the first sliding groove of the camera lifting support 35 and can slide back and forth along the first sliding groove, the frame 1 is provided with a vertical sliding groove, the camera lifting support 35 is mounted on the vertical sliding groove of the frame 1, the length direction of the camera lifting support is parallel to the conveying direction of the chain track, and therefore the mounting height and the front and back positions of the industrial camera are adjusted by changing the mounting position of the camera lifting support on the vertical sliding groove and the position of the camera universal adjusting frame in the first sliding groove.
The discharging goods shelf 2 is located at the side of the caterpillar link overturning mechanism 5 and the caterpillar link positioning and conveying mechanism, a transfer box with caterpillar links is placed on the discharging goods shelf, the industrial camera 33 performs image acquisition on the caterpillar links in the transfer box and analyzes acquired image data through an image processing system to identify the shape characteristics, the spatial position and the angle posture of the caterpillar links, and the method is used for grabbing, posture adjusting and carrying the caterpillar links by a follow-up guiding material placing manipulator, so that accuracy and stability of the whole feeding process are ensured.
In this embodiment, the first driving mechanism is a three-degree-of-freedom truss structure composed of an X-axis screw sliding table 10, a Y-axis screw sliding table 11 and a Z-axis screw sliding table 12, the Y-axis screw sliding table 11 is installed above the front side of the frame 1, the X-axis screw sliding table 10 is installed on the Y-axis screw sliding table 11, the Z-axis screw sliding table 12 is installed on the X-axis screw sliding table 10, and the material placing manipulator 3 is installed on the Z-axis screw sliding table 12 to perform movement in three directions under the driving of the first driving mechanism.
As shown in fig. 3, the swinging manipulator 3 includes a manipulator connecting frame 28, a manipulator base 29, a swinging manipulator 30, a terminal connecting plate 31 and a mechanical clamping jaw 32, the manipulator base 29 is mounted on the first driving mechanism through the manipulator connecting frame 28, the swinging manipulator 30 is mounted on the manipulator base 29, a swinging driving device is provided in the manipulator base 29 to drive the swinging manipulator to swing, the terminal connecting plate 31 is mounted on the swinging manipulator 30, a first rotation driving device is provided in the swinging manipulator 30 to drive the terminal connecting plate to rotate, and the mechanical clamping jaw 32 is mounted on the terminal connecting plate 31 and can perform clamping and releasing actions.
As shown in fig. 4, the caterpillar link turnover mechanism 5 includes a rotary clamping jaw 36, a rotary turntable 37 and a turnover mechanism base 38, the rotary turntable 37 is mounted on the frame 1 through the turnover mechanism base 38, and a second rotary driving device is disposed in the turnover mechanism base 38 to drive the rotary turntable 37 to rotate, and the rotary clamping jaw 36 is mounted on the rotary turntable 37 and can perform clamping and releasing actions.
As shown in fig. 1, the conveying mechanism comprises two driving driven sprockets 8, a driven shaft 7, two driving chains 9, two driving sprockets 21, a driving shaft 22, a motor driven sprocket 23, a motor driving chain 24, a motor driving sprocket 25, a power motor 26, a chain supporting guide rail 27 and two chain driving adjustment modules 6. The driven shaft 7 is rotationally connected with the front end of the frame 1, the two driving driven chain wheels 8 are arranged on the left side and the right side of the driven shaft 7, the driving shaft 22 is rotationally connected with the rear end of the frame 1, the two driving chain wheels 21 are arranged on the left side and the right side of the driving shaft 22, and the two driving chains 9 are respectively wound between the driving driven chain wheels and the driving chain wheels which are arranged on the left side and the right side. The motor driven sprocket 23 is installed in driving shaft one end, the power motor 26 is installed in frame 1, and its output connection motor drive sprocket 25, motor drive sprocket 25 cooperates the transmission with motor driven sprocket 23 through motor drive chain 24 to drive the driving shaft and the transmission drive sprocket on it rotates. A plurality of chain support rails 27 are provided on the frame 1 along the conveying direction of the links to support the drive chain. The left end and the right end of the follow-up positioning plate 14 are respectively and fixedly connected with the two transmission chains 9 so as to move along with the operation of the transmission chains 9. The follow-up positioning plate 14 is provided with a plurality of groups of positioning pins 39 for positioning the caterpillar links 13, and stability and precision of the caterpillar links in the conveying process are ensured through positioning of the positioning pins. As shown in fig. 5, in the present embodiment, the follower positioning plate 14 is provided with two sets of positioning pins 39 arranged side by side.
The two chain transmission adjusting modules 6 are respectively arranged at the left side and the right side of the front end of the frame 1, are in sliding fit with the frame 1, and can be fixed on the frame through fasteners, and the left end and the right end of the driven shaft 7 are rotationally connected with the two chain transmission adjusting modules 6, so that the tensioning degree of a transmission chain is adjusted by changing the relative positions of the chain transmission adjusting modules and the frame.
In this embodiment, the second driving mechanism includes a feeding manipulator Z-axis motor 15, a motor mounting seat 16, a composite sliding table 17, a feeding manipulator X-axis motor 18, an X-axis sliding table 19 and a feeding manipulator 20, the feeding manipulator Z-axis motor 15 is fixedly mounted above the rear side of the frame 1 through the motor mounting seat 16, the feeding manipulator Z-axis motor 15 drives the composite sliding table 17 to move up and down along the Z-axis direction through the transmission of a ball screw, the feeding manipulator X-axis motor 18 is fixedly mounted on the composite sliding table 17, the feeding manipulator X-axis motor 18 drives the X-axis sliding table 19 to move back and forth along the X-axis direction through the transmission of the ball screw, and the feeding manipulator 20 is mounted on the X-axis sliding table 19 and can perform clamping and placing actions so as to clamp a caterpillar track section and precisely place the caterpillar track section on a caterpillar track section end face milling machine for processing.
The embodiment also provides a working method of the caterpillar link automatic feeding device, which comprises the following steps:
s1, shooting an image of a caterpillar link in a transfer box on a discharging goods shelf through an industrial camera, and then acquiring shape, position and gesture information of the caterpillar link through an image processing system;
S2, judging whether to perform overturning treatment and calculating the operation flow of the material placing manipulator according to the shape, position and posture information of the chain track section, if the overturning treatment is required, controlling the material placing manipulator to grasp the chain track section in the transfer box, adjusting the initial posture of the chain track section, then placing the chain track section into a chain track section overturning mechanism, controlling the chain track section overturning mechanism to perform overturning treatment on the chain track section, and then controlling the material placing manipulator to grasp the chain track section on the chain track section overturning mechanism, adjusting the posture of the chain track section, then placing and positioning the chain track section on a follow-up positioning plate;
S3, controlling a conveying mechanism to convey the precisely positioned caterpillar links to a working area of the feeding manipulator, and resetting after the feeding manipulator grabs;
s4, controlling the feeding manipulator to grasp the caterpillar track section on the follow-up positioning plate, and placing the caterpillar track section on a caterpillar track section end face milling machine for processing.
The following describes the relevant matters in the implementation process of the device.
1. Mounting of industrial camera the industrial camera 33 is mounted on a camera gimbal 34. The camera gimbal 34 can flexibly adjust the angle and the installation position of the industrial camera along the X-axis direction so as to better adapt to shooting requirements in different working scenes. The camera gimbal 34 is mounted on the camera lifting bracket 35, and the camera lifting bracket 35 is mainly used for adjusting the height of the industrial camera so as to ensure that the industrial camera can realize comprehensive visual field coverage on the whole area of the discharging goods shelf. The camera lifting bracket 35 is fixed on the frame 1 after adjusting the installation height, so as to maintain the overall stability of the camera.
2. And (3) placing the transfer box and shooting by a camera, namely placing the transfer box with the caterpillar links on the discharging goods shelf 2. The industrial camera 33 is automatically started after starting the work and performs image acquisition on the caterpillar links in the transfer box. The acquired image data is analyzed through the image processing system, and the shape characteristics, the spatial position and the angular pose of the caterpillar link are accurately identified, so that the initial pose and the position information of the caterpillar link are acquired. These information will be used to guide the grabbing, pose adjusting and carrying operations of the follow-up swing manipulator 3 on the caterpillar links, ensuring the accuracy and stability of the whole feeding process.
3. The material arranging manipulator 3 realizes free movement through a three-degree-of-freedom truss structure consisting of an X-axis screw sliding table 10, a Y-axis screw sliding table 11 and a Z-axis screw sliding table 12. The connecting frame 28 of the material placing manipulator 3 is arranged on the Z-axis screw rod sliding table 12 and is connected with the mechanical arm 29. The robot arm 29 enables the swing robot arm 30 to perform a swing motion. Meanwhile, the swinging mechanical arm 30 can drive the tail end connecting plate 31 and the mechanical clamping jaw 32 to perform rotary motion. The tail end connecting plate 31 tightly connects the swing mechanical arm 30 with the mechanical clamping jaw 32, so that the swing mechanical arm 3 can finish clamping operation of the caterpillar link more stably and accurately when performing translational and rotational movements.
In the working process, the material placing manipulator 3 moves to the upper part of the identified caterpillar link by utilizing the coordinated movement of the X-axis screw sliding table 10, the Y-axis screw sliding table 11 and the Z-axis screw sliding table 12, and performs clamping. According to actual needs, the swinging mechanical arm 3 can drive the tail end connecting plate 31 and the mechanical clamping jaw 32 to conduct angle adjustment in the horizontal direction through the swinging mechanical arm 30, so that adjustment of the preliminary gesture of the caterpillar link is achieved, the preliminary gesture reaches a preset horizontal state, and an accurate gesture reference is provided for subsequent operation.
5. Operation of the track link turnover mechanism when the swing manipulator 3 delivers the track link to the turnover mechanism, the rotary jaw 36 first firmly grips the track link. Subsequently, the turning mechanism base 38 drives the rotary turntable 37 to enable the caterpillar link to perform 180-degree turning movement, and the caterpillar link turning operation is completed. The rotation angle is accurately controlled in the whole overturning process, so that the caterpillar track can reach the preset gesture, and reliable guarantee is provided for the subsequent processing steps.
6. And (3) adjusting and placing the posture of the caterpillar link, namely re-clamping the caterpillar link after the turning is completed by a swinging manipulator 3, swinging the caterpillar link from a vertical state to a horizontal position by a swinging manipulator 30, and simultaneously carrying out 90-degree horizontal rotation by matching with a tail end connecting plate 31 and a mechanical clamping jaw 32. Subsequently, the material placing manipulator 3 stably places the caterpillar links adjusted to the preset postures on the follow-up positioning plate 14 by means of accurate translational movement of the X-axis screw sliding table 10, the Y-axis screw sliding table 11 and the Z-axis screw sliding table 12, so as to provide a stable positioning basis for subsequent procedures.
7. The following positioning plate 14 is fixed on the chain 9 and moves along with the chain 9 in the transmission process of the following positioning plate and the chain. The main function of the chain 9 is to carry the follower positioning plate 14 and the track links and to transfer the track links to the designated positions of the pipeline by means of chain transmission. Two sets of positioning pins 39 are mounted on the follow-up positioning plate 14 for accurately positioning the caterpillar links, so as to ensure that the caterpillar links can maintain a stable posture in the transmission process. The bottom of the chain 9 is also provided with a chain supporting guide rail 27 for bearing and supporting the chain, reducing the stress deformation of the chain in the moving process, thereby improving the stability and bearing capacity of the whole transmission system.
8. And (3) grabbing and processing positioning of the feeding manipulator, namely when the caterpillar link is transmitted to the grabbing position appointed by the frame 1, starting grabbing operation by the feeding manipulator 20 positioned in the tail end area of the frame 1. The Z-axis motor 15 and the motor mounting seat 16 provide power for translational movement for the Z axis, and the compound sliding table 17 is driven to move in the Z-axis direction through the transmission of the ball screw. The X-axis motor 18 on the composite sliding table 17 drives the X-axis sliding table 19 to horizontally move, so that the left and right feeding manipulators 20 arranged on the X-axis sliding table 19 can synchronously clamp the two caterpillar links 13 on the two groups of positioning pins and accurately put the caterpillar links into a caterpillar link end face milling machine for processing. The double-feeding mechanical arm 20 can accurately clamp and convey the caterpillar link 13 according to positioning information provided by the positioning pin 39 on the follow-up positioning plate 14, so that the stability and the machining precision of the caterpillar link 13 in the machining process are ensured.
The caterpillar track section automatic feeding device provided by the invention has the following advantages:
1. The feeding efficiency is improved, the pose information of the caterpillar links is automatically identified through the industrial camera, the caterpillar links are automatically adjusted by the material arranging manipulator and the turnover mechanism, and the feeding manipulator is combined to work cooperatively, so that the feeding efficiency can be greatly improved, and the manual intervention is reduced.
2. The high-precision positioning and processing are realized, namely, the feeding manipulator can accurately grasp the caterpillar link and place the caterpillar link into processing equipment by utilizing the matching of the follow-up positioning plate and the chain and the accurate positioning of the positioning pin, so that the stability and the processing precision of the caterpillar link in the processing process are ensured.
3. The automatic control method for the caterpillar track links improves the automation level, realizes the full-automatic operation from the identification, placement and positioning to the processing of the caterpillar track links, greatly improves the automation level of a production line, and reduces the complexity and the labor intensity of manual operation.
In summary, the automatic feeding device for the caterpillar links effectively solves the problems of low manual feeding efficiency and low automation level in the prior art, has the advantages of high feeding precision, high efficiency and high automation degree, and can be widely applied to the field of automatic processing and feeding of caterpillar link production lines.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (10)
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| CN202411902121.5A CN119566935A (en) | 2024-12-23 | 2024-12-23 | Automatic caterpillar link feeding device and working method thereof |
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