阅读说明：本技术 一种机器人自动扣环装置及自动挂标装置 (Automatic buckle device of robot and automatic label hanging device ) 是由 罗俊生 吴云 陈旭东 蔡汉新 于 2020-08-05 设计创作，主要内容包括：一种机器人自动扣环装置,其包括线材成型机,具有移动部、夹爪、摄影机构的机械手,通过线材成型机对钢丝折弯完成后切断钢丝,形成呈两支脚外延且具有单夹点的围合环状的标识环,机械手的夹爪能夹取标识环,并通过摄影机构拍摄并测定目标物可供扣环的目标孔或直接移动至设定位置可供扣环的目标孔,进行标识环的扣合。在上述机器人自动扣环装置的基础上增设标签推送机构,构成机器人自动挂标装置,在开设有标签孔的标签传输送至标签待取区并使标签孔位于设定位置时,机械手能够将活动支脚插入标签孔,完成标签套合动作,而后再执行对目标物的目标孔进行标签挂标动作。通过自动化的操作,能提高标识或标签的挂扣效率,并减少人力资源成本。(The utility model provides an automatic buckle device of robot, its includes the wire rod make-up machine, has the manipulator of removal portion, clamping jaw, photographic mechanism, cuts off the steel wire after accomplishing through the wire rod make-up machine to the steel wire bending, forms to be two foot epitaxy and have the cyclic annular sign ring of closing of single pinch point, and the clamping jaw of manipulator can press from both sides and get the sign ring to shoot and survey the target hole that the target object can supply the buckle or directly move to the target hole that the settlement position can supply the buckle through photographic mechanism, carry out the lock of sign ring. The automatic buckle device of above-mentioned robot adds label push mechanism on the basis of above-mentioned automatic buckle device of robot, constitutes the automatic mark device of hanging of robot, and when the label that has seted up the label hole was carried to the label and is waited to get the district and make the label hole locate the setting position, the manipulator can insert the activity stabilizer blade in the label hole, accomplishes the label registrate action, then carries out again and carries out the label to the target hole of target object and hang the mark action. Through automatic operation, can improve the efficiency of detaining of hanging of sign or label to reduce manpower resources cost.)

1. A robot automatic buckle device is characterized in that: the method comprises the following steps:

the wire forming machine comprises a steel wire conveying mechanism, a steel wire bending mechanism, a steel wire cutting mechanism and a steel wire conveying mechanism, wherein the steel wire conveying mechanism conveys steel wires to the steel wire bending mechanism, the steel wire bending mechanism bends the steel wires, the steel wire cutting mechanism cuts the steel wires after the steel wires are bent to form a marking ring, and the marking ring is an enclosing ring with two extending legs and a single clamping point;

the mechanical arm is provided with a moving part, a clamping jaw and a photographing mechanism, the clamping jaw clamps the surrounding ring and one support leg of the identification ring, and the other support leg forms a movable support leg which can be opened along the single clamping point; the camera mechanism shoots and measures a target hole of a target object which can be provided for the retaining ring or directly moves to a set position which can be provided for the retaining ring, the manipulator moves to the target hole and inserts the movable support leg into the target hole, and the movable support leg slides in along the annular edge of the target hole, so that the single clamping point is opened and the annular edge of the target hole slides in to enclose the ring.

2. The robotic automatic buckle assembly of claim 1 wherein:

the steel wire transmission mechanism comprises a steel wire straightening wheel set, a steel wire feeding wheel set and a steel wire transmission port;

the first convex shaft driving mechanism drives the first crank arm to swing along the swinging shaft, so that the first crank arm drives the first linear sliding seat to linearly slide, and the steel wire bending head on the first linear sliding seat is driven to press a steel wire transmission port;

the steel wire cutting mechanism comprises a second lead screw adjusting seat and a second linear sliding seat arranged on the second lead screw adjusting seat, and the second convex shaft driving mechanism drives the second crank arm to swing along the swinging shaft, so that the second crank arm drives the second linear sliding seat to linearly slide, and a steel wire cutter on the second linear sliding seat is driven to cut off a steel wire at the steel wire transmission port.

3. The robotic automatic buckle assembly as claimed in any one of claim 2 wherein: the wire forming machine is further provided with a clamping jaw inductor, when the clamping jaw inductor induces the clamping jaw to move into the induction area, the control mechanism controls the clamping jaw to clamp the identification ring, and the steel wire cutting mechanism cuts off the steel wire to form the identification ring.

4. The robotic automatic buckle assembly as claimed in any one of claims 1-3, wherein: the photographing mechanism comprises a visual recognition camera and a distance measuring sensor, the visual recognition camera shoots and recognizes the maximum and/or nearest target hole of the buckle of the measured target object, the distance measuring sensor carries out transverse continuous measurement to determine the ring edge of the maximum and/or nearest target hole, then the distance measuring sensor carries out longitudinal measurement to determine the height of the ring edge of the maximum and/or nearest target hole, and finally the three-dimensional position of the movable support foot sliding along the ring edge of the maximum and/or nearest target hole is determined.

5. The utility model provides an automatic label hanging device of robot which characterized in that: the robot automatic buckle device according to any one of claims 1 to 4, further comprising at least one label pushing mechanism; the label provided with the label hole is conveyed to a label waiting area under the transmission of the label pushing mechanism, and the label hole is positioned at a set position; and the mechanical arm moves to a set position of a label region to be taken and inserts the movable support leg into the label hole, and the ring edge of the label hole slides into the enclosing ring along the opened single clamping point to complete the label sleeving action.

6. The automatic tagging device of claim 5, wherein: the label pushing mechanism conveys labels to a label waiting area at the tail end of the transmission flow channel one by one through the transmission flow channel, the label sensor senses the transmission action of the labels of the transmission flow channel and sends a label taking instruction, and the mechanical arm receives the label taking instruction and completes the label sleeving action.

7. The automatic tagging device of claim 6, wherein: the label pushing mechanism is further provided with a label clamping mechanism and a support leg guiding mechanism, when the label is located at a region where the label is to be taken, the label clamping mechanism clamps the label, and the support leg guiding mechanism is flush with the label hole from top to bottom and guides the movable support leg to be inserted into the label hole.

8. The automatic tagging device of claim 7, wherein: the label clamping mechanism is provided with a clamping driving mechanism and a clamping pressing plate, the label region to be taken is provided with a lower retaining wall, a left side wall, a right side wall and a bearing bottom wall of the transmission flow channel, and the support leg guiding mechanism is an upper support leg guiding groove which is arranged on the clamping pressing plate and is expanded outwards and a lower support leg guiding groove which is arranged on the lower retaining wall and the bearing bottom wall; when the label is positioned in the area to be taken from the label, the clamping driving mechanism drives the clamping pressing plate to press and clamp the label on the bearing bottom wall, and the guide groove on the support leg, the label hole and the guide groove under the support leg are arranged in a flush manner from top to bottom.

9. The automatic tagging device of claim 5, wherein: and a label generating mechanism is further arranged, and after the label generating mechanism generates a label, the label pushing mechanism sends the label to the label waiting area.

10. A robotic automatic tagging device according to any one of claims 5 to 9 wherein: the target hole is formed by enclosing the strip-shaped hanging part and the target object, the shooting mechanism shoots and obtains the target hole formed by enclosing the strip-shaped hanging part and the target object, the movable support leg is inserted into the target hole, the movable support leg slides in along the strip-shaped hanging part, the single clamping point is opened, and the strip-shaped hanging part slides in the enclosing ring.

Technical Field

The invention relates to the field of robots, in particular to an automatic buckle ring device and an automatic label hanging device of a robot.

Background

The identifier can be used for facilitating the related personnel to judge whether the target object belongs to the checked state, and further, the identifier with the information label can be used for facilitating the related personnel to judge the related attribute of the target object.

The hanging mark is a method for facilitating related personnel to judge the detection state of the target object and the related attribute of the target object. The hang tags generally consist of a ring-like tag, such as a lanyard or a lanyard, and in some cases a label paper. The traditional label hanging mode is that workers are arranged beside a production line and hang each target object manually, and the label hanging mode is low in efficiency and high in labor cost; in addition, in the steel mill type working environment with high environmental temperature, high noise and much dust, workers are easy to fatigue after working for a long time, the working efficiency is low, and the conditions of neglected loading and misloading are further increased.

Disclosure of Invention

The invention aims to provide a robot automatic buckle device which can automatically make a steel wire into a mark ring convenient for a manipulator to grab and a robot can sleeve the mark ring to a target hole.

In order to achieve the purpose, the invention is implemented by adopting the following technical means:

a robot automatic buckle ring device comprises at least one wire forming machine, a steel wire conveying mechanism, a steel wire bending mechanism, a steel wire cutting mechanism and a steel wire conveying mechanism, wherein the steel wire conveying mechanism conveys a steel wire to the steel wire bending mechanism, the steel wire bending mechanism bends the steel wire, the steel wire cutting mechanism cuts the steel wire to form an identification ring after the steel wire is bent, and the identification ring is an enclosing ring with two extending legs and a single clamping point;

the manipulator is provided with a moving part, a clamping jaw and a photographing mechanism, the clamping jaw clamps the surrounding ring and one support leg of the identification ring, and the other support leg forms a movable support leg which can be opened along the single clamping point; the camera mechanism shoots and measures a target hole of a target object which can be provided for the retaining ring or directly moves to a set position which can be provided for the retaining ring, the manipulator moves to the target hole and inserts the movable support leg into the target hole, and the movable support leg slides in along the annular edge of the target hole, so that the single clamping point is opened and the annular edge of the target hole slides in to enclose the ring.

Furthermore, the steel wire transmission mechanism comprises a steel wire straightening wheel set, a steel wire feeding wheel set and a steel wire transmission port;

the steel wire bending mechanism comprises a first lead screw adjusting seat and a first linear sliding seat arranged on the first lead screw adjusting seat, and a first convex shaft driving mechanism drives a first crank arm to swing along a swinging shaft, so that the first crank arm drives the first linear sliding seat to linearly slide and drives a steel wire bending head on the first linear sliding seat to press a steel wire transmission port;

the steel wire cutting mechanism comprises a second lead screw adjusting seat and a second linear sliding seat arranged on the second lead screw adjusting seat, and a second convex shaft driving mechanism drives a second crank arm to swing along a swinging shaft, so that the second crank arm drives the second linear sliding seat to slide linearly, and a steel wire cutter on the second linear sliding seat is driven to cut off a steel wire of the steel wire transmission port.

Further, the wire forming machine still be provided with the clamping jaw inductor, the clamping jaw inductor response when the clamping jaw removes to the induction zone in, control mechanism control clamping jaw clamp gets the sign ring, steel wire cutting mechanism cuts off the steel wire and makes the sign ring.

Furthermore, the photographing mechanism comprises a visual recognition camera and a distance measuring sensor, the visual recognition camera is used for photographing and recognizing the maximum target hole and/or the nearest target hole of the buckle of the measured target object, the distance measuring sensor is used for carrying out transverse continuous measurement to determine the ring edge of the maximum target hole and/or the nearest target hole, then the distance measuring sensor is used for carrying out longitudinal measurement to determine the height of the ring edge of the maximum target hole and/or the nearest target hole, and finally the three-dimensional position of the movable support foot sliding into along the ring edge of the maximum target hole and/or the nearest target hole is determined.

The robot automatic buckle device at least has the following advantages:

the automatic manufacture of the identification ring and the buckling action of the identification ring can be completed through the wire forming machine, after the manipulator clamping jaw grabs the identification ring, because the identification ring is in a surrounding ring structure with two extending legs and a single clamping point, when the manipulator moves to a target hole and inserts the movable leg into the target hole, the buckling of the identification ring can be completed only through a single downward moving action;

the 'marking ring' is in a shape of a Chinese character're' on the whole, the 'marking ring' is in a surrounding ring structure with two extending legs and single clamping point, the transformation such as arc bending and angle bending can be reasonably carried out in the surrounding ring and the junction part of the surrounding ring and the legs, or the transformation such as angle bending and wavy folding can be carried out on the legs, the transformation mode provides different shapes of schemes on the basis that the marking ring structure conforms to the 'surrounding ring structure with two extending legs and single clamping point', the shape transformation of the marking ring can be carried out by different bending actions set by the steel wire bending mechanism of the existing wire forming machine, certain 'information' can be given by the marking rings with different shapes, so that relevant personnel can judge the corresponding 'information' conveniently, and non-relevant personnel can not obtain the corresponding 'information' content easily;

through the operation, the target hole with the position for the snap ring can be set by programming the space moving process of the manipulator to complete the action of the snap ring, and the method is more suitable for 0.25-3cm²Positioning buckle holes with small sizes are formed; for 25cm²The above-mentioned large target hole can be shot by means of photographic mechanism and the position of target object for target hole of retaining ring can be measured so as to implement the action of retaining hole.

The vision recognition camera and the ranging sensor are used as a photographing mechanism, the ring edge of the maximum and/or nearest target hole of the target object can be further analyzed and determined, and the three-dimensional position where the movable support foot slides in along the ring edge of the maximum and/or nearest target hole is determined, so that the manipulator can be guided to move to the three-dimensional position through program control, and the identification hanging and buckling action can be completed.

Another object of the present invention is to provide an automatic robot tag attaching device, which includes the automatic robot buckle device, and further includes at least one set of tag pushing mechanism; the label provided with the label hole is conveyed to a label waiting area under the transmission of the label pushing mechanism, and the label hole is positioned at a set position; and the mechanical arm moves to a set position of a label region to be taken and inserts the movable support leg into the label hole, and the ring edge of the label hole slides into the enclosing ring along the opened single clamping point to complete the label sleeving action.

Further, the label pushing mechanism conveys labels to a label waiting area at the tail end of the transmission flow channel one by one through the transmission flow channel, the label sensor senses the transmission action of the labels of the transmission flow channel and sends a label taking instruction, and the manipulator receives the label taking instruction and completes the label sheathing action.

Furthermore, the label pushing mechanism is further provided with a label clamping mechanism and a support leg guiding mechanism, when the label is located in a region where the label is to be taken, the label clamping mechanism clamps the label, and the support leg guiding mechanism is flush with the label hole from top to bottom and guides the movable support leg to be inserted into the label hole.

Furthermore, the label clamping mechanism is provided with a clamping driving mechanism and a clamping pressing plate, the label region to be taken is provided with a lower retaining wall, a left side wall, a right side wall and a bearing bottom wall of the transmission flow channel, and the support leg guiding mechanism is an upper support leg guiding groove which is arranged on the clamping pressing plate and is expanded outwards and a lower support leg guiding groove which is arranged on the lower retaining wall and the bearing bottom wall; when the label is positioned in the area to be taken from the label, the clamping driving mechanism drives the clamping pressing plate to press and clamp the label on the bearing bottom wall, and the guide groove on the support leg, the label hole and the guide groove under the support leg are arranged in a flush manner from top to bottom.

Further, a label generating mechanism is further arranged, and after the label generating mechanism generates the label, the label pushing mechanism sends the label to the label waiting area.

Furthermore, the target hole is formed by enclosing the strip-shaped hanging part and the target object, the shooting mechanism shoots and obtains the target hole formed by enclosing the strip-shaped hanging part and the target object, the movable support leg is inserted into the target hole, and the movable support leg slides in along the strip-shaped hanging part, so that the single clamping point is opened, and the strip-shaped hanging part slides in the enclosing ring.

The above-described "strap-like hanging part" is a part that can be hung in a strap or strap shape on the whole or a part of the target hole, and is not limited to a flexible or rigid binding band or a binding wire for binding the target object, a buckle-able strap ring formed by separately enclosing the rigid binding band or the binding wire, or a part that can be hung in a strap or strap shape on the whole or a part of a specific part of the target object, and is based on that the camera mechanism can perform shooting and determine the target hole of the target object for the buckle ring.

The automatic label hanging device of the robot at least has the following advantages:

the label is conveyed to the area to be taken of the label and the label hole is positioned at the set position through the label pushing mechanism, and the label is usually made of sheet materials such as paper materials, plastics and the like, and the label hole is arranged at the edge part of the label, so that when the manipulator moves to the target hole and inserts the movable support leg into the label hole, only a single downward movement action is needed, the ring edge of the label hole can slide into the enclosing ring along the opened single clamping point, and the buckling of the identification ring and the label hole is completed;

by additionally arranging the label clamping mechanism and the support leg guide mechanism, the positioning of a thin label with low rigidity and the hanging of the identification ring can be facilitated, the label can be prevented from deviating by pressing and clamping the label through the label clamping mechanism, and the label hole of the label can be positioned at the set position more accurately; meanwhile, through the arrangement of the supporting leg guide mechanism, when the movable supporting leg is bent and transformed at a small angle, the movable supporting leg can be inserted into the label hole along the supporting leg guide mechanism more conveniently and smoothly;

through being equipped with label generation mechanism, can carry out continuous generation to the label to, the propelling movement of cooperation label push mechanism to the continuous generation label, the manipulator circulates and accomplishes the knot of hanging to above-mentioned continuous generation label to and detain to the string of target object target hole, can accomplish the automatic continuous sign to the target object.

Drawings

FIG. 1 is a schematic view of the present invention;

FIG. 2 is an enlarged view of area A of FIG. 1;

FIG. 3 is an enlarged view of area B of FIG. 1;

FIG. 4 is a schematic view of the internal structure of the wire forming machine of the present invention;

FIG. 5 is a schematic view of a robot gripper and camera mechanism;

fig. 6 is a schematic view of a targeting orifice enclosed by a cylindrical billet and strapping band.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following embodiments are specifically described with reference to the attached drawings.