阅读说明：本技术 一种卡夹设备以及机器人自动示教方法 (Clamp device and robot automatic teaching method ) 是由 朴诚男 于 2020-09-30 设计创作，主要内容包括：本发明涉及一种卡夹设备以及机器人自动示教方法,该卡夹设备包括卡夹框架,卡夹框架的左右侧面上设置有用于支撑板材的支撑组件,支撑组件具有水平延伸的用于容纳板材的侧壁的容纳槽,卡夹框架的顶部和/或底部设置有第一距离传感器,第一距离传感器用于测量板材在竖直方向上相对于第一距离传感器的位置,卡夹框架的侧部设置有第二距离传感器,第二距离传感器用于测量板材在水平方向上相对于第二距离传感器的位置。通过在卡夹框架的顶部设置第一距离传感器,在卡夹框架的侧部设置第二距离传感器,以便于根据传感器的测量数据调整板材的位置,使板材放置在卡夹框架上的设定位置。该结构避免人工测量作业,具有作业安全性高和作业效率高的特点。(The invention relates to a clamping device and a robot automatic teaching method, wherein the clamping device comprises a clamping frame, a support assembly for supporting a plate is arranged on the left side surface and the right side surface of the clamping frame, the support assembly is provided with a horizontally extending accommodating groove for accommodating the side wall of the plate, a first distance sensor is arranged at the top and/or the bottom of the clamping frame and used for measuring the position of the plate relative to the first distance sensor in the vertical direction, a second distance sensor is arranged at the side part of the clamping frame and used for measuring the position of the plate relative to the second distance sensor in the horizontal direction. The first distance sensor is arranged at the top of the clamping frame, and the second distance sensor is arranged at the side of the clamping frame, so that the position of the plate is adjusted according to the measurement data of the sensors, and the plate is placed at the set position on the clamping frame. This structure avoids artifical measurement operation, has the high and high characteristics of operating efficiency of operational safety.)

1. A clamping device is characterized by comprising a clamping frame, wherein a supporting assembly used for supporting a plate material is arranged on the left side and the right side of the clamping frame, the supporting assembly is provided with a horizontally extending accommodating groove used for accommodating the side wall of the plate material, a first distance sensor is arranged at the top and/or the bottom of the clamping frame and used for measuring the position of the plate material in the vertical direction relative to the first distance sensor, a second distance sensor is arranged on the side part of the clamping frame and used for measuring the position of the plate material in the horizontal direction relative to the second distance sensor.

2. Cardholder arrangement according to claim 1, characterised in that the first distance sensor is multiple, the first distance sensor being arranged at least four corners of the top and/or bottom of the cardholder frame.

3. The clip device according to claim 2, wherein said first distance sensor is provided at a position located at a middle portion of said clip frame in a length direction of said clip frame.

4. The clip device according to claim 1, wherein the second distance sensor is at least two, and the second distance sensor is provided on both of a length direction side of the clip frame and a width direction side of the clip frame.

5. Cardholder arrangement according to claim 4, characterised in that a number of said second distance sensors are arranged at intervals along one side of the length direction of the cardholder frame.

6. The cardholder apparatus of claim 1, further comprising a power supply unit and a control host, the power supply unit, the first distance sensor and the second distance sensor each being electrically connected to the control host.

7. The cardholder apparatus of claim 6, further comprising a Wi-Fi router electrically connected to the control host.

8. The cardholder apparatus according to any one of claims 1 to 7, wherein the first distance sensor is an ultrasonic sensor and the second distance sensor is a laser sensor.

9. An automatic robot teaching method for teaching a robot by the card holder device according to any one of claims 1 to 8, characterized by comprising:

the robot is used for conveying the plates to the accommodating groove through manual traction;

measuring the position of the plate material relative to the first distance sensor in the vertical direction through the first distance sensor to obtain a distance L between the plate material and upper and lower groove walls of the accommodating groove, and measuring the position of the plate material relative to the second distance sensor in the horizontal direction through the second distance sensor to obtain a distance S between the plate material and a groove bottom of the accommodating groove and a distance T between the plate material and a back side surface of the clip frame;

the robot adjusts the set position of the plate to the clamping frame according to the distance L, the distance S and the distance T;

and the robot stores the position information of the manipulator of the robot when the plate is positioned at the set position.

10. The method according to claim 9, wherein when the plate material is adjusted, the plate material is adjusted to a set position in a horizontal direction of the clip frame according to the distance S and the distance T, and then the plate material is adjusted to a set position in a vertical direction of the clip frame according to the distance L.

Technical Field

The invention relates to the technical field of card clamping equipment, in particular to card clamping equipment and a robot automatic teaching method comprising the card clamping equipment.

Background

The clip device is used for storing sheets, for example glass sheets for making display screens. Generally, a robot is used to convey and access a sheet, and it is necessary to teach a robot newly put into use so as to acquire motion trajectory data during a work. In the existing teaching work, the position data of the plate on the clamping device is mainly measured manually, the position of the plate is adjusted through the position data, the plate is located at a set position, and finally, the robot stores the position data of the plate located at the set position. This in-process operating personnel need climb into the narrow and small clamping equipment in space and measure the operation, and the operation is inconvenient and efficiency is lower, and operating personnel bumps simultaneously, falls the potential safety hazard such as.

Disclosure of Invention

The invention aims to provide a clamp device and a robot automatic teaching method, which have high work efficiency and high work safety.

In order to achieve the purpose, the invention adopts the following technical scheme:

the clamping device comprises a clamping frame, wherein a supporting assembly used for supporting a plate material is arranged on the left side face and the right side face of the clamping frame, the supporting assembly is provided with a horizontally extending accommodating groove used for accommodating the side wall of the plate material, a first distance sensor is arranged at the top and/or the bottom of the clamping frame and used for measuring the position of the plate material relative to the first distance sensor in the vertical direction, a second distance sensor is arranged at the side part of the clamping frame and used for measuring the position of the plate material relative to the second distance sensor in the horizontal direction.

As a preferable mode of the card holder device, the first distance sensor is plural, and the first distance sensor is provided at least four corners of the top and/or bottom of the card holder frame.

As a preferable mode of the clip device, the first distance sensor is provided at a position located at a middle portion of the clip frame in a length direction of the clip frame.

As a preferable mode of the card holder device, the number of the second distance sensors is at least two, and the second distance sensors are provided on both one side in the length direction of the card holder frame and one side in the width direction of the card holder frame.

As a preferable mode of the clip device, a plurality of the second distance sensors are provided at intervals along one side in a length direction of the clip frame.

As a preferable scheme of the card holder device, the card holder device further comprises a power supply unit and a control host, wherein the power supply unit, the first distance sensor and the second distance sensor are all electrically connected with the control host.

As a preferable scheme of the card holder device, the card holder device further comprises a Wi-Fi router, and the Wi-Fi router is electrically connected with the control host.

As a preferable aspect of the cardholder, the first distance sensor is an ultrasonic sensor, and the second distance sensor is a laser sensor.

Also provided is an automatic robot teaching method for teaching a robot by the card device, the automatic teaching method comprising:

the robot is used for conveying the plates to the accommodating groove through manual traction;

measuring the position of the plate material relative to the first distance sensor in the vertical direction through the first distance sensor to obtain a distance L between the plate material and upper and lower groove walls of the accommodating groove, and measuring the position of the plate material relative to the second distance sensor in the horizontal direction through the second distance sensor to obtain a distance S between the plate material and a groove bottom of the accommodating groove and a distance T between the plate material and a back side surface of the clip frame;

the robot adjusts the set position of the plate to the clamping frame according to the distance L, the distance S and the distance T;

and the robot stores the position information of the manipulator of the robot when the plate is positioned at the set position.

As a preferable scheme of the robot automatic teaching method, when the plate is adjusted, the plate is adjusted to a set position in a horizontal direction of the clip frame according to the distance S and the distance T, and then the plate is adjusted to a set position in a vertical direction of the clip frame according to the distance L.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides a clamping device and a robot automatic teaching method, wherein a first distance sensor is arranged on the top of a clamping frame, a second distance sensor is arranged on the side of the clamping frame, and the position of a plate on the clamping frame is measured through the first distance sensor and the second distance sensor, so that the position of the plate is adjusted according to detection data, and the plate is placed at a set position on the clamping frame. This structure avoids artifical measurement operation, has the high and high characteristics of operating efficiency of operational safety.

Drawings

Fig. 1 is a schematic diagram of a cardholder apparatus and a robot according to a first embodiment of the invention.

FIG. 2 is a side cross-sectional view of a cardholder apparatus according to a first embodiment of the invention.

Fig. 3 is a top cross-sectional view of a cardholder apparatus according to a first embodiment of the invention.

Fig. 4 is a schematic view of the measurement positions of the first distance sensor and the second distance sensor according to the first embodiment of the present invention.

Fig. 5 is a flowchart of a robot automatic teaching method according to a second embodiment of the present invention.

Fig. 6 is a flowchart of a robot adjusting a plate according to a second embodiment of the present invention.

In the figure:

1. a clip frame; 10. a clip inlet; 11. a first distance sensor; 12. a second distance sensor; 13. a support assembly; 131. accommodating grooves; 2. a robot; 3. a plate material; 31. the projection position.

Detailed Description

Advantages and features of the present invention and methods of accomplishing the same will become apparent with reference to the following detailed description of the embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, which are provided only to complete the disclosure of the present invention and make those skilled in the art sufficiently understand the scope of the present invention, and the present invention is limited only by the scope of the claims. Like reference numerals denote like constituent elements throughout the specification.

Hereinafter, the present invention is described in detail with reference to the accompanying drawings.

Example one

As shown in fig. 1 to fig. 3, the clamping device provided in this embodiment is used for storing a plate 3, and the clamping device in this embodiment includes a clamping frame 1, where the clamping frame 1 is a rectangular frame structure, and along a length direction of the clamping frame 1, one end of the clamping frame 1 is a clamping entrance 10, and the other end is a back side. Along the width direction of the clamping frame 1, one end of the clamping frame 1 is a left side surface, and the other end is a right side surface. Along the height direction of the clip frame 1, the upper side of the clip frame 1 is a top surface, and the lower side is a bottom surface. The clamping frame 1 is provided with a plurality of supporting assemblies 13 used for supporting the edge of the plate 3, the supporting assemblies 13 are respectively installed on the left side face and the right side face of the clamping frame 1, and the supporting assemblies 13 are arranged at intervals along the length direction of the clamping frame 1. Each support assembly 13 comprises two support rods arranged at intervals in the vertical direction, one ends of the two support rods are connected with the clamping frame 1, and the free ends of the two support rods face the inside of the clamping frame 1. The accommodating groove 131 is formed between the two support rods, that is, the groove walls of the accommodating groove 131 are formed on the opposite sides of the two support rods, and the groove bottom of the accommodating groove 131 is formed on the left side surface or the right side surface between the two support rods. Along the width direction of panel 3, the both sides of panel 3 are placed respectively in corresponding holding tank 131. A first distance sensor 11 is arranged on the top side of the top of the clip frame 1, the first distance sensor 11 preferably being an ultrasonic sensor, the first distance sensor 11 being used to measure the position of the sheet material 3 in the vertical direction relative to the groove wall of the accommodating groove 131. Specifically, the first distance sensor 11 measures the distance between the surface of the plate material 3 and the first distance sensor 11 by using the ultrasonic distance measuring principle, and then the distances L1 and L2 between the plate material 3 and the two groove walls can be calculated by the relative position between the supporting assembly 13 and the first distance sensor 11, so as to adjust the position of the plate material 3 in the vertical direction, and the distances L1 and L2 between the plate material 3 and the two groove walls reach the set value. Of course, in other embodiments, the first distance sensor 11 may also be provided on the bottom surface of the clip frame 1, or both the bottom surface and the top surface may be provided with the first distance sensor 11. Optionally, the left/right side and the back side of the clip frame 1 are provided with a second distance sensor 12, the second distance sensor 12 is preferably a laser sensor, and the second distance sensor 12 is used for measuring the position of the plate material 3 in the horizontal direction relative to the groove bottom of the accommodating groove 131. Specifically, the second distance sensor 12 measures the distance between the side wall of the plate 3 and the second distance sensor 12 by using the laser ranging principle, and then the distance S between the plate 3 and the bottom of the accommodating groove 131 and the distance T between the plate 3 and the back surface can be calculated by the relative position between the second distance sensor 12 and the supporting component 13, so that the position of the plate 3 in the horizontal direction can be adjusted, and the distance S between the plate 3 and the bottom of the accommodating groove 131 and the distance T between the plate 3 and the back surface can reach the set values. The embodiment is characterized in that a first distance sensor 11 is arranged at the top of the clamping frame 1, a second distance sensor 12 is arranged at the side of the clamping frame 1, and the position of the plate 3 on a support component 13 is measured through the first distance sensor 11 and the second distance sensor 12, so that the position of the plate 3 is adjusted according to the measurement data, and the plate 3 is located at the set position on the support component 13. The structure prevents an operator from entering the clamping frame 1 to carry out measurement operation, and has the characteristics of high operation safety and high operation efficiency.

Specifically, the cardholder device further comprises a power supply unit and a control host, wherein the power supply unit, the first distance sensor 11 and the second distance sensor 12 are all electrically connected with the control host. It is understood that the power supply unit includes a battery for supplying power to the control main unit, the first distance sensor 11 and the second distance sensor 12, and a charging device. The control host is used for receiving, sending, processing and storing the measurement data of the first distance sensor 11 and the second distance sensor 12.

In the present embodiment, the X direction is the width direction of the clip frame 1 and the width direction of the plate material 3, the Y direction is the length direction of the clip frame 1 and the length direction of the plate material 3, and the Z direction is the height direction of the clip frame 1 and the thickness direction of the plate material 3.

Specifically, referring to fig. 1 and 4, the first distance sensors 11 are plural, and the first distance sensors 11 are provided at least at four corners of the top surface of the clip frame 1 or at four corners of the bottom surface of the clip frame 1. In this embodiment, the first distance sensor 11 is disposed at a position near four corners of the top surface of the clip frame 1, and the distance from the first distance sensor 11 to the side surface of the clip frame 1 is greater than the distance from the plate material 3 to the corresponding side surface, so that the ultrasonic wave emitted by the first distance sensor 11 can vertically reach the surface of the plate material 3. Referring to fig. 4, the projection position 31 of the first distance sensor 11 on the plate 3 is located at a position near four corners of the plate 3, so as to adjust the overall flatness of the plate 3 and the levelness of the plate 3 according to the measurement data by measuring the positions of the four corners of the plate 3.

Specifically, a first distance sensor 11 is provided at a position located in the middle of the clip frame 1 in the length direction of the clip frame 1. In this embodiment, the number of the first distance sensors 11 is preferably six, the projection positions 31 of the first distance sensors 11 are respectively located at four corners of the plate 3 and at a middle position in the length direction of the plate 3, the six first distance sensors 11 are divided into two groups, and the projection positions 31 of the three first distance sensors 11 in each group are uniformly spaced in the length direction of the plate 3. This structure can further guarantee panel 3's whole plane degree, does benefit to the bending deformation that middle part position took place when detecting panel 3 length is great. It should be noted that the middle position refers to a symmetrical middle line in the length direction of the plate 3 or a set range extending from the symmetrical middle line to both sides thereof.

Specifically, as shown in fig. 1 and 4, the number of the second distance sensors 12 is at least two, and the second distance sensors 12 are provided on both one side in the length direction of the clip frame 1 and one side in the width direction of the clip frame 1. In the present embodiment, the second distance sensors 12 are provided on the left and back sides of the clip frame 1, and the position of the plate material 3 in the horizontal direction of the clip frame 1 is measured by the second distance sensors 12. So that the plate 3 is adjusted by the measured data, and the distance S between the plate 3 and the bottom of the receiving groove 131 and the distance T between the plate 3 and the back side reach the set values. The distance between the plate 3 and the bottom of the groove corresponding to the right side can be calculated by the distance between the plate 3 and the bottom of the groove corresponding to the left side, however, in other embodiments, the second distance sensors 12 may be disposed on each side of the clip frame 1, and the distance S corresponding to each second distance sensor 12 may be measured.

Specifically, a plurality of second distance sensors 12 are provided at regular intervals along one side in the length direction of the clip frame 1. In this embodiment, three second distance sensors 12 are arranged along one side of the length direction of the clamping frame 1, and the three second distance sensors 12 are respectively located at two ends and a middle position of the left side surface, so that the plate 3 is adjusted according to the measurement data of the three second distance sensors 12, the plate 3 is parallel to the left side surface, and thus it is ensured that the plate 3 is parallel to other side surfaces of the clamping frame 1, and the distance between the plate 3 and each side surface reaches a set value. In order to ensure the accuracy of the second distance sensor 12 on the left side, two second distance sensors 12 are provided on the right side of the clip frame 1, which second distance sensors 12 are provided on the left side, and the data accuracy of the second distance sensors 12 mounted on the left side can be verified by means of the second distance sensors 12.

Specifically, the card holder device further comprises a Wi-Fi router, wherein the Wi-Fi router is installed on the card holder frame 1 and is electrically connected with the control host. A robot controller is arranged on the robot 2 used for conveying the plates 3, wireless communication is established between the robot controller and the Wi-Fi router, the first distance sensor 11 and the second distance sensor 12 transmit measurement data to the control host, the control host processes the measurement data and then transmits the measurement data to the robot controller through the Wi-Fi router, and the robot controller controls the robot 2 to adjust the positions of the plates 3.

The technical effects of the embodiment are as follows: the clamping device is characterized in that a first distance sensor 11 is arranged at the top of a clamping frame 1, a second distance sensor 12 is arranged at the side of the clamping frame 1, and the position of a plate material 3 on the clamping frame 1 is measured through the first distance sensor 11 and the second distance sensor 12, so that the position of the plate material 3 is adjusted according to detection data, and the plate material 3 is placed at a set position on the clamping frame 1. This structure avoids artifical measurement operation, has the high and high characteristics of operating efficiency of operational safety.

Example two

As shown in fig. 5, the present embodiment provides an automatic robot teaching method, including the steps of:

step S1, the robot 2 is driven by manpower to convey the plates 3 to the accommodating groove 131;

step S2, measuring the position of the plate material 3 in the vertical direction relative to the first distance sensor 11 by the first distance sensor 11 to obtain the distance L between the plate material 3 and the upper and lower groove walls of the accommodating groove 131, and measuring the position of the plate material 3 in the horizontal direction relative to the second distance sensor 12 by the second distance sensor 12 to obtain the distance S between the plate material 3 and the groove bottom of the accommodating groove 131 and the distance T between the plate material 3 and the back side surface of the clip frame 1;

step S3, the robot 2 adjusts the plate 3 to the set position of the clamping frame 1 according to the distance L, the distance S and the distance T;

in step S4, the robot 2 stores the position information of the hand of the robot 2 when the plate 3 is at the set position.

In step S1, a robot 2 for conveying the plate material 3 is provided, the robot 2 is parked at one side of the clip entrance 10 of the clip frame 1, the robot 2 is pulled by a human power to convey the plate material 3 to the accommodating groove 131, and the plate material 3 is spaced from the groove wall, the groove bottom and the back side of the accommodating groove 131.

Preferably, in order to improve teaching task efficiency, the robot 2 is caused to convey the plate material 3 to a vicinity close to the set position during manual drawing. Taking the example that the distance L1 is the distance L2, and the distance S1 is the distance S2 is the distance T, when the operator pulls the plate 3 to the middle position between two side walls close to the accommodating groove 131 and the middle position between two side surfaces close to the clip frame 1 according to visual judgment, the adjustment distance of the follow-up robot 2 to the plate 3 is reduced, and the work efficiency is improved.

In step S2, the position of the plate material 3 in the vertical direction relative to the first distance sensor 11 is measured by the first distance sensor 11, and the distance L1 between the plate material 3 and the upper groove wall of the accommodating groove 131 and the distance L2 between the plate material 3 and the lower groove wall of the accommodating groove 131 are obtained from the relative positions of the first distance sensor 11 and the support member 13, and the position of the plate material 3 in the horizontal direction relative to the corresponding second distance sensor 12 is measured by the second distance sensor 12 provided on the left side and the second distance sensor 12 provided on the back side, respectively, and the distance S1 and the distance S2 between the plate material 3 and the groove bottoms of the accommodating grooves 131 on the left and right sides of the clip frame 1 and the distance T between the plate material 3 and the back side are obtained from the relative positions of the second distance sensor 12 and the support member 13 and the back side, respectively. The sensor transmits data of the spacing S1, the spacing S2, the spacing L1, the spacing L2 and the spacing T to the control host.

In step S3, the robot 2 receives the data information of the control host through the Wi-Fi router, and adjusts the position of the plate 3 according to the distance S1, the distance S2, the distance L1, the distance L2, and the distance T, so that the plate 3 is located at the set position of the clip frame 1.

In step S4, the robot 2 stores position information of the hand of the robot when the plate 3 is at the set position. The robot passes through manipulator centre gripping panel 3, and the teaching is accomplished the back, and the robot 2 can carry out the transport operation of panel 3 according to the positional information of the manipulator of storing, realizes that the robot 2 carries panel 3 to reach the settlement position of clamping frame 1 fast, improves the operating efficiency.

Specifically, as shown in fig. 6, in step S3, the specific step of adjusting the plate 3 includes:

s31, adjusting the plate to a set position in the horizontal direction of the clamping frame 1 according to the distance S and the distance T;

and S32, adjusting the plate material to a set position in the vertical direction of the clamping frame 1 according to the distance L.

Specifically, taking the example that the distance L1 is equal to the distance L2, and the distance S1 is equal to the distance S2 is equal to the distance T, when adjusting the plate material 3, the plate material 3 is adjusted to a set position in the horizontal direction of the clip frame 1 according to the distance S and the distance T, and then the plate material 3 is adjusted to a set position in the vertical direction of the clip frame 1 according to the distance L. In this embodiment, the second distance sensor 12 is a laser sensor, and the detection range of the second distance sensor 12 in the vertical direction is larger than the distance range between the two support rods. When the manual traction is performed, the plate 3 is located between the two support rods, so that the plate 3 is located in the detection range of the second distance sensor 12, the second distance sensors 12 located on the left side surface and the back side surface measure the distance between the plate 3 and the corresponding second distance sensors 12, and the distance S1 between the plate 3 and the groove bottom located on the left side surface and the distance S2 between the plate 3 and the groove bottom located on the right side surface are calculated through the control host. The robot 2 adjusts the position of the plate 3 based on the data information of the pitch S1, the pitch S2, and the pitch T so that the pitch S1 is equal to the pitch S2, i.e., the plate 3 is located at the set position in the horizontal direction. The first distance sensors 11 are ultrasonic sensors, and the projection positions 31 of the emitting ends of the first distance sensors 11 on the plate 3 are distributed at four corners of the plate 3 and at the middle of the plate 3 in the length direction. The first distance sensor 11 measures the distance between the plate 3 and the first distance sensor 11, and calculates the distance L1 and the distance L2 between the plate 3 and two groove walls respectively through the control host, and the robot 2 adjusts the position of the plate 3 through the data information of the distance L1 and the distance L2, so that the distance L1 is equal to the distance L2, that is, the plate 3 is located at the set position in the vertical direction.

In the embodiment, the position of the plate 3 in the horizontal direction is adjusted firstly, and then the position of the plate 3 in the vertical direction is adjusted, so that the plate 3 is prevented from being manually dragged to the horizontal position of the clamping frame 1 and then the projection position 31 of the first distance sensor 11 is located outside the plate 3, thereby ensuring that each distance sensor can smoothly measure the position data of the plate 3, and improving the operation efficiency.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above embodiments, but may be manufactured in various forms, and those skilled in the art will appreciate that the present invention may be embodied in other specific forms without changing the technical spirit or essential features of the invention. It is therefore to be understood that the above described embodiments are illustrative and not restrictive in all respects.