阅读说明：本技术 一种视觉引导下的香烟烟支抓取机械手 (Cigarette snatchs manipulator under vision guide ) 是由 张月华 杨耀伟 张柳枝 崔廷 郜海民 鲍文华 张志刚 王雷 吴广海 郭华诚 宋六 于 2020-12-29 设计创作，主要内容包括：本发明提供一种视觉引导下的香烟烟支抓取机械手,包括：第一导轨、第一动力电缸、视觉定位检测装置、控制器、第一滑板和负压气爪。第一导轨竖直悬挂在烟支输送带的上方,第一导轨设置有第一动力电缸和第一滑板。第一动力电缸与第一滑板传动连接,用于控制第一滑板沿第一导轨上下滑动。视觉定位检测装置设置在第一滑板上,并与控制器信号连接,用于对输送带上的烟支进行视频采集和定位。负压气爪设置在第一滑板的端部,并与所述控制器信号连接,用于对采样烟支进行负压吸附。控制器通过视觉定位检测装置对烟支进行位置定位,并控制第一滑板上下滑动以调节负压气爪的抓取位置。本发明能提高烟支生产的安全性和设备运行的智能化水平。(The invention provides a cigarette grabbing manipulator guided by vision, which comprises: the device comprises a first guide rail, a first power electric cylinder, a visual positioning detection device, a controller, a first sliding plate and a negative pressure air claw. The first guide rail is vertically hung above the cigarette conveying belt and is provided with a first power electric cylinder and a first sliding plate. The first power electric cylinder is in transmission connection with the first sliding plate and is used for controlling the first sliding plate to slide up and down along the first guide rail. Visual positioning detection device sets up on first slide to with controller signal connection, be used for carrying out video acquisition and location to the cigarette on the conveyer belt. The negative pressure gas claw is arranged at the end part of the first sliding plate and is in signal connection with the controller, and is used for performing negative pressure adsorption on the sampling cigarette. The controller positions the cigarette through the visual positioning detection device and controls the first sliding plate to slide up and down to adjust the grabbing position of the negative pressure air claw. The invention can improve the safety of cigarette production and the intelligent level of equipment operation.)

1. The utility model provides a cigarette snatchs manipulator under vision guide which characterized in that includes: the device comprises a first guide rail, a first power electric cylinder, a visual positioning detection device, a controller, a first sliding plate and a negative pressure air claw;

the first guide rail is vertically suspended above the cigarette conveying belt and is provided with the first power electric cylinder and the first sliding plate;

the first power electric cylinder is in transmission connection with the first sliding plate and is used for controlling the first sliding plate to slide up and down along the first guide rail;

the visual positioning detection device is arranged on the first sliding plate, is in signal connection with the controller and is used for carrying out video acquisition and positioning on the cigarettes on the conveying belt;

the negative pressure air claw is arranged at the end part of the first sliding plate, is in signal connection with the controller and is used for performing negative pressure adsorption on the sampling cigarette;

the controller passes through visual positioning detection device carries out position location to the cigarette to control first slide slides from top to bottom in order to adjust the position of snatching of negative pressure gas claw, and then control negative pressure gas claw forms the negative pressure passageway in order to snatch corresponding cigarette.

2. The vision-guided cigarette rod grasping robot according to claim 1, further comprising: the second guide rail, the second sliding plate and the second power electric cylinder;

the second guide rail is perpendicular to the first guide rail, the second guide rail stretches over the cigarette conveying belt, and the second slide plate and the second power electric cylinder are arranged on the second guide rail;

the second power electric cylinder is in transmission connection with the second sliding plate and is used for controlling the second sliding plate to slide left and right along the second guide rail;

the controller with second power electric cylinder signal connection, the controller is according to waiting to snatch the position control of cigarette the transmission of second power electric cylinder, so that first guide rail is followed the second guide rail carries out the horizontal slip and adjusts the position of snatching of negative pressure gas claw.

3. The vision-guided cigarette rod grasping robot according to claim 2, further comprising: the third guide rail, the third sliding plate and the third power electric cylinder;

the third guide rail is perpendicular to the second guide rail, the third guide rail is arranged on the side edge of the cigarette conveying belt in parallel, and the third slide plate and the third power electric cylinder are arranged on the third guide rail;

the third power cylinder is in transmission connection with the third sliding plate and is used for controlling the third sliding plate to slide back and forth along the third guide rail;

the controller with third power electric cylinder signal connection, the controller is according to waiting to snatch the position control of cigarette third power electric cylinder transmission, so that the second guide rail is followed third guide rail slides from beginning to end and adjusts the position of snatching of negative pressure gas claw.

4. The vision-guided cigarette rod grasping robot according to claim 3, further comprising: a support;

the bracket includes: the first support column and the second support column are respectively and vertically arranged at two ends of the third guide rail, so that the third guide rail is horizontally arranged on the bracket.

5. The vision-guided manipulator for grabbing cigarette rods according to claim 1, wherein the negative pressure pneumatic claw is provided with an inner cavity and an air hole, and the inner cavity is communicated with an external air source through an air pipe;

the air hole is communicated with the inner cavity, and when negative pressure is formed in the inner cavity, the negative pressure air claw adsorbs cigarettes to be grabbed through the air hole.

6. The vision-guided manipulator for grabbing cigarette rods according to claim 5, wherein the negative pressure pneumatic claw is provided with an arc-shaped groove, the air hole is formed in the arc-shaped groove, and the arc-shaped groove is used as an adsorption surface of the negative pressure pneumatic claw.

7. The vision-guided cigarette rod grasping robot according to claim 6, further comprising: an electromagnetic valve;

the electromagnetic valve is arranged on the air pipe and used for controlling the negative pressure communication between the external air source and the negative pressure air claw;

the electromagnetic valve is in signal connection with the controller, when the distance between the adsorption surface of the negative pressure air claw and the cigarette to be grabbed is within a set distance threshold value, the controller controls the electromagnetic valve to be conducted, so that the inner cavity of the negative pressure air claw forms a negative pressure cavity.

8. The vision-guided cigarette rod gripping manipulator according to any one of claims 1 to 7, wherein the vision positioning detection device comprises: a vision sensor and a positioning sensor;

the visual sensor is used for carrying out video acquisition on the conveying belt, and the controller determines whether cigarettes exist on the conveying belt according to the video;

the positioning sensor is used for detecting the cigarette position on the conveying belt, and the controller controls the third power electric cylinder and the rotating speed of the second power electric cylinder according to the cigarette position, so that the sliding speed of the second guide rail is adapted to the conveying speed of the conveying belt.

9. The vision-guided manipulator for grabbing cigarette and cigarette sticks according to claim 8, wherein the controller controls the second guide rail to slide to the cigarette position according to the conveying speed of the conveying belt, and controls the first guide rail to slide above the cigarette position when the second guide rail keeps synchronous with the cigarette to be grabbed, so as to control the negative pressure gas claw to slide down to the position above the cigarette to be grabbed.

10. The vision-guided cigarette gripping manipulator of claim 9, wherein the controller is a PLC controller.

Technical Field

The invention relates to the technical field of cigarette production equipment, in particular to a cigarette grabbing manipulator guided by vision.

Background

In the cigarette production, the produced cigarette is sampled on line and then is physically detected, so that the product quality control of the cigarette on line is realized. The mode of present online cigarette sample snatchs on line for quality control personnel with handheld device, because cigarette moves on conveying equipment, needs sampling equipment to keep similar speed with the cigarette and follows the sampling, easily makes increase operating personnel's working strength, increases the potential safety hazard of production. Therefore, how to realize intelligent online sampling has important significance.

Disclosure of Invention

The invention provides a cigarette grabbing manipulator under visual guidance, which solves the problem that the labor intensity of operators is easily increased due to the fact that handheld equipment is adopted for online cigarette sampling in the prior art, and can improve the safety of cigarette production and the intelligent level of equipment operation.

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

a cigarette of cigarette snatchs manipulator under vision guide includes: the device comprises a first guide rail, a first power electric cylinder, a visual positioning detection device, a controller, a first sliding plate and a negative pressure air claw;

the first guide rail is vertically suspended above the cigarette conveying belt and is provided with the first power electric cylinder and the first sliding plate;

the first power electric cylinder is in transmission connection with the first sliding plate and is used for controlling the first sliding plate to slide up and down along the first guide rail;

the visual positioning detection device is arranged on the first sliding plate, is in signal connection with the controller and is used for carrying out video acquisition and positioning on the cigarettes on the conveying belt;

the negative pressure air claw is arranged at the end part of the first sliding plate, is in signal connection with the controller and is used for performing negative pressure adsorption on the sampling cigarette;

the controller passes through visual positioning detection device carries out position location to the cigarette to control first slide slides from top to bottom in order to adjust the position of snatching of negative pressure gas claw, and then control negative pressure gas claw forms the negative pressure passageway in order to snatch corresponding cigarette.

Preferably, the method further comprises the following steps: the second guide rail, the second sliding plate and the second power electric cylinder;

the second guide rail is perpendicular to the first guide rail, the second guide rail stretches over the cigarette conveying belt, and the second slide plate and the second power electric cylinder are arranged on the second guide rail;

the second power electric cylinder is in transmission connection with the second sliding plate and is used for controlling the second sliding plate to slide left and right along the second guide rail;

the controller with second power electric cylinder signal connection, the controller is according to waiting to snatch the position control of cigarette the transmission of second power electric cylinder, so that first guide rail is followed the second guide rail carries out the horizontal slip and adjusts the position of snatching of negative pressure gas claw.

Preferably, the method further comprises the following steps: the third guide rail, the third sliding plate and the third power electric cylinder;

the third guide rail is perpendicular to the second guide rail, the third guide rail is arranged on the side edge of the cigarette conveying belt in parallel, and the third slide plate and the third power electric cylinder are arranged on the third guide rail;

the third power cylinder is in transmission connection with the third sliding plate and is used for controlling the third sliding plate to slide back and forth along the third guide rail;

the controller with third power electric cylinder signal connection, the controller is according to waiting to snatch the position control of cigarette third power electric cylinder transmission, so that the second guide rail is followed third guide rail slides from beginning to end and adjusts the position of snatching of negative pressure gas claw.

Preferably, the method further comprises the following steps: a support;

the bracket includes: the first support column and the second support column are respectively and vertically arranged at two ends of the third guide rail, so that the third guide rail is horizontally arranged on the bracket.

Preferably, the negative pressure air claw is provided with an inner cavity and an air hole, and the inner cavity is communicated with an external air source through an air pipe;

the air hole is communicated with the inner cavity, and when negative pressure is formed in the inner cavity, the negative pressure air claw adsorbs cigarettes to be grabbed through the air hole.

Preferably, the negative pressure gas claw is provided with an arc-shaped groove, the air hole is formed in the arc-shaped groove, and the arc-shaped groove is used as an adsorption surface of the negative pressure gas claw.

Preferably, the method further comprises the following steps: an electromagnetic valve;

the electromagnetic valve is arranged on the air pipe and used for controlling the negative pressure communication between the external air source and the negative pressure air claw;

the electromagnetic valve is in signal connection with the controller, when the distance between the adsorption surface of the negative pressure air claw and the cigarette to be grabbed is within a set distance threshold value, the controller controls the electromagnetic valve to be conducted, so that the inner cavity of the negative pressure air claw forms a negative pressure cavity.

Preferably, the visual positioning detection device includes: a vision sensor and a positioning sensor;

the visual sensor is used for carrying out video acquisition on the conveying belt, and the controller determines whether cigarettes exist on the conveying belt according to the video;

the positioning sensor is used for detecting the cigarette position on the conveying belt, and the controller controls the third power electric cylinder and the rotating speed of the second power electric cylinder according to the cigarette position, so that the sliding speed of the second guide rail is adapted to the conveying speed of the conveying belt.

Preferably, the controller is according to conveyer belt transfer rate control the second guide rail slides extremely cigarette position department, and the second guide rail with wait to snatch a cigarette and control when keeping in step the first guide rail slides extremely the top of cigarette position, and then control negative pressure gas claw gliding is to waiting to snatch the top of cigarette.

Preferably, the controller is a PLC controller.

The invention provides a cigarette grabbing manipulator guided by vision, wherein a first guide rail is hung above a cigarette conveying belt, a first power electric cylinder and a first sliding plate are arranged on the first guide rail, a vision positioning device and a negative pressure air claw are arranged on the first sliding plate, and a controller controls the negative pressure air claw to slide up and down along the first guide rail according to the position of a cigarette to adjust the grabbing position. The problem of current cigarette online sampling adopt handheld device easily to cause operating personnel's intensity of labour increase is solved, the security that can improve a cigarette production and the intelligent level of equipment operation.

Drawings

In order to more clearly describe the specific embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below.

Fig. 1 is a schematic structural view of a cigarette gripping manipulator under visual guidance provided by the invention.

Fig. 2 is an enlarged schematic view a in fig. 1.

Fig. 3 is a schematic structural diagram of a negative pressure air gripper provided by an embodiment of the invention.

Reference numerals

1. The device comprises a first guide rail, 2, a first power electric cylinder, 3, a first sliding plate, 4, a visual positioning detection device, 5, a negative pressure air claw, 51, an arc-shaped groove, 52, an air hole, 6, a cigarette, 7, a second guide rail, 8, a second power electric cylinder, 9, a second sliding plate, 10, a third guide rail, 11, a third power electric cylinder, 12, a third sliding plate, 13, a first stand column, 14 and a second stand column.

Detailed Description

In order to make the technical field of the invention better understand the scheme of the embodiment of the invention, the embodiment of the invention is further described in detail with reference to the drawings and the implementation mode.

To present to a cigarette sample, adopt handheld device to sample by operating personnel, easily cause the problem that intensity of labour increases and security reduce. The invention provides a cigarette grabbing manipulator guided by vision, wherein a first guide rail is hung above a cigarette conveying belt, a first power electric cylinder and a first sliding plate are arranged on the first guide rail, a vision positioning device and a negative pressure air claw are arranged on the first sliding plate, and a controller controls the negative pressure air claw to slide up and down along the first guide rail according to the position of a cigarette to adjust the grabbing position. The problem of current cigarette online sampling adopt handheld device easily to cause operating personnel's intensity of labour increase is solved, the security that can improve a cigarette production and the intelligent level of equipment operation.

As shown in fig. 1 to 3, a cigarette grabbing manipulator guided by vision includes: the device comprises a first guide rail 1, a first power electric cylinder 2, a visual positioning detection device 4, a controller (not shown in the figure), a first sliding plate 3 and a negative pressure air claw 5. First guide rail 1 is vertical to be hung in the top of a cigarette conveyer belt, first guide rail 1 is provided with first power electricity jar 2 with first slide 3. The first power cylinder 2 is in transmission connection with the first sliding plate 3 and is used for controlling the first sliding plate 3 to slide up and down along the first guide rail 1. Visual positioning detection device 4 sets up on first slide 3, and with controller signal connection for carry out video acquisition and location to the cigarette on the conveyer belt. The negative pressure gas claw 5 is arranged at the end part of the first sliding plate 3 and is in signal connection with the controller, and is used for performing negative pressure adsorption on the sampling cigarette 6. The controller passes through visual positioning detection device carries out position location to the cigarette to control first slide slides from top to bottom in order to adjust the position of snatching of negative pressure gas claw, and then control negative pressure gas claw forms the negative pressure passageway in order to snatch corresponding cigarette.

Specifically, when the controller receives a sampling signal, the visual positioning device is used for positioning the cigarette to be grabbed, and the first power electric cylinder is controlled to drive the first sliding plate to slide up and down along the first guide rail so as to adjust the corresponding distance between the negative pressure air claw and the cigarette to be grabbed. When the negative pressure air claw generates negative pressure, the negative pressure air claw adsorbs the cigarettes through the negative pressure, then the controller slides upwards through the first sliding plate to send the cigarettes to the position of the material box, and then the negative pressure adsorption of the negative pressure air claw is stopped. The manipulator can solve the problem that the labor intensity of operators is increased easily by adopting a handheld device for online sampling of the existing cigarette, and can improve the safety of cigarette production and the intelligent level of equipment operation.

As shown in fig. 1, the robot further includes: a second guide rail 7, a second sliding plate 9 and a second power electric cylinder 8. The second guide rail 7 with first guide rail 1 sets up perpendicularly, second guide rail 7 spanes in the top of a cigarette conveyer belt, be provided with on the second guide rail 7 the second slide 9 with second power electric cylinder 8. The second power cylinder 8 is in transmission connection with the second sliding plate 9 and is used for controlling the second sliding plate 9 to slide left and right along the second guide rail 7. The controller with second power electric cylinder signal connection, the controller is according to waiting to snatch the position control of cigarette the transmission of second power electric cylinder, so that first guide rail is followed the second guide rail carries out the horizontal slip and adjusts the position of snatching of negative pressure gas claw.

As shown in fig. 1, the robot further includes: a third guide rail 10, a third sliding plate 12 and a third power cylinder 11. The third guide rail 10 with the second guide rail 7 sets up perpendicularly, third guide rail 10 parallel arrangement is at the side of a cigarette conveyer belt, be provided with on the third guide rail 10 the third slide 12 with third power electric cylinder 11. The third power cylinder 11 is in transmission connection with the third sliding plate 12 and is used for controlling the third sliding plate 12 to slide back and forth along the third guide rail 10. The controller with third power electric cylinder signal connection, the controller is according to waiting to snatch the position control of cigarette third power electric cylinder transmission, so that the second guide rail is followed third guide rail slides from beginning to end and adjusts the position of snatching of negative pressure gas claw.

As shown in fig. 1, the robot further includes: a support; the bracket includes: the first support column 13 and the second support column 14 are respectively vertically arranged at two ends of the third guide rail, so that the third guide rail is horizontally arranged on the bracket.

As shown in fig. 3, the negative pressure air claw 5 is provided with an inner cavity and an air hole 52, and the inner cavity is communicated with an external air source through an air pipe. The air hole 52 is communicated with the inner cavity, and when negative pressure is formed in the inner cavity, the negative pressure air claw adsorbs cigarettes to be grabbed through the air hole 52.

Further, the negative pressure gas claw is provided with an arc-shaped groove 51, the air hole 52 is arranged in the arc-shaped groove 51, and the arc-shaped groove 51 is used as an adsorption surface of the negative pressure gas claw.

The manipulator further comprises: and the electromagnetic valve (not shown in the figure) is arranged on the air pipe and is used for controlling the negative pressure communication between the external air source and the negative pressure air claw. The electromagnetic valve is in signal connection with the controller, when the distance between the adsorption surface of the negative pressure air claw and the cigarette to be grabbed is within a set distance threshold value, the controller controls the electromagnetic valve to be conducted, so that the inner cavity of the negative pressure air claw forms a negative pressure cavity.

In practical application, when the controller receives a sampling signal, the position of a cigarette is determined according to a video shot by the visual positioning detection device, and then the third power electric cylinder is controlled to transmit, so that the second guide rail catches up with the cigarette to be grabbed at a larger sliding speed, and then the speed of the second guide rail is kept the same as that of the cigarette to be grabbed, and at the moment, the controller controls the second power electric cylinder to transmit, so that the first guide rail slides left and right until the first guide rail is positioned right above the cigarette to be grabbed. And finally, the controller controls the first power electric cylinder to transmit, so that the first sliding plate slides up and down along the first guide rail to adsorb cigarettes, the cigarettes are grabbed and then conveyed to a specified position, and the sampling is repeated.

Further, the visual positioning detection apparatus includes: a vision sensor and a positioning sensor. The vision sensor is used for carrying out video acquisition on the conveying belt, and the controller determines whether the conveying belt has cigarettes according to the videos. The positioning sensor is used for detecting the cigarette position on the conveying belt, and the controller controls the third power electric cylinder and the rotating speed of the second power electric cylinder according to the cigarette position, so that the sliding speed of the second guide rail is adapted to the conveying speed of the conveying belt.

Furthermore, the controller controls the second guide rail to slide to the cigarette position according to the conveying speed of the conveying belt, controls the first guide rail to slide to the top of the cigarette position when the second guide rail keeps synchronous with the cigarettes to be grabbed, and further controls the negative pressure gas claw to slide to the top of the cigarettes to be grabbed.

In practical application, the controller is a PLC controller.

The vision-guided cigarette grabbing manipulator is characterized in that a first guide rail is hung above a cigarette conveying belt, a first power electric cylinder and a first sliding plate are arranged on the first guide rail, a vision positioning device and a negative pressure air claw are arranged on the first sliding plate, and a controller controls the negative pressure air claw to slide up and down along the first guide rail according to the position of a cigarette to adjust the grabbing position. The problem of current cigarette online sampling adopt handheld device easily to cause operating personnel's intensity of labour increase is solved, the security that can improve a cigarette production and the intelligent level of equipment operation.

The construction, features and functions of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the embodiments shown in the drawings, and all equivalent embodiments modified or modified by the spirit and scope of the present invention should be protected without departing from the spirit of the present invention.