Irregular workpiece detection and gripping device based on ultrasonic array

Abstract

The invention discloses an irregular workpiece detection and gripping device based on ultrasonic array, comprising a frame, an ultrasonic sensor array fixing plate, a pad, a transfer box, a weighing sensor, an ultrasonic sensor array, a control box, a single-chip microcomputer, a power module, a key switch, a display, a buzzer and a manipulator. One side of the ultrasonic sensor array fixing plateis fixed to the top of the frame, and the other side of the ultrasonic sensor array fixing plate is fitted with the ultrasonic sensor array; the ultrasonic sensor array is composed of ultrasonic sensors and can fully cover the transfer box; every ultrasonic sensor is connected with the single-chip microcomputer; the weighing sensor is mounted at the bottom of the frame; the upper end of the weighing sensor is connected with the pad and is connected with the single-chip microcomputer; the transfer box is arranged on the pad; the control box is mounted on the frame; all the single-chip microcomputer, the power module, the key switch, the display and the buzzer are mounted in the control box; all the manipulator, the buzzer, the display, the key switch and the power module are connected withthe single-chip microcomputer.

Description

technical field [0001] The invention relates to the field of workpiece detection and grasping, in particular to a detection and grasping device for special-shaped workpieces based on an ultrasonic array. Background technique [0002] The shape of the workpiece is various, which can be divided into two types: regular and irregular. The grasping of regular workpieces is very convenient, but there are many problems in the grasping of irregular workpieces: 1. The number of workpieces is uncertain: the irregular shape of the workpiece causes each The number of workpieces in the secondary transfer box is uncertain; 2. Workpiece lodging and legacy: the irregular shape of the workpiece leads to irregular placement in the transfer box, and the process of grabbing workpieces may cause other workpieces to fall or even workpieces to be missed; 3. Manual problems: Manual intervention is required to check whether there are any remaining workpieces, and the labor cost is high and the effic...

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Problems solved by technology

[0002] The shape of the workpiece is various, which can be divided into two types: regular and irregular. The grasping of regular workpieces is very convenient, but there are many problems in the grasping of irregular workpieces: 1. The number of workpieces is uncertain: the irregular shape of the workpiece causes each The number of workpieces in the secondary transfer box is uncertain; 2. Workpiece lodging and legacy: the irregular shape of the workpiece leads to irregular placement in the transfer box, and the process of grabbing workpieces may cause other workpieces to fall or even workpieces to be missed; 3. Manual problems: Manual intervention is required to check whether there are any remaining workpieces, the labor cost is high, and the efficiency is low

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