CN207738134U - A kind of automatic paper laminating equipment - Google Patents
A kind of automatic paper laminating equipment Download PDFInfo
- Publication number
- CN207738134U CN207738134U CN201721781207.2U CN201721781207U CN207738134U CN 207738134 U CN207738134 U CN 207738134U CN 201721781207 U CN201721781207 U CN 201721781207U CN 207738134 U CN207738134 U CN 207738134U
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- Prior art keywords
- ccd vision
- light source
- robot
- vision positionings
- positionings device
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- 238000010030 laminating Methods 0.000 title claims abstract description 14
- 230000004438 eyesight Effects 0.000 claims abstract description 67
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000012360 testing method Methods 0.000 claims abstract description 8
- 238000011144 upstream manufacturing Methods 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 12
- 230000001815 facial effect Effects 0.000 abstract description 19
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000003909 pattern recognition Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000006798 recombination Effects 0.000 description 1
- 238000005215 recombination Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of automatic paper laminating equipment, cabinet including conveyer belt, positioned at conveyer belt side, there is industrial personal computer in the cabinet, robot and its grasping mechanism are set on the cabinet table top, the robot upstream side is equipped with First look testing agency and encoder detecting mechanism, and robot downstream side is equipped with the second vision-based detection mechanism；The First look testing agency includes mounting bracket, and mounting hole is offered in mounting bracket, is equipped with CCD vision positionings device I, CCD vision positionings device II and first light source thereon；Second vision-based detection mechanism includes CCD vision positionings device III and second light source.The utility model has the advantage of：Simple in structure, CCD vision positionings device I, CCD vision positionings device II are taken pictures in real time, in the form of the facial tissue to detect variously-shaped color reaches designated position；CCD vision positionings device I, CCD vision positionings device II take pictures to facial tissue, and CCD vision positionings device III takes pictures to box, improve positioning accuracy, and the product quality of production is stablized.
Description
Technical field
The utility model is related to a kind of automatic producing technology field more particularly to a kind of utilization CCD vision detection technologies
Automation equipment.
Background technology
Many packing boxes such as watch case, ring case, box of mobile telephone used in daily life etc. are to be printed with word by one layer
The facial tissue packet of pattern is outside hard carton.This kind of box has the advantages that at low cost, sturdy and durable, appearance looks elegant.Previous skill
Art is product variantization that each worker is done on the artificial facial tissue by carton manual assembly to moving assemly line, this
Kind is positioned manually the mode of production and is difficult to make the product of high quality, and product quality extends also with production efficiency with the production time
It can decline.
Chinese utility model patent notification number CN206345423, the day for announcing is on July 21st, 2017, entitled《A kind of band figure
As the small articles auto arrangement attaching apparatus of identification》Following technical characteristic is disclosed in patent document：Including pattern recognition device,
Conveyer belt, three axle robert and master control set, for pattern recognition device across in the top of conveyer belt, pattern recognition device includes using
In the CCD vision positionings device and light-emitting component of the positioning location of workpiece, CCD vision positionings device is towards the conveyer belt, three shaft mechanicals
Hand is set to conveyer belt side, and three axle robert is fixedly connected with suction means or clamp device.What the patent document disclosed
Although technical solution replaces human eye using CCD shooting technologies, cost of labor is reduced, is only to play work in workpiece correction
With can not identify the position of carton and facial tissue simultaneously, carton neatly and can not be conformed accurately on facial tissue.
Utility model content
The purpose of this utility model is to provide a kind of automatic paper laminating equipment, in the prior art cannot be flexibly smart with solution
Really carton is fitted on facial tissue, the problem of production equipment technology the degree of automation deficiency.
The utility model adopts the following technical solution in order to achieve the above object：
A kind of automatic paper laminating equipment, including conveyer belt, the cabinet positioned at conveyer belt side have industry control in the cabinet
Machine, setting robot and its grasping mechanism on the cabinet table top, the robot upstream side is equipped with First look testing agency
And encoder detecting mechanism, robot downstream side are equipped with the second vision-based detection mechanism；
The First look testing agency includes mounting bracket, and mounting hole is offered in mounting bracket, is equipped with CCD thereon
Vision positioning device I, CCD vision positionings device II and first light source；
Second vision-based detection mechanism includes CCD vision positionings device III and second light source.
Further, the robot is SCARA robots.
Further, the grasping mechanism includes the mounting plate being connected on robot movable end, is connected to the installation
Sucker on plate, the sucker are connected to by tracheae on the vacuum generating device of robot.
Further, the mounting bracket includes mounted on the vertically-mounted column of conveyer belt side and above conveyer belt
Installation crossbeam, install and the first light source and CCD vision positionings device I, CCD vision positioning devices be installed on the mounting hole of crossbeam
Ⅱ。
Further, the CCD vision positionings device I, CCD vision positionings device II are mounted on the middle part of installation crossbeam, described
The both ends of installation crossbeam are mounted on first light source mounting base, and the first light source is mounted in first light source mounting base.
Further, the cabinet table top in the robot downstream side is equipped with circular hole and box track, the CCD vision positionings
Device III is mounted on the lower section of circular hole, and the installation direction of the CCD vision positionings device III is that straight up, the second light source is located at
III top of CCD vision positionings device.
Further, the second light source is annular light source, is mounted in circular hole by annular mounting seat.
Further, the encoder detecting mechanism includes fixed mechanism, connecting rod, wheel, encoder, and the connecting rod runs through
On fixed mechanism, one end of the connecting rod connects encoder, and the other end of connecting rod connects wheel, and the wheel is pressed in biography
It send and takes.
The utility model has the advantage of：It is simple in structure, it is transformed liter on the original assembly line positioned by hand of client
Grade saves most of cost；CCD vision positionings device I, CCD vision positionings device II are taken pictures in real time, to detect variously-shaped color
Facial tissue reaches the form of designated position；CCD vision positionings device I, CCD vision positionings device II take pictures to facial tissue, CCD vision positioning devices
III pair of box is taken pictures, and positioning accuracy is improved, and the product quality of production is stablized.
Description of the drawings
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
It does not constitute improper limits to the present invention, in the accompanying drawings：
Fig. 1 is the utility model embodiment structural schematic diagram；
Fig. 2 is structural schematic diagram behind the utility model embodiment；
Fig. 3 is the utility model embodiment structure of installing encoders schematic diagram；
Fig. 4 is the mounting structure schematic diagram of the utility model embodiment CCD vision positionings device III and second light source；
Fig. 5 is the utility model embodiment operation principle schematic diagram.
Specific implementation mode
The utility model is described in detail below in conjunction with attached drawing and specific embodiment, herein showing with the utility model
Meaning property embodiment and explanation are used for explaining the utility model, but are not intended to limit the scope of the present invention.
As shown in Figs. 1-5, a kind of automatic paper laminating equipment, including conveyer belt 6, the cabinet 1 positioned at 6 side of conveyer belt, institute
Stating has industrial personal computer in cabinet, robot 7 is arranged on the cabinet table top and its grasping mechanism 5,7 upstream side of the robot are equipped with
First look testing agency and encoder detecting mechanism 11,7 downstream side of robot are equipped with the second vision-based detection mechanism；
The robot 7 is SCARA robots.
The grasping mechanism 5 includes the mounting plate 52 being connected on 7 movable end of robot, is connected to the mounting plate 52
Sucker 51 on strip mounting hole, the sucker 51 are connected to by tracheae (not shown) on the vacuum generating device of robot 7.
The First look testing agency includes mounting bracket, and mounting hole is offered in mounting bracket, is equipped with CCD thereon
Vision positioning device I 4, CCD vision positionings device II 5 and first light source；
The mounting bracket includes the vertically-mounted column 21 mounted on 6 side of conveyer belt and the peace above conveyer belt 6
Crossbeam 22 is filled, installs and the first light source and CCD vision positionings device I 4, CCD vision positioning devices is installed on the mounting hole of crossbeam 22
Ⅱ5。
The CCD vision positionings device I 4, CCD vision positionings device II 5 are mounted on the middle part of installation crossbeam 22, and the installation is horizontal
The both ends of beam 22 are mounted on first light source mounting base 31, and the first light source is mounted in first light source mounting base 31.
Second vision-based detection mechanism includes CCD vision positionings device III 10 and second light source 102.
The cabinet table top in 7 downstream side of the robot is equipped with circular hole 8 and box track 9, the CCD vision positionings device III 10
Mounted on the lower section of circular hole 8, the installation direction of the CCD vision positionings device III 10 is the second light source 102 straight up
Above CCD vision positionings device III 10.
The second light source 102 is annular light source, is mounted in circular hole 10 by annular mounting seat 101.
The encoder detecting mechanism 11 includes fixed mechanism 114, connecting rod 112, wheel 111, encoder 113, the company
Bar 112 is installed through on fixed mechanism 114, and one end of the connecting rod 112 connects encoder 113, and the other end of connecting rod 112 connects
Cock wheel 111, the wheel 111 are pressed on conveyer belt 6.
As shown in figure 5, the operation principle of the utility model is：It is taken pictures in real time by CCD vision positionings device I 4, detects facial tissue
The first picture-taking position a is reached, and sends a signal to robot 7, the signal that robot 7 receives CCD vision positionings device I 4 passes through
CCD vision positionings device II 5 is triggered, positioning facial tissue reaches coordinate when the first picture-taking position a, and sends to robot 7, from first
Picture-taking position a starts, and robot 7 detects the distance of the movement setting of conveyer belt 6 by encoder 113, by triggering first again
Picture-taking position a, positioning facial tissue reach coordinate when the second picture-taking position b, and send to robot 7, and robot calculating is clapped twice
According to the midpoint of coordinate, the midpoint of facial tissue is obtained；
Robot 7 captures box by sucker 51 and is moved in III 10 visual field of CCD vision positionings device by triggering CCD visions
Locator III 10 positions box in the coordinate of the fisrt feature point c1 of third picture-taking position c, and sends coordinate to robot, machine
People captures box and is moved in III 10 visual field of CCD vision positionings device, and box is positioned the by triggering CCD vision positionings device III 10
The coordinate of the second feature point d1 of four picture-taking position d, and coordinate is sent to robot 7.Robot 7 is calculated according to two coordinates
The midpoint of box,
Whether the midpoint of facial tissue enters the motion range of robot 7 on the real-time monitoring conveyer belt of robot 7, if facial tissue
Midpoint enters the motion range of robot 7, then robot 7 catches box to move synchronously above facial tissue, and box is put into face
On paper, next process is sent to by conveyer belt 6.Box is constantly acted on and past CCD by pushing mechanism from the other end of box track 9
III 10 direction of vision positioning device is moved, and those skilled in the art can according to the technology recombination region common sense of this disclosure
Know, pushing mechanism can be cylinder etc., not repeat herein.Robot 7 continues to execute next follow with three CCD vision positioning devices
Ring.
The utility model has the advantage of：CCD vision positionings device I, encoder acquire the speed of conveyer belt and in real time numbers
The form communicated according to this sends robot to, and whether the facial tissue that can detect variously-shaped color reaches designated position, and CCD visions are fixed
Position device II to the facial tissue of movement take pictures twice calculate midpoint can improve facial tissue positional precision；Robot captures box in different positions
Set by CCD vision positionings device III take pictures twice calculate midpoint can improve cassette positions precision.Robot localization speed is fast, precision
The product quality of height, production is stablized.
The technical solution provided above the utility model embodiment is described in detail, used herein specifically
A example is expounded the principle and embodiment of the utility model embodiment, and the explanation of above example is only applicable to help
Assistant solves the principle of the utility model embodiment；Meanwhile for those of ordinary skill in the art, implementing according to the utility model
Example, the there will be changes in specific implementation mode and application range, in conclusion the content of the present specification should not be construed as
Limitations of the present invention.
Claims (8)
1. a kind of automatic paper laminating equipment, it is characterised in that：
Cabinet including conveyer belt, positioned at conveyer belt side has industrial personal computer in the cabinet, machine is arranged on the cabinet table top
People and its grasping mechanism, the robot upstream side is equipped with First look testing agency and encoder detecting mechanism, under robot
It swims side and is equipped with the second vision-based detection mechanism；
The First look testing agency includes mounting bracket, and mounting hole is offered in mounting bracket, is equipped with CCD visions thereon
Locator I, CCD vision positionings device II and first light source；
Second vision-based detection mechanism includes CCD vision positionings device III and second light source.
2. a kind of automatic paper laminating equipment according to claim 1, it is characterised in that：
The robot is SCARA robots.
3. a kind of automatic paper laminating equipment according to claim 1 or 2, it is characterised in that：
The sucker that the grasping mechanism includes the mounting plate being connected on robot movable end, is connected on the mounting plate, institute
Sucker is stated to be connected on the vacuum generating device of robot by tracheae.
4. a kind of automatic paper laminating equipment according to claim 1, it is characterised in that：
The mounting bracket includes the vertically-mounted column mounted on conveyer belt side and the installation crossbeam above conveyer belt, peace
It fills and the first light source and CCD vision positionings device I, CCD vision positionings device II is installed on the mounting hole of crossbeam.
5. a kind of automatic paper laminating equipment according to claim 4, it is characterised in that：
The CCD vision positionings device I, CCD vision positionings device II are mounted on the middle part of installation crossbeam, the both ends of the installation crossbeam
It is mounted on first light source mounting base, the first light source is mounted in first light source mounting base.
6. a kind of automatic paper laminating equipment according to claim 1, it is characterised in that：
The cabinet table top in the robot downstream side is equipped with circular hole and box track, and the CCD vision positionings device III is mounted on circle
The installation direction of the lower section in hole, the CCD vision positionings device III is that straight up, the second light source is located at CCD vision positionings
III top of device.
7. a kind of automatic paper laminating equipment according to claim 6, it is characterised in that：
The second light source is annular light source, is mounted in circular hole by annular mounting seat.
8. a kind of automatic paper laminating equipment according to claim 1, it is characterised in that：
The encoder detecting mechanism includes fixed mechanism, connecting rod, wheel, encoder, and the connecting rod is installed through fixed machine
On structure, one end of the connecting rod connects encoder, and the other end of connecting rod connects wheel, and the wheel pressure is on a moving belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721781207.2U CN207738134U (en) | 2017-12-19 | 2017-12-19 | A kind of automatic paper laminating equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721781207.2U CN207738134U (en) | 2017-12-19 | 2017-12-19 | A kind of automatic paper laminating equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207738134U true CN207738134U (en) | 2018-08-17 |
Family
ID=63118667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721781207.2U Expired - Fee Related CN207738134U (en) | 2017-12-19 | 2017-12-19 | A kind of automatic paper laminating equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207738134U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113103215A (en) * | 2021-04-14 | 2021-07-13 | 深圳汇控智能技术有限公司 | Motion control method for robot vision aerial photography |
-
2017
- 2017-12-19 CN CN201721781207.2U patent/CN207738134U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113103215A (en) * | 2021-04-14 | 2021-07-13 | 深圳汇控智能技术有限公司 | Motion control method for robot vision aerial photography |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180817 |