CN208134817U - A kind of equipment accurately attaching auxiliary material using robot and vision technique - Google Patents
A kind of equipment accurately attaching auxiliary material using robot and vision technique Download PDFInfo
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- CN208134817U CN208134817U CN201820475467.5U CN201820475467U CN208134817U CN 208134817 U CN208134817 U CN 208134817U CN 201820475467 U CN201820475467 U CN 201820475467U CN 208134817 U CN208134817 U CN 208134817U
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- auxiliary material
- robot
- equipment
- stripping
- vision technique
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Abstract
The utility model discloses a kind of equipment for accurately attaching auxiliary material using robot and vision technique, including pallet, feeding machanism, transfer mechanism, pallet is located at the side of feeding machanism, transfer mechanism is located at the side of feeding machanism, the equipment is equipped with a robot, and pallet, feeding machanism, transfer mechanism are located at robot and execute in the motion range of end.Material on pallet is delivered to transfer mechanism using robot by the design, and, the auxiliary material on feeding machanism is attached on the material using robot, wherein robot executes end and is equipped with the accurate vision system obtained and attach auxiliary material.This equipment can be accurately finished the full-automatic attaching of different size auxiliary material, save manually and the time；This equipment can be compatible with various types of products simultaneously, improve the service efficiency and production efficiency of equipment.
Description
Technical field
The utility model relates to precision machinery technology fields, and in particular to labeling device.
Background technique
Auxiliary material, including various labels, Mylar, foam.The auxiliary material invests on auxiliary material waste paper, in use, manually by auxiliary material
It is removed from the auxiliary material waste paper, then auxiliary material is attached on material, not only low efficiency, moreover, what is attached is of poor quality.
Utility model content
The technical issues of the utility model is solved：Improve efficiency and quality that auxiliary material attaches.
In order to solve the above technical problems, the utility model provides the following technical solutions：It is a kind of to utilize robot and vision skill
The equipment that art accurately attaches auxiliary material, including pallet, feeding machanism, transfer mechanism, pallet are located at the side of feeding machanism, transfer machine
Structure is located at the side of feeding machanism, and the equipment is equipped with a robot, and pallet, feeding machanism, transfer mechanism are held positioned at robot
In the motion range of row end；The robot executes end and is equipped with the feed mechanism that can obtain and discharge material, auxiliary material, institute
Feed mechanism is stated equipped with First look system.
In above-mentioned technical proposal, executing end maximal tensility with robot is to execute radius, is hooked with the execution radius
The circle of Le is the motion range that robot executes end.The motion range of robot execution end is the movement of feed mechanism
Range, pallet, feeding machanism, transfer mechanism are located in the motion range.
According to the above technical scheme, firstly, the material on pallet is delivered on transfer mechanism using robot；Secondly, sharp
The auxiliary material on feeding machanism is attached on the material with robot；Specifically, in First look system on feeding machanism
Auxiliary material carry out shooting positioning after, feed mechanism decline obtains auxiliary material, in First look system to the object on transfer mechanism
After material carries out shooting positioning, the auxiliary material is attached on material by the feed mechanism decline release auxiliary material；Finally, by transfer
Mechanism transports material.
The feed mechanism includes material adsorption system and auxiliary material adsorption system.The material adsorption system includes being mounted on
Suction cylinder in robot and the adsorption mechanism being mounted on suction cylinder, the adsorption mechanism is equipped with the suction for adsorbing material
Disk.The auxiliary material adsorption system includes the suction nozzle lifting cylinder being mounted in robot and the suction being mounted on suction nozzle lifting cylinder
Head, the suction nozzle is for adsorbing auxiliary material.
Equipment described in the utility model can be accurately finished the full-automatic attaching of different size auxiliary material, save manually and when
Between；Equipment described in the utility model can be compatible with various types of products simultaneously, improve the service efficiency and production effect of equipment
Rate；Equipment described in the utility model can move freely, and freely add, and independent assortment rate is high, and utilization rate is high.
Detailed description of the invention
The utility model is described further with reference to the accompanying drawing：
Fig. 1 is the combining structure schematic diagram of robot 10 and pallet 20；
Fig. 2 is enlarged drawing at B in Fig. 1；
Fig. 3 is the schematic diagram of feeding machanism 40；
Fig. 4 is the schematic diagram of pressure device for mark 80 in Fig. 3；
Schematic diagram of the Fig. 5 for pressure device for mark 80 in Fig. 3 after hiding；
Fig. 6 is the schematic diagram of material stripping system 72 in Fig. 5；
Fig. 7 is the schematic diagram of transfer mechanism 30；
Fig. 8 is the resulting schematic diagram of transfer mechanism 30 viewed from above in Fig. 7.
Symbol description in figure：
10, robot；
20, pallet；
30, transfer mechanism；31, substrate；32, working plate；33, transfer cylinder；
40, feeding machanism；
50, feed mechanism；51, First look system；52, suction cylinder；53, adsorption mechanism；54, sucker；55, suction nozzle
Lifting cylinder；56, suction nozzle；
60, the second vision system；
70, stripping off device；71, material drain system；711, charging tray；712, transition wheel；
72, material stripping system；721, stripper plate；722, splicing platform；723, pressing plate；726, detection fiber；
73, material-receiving system；731, transiting rod；732, rewinding motor；733, rewinding roller；734, bar is given as security；
74, trailer system；741, traction electric machine；742, driving gear；743, driven gear；744, sliding piece；
80, pressure device for mark；
81, briquetting；
83, vertical cylinder；
84, flat-removing air cyclinder；841, flat-removing air cyclinder piston rod；
851, lower silica gel；852, upper silica gel；
A, auxiliary material.
Specific embodiment
A kind of equipment accurately attaching auxiliary material using robot and vision technique, including robot 10, pallet 20, feeding machine
Structure 40, transfer mechanism 30.
Such as Fig. 1, the robot 10 executes end and is equipped with the feed mechanism 50 that can obtain and discharge material, auxiliary material, institute
Feed mechanism is stated equipped with First look system 51.Pallet 20, feeding machanism 40, transfer mechanism 30 are located at robot and execute end
In motion range.
Such as Fig. 2, the feed mechanism 50 includes material adsorption system and auxiliary material adsorption system, the material adsorption system and
Auxiliary material adsorption system is mounted on robot and executes end.
The material adsorption system includes the suction cylinder 52 being mounted in robot 10 and is mounted on suction cylinder
Adsorption mechanism 53, the adsorption mechanism are equipped with the sucker 54 of absorption material.
The auxiliary material adsorption system includes the suction nozzle lifting cylinder 55 being mounted in robot and is mounted on suction nozzle lifting air
Suction nozzle 56 on cylinder, the suction nozzle is for adsorbing auxiliary material.
Such as Fig. 3, the feeding machanism 40 includes stripping off device 70 and pressure device for mark 80, and pressure device for mark is located at stripping off device
Side.
In conjunction with Fig. 5, Fig. 6, the stripping off device 70 includes material drain system 71, material stripping system 72, trailer system 74 and rewinding
System 73.
The material drain system 71 includes charging tray 711 and several transition wheels 712, be attached to auxiliary material on auxiliary material waste paper wound on
On charging tray, supplied after several transition wheels to the material stripping system 72.
The material stripping system 72 is equipped with stripper plate 721 and splicing platform 722, and splicing platform is located at the front of stripper plate, stripper plate
There is gap between splicing platform, the material drain system 71 is located at the rear side of 72 top of material stripping system, trailer system 74 and rewinding
System 73 is located at the rear side below material stripping system.
The stripper plate 721 is equipped with pressing plate 723, has gap between pressing plate and stripper plate.
The splicing platform 722 is equipped with detection fiber 726, the detection fiber and material-receiving system 73,74 electricity of trailer system
Connection.
A pair of of gear that the trailer system 74 includes traction electric machine 741, driven by the traction electric machine.The pair of tooth
Wheel includes driving gear 742 and driven gear 743, and the gear shaft of driven gear cooperates in the strip groove of device frame, driven
The gear shaft of gear 743 is connect with sliding piece 744.
Wherein, the traction electric machine 741 is electrically connected with detection fiber 726.
The material-receiving system 73 includes transiting rod 731 and the rewinding roller 733 driven by rewinding motor 732.The rewinding
Roller 733, which is equipped with, gives as security bar 734, and the rewinding motor 32 is electrically connected with detection fiber 26.When first collection auxiliary material waste paper, people
Work stirs sliding piece 744, separates the driven gear 743 of a pair of of gear and driving gear 742, the auxiliary material after being stripped is given up
After paper passes through the middle part of a pair of of gear, reset sliding piece 744, engage a pair of of gear, the auxiliary material waste paper after being stripped around
The transiting rod 714 is crossed, the end of auxiliary material waste paper is pressed on rewinding roller 733 by the signature bar 734 on rewinding roller 733.
In conjunction with Fig. 3, Fig. 4, the pressure device for mark 80 includes briquetting 81, the pushing driving group for driving the briquetting downlink
Part.
The pushing driving assembly includes vertical cylinder 83 and flat-removing air cyclinder 84, the piston of the briquetting 81 and flat-removing air cyclinder
Bar connection, the cylinder body of flat-removing air cyclinder and the piston rod of vertical cylinder connect, and the cylinder body of vertical cylinder is fixed at Ya Biao mechanism
Rack on.
Lower silica gel 851 is inlaid in the splicing platform 722, the bottom surface of briquetting 81 is equipped with upper silica gel 852.
In conjunction with Fig. 7, Fig. 8, the transfer mechanism 30 include be slidably matched working plate 32 on the substrate 31, be mounted on institute
The transfer cylinder 33 stated on substrate and connect with the working plate；Material on pallet 20 is delivered to transfer mechanism by robot 10
Working plate, under the driving of transfer cylinder, the working plate conveys material.
31 bottom of substrate of transfer mechanism 30 is equipped with the second vision system 60, and the second vision system is equipped with the camera lens of camera shooting,
The camera lens is set up, and is opened up on substrate and gap corresponding above and below the camera lens.It is first after the feed mechanism 50 obtains auxiliary material
It first comes at the second vision system 60, calibration positioning is carried out to auxiliary material by the second vision system, later, comes the upper of working plate 32
Side, after First look system 51 carries out shooting positioning to the material on working plate, the decline of feed mechanism 50 release is auxiliary
Material, the auxiliary material are attached on material.The effect of above-mentioned second vision system 60 is：The position of auxiliary material is obtained to feed mechanism
It is corrected.It is designed by original, after First look system 51 carries out shooting positioning to the auxiliary material on feeding machanism 40, the feeding
Mechanism decline obtains auxiliary material, and later, auxiliary material is transferred to the top of material by robot, in First look system on working plate 32
Material carry out shooting positioning after, the auxiliary material is attached on material by the feed mechanism 50 decline release auxiliary material.On if
Expect that there are deviations for the excipient itself in mechanism and the position between feed mechanism, then, which, which is attached on material, can also produce
Raw position deviation.In order to eliminate this position deviation, after feed mechanism obtains auxiliary material, before auxiliary material is pasted on material, the
Two vision systems carry out primary calibration positioning to the auxiliary material on feed mechanism, and robot control system is made to know auxiliary material in feeder
Position deviation amount on structure, when auxiliary material is attached on material by feed mechanism, robot control system is by adjusting feeder
The displacement of structure and eliminate position deviation amount of the auxiliary material on feed mechanism, and then guarantee auxiliary material to be accurately attached to material corresponding
On position.
In practical operation, manually auxiliary material (being attached on auxiliary material waste paper) is mounted on charging tray 711, auxiliary material passes through several mistakes
Ferry boat 712 arrives the centre of pressing plate 723 and stripper plate 721, and the front end of auxiliary material is pressed in splicing platform 722, and auxiliary material waste paper enters stripping
Gap between flitch 721 and splicing platform 722.Traction electric machine 741 drives a pair of of gear drive, and a pair of of gear pulls the auxiliary material
Waste paper, will be in auxiliary material removing to splicing platform 722.Auxiliary material waste paper after removing enters through the middle part of a pair of of gear.It is leading
While drawing the running of motor 741, rewinding motor 732 drives rewinding roller 733 to rotate, and is given up by the auxiliary material being pierced by the middle part of a pair of of gear
Paper is after transiting rod 731, on the rewinding roller 733.After detection fiber 726 detects auxiliary material, 741 He of traction electric machine
Rewinding motor 732 stops operating, and carries out next auxiliary material removing again after auxiliary material is removed.
Auxiliary material in the splicing platform 722, is flattened by pressure device for mark 80.Initially, the vertical cylinder of pressure device for mark 80
83 and flat-removing air cyclinder 84 be in stretching state, between briquetting 81 and splicing platform 722 have gap, which can prevent from growing
It deforms, tilt when auxiliary material is stripped.When the pressure device for mark 80 works, vertical cylinder 83 is shunk, and drives flat-removing air cyclinder 84 and pressure
81 downlink of block, briquetting flatten the auxiliary material in splicing platform 722.Later, vertical cylinder 83 resets to stretching state, the pressure
Block 81 and flat-removing air cyclinder 84 also rise with it reset.Later, flat-removing air cyclinder 84 is shunk, and robot 10 executes the feed mechanism of end
50 take auxiliary material away from splicing platform 722, and specifically, under the driving of suction nozzle lifting cylinder 55, suction nozzle 56 is inhaled from splicing platform 722
Attached auxiliary material.
Before the feed mechanism 50 takes auxiliary material away from splicing platform 722, the sucker 54 of feed mechanism, in suction gas
Under the driving of cylinder 52, it is transferred on the working plate 32 of transfer mechanism 30 from absorbing material on pallet 20, and by material.
After the feed mechanism 50 obtains auxiliary material, come at the second vision system 60 first, by the second vision system to auxiliary
Material carries out calibration positioning, later, comes at working plate 32, claps in First look system 51 material on working plate 32
After taking the photograph positioning, the decline of the feed mechanism 50 release auxiliary material, the auxiliary material is attached on material.
Transfer cylinder 33 drives working plate 32 mobile, and the material on working plate is transmitted.
The above content is only the better embodiment of the utility model, for those of ordinary skill in the art, according to this
The thought of utility model, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be understood
For limitations of the present invention.
Claims (9)
1. a kind of equipment for accurately attaching auxiliary material using robot and vision technique, including pallet (20), feeding machanism (40), shifting
Mounted mechanism (30), pallet are located at the side of feeding machanism, and transfer mechanism is located at the side of feeding machanism, it is characterised in that：It is described
Equipment is equipped with a robot (10), and pallet, feeding machanism, transfer mechanism are located at robot and execute in the motion range of end；Institute
The feed mechanism (50) of material, auxiliary material can be obtained and discharge by stating robot and executing end and be equipped with, and the feed mechanism is equipped with the
One vision system (51).
2. a kind of equipment for accurately attaching auxiliary material using robot and vision technique as described in claim 1, it is characterised in that：
The feed mechanism (50) includes material adsorption system and auxiliary material adsorption system；
The material adsorption system includes the suction cylinder (52) being mounted on robot (10) and is mounted on suction cylinder
Adsorption mechanism (53), the adsorption mechanism are equipped with the sucker (54) of absorption material；
The auxiliary material adsorption system includes the suction nozzle lifting cylinder (55) being mounted in robot and is mounted on suction nozzle lifting cylinder
On suction nozzle (56), the suction nozzle is for adsorbing auxiliary material.
3. a kind of equipment for accurately attaching auxiliary material using robot and vision technique as described in claim 1, it is characterised in that：
The feeding machanism (40) includes stripping off device (70) and pressure device for mark (80), and pressure device for mark is located at the side of stripping off device, stripping
Auxiliary material is removed from auxiliary material waste paper from device, pressure device for mark flattens the auxiliary material.
4. a kind of equipment for accurately attaching auxiliary material using robot and vision technique as claimed in claim 3, it is characterised in that：
The stripping off device (70) includes material drain system (71), material stripping system (72) and material-receiving system (73), and the material stripping system is equipped with
Stripper plate (721) and splicing platform (722), have gap between stripper plate and splicing platform, the material drain system is located at material stripping system
The rear side of top, the material-receiving system are located at the rear side below material stripping system.
5. a kind of equipment for accurately attaching auxiliary material using robot and vision technique as claimed in claim 4, it is characterised in that：
Trailer system (74) are equipped between material stripping system (72) and material-receiving system (73), after trailer system is located at below material stripping system
Side.
6. a kind of equipment for accurately attaching auxiliary material using robot and vision technique as claimed in claim 5, it is characterised in that：
The splicing platform (722) is equipped with detection fiber (726), the detection fiber and material-receiving system (73), trailer system (74) electricity
Connection.
7. a kind of equipment for accurately attaching auxiliary material using robot and vision technique as claimed in claim 3, it is characterised in that：
The pressure device for mark (80) includes briquetting (81), the pushing driving assembly for driving the briquetting downlink；The pushing driving
Component includes lifters and translating element, and the translating element is connect with briquetting.
8. a kind of equipment for accurately attaching auxiliary material using robot and vision technique as described in claim 1, it is characterised in that：
The transfer mechanism (30) include be slidably fitted on substrate (31) working plate (32), installation on the substrate and with it is described
The transfer cylinder (33) of working plate connection.
9. a kind of equipment for accurately attaching auxiliary material using robot and vision technique as claimed in claim 8, it is characterised in that：
The bottom of substrate is equipped with the second vision system (60).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820475467.5U CN208134817U (en) | 2018-04-04 | 2018-04-04 | A kind of equipment accurately attaching auxiliary material using robot and vision technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820475467.5U CN208134817U (en) | 2018-04-04 | 2018-04-04 | A kind of equipment accurately attaching auxiliary material using robot and vision technique |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208134817U true CN208134817U (en) | 2018-11-23 |
Family
ID=64291119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820475467.5U Active CN208134817U (en) | 2018-04-04 | 2018-04-04 | A kind of equipment accurately attaching auxiliary material using robot and vision technique |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208134817U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978098A (en) * | 2021-10-27 | 2022-01-28 | 捷邦精密科技股份有限公司 | Auxiliary material mounting process and automatic mounting machine |
| CN115973642A (en) * | 2023-01-04 | 2023-04-18 | 深圳市昇茂科技有限公司 | Intelligent storage material automatic distribution equipment |
-
2018
- 2018-04-04 CN CN201820475467.5U patent/CN208134817U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113978098A (en) * | 2021-10-27 | 2022-01-28 | 捷邦精密科技股份有限公司 | Auxiliary material mounting process and automatic mounting machine |
| CN115973642A (en) * | 2023-01-04 | 2023-04-18 | 深圳市昇茂科技有限公司 | Intelligent storage material automatic distribution equipment |
| CN115973642B (en) * | 2023-01-04 | 2023-08-22 | 深圳市昇茂科技有限公司 | Intelligent warehouse material automatic distribution equipment |
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