CN209796621U - Climbing mechanism matched with three-dimensional vision system of robot to feed workpiece - Google Patents

Climbing mechanism matched with three-dimensional vision system of robot to feed workpiece Download PDF

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Publication number
CN209796621U
CN209796621U CN201920195795.4U CN201920195795U CN209796621U CN 209796621 U CN209796621 U CN 209796621U CN 201920195795 U CN201920195795 U CN 201920195795U CN 209796621 U CN209796621 U CN 209796621U
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China
Prior art keywords
screw rod
push plate
robot
vision system
dimensional vision
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CN201920195795.4U
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Chinese (zh)
Inventor
叶云波
赵鹏飞
王聪毅
陈鹏飞
吴迪
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Chongqing Gu Hi-Tech Yangtze Research Institute Co Ltd
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Chongqing Gu Hi-Tech Yangtze Research Institute Co Ltd
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Abstract

The utility model discloses a jacking mechanism which is matched with a three-dimensional vision system of a robot to feed workpieces, comprising a base, a material box, a servo motor, a lead screw, a push plate and a top plate; the feed box is arranged on the base, the screw rod is arranged in the middle of the base along the vertical direction, the push plate is sleeved on the screw rod through a screw rod nut, and the top plate is connected with the push plate through a support column and is positioned above the top of the screw rod; the servo motor is in transmission connection with the lower end of the screw rod to drive the screw rod to rotate so as to drive the push plate and the top plate to move up and down to jack up a workpiece in the feed box. The utility model provides a difficult difficulty that snatchs of manipulator to bottom part when the whole case of smallclothes material is stacked. When the material taking device is used, the material taking device is matched with a material vehicle to automatically take materials, and then the material taking device is matched with a robot manipulator to realize automatic feeding, so that the key problem that the material circulation of an automatic production line is difficult to grab is solved.

Description

Climbing mechanism matched with three-dimensional vision system of robot to feed workpiece
Technical Field
The utility model relates to an automatic sandblast technical field of car belt pulley, concretely relates to three-dimensional vision system of cooperation robot carries out climbing mechanism of work piece material loading.
Background
the automobile belt pulley sand blasting belongs to a process for changing production frequently, the loading is finished manually at present, and a factory has urgent requirements on automatic tool changing. To whole case material, there is the difficulty in the work piece snatching that the manipulator is located the bottom half.
Disclosure of Invention
In view of this, the utility model aims at providing a climbing mechanism that cooperates the three-dimensional vision system of robot to carry out work piece material loading.
In order to achieve the above purpose, the utility model provides a following technical scheme:
The utility model relates to a jacking mechanism which is matched with a three-dimensional vision system of a robot to feed workpieces, which comprises a base, a material box, a servo motor, a lead screw, a push plate and a top plate; the feed box is arranged on the base, the screw rod is arranged in the middle of the base along the vertical direction, the push plate is sleeved on the screw rod through a screw rod nut, and the top plate is connected with the push plate through a support column and is positioned above the top of the screw rod; the servo motor is in transmission connection with the lower end of the screw rod to drive the screw rod to rotate so as to drive the push plate and the top plate to move up and down to jack up a workpiece in the feed box.
Furthermore, the two sides above the base are provided with mutually parallel section guide rails, the section guide rails are provided with roller lines formed by a plurality of conveying rollers, and the material box slides back and forth on the roller lines to move to the jacking positions above the push plate and the top plate.
Furthermore, the bottom plate is fixedly arranged below the push plate, the lower end of the lead screw is positioned below the bottom plate, and the upper end of the lead screw penetrates through the bottom plate and vertically extends upwards.
Furthermore, a bearing is arranged at the matching connection position of the bottom plate and the lead screw, and the lead screw penetrates through the bearing.
Furthermore, the servo motor is in transmission connection with the lead screw through a belt pulley.
The push plate is provided with a plurality of guide sleeves, the lower ends of the guide posts are fixedly connected with the bottom plate, the push plate is provided with a plurality of guide sleeves, and the upper ends of the guide posts upwards penetrate through the guide sleeves.
Furthermore, the lower end of the supporting column is fixedly connected with the push plate, and the upper end of the supporting column extends vertically upwards and then is connected with the top plate.
The beneficial effects of the utility model reside in that: the utility model solves the difficulty that the manipulator is difficult to grab the bottom part when the small materials are stacked in the whole box; when the automatic material taking device is used, the material car is matched for automatically taking materials, and then the robot manipulator is matched for automatically feeding materials, so that the key problem that the material circulation of an automatic production line is difficult to grasp is solved; adopt servo motor and lead screw transmission mode can satisfy again when multiple type of part the manipulator snatchs the interference of workbin material frame edge in the automation, let robot + three-dimensional vision system's scheme operation convenient more reliable, improved material loading efficiency, practice thrift the cost.
Drawings
In order to make the purpose, technical scheme and beneficial effect of the utility model clearer, the utility model provides a following figure explains:
Fig. 1 is the utility model relates to a three-dimensional vision system of cooperation robot carries out climbing mechanism stereogram of work piece material loading.
Fig. 2 is a cross-sectional view of fig. 1.
In the figure, 1 is a base, 2 is a bin, 3 is a servo motor, 4 is a screw rod, 5 is a push plate, 6 is a top plate, 61 is a support column, 7 is a screw rod nut, 8 is a profile guide rail, 9 is a roller line, 10 is a bottom plate, 11 is a guide column, and 12 is a push plate.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.
As shown in fig. 1-2, the utility model relates to a climbing mechanism that three-dimensional vision system of cooperation robot carries out work piece material loading, including base 1, workbin 2, servo motor 3, lead screw 4, push pedal 5 and roof 6. Workbin 2 is located and is used for loading the material that treats that the robot snatchs on base 1, and base 1's middle part is located along vertical direction to lead screw 4, and push pedal 5 passes through 7 suits of screw-nut on lead screw 4, and roof 6 is connected and is located lead screw 4 top through support column 61 and push pedal 5, and 6 tops of roof are used for the jack-up material, and push pedal 5 is used for driving roof 6 and reciprocates together. The servo motor 3 is in transmission connection with the lower end of the screw rod 4 to drive the screw rod 4 to rotate so as to drive the push plate 5 and the top plate 6 to move up and down to jack the workpiece in the material box 2.
Two sides above the base 1 are provided with mutually parallel section bar guide rails 8, the section bar guide rails 8 are provided with roller lines 9 formed by a plurality of conveying rollers, and the material box 2 slides back and forth on the roller lines 9 to move to a jacking position above the push plate 5 and the top plate 6.
In this embodiment, the climbing mechanism that cooperates with the three-dimensional vision system of the robot to perform workpiece loading further includes a bottom plate 10, the bottom plate 10 is fixedly disposed below the push plate 5, the lower end of the lead screw 4 is disposed below the bottom plate 10, and the upper end of the lead screw 4 penetrates through the bottom plate 10 and vertically extends upwards. A bearing is arranged at the matching connection position of the bottom plate 10 and the lead screw 4, and the lead screw 4 penetrates through the bearing, so that a transmission mode of the servo motor 3 and the ball screw 4 is formed.
In the present embodiment, the servo motor 3 and the lead screw 4 are in transmission connection through a pulley.
In this embodiment, the climbing mechanism that cooperates with the three-dimensional vision system of the robot to perform workpiece loading further includes a plurality of guide pillars 11, the lower ends of the guide pillars 11 are fixedly connected with the bottom plate 10, a plurality of guide sleeves are arranged on the push plate 5, and the upper ends of the guide pillars 11 upwardly penetrate through the guide sleeves, so that the stability of the climbing mechanism is ensured.
In this embodiment, the lower extreme and the push pedal 5 fixed connection of support column 61, the upper end of support column 61 is connected with roof 6 after vertical upwards extending, and when servo motor 3 drove lead screw 4 and rotated, push pedal 5 reciprocated with screw-nut 7 together to drive 6 jack-up materials of roof, accomplish the jacking operation.
In the embodiment, the pushing plate 12 is arranged at the bottom inside the material box 2, and the pushing plate 12 is in a movable state, that is, the bottom of the material box 2 is a movable plate, so that the material can be lifted by moving upwards when the material box is subjected to an upward lifting force while loading a workpiece.
the utility model relates to a three-dimensional vision system of cooperation robot carries out the operating process of climbing mechanism of work piece material loading and does: the front end transports the workbin to climbing mechanism through the AGV dolly, climbing mechanism passes through the roller line and removes the jacking position with the workbin automatically, climbing mechanism obtains the work piece workbin signal that targets in place, servo motor drives the belt pulley and rotates, drive push pedal and roof upward movement through the lead screw, and through robot feedback signal communication, thereby realize the successive layer jacking of work piece in the workbin, it is whole ejecting until this workbin in multilayer work piece, initial position is got back to push pedal and roof, empty workbin gets back to the AGV dolly through the roller line and rotates.
The utility model solves the difficulty that the manipulator is difficult to grab the bottom part when the small materials are stacked in the whole box; when the automatic material taking device is used, the material car is matched for automatically taking materials, and then the robot manipulator is matched for automatically feeding materials, so that the key problem that the material circulation of an automatic production line is difficult to grasp is solved; adopt servo motor and lead screw transmission mode can satisfy again when multiple type of part can reduce in the automation manipulator snatch the interference of material frame edge, let robot + three-dimensional vision system's scheme operation convenient more reliable, improved material loading efficiency, practice thrift the cost.
The utility model discloses make things convenient for AGV dolly to get in stock and the robot arm to grab and get the work piece, get through the key part of automation line material circulation; the positioning precision can reach 0.1 mm; the following problems in an automatic production line are reduced: high cost problems caused by vision systems and the like; the production efficiency is improved, and the labor cost of enterprises is reduced.
The above embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, when used in the orientation or positional relationship indicated in the figures, are used merely for convenience in describing the invention and to simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting. Furthermore, the appearances of the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Claims (7)

1. The utility model provides a three-dimensional vision system of cooperation robot carries out climbing mechanism of work piece material loading which characterized in that: comprises a base, a material box, a servo motor, a screw rod, a push plate and a top plate; the feed box is arranged on the base, the screw rod is arranged in the middle of the base along the vertical direction, the push plate is sleeved on the screw rod through a screw rod nut, and the top plate is connected with the push plate through a support column and is positioned above the top of the screw rod; the servo motor is in transmission connection with the lower end of the screw rod to drive the screw rod to rotate so as to drive the push plate and the top plate to move up and down to jack up a workpiece in the feed box.
2. The jacking mechanism for workpiece feeding matched with the three-dimensional vision system of the robot, according to claim 1, is characterized in that: the two sides above the base are provided with mutually parallel section guide rails, the section guide rails are provided with roller lines formed by a plurality of conveying rollers, and the material box slides back and forth on the roller lines to move to the jacking positions above the push plate and the top plate.
3. The jacking mechanism for workpiece feeding matched with the three-dimensional vision system of the robot, according to claim 2, is characterized in that: the bottom plate is fixedly arranged below the push plate, the lower end of the lead screw is positioned below the bottom plate, and the upper end of the lead screw penetrates through the bottom plate and vertically extends upwards.
4. The jacking mechanism for workpiece feeding matched with the three-dimensional vision system of the robot, according to claim 3, is characterized in that: and a bearing is arranged at the matching connection part of the bottom plate and the lead screw, and the lead screw penetrates through the bearing.
5. The jacking mechanism for workpiece feeding matched with the three-dimensional vision system of the robot, according to claim 4, is characterized in that: the servo motor is in transmission connection with the lead screw through a belt pulley.
6. The jacking mechanism for workpiece feeding matched with the three-dimensional vision system of the robot, according to claim 5, is characterized in that: the push plate is provided with a plurality of guide sleeves, the lower ends of the guide posts are fixedly connected with the bottom plate, the push plate is provided with a plurality of guide sleeves, and the upper ends of the guide posts upwards penetrate through the guide sleeves.
7. The jacking mechanism for workpiece feeding matched with the three-dimensional vision system of the robot, according to claim 6, is characterized in that: the lower end of the supporting column is fixedly connected with the push plate, and the upper end of the supporting column extends vertically upwards and then is connected with the top plate.
CN201920195795.4U 2019-02-14 2019-02-14 Climbing mechanism matched with three-dimensional vision system of robot to feed workpiece Active CN209796621U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920195795.4U CN209796621U (en) 2019-02-14 2019-02-14 Climbing mechanism matched with three-dimensional vision system of robot to feed workpiece

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920195795.4U CN209796621U (en) 2019-02-14 2019-02-14 Climbing mechanism matched with three-dimensional vision system of robot to feed workpiece

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CN209796621U true CN209796621U (en) 2019-12-17

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113070798A (en) * 2021-03-30 2021-07-06 宜兴市锦龙陶瓷有限公司 External surface finish machining equipment for honeycomb ceramic carrier and using method
CN114102326A (en) * 2021-12-16 2022-03-01 江西瑞顺超细铜线科技协同创新有限公司 Copper edge trimming device convenient to angle modulation

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113070798A (en) * 2021-03-30 2021-07-06 宜兴市锦龙陶瓷有限公司 External surface finish machining equipment for honeycomb ceramic carrier and using method
CN114102326A (en) * 2021-12-16 2022-03-01 江西瑞顺超细铜线科技协同创新有限公司 Copper edge trimming device convenient to angle modulation
CN114102326B (en) * 2021-12-16 2023-05-05 江西瑞顺超细铜线科技协同创新有限公司 Copper edge trimming device convenient for angle adjustment

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