CN209866545U - Automatic feeding and discharging machine based on vision guidance - Google Patents
Automatic feeding and discharging machine based on vision guidance Download PDFInfo
- Publication number
- CN209866545U CN209866545U CN201920313815.3U CN201920313815U CN209866545U CN 209866545 U CN209866545 U CN 209866545U CN 201920313815 U CN201920313815 U CN 201920313815U CN 209866545 U CN209866545 U CN 209866545U
- Authority
- CN
- China
- Prior art keywords
- bracket
- manipulator
- fixed
- visual
- material taking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007599 discharging Methods 0.000 title claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 77
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 230000000007 visual effect Effects 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000001681 protective effect Effects 0.000 claims description 11
- 239000000428 dust Substances 0.000 claims description 10
- 239000003292 glue Substances 0.000 description 8
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Specific Conveyance Elements (AREA)
Abstract
The utility model discloses an automatic feeding and discharging machine based on visual guidance, which comprises a machine table, a conveyor belt, a visual positioning mechanism, a manipulator device, a secondary visual positioning mechanism and a dispensing table; firstly, placing materials on a conveying belt, then taking pictures and positioning the materials by a visual detection mechanism, then loading the materials by a manipulator on a manipulator device and a pneumatic material taking up and down mechanism in a matching way, simultaneously taking pictures by a secondary positioning visual detection mechanism in a positioning way, then dispensing by a dispensing table, and finally placing the dispensed materials back on the conveying belt by the manipulator; the position information and the deflection angle of the material can be more accurately measured through the visual detection mechanism, the secondary visual detection mechanism and the manipulator device, and the work with high precision requirement is completed.
Description
Technical Field
The utility model relates to an automation equipment technical field, concretely relates to automatic blanking machine based on vision guide.
Background
The automatic feeding and discharging machine is used as feeding and discharging equipment commonly used in an industrial automation workshop, plays a very large role in industrial production, replaces manual carrying, improves the production efficiency and reduces the production cost. However, most automatic feeding and discharging machines at present can only simply position materials by using a mechanical method or a simple sensor method, and cannot measure specific accurate position information and deflection angle information of the supplied materials, so that the traditional automatic feeding and discharging machines are difficult to complete tasks for processes with high accuracy requirements.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model provides an automatic blanking machine of going up based on vision guide has simple structure, and the superior advantage of comprehensive properties, better simultaneously carry out accurate location and correct it to the material.
(II) technical scheme
In order to solve the technical problem, the utility model provides a following technical scheme: an automatic feeding and discharging machine based on visual guidance comprises a machine table, a conveying belt, a visual positioning mechanism, a manipulator device, a secondary visual positioning mechanism and a dispensing table; a conveying belt is fixed on the upper surface of the machine table; the number of the dispensing tables is 2, and the dispensing tables are fixed on the left side and the right side of the conveyor belt; the manipulator device is fixed above the conveyor belt; the secondary vision positioning mechanism is fixed in the middle of the conveyor belt and the dispensing table; a visual positioning mechanism is fixed above the conveyor belt; the visual positioning mechanism comprises a bracket, a reflector, a light column, a CCD camera, a display, a protective cover, an encoder and a roller; the bracket is fixed on the conveying belt through bolts; the display screen is fixed on the right side wall of the bracket; a protective cover is sleeved on the front side of the bracket; a reflector, a light column and a CCD camera are arranged in the protective cover; the light column is fixed on the bracket through a bolt; the light reflecting plate is arranged on the light column, and the light reflecting plate and the light column are matched for use; the CCD camera is fixed above the reflector; the roller is arranged at the bottom of the inner side of the bracket through a pin shaft; the encoder is fixed on the axis of the roller.
Preferably, the manipulator device comprises a pneumatic material taking up and down mechanism, a manipulator support and a manipulator; the manipulator bracket is fixed on the machine table through screws and bolts; the manipulator is arranged on the manipulator bracket; the pneumatic material taking up and down mechanism is connected with the manipulator.
Preferably, the pneumatic material taking up and down mechanism comprises a material loading position, a material unloading position, a telescopic cylinder, a vacuum pressure gauge, a material taking bracket, a vacuum sucker and a rotating shaft sleeve; a rotating shaft sleeve is fixed on the material taking bracket; the left side and the right side of the lower side of the material taking bracket are fixedly connected with a material feeding position and a material discharging position; the feeding position is connected with the material taking bracket through a telescopic cylinder; a vacuum pressure gauge is arranged on the side wall of the material taking bracket; and vacuum suction cups are arranged on the material discharging position and the material loading position.
Preferably, the secondary vision detection mechanism comprises a light source, a camera and a detection bracket; the detection bracket is fixed on the machine table through screws and bolts; the detection support is vertically provided with a light source and a camera, and the light source and the camera are matched for use.
Preferably, the machine table is provided with an outer cover.
Preferably, the automatic feeding and discharging machine based on visual guidance further comprises a dust removal device for removing dust on the product.
(III) advantageous effects
Compared with the prior art, the utility model provides a pair of automatic blanking machine based on vision guide possesses following beneficial effect: firstly, placing materials on a conveyor belt, then taking pictures and positioning the materials by a visual detection mechanism, then loading the materials by a manipulator on a manipulator device and a pneumatic material taking up and down mechanism in a matching way, simultaneously taking pictures by a secondary visual detection mechanism in a positioning way, then dispensing by a dispensing table, and finally placing the dispensed materials back on the conveyor belt by the manipulator; the position information and the deflection angle of the material can be more accurately measured through the visual detection mechanism, the secondary visual detection mechanism and the manipulator device, and the work with high precision requirement is completed.
Drawings
Fig. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic view of a visual positioning mechanism of the present invention;
FIG. 3 is a schematic view of the pneumatic material loading and unloading mechanism of the present invention;
fig. 4 is a schematic view of the secondary vision inspection mechanism of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring now to FIGS. 1-4: an automatic feeding and discharging machine based on visual guidance comprises a machine table 1, a conveying belt 2, a visual positioning mechanism 3, a manipulator device 4, a secondary visual positioning mechanism 5 and a dispensing table 6; a conveyor belt 2 is fixed on the upper surface of the machine table 1, and the conveyor belt 2 mainly works to finish conveying, feeding and discharging; the number of the glue dispensing tables 6 is 2, the glue dispensing tables are fixed on the left side and the right side of the conveyor belt 2, and the glue dispensing tables 6 are used for dispensing materials grabbed by the manipulator device 4; the manipulator device 4 is fixed above the conveyor belt 2, the manipulator device 4 is used for conveying detected materials to the glue dispensing table 6 through the manipulator device 4 for glue dispensing, and the specific mechanism of the manipulator device is described below; the secondary vision positioning mechanism 3 is fixed in the middle of the conveyor belt 2 and the dispensing table 6, has the function of confirming information of the materials before dispensing again to prevent defective products from being mixed into the materials, and the specific mechanism of the secondary vision positioning mechanism is described below; a visual positioning mechanism 3 is fixed above the conveyor belt 2, the visual positioning mechanism 3 is used for photographing and positioning materials on the conveyor belt and confirming material information, and the specific mechanism of the visual positioning mechanism 3 is described below; the visual positioning mechanism comprises a bracket 31, a reflector 32, a light column 33, a CCD camera 34, a display 35, a protective cover 36, an encoder 37 and a roller 38; the bracket 31 is fixed on the conveyor belt 2 through bolts; the display screen 35 is fixed on the right side wall of the bracket 31, and when the materials are collected, information can be displayed by the display screen; a protective cover 36 is sleeved on the front side of the bracket 31, and the protective cover 36 is used for protecting machine articles in the protective cover on one hand and is used for shielding part of light rays collected by the CCD camera 34 on the other hand; a reflector 32, a light column 33 and a CCD camera 34 are arranged in the protective cover 36; the light column 33 is fixed on the bracket 31 through a bolt; the reflector 32 is arranged on the light column 33 and is matched with the light column 33, the reflector 32 and the light column 33 are matched with each other, and materials on the conveyor belt 2 are shot and collected through the light column 33 and the reflector 32; the CCD camera 34 is fixed above the reflector 32; the roller 38 is arranged at the bottom of the inner side of the bracket 31 through a pin shaft; the encoder 37 is fixed on the axis of the roller 38, and the encoder 37 is not affected on the conveyor belt 2 by the roller 38.
Referring now to FIG. 2: the manipulator device 4 comprises a pneumatic material taking up and down mechanism 41, a manipulator bracket 42 and a manipulator 43; the manipulator bracket 43 is fixed on the machine table 1 through screws and bolts; the manipulator 43 is mounted on the manipulator support 42; the pneumatic material taking up and down mechanism 41 is connected with a manipulator 43, and the manipulator device controls the manipulator 43 through the manipulator, so that the manipulator drives the pneumatic material taking up and down mechanism 41 which is in driving connection to carry out loading and unloading on the materials on the conveyor belt 2.
Referring now to FIG. 3: the pneumatic material taking up and down mechanism 41 comprises a material feeding position 411, a material discharging position 412, a telescopic cylinder 413, a vacuum pressure gauge 414, a material taking bracket 415, a vacuum suction cup 416 and a rotating shaft sleeve 417; a rotating shaft sleeve 417 is fixed on the material taking bracket 415; the left side and the right side of the lower side of the material taking bracket 415 are fixedly connected with a material loading position 411 and a material unloading position 412; the blanking position 412 is connected with a material taking bracket 415 through a telescopic cylinder 413, and the telescopic cylinder 413 drives the connected loading position 411 and blanking position 412 to perform a reciprocating loading and unloading function through a shaft; a vacuum pressure gauge 414 is arranged on the side wall of the material taking bracket 415, and the vacuum pressure gauge 414 is used for detection; vacuum suction cups 416 are arranged on the blanking position 412 and the loading position 411, and a vacuum pressure gauge 414 is used for detecting whether the air pressure in the vacuum suction cups 416 is sufficient.
Referring now to FIG. 4: the secondary vision detection mechanism 5 comprises a light source 51, a camera 52 and a detection bracket 53; the detection bracket 53 is fixed on the machine table 1 through screws and bolts; the light source 51 and the camera 52 are vertically arranged on the detection support 53 and are matched with each other for use, the camera 52 is used for shooting again and positioning, the coordinate position of the manipulator is provided, and the robot can place the film on the dispensing table more accurately.
Referring now to FIG. 1: be equipped with dustcoat 8 on the board 1, have the shading effect on the one hand, avoid because of outside staff's personal safety, can not cause danger to the people when confirming personnel's entering operation simultaneously.
Referring now to FIG. 1: the automatic feeding and discharging machine based on the visual guidance further comprises a dust removal device 7 used for removing dust on a product completely, wherein the dust removal device firstly fixes gas in a quick inflation valve on a dust removal support, and when the material passes through the dust removal device, the gas stored in the quick inflation valve is aligned to the material through a connected gas nozzle to be sprayed, so that the purpose of dust removal is achieved.
The following brief description is about the working principle of the present invention: the material is placed on the conveyor belt 2, then the material on the conveyor belt 2 is positioned and information is acquired through the CCD camera 34 on the visual positioning mechanism 3 in cooperation with the reflector 32 and the light column 33, after the acquisition is finished, the material is conveyed to the mechanical arm device 4 through the conveyor belt 2, the mechanical arm device 4 drives the feeding position 411 on the pneumatic material taking up and down mechanism 41 connected with the pneumatic material taking up and down mechanism through the mechanical arm 43 to grab and place the material onto the secondary visual positioning mechanism 5, the camera 52 in the secondary visual positioning mechanism 5 performs secondary photographing and positioning on the material, then the photographed material is placed to the glue dispensing table 6 through the discharging position 412 on the pneumatic material taking up and down mechanism 41 to perform glue dispensing, after the glue dispensing is finished, the material is placed back to the conveyor belt 2 through the pneumatic material taking up and down mechanism 41, and the operation is completed.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An automatic feeding and discharging machine based on visual guidance is characterized by comprising a machine table, a conveying belt, a visual positioning mechanism, a manipulator device, a secondary visual positioning mechanism and a dispensing table; a conveying belt is fixed on the upper surface of the machine table; the number of the dispensing tables is 2, and the dispensing tables are fixed on the left side and the right side of the conveyor belt; the manipulator device is fixed above the conveyor belt; the secondary vision positioning mechanism is fixed in the middle of the conveyor belt and the dispensing table; a visual positioning mechanism is fixed above the conveyor belt; the visual positioning mechanism comprises a bracket, a reflector, a light column, a CCD camera, a display, a protective cover, an encoder and a roller; the bracket is fixed on the conveying belt through bolts; the display is fixed on the right side wall of the bracket; a protective cover is sleeved on the front side of the bracket; a reflector, a light column and a CCD camera are arranged in the protective cover; the light column is fixed on the bracket through a bolt; the light reflecting plate is arranged on the light column, and the light reflecting plate and the light column are matched for use; the CCD camera is fixed above the reflector; the roller is arranged at the bottom of the inner side of the bracket through a pin shaft; the encoder is fixed on the axis of the roller.
2. The automatic loading and unloading machine based on the visual guidance is characterized in that the manipulator device comprises a pneumatic material taking loading and unloading mechanism, a manipulator bracket and a manipulator; the manipulator bracket is fixed on the machine table through screws and bolts; the manipulator is arranged on the manipulator bracket; the pneumatic material taking up and down mechanism is connected with the manipulator.
3. The automatic feeding and discharging machine based on the visual guidance is characterized in that the pneumatic material taking and discharging mechanism comprises a feeding position, a discharging position, a telescopic cylinder, a vacuum pressure gauge, a material taking bracket, a vacuum sucker and a rotating shaft sleeve; a rotating shaft sleeve is fixed on the material taking bracket; the left side and the right side of the lower side of the material taking bracket are fixedly connected with a material feeding position and a material discharging position; the feeding position is connected with the material taking bracket through a telescopic cylinder; a vacuum pressure gauge is arranged on the side wall of the material taking bracket; and vacuum suction cups are arranged on the material discharging position and the material loading position.
4. The automatic feeding and discharging machine based on the visual guidance is characterized in that the secondary visual detection mechanism comprises a light source, a camera and a detection bracket; the detection bracket is fixed on the machine table through screws and bolts; the detection support is vertically provided with a light source and a camera, and the light source and the camera are matched for use.
5. The automatic feeding and discharging machine based on the visual guidance as claimed in claim 1, wherein a housing is provided on the machine table.
6. The automatic feeding and discharging machine based on the visual guidance as claimed in claim 1, wherein the automatic feeding and discharging machine based on the visual guidance further comprises a dust removing device for removing dust on the product.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920313815.3U CN209866545U (en) | 2019-03-13 | 2019-03-13 | Automatic feeding and discharging machine based on vision guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920313815.3U CN209866545U (en) | 2019-03-13 | 2019-03-13 | Automatic feeding and discharging machine based on vision guidance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209866545U true CN209866545U (en) | 2019-12-31 |
Family
ID=68954733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920313815.3U Active CN209866545U (en) | 2019-03-13 | 2019-03-13 | Automatic feeding and discharging machine based on vision guidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209866545U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112456128A (en) * | 2020-12-04 | 2021-03-09 | 深圳市宏申工业智能有限公司 | Automatic loading and unloading method and system on production line based on machine vision |
| CN113581847A (en) * | 2020-04-30 | 2021-11-02 | 日本电产三协株式会社 | Conveying system |
| CN114275539A (en) * | 2020-10-01 | 2022-04-05 | 日本电产三协株式会社 | Conveying system |
| CN114950868A (en) * | 2022-07-05 | 2022-08-30 | 广东猛犸象智能机器人制造有限公司 | 3D vision-guided intelligent glue dispensing and splicing product system and method |
-
2019
- 2019-03-13 CN CN201920313815.3U patent/CN209866545U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113581847A (en) * | 2020-04-30 | 2021-11-02 | 日本电产三协株式会社 | Conveying system |
| CN114275539A (en) * | 2020-10-01 | 2022-04-05 | 日本电产三协株式会社 | Conveying system |
| CN114275539B (en) * | 2020-10-01 | 2023-12-19 | 日本电产三协株式会社 | Conveying system |
| CN112456128A (en) * | 2020-12-04 | 2021-03-09 | 深圳市宏申工业智能有限公司 | Automatic loading and unloading method and system on production line based on machine vision |
| CN112456128B (en) * | 2020-12-04 | 2021-11-05 | 深圳市宏申工业智能有限公司 | Automatic loading and unloading method and system on production line based on machine vision |
| CN114950868A (en) * | 2022-07-05 | 2022-08-30 | 广东猛犸象智能机器人制造有限公司 | 3D vision-guided intelligent glue dispensing and splicing product system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209866545U (en) | Automatic feeding and discharging machine based on vision guidance | |
| CN206347976U (en) | A kind of non-contact surface flatness optical measuring apparatus | |
| CN207779916U (en) | A kind of cover board test device | |
| CN206573809U (en) | A kind of module screen automatic checkout system | |
| CN112113967A (en) | Visual inspection equipment capable of identifying flaws for large part inspection | |
| CN107589123B (en) | Device for appearance detection of protective cover plate of intelligent equipment | |
| WO2022236917A1 (en) | Surface property inspection apparatus and inspection method | |
| KR101701108B1 (en) | System for automated measuring Weight and volume | |
| CN108855962A (en) | It is a kind of for being pressed into the detection machine of the jig plate of electroceramics particle capacitor | |
| CN109434413A (en) | Battery assembly equipment | |
| CN218902710U (en) | Appearance detection equipment for mobile phone charger | |
| CN109604180B (en) | Bullet shell detecting machine | |
| CN109975318A (en) | A kind of plastic bottle open defect detection method and equipment | |
| CN109093370A (en) | A kind of more screw synchronization locking machines | |
| CN208249323U (en) | A kind of automation loading and unloading equipment | |
| CN113247617B (en) | A multi-angle conveyor for machine production | |
| CN208795185U (en) | 3-D measuring apparatus | |
| CN110314853A (en) | A kind of product size and appearance automatic checkout equipment | |
| CN117000522B (en) | Automatic assembly equipment and method for light-insulating sheet | |
| CN108152301A (en) | A kind of detection marking equipment of wiring board and its detection marking method | |
| CN115901802B (en) | Flexible circuit board detection equipment | |
| CN208705356U (en) | Mould group full automatic point lamp check machine | |
| CN207742120U (en) | Product appearance inspection device | |
| CN208146459U (en) | A kind of automatic sorting cutting agency based on CCD camera detection | |
| CN207623355U (en) | A kind of full-automatic Defect Detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: An automatic loading and unloading machine based on visual guidance Effective date of registration: 20211215 Granted publication date: 20191231 Pledgee: Xiamen SME Financing Guarantee Co.,Ltd. Pledgor: XIAMEN WEIYA INTELLIGENCE TECHNOLOGY Co.,Ltd. Registration number: Y2021980015175 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 361000 room 201a, Jinfeng Building, information photoelectric Park, Xiamen Torch hi tech Zone, Xiamen City, Fujian Province Patentee after: Xiamen Weiya Intelligent Technology Co.,Ltd. Address before: 361000 room 201a, Jinfeng Building, information photoelectric Park, Xiamen Torch hi tech Zone, Xiamen City, Fujian Province Patentee before: XIAMEN WEIYA INTELLIGENCE TECHNOLOGY Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |