CN209871715U - Utilize feed mechanism of 3D vision and robot tongs - Google Patents
Utilize feed mechanism of 3D vision and robot tongs Download PDFInfo
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- CN209871715U CN209871715U CN201822252654.XU CN201822252654U CN209871715U CN 209871715 U CN209871715 U CN 209871715U CN 201822252654 U CN201822252654 U CN 201822252654U CN 209871715 U CN209871715 U CN 209871715U
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Abstract
The utility model discloses a feeding mechanism utilizing 3D vision and robot gripper, a transfer device is positioned between a material frame and a cleaning machine, a vision device slides along a mounting bracket and shoots material images, the robot receives the images and then controls a first gripper to grab a first material and a second material and place the first gripper on the transfer device, a second gripper grabs the second material and a third material and places the second material on a fixed tray, a third material is placed on the cleaning machine, a sensor senses whether materials exist on the fixed tray and a roller, a pushing structure pushes the materials on the roller to the cleaning machine, a stirring structure pushes the materials on the fixed tray to the roller, through the design, the workpieces which are in different shapes and are placed in a multi-layer stacking and untidy arrangement can be quickly fed, the production line is improved in beat, the personnel configuration is reduced, most importantly, the production line does not need to be greatly changed after the workpieces are replaced in later period, is greatly superior to the prior art in the aspects of economy and sustainable development.
Description
Technical Field
The utility model relates to an automated production equipment especially relates to an utilize feed mechanism of 3D vision and robot tongs.
Background
Automatic production lines automatically operate or control processes according to prescribed programs or instructions without human intervention, with the goal of "stable, accurate, fast". Automation technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical treatment, services, and home. The automatic production line can not only liberate people from heavy physical labor, partial mental labor and severe and dangerous working environments, but also expand the functions of human organs, greatly improve the labor productivity and enhance the ability of human to know the world and transform the world.
In an automatic production line, a feeding mechanism is usually required, but the feeding mode of the upper cover and the lower cover of the compressor is manual feeding or conveying line feeding. However, the prior art has the defects that the requirement on the workpiece placing mode is high, the operation steps are complicated, the use structure is complex, the production line needs to be redesigned after the workpieces are replaced in the later period, and the like.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model aims to provide a feeding mechanism which has low requirements on the placement of workpieces, is simple in operation and is convenient to use and utilizes 3D vision and robot grippers.
The purpose of the utility model is realized by adopting the following technical scheme:
a feeding mechanism utilizing 3D vision and robot grippers comprises a material frame, a mounting bracket and a cleaning machine, wherein a first material, a second material and a third material are placed in the material frame, the feeding mechanism utilizing the 3D vision and the robot grippers further comprises two robots, a first gripper, a second gripper, a vision device and a transfer device, the first gripper and the second gripper are respectively fixed on the two robots, the vision device is slidably mounted on the mounting bracket, the transfer device is positioned between the material frame and the cleaning machine, the transfer device comprises a sensor, a roller, a pushing structure, a shifting structure and a fixed tray, the vision device slides along the mounting bracket and shoots material images, the robot receives the images and then controls the first gripper to grab the first material and the second material and place the first material and the second material on the transfer device, the second gripper grabs the second material and the third material and places the second material on the fixed tray, the third material is placed on the cleaning machine, the sensor senses whether the materials exist on the fixed tray and the roller, the pushing structure pushes the materials on the roller to the cleaning machine, and the shifting structure shifts the materials on the fixed tray to the roller.
Furthermore, the first gripper comprises a first cylinder mounting support, two first cylinders, a first air claw structure and a first vacuum chuck structure, the first cylinder mounting support is fixed on the robot, the two first cylinders are mounted on the first cylinder mounting support, and the first air claw structure and the first vacuum chuck structure are respectively mounted on the two first cylinders.
Further, the first material is a machine foot, the second material is a lower cover, and the third material is an upper cover.
Further, the first air claw structure grabs the machine foot, and the first vacuum chuck structure grabs the lower cover.
Furthermore, the second gripper comprises a second cylinder mounting support, two second cylinders, a second air claw structure and a second vacuum chuck structure, the second cylinder mounting support is fixed on the robot, the two second cylinders are mounted on the second cylinder mounting support, and the second air claw structure and the second vacuum chuck structure are respectively mounted on the two second cylinders.
Further, the second air claw structure grabs the lower cover, and the second vacuum chuck structure grabs the upper cover.
Further, the feeding mechanism utilizing the 3D vision and the robot gripper further comprises a limiting guide rod, and the material frame is located in the limiting guide rod to fix the placement position of the material frame.
Further, the transfer device further comprises a rack, the roller is rotatably mounted on the rack, and the fixed tray is fixed on the rack.
Further, the pushing structure comprises a third cylinder, a first guide rail, a first mounting plate, a first connecting seat and a shifting plate, the third cylinder and the first guide rail are fixedly mounted on the rack, the first mounting plate is fixedly connected with the third cylinder, the first connecting seat is fixedly mounted on the first mounting plate, and the shifting plate is fixed to the first connecting seat.
Further, the toggle structure comprises a fourth cylinder, a second guide rail, a second mounting plate, a second connecting seat and a toggle rod, the fourth cylinder and the second guide rail are fixedly mounted on the rack, the second mounting plate is fixed on the fourth cylinder, the second connecting seat is fixed on the second mounting plate, and the toggle rod is fixed on the second connecting seat.
Compared with the prior art, the feeding mechanism utilizing the 3D vision and the robot grippers of the utility model also comprises two robots, a first gripper, a second gripper, a vision device and a transfer device, wherein the first gripper and the second gripper are respectively fixed on the two robots, the vision device is slidably mounted on the mounting bracket, the transfer device is positioned between the material frame and the cleaning machine, the transfer device comprises a sensor, a roller, a pushing structure, a toggle structure and a fixed tray, the vision device slides along the mounting bracket and shoots material images, after receiving the images, the robot controls the first gripper to grab the first material and the second material and place the first material and the second material on the transfer device, the second gripper grabs the second material and the third material and places the second material on the fixed tray, the third material is placed on the cleaning machine, the sensor senses whether the materials are pushed on the fixed tray and the roller, the material on the roller is pushed to the cleaning machine by the structure, toggle structure stirs the material to the gyro wheel on with fixed tray, can stack for the multilayer and arrange the work piece of uneven different shapes fast feeding to the mode of placement, improves and produces the line beat, reduces personnel's configuration, and the later stage replaces the work piece after the line need not to change by a wide margin, is superior to original technique from economy and sustainable development's aspect by a wide margin.
Drawings
Fig. 1 is a perspective view of the feeding mechanism of the robot gripper using 3D vision of the present invention;
fig. 2 is a perspective view of a first gripper of the loading mechanism of fig. 1 utilizing 3D vision and robotic grippers;
FIG. 3 is a perspective view of a second gripper of the loading mechanism of FIG. 1 utilizing 3D vision and robotic grippers;
fig. 4 is a perspective view of the transferring device using 3D vision and a robot gripper of fig. 1.
In the figure: 1. a robot; 2. a first gripper; 21. the cylinder is provided with a first support; 22. a first cylinder; 23. a first gas claw structure; 24. a first vacuum chuck structure; 3. a second gripper; 31. the cylinder is provided with a second support; 32. a second cylinder; 33. a second gas claw structure; 34. a second vacuum chuck structure; 4. a vision device; 5. mounting a bracket; 6. a material frame; 7. a transfer device; 71. a rack; 72. a sensor; 73. a roller; 74. a pushing structure; 740. a third cylinder; 741. a first guide rail; 742. a first mounting plate; 743. a first connecting seat; 744. a poking plate; 75. a toggle structure; 751. a fourth cylinder; 752. a second guide rail; 753. a second mounting plate; 754. a second connecting seat; 755. a poke rod; 76. fixing the tray; 8. a cleaning machine; 9. limiting guide rods.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely 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 work belong to the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present, secured by intervening elements. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly disposed on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 4, the feeding mechanism using 3D vision and robot grippers of the present invention includes two robots 1, a first gripper 2, a second gripper 3, two vision devices 4, two mounting brackets 5, a plurality of material frames 6, a transfer device 7, a cleaning machine 8, and a plurality of limiting guide rods 9.
The first gripper 2 comprises a first air cylinder mounting support 21, two first air cylinders 22, a first air claw structure 23 and a first vacuum chuck structure 24, the first air cylinder mounting support 21 is fixed on the robot 1, the two first air cylinders 22 are mounted on the first air cylinder mounting support 21, and the first air claw structure 23 and the first vacuum chuck structure 24 are respectively mounted on the two first air cylinders 22.
The second gripper 3 comprises a cylinder mounting second support 31, two second cylinders 32, a second air claw structure 33 and a second vacuum chuck structure 34, the cylinder mounting second support 31 is fixed on the robot 1, the two second cylinders 32 are mounted on the cylinder mounting second support 31, and the second air claw structure 33 and the second vacuum chuck structure 34 are respectively mounted on the two second cylinders 32.
The two vision devices 4 are respectively mounted on the two mounting brackets 5 in a sliding manner.
The plurality of material frames 6 are used for placing a first material, a second material and a third material, in this embodiment, the first material is the machine leg, the second material is the lower cover, and the third material is the upper cover. The material frames 6 are positioned among the limiting guide rods 9, and the limiting guide rods 9 limit the placement positions of the material frames 6. Several material frames 6 are located below the two mounting brackets 5.
The relay device 7 includes a rack 71, a sensor 72, a roller 73, a pushing structure 74, a shifting structure 75 and a fixing tray 76. The sensor 72 and the fixed tray 76 are fixed to the stage 71. The roller 73 is rotatably mounted to the stage 71. The fixed tray 76 is located on the roller 73 side.
The pushing structure 74 includes a third cylinder 740, a first guide 741, a first mounting plate 742, a first connecting base 743 and a toggle plate 744, the third cylinder 740 and the first guide 741 are fixedly mounted on the frame 71, the first mounting plate 742 is fixedly connected to the third cylinder 740, the first connecting base 743 is fixedly mounted on the first mounting plate 742, and the toggle plate 744 is fixed to the first connecting base 743. The toggling plate 744 is parallel to the extending direction of the roller 73 and is located at one side of the roller 73. The toggle plate 744 is movable relative to the roller 73 and in a direction perpendicular to the roller 73 to push material on the roller 73 into the washer 8. The first connecting seat 743 is L-shaped.
The toggle structure 75 comprises a fourth cylinder 751, a second guide rail 752, a second mounting plate 753, a second connecting seat 754 and a toggle rod 755, wherein the fourth cylinder 751 and the second guide rail 752 are fixedly mounted on the rack 71, the second mounting plate 753 is fixed on the fourth cylinder 751, the second connecting seat 754 is fixed on the second mounting plate 753, and the toggle rod 755 is fixed on the second connecting seat 754. The second connecting seat 754 is L-shaped. The poke rod 755 is located above the fixed tray 76 and can move relative to the fixed tray 76. The moving direction of the poke rod 755 is perpendicular to the moving direction of the poke plate 744, so that the poke rod 755 pushes the materials on the fixed tray 76 to the roller 73.
The cleaning machine 8 is positioned at one side of the transfer device 7, and the transfer device 7 is positioned between the cleaning machine 8 and the material frames 6. The two robots 1 are respectively positioned at two opposite sides of the transfer device 7.
When the feeding mechanism utilizing the 3D vision and the robot gripper is used, the material frame 6 full of materials is manually placed among the plurality of limiting guide rods 9. The two vision devices 4 move along the mounting bracket 5 and shoot material images, the images are converted into signals to be transmitted to the robot 1 after shooting is completed, the robot 1 controls the first air claw structure 23 of the first hand grab 2 to grab the machine foot and place the machine foot on the right rail of the transfer device 7, and the first vacuum chuck structure 24 grabs the cover and places the cover on the left rail of the transfer device 7. The other robot 1 controls the second air claw structure 33 of the second gripper 3 to grab and place the taken-off cover on the fixed tray 76 of the transfer device 7, and the second vacuum chuck structure 34 grabs and places the taken-off cover on the conveyor belt of the cleaning machine 8. The sensor 72 acquires a signal indicating whether a workpiece at each detection position is present, the transfer device 7 is used for acquiring the signal through the sensor 72, if the toggle structure 75 is provided with a lower cover, the lower cover is toggled into the left-side pushing structure 74, and when the pushing structure 74 is provided with the workpiece, the workpiece is pushed to the rear cleaning machine 8 to optimize the production line rhythm. (because the lower cover and the machine leg are common front workpieces in one process, the required conveying rhythm is faster than that of the upper cover, the design logic is that the left-side robot 1 helps to grab the lower cover in the leisure time after grabbing the upper cover, the site space is limited, if the left-side robot 1 puts the lower cover and the right-side robot 1 puts the machine leg, the two interfere with each other, and therefore the transfer device 7 is designed for optimizing the rhythm).
Through the design, workpieces in different shapes which are stacked in a multilayer mode and are not arranged in an orderly mode can be quickly loaded, the production line beat is improved, the personnel configuration is reduced, most importantly, the production line is not required to be changed greatly after the workpieces are replaced in the later stage, and the workpiece loading device is greatly superior to the prior art in the aspects of economy and sustainable development.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes are intended to fall within the scope of the claims.
Claims (10)
1. The utility model provides an utilize feed mechanism of 3D vision and robot tongs, includes material frame, installing support and cleaning machine, place first material, second material and third material, its characterized in that in the material frame: the feeding mechanism utilizing the 3D vision and the robot grippers further comprises two robots, a first gripper, a second gripper, a vision device and a transfer device, the first gripper and the second gripper are respectively fixed on the two robots, the vision device is slidably mounted on the mounting support, the transfer device is located between the material frame and the cleaning machine, the transfer device comprises a sensor, a roller, a pushing structure, a shifting structure and a fixed tray, the vision device slides along the mounting support and shoots material images, the robot receives the images and then controls the first gripper to grip the first material and the second material and place the first material and the second material on the transfer device, the second gripper grips the second material and the third material and places the second material on the fixed tray, and the third material is placed on the cleaning machine, the sensor senses whether materials exist on the fixed tray and the roller, the pushing structure pushes the materials on the roller to the cleaning machine, and the shifting structure shifts the materials on the fixed tray to the roller.
2. The feeding mechanism using 3D vision and robotic grippers of claim 1, wherein: the first gripper comprises a first cylinder installation support, two first cylinders, a first air claw structure and a first vacuum chuck structure, the first cylinder installation support is fixed on the robot, the two first cylinders are installed on the first cylinder installation support, and the first air claw structure and the first vacuum chuck structure are respectively installed on the two first cylinders.
3. The feeding mechanism using 3D vision and robotic grippers of claim 2, wherein: the first material is a machine leg, the second material is a lower cover, and the third material is an upper cover.
4. The feeding mechanism using 3D vision and robotic grippers of claim 3, wherein: the first air claw structure grabs the machine foot, and the first vacuum chuck structure grabs the lower cover.
5. The feeding mechanism using 3D vision and robotic grippers of claim 3, wherein: the second gripper comprises a cylinder installation second support, two second cylinders, a second pneumatic claw structure and a second vacuum chuck structure, the cylinder installation second support is fixed on the robot, the two second cylinders are installed on the cylinder installation second support, and the second pneumatic claw structure and the second vacuum chuck structure are respectively installed on the two second cylinders.
6. The feeding mechanism using 3D vision and robotic grippers of claim 5, wherein: the second pneumatic claw structure grabs the lower cover, and the second vacuum chuck structure grabs the upper cover.
7. The feeding mechanism using 3D vision and robotic grippers of claim 1, wherein: the feeding mechanism utilizing the 3D vision and the robot gripper further comprises a limiting guide rod, and the material frame is located in the limiting guide rod to fix the placement position of the material frame.
8. The feeding mechanism using 3D vision and robotic grippers of claim 1, wherein: the transfer device further comprises a rack, the roller is rotatably mounted on the rack, and the fixed tray is fixed on the rack.
9. The feeding mechanism using 3D vision and robotic grippers of claim 8, wherein: the pushing structure comprises a third cylinder, a first guide rail, a first mounting plate, a first connecting seat and a poking plate, the third cylinder and the first guide rail are fixedly mounted on the rack, the first mounting plate is fixedly connected with the third cylinder, the first connecting seat is fixedly mounted on the first mounting plate, and the poking plate is fixed on the first connecting seat.
10. The feeding mechanism using 3D vision and robotic grippers of claim 8, wherein: the poking structure comprises a fourth cylinder, a second guide rail, a second mounting plate, a second connecting seat and a poking rod, the fourth cylinder and the second guide rail are fixedly mounted on the rack, the second mounting plate is fixed on the fourth cylinder, the second connecting seat is fixed on the second mounting plate, and the poking rod is fixed on the second connecting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822252654.XU CN209871715U (en) | 2018-12-29 | 2018-12-29 | Utilize feed mechanism of 3D vision and robot tongs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822252654.XU CN209871715U (en) | 2018-12-29 | 2018-12-29 | Utilize feed mechanism of 3D vision and robot tongs |
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| CN209871715U true CN209871715U (en) | 2019-12-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625957A (en) * | 2018-12-29 | 2019-04-16 | 广州瑞松智能科技股份有限公司 | It is a kind of using 3D vision and the feed mechanism of robot gripper |
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2018
- 2018-12-29 CN CN201822252654.XU patent/CN209871715U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625957A (en) * | 2018-12-29 | 2019-04-16 | 广州瑞松智能科技股份有限公司 | It is a kind of using 3D vision and the feed mechanism of robot gripper |
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