CN210823106U - Three-dimensional visual intelligent box opening device for flexible turnover box - Google Patents
Three-dimensional visual intelligent box opening device for flexible turnover box Download PDFInfo
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- CN210823106U CN210823106U CN201921850103.1U CN201921850103U CN210823106U CN 210823106 U CN210823106 U CN 210823106U CN 201921850103 U CN201921850103 U CN 201921850103U CN 210823106 U CN210823106 U CN 210823106U
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Abstract
The utility model provides a three-dimensional vision intelligence unpacking device of flexible turnover case, relates to commodity circulation packing technical field, and including main frame, vision follow-up mechanism, absorption transfer mechanism, level prop a mouthful mechanism, vertically prop a mouthful mechanism, the main frame from left to right installs vision follow-up mechanism, absorption transfer mechanism, level in proper order props a mouthful mechanism, vertically props a mouthful mechanism, and the present case has solved the technical defect who exists among the prior art, utilizes vision follow-up mechanism and multiaxis machinery cooperation to realize the accurate of sack snatching, then utilizes the level to prop a mouthful mechanism, vertically props a mouthful mechanism and prop the sack, and is with low costs, effectual, does benefit to popularization and application.
Description
Technical Field
The utility model belongs to the technical field of the commodity circulation packing technique and specifically relates to a three-dimensional vision intelligence unpacking device of flexible turnover case.
Background
Because the bag package has the characteristics of environmental protection and repeated recycling, the conventional thermoplastic film package is replaced by the bag package in the current package of a plurality of goods.
Chinese patent CN105501537B discloses a sack packing machine, which has following drawback in the use, and the sack position is not adjustable at tray elevating gear, resulting in deviation in subsequent bag lifting device bag lifting position, and then resulting in subsequent horizontal bag supporting device easily resulting in stopping of sack and dropping when the upset of the horizontal jack catch of drive, affecting the going on of normal process.
SUMMERY OF THE UTILITY MODEL
A great deal of technical defect to current sack props a mouthful mechanism, the utility model provides a flexible turnover case three-dimensional vision intelligence unpacking device utilizes machine vision to finely tune the accurate sack that snatchs, reduces the volume, and reduce cost improves product reliability, labour saving and time saving.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides a three-dimensional visual intelligence unpacking device of flexible turnover case, includes that main frame, vision follow-up mechanism, absorption transfer mechanism, level prop a mouthful mechanism, vertically prop a mouthful mechanism, the main frame from left to right installs vision follow-up mechanism, absorption transfer mechanism, level in proper order props a mouthful mechanism, vertically props a mouthful mechanism, vision follow-up mechanism includes first slide rail, first motor, first slider, camera, first slide rail is fixed on the main frame, sliding fit has first slider on the first slide rail, install the camera on the first slider, the camera reciprocates along first slide rail, installs first motor in first slide rail one end, first motor is connected with the lead screw, be equipped with the lead screw cover on the lead screw, the lead screw cover links to each other with first slider.
Further, the adsorption transfer mechanism comprises a six-degree-of-freedom mechanical arm, a connecting plate and a grabbing sucker, the tail end of the six-degree-of-freedom mechanical arm is fixedly connected with the connecting plate, and the grabbing sucker is arranged on the connecting plate.
Further, adsorb transfer mechanism includes the mechanical drive subassembly and an executive component of triaxial linkage, and the mechanical drive subassembly of triaxial linkage is fixed on the main frame, and the mechanical drive subassembly of triaxial linkage is connected with executive component, executive component includes an installation frame, be equipped with a plurality of vacuum chuck on the installation frame.
Further, a rotating motor is further arranged between the three-axis linkage mechanical driving assembly and the mounting frame, and an output shaft of the rotating motor is connected with the mounting frame.
Further, install horizontal migration mechanism on the host computer frame, install the level on the horizontal migration mechanism and prop a mouthful mechanism, the level props a mouthful mechanism and includes even board, mounting bracket, pivot, lower slider, lower slide rail, lower rack, top shoe, last slide rail, last rack, gear and drive actuating cylinder, be equipped with top shoe and lower slider in the mounting bracket, the top shoe corresponds the setting with the lower slider, and sliding fit has lower slide rail on the top shoe, install lower rack on the lower slide rail, sliding fit has last slide rail on the top shoe, install the rack on the top slide rail, it has the gear to go up to mesh between rack and the lower rack, and through the rotation of gear, can drive top rack and lower rack and take place relative motion, it has left mounting panel to go up the rack end connection, and lower rack end connection has right mounting panel, the gear is installed in the pivot, the pivot is connected on two curb plates of mounting bracket. Be connected with on the mounting bracket and drive actuating cylinder, it is connected with left mounting panel or right mounting panel to drive actuating cylinder.
Further, be equipped with left splint on the left side mounting panel, it has left splint to go up rack connection, and left splint pass through the bolt-up on last rack.
Further, be equipped with right splint on the right side mounting panel, rack connection has right splint down, and right splint pass through the bolt-up on rack down.
Further, the main frame includes front bezel and after-frame, and wherein the front bezel includes preceding left pole, preceding right pole and preceding even board, even board fixed connection through a plurality of fronts between preceding left pole and the preceding right pole, after-frame includes back left pole, back right pole and back even board, even board fixed connection through a plurality of backs between back left pole and the back right pole, the front bezel passes through upper horizontal rod and lower horizontal rod fixed connection with the after-frame.
Based on the utility model provides a three-dimensional vision intelligence unpacking device of flexible turnover case, prop a mouthful mechanism, the vertical mouth mechanism that props including main frame, vision follow-up mechanism, absorption transfer mechanism, level, the main frame from left to right installs vision follow-up mechanism, absorption transfer mechanism, level in proper order props a mouthful mechanism, the vertical mouth mechanism that props, and the present case has solved the technical defect who exists among the prior art, utilizes vision follow-up mechanism and multiaxis machinery cooperation to realize the accurate of sack snatching, then utilizes the upper level to prop a mouthful mechanism, the vertical sack that props of a mouthful mechanism and props, and is with low costs, effectual, does benefit to popularization and application.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings
Drawings
FIG. 1 is a schematic three-dimensional structure of a first embodiment;
FIG. 2 is a front view of the first embodiment;
FIG. 3 is a right side view of the first embodiment;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a schematic view of a horizontal bracing mechanism;
FIG. 6 is a front view of the second embodiment;
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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The utility model discloses flexible turnover case three-dimensional vision intelligence device of unpacking includes:
the main frame 1 is provided with carriers of other accessory parts and plays a role in supporting and mounting;
the vision follow-up mechanism 2 realizes the accurate positioning and grabbing of the cloth bag by utilizing the cooperation of machine vision and mechanical design;
the adsorption transfer mechanism 3 is used for carrying out multi-dimensional displacement adjustment on the cloth bag to meet the requirements of subsequent processes;
the horizontal opening supporting mechanism 5 is used for receiving the cloth bag on the adsorption and transfer mechanism and supporting the cloth bag;
and the vertical opening supporting mechanism 6 is positioned at the rear side of the horizontal opening supporting mechanism and is used for vertically supporting the opened cloth bag.
The flexible turnover box three-dimensional visual intelligent box opening device comprises six working steps:
1. a plurality of cloth bags are placed below an adsorption transfer mechanism on the main rack by automatic equipment or manually;
2. a camera in the visual follow-up mechanism takes a picture and sends the picture to the control unit;
3. after the control unit calculates the cloth bag grabbing point, the position of an execution part of the adsorption transfer mechanism is adjusted, and downward grabbing is performed;
4. the adsorption transfer mechanism adsorbs the grabbing cloth bag to form an opening state under the self-weight condition;
5. the horizontal opening supporting mechanism supports the cloth bag to a certain degree;
6. the vertical opening supporting mechanism receives the cloth bag on the horizontal opening supporting mechanism and adjusts the cloth bag to a certain height; the materials are used for putting.
The present invention will be further explained with reference to the drawings of the respective mechanisms.
Referring to fig. 1, the main frame 1 includes a front frame and a rear frame, wherein the front frame includes a front left rod 11, a front right rod 12 and a front connecting plate 13, the front left rod and the front right rod are fixedly connected through a plurality of front connecting plates, the rear frame includes a rear left rod 14, a rear right rod 15 and a rear connecting plate 16, the rear left rod and the rear right rod are fixedly connected through a plurality of rear connecting plates, the front frame and the rear frame are fixedly connected through an upper horizontal rod 18 and a lower horizontal rod 17, the connection modes may be a plurality of modes such as threaded connection and welding, and the main frame is in the prior art and is not described in more detail.
In at least one embodiment, the front frame has a visual follower 2 mounted thereon.
The vision follow-up mechanism comprises a first slide rail 21, a first motor 22, a first slider 23 and a camera 24, the first slide rail is fixed on the front frame, the first slide rail is matched with the first slider in a sliding mode, the camera is installed on the first slider, the camera can move up and down along the first slide rail, the first motor is installed at one end of the first slide rail, the first motor is connected with a lead screw, a lead screw sleeve is arranged on the lead screw, the lead screw sleeve is connected with the first slider, and the camera can be driven to move along the first slide rail through the rotation of the first electrode.
In at least one embodiment, the main frame is provided with an adsorption transfer mechanism 3 at the upper part.
In some embodiments, referring to fig. 6, the adsorption transfer mechanism includes a six-degree-of-freedom manipulator 81, a connection plate 82, a grabbing suction cup 83 and a following camera 82, the end of the six-degree-of-freedom manipulator is fixedly connected with the connection plate, and the grabbing suction cup 83 and the following camera 82 are arranged on the connection plate.
The six-degree-of-freedom manipulator is in the prior art, and can adopt an Anchuan 12kg GP12 model manipulator.
In the present embodiment, referring to fig. 1 and fig. 2, the adsorption transfer mechanism includes a three-axis linkage mechanical driving assembly and an executing component.
The mechanical driving assembly can realize XYZ three-axis linkage effect, and is very common in industrial production, for example, a numerical control machining center, a numerical control engraving machine and the like can realize motion feeding of execution components of three planes.
The actuator includes a mounting bracket 39 having a plurality of vacuum cups 310.
In the embodiment of the present disclosure, the mechanical driving assembly includes a horizontal driving assembly, a vertical driving assembly and a vertical driving assembly, the horizontal driving assembly is slidably fitted with the vertical driving assembly, the vertical driving assembly is slidably fitted with the vertical driving assembly, and the vertical driving assembly is connected with an executing component.
The scheme is refined, the horizontal driving assembly comprises a second motor 31, a second ball screw assembly 32 and a second sliding block 33, the second ball screw assembly is fixed on the main frame, one end of the second ball screw assembly is provided with the second motor, the second sliding block is in sliding fit with the upper portion of the second ball screw assembly, and the second electrode rotates the second sliding block to move along the second ball screw assembly.
The scheme is refined, the vertical driving assembly comprises a third motor 35, a third ball screw assembly 34 and a third sliding block 36, the third ball screw assembly 34 is installed on the second sliding block, a third motor is arranged at one end of the third ball screw assembly, the third sliding block is in sliding fit with the upper portion of the third ball screw assembly, and the third sliding block moves along the third ball screw assembly when the third electrode rotates.
The scheme is refined, the vertical driving assembly comprises a fourth motor 37, a fourth ball screw assembly 38 and a fourth sliding block, the fourth ball screw assembly is installed on the third sliding block, a fourth motor is arranged at one end of the fourth ball screw assembly, the fourth sliding block is in sliding fit with the upper portion of the fourth ball screw assembly, and the fourth sliding block moves along the fourth ball screw assembly when the fourth electrode rotates. And the fourth sliding block is connected with a mounting rack 39.
Further, still be equipped with a rotation motor 311 between fourth slider and the mounting bracket, install the rotation motor on the fourth slider, the output shaft that rotates the motor has the mounting bracket, can drive 360 rotations of mounting bracket. So that the adsorption transfer mechanism 3 forms a four-axis adjusting mechanism formed by rotating an XYZ three-axis matching execution component.
A horizontal moving mechanism 4 is arranged on the main frame, and a horizontal opening supporting mechanism 5 is arranged on the horizontal moving mechanism.
Further, referring to fig. 2, the horizontal moving mechanism includes a horizontal ball screw assembly 41, the end of the horizontal ball screw assembly is provided with a horizontal motor 42, the horizontal motor is connected with a screw, the screw is slidably fitted with a screw sleeve, the screw sleeve is connected with a combining plate 43, and the combining plate is connected with an upper connecting plate 51 of the horizontal opening supporting mechanism.
In at least one embodiment, referring to fig. 3 to 5, the horizontal opening supporting mechanism includes an upper connecting plate 51, a mounting frame 52, a rotating shaft 53, a lower slider 55, a lower sliding rail 56, a lower rack 57, an upper slider 58, an upper sliding rail 59, an upper rack 510, a gear 54, and a driving cylinder 513, wherein the upper slider and the lower slider are disposed in the mounting frame, and the upper slider and the lower slider are disposed correspondingly. The upper sliding block is provided with a lower sliding rail in a sliding fit manner, the lower sliding rail is provided with a lower rack, the upper sliding block is provided with an upper sliding rail in a sliding fit manner, the upper sliding rail is provided with an upper rack, a gear is meshed between the upper rack and the lower rack, the upper rack and the lower rack can be driven to move relatively through the rotation of the gear, the end part of the upper rack is connected with a left mounting plate 512, the end part of the lower rack is connected with a right mounting plate 515,
the gear is installed in the pivot, the pivot is connected on two curb plates of mounting bracket. Be connected with on the mounting bracket and drive actuating cylinder, it is connected with left mounting panel 512 or right mounting panel 515 to drive actuating cylinder.
Through the flexible of driving actuating cylinder, can drive the rotation of gear, and then make upper rack, lower rack linkage to the displacement that drives left mounting panel and right mounting panel changes, in order to be used for strutting the sack.
Further, be equipped with left splint 511 on the left side mounting panel, it is connected with left splint to go up the rack, and left splint pass through the bolt-up on last rack.
Further, be equipped with right splint 514 on the right side mounting panel, lower rack connection has right splint, and right splint pass through the bolt-up on lower rack.
The main frame body is provided with a vertical opening supporting mechanism 6, a cloth bag which is horizontally supported by the opening supporting mechanism is vertically supported by an upper clamping plate and a lower clamping plate for the opening supporting mechanism, the opening is changed from left and right opening of the opening supporting mechanism to up and down opening, and multiple layers of strip-shaped materials are inserted.
Referring to fig. 1, the vertical opening supporting mechanism 6 is disclosed in chinese patent CN 105173216a, and referring to the longitudinal bag supporting device in the patent document, the vertical opening supporting mechanism can be used to open and close the fixed longitudinal jaws and the movable longitudinal jaws, so as to longitudinally support the cloth bag.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
Claims (8)
1. The utility model provides a three-dimensional vision intelligence device of unpacking of flexible turnover case which characterized in that includes: main frame, vision follow-up mechanism, absorption transfer mechanism, level prop a mouthful mechanism, vertically prop a mouthful mechanism, the main frame from left to right installs vision follow-up mechanism, absorption transfer mechanism, level in proper order and props a mouthful mechanism, vertically props a mouthful mechanism, vision follow-up mechanism includes first slide rail, first motor, first slider, camera, first slide rail is fixed on the main frame, sliding fit has first slider on the first slide rail, install the camera on the first slider, the camera reciprocates along first slide rail, installs first motor in first slide rail one end, first motor is connected with the lead screw, be equipped with the lead screw cover on the lead screw, the lead screw cover links to each other with first slider.
2. The three-dimensional visual intelligent box opening device for the flexible turnover box according to claim 1, wherein the adsorption transfer mechanism comprises a six-degree-of-freedom mechanical arm, a connecting plate and a grabbing sucker, the tail end of the six-degree-of-freedom mechanical arm is fixedly connected with the connecting plate, and the grabbing sucker is arranged on the connecting plate.
3. The three-dimensional visual intelligent box opening device for the flexible turnover box according to claim 1, wherein the adsorption transfer mechanism comprises a three-axis linkage mechanical driving assembly and an executing component, the three-axis linkage mechanical driving assembly is fixed on the main frame, the three-axis linkage mechanical driving assembly is connected with the executing component, the executing component comprises a mounting frame, and a plurality of vacuum chucks are arranged on the mounting frame.
4. The three-dimensional visual intelligent box opening device for the flexible turnover box according to claim 3, wherein a rotating motor is further arranged between the three-axis linkage mechanical driving assembly and the mounting frame, and an output shaft of the rotating motor is connected with the mounting frame.
5. The three-dimensional visual intelligent carton opening device of the flexible turnover box according to claim 1, characterized in that a horizontal moving mechanism is installed on a main frame, a horizontal opening mechanism is installed on the horizontal moving mechanism, the horizontal opening mechanism comprises an upper connecting plate, an installation frame, a rotating shaft, a lower sliding block, a lower sliding rail, a lower rack, an upper sliding block, an upper sliding rail, an upper rack, a gear and a driving cylinder, the upper sliding block and the lower sliding block are arranged in the installation frame and are arranged correspondingly, the upper sliding block is provided with the lower sliding rail in a sliding fit manner, the lower sliding rail is provided with the lower rack, the upper sliding block is provided with the upper sliding rail in a sliding fit manner, the upper sliding rail is provided with the upper rack, a gear is meshed between the upper rack and the lower rack, the upper rack and the lower rack can be driven to move relatively through the rotation of the gear, the end of the upper rack is connected with a, lower rack end connection has right mounting panel, the gear is installed in the pivot, the pivot is connected on two curb plates of mounting bracket, be connected with on the mounting bracket and drive actuating cylinder, it is connected with left mounting panel or right mounting panel to drive actuating cylinder.
6. The three-dimensional visual intelligent box opening device for the flexible turnover box according to claim 5, wherein a left clamping plate is arranged on the left mounting plate, the upper rack is connected with the left clamping plate, and the left clamping plate is fastened on the upper rack through a bolt.
7. The three-dimensional visual intelligent box opening device for the flexible turnover box according to claim 5, wherein a right clamping plate is arranged on the right mounting plate, the lower rack is connected with the right clamping plate, and the right clamping plate is fastened on the lower rack through a bolt.
8. The three-dimensional visual intelligent box opening device for the flexible turnover box according to claim 1, wherein the main frame comprises a front frame and a rear frame, wherein the front frame comprises a front left rod, a front right rod and a front connecting plate, the front left rod and the front right rod are fixedly connected through a plurality of front connecting plates, the rear frame comprises a rear left rod, a rear right rod and a rear connecting plate, the rear left rod and the rear right rod are fixedly connected through a plurality of rear connecting plates, and the front frame and the rear frame are fixedly connected with a lower horizontal rod through an upper horizontal rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921850103.1U CN210823106U (en) | 2019-10-29 | 2019-10-29 | Three-dimensional visual intelligent box opening device for flexible turnover box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921850103.1U CN210823106U (en) | 2019-10-29 | 2019-10-29 | Three-dimensional visual intelligent box opening device for flexible turnover box |
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| CN210823106U true CN210823106U (en) | 2020-06-23 |
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| CN201921850103.1U Active CN210823106U (en) | 2019-10-29 | 2019-10-29 | Three-dimensional visual intelligent box opening device for flexible turnover box |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113264225A (en) * | 2021-06-30 | 2021-08-17 | 兰剑智能科技股份有限公司 | Flexible turnover box packaging machine |
| CN114180140A (en) * | 2021-12-21 | 2022-03-15 | 福建东亮斯特智能科技有限公司 | Cigarette carton packaging equipment |
| CN114180315A (en) * | 2021-12-14 | 2022-03-15 | 兰剑智能科技股份有限公司 | Turnover box loading and taking device and loading method and taking method thereof |
-
2019
- 2019-10-29 CN CN201921850103.1U patent/CN210823106U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113264225A (en) * | 2021-06-30 | 2021-08-17 | 兰剑智能科技股份有限公司 | Flexible turnover box packaging machine |
| CN113264225B (en) * | 2021-06-30 | 2022-07-08 | 兰剑智能科技股份有限公司 | Flexible turnover box packaging machine |
| CN114180315A (en) * | 2021-12-14 | 2022-03-15 | 兰剑智能科技股份有限公司 | Turnover box loading and taking device and loading method and taking method thereof |
| CN114180140A (en) * | 2021-12-21 | 2022-03-15 | 福建东亮斯特智能科技有限公司 | Cigarette carton packaging equipment |
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Address after: 251500 south side of East section of Huayuan street, Linyi County, Dezhou City, Shandong Province Patentee after: Lanjian Intelligent Technology (Linyi) Co.,Ltd. Address before: 251500 south side of East section of Huayuan street, Linyi County, Dezhou City, Shandong Province Patentee before: SHANDONG LUOJIESITE LOGISTICS TECHNOLOGY Co.,Ltd. |
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