CN214686598U

CN214686598U - Material taking structure

Info

Publication number: CN214686598U
Application number: CN202120076141.7U
Authority: CN
Inventors: 梁鲁平; 郭建; 王茂松; 龚伊阳
Original assignee: Leedarson Lighting Fixtures Co Ltd
Current assignee: Zhangzhou Leedarson Lighting Co Ltd; Leedarson Lighting Fixtures Co Ltd
Priority date: 2021-01-12
Filing date: 2021-01-12
Publication date: 2021-11-12
Anticipated expiration: 2031-01-12

Abstract

The application discloses get material structure can install on the manipulator, gets material structure including can with the manipulator continuous flange, install in flange get material spare, the connecting plate that links to each other with flange to and install the vision processing subassembly on the connecting plate. Owing to be provided with the vision processing subassembly, consequently when the manipulator drives gets parts such as material structure and is close to parts such as shell and button, can aim at the part with the vision processing subassembly earlier, state such as the orientation of discerning the part, then the manipulator drives again and gets material structure fine motion for get material alignment part, get material piece and press from both sides the part clamp and get or absorb, adjust the orientation of centre gripping part upper part to the default on getting material piece through rotating the manipulator according to information such as the orientation of part, the manipulator drives again and gets material structure and remove to predetermined processing position. Therefore, after the vision processing assembly identifies the orientation of the part, the manipulator drives the material taking structure to slightly move so as to align the material taking part to the part, and the interval time is short enough.

Description

Material taking structure

Technical Field

The application relates to the field of automatic production, especially, relate to a get material structure.

Background

The conventional electronic product generally includes a housing and an upper cover, and other components are enclosed in the housing by the upper cover. When electronic products are produced, the electronic products are usually produced in an automatic production line mode. Part of parts are screened out through the vibrating screen, and parts in the material tray are clamped (or sucked) to a preset position for processing by utilizing a material taking structure at the end part of the manipulator.

The corresponding partial parts, which are assembled in a fixed orientation, i.e. the robot needs to transfer the parts to the processing station in a predetermined orientation. However, the material taking structure at the end of the existing manipulator can only clamp (or suck) the component independently, and the orientation of the component cannot be accurately identified. A vision processing module at another location is required to be introduced for recognition, i.e. the robot needs to transfer the part to another location (usually a location further from the outlet of the shaker) for vision processing to determine the orientation of the part and then the next action of the robot.

SUMMERY OF THE UTILITY MODEL

An object of this application is to provide a get material structure, aims at solving prior art, gets material structure and can only solitary clamp and get or hold the part, and the problem of the orientation of unable discernment part.

To achieve the purpose, the embodiment of the application adopts the following technical scheme:

the material taking structure can be arranged on a manipulator and comprises a connecting flange, a material taking part, a connecting plate and a vision processing assembly, wherein the connecting flange can be connected with the manipulator, the material taking part is arranged on the connecting flange, the connecting plate is connected with the connecting flange, and the vision processing assembly is arranged on the connecting plate.

In one embodiment, the material taking part is a clamping jaw or a sucking disc.

In one embodiment, the axis of the connecting flange is perpendicular to the connecting plate.

In one embodiment, the connecting plate is provided with a yielding hole, the material taking part penetrates through the connecting plate, the material taking part protrudes out of one side surface of the connecting plate, which is far away from the connecting flange, and a gap is formed between the material taking part and the inner wall of the yielding hole.

In one embodiment, the vision processing assembly includes a vision processing bracket coupled to the connection plate, and a camera mounted on the vision processing bracket.

In one embodiment, the connecting plate is provided with a first connecting threaded hole, the vision processing bracket is provided with a first connecting through hole, and a first connecting screw is arranged between the connecting plate and the vision processing bracket; the first connecting screw penetrates through the first connecting through hole and is in threaded connection with the first connecting threaded hole.

In one embodiment, a first mounting part is arranged between the camera and the vision processing bracket; the first mounting part comprises a first horizontal plate connected with the vision processing bracket and a first vertical plate connected with the camera; the first horizontal plate is connected with the first vertical plate and is vertical to the first vertical plate.

In one embodiment, the vision processing bracket is provided with a second connecting threaded hole, the first horizontal plate is provided with a second connecting through hole, a second connecting screw is arranged between the first horizontal plate and the vision processing bracket, and the second connecting screw penetrates through the second connecting through hole and is in threaded connection with the second connecting threaded hole.

In one embodiment, the vision processing assembly further comprises a light barrier ring mounted to the vision processing bracket; the projection of the camera on the light blocking ring is positioned in the boundary range of the inner circumferential surface of the light blocking ring.

In one embodiment, a second mounting member is provided between the light barrier and the vision processing mounting frame, the second mounting member comprising a second vertical panel connected to the vision processing bracket and a second horizontal panel connected to the light barrier; the second horizontal plate is connected with the second vertical plate and is vertical to the second vertical plate.

In one embodiment, the vision processing bracket is provided with a third connecting threaded hole, the second vertical plate is provided with a third connecting through hole, a third connecting screw is arranged between the second vertical plate and the vision processing bracket, and the third connecting screw penetrates through the third connecting through hole and is in threaded connection with the third connecting threaded hole; the third connecting through hole is a long hole; a fourth connecting threaded hole is formed in the second horizontal plate, a fourth connecting through hole is formed in the light blocking ring, a fourth connecting screw is arranged between the light blocking ring and the second horizontal plate, and the fourth connecting screw penetrates through the fourth connecting through hole and is in threaded connection with the fourth connecting threaded hole.

The beneficial effects of the embodiment of the application are as follows: owing to be provided with the vision processing subassembly, consequently when the manipulator drives gets parts such as material structure and is close to parts such as shell and button, can aim at the part with the vision processing subassembly earlier, state such as the orientation of discerning the part, then the manipulator drives again and gets material structure fine motion for get material alignment part, get material piece and press from both sides the part clamp and get or absorb, adjust the orientation of centre gripping part upper part to the default on getting material piece through rotating the manipulator according to information such as the orientation of part, the manipulator drives again and gets material structure and remove to predetermined processing position. Therefore, because get the material structure and possess the vision simultaneously and handle the subassembly and get the material piece, consequently after the vision processing subassembly carries out the discernment of orientation to the part, the manipulator drives and gets the material structure fine motion and can aim at the part with getting the material piece, and the interval time is short enough for discernment and the time of getting the material are fast enough.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of a take-off structure in an embodiment of the present application;

FIG. 2 is an exploded view of a take-off structure in an embodiment of the present application;

in the figure:

1. a connecting flange; 2. taking a material part; 3. a connecting plate; 301. a hole of abdication; 302. a first connection threaded hole; 4. a vision processing component; 401. a vision processing support; 4011. a first connecting through hole; 4012. a second connecting threaded hole; 4013. a third connecting threaded hole; 402. a camera; 403. a first mounting member; 4031. a first horizontal plate; 40311. a second connecting through hole; 4032. a first vertical plate; 404. a light blocking ring; 4041. a fourth connecting through hole; 405. a second mount; 4051. a second vertical plate; 40511. a third connecting through hole; 4052. a second horizontal plate; 40521. a fourth connecting threaded hole; 10. and (4) components.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify 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 thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are 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 one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The following detailed description of implementations of the present application is provided in conjunction with specific embodiments.

As shown in fig. 1-2, the embodiment of the present application provides a material taking structure, which can be installed on a manipulator, and the material taking structure includes a connecting flange 1 capable of being connected with the manipulator, a material taking member 2 installed on the connecting flange 1, a connecting plate 3 connected with the connecting flange 1, and a vision processing assembly 4 installed on the connecting plate 3.

In the embodiment of the application, the material taking structure can be installed on a mechanical arm or other driving devices, and is used for grabbing or sucking the shell, the keys and other components 10, driving the shell, the keys and other components to a preset processing position by the mechanical arm, and placing the components at the correct position of the processing position. Owing to be provided with vision processing assembly 4, consequently when the manipulator drives and gets parts 10 such as material structure and be close to shell and button, can aim at parts 10 with vision processing assembly 4 earlier, state such as the orientation of discerning parts 10, then the manipulator drives again and gets material structure fine motion, make and get material 2 and aim at parts 10, it presss from both sides or absorb parts 10 to get material 2, adjust the orientation of centre gripping part 10 on getting material 2 to the default through rotating the manipulator according to information such as the orientation of parts 10, the manipulator drives again and gets material structure and remove to predetermined processing position. Therefore, because get the material structure and possess vision processing component 4 and get material piece 2 simultaneously, consequently after vision processing component 4 carries out the discernment of orientation to part 10, the manipulator drives and gets the material structure fine motion and can aim at part 10 with getting material piece 2, and the interval time is short enough for discernment and the time of getting the material are fast enough.

Compared with the prior art, the feeding speed of the part 10 can be greatly increased by introducing a visual processing module at another position for identification, that is, the manipulator needs to transfer the part 10 to another position (usually a position far away from the outlet of the vibrating screen) for visual processing to determine the orientation of the part 10 and then determine the next action of the manipulator.

The vision processing assembly 4 is connected to the connecting flange 1 through the connecting plate 3, so that a certain gap is formed between the vision processing assembly 4 and the material taking part 2, and the vision processing assembly 4 cannot influence the normal work of the material taking part 2.

Referring to fig. 1-2, as another embodiment of the material taking structure provided by the present application, the material taking member 2 is a clamping jaw or a suction cup, and may be other structures capable of taking the component 10 from a position such as a discharge hole of a vibrating plate.

Referring to fig. 1-2, as another embodiment of the material taking structure provided by the present application, the axis of the connecting flange 1 is perpendicular to the connecting plate 3. Therefore, the whole visual processing assembly 4 can approach to be parallel to the connecting flange 1, so that the material taking structure is more compact, the occupied space is small, and the distance from the whole visual processing assembly 4 to the material taking part 2 is also small. The time required to fine tune the alignment member 10 from the vision processing assembly 4 to the alignment member 10 of the take off element 2 is sufficiently small.

Referring to fig. 2, as another embodiment of the material taking structure provided by the present application, an abdicating hole 301 is formed on the connecting plate 3, and the material taking member 2 penetrates through the connecting plate 3, so as to further improve the compactness of the material structure, and the material taking member 2 protrudes out of a side surface of the connecting plate 3 away from the connecting flange 1, a gap is formed between the material taking member 2 and an inner wall of the abdicating hole 301, so that the material taking member 2 is not easily contacted with the inner wall of the abdicating hole 301 of the connecting plate 3 when moving.

Referring to fig. 2, as another embodiment of the material taking structure provided by the present application, the vision processing assembly 4 includes a vision processing bracket 401 connected to the connecting plate 3, and a camera 402 mounted on the vision processing bracket 401. The vision processing bracket 401 can support the camera 402 to a certain height and is higher than the material taking part 2, so that the part 10 can be conveniently subjected to image acquisition and analysis.

Referring to fig. 2, as another embodiment of the material taking structure provided in the present application, a first connection threaded hole 302 is formed in the connecting plate 3, a first connection through hole 4011 is formed in the vision processing bracket 401, and a first connection screw is disposed between the connecting plate 3 and the vision processing bracket 401; the first connection screw penetrates the first connection through hole 4011 and is threadedly coupled with the first connection screw hole 302. The vision processing bracket 401 is detachably and fixedly mounted on the connecting plate 3 through a first connecting screw, so that the vision processing assembly 4 can be integrally replaced to replace the vision processing assembly 4 as required.

Referring to fig. 2, as another embodiment of the material taking structure provided in the present application, a first mounting member 403 is disposed between the camera 402 and the vision processing bracket 401; the first mount 403 includes a first horizontal plate 4031 connected to the vision processing bracket 401, and a first vertical plate 4032 connected to the camera head 402; the first horizontal plate 4031 is attached to the first vertical plate 4032 and is perpendicular to each other. When the camera 402 is mounted on the vision processing bracket 401 through the first mounting member 403, due to the mutually perpendicular action of the first horizontal plate 4031 and the first vertical plate 4032, the camera 402 can be closer to the vision processing bracket 401, and the compactness of the material taking structure is further improved.

Referring to fig. 2, as another specific embodiment of the material taking structure provided in the present application, a second connecting threaded hole 4012 is formed on the visual processing support 401, a second connecting through hole 40311 is formed on the first horizontal plate 4031, a second connecting screw is disposed between the first horizontal plate 4031 and the visual processing support 401, and the second connecting screw penetrates through the second connecting through hole 40311 and is in threaded connection with the second connecting threaded hole 4012. That is, the first horizontal plate 4031 of the first mounting member 403 is detachably and fixedly mounted on the vision processing bracket 401 through the second connecting screw, and can be independently removed to replace the camera 402, so that different cameras 402 can be selected according to different requirements.

Referring to fig. 2, as another embodiment of the material taking structure provided in the present application, the vision processing assembly 4 further includes a light blocking ring 404 mounted on the vision processing bracket 401; the projection of the camera 402 on the light barrier 404 is located within the boundary of the inner circumferential surface of the light barrier 404. The image information of the component 10 is transmitted to the camera 402 through the inner through hole of the light blocking ring 404, and the light blocking ring 404 can block the light around, so that the light transmitted to the camera 402 is mainly reflected by the component 10, and the accuracy of the visual processing is improved.

Referring to fig. 2, as another specific embodiment of the material taking structure provided by the present application, a second mounting member 405 is disposed between the light barrier 404 and the vision processing mounting frame, and the second mounting member 405 includes a second vertical plate 4051 connected to the vision processing bracket 401 and a second horizontal plate 4052 connected to the light barrier 404; the second horizontal plate 4052 is attached to the second vertical plate 4051 and perpendicular to each other. When the light barrier 404 is installed on the vision processing bracket 401 through the second installation component 405, due to the mutually perpendicular effect of the second horizontal plate 4052 and the second vertical plate 4051, the light barrier 404 can be closer to the vision processing bracket 401, the compactness of the material taking structure is further improved, and the light barrier is aligned to the camera 402.

Referring to fig. 2, as another specific embodiment of the material taking structure provided by the present application, a third connecting threaded hole 4013 is formed in the visual processing support 401, a third connecting through hole 40511 is formed in the second vertical plate 4051, a third connecting screw is arranged between the second vertical plate 4051 and the visual processing support 401, and the third connecting screw penetrates through the third connecting through hole 40511 and is in threaded connection with the third connecting threaded hole 4013. The second mounting member 405 is detachably fixed to the vision processing bracket 401 by a third connecting screw, and different second mounting members 405 and light blocking rings 404 can be replaced as required.

Referring to fig. 2, as another specific embodiment of the material taking structure provided in the present application, the third connecting through hole 40511 is a long hole, and then the height of the second mounting member 405 on the visual processing support 401 is finely adjusted, so that the light blocking effect on the periphery is good enough, and the accuracy of the camera 402 for collecting images of the component 10 is improved.

Referring to fig. 2, as another specific embodiment of the material taking structure provided by the present application, a fourth connecting threaded hole 40521 is formed in the second horizontal plate 4052, a fourth connecting through hole 4041 is formed in the light blocking ring 404, a fourth connecting screw is disposed between the light blocking ring 404 and the second horizontal plate 4052, and the fourth connecting screw penetrates through the fourth connecting through hole 4041 and is in threaded connection with the fourth connecting threaded hole 40521. The light blocking ring 404 is detachably mounted on the second horizontal plate 4052 by a fourth connecting screw, and the light blocking ring 404 with different specifications can be replaced according to requirements.

It is to be understood that aspects of the present invention may be practiced otherwise than as specifically described.

It should be understood that the above examples are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. The material taking structure can be arranged on a manipulator and is characterized by comprising a connecting flange, a material taking part, a connecting plate and a visual processing assembly, wherein the connecting flange can be connected with the manipulator, the material taking part is arranged on the connecting flange, the connecting plate is connected with the connecting flange, and the visual processing assembly is arranged on the connecting plate.

2. The take-off structure as claimed in claim 1, wherein the take-off member is a jaw or a suction cup.

3. The take off structure as claimed in claim 1 wherein the axis of the attachment flange is perpendicular to the attachment plate.

4. The material taking structure as claimed in claim 1, wherein the connecting plate is provided with a yielding hole, the material taking member penetrates through the connecting plate, the material taking member protrudes out of one side surface of the connecting plate far away from the connecting flange, and a gap is formed between the material taking member and the inner wall of the yielding hole.

5. The take out structure of claim 1, wherein the vision processing assembly includes a vision processing bracket coupled to the connecting plate, and a camera mounted on the vision processing bracket.

6. The take-out structure as claimed in claim 5, wherein the connecting plate is provided with a first connecting threaded hole, the vision processing bracket is provided with a first connecting through hole, and a first connecting screw is provided between the connecting plate and the vision processing bracket; the first connecting screw penetrates through the first connecting through hole and is in threaded connection with the first connecting threaded hole.

7. The take-off structure as claimed in claim 5, wherein a first mounting member is provided between the camera and the vision processing bracket; the first mounting part comprises a first horizontal plate connected with the vision processing bracket and a first vertical plate connected with the camera; the first horizontal plate is connected with the first vertical plate and is vertical to the first vertical plate.

8. The take-out structure as claimed in claim 7, wherein the vision processing support is provided with a second connecting threaded hole, the first horizontal plate is provided with a second connecting through hole, a second connecting screw is provided between the first horizontal plate and the vision processing support, and the second connecting screw penetrates through the second connecting through hole and is in threaded connection with the second connecting threaded hole.

9. The take off structure as claimed in claim 5, wherein the vision processing assembly further includes a light barrier ring mounted to the vision processing support; the projection of the camera on the light blocking ring is positioned in the boundary range of the inner circumferential surface of the light blocking ring.

10. The take off structure as claimed in claim 9, wherein a second mounting member is provided between the light barrier and the vision processing mounting bracket, the second mounting member including a second vertical panel connected to the vision processing bracket and a second horizontal panel connected to the light barrier; the second horizontal plate is connected with the second vertical plate and is vertical to the second vertical plate.