CN215709910U - Visual positioning manipulator for glass bottle line offline and online transfer - Google Patents

Abstract

A visual positioning manipulator for glass bottle line off-line and on-line transfer comprises a mechanical arm, a bottle body clamping mechanism, a turnover mechanism, an image acquisition device and a controller; the bottle body clamping mechanism is used for clamping a glass bottle; the turnover mechanism is connected with the mechanical arm and the bottle body clamping mechanism and is used for driving the bottle body clamping mechanism to turn over; the two image acquisition devices are respectively positioned on two sides of the mechanical arm and are used for acquiring images of the glass bottle to be clamped in real time; the controller acquires the images acquired by the image acquisition device, performs binocular stereo vision positioning, and controls the movement of the mechanical arm, the clamping of the driving bottle body clamping mechanism and the overturning of the control overturning mechanism according to the condition of the vision positioning. By means of the visual positioning function, the bottle body can be conveniently grabbed to perform offline and online transfer operation, and the grabbing is quick and convenient, high in accuracy and stable in performance.

Description

Visual positioning manipulator for glass bottle line offline and online transfer

Technical Field

The utility model relates to the technical field of mechanical automation, in particular to a visual positioning manipulator for glass bottle line off-line and on-line transfer.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. For some bottles filled in an inverted mode, the existing mechanical device cannot well realize the grabbing and overturning functions.

SUMMERY OF THE UTILITY MODEL

The utility model provides a visual positioning manipulator for glass bottle line offline and online transfer, which aims to solve the technical problems that: the technical problems that an existing mechanical device cannot well realize grabbing and overturning of the inverted bottle body are solved.

In view of the above problems of the prior art, according to one aspect of the present disclosure, the following technical solutions are adopted in the present invention:

a visual positioning manipulator for glass bottle off-line on-line transfer, comprising:

a mechanical arm;

the bottle body clamping mechanism is used for clamping the glass bottle;

the turnover mechanism is connected with the mechanical arm and the bottle body clamping mechanism and is used for driving the bottle body clamping mechanism to turn over;

the two image acquisition devices are respectively positioned on two sides of the mechanical arm and are used for acquiring images of the glass bottle to be clamped in real time;

and the controller acquires the image acquired by the image acquisition device, performs binocular stereoscopic vision positioning, and controls the movement of the mechanical arm, the clamping of the driving bottle body clamping mechanism and the overturning of the control overturning mechanism according to the condition of the vision positioning.

In order to better realize the utility model, the further technical scheme is as follows:

furthermore, the bottle body clamping mechanism comprises two bottle body clamping pieces, tooth-shaped moving pieces, a fixing piece and a driving mechanism, one end of each bottle body clamping piece is used for clamping a bottle body, the other end of each bottle body clamping piece is provided with a tooth-shaped portion which is rotatably connected with the fixing piece, two sides of one end of each tooth-shaped moving piece are respectively provided with teeth and meshed with the two tooth-shaped portions, and the other end of each tooth-shaped moving piece is connected with the driving mechanism.

Further, one end of the bottle body clamping piece is arranged to be an arc-shaped part matched with the bottle body.

Further, the tooth-shaped part is a gear.

Further, the driving mechanism is a cylinder or a hydraulic cylinder.

Further, the mounting includes bottom plate, curb plate and riser, the riser vertical set up in on the bottom plate, the curb plate set up in the bottom plate with the riser both ends, set up on the riser and be used for the hole that profile of tooth moving member runs through.

Further, the bottle body clamping mechanism further comprises a fixing box, and the fixing piece and the driving mechanism are arranged in the fixing box.

Furthermore, the turnover mechanism comprises a speed reducing motor, the speed reducing motor is fixedly connected with a mechanical arm, an output shaft of the speed reducing motor is connected with the bottle body clamping mechanism, and the turnover of the bottle body clamping mechanism is realized through the forward and reverse rotation of the speed reducing motor.

Compared with the prior art, the utility model has the following beneficial effects:

the visual positioning manipulator for the offline and online transfer of the glass bottles is convenient to grab the bottles for the offline and online transfer operation through the visual positioning function, is particularly suitable for grabbing inverted filling bottles, and is quick and convenient to grab, high in accuracy and stable in performance.

Drawings

For a clearer explanation of the embodiments or technical solutions in the prior art of the present application, the drawings used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only references to some embodiments in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of a visual positioning mechanism according to one embodiment of the present invention.

FIG. 2 is a schematic view of the bottle body holding mechanism according to one embodiment of the present invention.

Figure 3 is a schematic partial profile view of a robot according to one embodiment of the present invention.

Fig. 4 is a partial structural view of a robot according to an embodiment of the present invention.

Wherein, the names corresponding to the reference numbers in the drawings are:

1-mechanical arm, 2-bottle body clamping mechanism, 3-bottle body clamping piece, 4-toothed moving piece, 5-fixing piece, 6-toothed part, 7-driving mechanism, 8-turnover mechanism, 9-arc part, 10-bottom plate, 11-side plate, 12-vertical plate, 13-hole, 14-fixing box and 15-image acquisition device.

Detailed Description

The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1 to 4, a visual positioning manipulator for glass bottle line off-line and on-line transfer comprises a mechanical arm 1, a bottle body clamping mechanism 2, a turnover mechanism 8, an image acquisition device 15 and a controller. The robot arm 1 may have the structure shown in fig. 3, or may have another structure or shape. The vial clamping mechanism 2 may be generally disposed between two robotic arms 1, as shown in fig. 4. The turnover mechanism 8 is connected with the mechanical arm 1 and the bottle body clamping mechanism 2 and is used for driving the bottle body clamping mechanism 2 to turn over. The two image acquisition devices 15 are respectively positioned on two sides of the mechanical arm 1 and are used for acquiring images of glass bottles to be clamped in real time; the controller acquires the images acquired by the image acquisition device 15, performs binocular stereo vision positioning, picks up special points and characteristic point matching, and controls the movement of the mechanical arm 1, the clamping of the driving bottle body clamping mechanism 2 and the overturning of the control overturning mechanism 8 according to the condition of the vision positioning. That is, the movement of the servo motors of the joints of the robot arm 1 is controlled, and the drive mechanism 7 of the bottle body holding mechanism 2 and the like are controlled to supply power. The positioning algorithm in the controller can adopt the existing algorithm program, and the utility model does not require the protection of the program.

As for the specific structure of the bottle body clamping mechanism 2, as shown in fig. 2, it may include two bottle body clamping members 3, two tooth-shaped moving members 4, a fixing member 5 and a driving mechanism 7, where two bottle body clamping members 3 are provided, one end of each of the two bottle body clamping members 3 is used for clamping a bottle body, a specific clamping position may be a bottleneck position, the other ends of the two bottle body clamping members 3 are respectively provided with tooth-shaped portions 6 rotatably connected to the fixing member 5, two sides of one end of each of the tooth-shaped moving members 4 are respectively provided with a tooth-shaped moving member and engaged with the two tooth-shaped portions 6, and the other end of each of the tooth-shaped moving members 4 is connected to the driving mechanism 7.

The visual positioning manipulator for the offline and online transfer of the glass bottle line in the embodiment clamps the neck of the bottle body needing offline from the production line by using the two bottle body clamping pieces 3, and then turns over and transfers the bottle body onto the conveying belt, wherein in some production and filling processes, the bottle body is inverted, and when the offline is needed, the bottle body needs to be turned over and upright after being grabbed; or the robot can be transferred from off-line to on-line, and after the robot is positioned by vision, the robot can accurately grab, transfer and turn. Namely, the glass bottle can be quickly and accurately grabbed by the manipulator through the visual positioning device.

When grabbing the bottle, actuating mechanism 7 drives profile of tooth moving member 4 and moves down, drives the profile of tooth portion 6 rotation of meshing with it to make two bottle holder 3 that set up relatively open, in order to grab the bottle, set up the range of opening according to waiting to grab the bottle position size, the range that two bottle holder 3 opened can be controlled to the distance that actuating mechanism 7 driven profile of tooth moving member 4 moved down. When the bottle to be grabbed is located between the two bottle clamping pieces 3, the driving mechanism 7 drives the tooth-shaped moving piece 4 to move reversely, and the two bottle clamping pieces 3 are mutually closed to grab the bottle. After grabbing the bottle, arm 1 removes to make bottle fixture 2 overturn together with the bottle that snatchs through tilting mechanism 8 at the removal in-process, then place on the conveyer belt and carry out transmission next step.

In order to facilitate the grasping of the bottle body, an arc-shaped portion 9 matched with the bottle body is arranged at one end of the bottle body clamping piece 3, so that the bottle body clamping piece is more attached to the bottle body and can grasp the bottle body more firmly.

For the bottle body holding mechanism 2, a mechanical tooth matched with the tooth-shaped moving member 4 can be directly arranged at the other end of the bottle body holding mechanism 2 to form the tooth-shaped part 6, or a gear can be fixedly connected at the other end of the bottle body holding mechanism 2 to form the tooth-shaped part 6.

The driving mechanism 7 for driving the toothed moving member 4 to move may be an air cylinder, a hydraulic cylinder or the like, and the distance of movement thereof is controlled by a controller.

The fixing member 5 of an embodiment, as shown in fig. 2, may include a bottom plate 10, a side plate 11 and a vertical plate 12, wherein the vertical plate 12 is vertically disposed on the bottom plate 10, the side plate 11 is disposed at two ends of the bottom plate 10 and the vertical plate 12, and a hole 13 for the tooth-shaped moving member 4 to pass through is disposed on the vertical plate 12.

As shown in FIG. 4, the bottle body holding mechanism 2 of the above embodiment may further include a fixing case 14, and the fixing member 5 and the driving mechanism 7 are disposed in the fixing case 14. In the process of grabbing the bottle body for overturning, the fixed box 14 and the components in the fixed box are integrally overturned. By arranging the fixing box 14, the aesthetic property of the clamping mechanism is improved, and the bottle body is turned over conveniently.

For realizing the overturning function, the overturning mechanism 8 can adopt the following structure and specifically comprises a gear motor, the gear motor is fixedly connected with a mechanical arm 1, an output shaft of the gear motor is connected with the bottle body clamping mechanism 2, and the bottle body clamping mechanism 2 is overturned by the forward and reverse rotation of the gear motor. In addition, the turnover mechanism 8 may be implemented by other mechanisms.

In conclusion, the visual positioning manipulator for the online-offline transfer of the glass bottles is convenient to grab the bottles for online-offline operation, and is quick and convenient to grab and stable in performance.

The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

Reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described generally in this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the utility model to effect such feature, structure, or characteristic in connection with other embodiments.

Although the utility model has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this disclosure. More specifically, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure and claims of this application. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.

Claims (8)

1. The utility model provides a visual positioning manipulator that is used for glass bottle line off-line to shift, its characterized in that includes:

a robot arm (1);

the bottle body clamping mechanism (2), the bottle body clamping mechanism (2) is used for clamping the glass bottle;

the turnover mechanism (8), the turnover mechanism (8) is connected with the mechanical arm (1) and the bottle body clamping mechanism (2) and is used for driving the bottle body clamping mechanism (2) to turn over;

the two image acquisition devices (15) are respectively positioned on two sides of the mechanical arm (1) and are used for acquiring images of glass bottles to be clamped in real time;

the controller acquires the images acquired by the image acquisition device (15), performs binocular stereoscopic vision positioning, and controls the movement of the mechanical arm (1), the clamping of the driving bottle body clamping mechanism (2) and the overturning of the control overturning mechanism (8) according to the condition of the vision positioning.

2. The visual positioning manipulator for the glass bottle off-line and on-line transfer as claimed in claim 1, wherein the bottle body holding mechanism (2) comprises two bottle body holding members (3), two toothed moving members (4), a fixing member (5) and a driving mechanism (7), one end of each of the two bottle body holding members (3) is used for holding a bottle body, the other end of each of the two bottle body holding members (3) is provided with a toothed portion (6) rotatably connected with the fixing member (5), two sides of one end of each of the toothed moving members (4) are respectively provided with teeth and meshed with the two toothed portions (6), and the other end of each of the toothed moving members (4) is connected with the driving mechanism (7).

3. A visual positioning robot for glass bottle line off-line transfer as in claim 2 wherein one end of the bottle body gripper (3) is configured as an arc (9) that fits the bottle body.

4. A visual positioning robot for glass bottle line off-line transfer as in claim 2 characterized by the toothed part (6) being a gear.

5. A visual positioning manipulator for glass bottle line off-line transfer according to claim 2 characterized in that the driving mechanism (7) is a pneumatic or hydraulic cylinder.

6. The visual positioning manipulator for the offline and online transfer of glass bottles of claim 2, characterized in that said fixing member (5) comprises a bottom plate (10), a side plate (11) and a vertical plate (12), said vertical plate (12) is vertically arranged on said bottom plate (10), said side plate (11) is arranged on both ends of said bottom plate (10) and said vertical plate (12), said vertical plate (12) is provided with a hole (13) for said toothed moving member (4) to pass through.

7. A visual positioning robot for glass bottle in-line transfer according to claim 2, characterized in that the bottle body gripping mechanism (2) further comprises a fixing box (14), the fixing member (5) and the driving mechanism (7) being disposed in the fixing box (14).

8. The visual positioning manipulator for the offline and online transfer of glass bottles as claimed in any one of claims 1 to 7, wherein said turning mechanism (8) comprises a gear motor, said gear motor is fixedly connected with a mechanical arm (1), an output shaft of said gear motor is connected with said bottle body clamping mechanism (2), and said gear motor rotates forward and backward to turn said bottle body clamping mechanism (2).

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