CN215973850U - Use manipulator of supplementary equipment of vision - Google Patents
Use manipulator of supplementary equipment of vision Download PDFInfo
- Publication number
- CN215973850U CN215973850U CN202121790567.5U CN202121790567U CN215973850U CN 215973850 U CN215973850 U CN 215973850U CN 202121790567 U CN202121790567 U CN 202121790567U CN 215973850 U CN215973850 U CN 215973850U
- Authority
- CN
- China
- Prior art keywords
- assembly
- motor module
- module
- axis motor
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a manipulator applying visual auxiliary assembly, which comprises a working part and a lower bracket, wherein the working part comprises a movement mechanism, a visual detection mechanism, a jacking mechanism and a material distribution mechanism, the movement mechanism comprises an X-axis motor module, a Y-axis motor module and a Z-axis cylinder module, a module mounting frame is arranged on the lower bracket, the Y-axis motor module is arranged on the module mounting frame, the X-axis motor module is arranged on the Y-axis motor module and can move along the Y-axis direction under the drive of the Y-axis motor module, the Z-axis cylinder module is arranged in front of the X-axis motor module, the device adopts the organic combination of multiple functional modules to complete the complete work from material distribution positioning, clamping and shooting to assembly, the key position size of a captured product is controlled by the visual detection mechanism, and the XY-axis motor module is automatically adjusted to the optimal position for assembly by a program, the assembly is accurate, the function of rechecking is realized, defective products can be removed easily, and the overall yield of finished products is improved.
Description
Technical Field
The utility model relates to the technical field of mechanical assembly, in particular to a manipulator applying visual auxiliary assembly.
Background
With the increasing level of modern industrial production and the increasing demand for products and product quality in modern society, automatic and intelligent production has become a necessary trend. The automatic sorting and assembling of parts of complex assemblies is also a problem to be solved. For a long time, the part sorting and assembly of a complex assembly body are finished manually, the labor, the material resources and the time are consumed, meanwhile, the efficiency is low, the precision is not high, and the requirement of large-scale production is difficult to meet.
The manipulator structure function singleness of assembling on the existing market generally is that cylinder components and parts or the combination of triaxial manipulator carry out the blind dress mode of grabbing to the product, has certain installation risk of not arriving when the equipment to the product that the size is nonstandard, and equipment product precision is not high, does not possess reinspection product function.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is as follows: overcomes the defects in the prior art and provides a mechanical arm applying visual auxiliary assembly.
The technical scheme adopted by the utility model for solving the technical problems is as follows: a manipulator applying visual auxiliary assembly comprises a working part and a lower support, wherein the working part comprises a movement mechanism, a visual detection mechanism, a jacking mechanism and a material distribution mechanism, the movement mechanism comprises an X-axis motor module, a Y-axis motor module and a Z-axis cylinder module, a module mounting frame is installed on the lower support, the Y-axis motor module is arranged on the module mounting frame, the X-axis motor module is arranged on the Y-axis motor module and can move along the Y-axis direction under the drive of the Y-axis motor module, and the Z-axis cylinder module is arranged in front of the X-axis motor module;
the visual detection mechanism comprises an upper camera assembly, an upper camera light source assembly, a lower camera assembly and a lower camera light source assembly, wherein the upper camera assembly and the upper camera light source assembly are arranged in front of the X-axis motor module and can move synchronously along the X-axis direction under the driving of the X-axis motor module, the upper camera light source assembly is arranged under the upper camera assembly, the lower camera assembly and the lower camera light source assembly are arranged on the lower rack, and the lower camera light source assembly is arranged right above the lower camera assembly.
Furthermore, a set mounting plate is arranged on the X-axis motor module, the upper camera assembly, the upper camera light source assembly and the Z-axis cylinder module are all mounted on the set mounting plate and fixed in front of the X-axis motor module through the set mounting plate, and the three can synchronously move along the X-axis direction under the driving of the X-axis motor module.
Further, climbing mechanism is including setting up the jacking cylinder combination in Z axle cylinder module below, jacking cylinder combination rigid coupling has the locating piece, be provided with between jacking cylinder combination and the Z axle cylinder module and press from both sides the material cylinder combination.
Furthermore, the material distributing mechanism is composed of a material distributing mechanism mounting bottom plate, material distributing mechanism mounting support legs and a material distributing cylinder assembly, the material distributing mechanism mounting support legs are arranged on two sides of the material distributing mechanism mounting bottom plate, the material distributing mechanism mounting bottom plate is mounted on the lower support, the material distributing cylinder assembly is arranged at the upper end of the material distributing mechanism mounting support legs, and the material distributing mechanism is correspondingly arranged in front of the jacking mechanism.
Furthermore, a drag chain mounting plate is mounted at the upper end of the collection mounting plate and used for mounting other drag chains.
Further, the lower camera assembly and the lower camera light source assembly are fixed on the lower support through the lower camera mounting plate.
Furthermore, an X-axis drag chain is arranged above the back of the X-axis motor module.
Furthermore, supporting legs are arranged at four corners of the bottom surface of the lower support, and rolling casters are arranged on the inner sides of the supporting legs.
The utility model has the beneficial effects that: the utility model has reasonable design and simple and convenient operation, adopts the organic combination of various functional modules to complete the complete work of positioning, clamping and photographing the product from material distribution to assembly, utilizes the visual detection mechanism to capture the key position size of the product, controls the XY-axis motor module to automatically adjust to the optimal assembly position by a program, accurately assembles, ensures the installation key position size of the accurately captured part, and thus adjusts the installation position of the manipulator according to the size of the product to achieve the effect of accurate installation;
the motor module is matched with the air cylinder system, the motor module can run to any position in a stroke range according to requirements, the air cylinder matching system is reliable in clamping, and functions are highly integrated;
two sets of visual system from top to bottom can carry out the vision to two products of equipment and shoot, carries out position size analysis, combines the motion characteristics of motor module, analyzes out best equipment position for product equipment is effectual, and is compatible good, has the function of reinspection simultaneously, can move the camera position through the cooperation of motion to the product of assembling and reinspects, does benefit to and rejects the defective products, promotes off-the-shelf whole yield.
Drawings
The utility model is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of the present invention.
In the figure: the device comprises a Y-axis motor module, a 2X-axis drag chain, a 3X-axis motor module, a 4. upper camera assembly, a 5. upper camera light source assembly, a 6. module mounting rack, a 7. lower camera light source assembly, a 8. lower camera assembly, a 9. lower camera mounting plate, 10 supporting legs, 11. rolling casters, 12. lower frame, 13. material distributing mechanism mounting bottom plate, 14. material distributing mechanism mounting supporting legs, 15. jacking cylinder assembly, 16. material distributing cylinder assembly, 17. material clamping cylinder assembly, 18. Z-axis cylinder module, 19. drag chain mounting plate and 20. positioning block.
Detailed Description
The utility model will now be described in further detail with reference to the drawings and preferred embodiments. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in figure 1, the manipulator applying visual auxiliary assembly comprises a working part and a lower frame 12, wherein supporting legs 10 are arranged at four corners of the bottom surface of the lower frame 12, rolling casters 11 are arranged at the inner sides of the supporting legs 10, the working part comprises a moving mechanism, a visual detection mechanism, a jacking mechanism and a material distribution mechanism, the moving mechanism comprises an X-axis motor module 3, a Y-axis motor module 1 and a Z-axis cylinder module, an X-axis drag chain 2 is arranged at the rear upper part of the X-axis motor module 3, a module mounting frame 6 is arranged on the lower frame 12, the Y-axis motor module 1 is arranged on the module mounting frame 6, the X-axis motor module 3 is arranged on the Y-axis motor module 1, and can move along the Y-axis direction under the drive of the Y-axis motor module 1, the Z-axis cylinder module is arranged in front of the X-axis motor module 3, and the motor module can be automatically adjusted to any position within the travel range according to program control.
The visual detection mechanism comprises an upper camera assembly 4, an upper camera light source assembly 5, a lower camera assembly 8 and a lower camera light source assembly 7, wherein the upper camera assembly 4 and the upper camera light source assembly 5 are arranged in front of the X-axis motor module 3 and can synchronously move along the X-axis direction under the drive of the X-axis motor module 3, the upper camera light source assembly 5 is arranged under the upper camera assembly 4, the lower camera assembly 8 and the lower camera light source assembly 7 are fixed on a lower frame 12 through a lower camera mounting plate 9, the lower camera light source assembly 7 is arranged over the lower camera assembly 8, the key position size of a product is captured by utilizing the visual detection mechanism, the X-axis motor module 3 and the Y-axis motor module 1 are controlled by a program to automatically adjust to an optimal assembly position, meanwhile, the assembled product is subjected to shooting rechecking, whether the assembled product is qualified or not can be detected, and defective products can be conveniently removed, the yield of finished products is improved.
Be provided with the set mounting panel on the X axle motor module 3, the upper camera combination 4, upper camera light source combination 5 and Z axle cylinder module are all installed on the set mounting panel to fix in X axle motor module 3 the place ahead through the set mounting panel, the three can be under X axle motor module 3's drive along X axle direction synchronous motion, tow chain mounting panel 19 is installed to set mounting panel upper end, is used for when needs, installs other tow chains.
The jacking mechanism comprises a jacking cylinder combination 15 arranged below the Z-axis cylinder module, a positioning block 20 is fixedly connected to the jacking cylinder combination 15, and a material clamping cylinder combination 17 is arranged between the jacking cylinder combination 15 and the Z-axis cylinder module.
The material distributing mechanism is composed of a material distributing mechanism mounting bottom plate 13, material distributing mechanism mounting support legs 14 and a material distributing cylinder combination 16, the material distributing mechanism mounting support legs 14 are arranged on two sides of the material distributing mechanism mounting bottom plate 13, the material distributing mechanism mounting bottom plate 13 is mounted on the lower rack 12, the material distributing cylinder combination 16 is arranged at the upper ends of the material distributing mechanism mounting support legs 14, and the material distributing mechanism is correspondingly arranged in front of the jacking mechanism.
The working process is as follows: after the product is in place, the distributing cylinder pushes the product onto the positioning block 20, and the jacking cylinder drives the positioning block 20 to ascend to the clamping position;
after the material clamping cylinder combination 17 clamps two ends of a product, the Z-axis cylinder module 18 rises to lift the product;
the program controls the X-axis motor module 3 and the Y-axis motor module 1 to cooperatively act under the drive of the motor, so that the product is operated to a lower camera photographing position to photograph, and a key size position is obtained;
another product is already fixed on a tooling plate (not shown in the figure) of the device, and the positions of an upper camera combination 4 and an upper camera light source combination 5 are adjusted through the matching action of an X-axis motor module 3 and a Y-axis motor module 1, so that the other product on the tooling plate is positioned at a photographing position of the upper camera for photographing, and the position of the key size is grabbed;
the program control X-axis motor module 3 and the Y-axis motor module 1 are driven by the motor to act in a matched mode, the positions are adjusted to two product assembling positions, the Z-axis air cylinder module 18 descends, two products are assembled together, the clamping air cylinder combination 17 is loosened, and the Z-axis air cylinder module 18 ascends.
The program controls the X-axis motor module 3 and the Y-axis motor module 1 to cooperatively act under the driving of the motor, the upper camera assembly 4 and the upper camera light source assembly 5 are moved to the position right above the assembled product, the assembled product is positioned at the shooting position of the upper camera, and the assembled product is rechecked.
And finally, the program controls the X-axis motor module 3 and the Y-axis motor module 1 to act in a matched mode under the driving of the motors, and the assembled product is taken out through the material clamping cylinder combination 17.
While particular embodiments of the present invention have been described in the foregoing specification, the present invention is not limited to the specific embodiments, and modifications and variations of the foregoing detailed description can be made by those skilled in the art without departing from the spirit and scope of the utility model.
Claims (8)
1. A manipulator applying visual auxiliary assembly is characterized in that: the automatic feeding device comprises a working part and a lower rack (12), wherein the working part comprises a movement mechanism, a visual detection mechanism, a jacking mechanism and a material distribution mechanism, the movement mechanism comprises an X-axis motor module (3), a Y-axis motor module (1) and a Z-axis cylinder module (18), a module mounting rack (6) is mounted on the lower rack (12), the Y-axis motor module (1) is arranged on the module mounting rack (6), the X-axis motor module (3) is arranged on the Y-axis motor module (1) and can move along the Y-axis direction under the driving of the Y-axis motor module (1), and the Z-axis cylinder module (18) is arranged in front of the X-axis motor module (3);
the visual detection mechanism comprises an upper camera assembly (4), an upper camera light source assembly (5), a lower camera assembly (8) and a lower camera light source assembly (7), wherein the upper camera assembly (4) and the upper camera light source assembly (5) are arranged in front of an X-axis motor module (3) and can move synchronously along the X-axis direction under the driving of the X-axis motor module (3), the upper camera light source assembly (5) is arranged under the upper camera assembly (4), the lower camera assembly (8) and the lower camera light source assembly (7) are arranged on a lower rack (12), and the lower camera light source assembly (7) is arranged right above the lower camera assembly (8).
2. The manipulator applying the visual assistance assembly as claimed in claim 1, wherein: be provided with the set mounting panel on X axle motor module (3), go up camera combination (4), go up camera light source combination (5) and Z axle cylinder module (18) and all install on the set mounting panel to fix in X axle motor module (3) the place ahead through the set mounting panel, the three can be under the drive of X axle motor module (3) along X axle direction synchronous motion.
3. The manipulator applying the visual assistance assembly as claimed in claim 1, wherein: the jacking mechanism comprises a jacking cylinder combination (15) arranged below the Z-axis cylinder module (18), a positioning block (20) is fixedly connected to the jacking cylinder combination (15), and a material clamping cylinder combination (17) is arranged between the jacking cylinder combination (15) and the Z-axis cylinder module (18).
4. The manipulator applying the visual assistance assembly as claimed in claim 1, wherein: the material distribution mechanism is composed of a material distribution mechanism mounting bottom plate (13), material distribution mechanism mounting support legs (14) and a material distribution cylinder combination (16), wherein the material distribution mechanism mounting support legs (14) are arranged on two sides of the material distribution mechanism mounting bottom plate (13), the material distribution mechanism mounting bottom plate (13) is mounted on the lower rack (12), the material distribution cylinder combination (16) is arranged at the upper end of the material distribution mechanism mounting support legs (14), and the material distribution mechanism is correspondingly arranged in front of the jacking mechanism.
5. The manipulator applying the visual assistance assembly as claimed in claim 2, wherein: and a drag chain mounting plate (19) is mounted at the upper end of the collection mounting plate.
6. The manipulator applying the visual assistance assembly as claimed in claim 1, wherein: the lower camera assembly (8) and the lower camera light source assembly (7) are fixed on the lower frame (12) through a lower camera mounting plate (9).
7. The manipulator applying the visual assistance assembly as claimed in claim 1, wherein: and an X-axis drag chain (2) is arranged at the rear upper part of the X-axis motor module (3).
8. The manipulator applying the visual assistance assembly as claimed in claim 1, wherein: supporting legs (10) are arranged at four corners of the bottom surface of the lower frame (12), and rolling casters (11) are arranged on the inner sides of the supporting legs (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121790567.5U CN215973850U (en) | 2021-08-02 | 2021-08-02 | Use manipulator of supplementary equipment of vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121790567.5U CN215973850U (en) | 2021-08-02 | 2021-08-02 | Use manipulator of supplementary equipment of vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215973850U true CN215973850U (en) | 2022-03-08 |
Family
ID=80515731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121790567.5U Active CN215973850U (en) | 2021-08-02 | 2021-08-02 | Use manipulator of supplementary equipment of vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215973850U (en) |
-
2021
- 2021-08-02 CN CN202121790567.5U patent/CN215973850U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103698916B (en) | A kind of pipeline system LCD mounting equipment | |
| CN103841764B (en) | FPC reinforcing chips intelligence placement equipment | |
| CN111055071A (en) | Welding production system and method for electric automobile skylight framework | |
| CN113200354B (en) | POS machine postposition lens vision snatchs automatic assembly equipment | |
| CN108283192A (en) | A kind of full-automatic wafer sheet stripper apparatus | |
| CN110149791A (en) | A kind of screening cover placement equipment | |
| CN215973850U (en) | Use manipulator of supplementary equipment of vision | |
| CN210588037U (en) | Automatic screw locking device for motor | |
| CN111645335A (en) | Flexible intelligent assembling system based on visual identification and detection | |
| CN212603532U (en) | Flexible intelligent assembling system based on visual identification and detection | |
| CN204872997U (en) | Automatic exchange device of carrier | |
| CN210739047U (en) | Steel mesh opposite-pasting machine | |
| CN111712124A (en) | Plasma cleaning and ACF (anisotropic conductive film) attaching combined mechanism for T-FOF (T-FOF) | |
| CN113433627A (en) | Coupling equipment for automatically coupling silicon-based lens and PCB (printed circuit board) | |
| CN211415219U (en) | Special-shaped plate picking device | |
| CN209831837U (en) | Novel keyboard glue line punching machine | |
| CN113589452A (en) | Manual optical patch coupling device of 200G/400G optical device and working method thereof | |
| CN214134791U (en) | Automatic casing device for processing buzzer | |
| CN215946066U (en) | Visual positioning mobile phone accessory double-station pasting machine | |
| CN220718348U (en) | Front and rear frame mounting equipment | |
| CN219669481U (en) | High efficiency 180 turn-over device | |
| CN116175986B (en) | Device and method for automatically pressing curved glass and curved plastic piece | |
| CN220716486U (en) | Automatic diaphragm assembling equipment | |
| CN212278714U (en) | Plasma cleaning and ACF (anisotropic conductive film) attaching combined mechanism for T-FOF (T-FOF) | |
| CN211361163U (en) | Welding device for electric automobile skylight framework |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |