CN217417400U

CN217417400U - Equipment for placing glass by using mechanical arm to correct deviation in real time through vision system

Info

Publication number: CN217417400U
Application number: CN202220457753.5U
Authority: CN
Inventors: 黄启来; 韦琼璋; 巫景文; 李生阳; 冉隆川
Original assignee: Shenzhen Zhixin Precision Instrument Co ltd
Current assignee: Shenzhen Zhixin Precision Instrument Co ltd
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2022-09-13
Anticipated expiration: 2032-03-04

Abstract

The utility model relates to an equipment technical field in the automation industry, refer in particular to a manipulator utilizes vision system to rectify in real time and carries out the equipment that glass put, which comprises an engine cover, frame and big board, big board mounting is in the frame, the aircraft bonnet is installed on big board, be formed with first cavity between aircraft bonnet and the big board, one side of big board is equipped with unloader on the product charging tray, the opposite side of big board is equipped with and adds the pressure and put unloader, be equipped with manipulator device between unloader on the product charging tray and the pressure and put unloader, the backlight is installed to the top that adds the pressure and put unloader, be formed with the second cavity in the frame, and install the module of rectifying in real time in the frame, the module of rectifying in real time corresponds the setting with the pressure and puts unloader on the frame, and the module of rectifying in real time is connected with manipulator device circuit. The manipulator is matched with vision to watch in real time, and can continuously correct the track through the real-time feedback of the vision, assemble and place products according to the optimal track, and correct the deviation in real time.

Description

Equipment for placing glass by using mechanical arm to correct deviation in real time through vision system

Technical Field

The utility model relates to an equipment technical field in the automation trade refers in particular to a manipulator utilizes the equipment that vision system rectified in real time and carried out glass and put.

Background

In the automation trade, many places need utilize the manipulator to assemble, put, because processing, assembly error, factors such as the wearing and tearing deformation of tool arouse the uniformity of tool poor in the production process, when the tool or the container of putting appear spatial error, ordinary 2D vision can't satisfy the location requirement, because visual positioning is two-dimensional positioning usually, space internal error appears when the tool, and ordinary two-dimensional positioning can't detect out, gets easily with the product scratch when putting the product to the manipulator.

SUMMERY OF THE UTILITY MODEL

To above problem, the utility model provides a manipulator utilizes vision system to rectify in real time and carries out the equipment that glass put, adopts manipulator cooperation vision to watch in real time, through the real-time feedback of vision, and the manipulator can constantly carry out the orbit correction to the optimal orbit is assembled, is put the product, rectifies in real time, gets to expect that manipulator is relatively poor at the precision, and the higher occasion of tool has very big advantage.

In order to achieve the above purpose, the utility model discloses the technical scheme who uses as follows:

the utility model provides an equipment that manipulator utilized vision system to rectify in real time and carry out glass and put, which comprises a hood, frame and big board, big board is installed in the frame, the aircraft bonnet is installed on big board, be formed with first cavity between aircraft bonnet and the big board, one side of big board is equipped with unloader in the product charging tray, the opposite side of big board is equipped with the last unloader that adds the pressure frame, be equipped with manipulator device between unloader and the last unloader that adds the pressure frame, the backlight is installed to the top of unloader that adds the pressure frame, be formed with the second cavity in the frame, and install the module of rectifying in real time in the frame, the module of rectifying in real time corresponds the setting with the last unloader that adds the pressure frame, and the module of rectifying in real time and manipulator device circuit connection.

According to the scheme, the manipulator device comprises 6 manipulators, a second lifting module and a first vacuum sucker, wherein a base of the 6 manipulators is installed on a large plate between the product tray loading and unloading device and the pressurizing frame loading and unloading device, the second lifting module is installed at the end part of the free end of the 6 manipulators, and the first vacuum sucker is installed at the output end of the second lifting module and driven to move up and down through the second lifting module.

According to the above scheme, unloader on product charging tray is including upset secondary positioning mechanism, material level on full charging tray, the transfer transport moves and carries the mechanism, charging tray secondary positioning mechanism, the charging tray moves and carries the mechanism and empty charging tray material level down, material level on full charging tray is installed in charging tray secondary positioning mechanism's the place ahead, empty charging tray material level is installed in charging tray secondary positioning mechanism's rear, upset secondary positioning mechanism installs in one side of charging tray secondary positioning mechanism, and correspond the setting with the manipulator device, the transfer transport moves and carries the mechanism and installs between material level on full charging tray and charging tray secondary positioning mechanism, and correspond the setting with upset secondary positioning mechanism, the charging tray moves and carries the mechanism and installs material level on full charging tray, material tray secondary positioning mechanism and empty charging tray material level's below.

According to the above scheme, be equipped with on the material loading level of full charging tray and pile up the mechanism of dividing the dish, pile up the mechanism of dividing the dish and include first jacking module, second jacking module, divide a set module, first riser and first guide post, first riser is installed in material loading level of full charging tray, divides a set module and first guide post to install respectively in first riser upper portion, and first jacking module is installed in first riser lateral part from top to bottom with second jacking module is.

According to the above scheme, charging tray secondary positioning mechanism includes the minor face reference pin, long limit reference pin, the second riser, first long limit location module and first minor face location module, the second riser is installed on big board, the second riser includes two risers of relative interval installation on big board, the minor face reference pin is installed on first riser, first minor face location module is installed on second riser, and first minor face location module is relative the setting with the minor face reference pin, first long limit location module is installed in the tip of second riser one end, long limit reference pin is installed in the tip of the second riser other end, and first long limit location module is relative the setting with long limit reference pin, and first long limit location module is perpendicular the setting with first minor face location module.

According to the scheme, the empty tray discharging position is provided with an empty tray stacking structure, the empty tray stacking structure comprises a third vertical plate, a second guide column, a first lifting module and a non-return mechanism, the third vertical plate is installed on the large plate, the second guide column and the non-return mechanism are installed on the upper portion of the third vertical plate respectively, and the first lifting module is installed on the side portion of the third vertical plate.

According to the scheme, the transfer, transportation and transfer mechanism comprises an upright post, a Z-axis lifting module, a second vacuum chuck and a Y-axis transplanting module, wherein the upright post is installed on the upper part, the Y-axis transplanting module is installed on the upright post, the Z-axis lifting module can be installed on the Y-axis transplanting module in a sliding mode along the Y-axis direction, and the second vacuum chuck is installed at the output end of the Z-axis lifting module and driven to lift along the Z-axis direction through the Z-axis lifting module.

According to the above scheme, upset secondary positioning mechanism includes that long limit reforms the module, the minor face reforms the module, first speed reducer, first servo motor and returning face plate, and first servo motor installs on big board, and first speed reducer is installed in first servo motor's output, and the returning face plate is installed in the output of first speed reducer, and long limit reforms the module and installs in the both ends of returning face plate, and the minor face reforms the module and installs in the both sides of returning face plate, and long limit reforms the module and is perpendicular setting with the minor face reforms the module.

According to the scheme, the material tray transferring and carrying mechanism comprises a transferring module, a third jacking module and a fourth jacking module, wherein the third jacking module and the fourth jacking module are arranged on the transferring module at intervals and can move back and forth on the transferring module along the X-axis direction.

According to the above scheme, unloader on pressure frame includes that empty pressure frame material loading level, pressure frame secondary positioning mechanism, material level and pressure frame are moved and carry transport mechanism under full material pressure frame, empty pressure frame material loading level is installed in pressure frame secondary positioning mechanism's the place ahead, material level is installed in pressure frame secondary positioning mechanism's rear under full material pressure frame, pressure frame moves and carries transport mechanism and install in empty pressure frame material loading level, the both sides of material level are under pressure frame secondary positioning mechanism and the full material pressure frame, the backlight is installed in pressure frame secondary positioning mechanism's top, the module of rectifying in real time is installed in pressure frame secondary positioning mechanism's below.

According to the scheme, the secondary positioning mechanism of the pressurizing frame comprises a square base, a second short edge positioning module, a long edge reference block, a rotary compression cylinder, a short edge reference block and a second long edge positioning module, wherein the second short edge positioning module and the short edge reference block are oppositely arranged on the front side plate and the rear side plate of the square base, the long edge reference block and the second long edge positioning module are oppositely arranged on the left side plate and the right side plate of the square base, and the rotary compression cylinder is arranged beside the long edge reference block.

According to the above scheme, the pressurization frame moves carries transport mechanism and includes linkage transmission shaft, the second speed reducer, second servo motor, the hold-in range, the third lift module, press from both sides tight module, slide rail and slider, the slide rail is installed in empty pressurization frame material loading level, the both sides of material level under pressurization frame secondary positioning mechanism and the full material pressurization frame, and all install the slider on the slide rail of both sides, the both sides slider all links through hold-in range and linkage transmission shaft, the linkage transmission shaft is installed in the output of second speed reducer, the second speed reducer is installed in second servo motor's output, the third lift module is installed on the slider, press from both sides tight module and install in the output of third lift module.

According to the scheme, the real-time deviation rectifying module comprises a CCD image sensor, a Y-axis module and an X-axis module, the CCD image sensor can be slidably installed on the Y-axis module along the Y-axis direction and is arranged corresponding to a pressurizing frame secondary positioning mechanism of the pressurizing frame feeding and discharging device, and the Y-axis module can be slidably installed on the X-axis module along the X-axis direction.

The utility model discloses beneficial effect:

the utility model adopts the structure, the product charging tray feeding device is arranged on one side of the large plate, the pressurizing frame feeding device is arranged on the other side of the large plate, and the mechanical hand device is arranged between the product charging tray feeding device and the pressurizing frame feeding device, when the mechanical hand device works, the mechanical hand device can be used for adsorbing products on the product charging tray feeding device, then the mechanical hand device can accurately insert the products on the pressurizing frame of the pressurizing frame feeding device under the coordination of the real-time deviation correcting module and the backlight source, so that the products can not be scratched, wherein, the backlight source is arranged above the pressurizing frame feeding device, which is mainly used for brightening the edges of the products and the edges of the pressurizing frame, which is convenient for the camera grabbing benchmark of the real-time deviation correcting module, wherein, the real-time deviation correcting module is arranged below the pressurizing frame feeding device, which is mainly used for shooting the products and the position of the pressurizing frame, and the position information is transmitted to the mechanical hand device, so that the mechanical hand device can adjust the relative position of the product and the pressurizing frame in real time, and the product can not be scratched when being inserted into the pressurizing frame.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the assembly of the large panel of the present invention;

FIG. 3 is an assembly diagram of the real-time deviation correcting module and the loading and unloading device of the pressurizing frame of the present invention;

FIG. 4 is a schematic view of the assembly of the backlight source and the loading and unloading device of the pressurizing frame according to the present invention;

fig. 5 is a schematic view of the robot apparatus of the present invention;

FIG. 6 is a schematic view of the stacking and tray-dividing mechanism of the present invention;

FIG. 7 is a schematic view of the secondary positioning mechanism of the tray of the present invention;

fig. 8 is a schematic view of the empty tray stacking structure of the present invention;

fig. 9 is a schematic view of the transfer mechanism of the present invention;

FIG. 10 is a schematic view of the turning over secondary positioning mechanism of the present invention;

fig. 11 is a schematic view of the tray transfer mechanism of the present invention;

fig. 12 is a schematic view of the secondary positioning mechanism of the pressurizing frame of the present invention;

fig. 13 is a schematic view of a transfer mechanism of the pressurizing frame of the present invention;

fig. 14 is a schematic diagram of the real-time deviation rectifying module of the present invention.

1. A hood; 2. a frame; 3. a large plate; 4. loading the empty pressurizing frame; 5. a secondary positioning mechanism of the pressurizing frame; 6. feeding the full material pressurizing rack; 7. a pressure rack transfer and carrying mechanism; 8. a manipulator device; 9. turning over the secondary positioning mechanism; 10. loading the full tray; 11. a transfer and carrying transferring mechanism; 12. a material tray secondary positioning mechanism; 13. a tray transfer and carrying mechanism; 14. feeding the empty tray; 15. a real-time deviation rectifying module; 16. a backlight source; 17. a first jacking module; 18. a second jacking module; 19. a disc dividing module; 20. a first lifting module; 21. a non-return mechanism; 22. a first long edge positioning module; 23. a first short edge positioning module; 24. a transfer module; 25. a third jacking module; 26. a fourth jacking module; 27. a long edge reforming module; 28. a short edge reforming module; 29. a first speed reducer; 30. a first servo motor; 31.6-axis manipulators; 32. a second lifting module; 33. a first vacuum chuck; 34. a column; 35. a Z-axis lifting module; 36. a second vacuum chuck; a Y-axis transplanting module; 38. a linkage transmission shaft; 39. a second speed reducer; 40. a second servo motor; 41. a synchronous belt; 42. a third lifting module; 43. a clamping module; 44. a second short edge positioning module; 45. a long-side reference block; 46. rotating the compaction cylinder; 47. a short side reference block; 48. a second long edge positioning module; a CCD image sensor; 50, a Y-axis module; an X-axis module; 52. a first vertical plate; 53. a first guide post; 54. a second vertical plate; 55. a third vertical plate; 56. a second guide post; 57. a turnover plate; 58. square base; 59. a slide rail; 60. a slider; 61. a long-side reference pin; 62. and a short-side reference pin.

Detailed Description

The technical solution of the present invention will be described below with reference to the accompanying drawings and examples.

As shown in fig. 1 to 4, a manipulator utilizes vision system to rectify in real time and carries out equipment that glass put, including aircraft bonnet 1, frame 2 and big board 3, big board 3 is installed on frame 2, aircraft bonnet 1 is installed on big board 3, be formed with first cavity between aircraft bonnet 1 and the big board 3, one side of big board 3 is equipped with unloader on the product charging tray, the opposite side of big board 3 is equipped with unloader on the pressurization frame, be equipped with manipulator 8 between unloader on the product charging tray and the unloader on the pressurization frame, backlight 16 is installed to the top of unloader on the pressurization frame, be formed with the second cavity in the frame 2, and install real-time deviation correcting module 15 in the frame 2, real-time deviation correcting module 15 corresponds the setting with unloader on the pressurization frame, and real-time deviation correcting module 15 and manipulator 8 circuit connection. The above structure is the basic structure of the utility model.

The utility model adopts the structure, the product charging and discharging device is arranged on one side of the large plate 3, the loading and discharging device on the pressurizing frame is arranged on the other side of the large plate 3, and the mechanical hand device 8 is arranged between the loading and discharging device on the product charging and discharging device and the loading and discharging device on the pressurizing frame, when the mechanical hand device 8 works, the product on the loading and discharging device on the product charging and discharging device can be adsorbed, then the mechanical hand device 8 can accurately insert the product on the pressurizing frame of the loading and discharging device on the pressurizing frame under the coordination of the real-time deviation correcting module 15 and the backlight source 16, and the backlight source 16 is arranged above the loading and discharging device on the pressurizing frame, which is mainly used for polishing the edge of the product and the edge of the pressurizing frame, thereby being convenient for the camera grabbing benchmark of the real-time deviation correcting module 15, wherein, the real-time deviation correcting module 15 is arranged below the loading and discharging device on the pressurizing frame, the automatic product shooting device is mainly used for shooting the positions of products and the pressurizing frame and transmitting position information to the mechanical hand device 8, so that the mechanical hand device 8 can adjust the relative positions of the products and the pressurizing frame in real time, and the products can not be scratched when being inserted into the pressurizing frame.

As shown in fig. 5, the robot device 8 includes a 6-axis robot 31, a second lifting module 32, and a first vacuum chuck 33, wherein a base of the 6-axis robot 31 is mounted on the large plate 3 between the product tray loading and unloading device and the pressure frame loading and unloading device, the second lifting module 32 is mounted at a free end of the 6-axis robot 31, and the first vacuum chuck 33 is mounted at an output end of the second lifting module 32 and is driven to move up and down by the second lifting module 32. Adopt such structure setting, adsorb the product on the unloader through first vacuum chuck 33 through 6 manipulators 31 with the product charging tray, then insert again on the pressurization frame of the unloader that adds pressure frame, wherein, 6 manipulators 31 adopt 6 arm concatenations to constitute, can conveniently adjust the height and the angle of first vacuum chuck 33, and wherein, second lifting module 32 can be used to control first vacuum chuck 33 from top to bottom, accomplishes the absorption to the product.

In this embodiment, the product charging tray loading and unloading device includes upset secondary positioning mechanism 9, full charging tray loading level 10, transfer transport moves and carries mechanism 11, charging tray secondary positioning mechanism 12, charging tray moves and carries mechanism 13 and empty charging tray unloading level 14, full charging tray loading level 10 is installed in the place ahead of charging tray secondary positioning mechanism 12, empty charging tray unloading level 14 is installed in the rear of charging tray secondary positioning mechanism 12, upset secondary positioning mechanism 9 is installed in one side of charging tray secondary positioning mechanism 12, and correspond the setting with manipulator device 8, transfer transport moves and carries mechanism 11 and installs on full charging tray between level 10 and charging tray secondary positioning mechanism 12, and correspond the setting with upset secondary positioning mechanism 9, charging tray moves and carries mechanism 13 and installs on full charging tray loading level 10, charging tray secondary positioning mechanism 12 and the below of empty charging tray unloading level 14. The structure arrangement is adopted, wherein the full tray feeding position 10 is used for manually placing and feeding the tray filled with the products; the material tray secondary positioning mechanism 12 is used for carrying out secondary positioning on the material tray, so that the transfer and carrying transfer mechanism 11 can conveniently take materials; the empty tray discharging position 14 is used for collecting empty trays in a centralized manner manually to complete discharging, and the tray transferring and carrying mechanism 13 is used for transferring full trays of the full tray charging position 10 to the tray secondary positioning mechanism 12 and transferring empty trays on the tray secondary positioning mechanism 12 to the empty tray discharging position 14; the transfer and carrying transfer mechanism 11 is used for transferring the products on the full material tray on the tray secondary positioning mechanism 12 to the turnover secondary positioning mechanism 9; the turnover secondary positioning mechanism 9 is used for turning over the products transferred from the transfer and carrying transfer mechanism 11, so that the manipulator device 8 can conveniently adsorb the products.

As shown in fig. 6, be equipped with on full charging tray material loading level 10 and pile up the mechanism of dividing the dish, pile up the mechanism of dividing the dish and include first jacking module 17, second jacking module 18, divide a set of module 19, first riser 52 and first guide post 53, first riser 52 is installed in full charging tray material loading level 10, divides a set of module 19 and first guide post 53 to install respectively in first riser 52 upper portion, first jacking module 17 and second jacking module 18 are upper and lower to be installed in first riser 52 lateral part. Adopt such structure setting, through piling up the full charging tray that the dish mechanism will artifically place and divide the dish, make things convenient for the charging tray to move and carry 13 and move and carry, its work flow is: when full material trays are placed, the first jacking module 17 and the second jacking module 18 are in a jacking state, the tray dividing module 19 is in a retraction state, the full material trays are sequentially stacked into the first guide column 53, at the moment, the first jacking module 17 abuts against the bottommost full material tray, then the tray dividing module 19 extends out to clamp the penultimate full material tray, at the moment, the first jacking module 17 and the second jacking module 18 retract, so that the bottommost full material tray descends and falls on the material tray transfer and conveying mechanism 13, the first jacking module 17 and the second jacking module 18 are jacked to the initial position again, then the tray dividing module 19 retracts, at the moment, the penultimate full material tray is the bottommost full material tray and falls on the first jacking module 17, and the tray dividing module 19 extends out to clamp the penultimate full material tray, and works sequentially, and tray dividing is completed.

As shown in fig. 7, the tray secondary positioning mechanism 12 includes a short-side reference pin 62, a long-side reference pin 61, a second vertical plate 54, a first long-side positioning module 22 and a first short-side positioning module 23, the second vertical plate 54 is installed on the large plate 3, the second vertical plate 54 includes two vertical plates installed on the large plate 3 at a relative interval, the short-side reference pin 62 is installed on the first vertical plate, the first short-side positioning module 23 is installed on the second vertical plate, and the first short-side positioning module 23 and the short-side reference pin 62 are arranged relatively, the first long-side positioning module 22 is installed at the end of one end of the second vertical plate 54, the long-side reference pin 61 is installed at the end of the other end of the second vertical plate 54, and the first long-side positioning module 22 and the long-side reference pin 61 are arranged relatively, and the first long-side positioning module 22 and the first short-side positioning module 23 are arranged vertically. Adopt such structure setting, realize fixing a position the minor face of charging tray through the cooperation of minor face reference pin 62 and first minor face location module 23 and press from both sides tightly, realize fixing a position the clamp to the long limit of charging tray through the cooperation of long limit reference pin 61 and first long limit location module 22 to the realization is to the accurate location of charging tray XY direction.

As shown in fig. 8, an empty tray stacking structure is arranged on the empty tray discharging position 14, the empty tray stacking structure includes a third vertical plate 55, a second guide column 56, a first lifting module 20 and a check mechanism 21, the third vertical plate 55 is installed on the large plate 3, the second guide column 56 and the check mechanism 21 are respectively installed on the upper portion of the third vertical plate 55, and the first lifting module 20 is installed on the side portion of the third vertical plate 55. Adopt such structure setting, be used for piling up the charging tray after empty dish stacked structure and collect, its work flow is: the empty trays on the tray secondary positioning mechanism 12 are conveyed into the second guide columns 56 through the tray transfer and carrying mechanism 13, in an initial state, the first lifting module 20 is in a jacking state and exceeds the position of the non-return mechanism 21, the trays are sequentially stacked on the first lifting module 20, under the action of the non-return mechanism 21, the trays cannot fall down, when the number reaches a certain value, the first lifting module 20 descends to remind a user, and the collection is completed.

As shown in fig. 9, the transfer/transportation/transfer mechanism 11 includes a column 34, a Z-axis lifting module 35, a second vacuum chuck 36, and a Y-axis transplanting module 37, wherein the column 34 is mounted on the large board 3, the Y-axis transplanting module 37 is mounted on the column 34, the Z-axis lifting module 35 is slidably mounted on the Y-axis transplanting module 37 in the Y-axis direction, and the second vacuum chuck 36 is mounted on the output end of the Z-axis lifting module 35 and is driven by the Z-axis lifting module 35 to move up and down in the Z-axis direction. By adopting the structure, the Z-axis lifting module 35 can be slidably mounted on the Y-axis transplanting module 37 along the Y-axis direction, so that the position of the Z-axis lifting module 35 on the Y-axis transplanting module 37 can be conveniently adjusted, and after the adjustment is completed, the Z-axis lifting module 35 drives the second vacuum chuck 36 to adsorb the product and transfer the product to the turnover secondary positioning mechanism 9.

As shown in fig. 10, the turning secondary positioning mechanism 9 includes a long-side restoring module 27, a short-side restoring module 28, a first speed reducer 29, a first servo motor 30 and a turning plate 57, the first servo motor 30 is installed on the large plate 3, the first speed reducer 29 is installed at the output end of the first servo motor 30, the turning plate 57 is installed at the output end of the first speed reducer 29, the long-side restoring module 27 is installed at both ends of the turning plate 57, the short-side restoring module 28 is installed at both sides of the turning plate 57, and the long-side restoring module 27 and the short-side restoring module 28 are vertically arranged. By adopting the structure, in the initial state, the turnover plate 57 and the material tray secondary positioning mechanism 12 are arranged at the same side, namely, at the opposite position of the manipulator device 8, the manipulator device 8 is inconvenient to adsorb the product, the first speed reducer 29 is driven by the first servo motor 30, the first speed reducer 29 drives the turnover plate 57 to turn over again, so that the turnover plate 57 and the manipulator device 8 are arranged at the same side, and the manipulator device 8 is convenient to adsorb the product. The long edge reforming module 27 and the short edge reforming module 28 are used for adjusting the long edge and the short edge of the product to correspond to the first vacuum chuck 33 of the manipulator device 8.

As shown in fig. 11, the tray transferring and conveying mechanism 13 includes a transferring module 24, a third jacking module 25 and a fourth jacking module 26, and the third jacking module 25 and the fourth jacking module 26 are mounted on the transferring module 24 at intervals and can move back and forth on the transferring module 24 along the X-axis direction. With such a structure, the tray is supported by the third jacking module 25 and the fourth jacking module 26 and moves back and forth on the transfer module 24 along the X-axis direction, so that the tray can be conveyed circularly.

In this embodiment, unloader on pressure frame includes empty pressure frame material loading level 4, pressure frame secondary positioning mechanism 5, material level 6 and pressure frame are moved and are carried transport mechanism 7 under the full material pressure frame, empty pressure frame material loading level 4 is installed in the place ahead of pressure frame secondary positioning mechanism 5, material level 6 is installed in the rear of pressure frame secondary positioning mechanism 5 under the full material pressure frame, pressure frame is moved and is carried transport mechanism 7 and install in empty pressure frame material loading level 4, the both sides of material level 6 under pressure frame secondary positioning mechanism 5 and the full material pressure frame, backlight 16 is installed in the top of pressure frame secondary positioning mechanism 5, module 15 of rectifying in real time is installed in the below of pressure frame secondary positioning mechanism 5. Adopt such structural setting, wherein, empty overhead gage material loading level 4 is used for the manual work to place empty overhead gage, overhead gage secondary positioning mechanism 5 is used for carrying out the secondary with empty overhead gage and presss from both sides tight location, full material overhead gage material unloading level 6 is used for piling up the overhead gage of full material and collecting, and the unloading, the overhead gage moves and carries transport mechanism 7 and is used for moving the empty overhead gage on empty overhead gage material loading level 4 to overhead gage secondary positioning mechanism 5, and move the overhead gage of full material on the overhead gage secondary positioning mechanism 5 to full material overhead gage material unloading level 6 and pile up.

As shown in fig. 12, the secondary positioning mechanism 5 of the pressurizing frame includes a "square" base 58, a second short side positioning module 44, a long side reference block 45, a rotary pressing cylinder 46, a short side reference block 47, and a second long side positioning module 48, wherein the second short side positioning module 44 and the short side reference block 47 are installed on the front and rear side plates of the "square" base 58 in a manner of facing each other, the long side reference block 45 and the second long side positioning module 48 are installed on the left and right side plates of the "square" base 58 in a manner of facing each other, and the rotary pressing cylinder 46 is installed beside the long side reference block 45. Adopt such structure setting, realize fixing a position the minor face that adds the pressure frame through second minor face reference block 44 and the cooperation of minor face reference block 47 and press from both sides tightly, it fixes a position the clamp to the long limit that adds the pressure frame to realize through long limit reference block 45 and the cooperation of the long limit location module 48 of second, wherein, rotatory air cylinder 46 that compresses tightly is used for adjusting the position that adds the pressure frame, it rotates to add the pressure frame promptly, make the long limit and the long limit reference block 45 that add the pressure frame, the long limit location module 48 of second corresponds, the minor face and the second minor face location module 44 that add the pressure frame, minor face reference block 47 corresponds, fix a position accurate back, be convenient for manipulator device 8 inserts the product on adding the pressure frame, can not scratch the product.

As shown in fig. 13, the pressure rack transfer and transportation mechanism 7 includes a linkage transmission shaft 38, a second speed reducer 39, a second servo motor 40, a synchronous belt 41, a third lifting module 42, a clamping module 43, a slide rail 59 and a slide block 60, the slide rail 59 is installed at two sides of the empty pressure rack loading position 4, the pressure rack secondary positioning mechanism 5 and the full pressure rack unloading position 6, the slide rails 59 at two sides are respectively installed with the slide block 60, the slide blocks 60 at two sides are linked with the linkage transmission shaft 38 through the synchronous belt 41, the linkage transmission shaft 38 is installed at the output end of the second speed reducer 39, the second speed reducer 39 is installed at the output end of the second servo motor 40, the third lifting module 42 is installed on the slide block 60, and the clamping module 43 is installed at the output end of the third lifting module 42. Adopt such structural setting, move and carry the carrying mechanism 7 and move the pressurization frame through the pressurization frame, in operation, drive second speed reducer 39 through second servo motor 40, second speed reducer 39 drives both sides hold-in range 41 and rotates under the effect of linkage transmission shaft 38, make slider 60 remove on slide rail 59, wherein, during the receipt, third lift module 42 rises and is used for receiving the pressurization frame, and press from both sides tightly through pressing from both sides tight module 43, prevent to remove the in-process, the pressurization frame drops, convey behind the assigned position, the rethread presss from both sides tight module 43 and unclamps, and rise through third lift module 42 and rise the pressurization frame to the assigned position.

As shown in fig. 14, the real-time deviation rectifying module 15 includes a CCD image sensor 49, a Y-axis module 50 and an X-axis module 51, the CCD image sensor 49 is slidably mounted on the Y-axis module 50 along the Y-axis direction and is disposed corresponding to the secondary positioning mechanism 5 of the loading and unloading device, and the Y-axis module 50 is slidably mounted on the X-axis module 51 along the X-axis direction. With the adoption of the structure, under the linkage action of the X-axis module 51 and the Y-axis module 50, the position of the CCD image sensor 49 can be adjusted, so that the CCD image sensor 49 can shoot a product and a specified position conveniently, and then position information is transmitted to the manipulator device 8.

The technical solutions in the embodiments of the present invention have been described above, but the present invention is not limited to the above-mentioned specific embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many forms without departing from the scope of the present invention, which is defined by the spirit and the claims of the present invention.

Claims

1. The utility model provides a manipulator utilizes the real-time equipment of rectifying of vision system and carry out glass and put which characterized in that: comprises a hood (1), a frame (2) and a large plate (3), wherein the large plate (3) is arranged on the frame (2), the hood (1) is arranged on the large plate (3), a first cavity is formed between the hood (1) and the large plate (3), a product tray feeding and discharging device is arranged on one side of the large plate (3), a pressurizing frame feeding and discharging device is arranged on the other side of the large plate (3), a manipulator device (8) is arranged between the product tray feeding and discharging device and the pressure frame feeding and discharging device, a backlight source (16) is arranged above the loading and unloading device of the pressurizing frame, a second cavity is formed in the machine frame (2), and a real-time deviation rectifying module (15) is arranged in the frame (2), the real-time deviation rectifying module (15) is arranged corresponding to the loading and unloading device of the pressurizing frame, and the real-time deviation rectifying module (15) is in circuit connection with the manipulator device (8).

2. The manipulator device for glass placement by using real-time deviation rectification of a vision system according to claim 1, characterized in that: manipulator device (8) include 6 manipulators (31), second lifting module (32) and first vacuum chuck (33), the pedestal mounting of 6 manipulators (31) is on big board (3) between product charging tray unloader and the pressure frame unloader, second lifting module (32) are installed in the free end tip of 6 manipulators (31), first vacuum chuck (33) are installed in the output of second lifting module (32), and pass through second lifting module (32) drive upper and lower action.

3. The manipulator device for glass placement by using real-time deviation rectification of a vision system according to claim 1, characterized in that: product charging tray unloader is including upset secondary positioning mechanism (9), full charging tray material loading level (10), transfer transport move carry mechanism (11), charging tray secondary positioning mechanism (12), charging tray move carry transport mechanism (13) and empty charging tray material unloading level (14), full charging tray material loading level (10) are installed in the place ahead of charging tray secondary positioning mechanism (12), empty charging tray material unloading level (14) are installed in the rear of charging tray secondary positioning mechanism (12), upset secondary positioning mechanism (9) are installed in one side of charging tray secondary positioning mechanism (12), and with manipulator device (8) correspond the setting, transfer transport move carry mechanism (11) install on full charging tray material loading level (10) and charging tray secondary positioning mechanism (12) between, and with upset secondary positioning mechanism (9) correspond the setting, it installs material level (10) on full charging tray material to move carry transport mechanism (13), A tray secondary positioning mechanism (12) and an empty tray feeding position (14).

4. The manipulator device for glass placement by using real-time deviation rectification of a vision system according to claim 3, characterized in that: be equipped with on full charging tray material loading level (10) and pile up the mechanism of dividing the dish, it includes first jacking module (17), second jacking module (18), divides dish module (19), first riser (52) and first guide post (53) to pile up the mechanism of dividing the dish, material loading level (10) are installed in full charging tray in first riser (52), divide dish module (19) and first guide post (53) to install respectively in first riser (52) upper portion, install in first riser (52) lateral part about first jacking module (17) and second jacking module (18) are.

5. The manipulator device for glass placement by using real-time deviation rectification of a vision system according to claim 3, characterized in that: the tray secondary positioning mechanism (12) comprises a short-side reference pin (62), a long-side reference pin (61), a second vertical plate (54), a first long-side positioning module (22) and a first short-side positioning module (23), wherein the second vertical plate (54) is arranged on the large plate (3), the second vertical plate (54) comprises two vertical plates which are arranged on the large plate (3) at relative intervals, the short-side reference pin (62) is arranged on the first vertical plate, the first short-side positioning module (23) is arranged on the second vertical plate, the first short-side positioning module (23) and the short-side reference pin (62) are arranged oppositely, the first long-side positioning module (22) is arranged at the end part of one end of the second vertical plate (54), the long-side reference pin (61) is arranged at the end part of the other end of the second vertical plate (54), and the first long-side positioning module (22) and the long-side reference pin (61) are arranged oppositely, and the first long edge positioning module (22) and the first short edge positioning module (23) are vertically arranged.

6. The equipment for placing glass by using the manipulator to correct the deviation in real time through the vision system according to claim 3 is characterized in that: be equipped with empty tray stacked structure on empty tray unloading position (14), empty tray stacked structure includes third riser (55), second guide post (56), first lifting module (20) and non return mechanism (21), third riser (55) are installed on big board (3), second guide post (56) and non return mechanism (21) are installed respectively in third riser (55) upper portion, first lifting module (20) are installed in third riser (55) lateral part.

7. The manipulator device for glass placement by using real-time deviation rectification of a vision system according to claim 3, characterized in that: transfer transport moves and carries mechanism (11) and includes that stand (34), Z axle lift module (35), second vacuum chuck (36), Y axle transplant module (37), install on big board (3) stand (34), Y axle is transplanted module (37) and is installed on stand (34), Z axle lift module (35) can be installed on Y axle transplant module (37) along Y axle direction with sliding, second vacuum chuck (36) are installed in the output of Z axle lift module (35) to go up and down along Z axle direction through Z axle lift module (35) drive.

8. The manipulator device for glass placement by using real-time deviation rectification of a vision system according to claim 3, characterized in that: upset secondary positioning mechanism (9) are including long limit module (27), minor face module (28), first speed reducer (29), first servo motor (30) and returning face plate (57) of reforming, first servo motor (30) are installed on big board (3), the output in first servo motor (30) is installed in first servo motor (29), the output in first speed reducer (29) is installed in returning face plate (57), long limit module (27) of reforming is installed in the both ends of returning face plate (57), minor face module (28) of reforming is installed in the both sides of returning face plate (57), just long limit module (27) of reforming is perpendicular setting with minor face module (28) of reforming.

9. The manipulator device for glass placement by using real-time deviation rectification of a vision system according to claim 3, characterized in that: the tray moves and carries mechanism (13) including moving and carrying module (24), third jacking module (25) and fourth jacking module (26) interval are installed on moving and carrying module (24) to can move back and forth along the X axle direction on moving and carrying module (24).

10. The equipment for placing glass by using the manipulator to correct the deviation in real time through the vision system according to claim 1 is characterized in that: last unloader of pressure frame includes that empty pressure frame goes up material level (4), pressure frame secondary positioning mechanism (5), full material pressure frame down material level (6) and pressure frame move and carry transport mechanism (7), material level (4) are installed in the place ahead of pressure frame secondary positioning mechanism (5) on the empty pressure frame, full material pressure frame down material level (6) install in the rear of pressure frame secondary positioning mechanism (5), pressure frame moves and carries transport mechanism (7) and installs material level (4), pressure frame secondary positioning mechanism (5) and full material pressure frame down the both sides of material level (6) on the empty pressure frame, backlight (16) are installed in the top of pressure frame secondary positioning mechanism (5), the below in pressure frame secondary positioning mechanism (5) is installed in real time to module (15) of rectifying.

11. The manipulator device for glass placement by using real-time deviation rectification of a vision system according to claim 10, wherein the device comprises: pressurization frame secondary positioning mechanism (5) are including "mouthful" style of calligraphy base (58), second minor face location module (44), long limit reference block (45), rotatory cylinder (46), minor face reference block (47) and the long limit location module (48) of second, second minor face location module (44) and minor face reference block (47) are relative installation on the front and back both sides board of "mouthful" style of calligraphy base (58), long limit reference block (45) are relative installation on the left and right sides board of "mouthful" style of calligraphy base (58) with second long limit location module (48), rotatory cylinder (46) that compresses tightly is installed on the next door of long limit reference block (45).

12. The equipment for placing glass by using the manipulator to correct the deviation in real time through the vision system according to claim 10 is characterized in that: the pressurizing frame transfer and conveying mechanism (7) comprises a linkage transmission shaft (38), a second speed reducer (39), a second servo motor (40), a synchronous belt (41), a third lifting module (42), a clamping module (43), a sliding rail (59) and a sliding block (60), the slide rails (59) are arranged on two sides of the loading position (4) of the empty pressurizing frame, the secondary positioning mechanism (5) of the pressurizing frame and the unloading position (6) of the full-load pressurizing frame, and the sliding rails (59) at the two sides are both provided with sliding blocks (60), the sliding blocks (60) at the two sides are both linked with the linkage transmission shaft (38) through a synchronous belt (41), the linkage transmission shaft (38) is arranged at the output end of the second speed reducer (39), the second speed reducer (39) is arranged at the output end of the second servo motor (40), the third lifting module (42) is arranged on the sliding block (60), and the clamping module (43) is arranged at the output end of the third lifting module (42).

13. The manipulator device for glass placement by using real-time deviation rectification of a vision system according to claim 10, wherein the device comprises: the real-time deviation correcting module (15) comprises a CCD image sensor (49), a Y-axis module (50) and an X-axis module (51), wherein the CCD image sensor (49) can be slidably installed on the Y-axis module (50) along the Y-axis direction and is correspondingly arranged with a pressurizing frame secondary positioning mechanism (5) of a pressurizing frame loading and unloading device, and the Y-axis module (50) can be slidably installed on the X-axis module (51) along the X-axis direction.