CN218289544U - Frame type sucking disc assembly and grabbing device - Google Patents

Abstract

The utility model provides a frame-type sucking disc subassembly, which comprises a frame, install a plurality of image acquisition device and a plurality of suction nozzle subassembly on the frame, it is a plurality of image acquisition device is used for gathering the image and the positional information of each angle of product, and is a plurality of the suction nozzle subassembly is used for adsorbing the product. The utility model also provides a grabbing device including above-mentioned frame-type sucking disc subassembly. Frame-type sucking disc subassembly in this scheme can directly gather the positional information of each angle of product absorbing and placing the product in-process, is convenient for get put the position adjust well, has avoided getting to put and set up image acquisition device respectively, reduction equipment cost, improvement production efficiency.

Description

Frame type sucking disc assembly and grabbing device

Technical Field

The utility model belongs to the technical field of automation equipment, especially, relate to a frame-type sucking disc subassembly and grabbing device.

Background

When the automation device carries an object, a camera is generally used for positioning, so that the control device carries the object from a specified position to a specified position. In the prior art, cameras are respectively arranged at a product incoming material position and a product discharging position, collected position information is fed back to a controller, and then the controller calculates a running path of automation equipment, so that the running of the equipment is controlled. On one hand, due to the fact that position parameter references are different, a large error exists between a calculated path and an actual path, on the other hand, the installation of a camera possibly interferes the operation of automation equipment, the overall size of the equipment is prevented from being enlarged in interference design, the calculation precision of a motion track is improved, and the production efficiency is reduced.

Therefore, it is necessary to provide a chuck assembly and a gripping device which can improve the production efficiency and reduce the production cost.

SUMMERY OF THE UTILITY MODEL

The utility model provides a frame-type sucking disc subassembly and grabbing device, usable same camera improve work efficiency, reduction in production cost to supplied materials position and the accurate counterpoint of blowing position.

Other objects and advantages of the present invention can be further understood from the technical features disclosed in the present invention.

In order to achieve the above-mentioned purpose or other purposes, the utility model provides a frame-type sucking disc subassembly, include the frame, install a plurality of image acquisition devices and a plurality of suction nozzle subassembly on the frame, it is a plurality of the image acquisition device is used for gathering the image and the positional information of each angle of product, and is a plurality of the suction nozzle subassembly is used for adsorbing the product. Because the sucker component is provided with a plurality of image acquisition devices, the sucker component can directly acquire the position information of each corner of the product in the process of absorbing and placing the product. In the packing operation of the product, the image acquisition device can also acquire the position information of each corner of the packing box, thereby ensuring that the product is aligned with the position of the packing box and completing safe packing; under the condition that the requirement on the accuracy of the product placement position is high, the alignment position of each corner can be marked on the platform to be placed, so that each corner of the product is aligned with the marking position, and the position accuracy of the product is ensured.

The side of the frame is provided with a first sliding rail, and the suction nozzle assembly is slidably mounted on the first sliding rail through a first sliding assembly. The during operation can be according to the mounted position of adsorbing the position adjustment suction nozzle subassembly to the regulation is to the adsorption position of product, guarantees the reliable and stable of absorption operation.

The frame comprises a frame body and a first cross beam which are positioned on the same horizontal plane, a second slide rail is arranged on the frame body along the Y direction, and the first cross beam moves towards or away from the frame body along the second slide rail; a plurality of the image acquisition devices are installed on the first beam and the frame body. The distance of the relative support body of first crossbeam can be adjusted according to the difference of product corner Y to the distance during operation, makes this frame-type sucking disc subassembly be applicable to not unidimensional product.

In one possible embodiment, the first beam is driven by a Y-belt transport mechanism; the frame body is at least provided with two parallel longitudinal beams along the Y direction, the longitudinal beams extend to the outside of the frame body, the first cross beam is slidably mounted on the longitudinal beams, and the tail ends of the longitudinal beams are connected through a second cross beam; y to belt transport mechanism install in the support body with on the second crossbeam, first crossbeam with Y is connected to belt transport mechanism's belt. At the moment, the driving belt wheel rotates to enable the first cross beam to move along the second sliding rail, so that the distance between the image acquisition device on the first cross beam and the image acquisition device on the frame body is adjusted.

The frame body and the first cross beam are provided with a third slide rail along the X direction, and the image acquisition device is arranged on the third slide rail through a sliding assembly and a sliding assembly. The mounting position of the image acquisition device on the third slide rail can be adjusted according to different length and size of the product during working, so that the frame type sucker component is suitable for products with different lengths

At least one end of the third slide rail is provided with a flexible stop block for limiting, and the flexible stop block is installed on the frame body and the first cross beam to prevent the image acquisition device from separating from the third slide rail in the position adjustment process.

In a possible embodiment, the two sides of the frame body are slidably provided with second longitudinal beams for pushing the image acquisition device to slide in the X direction, the second longitudinal beams are driven by an X-direction belt conveying mechanism, the X-direction belt conveying mechanism is installed on the frame body, and the second longitudinal beams on the two sides are respectively connected with an upper belt and a lower belt to move in the opposite direction or in the opposite direction. At the moment, the driving belt wheel rotates, and the second longitudinal beam respectively pushes the image acquisition devices on the two sides to move in a face-to-face or back-to-back mode along the third sliding rail, so that the distance between the two image acquisition devices on the first cross beam is adjusted; if two image acquisition devices are arranged at corresponding positions on the frame body, the second longitudinal beam can also push the two image acquisition devices on the frame body simultaneously.

The image acquisition device comprises a connecting plate, a camera and a support, wherein the camera and the support are respectively connected to the two sides of the connecting plate, the support is connected to the second sliding assembly of the third sliding rail, and a through hole for the second longitudinal beam to pass through is formed in the support. The second longitudinal beam penetrates through the through hole, so that the second longitudinal beam can push the image acquisition device to move together when moving along the X direction; because the camera and the bracket are respectively connected to two sides of the connecting plate, when the first cross beam moves in the Y direction, the second longitudinal beam can penetrate through the bracket and does not interfere with the camera.

The suction nozzle assembly comprises a mounting plate, an extension plate and a suction rod, the mounting plate is connected to the frame, the suction rod is detachably mounted on one side of the extension plate, and the mounting plate is connected to the other side of the extension plate through a quick pressing piece. The quick pressing piece is convenient to install the extension plate and also convenient to adjust the included angle between the installation plate and the extension plate, so that the installation position of the suction rod is adjusted.

A grabbing device comprises the frame type sucker assembly, an X-direction moving mechanism, a Y-direction moving mechanism, a Z-direction moving mechanism and a rotating mechanism, wherein the X-direction moving mechanism, the Y-direction moving mechanism, the Z-direction moving mechanism and the rotating mechanism are used for driving the frame type sucker assembly to move, so that the frame type sucker assembly has X, Y, Z and rotational freedom degrees, and picking, placing and transferring of products can be completed.

Compared with the prior art, the beneficial effects of the utility model mainly include:

1. the utility model provides a frame-type sucking disc subassembly, through all setting up an image acquisition device corresponding to each corner of product on the frame, can directly gather the positional information of each corner of product in the process of absorbing and placing the product, be convenient for get put position adjust well, avoided getting to put and set up image acquisition device respectively in the position, reduce equipment cost, improve production efficiency;

2. the utility model provides a frame-type sucking disc subassembly, image acquisition device on the frame can adjust relative position in X, Y direction, can be applicable to the absorption of different products, improves the suitability.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a frame-type chuck assembly in the first and second embodiments of the present invention;

FIG. 2 is a top view of the frame chuck assembly of FIG. 1;

FIG. 3 is a schematic structural diagram of the image capturing device shown in FIG. 1;

FIG. 4 is a schematic view of the construction of the nozzle assembly of FIG. 1;

fig. 5 is a schematic structural view of a gripping device in a second embodiment of the present invention;

fig. 6 is a schematic structural diagram of a moving mechanism of the grasping apparatus in fig. 5.

Reference numerals: 1-frame, 11-frame body, 111-second sliding rail, 112-third sliding rail, 12-first cross beam, 13-first longitudinal beam, 14-second cross beam, 15-second longitudinal beam, 2-image acquisition device, 21-camera, 22-support, 221-through hole, 23-connecting plate, 3-suction nozzle component, 31-mounting plate, 32-extension plate, 33-suction rod, 34-quick pressing piece, 4-first sliding rail, 5-Y direction belt transmission mechanism, 6-X direction belt transmission mechanism, 100-X direction movement mechanism, 101-X direction motor, 102-X direction lead screw mounting frame, 200-Y direction movement mechanism, 201-Y direction motor, 300-Z direction movement mechanism, 301-Z direction motor, 302-Z direction lead screw mounting base, 303-lifting frame, 400-rotation mechanism, 401-rotation motor, 402-rotation plate, 500-panel, 501-FPC.

Detailed Description

The foregoing and other technical and scientific aspects, features and advantages of the present invention will be apparent from the following detailed description of a preferred embodiment, which is to be read in connection with the accompanying drawings. Directional terms as referred to in the following examples, for example: up, down, left, right, front or rear, etc., are referred to only in the direction of the attached drawings. Accordingly, the directional terminology is used for purposes of illustration and is in no way limiting.

The first embodiment is as follows:

the present embodiment provides a frame-type sucker assembly for use in a display panel boxing operation, which is shown in fig. 1 and 2, and includes a frame 1, an image capturing device 2 mounted on the frame 1, and a plurality of suction nozzle assemblies 3. The image acquisition device 2 is arranged at each of four corners of the frame 1, corresponds to the four corners of the display panel, and is used for acquiring images and position information of the four corners of the display panel, and the suction nozzle assembly 3 is used for adsorbing the upper surface of the display panel.

In the vanning operation, image acquisition device 2 gathers the positional information at four angles of display panel to judge display panel's supplied materials position, make suction nozzle subassembly 3 can adsorb display panel at the definite position, placing the in-process, image acquisition device 2 can real-time supervision display panel four corners and the packing box four corners condition of adjusting well, ensure that display panel puts into the packing box safely.

For other products with other numbers of corners, the image acquisition device 2 is installed at the corresponding position of the frame 1. For example, the frame 1 may be formed by two side-by-side frames, two image capturing devices 2 are mounted at two ends of one side of the frame 1, and another image capturing device 2 is mounted at another position of the other side of the frame 1, so that the three image capturing devices 2 correspond to three angular positions of the triangular product. For example, the frame 1 may be formed by three parallel sides of a pentagonal product, or a pentagonal frame may be formed such that five image capturing devices 2 correspond to five angular positions of the pentagonal product.

Example two:

the present embodiment provides a frame type chuck assembly, which is different from the first embodiment in that the position of the image capturing device 2 can be automatically adjusted to fit different sizes of display panels.

Referring to fig. 1 and 2, the frame 1 includes a frame body 11 and a first beam 12 located on the same horizontal plane, a second slide rail 111 is disposed on the frame body 11 along the Y direction, and the first beam 12 moves towards or away from the frame body 11 along the second slide rail 111; the four image capturing devices 2 are respectively mounted at two ends of the first beam 12, and two ends of the frame body 11 away from the first beam 12. When the first beam 12 moves towards or away from the frame 11 along the second slide rail 111, the two image capturing devices 2 on the first beam 12 move towards or away from the frame 11, and the distance between the two image capturing devices 2 on the frame 11 changes to adapt to the width size of the display panel.

In the present embodiment, the first beam 12 is driven by the Y-direction belt conveying mechanism 5; two parallel longitudinal beams 13 are arranged on the frame body 11 along the Y direction, the longitudinal beams 13 extend to the outside of the frame body 11, the first cross beam 12 is slidably mounted on the longitudinal beams 13, and the tail ends of the longitudinal beams 13 are connected through the second cross beam 14; the Y-direction belt conveying mechanism 5 is mounted on the frame body 11 and the second beam 14. Specifically, the driving wheel of the Y-direction belt conveying mechanism 5 is mounted on the frame body 11, the driven wheel is mounted on the second beam 14, the driving motor is also mounted on the frame body 11 for driving the driving wheel to rotate, and the first beam 12 moves along with the driving wheel in the belt conveying process. When the length of the first cross beam 12 in the X direction is large, the number of the longitudinal beams 13 can be increased, and the second sliding rails 111 are arranged on the longitudinal beams 13, so that the moving stability of the first cross beam 12 is improved. In other embodiments, the Y-direction movement of the first beam may be driven by other movement mechanisms, for example, the first beam 12 is connected to a nut of a screw pair, and the Y-direction movement of the first beam is driven by the screw pair.

In order to realize the X-direction movement of the image capturing device 2 and adapt to the length of the display panel, a third slide rail 112 is arranged on the frame body 11 and the first beam 12 along the X-direction, and the image capturing device 2 is slidably mounted on the third slide rail 112 through a second sliding assembly.

In the present embodiment, the X-direction movement of the image pickup device 2 is driven by the X-direction belt conveying mechanism 6. The two sides of the frame body 11 are slidably provided with second longitudinal beams 15 for pushing the image acquisition device 2X to slide, the second longitudinal beams 15 are driven by the belt conveying mechanism 6 through X, the belt conveying mechanism 6 is installed on the frame body 11 through X, and the second longitudinal beams 15 on the two sides are respectively connected with an upper belt and a lower belt to move in opposite directions or back to back. Specifically, as shown in fig. 3, the image capturing device 2 includes a connecting plate 23, and a camera 21 and a bracket 22 respectively connected to two sides of the connecting plate 23, the bracket 22 is connected to the second sliding component of the third sliding rail 112, and the bracket 22 is provided with a through hole 221 for the second longitudinal beam 15 to pass through. When the apparatus is mounted, the second longitudinal beam 15 passes through the through hole 221, and the image pickup device 2 is pushed to move by the drive of the X-direction belt transport mechanism 6. Because the camera 21 and the bracket 22 are respectively located at two sides of the connecting plate 23, when the first cross beam 12 moves in the Y direction, the second longitudinal beam 15 passes through the through hole 221, so that the Y-direction movement of the first cross beam 12 cannot be interfered, and the interference with the camera cannot be caused. Likewise, in other embodiments, the X-direction movement of the image capturing device 2 may be driven by other linear movement mechanisms.

As the sizes of the display panels are different, the movement of the image acquisition device 2 may cause the position adjustment or disassembly of the suction nozzle assembly 3, as shown in fig. 1 and 4, the side surface of the frame 1 is provided with a first slide rail 4, the suction nozzle assembly 3 is slidably mounted on the first slide rail 4 through a first slide assembly, and the position of the suction nozzle assembly 3 can be adjusted; suction nozzle subassembly 3 including connect in mounting panel 31, extension board 32 and the pole 33 of inhaling on the sliding assembly one, inhale pole 33 demountable installation in extension board 32 one side, can install the pole quantity as required, mounting panel 31 connects in extension board 32 opposite side through fast casting die 34, not only convenient dismantlement, can also the contained angle of quick adjustment extension board 32 and mounting panel 31 to adjust the suction position of inhaling pole 33.

In order to ensure the safety of movement, the flexible stoppers 113 for limiting are disposed at two ends of the first slide rail 4, the second slide rail 111, and the third slide rail 112, the flexible stoppers 113 are mounted on the frame body 11 and the first cross beam 12, and when there is another blocking structure at one end of the first slide rail 4, the second slide rail 111, and the third slide rail 112, such as a profile structure forming the frame 1, the flexible stoppers 113 only need to be disposed at the other end.

For products with other numbers of corners, such as triangular products, two image acquisition devices 2 can be arranged on the frame body 11, one image acquisition device 2 is arranged on the first beam 12, and the movement in the X direction and the Y direction is the same as the method; for example, pentagonal product can set up two image acquisition device 2 on support body 11, and the number that increases first crossbeam 12 is two, increases Y simultaneously to 5 and X of belt conveyor 6's quantity to belt conveyor, realizes each image acquisition device 2's position control. And so on to other polygonal products.

Example three:

this embodiment provides a gripping device, as shown in figure 5, which comprises the above-mentioned frame chuck assembly, and an X-direction motion mechanism 100, a Y-direction motion mechanism 200, a Z-direction motion mechanism 300 and a rotation mechanism 400 for driving the frame chuck assembly to move, so that the frame chuck assembly has X, Y, Z and rotational degrees of freedom. Taking the transportation of the display panel 500 with one end connected with the FPC 501 as an example, the frame 1 is provided with a row of suction nozzle assemblies 3 for sucking the FPC 501, and is also provided with a plurality of rows of suction nozzle assemblies 3 for sucking the panel 500, and the suction nozzle assemblies are arranged as required in actual production to ensure the reliability of the suction.

With reference to fig. 6, the specific structure for realizing X, Y, Z and rotational degrees of freedom is: the frame 1 is connected to a rotating plate 402, and the rotating plate 402 is driven by a rotating motor 401; the rotating motor 401 is installed on the lifting frame 303, the lifting frame 303 is driven by a lead screw pair to perform lifting movement, and the lead screw pair is located in the Z-direction lead screw installation frame 302 and is driven by the Z-direction motor 301; the Z-direction screw rod mounting rack 302 is driven by a screw rod pair to move in the X direction, wherein the screw rod pair is positioned in the X-direction screw rod mounting rack 102 and is driven by an X-direction motor 101, a Y-direction motor 201 is installed on the side surface of the X-direction screw rod mounting rack 102, a gear is connected to a motor shaft of the Y-direction motor 201, a rack meshed with the gear is arranged on a rack body (not shown in the figure) of the equipment, and the Y-direction motor 201 rotates to enable the X-direction screw rod mounting rack 102 to move along the rack in the Y direction.

It should be noted that the X direction, the Y direction, and the Z direction used in the above description are only for convenience of describing the relative relationship of the movement directions, and do not represent the spatial division on the horizontal plane, that is, the X direction may represent a direction parallel to the horizontal plane, or may represent a direction having a certain inclination angle with the horizontal plane.

It is right above the utility model provides a frame-type sucking disc subassembly and grabbing device introduces in detail, and this paper only uses specific individual example right the utility model discloses a structure and theory of operation have been expounded, and the explanation of above embodiment is only used for helping to understand the utility model discloses a method and core thought. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of the claims of the present invention.

Claims (10)

1. A frame type sucker component is characterized by comprising a frame (1), wherein a plurality of image acquisition devices (2) and a plurality of suction nozzle components (3) are installed on the frame (1), the plurality of image acquisition devices (2) are used for acquiring images and position information of all corners of a product, and the plurality of suction nozzle components (3) are used for adsorbing the product.

2. A frame-type chuck assembly according to claim 1, wherein the frame (1) is provided with a first slide rail (4) at a side thereof, and the suction nozzle assembly (3) is slidably mounted on the first slide rail (4) by a slide assembly.

3. A frame type sucker assembly according to claim 1, wherein the frame (1) comprises a frame body (11) and a first beam (12) on the same horizontal plane, the frame body (11) is provided with a second sliding rail (111) along the Y direction, the first beam (12) moves towards or away from the frame body (11) along the second sliding rail (111); the image acquisition devices (2) are arranged on the first cross beam (12) and the frame body (11).

4. A frame chuck assembly according to claim 3, wherein said first beam (12) is driven by a Y-belt conveyor (5); at least two parallel longitudinal beams (13) are arranged on the frame body (11) along the Y direction, the longitudinal beams (13) extend to the outside of the frame body (11), the first cross beam (12) is slidably mounted on the longitudinal beams (13), and the tail ends of the longitudinal beams (13) are connected through a second cross beam (14); y to belt conveyor (5) install in support body (11) with on second crossbeam (14), first crossbeam (12) with Y is connected to belt conveyor (5)'s belt.

5. A frame-type chuck assembly according to claim 3, wherein a third slide rail (112) is disposed on the frame body (11) and the first beam (12) along the X-direction, and the image capturing device (2) is slidably mounted on the third slide rail (112) via a second slide assembly.

6. A frame chuck assembly according to claim 5, wherein at least one end of the third slide rail (112) is provided with a flexible stop (113) for limiting, the flexible stop (113) is mounted on the frame body (11) and the first beam (12).

7. A frame-type chuck assembly according to claim 5, wherein the frame body (11) is provided with a second longitudinal beam (15) on both sides thereof for pushing the image capturing device (2) to slide in X direction, the second longitudinal beam (15) is driven by an X-direction belt transmission mechanism (6), the X-direction belt transmission mechanism (6) is installed on the frame body (11), and the second longitudinal beams (15) on both sides thereof are respectively connected with an upper belt and a lower belt for moving in opposite directions or in reverse directions.

8. A frame chuck assembly according to claim 7, wherein the image capturing device (2) comprises a connecting plate (23) and a camera (21) and a bracket (22) respectively connected to two sides of the connecting plate (23), the bracket (22) is connected to the second sliding assembly of the third sliding rail (112), and the bracket (22) is provided with a through hole (221) for the second longitudinal beam (15) to pass through.

9. A frame-type chuck assembly according to claim 1, wherein the suction nozzle assembly (3) comprises a mounting plate (31) attached to the frame (1), an extension plate (32) and a suction rod (33), the suction rod (33) being detachably mounted on one side of the extension plate (32), the mounting plate (31) being attached to the other side of the extension plate (32) by a snap press (34).

10. A gripping arrangement comprising a frame chuck assembly according to any one of claims 1 to 9 and an X-direction movement mechanism (100), a Y-direction movement mechanism (200), a Z-direction movement mechanism (300) and a rotation mechanism (400) for driving movement of the frame chuck assembly.

Images