CN218808993U

CN218808993U - Robot vision positioning snatchs mechanism

Info

Publication number: CN218808993U
Application number: CN202223326949.XU
Authority: CN
Inventors: 陈华民
Original assignee: Wanjing Plastic Products Shenzhen Co ltd
Current assignee: Wanjing Plastic Products Shenzhen Co ltd
Priority date: 2022-12-09
Filing date: 2022-12-09
Publication date: 2023-04-07
Anticipated expiration: 2032-12-09

Abstract

The utility model discloses a robot vision positioning snatchs mechanism, the on-line screen storage device comprises a base, the mounting bracket is installed to the top surface of base, top surface one side mount table of mounting bracket, six robots are installed through the bolt to the top surface of mount table, the board in a poor light is installed to work frame's top surface, the supporting component who is used for placing clothes hanger is installed to the top surface of board in a poor light, the fixed plate is installed to six robots's manipulator, the vision camera is installed to top surface one side of fixed plate, the through-hole has been seted up to the top surface of fixed plate, the internally mounted of through-hole has the clamp material subassembly that is used for centre gripping clothes hanger, can shift the six robots of different stations with clothes hanger through installing on the mount bracket, and through installing the clamp material subassembly to the model of difference on the manipulator at six robots, and discern the clothes hanger position through vision camera cooperation board in a poor light, thereby can press from both sides the clothes hanger through six robots and get the transfer, replace the in-process that artifical shifted, the manpower is saved greatly.

Description

Robot vision positioning snatchs mechanism

Technical Field

The utility model relates to a plastic clothes hanger automation equipment technical field specifically is a robot vision positioning snatchs mechanism.

Background

The bin positioning device used by the conventional plastic clothes hanger automation equipment is of a guide rod type, and one common bin can only use one clothes hanger product, so that one piece of equipment cannot be compatible with clothes hanger models in other different shapes, and the clothes hangers can be placed by hands, so that the manufacturing labor cost is high.

Through retrieval, in the prior art, the Chinese patent application number: CN202011050485.7 discloses a clothes hanger production device, which is characterized in that the clothes hanger body positioning mechanism is arranged through a base, a clothes hanger body positioning mechanism, a water gap cutting mechanism, an inserting mechanism and a manipulator mechanism, and the manipulator mechanism is used for positioning the clothes hanger body and clamping and transferring the clothes hanger body to other mechanisms better; the arrangement of the water gap cutting mechanism replaces the manual water gap cutting work, so that the production efficiency is improved; the arrangement of the inserting mechanism can enable the clothes hook to be inserted into the clothes hanger body, and the manual operation of inserting the clothes hook is replaced.

However, the device still has the following defects:

after the clothes hangers are produced, the problem that the clothes hangers are inconvenient to transfer in the transferring process between different processing stations is also lacked, and the problem that one device is compatible with other clothes hanger models with different shapes is also not solved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot vision positioning snatchs mechanism to propose the transfer problem that clothes hanger shifted and different model clothes hangers in solving above-mentioned background art.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a robot vision positioning snatchs mechanism, includes the base, the mounting bracket is installed to the top surface of base, top surface one side mount table of mounting bracket, six robots are installed through the bolt to the top surface of mount table, work frame is installed to the top surface opposite side of mounting bracket, the board in a poor light is installed to work frame's top surface, the supporting component who is used for placing clothes hanger is installed to the top surface of board in a poor light, the fixed plate is installed to six robots's manipulator, the vision camera is installed to top surface one side of fixed plate, the through-hole has been seted up to the top surface of fixed plate, the internally mounted of through-hole has the double-layered material subassembly that is used for centre gripping clothes hanger.

Preferably, the clamping assembly comprises a sucker which is fixedly installed on the through hole through a nut, and an air tap used for connecting an air pump is arranged above the sucker.

Preferably, press from both sides the material subassembly and include screw rod, mounting panel, cylinder, punch holder and lower plate, screw rod fixed connection is on the top surface of mounting panel, the cylinder is installed to the lateral wall top of mounting panel, the piston rod of cylinder is installed mutually with the top surface of diaphragm, the bottom surface and the punch holder of diaphragm install mutually, the lateral wall looks sliding connection of punch holder and mounting panel, the lower plate passes through screw fixed mounting on the lateral wall of mounting panel.

Preferably, the lateral wall of mounting panel has seted up the spacing groove, the one end fixedly connected with slider that the punch holder is close to the mounting panel, the inside sliding connection of slider and spacing groove.

Preferably, the bottom surface of one side of the upper clamping plate, which is far away from the installation mounting plate, and the top surface of the lower clamping plate are both bonded with anti-slip pads.

Preferably, the screw rod passes through the through hole and is fixed on the fixing plate through a nut.

Preferably, the supporting component comprises a first supporting frame, a second supporting frame and a third supporting frame, the top of the first supporting frame and the bottom of one side of the second supporting frame are fixedly installed through a connecting rod, the bottom of the other side of the second supporting frame and the bottom of the third supporting frame are fixedly installed through a connecting rod, and the connecting rod is obliquely arranged to form a clamping groove for placing the clothes hanger.

Preferably, the first support frame, the second support frame and the third support frame each comprise a vertical part, a horizontal part and a circular waist ring groove, the vertical part and the horizontal part are welded, the vertical part and the horizontal part form an L-shaped structure, and the surface of the horizontal part is provided with the circular waist ring groove.

Preferably, rubber pads are arranged between the backlight plate and the working frame and positioned at four corners.

Compared with the prior art, the beneficial effects of the utility model are that:

can shift the six robots of different stations with clothes hanger through the installation on the mount frame to through the double-layered material subassembly of installation to different models on the manipulator at six robots, and discern the clothes hanger position through vision camera cooperation backlight board, thereby can press from both sides the branch to clothes hanger through six robots, replace the in-process that artifical transfer, use manpower sparingly greatly.

The width of the supporting component can be adjusted by installing the supporting component on the working block frame, so that the length of the two clothes support rods of clothes hangers of different models can be adjusted, and meanwhile, the clamping grooves formed by the connecting rods, the first supporting frame, the second supporting frame and the third supporting frame can also be used for adapting to the clothes hangers of different models, so that the universality of the grabbing mechanism is improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

Fig. 1 is a schematic view of the overall structure of the robot vision positioning and grabbing mechanism of the present invention;

fig. 2 is an enlarged schematic structural view of a point a in fig. 1 according to the present invention;

fig. 3 is a schematic structural view of the support assembly of the present invention;

fig. 4 is a schematic structural view of the material clamping assembly of the present invention.

In the figure: 1. a base; 2. a mounting frame; 3. a six-axis robot; 4. a working frame; 5. a backlight plate; 6. a vision camera; 7. a suction cup; 8. a fixing plate; 9. a through hole; 10. an air tap; 11. a first support frame; 111. a vertical portion; 112. a horizontal portion; 113. a waist ring groove; 114. a second support frame; 115. a connecting rod; 116. a third support frame; 12. a rubber pad; 13. an installation table; 14. mounting a plate; 15. a screw; 16. a cylinder; 17. a transverse plate; 18. an upper splint; 19. a lower splint; 20. a non-slip mat; 21. a limiting groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Referring to fig. 1 to 4, the present invention provides an embodiment:

example 1

The utility model provides a mechanism is snatched in robot visual positioning, the on-line screen storage device comprises a base 1, mounting bracket 2 is installed to base 1's top surface, top surface one side mount table 13 of mounting bracket 2, six robots 3 are installed through the bolt to the top surface of mount table 13, work frame 4 is installed to the top surface opposite side of mounting bracket 2, the board 5 in a poor light is installed to work frame 4's top surface, the supporting component who is used for placing clothes hanger is installed to the top surface of board 5 in a poor light, fixed plate 8 is installed to six robots 3's manipulator, vision camera 6 is installed to top surface one side of fixed plate 8, through-hole 9 has been seted up to the top surface of fixed plate 8, the internally mounted of through-hole 9 has the double-layered material subassembly that is used for centre gripping clothes hanger.

Press from both sides the material subassembly and include sucking disc 7, sucking disc 7 passes through nut fixed mounting on through-hole 9, and the top of sucking disc 7 is equipped with the air cock 10 that is used for connecting the air pump, is connected with the air pump through air cock 10 cooperation trachea, and then through control air pump to make sucking disc 7 can produce suction or relieve suction.

In-process of specific work, the vision camera 6 on the manipulator through six robots 3 moves the top of the work frame 4 of placing clothes hanger, the clothes hanger profile is shone out to 5 light in a poor light, the camera discerns clothes hanger appearance profile through shooing, give the controller with data transfer, the manipulator of six robots 3 of controller control moves down, sucking disc 7 on fixed plate 8 through, adsorb on clothes hanger's on the surface, then the manipulator rebound of six robots 3 of control, and then can be under the rotation of six robots 3, and put clothes hanger and process on the next station.

As a technical optimization scheme, the supporting component is including first support frame 11, second support frame 114 and third support frame 116, connecting rod 115 fixed mounting is passed through to the top of first support frame 11 and one side bottom of second support frame 114, connecting rod 115 fixed mounting is passed through with the bottom of third support frame 116 to the opposite side bottom of second support frame 114, connecting rod 115 sets up for the slope and constitutes the double-layered groove of placing clothes hanger, two clothing vaulting poles of clothes hanger can be placed respectively in the double-layered groove of constitution, in order to carry out equidistant placing on the board 5 in a poor light of work frame 4 for a plurality of clothes hangers, so that six axis robot 3 snatchs.

The first support frame 11, the second support frame 114 and the third support frame 116 comprise vertical parts 111, horizontal parts 112 and circular waist-shaped ring grooves 113, the vertical parts 111 are welded with the horizontal parts 112, the vertical parts 111 and the horizontal parts 112 form an L-shaped structure, circular waist-shaped grooves are formed in the surfaces of the horizontal parts 112, the clothes hanger can be suspended on the backlight plate 5, meanwhile, the distance between the two pairs of the first support frame 11, the second support frame 114 and the third support frame 116 can be adjusted through the track-shaped grooves of the circular waist-shaped ring grooves 113, so that the clothes hanger can be adjusted according to the length of a clothes supporting rod of the clothes hanger, and particularly, after the adjusting positions are unscrewed through bolts, the clothes hanger is screwed and fixed.

As a technical optimization scheme of the utility model, just be located four corners and all install rubber pad 12 between board 5 in a poor light and the work frame 4 to reduce frictional force between board 5 in a poor light and the work frame 4, the pressure of buffering manipulator to board 5 in a poor light.

Example 2

On the basis of the embodiment 1, the clamping assembly can also replace the following clamping assembly to perform grabbing and transferring on the clothes rack.

Press from both sides the material subassembly and include screw rod 15, mounting panel 14, cylinder 16, punch holder 18 and lower plate 19, screw rod 15 fixed connection is on mounting panel 14's top surface, cylinder 16 is installed to mounting panel 14's lateral wall top, cylinder 16's piston rod and the top surface of diaphragm 17 are installed mutually, the bottom surface and the punch holder 18 of diaphragm 17 are installed mutually, punch holder 18 and mounting panel 14's lateral wall looks sliding connection, lower plate 19 passes through screw fixed mounting on mounting panel 14's lateral wall, spacing groove 21 has been seted up to mounting panel 14's lateral wall, the one end fixedly connected with slider that punch holder 18 is close to mounting panel 14, the inside sliding connection of slider and spacing groove 21, the one side bottom surface that mounting panel 14 was kept away from to punch holder 18 and the top surface of lower plate 19 all bond and have slipmat 20, screw rod 15 passes through-hole 9 and is fixed in on fixed plate 8 through the nut.

During specific work, the air pump connected through the air cylinder 16 controls the extension and contraction of the piston rod of the air cylinder 16, when the piston rod of the air cylinder 16 extends, the upper clamp plate 18 can be close to the lower clamp plate 19, meanwhile, the sliding block can slide in the limiting groove 21, and due to the fact that the distance between the upper clamp plate 18 and the lower clamp plate 19 is reduced, the manipulator moving position of the six-axis robot 3 can be achieved, the clothes hanger is located between the upper clamp plate 18 and the lower clamp plate 19, the clothes hanger can be clamped, and the clothes hanger can be transferred.

The control mode of the present application is automatically controlled by a controller, the control circuit of the controller can be realized by simple programming by those skilled in the art, and the present application belongs to the common knowledge in the field, and the present application mainly protects the mechanical device, so the present application does not explain the control mode and the circuit connection in detail.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a mechanism is snatched in robot vision positioning, includes base (1), its characterized in that: mounting bracket (2) are installed to the top surface of base (1), top surface one side mount table (13) of mounting bracket (2), six robots (3) are installed through the bolt to the top surface of mount table (13), work frame (4) are installed to the top surface opposite side of mounting bracket (2), board (5) in a poor light is installed to the top surface of work frame (4), the supporting component who is used for placing clothes hanger is installed to the top surface of board (5) in a poor light, fixed plate (8) are installed to the manipulator of six robots (3), vision camera (6) are installed to top surface one side of fixed plate (8), through-hole (9) have been seted up to the top surface of fixed plate (8), the internally mounted of through-hole (9) has the clamp material subassembly that is used for centre gripping clothes hanger.

2. The robot vision positioning and grabbing mechanism of claim 1, characterized by: the material clamping assembly comprises a sucker (7), the sucker (7) is fixedly installed on the through hole (9) through a nut, and an air nozzle (10) used for being connected with an air pump is arranged above the sucker (7).

3. The robot vision positioning and grabbing mechanism of claim 1, characterized in that: press from both sides the material subassembly and include screw rod (15), mounting panel (14), cylinder (16), punch holder (18) and lower plate (19), screw rod (15) fixed connection is on the top surface of mounting panel (14), cylinder (16) are installed to the lateral wall top of mounting panel (14), the piston rod of cylinder (16) is installed mutually with the top surface of diaphragm (17), the bottom surface and punch holder (18) of diaphragm (17) are installed mutually, punch holder (18) and the lateral wall looks sliding connection of mounting panel (14), lower plate (19) are through screw fixed mounting on the lateral wall of mounting panel (14).

4. The robot vision positioning and grabbing mechanism of claim 3, characterized in that: spacing groove (21) have been seted up to the lateral wall of mounting panel (14), one end fixedly connected with slider that mounting panel (14) are close to in punch holder (18), the inside sliding connection of slider and spacing groove (21).

5. The robot vision positioning and grabbing mechanism of claim 4, wherein: the bottom surface of one side of the upper clamping plate (18) far away from the mounting plate (14) and the top surface of the lower clamping plate (19) are both bonded with anti-skid pads (20).

6. The robot vision positioning and grabbing mechanism of claim 3, characterized in that: the screw (15) penetrates through the through hole (9) and is fixed on the fixing plate (8) through a nut.

7. The robot vision positioning and grabbing mechanism of claim 1, characterized in that: the supporting part comprises a first supporting frame (11), a second supporting frame (114) and a third supporting frame (116), the top of the first supporting frame (11) and the bottom of one side of the second supporting frame (114) are fixedly installed through a connecting rod (115), the bottom of the other side of the second supporting frame (114) and the bottom of the third supporting frame (116) are fixedly installed through a connecting rod (115), and the connecting rod (115) is obliquely arranged to form a clamping groove for placing the clothes hanger.

8. The robotic vision positioning and grasping mechanism of claim 7, wherein: the first support frame (11), the second support frame (114) and the third support frame (116) respectively comprise a vertical portion (111), a horizontal portion (112) and a circular waist-shaped ring groove (113), the vertical portion (111) is welded with the horizontal portion (112), the vertical portion (111) and the horizontal portion (112) form an L-shaped structure, and the surface of the horizontal portion (112) is provided with the circular waist-shaped groove.

9. The robot vision positioning and grabbing mechanism of claim 1, characterized in that: rubber pads (12) are arranged between the backlight plate (5) and the working frame (4) and positioned at four corners.