Automatic rotary jet printing equipment based on visual system

Abstract

The invention provides automatic rotary jet printing equipment based on a visual system, and relates to the technical field of automatic jet printing. The manipulator clamping and rotating mechanism is fixed on the frame and is used for clamping and carrying the to-be-jet-printed part; the tray mechanism is fixed on the frame and is used for placing a part to be subjected to jet printing; the visual mechanism is fixed on the frame and is used for identifying the position of the part to be jet-printed; and the jet printing mechanism is fixed on the frame and is used for carrying out jet printing on the to-be-jet-printed part. The jet printing equipment is provided with the mechanical arm clamping and rotating mechanism capable of achieving automatic feeding, the visual mechanism capable of recognizing the positions of the parts and the jet printing mechanism capable of conducting jet printing, the equipment is full-automatic equipment, manual operation is not needed, safety and stability are achieved, and the problems that manual assembling is low in efficiency and large in workload are solved. The assembly period of part jet printing identification is greatly shortened, the part assembly consistency is improved, and the production failure rate is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of automatic printing, and in particular provides an automatic rotating printing device based on a vision system. Background Art

[0002] Currently, in Figure 1 The printing of the markings on the parts to be printed is performed manually, which has low production efficiency. In addition, due to the large production batch of parts and the long working hours of operators, problems such as excessive fatigue strength are caused. At the same time, the position and size of the printed mark need to be relatively precise. Manual operation can easily cause problems such as skewed mark position and poor consistency, which affects the subsequent assembly of parts.

[0003] Therefore, it is necessary to provide an automatic printing device that can replace manual work to replace the existing manual operation, so as to improve equipment efficiency and quality consistency. Summary of the invention

[0004] The purpose of the present application is to provide an automatic rotary printing device based on a visual system to solve the problems of poor consistency and low precision of manual operation in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] An automatic rotating printing device based on a visual system, the printing device comprising:

[0007] frame;

[0008] The manipulator grips the rotating mechanism, which is fixed on the frame and is used to grip and carry the parts to be printed;

[0009] The tray mechanism is fixed on the frame and is used to place the parts to be printed;

[0010] A vision mechanism, fixed to the frame, for identifying the location of the part to be printed; and

[0011] The printing mechanism is fixed on the frame and is used for printing the parts to be printed.

[0012] The automatic rotary printing device based on the visual system provided by the present invention also has the following characteristics: the manipulator clamping and rotating mechanism includes a manipulator fixed base fixed to the frame, a manipulator fixed on the manipulator fixed base, and a servo electric clamp for grasping the parts to be printed.

[0013] The automatic rotary printing device based on the visual system provided by the present invention also has the following characteristics: the manipulator is a four-axis manipulator, and the servo electric gripper is also provided with gripper fingers for rotating the parts to be printed.

[0014] The automatic rotary printing device based on the visual system provided by the present invention also has the following characteristics: the material tray mechanism includes a material tray base fixed on the frame, a material tray for placing parts to be sprayed, a guide shaft for adjusting the position of the material tray, a material tray connecting block for connecting the material tray and the guide shaft, and a flange mounting plate for fixing the guide shaft on the material tray base.

[0015] The automatic rotary printing device based on a visual system provided by the present invention also has the feature that the material tray is provided with a material tray aperture matching the shape of the part to be printed.

[0016] The automatic rotary printing device based on a visual system provided by the present invention also has the characteristic that the aperture of the material tray is not less than 18.

[0017] The automatic rotary printing device based on the visual system provided by the present invention also has the following feature: the visual mechanism includes a position acquisition device for acquiring the position of the part to be printed.

[0018] The automatic rotating printing equipment based on the visual system provided by the present invention also has the following characteristics: the position acquisition device is a camera, and the visual mechanism also includes a light source for filling light for the camera, a single-axis driver for moving the position of the light source, and a connecting plate for connecting the light source to the single-axis driver.

[0019] The automatic rotating printing device based on the visual system provided by the present invention also has the following characteristics: the printing mechanism also includes a base connected to the frame, a nozzle for printing the parts to be printed, a nozzle base and a nozzle pressing plate for fixing the nozzle, and a vertical plate for fixing the nozzle base to the base.

[0020] The automatic rotary printing device based on the visual system provided by the present invention also has the feature that an indicator light, a fan and a glass plate are also arranged outside the frame.

[0021] Beneficial Effects

[0022] Compared with the prior art, the present invention has the following beneficial effects: the automatic rotary printing device based on the visual system provided by the present invention has a manipulator clamping and rotating mechanism capable of automatic loading, a visual mechanism capable of identifying the position of parts, and a printing mechanism capable of printing. The device is a fully automatic device, does not require manual operation, is safe and stable, and solves the problems of low manual assembly efficiency and heavy workload. It greatly reduces the assembly cycle of part printing identification, improves the consistency of part assembly, and reduces the production failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a schematic diagram of the structure of the part to be printed;

[0025] Figure 2 is a structural schematic diagram of an automatic rotary printing device based on a visual system provided in an embodiment of the present invention;

[0026] Figure 3 yes Figure 2 A schematic diagram of the structure of the device shown without the outer cover;

[0027] Figure 4 is a schematic diagram of a framework structure in an embodiment of the present invention;

[0028] Figure 5 is a structural schematic diagram of a manipulator clamping and rotating mechanism in an embodiment of the present invention;

[0029] Figure 6 is a schematic structural diagram of a material tray mechanism in an embodiment of the present invention;

[0030] Figure 7 is a schematic diagram of the structure of the visual mechanism in an embodiment of the present invention;

[0031] Figure 8 It is a schematic diagram of the structure of the printing mechanism in an embodiment of the present invention.

[0032] Among them, 1: part to be printed; 11: main key; 12: position to be printed; 2: frame; 21: caster; 22: door panel; 23: safety grating; 24: indicator light; 25: folding; 26: handle; 27; fan; 3: manipulator clamping and rotating mechanism; 31: manipulator fixed base; 32: manipulator; 33: servo electric gripper; 34: gripper finger; 4: tray mechanism; 41: tray; 42: tray connecting block; 43: flange mounting plate; 44: guide shaft; 5: visual mechanism; 51: camera; 52: light source; 53: light source mounting plate; 54: connecting plate; 55: single-axis drive 6: printing mechanism; 61: nozzle; 62: nozzle pressure plate; 63: nozzle base; 64: vertical plate; 65: base. DETAILED DESCRIPTION

[0033] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.

[0034] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the creation of the present application.

[0035] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0036] The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention of this application can be understood by specific circumstances.

[0037] like Figure 1 As shown, it is a schematic structural diagram of the part 1 to be printed.

[0038] like Figure 2-8 As shown, an embodiment of the present application provides an automatic rotary printing device based on a visual system, and the printing device includes: a frame 2; a manipulator clamping and rotating mechanism 3, fixed on the frame 2, for clamping the part 1 to be printed and carrying the part 1 to be printed; a material tray mechanism 4, fixed on the frame 3, for placing the part 1 to be printed; a visual mechanism 5, fixed on the frame 2, for identifying the position of the part 1 to be printed; and a printing mechanism 6, fixed on the frame 2, for printing the part 1 to be printed.

[0039] In the above embodiment, the device is mainly composed of a device frame 2, a manipulator clamping and rotating mechanism 3, a tray mechanism 4, a visual mechanism 5, and a printing mechanism 6. The part 1 to be printed is placed on the tray mechanism 4, and the manipulator clamping and rotating mechanism 3 clamps the part 1 to be printed on the tray mechanism 4 to the working range of the visual mechanism 5. The visual mechanism 5 determines the placement of the part 1 to be printed, and transmits the placement data to the manipulator clamping and rotating mechanism 3. The manipulator clamping and rotating mechanism 3 clamps the part 1 to be printed again according to the received data, and transmits it to the working range of the printing mechanism 6 for printing. The automatic rotary printing based on the visual system realized by the device greatly improves the assembly efficiency. The semi-automatic operation of the equipment reduces the requirements for operating proficiency and greatly improves the quality consistency.

[0040] In some embodiments, the robot clamping and rotating mechanism 3 includes a robot fixed base 31 for fixing to the frame 2, a robot 32 fixed to the robot fixed base 31, and a servo electric clamp 33 for clamping the part 1 to be printed.

[0041] In the above embodiment, the manipulator 32 clamps the part 1 to be printed on the tray mechanism 4, and moves it to the recognition position of the visual mechanism 5 for recognition. After recognition and clamping in a certain orientation, the part 1 to be printed is moved to the printing position. The clamping orientation of the secondary clamping is selected to ensure that when the part 1 to be printed is moved to the printing position, the nozzle of the printing mechanism 6 faces the printing position 12 of the part 1 to be printed. After the printing is completed, the clamped part is placed back to the material collection position. The manipulator 32 needs to be selected with high repeatability and positioning accuracy, and the accuracy can reach ±0.01mm to ensure the success rate of material collection and transportation.

[0042] In some embodiments, the manipulator 32 is a four-axis manipulator, and the servo electric gripper 33 is further provided with a gripper finger 34 for rotating the part 1 to be printed. In the above embodiment, the four-axis manipulator clamps the part 1 to be printed on the tray 41 through the servo electric gripper 33. Figure 1 As shown in the part 1 to be printed, the visual mechanism 5 takes a photo of the part to identify the main key 11. After identification, the R axis of the four-axis robot rotates until the main key 11 faces a fixed direction, and the robot 32 then moves the part 1 to be printed to the printing position for printing.

[0043] In some embodiments, the tray mechanism 4 includes a tray base fixed on the frame 2, a tray 41 for placing the part 1 to be sprayed, a guide shaft 44 for adjusting the position of the tray 41, a tray connection block 42 for connecting the tray 41 with the guide shaft 44, and a flange mounting plate 43 for fixing the guide shaft 44 on the tray base. The tray connection block 42 ensures that the relative position of the tray 41 and the tray base is fixed.

[0044] In some embodiments, the tray 41 is provided with a tray aperture that matches the shape of the part to be printed. The tray aperture ensures the stability of the part 1 to be printed when placed on the tray mechanism 4, preventing the part 1 to be printed from falling.

[0045] In some embodiments, the number of apertures of the material tray is no less than 18. Multiple apertures of the material tray improve work efficiency.

[0046] In some embodiments, the visual mechanism 5 includes a position acquisition device for acquiring the position of the part to be printed. In this embodiment, the position acquisition device can be a weight sensor or a camera. When the position acquisition device is a weight sensor, the placement position of the part to be printed is determined by the weight of each point on the bottom surface of the part to be printed. For example, when some parts with irregular shapes are placed, the pressure on the receiving surface at different positions is different according to the degree of deviation of the center of gravity, so the placement surface of the part 1 to be printed is determined.

[0047] In some embodiments, the position acquisition device is a camera 51, and the visual mechanism 5 further includes a light source 52 for supplementing light for the camera 51, a uniaxial driver 55 for moving the position of the light source 52, and a connecting plate 54 for connecting the light source 52 to the uniaxial driver 55. The light source 52 is also provided with a light source mounting plate 53. In this embodiment, the camera 51 takes a picture of the position of the main key 11 of the part 1 to be printed, and the visual mechanism 5 transmits the acquired coordinates to the control program of the four-axis manipulator, guiding the manipulator 32 to rotate to the correct position of the main key 11.

[0048] In some embodiments, the printing mechanism 6 also includes a base 65 connected to the frame 2, a nozzle 61 for printing the part 1 to be printed, a nozzle base 63 and a nozzle pressing plate 62 for fixing the nozzle 61, and a vertical plate 64 for fixing the nozzle base 63 to the base 65.

[0049] In some embodiments, the frame 2 is further provided with an indicator light 24, a fan 27 and a glass plate. The frame 2 is provided with an outer cover for protecting the remaining mechanisms, and the indicator light 24 and the glass plate are installed on the outer cover. The lower end of the frame 2 is a cabinet-like structure, and the electrical transmission connection lines of the remaining mechanisms are all placed in the cabinet-like structure. The cabinet-like structure is provided with a door panel 22, and the fan 27 is installed on one side of the cabinet-like structure to dissipate heat for the electrical transmission lines in the cabinet-like structure. The middle part of the frame 2 is a hollow table-like structure for placing the remaining mechanisms, and a safety grating 23 is provided at this part to protect the equipment. The cabinet body of the upper part of the frame 2 is provided with a handle 26, and the cabinet door is connected with a hinge 25, and the indicator light 24 is arranged at the top of the frame 2. The frame 2 is also provided with casters 21 for easy movement.

[0050] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. An automatic rotary printing device based on a visual system, characterized in that: The printing device comprises: frame; The manipulator grips the rotating mechanism, which is fixed on the frame and is used to grip and carry the parts to be printed; The tray mechanism is fixed on the frame and is used to place the parts to be printed; A vision mechanism, fixed to the frame, for identifying the location of the part to be printed; and The printing mechanism is fixed on the frame and is used for printing the parts to be printed.

2. The automatic rotary printing device based on a visual system according to claim 1, characterized in that: The manipulator clamping and rotating mechanism comprises a manipulator fixing base fixed to a frame, a manipulator fixed on the manipulator fixing base, and a servo electric clamping claw for clamping a part to be printed.

3. The automatic rotary printing device based on a visual system according to claim 2 is characterized in that: The manipulator is a four-axis manipulator, and the servo electric gripper is also provided with gripper fingers for rotating the parts to be printed.

4. The automatic rotary printing device based on a visual system according to claim 1, characterized in that: The tray mechanism includes a tray base fixed on a frame, a tray for placing parts to be sprayed, a guide shaft for adjusting the position of the tray, a tray connecting block for connecting the tray to the guide shaft, and a flange mounting plate for fixing the guide shaft on the tray base.

5. The automatic rotary printing device based on a visual system according to claim 4 is characterized in that: The material tray is provided with a material tray aperture matching the shape of the part to be printed.

6. The automatic rotary printing device based on a visual system according to claim 5, characterized in that: The material tray has no less than 18 apertures.

7. The automatic rotary printing device based on a visual system according to claim 1, characterized in that: The visual mechanism comprises a position acquisition device for acquiring the position of the part to be printed.

8. The automatic rotary printing device based on a visual system according to claim 7, characterized in that: The position acquisition device is a camera, and the visual mechanism also includes a light source for supplementing light for the camera, a single-axis driver for moving the position of the light source, and a connecting plate for connecting the light source to the single-axis driver.

9. The automatic rotary printing device based on a visual system according to claim 1, characterized in that: The printing mechanism also includes a base connected to the frame, a nozzle for printing the parts to be printed, a nozzle base and a nozzle pressing plate for fixing the nozzle, and a vertical plate for fixing the nozzle base and the base.

10. The automatic rotary printing device based on a visual system according to claim 1, characterized in that: An indicator light, a fan and a glass plate are also arranged outside the frame.

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