A visual feeding mechanism that can effectively eliminate the interference of material frames

Abstract

The present invention discloses a visual feeding mechanism that can effectively eliminate the interference of the material frame, including: a supporting upright plate fixedly connected to a 3D visual robot, a transmission mechanism is arranged on the supporting upright plate, a rotating claw platform is arranged at the end of the supporting upright plate, the transmission mechanism includes an upper synchronous gear fixed to the upper part of the supporting upright plate, a lower synchronous gear fixed to the lower part of the supporting upright plate, and a synchronous toothed belt arranged around the upper and lower synchronous gears, an upper U-shaped plate is fixedly installed at the lower part of the supporting upright plate, and the rotating claw platform includes a lower U-shaped plate, a cylinder and a claw assembly arranged below the lower U-shaped plate, one end of the shaft of the lower synchronous gear is fixedly arranged on the supporting upright plate, and the other end passes through the upper U-shaped plate and is connected to the lower U-shaped plate in a transmission manner. In the visual feeding mechanism of the present invention, the rotating claw platform can be arbitrarily rotated and positioned within a range of ninety degrees vertically and parallel to the ground, and the rotation angle is transmitted by a synchronous belt, so that there is no dead angle in grabbing materials.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing, and in particular to a visual feeding mechanism capable of effectively eliminating material frame interference. Background Art

[0002] Currently in the field of intelligent manufacturing, the technical bottleneck of unmanned, flexible feeding systems using 3D vision technology is that when the robot grabs materials in the material frame, it will be restricted by the height of the material frame, resulting in a considerable portion of the material in the material frame being unable to be grabbed, which in turn affects the scheduling, dispatching, and output of the entire production system, making unmanned, flexible intelligent manufacturing impossible to truly achieve. Summary of the invention

[0003] The main technical problem solved by the present invention is to provide a visual feeding mechanism that can effectively eliminate the interference of the material frame. The rotating gripper platform can be rotated and positioned arbitrarily within a range of ninety degrees vertically and parallel to the ground. The rotation angle of the rotating gripper platform is controlled by a 3D vision system, and a synchronous belt is used to transmit the rotation angle to minimize the radial effective cross-sectional area and to ensure that there are no dead angles when grabbing materials.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is: a visual feeding mechanism that can effectively eliminate the interference of the material frame, installed on the 3D vision robot for grabbing the material in the material frame, including: a supporting vertical plate fixedly connected to the 3D vision robot, a transmission mechanism is arranged on the supporting vertical plate, and a rotating gripper platform is arranged at the end of the supporting vertical plate, and the transmission mechanism can drive the rotating gripper platform to rotate arbitrarily within a range of 90 degrees vertical and parallel to the ground, the transmission mechanism includes an upper synchronous gear fixed to the upper part of the supporting vertical plate, a lower synchronous gear fixed to the lower part of the supporting vertical plate, and a synchronous toothed belt arranged between the upper and lower synchronous gears, the lower part of the supporting vertical plate is located at the periphery of the lower synchronous gear and an upper U-shaped plate is fixedly installed, the rotating gripper platform includes a lower U-shaped plate, a cylinder arranged below the lower U-shaped plate, and a gripper assembly for grabbing the material, one end of the shaft of the lower synchronous gear is fixedly arranged on the supporting vertical plate, and the other end passes through the upper U-shaped plate and is transmission-connected to the lower U-shaped plate.

[0005] In a preferred embodiment of the present invention, the other end of the shaft of the lower synchronous gear is fixedly connected to the wedge block on the lower U-shaped plate by bolts.

[0006] In a preferred embodiment of the present invention, a driving motor is provided on the supporting plate at the back side of the upper synchronous gear.

[0007] In a preferred embodiment of the present invention, two sets of tensioning wheels are respectively arranged on the supporting plate and located on the outer sides of the synchronous toothed belt.

[0008] In a preferred embodiment of the present invention, the gripper assembly includes a first jaw fixedly mounted below the cylinder and a second jaw fixedly connected to the cylinder input shaft, the second jaw being clamped on the first jaw and opening or tightening the first jaw under the drive of the cylinder input shaft.

[0009] The beneficial effects of the present invention are as follows: the visual loading mechanism of the present invention is installed on a 3D vision robot to grab materials in a material frame, so that the situation that originally required the robot arm and joints to be tilted to meet the grabbing angle but would cause material frame interference is now reduced to only requiring the tilt angle of the rotating gripper platform on the mechanism to be changed. The rotating gripper platform uses a synchronous toothed belt to transmit the angle, and can be arbitrarily rotated and positioned within a range of ninety degrees perpendicular and parallel to the ground, so that the radial effective cross-sectional area is minimized and there is no dead angle in the grabbing; the rotation angle of the gripper platform is controlled by the 3D vision system in the robot, realizing truly intelligent production, and compared with the prior art, the use of the invention hardly increases the manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0011] Figure 1 It is a schematic diagram of the initial state of a visual feeding mechanism of the present invention that can effectively eliminate the interference of the material frame;

[0012] Figure 2 It is a schematic diagram of a visual feeding mechanism of the present invention which can effectively eliminate the interference of the material frame when in working state. DETAILED DESCRIPTION

[0013] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] See also Figure 1-2The present invention provides a visual feeding mechanism that can effectively eliminate the interference of the material frame, which is installed on a 3D vision robot and is used to grab the material in the material frame, including: a support vertical plate 1 fixedly connected to the 3D vision robot, a transmission mechanism 2 is arranged on the support vertical plate, and a rotating claw platform 3 is arranged at the end of the support vertical plate. The transmission mechanism can drive the rotating claw platform to rotate arbitrarily within a range of 90 degrees vertical and parallel to the ground. The transmission mechanism 2 includes an upper synchronous gear 21 fixed to the upper part of the support vertical plate, a lower synchronous gear 22 fixed to the lower part of the support vertical plate, and a gear 21 arranged around the upper and lower parts. The synchronous toothed belt 23 between the synchronous gears is fixedly installed with an upper U-shaped plate 4 by bolts at the lower part of the supporting vertical plate and located on the periphery of the lower synchronous gear. The rotating claw platform 3 includes a lower U-shaped plate 31, a cylinder 32 arranged under the lower U-shaped plate, and a claw assembly 33 for grabbing materials. One end of the shaft of the lower synchronous gear is fixedly installed on the supporting vertical plate, and the other end passes through the upper U-shaped plate and is transmission-connected to the lower U-shaped plate 31. Specifically, the other end of the shaft of the lower synchronous gear can pass through the through hole opened on the upper U-shaped plate and be fixedly connected to the wedge block on the lower U-shaped plate by bolts to form a linked whole.

[0015] Furthermore, a drive motor 5 is arranged on the back side of the upper synchronous gear on the supporting vertical plate. The power output shaft of the drive motor is fixedly connected to the shaft of the upper synchronous gear, driving the upper synchronous gear to rotate. The upper synchronous gear drives the lower synchronous gear to rotate through the synchronous tooth belt, thereby driving the rotating claw platform to rotate and position arbitrarily within a range of ninety degrees vertically and parallel to the ground. The synchronous belt is used to transmit the angle to minimize the radial effective cross-sectional area, and there is no dead angle when grabbing materials, avoiding the situation where the material frame interferes with the grabbing angle when the robot arm and joint tilt are used to grab materials.

[0016] Furthermore, two sets of tensioning wheels 6 are respectively arranged on the supporting plates and located outside the synchronous toothed belt.

[0017] Furthermore, the gripper assembly 33 includes a first jaw 331 fixedly mounted below the cylinder and a second jaw 332 fixedly connected to the cylinder input shaft. The second jaw is clamped on the first jaw and is slidably connected to the first jaw. When grabbing the material 7, the cylinder is first in a retracted state, and the first jaw is placed inside the material with a circular hole. At this time, the cylinder extends and moves, and the cylinder input shaft pushes the second jaw to move downward to open the first jaw to grab the material.

[0018] The beneficial effects of the visual feeding mechanism of the present invention that can effectively eliminate the interference of the material frame are as follows: the visual feeding mechanism of the present invention is installed on a 3D vision robot to grab the material in the material frame, so that the situation that originally required the robot arm and joint tilt to meet the grabbing angle but would cause material frame interference is changed to that only requires changing the tilt angle of the rotating gripper platform on the mechanism. The rotating gripper platform adopts a synchronous toothed belt to transmit the angle, and can be arbitrarily rotated and positioned within a range of ninety degrees perpendicular and parallel to the ground, so that the radial effective cross-sectional area is minimized and there is no dead angle in the grabbing; the rotation angle of the gripper platform is controlled by the 3D vision system in the robot, realizing truly intelligent production, and compared with the prior art, the use of the invention hardly increases the manufacturing cost.

[0019] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A visual feeding mechanism that can effectively eliminate the interference of the material frame, installed on a 3D vision robot for grabbing the material in the material frame, characterized in that: include: A support plate fixedly connected to the 3D vision robot, a transmission mechanism is arranged on the support plate, a rotating gripper platform is arranged at the end of the support plate, the transmission mechanism can drive the rotating gripper platform to rotate arbitrarily within a range of 90 degrees vertically and parallel to the ground, the transmission mechanism includes an upper synchronous gear fixed to the upper part of the support plate, a lower synchronous gear fixed to the lower part of the support plate and a synchronous toothed belt arranged between the upper and lower synchronous gears, an upper U-shaped plate is fixedly installed on the lower part of the support plate at the periphery of the lower synchronous gear, the rotating gripper platform includes a lower U-shaped plate, a cylinder arranged below the lower U-shaped plate and a gripper assembly for grabbing materials, one end of the shaft of the lower synchronous gear is fixedly arranged on the support plate, and the other end passes through the upper U-shaped plate and is transmission-connected to the lower U-shaped plate.

2. A visual feeding mechanism capable of effectively eliminating the interference of the material frame according to claim 1, characterized in that: The other end of the shaft of the lower synchronous gear is fixedly connected to the wedge block on the lower U-shaped plate through bolts.

3. A visual feeding mechanism capable of effectively eliminating the interference of the material frame according to claim 1, characterized in that: A driving motor is arranged on the supporting plate at the back side of the upper synchronous gear.

4. A visual feeding mechanism capable of effectively eliminating the interference of the material frame according to claim 1, characterized in that: Two sets of tensioning wheels are respectively arranged on the supporting vertical plates and located on the outer sides of the synchronous toothed belts.

5. A visual feeding mechanism capable of effectively eliminating the interference of the material frame according to claim 1, characterized in that: The gripper assembly includes a first clamping jaw fixedly mounted below the cylinder and a second clamping jaw fixedly connected to the cylinder input shaft; the second clamping jaw is clamped on the first clamping jaw and opens or tightens the first clamping jaw under the drive of the cylinder input shaft.

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