A mounting device based on a robot

Abstract

The present invention discloses a manipulator-based labeling device, including a labeling device and a frame, wherein the labeling device includes a fixed frame, a grabbing assembly, a rotating assembly, a lifting assembly and a visual detection assembly; the fixed frame is connected to the frame; the grabbing assembly includes a grabbing rod and a grabbing member, the grabbing rod is arranged at the front side of the fixed frame, and the lower end of the grabbing rod passes through the bottom of the fixed frame and is connected to the grabbing member; the lifting assembly and the rotating assembly are respectively connected to the fixed frame, and the lifting assembly is connected to the upper end of the grabbing rod; the visual detection assembly is arranged at the rear side of the fixed frame, and the visual detection assembly is respectively electrically connected to the grabbing assembly and the rotating assembly, and the detection end of the visual detection assembly faces downward. The labeling device cooperates with the sliding groove of the grabbing rod through a driving gear through a limiting slide rail, so that the driving gear can drive the grabbing rod to rotate; at the same time, the grabbing rod is slidably connected to the driving gear, so that during the rotation process, the grabbing rod can simultaneously realize the operation of rotating and extending or retracting from the fixed frame.

Description

Technical Field

[0001] The present invention relates to the field of automated mounting equipment, and in particular to a mounting equipment based on a robot. Background Art

[0002] Robots are increasingly being used in current industrial automation production. In the industrial production process, the use of labels is very extensive in factories. By marking the date, category, performance, etc. of the product, the automation equipment or workers can identify the corresponding status and product information through the label, and then classify the corresponding products for the next step of processing.

[0003] Currently, there are mounting equipment on the market, but the gripper in the current mounting robot cannot rotate and lift at the same time, resulting in low mounting speed and inability to accurately control the mounting direction. Moreover, most equipment does not have a visual inspection system and cannot judge and adjust position deviations, resulting in a low labeling pass rate and a high defect rate. Summary of the invention

[0004] The purpose of the present invention is to propose a robot-based mounting device to solve the problem that the above-mentioned grasping member cannot rotate and lift at the same time, resulting in a low mounting speed and the inability to accurately control the mounting direction, and to solve the problem that the device does not have a visual inspection system, resulting in a low labeling pass rate.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] The present invention provides a manipulator-based labeling device, comprising a labeling device and a frame, wherein the labeling device comprises a fixed frame, a grabbing component, a rotating component, a lifting component and a visual detection component; the fixed frame is connected to the frame;

[0007] The grab assembly includes a grab rod and a grab piece, wherein the grab rod is arranged at the front side of the fixing frame, and the lower end of the grab rod passes through the bottom of the fixing frame and is connected to the grab piece;

[0008] The lifting assembly and the rotating assembly are respectively connected to the fixed frame, and the lifting assembly is connected to the upper end of the grabbing rod;

[0009] The rotating assembly comprises a driving gear, which is arranged at the lower end of the fixing frame; a sliding hole is arranged at the axis of the driving gear, a limiting slide rail is arranged on the inner wall of the sliding hole, and a sliding groove matching the limiting slide rail is arranged on the rod wall of the grabbing rod; the grabbing rod passes through the sliding hole and is slidably connected with the driving gear;

[0010] The visual detection component is arranged at the rear side of the fixing frame, the visual detection component is electrically connected to the grabbing component and the rotating component respectively, and the detection end of the visual detection component faces downward.

[0011] In the robot-based mounting device, the lifting assembly further includes a lifting motor, a driving wheel, a driven wheel, a synchronous belt, a slider and a guide rail;

[0012] The lifting motor is arranged at the upper end of the fixing frame, and the output end of the lifting motor is connected to the driving wheel in a transmission manner; the driven wheel is arranged at the lower end of the fixing frame, and the synchronous belt is meshed with the driving wheel and the driven wheel;

[0013] The guide rail is vertically connected to the fixing frame; the slider comprises a meshing portion and a connecting portion connected to each other, the meshing portion is connected to the synchronous belt, and the connecting portion is slidably connected to the guide rail;

[0014] The connecting part is provided with a through hole, and the upper end of the grabbing rod passes through the through hole and is rotatably connected with the connecting part.

[0015] In the robot-based mounting device, the lifting assembly further comprises a limit switch, and the limit switch comprises a baffle and a reset sensor;

[0016] The reset sensor is connected to the fixing frame, and the reset sensor is located on the left side of the grabbing rod and is electrically connected to the lifting motor; the baffle is connected to the front side of the connecting part.

[0017] In the robot-based mounting device, the rotating assembly further includes a rotating motor and a rotating synchronous belt, and the rotating synchronous belt is sleeved on the output end of the rotating motor and the outer side of the driving gear, and meshes with the driving gear.

[0018] In the manipulator-based labeling device, the labeling device is provided with a plurality of gripping components, and the number of the lifting components and the number of the driving gears are the same as the number of the gripping components;

[0019] One of the rotating motors drives two adjacent driving gears through a rotating synchronous belt, and the rotating synchronous belt is sleeved on the output end of the rotating motor and the outer sides of the two adjacent driving gears.

[0020] In the robot-based labeling equipment, the labeling device further includes a shell, and the shell is sleeved on the outer side of the fixing frame.

[0021] In the robot-based mounting device, the gripping assembly also includes a rotary joint, the upper end of the gripping rod is connected to the rotary joint, and the rotary joint is connected to an external air source through an air pipe; the gripping member is a parallel air claw, and the gripping rod is hollow.

[0022] In the robot-based mounting device, the frame includes a first support frame, a second support frame and a transverse support frame;

[0023] The first support frame is arranged on the left side, the second support frame is arranged on the right side, the left and right ends of the transverse support frame are respectively connected to the first support frame and the second support frame; the labeling device is connected to the transverse support frame.

[0024] In the robot-based mounting device, the transverse support frame includes a transverse screw motor, a transverse ball nut, a transverse movable block, a left connecting block and a right connecting block;

[0025] The transverse ball nut is threadedly connected to the screw of the transverse screw motor, the transverse movable block is fixedly connected to the transverse ball nut, and the fixing frame is connected to the transverse movable block;

[0026] The left connecting block is arranged on the lower end surface of the left side of the transverse screw motor, and the left connecting block is connected to the first supporting frame;

[0027] The right connecting block is arranged on the lower end surface of the right side of the transverse screw motor, and the right connecting block is connected to the second supporting frame.

[0028] In the robot-based mounting device, the first support frame includes a first base, a first longitudinal screw motor, a first longitudinal ball nut and a first longitudinal movable block; the first longitudinal screw motor is fixed to the upper end surface of the first base; the first longitudinal ball nut is threadedly connected to the screw of the first longitudinal screw motor; the lower end surface of the first longitudinal movable block is fixedly connected to the first longitudinal ball nut, and the upper end surface of the first longitudinal movable block is connected to the left connecting block;

[0029] The second support frame includes a second base, a second longitudinal screw motor, a second longitudinal ball nut and a second longitudinal movable block; the second longitudinal screw motor is fixed to the upper end surface of the second base; the second longitudinal ball nut is threadedly connected to the screw of the second longitudinal screw motor; the lower end surface of the second longitudinal movable block is fixedly connected to the second longitudinal ball nut, and the upper end surface of the second longitudinal movable block is connected to the right connecting block;

[0030] The transverse screw motor, the first longitudinal screw motor, and the second longitudinal screw motor are electrically connected to the visual detection component respectively, and the visual detection component moves the labeling device to a specified position through the transverse screw motor, the first longitudinal screw motor, and the second longitudinal screw motor.

[0031] Beneficial effects:

[0032] (1) The labeling device is provided with a rotating assembly and a lifting assembly. The driving gear cooperates with the slide groove of the grabbing rod through a limiting slide rail, so that the driving gear can drive the grabbing rod to rotate; at the same time, the grabbing rod is slidably connected to the driving gear. During the rotation process, the driving gear does not interfere with the movement of the grabbing rod in the longitudinal direction, so that the grabbing rod can simultaneously realize the operation of rotating and extending or retracting from the fixed frame;

[0033] (2) The labeling device is provided with a plurality of grabbing components, which can grab a plurality of labels and then attach the labels one by one, thus saving the time of the grabbing components to grab the labels back and forth and improving the attaching efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings further illustrate the present invention, but the contents in the accompanying drawings do not constitute any limitation to the present invention.

[0035] Figure 1 It is a structural schematic diagram of one embodiment of the present invention;

[0036] Figure 2 is a schematic diagram of the internal structure of a labeling device in one embodiment of the present invention;

[0037] Figure 3 is a schematic structural diagram of a rotating assembly in one embodiment of the present invention;

[0038] Figure 4 is a schematic structural diagram of a transverse support frame in one embodiment of the present invention;

[0039] Figure 5 is a schematic structural diagram of a first support frame in one embodiment of the present invention;

[0040] Figure 6 is a schematic diagram of the structure of a limit switch in one embodiment of the present invention;

[0041] In the accompanying drawings: labeling device 1, frame 2;

[0042] Fixed frame 11, grabbing assembly 12, rotating assembly 13, lifting assembly 14, visual inspection assembly 15; first supporting frame 21, second supporting frame 22, lateral supporting frame 23;

[0043] Grabbing rod 121, grabbing member 122, rotating joint 123; driving gear 131, rotating motor 132, rotating synchronous belt 133; lifting motor 141, driving wheel 142, driven wheel 143, synchronous belt 144, slider 145, guide rail 146, limit switch 147;

[0044] A first base 211, a first longitudinal screw motor 212, a first longitudinal ball nut 213, and a first longitudinal movable block 214; a transverse screw motor 231, a transverse ball nut 232, a transverse movable block 233, a left connecting block 234, and a right connecting block 235;

[0045] Sliding hole 131a, sliding groove 131b; meshing portion 145a, connecting portion 145b; baffle 147a, reset sensor 147b. DETAILED DESCRIPTION

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features, and are used to distinguish and describe features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0048] Please refer to Figures 1 to 6 The present invention provides a manipulator-based labeling device, comprising a labeling device 1 and a frame 2, wherein the labeling device 1 comprises a fixed frame 11, a gripping component 12, a rotating component 13, a lifting component 14 and a visual detection component 15; the fixed frame 11 is connected to the frame 2;

[0049] The grab assembly 12 includes a grab rod 121 and a grab member 122. The grab rod 121 is disposed on the front side of the fixing frame 11, and the lower end of the grab rod 121 passes through the bottom of the fixing frame 11 and is connected to the grab member 122.

[0050] The lifting assembly 14 and the rotating assembly 13 are respectively connected to the fixed frame 11, and the lifting assembly 14 is connected to the upper end of the grabbing rod 121;

[0051] The rotating assembly 13 includes a driving gear 131, and the driving gear 131 is arranged at the lower end of the fixing frame 11; a sliding hole 131a is arranged at the axis of the driving gear 131, and a limiting slide rail (not shown) is arranged on the inner wall of the sliding hole 131a, and a sliding groove 131b adapted to the limiting slide rail is arranged on the rod wall of the grabbing rod 121; the grabbing rod 121 passes through the sliding hole 131a and is slidably connected to the driving gear 131;

[0052] The visual detection component 15 is disposed at the rear side of the fixing frame 11 , and the visual detection component 15 is electrically connected to the grabbing component 12 and the rotating component 13 , respectively, and the detection end of the visual detection component 15 faces downward.

[0053] The frame 2 is arranged on both sides of the production line so that the labeling device 1 is located above the production line. The visual detection component 15 in the labeling device 1 is used for visual photography. The visual detection component 15 can judge whether the product on the production line currently needs to be installed based on the visual information. The grabbing member 122 can grab and install the label. The lifting component 14 controls the grabbing rod 121 to extend or retract from the fixed frame 11, thereby changing the length of the grabbing rod 121, so that the grabbing member 122 contacts the label or product, and realizes the action of grabbing and installing the label. The rotating component 13 is used to rotate the grabbing rod 121, so that the grabbing rod 121 drives the grabbing member 122 to rotate, thereby changing the angle of the label, so that the angle of the label is adapted to the angle of the product to be installed.

[0054] When the visual inspection component 15 detects that an unmounted product appears on the production line, the visual inspection component 15 controls the lifting component 14 and the rotating component 13; the lifting component 14 drives the grabbing rod 121 to extend from the fixed frame 11, so that the grabbing member 122 grabs the label; at the same time, the rotating component 13 drives the driving gear 131, so that the driving gear 131 drives the grabbing rod 121 to rotate, and the grabbing rod 121 drives the grabbing member 122 to rotate, and rotates the label to an angle suitable for the unmounted product; then, the grabbing rod 121 is driven to retract from the fixed frame 11, and when the label is facing the position of the unmounted product, the lifting component 14 drives the grabbing rod 121 to extend from the fixed frame 11, and attaches the label to the surface of the unmounted product.

[0055] The labeling device 1 is provided with a rotating assembly 13 and a lifting assembly 14. The driving gear 131 cooperates with the slide groove 131b of the grabbing rod 121 through a limiting slide rail, so that the driving gear 131 can drive the grabbing rod 121 to rotate; at the same time, the grabbing rod 121 is slidably connected to the driving gear 131. During the rotation process, the driving gear 131 will not interfere with the movement of the grabbing rod 121 in the longitudinal direction, so that the grabbing rod 121 can simultaneously realize the operation of rotating and extending or retracting from the fixed frame 11.

[0056] Please refer to Figure 2 , further, the lifting assembly 14 also includes a lifting motor 141, a driving wheel 142, a driven wheel 143, a synchronous belt 144, a slider 145 and a guide rail 146;

[0057] The lifting motor 141 is disposed at the upper end of the fixing frame 11, and the output end of the lifting motor 141 is transmission-connected with the driving wheel 142; the driven wheel 143 is disposed at the lower end of the fixing frame 11, and the synchronous belt 144 is meshed with the driving wheel 142 and the driven wheel 143;

[0058] The guide rail 146 is vertically connected to the fixing frame 11; the slider 145 includes a meshing portion 145a and a connecting portion 145b connected to each other, the meshing portion 145a is connected to the synchronous belt 144, and the connecting portion 145b is slidably connected to the guide rail 146;

[0059] The connecting portion 145 b is provided with a through hole, and the upper end of the grabbing rod 121 passes through the through hole and is rotatably connected to the connecting portion 145 b.

[0060] by Figure 2 For example, when the lifting motor 141 drives the driving wheel 142 to rotate clockwise, the driving wheel 142 drives the synchronous belt 144, so that the synchronous belt 144 rotates clockwise around the driving wheel 142 and the driven wheel 143, and the synchronous belt 144 drives the slider 145 to move downward during the rotation, and the slider 145 drives the grabbing rod 121 to extend from the fixed frame 11; when the lifting motor 141 drives the driving wheel 142 to rotate counterclockwise, the driving wheel 142 drives the synchronous belt 144, so that the synchronous belt 144 rotates counterclockwise around the driving wheel 142 and the driven wheel 143, and the synchronous belt 144 drives the slider 145 to move upward during the rotation, and the slider 145 drives the grabbing rod 121 to retract from the fixed frame 11.

[0061] Please refer to Figure 6 , further, the lifting assembly 14 also includes a limit switch 147, and the limit switch 147 includes a baffle 147a and a reset sensor 147b;

[0062] The reset sensor 147b is connected to the fixing frame 11, and the reset sensor 147b is located on the left side of the grabbing rod 121 and is electrically connected to the lifting motor 141; the baffle 147a is connected to the front side of the connecting portion 145b.

[0063] The limit switch 147 maintains a consistent distance for the grabbing rod 121 to be retracted into the fixing frame 11 through the baffle 147a and the reset sensor 147b, thereby avoiding deviation during the resetting process of the grabbing rod 121. After multiple resets, the distance for the grabbing rod 121 to be retracted into the fixing frame 11 may have a large deviation.

[0064] The reset sensor 147b can refer to the existing infrared sensor. When the synchronous belt 144 drives the slider 145 to rise, if the baffle 147a on the slider 145 rises to the infrared receiving end and the infrared transmitting end of the reset sensor 147b, the baffle 147a blocks the infrared rays from the infrared transmitting end, and the reset sensor 147b transmits the electrical signal to the lifting motor 141, causing the lifting motor 141 to stop working and prevent the slider 145 from continuing to move upward.

[0065] Please refer to Figure 4 Specifically, the rotating assembly 13 also includes a rotating motor 132 and a rotating synchronous belt 133 . The rotating synchronous belt 133 is sleeved on the output end of the rotating motor 132 and the outer side of the driving gear 131 , and meshes with the driving gear 131 .

[0066] by Figure 3 For example, when the output end of the rotating motor 132 rotates clockwise, the rotating motor 132 drives the driving gear 131 to rotate clockwise by rotating the synchronous belt 133, and cooperates with the slide groove 131b of the grabbing rod 121 through the limiting slide rail, and the driving gear 131 drives the grabbing rod 121 and the grabbing member 122 to rotate clockwise accordingly; when the output end of the rotating motor 132 rotates counterclockwise, the rotating motor 132 drives the driving gear 131 to rotate counterclockwise by rotating the synchronous belt 133, and cooperates with the slide groove 131b of the grabbing rod 121 through the limiting slide rail, and the driving gear 131 drives the grabbing rod 121 and the grabbing member 122 to rotate counterclockwise accordingly.

[0067] Please refer to Figure 2 and Figure 3 Specifically, the labeling device 1 is provided with a plurality of grabbing assemblies 12, and the number of the lifting assemblies 14 and the number of the driving gears 131 are the same as the number of the grabbing assemblies 12;

[0068] One of the rotating motors 132 drives two adjacent driving gears 131 via a rotating synchronous belt 133 . The rotating synchronous belt 133 is sleeved on the output end of the rotating motor 132 and the outer sides of the two adjacent driving gears 131 .

[0069] Preferably, the labeling device 1 is provided with a plurality of gripping components 12, which can grab a plurality of labels and then attach the labels one by one, saving the time of the gripping member 122 grabbing the labels back and forth and improving the efficiency of attachment. In a preferred embodiment, the labeling device 1 is provided with four gripping components 12, each gripping component 12 is connected to a corresponding lifting component 14, and each gripping component 12 is slidably connected to a corresponding driving gear 131; when the labeling device 1 is attaching, the first lifting component 14 drives the gripping rod 122 of the first gripping component 12 to extend from the fixed frame 11, and the gripping member 121 of the first gripping component 12 grabs the label, and after grabbing, the first lifting component 14 drives the gripping rod 122 to retract; then, the second, third and fourth gripping components 12 repeat the action of the first gripping component 12 grabbing the label in turn.

[0070] When a label needs to be attached, the first lifting assembly 14 drives the grabbing rod 122 of the first grabbing assembly 12 to extend from the fixing frame 11, and at the same time, the first rotating motor 132 drives the grabbing rods 122 of the first grabbing assembly 12 and the second grabbing assembly 12 to rotate through the driving gear 131 and the rotating synchronous belt 133, so that the angle of the grabbing member 121 of the first grabbing assembly 12 is adapted to the product, and then the grabbing member 121 attaches the label to the surface of the product;

[0071] After the first grabbing assembly 12 has completed the labeling, the first rotating motor 132 adjusts the position of the grabbing member 121 of the second grabbing assembly 12 again through the driving gear 131 and the rotating synchronous belt 133, so that the angle of the grabbing member 121 of the second grabbing assembly 12 is adapted to another product to be labeled; at the same time, the second lifting assembly 14 drives the grabbing rod 122 of the second grabbing assembly 12 to extend from the fixing frame 11, and the grabbing member 121 of the second grabbing assembly 12 attaches the label to the surface of the product; and when the grabbing rod 122 of the first grabbing assembly 12 is extended, it is driven by the first lifting assembly 14 and retracts synchronously;

[0072] Subsequently, when the grabbing rod 122 of the second grabbing assembly 12 is retracted, the second rotating motor 132 drives the grabbing rods 122 of the third grabbing assembly 12 and the fourth grabbing assembly 12 to rotate through the driving gear 131 and the rotating synchronous belt 133. At the same time, the third lifting assembly 14 drives the grabbing rod 122 of the third grabbing assembly 12 to extend, and the grabbing member 121 of the lifting assembly 14 attaches the label to the surface of the product.

[0073] Next, when the grabbing rod 122 of the third grabbing assembly 12 retracts, the second rotating motor 13 adjusts the position of the grabbing member 121 of the fourth grabbing assembly 12 again, so that the angle of the grabbing member 121 of the fourth grabbing assembly 12 is adapted to another product to be loaded; at the same time, the fourth lifting assembly 14 drives the grabbing rod 122 of the fourth grabbing assembly 12 to extend, and the grabbing member 121 of the lifting assembly 14 loads the label to the surface of the product; finally, the fourth lifting assembly 14 drives the grabbing rod 122 of the fourth grabbing assembly 12 to retract, and the labeling device 1 is reset.

[0074] The two adjacent driving gears 131 are driven by the same rotating motor 132. This arrangement can reduce the number of rotating motors 132, reduce production costs, save space, and ensure that the grabbing rod 121 can realize the rotation operation. In addition, the two adjacent grabbing assemblies 12 rotate at the same time. After the grabbing member 121 grabs the label, it is avoided that the two grabbing members 121 grabbing the label collide with each other during rotation, causing the label to fall from the grabbing member 121.

[0075] Preferably, the labeling device 1 further comprises a housing (not shown), which is sleeved on the outside of the fixing frame 11. A housing is further provided on the outside of the labeling device 1 to protect the grabbing assembly 12, the rotating assembly 13, the lifting assembly 14 and the visual detection assembly 15 provided on the fixing frame 11, so as to prevent dust or other debris from entering the labeling device 1 and affecting the operation of the grabbing assembly 12, the rotating assembly 13, the lifting assembly 14 or the visual detection assembly 15.

[0076] Specifically, the grabbing assembly 12 also includes a rotary joint 123, the upper end of the grabbing rod 121 is connected to the rotary joint 123, and the rotary joint 123 is connected to an external air source through an air pipe; the grabbing member 122 is a parallel air claw, and the grabbing rod 121 is hollow.

[0077] The rotating joint 123 can refer to the existing pneumatic slip ring and be used as a pipeline connection device to enable the connected pipelines to rotate relatively. The end of the rotating joint 123 connected to the grabbing rod 121 can rotate to avoid the problem that the grabbing rod 121 drives the air pipe to rotate during rotation, causing the air pipe to deform and affect the gas flow, thereby reducing the ability of the parallel air gripper to grab objects.

[0078] In a specific embodiment, a gas flow passage is formed between the air pipe, the rotary joint 123 and the grabbing rod 121, so that the external air source is connected to the parallel air gripper. The grabbing member 122 can refer to the existing parallel air gripper, and a piston is provided inside the parallel air gripper. Compressed air is used as a power to push the piston to complete the clamping and retracting actions. As a simple replacement, the parallel air gripper can also use a suction cup to collect air to form a negative pressure and adsorb the label.

[0079] Specifically, the frame 2 includes a first support frame 21, a second support frame 22 and a transverse support frame 23;

[0080] The first support frame 21 is arranged on the left side, the second support frame 22 is arranged on the right side, and the left and right ends of the transverse support frame 23 are respectively connected to the first support frame 21 and the second support frame 22; the labeling device 1 is connected to the transverse support frame 23. The first support frame 21 and the second support frame 22 are respectively set up on both sides of the production line to support the transverse support frame 23, and the labeling device 1 is set on the transverse support frame 23, so that the labeling device 1 is located above the production line.

[0081] Please refer to Figure 5 , further, the lateral support frame 23 includes a lateral screw motor 231, a lateral ball nut 232, a lateral movable block 233, a left connecting block 234 and a right connecting block 235;

[0082] The transverse ball nut 232 is threadedly connected to the screw of the transverse screw motor 231, the transverse movable block 233 is fixedly connected to the transverse ball nut 232, and the fixing frame 11 is connected to the transverse movable block 233;

[0083] The left connecting block 234 is disposed on the lower end surface of the left side of the transverse screw motor 231, and the left connecting block 234 is connected to the first supporting frame 21;

[0084] The right connecting block 235 is disposed on the lower end surface of the right side of the transverse screw motor 231 , and the right connecting block 235 is connected to the second supporting frame 22 .

[0085] The transverse screw motor 231 can refer to the existing screw motor, and a screw is provided in the transverse screw motor 231, and the screw is meshed with the transverse ball nut 232, and the transverse movable block 233 is connected with the transverse ball nut 232, thereby preventing the screw and the transverse ball nut 232 from rotating relative to each other. When the transverse screw motor 231 drives the screw to move axially, since the internal thread of the transverse ball nut 232 is meshed with the screw, the transverse ball nut 232 will perform linear motion with the axis of the screw, thereby driving the transverse movable block 233 and the labeling device 1 arranged on the transverse movable block 233.

[0086] Furthermore, the first support frame 21 includes a first base 211, a first longitudinal screw motor 212, a first longitudinal ball nut 213 and a first longitudinal movable block 214; the first longitudinal screw motor 212 is fixed to the upper end surface of the first base 211; the first longitudinal ball nut 213 is threadedly connected to the screw of the first longitudinal screw motor 212; the lower end surface of the first longitudinal movable block 214 is fixedly connected to the first longitudinal ball nut 213, and the upper end surface of the first longitudinal movable block 214 is connected to the left connecting block 234;

[0087] The second support frame 22 includes a second base, a second longitudinal screw motor, a second longitudinal ball nut and a second longitudinal movable block; the second longitudinal screw motor is fixed to the upper end surface of the second base; the second longitudinal ball nut is threadedly connected to the screw of the second longitudinal screw motor; the lower end surface of the second longitudinal movable block is fixedly connected to the second longitudinal ball nut, and the upper end surface of the second longitudinal movable block is connected to the right connecting block 235;

[0088] The transverse screw motor 231, the first longitudinal screw motor 212, and the second longitudinal screw motor are electrically connected to the visual detection component 15 respectively, and the visual detection component 15 moves the labeling device 1 to a specified position through the transverse screw motor 231, the first longitudinal screw motor 212, and the second longitudinal screw motor.

[0089] The principles of the first longitudinal screw motor 212 and the second longitudinal screw motor are the same as those of the transverse screw motor 231, and the first longitudinal screw motor 212 and the second longitudinal screw motor have the same structure, which will not be elaborated on; the visual inspection component 15 controls the operation of the transverse screw motor 231, the first longitudinal screw motor 212 and the second longitudinal screw to achieve the purpose of moving the labeling device 1 to the specified position, so that the labeling device 1 completes the process of moving to the label storage place, grabbing the label, moving to the product position, installing the label, and resetting.

[0090] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific embodiments of the present invention without creative work, and these equivalent variations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A robot-based mounting device, characterized in that: It comprises a labeling device and a frame, wherein the labeling device comprises a fixing frame, a grabbing assembly, a rotating assembly, a lifting assembly and a visual detection assembly; the fixing frame is connected to the frame; The grab assembly includes a grab rod and a grab piece, wherein the grab rod is arranged at the front side of the fixing frame, and the lower end of the grab rod passes through the bottom of the fixing frame and is connected to the grab piece; The lifting assembly and the rotating assembly are respectively connected to the fixed frame, and the lifting assembly is connected to the upper end of the grabbing rod; The rotating assembly comprises a driving gear, which is arranged at the lower end of the fixing frame; a sliding hole is arranged at the axis of the driving gear, a limiting slide rail is arranged on the inner wall of the sliding hole, and a sliding groove matching the limiting slide rail is arranged on the rod wall of the grabbing rod; the grabbing rod passes through the sliding hole and is slidably connected with the driving gear; The visual detection component is arranged at the rear side of the fixing frame, the visual detection component is electrically connected to the grabbing component and the rotating component respectively, and the detection end of the visual detection component faces downward; The lifting assembly also includes a lifting motor, a driving wheel, a driven wheel, a synchronous belt, a slider and a guide rail; The lifting motor is arranged at the upper end of the fixing frame, and the output end of the lifting motor is connected to the driving wheel in a transmission manner; the driven wheel is arranged at the lower end of the fixing frame, and the synchronous belt is meshed with the driving wheel and the driven wheel; The guide rail is vertically connected to the fixing frame; the slider comprises a meshing portion and a connecting portion connected to each other, the meshing portion is connected to the synchronous belt, and the connecting portion is slidably connected to the guide rail; The connecting portion is provided with a through hole, and the upper end of the grabbing rod passes through the through hole and is rotatably connected to the connecting portion; The lifting assembly further comprises a limit switch, and the limit switch comprises a baffle and a reset sensor; The reset sensor is connected to the fixing frame, and the reset sensor is located on the left side of the grabbing rod and is electrically connected to the lifting motor; the baffle is connected to the front side of the connecting part; The rotating assembly further comprises a rotating motor and a rotating synchronous belt, wherein the rotating synchronous belt is sleeved on the output end of the rotating motor and the outer side of the driving gear and meshes with the driving gear; The labeling device is provided with a plurality of grabbing assemblies, and the number of the lifting assemblies and the number of the driving gears are the same as the number of the grabbing assemblies; One of the rotating motors drives two adjacent driving gears through a rotating synchronous belt, and the rotating synchronous belt is sleeved on the output end of the rotating motor and the outer sides of the two adjacent driving gears; The labeling device further comprises a shell, and the shell is sleeved on the outer side of the fixing frame; The grabbing assembly also includes a rotary joint, the upper end of the grabbing rod is connected to the rotary joint, and the rotary joint is connected to an external air source through an air pipe; the grabbing member is a parallel air claw, and the grabbing rod is hollow.

2. The robot-based mounting device according to claim 1, characterized in that: The frame includes a first support frame, a second support frame and a transverse support frame; The first support frame is arranged on the left side, the second support frame is arranged on the right side, the left and right ends of the transverse support frame are respectively connected to the first support frame and the second support frame; the labeling device is connected to the transverse support frame.

3. The robot-based mounting device according to claim 2, characterized in that: The transverse support frame includes a transverse screw motor, a transverse ball nut, a transverse movable block, a left connecting block and a right connecting block; The transverse ball nut is threadedly connected to the screw of the transverse screw motor, the transverse movable block is fixedly connected to the transverse ball nut, and the fixing frame is connected to the transverse movable block; The left connecting block is arranged on the lower end surface of the left side of the transverse screw motor, and the left connecting block is connected to the first supporting frame; The right connecting block is arranged on the lower end surface of the right side of the transverse screw motor, and the right connecting block is connected to the second supporting frame.

4. The robot-based mounting device according to claim 3, characterized in that: The first support frame includes a first base, a first longitudinal screw motor, a first longitudinal ball nut and a first longitudinal movable block; the first longitudinal screw motor is fixed to the upper end surface of the first base; the first longitudinal ball nut is threadedly connected to the screw of the first longitudinal screw motor; the lower end surface of the first longitudinal movable block is fixedly connected to the first longitudinal ball nut, and the upper end surface of the first longitudinal movable block is connected to the left connecting block; The second support frame includes a second base, a second longitudinal screw motor, a second longitudinal ball nut and a second longitudinal movable block; the second longitudinal screw motor is fixed to the upper end surface of the second base; the second longitudinal ball nut is threadedly connected to the screw of the second longitudinal screw motor; the lower end surface of the second longitudinal movable block is fixedly connected to the second longitudinal ball nut, and the upper end surface of the second longitudinal movable block is connected to the right connecting block; The transverse screw motor, the first longitudinal screw motor, and the second longitudinal screw motor are electrically connected to the visual detection component respectively, and the visual detection component moves the labeling device to a specified position through the transverse screw motor, the first longitudinal screw motor, and the second longitudinal screw motor.

Images