A loading and unloading fixture based on machine vision

Abstract

The present invention discloses a loading and unloading fixture based on machine vision, which includes a bottom plate, a lifting mechanism, a moving mechanism, a grasping mechanism, an adsorption mechanism and a rotating mechanism. A camera is provided at the bottom of the bottom plate; the grasping mechanism includes an L-shaped gripper. Grooves are formed at both ends of the bottom plate, and the L-shaped gripper is rotatably installed in the grooves. Two fixing blocks are fixedly installed on the bottom plate. In the present invention, when the third cylinder and the second cylinder are started, the grasping mechanism is moved to the product. The adsorption rubber ring at the bottom of the negative pressure pipe contacts the top of the product. The piston rod of the third cylinder is retracted to drive the rack plate to move. According to the meshing transmission principle of the teeth, the gear is driven to rotate forward, and then another rack plate is driven to move. The L-shaped gripper is driven to rotate and clamp the product through the triangular block, the connecting rod and the link rod. The structure is stable and the clamping effect is good, which is convenient for the use of the loading and unloading fixture.

Description

Technical Field

[0001] The present invention relates to the technical field of loading and unloading fixtures, and particularly to a loading and unloading fixture based on machine vision. Background Art

[0002] Automation technology is widely used in industries, agriculture, military, scientific research, transportation, commerce, medical treatment, services, and households. Using automation technology can not only liberate people from heavy physical labor, partial mental labor, and harsh and dangerous working environments, but also expand the functions of human organs, greatly improve labor productivity, and enhance the ability of humans to understand and transform the world.

[0003] A loading and unloading fixture refers to a device for handling products during the production and processing process. The product is lifted by clamping it with the loading and unloading fixture, then moved to another place, and the product is put down, thus completing the handling of the product. However, the structure of the existing loading and unloading fixtures is unstable, the clamping effect is poor, and it is not convenient to use the loading and unloading fixtures. Summary of the Invention

[0004] In order to solve the technical problems mentioned in the above background art, a loading and unloading fixture based on machine vision is proposed.

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

[0006] A loading and unloading fixture based on machine vision includes a bottom plate, a lifting mechanism, a moving mechanism, a grasping mechanism, an adsorption mechanism, and a rotating mechanism. A camera is provided at the bottom of the bottom plate;

[0007] The grasping mechanism includes an L-shaped gripper. Grooves are opened at both ends of the bottom plate, and the L-shaped gripper is rotatably installed in the grooves. Two fixing blocks are fixedly installed on the bottom plate. A rack plate is slidably connected in the fixing blocks. A gear is rotatably installed on the bottom plate. The gear is meshed with the two rack plates. A triangular block is fixedly installed at one end of the rack plate. A second fixing rod is fixedly installed between two adjacent L-shaped grippers. A connecting rod is rotatably installed on the second fixing rod. The free end of the connecting rod is rotatably installed with the triangular block through a connecting rod. A driving mechanism for driving the movement of the rack plate is provided on the bottom plate.

[0008] As a further description of the above technical solution:

[0009] The adsorption mechanism includes a negative pressure tube, a plurality of negative pressure tubes are arranged at the bottom of the base plate, a mounting frame is fixedly mounted on the base plate, a lifting rod is slidably connected to the mounting frame, a cylinder body is fixedly mounted on the base plate, a mounting groove is opened in the cylinder body, a piston is slidably connected in the mounting groove, the piston is fixedly mounted on the lifting rod, the mounting groove is connected to the negative pressure tube, an adsorption rubber ring is arranged at the bottom of the negative pressure tube, and the rotation of the gear drives the lifting rod to move through the transmission component.

[0010] As a further description of the above technical solution:

[0011] The transmission component comprises a sliding rod, a rotating shaft is fixedly mounted on the gear, a round table is fixedly mounted on the rotating shaft, an arc groove is opened in the round table, and a sliding rod inserted into the arc groove is fixedly connected to the lifting rod.

[0012] As a further description of the above technical solution:

[0013] The driving mechanism comprises a third cylinder, the third cylinder is fixedly mounted on the base plate, a connecting frame is fixedly connected to one of the rack plates, and a piston rod of the third cylinder is fixedly mounted on the connecting frame.

[0014] As a further description of the above technical solution:

[0015] The lifting mechanism includes a moving block, a mounting plate is provided on one side of the bottom plate, a guide rod is fixedly mounted on the mounting plate, a top plate is fixedly mounted on the top of the guide rod, a moving block is slidably connected to the guide rod, a first cylinder is fixedly mounted on the mounting plate, and a piston rod of the first cylinder is fixedly mounted on the moving block.

[0016] As a further description of the above technical solution:

[0017] The moving mechanism includes a moving block, a second cylinder is fixedly mounted on the moving block, a moving plate is fixedly mounted on the piston rod of the second cylinder, the moving block is fixedly mounted on the moving plate, a first fixed rod is fixedly mounted on the bottom of the moving block, and a frame is fixedly mounted on the bottom of the first fixed rod.

[0018] As a further description of the above technical solution:

[0019] The rotating mechanism comprises a driving motor, the driving motor is fixedly mounted on the frame, a housing is drivingly connected to the output shaft of the driving motor, and the housing is fixedly mounted to the bottom plate.

[0020] As a further description of the above technical solution:

[0021] A telescopic rod is fixedly mounted on the moving block, and a free end of the telescopic rod is fixedly mounted on the moving plate.

[0022] As a further description of the above technical solution:

[0023] A guiding groove is formed in the fixed block, and a guiding block that slides in the guiding groove is fixedly connected to the rack plate.

[0024] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows:

[0025] 1. In the present invention, the third cylinder and the second cylinder are started to move the grasping mechanism to the product. The adsorption rubber ring at the bottom of the negative pressure pipe contacts the top of the product. The piston rod of the third cylinder retracts, driving the rack plate to move. According to the meshing transmission principle of the teeth, the gear is driven to rotate forward, and then another rack plate is driven to move. The L-shaped gripper is driven to rotate and clamp the product through the triangular block, the connecting rod and the link. The structure is stable, the clamping effect is good, and it is convenient to use the loading and unloading fixture.

[0026] 2. In the present invention, the third cylinder and the second cylinder are started to move the grasping mechanism to the product. The adsorption rubber ring at the bottom of the negative pressure pipe contacts the top of the product. The piston rod of the third cylinder retracts, driving the rack plate to move. According to the meshing transmission principle of the teeth, the gear is driven to rotate forward, and the sliding rod slides in the arc-shaped groove, and then the lifting rod is driven to move upward, driving the piston to move upward, forming a negative pressure in the installation groove and the negative pressure pipe, and then adsorbing the product on the negative pressure pipe, enhancing the clamping effect, the structure is stable, the clamping effect is good, and it is convenient to use the loading and unloading fixture. Description of the Drawings

[0027] Figure 1 Shows a front view schematic diagram of a loading and unloading fixture based on machine vision provided by an embodiment of the present invention;

[0028] Figure 2 Shows a structural schematic diagram of a grasping mechanism of a loading and unloading fixture based on machine vision provided by an embodiment of the present invention;

[0029] Figure 3 Shows a first-angle schematic diagram of some parts of a loading and unloading fixture based on machine vision provided by an embodiment of the present invention;

[0030] Figure 4 Shows a second-angle schematic diagram of some parts of a loading and unloading fixture based on machine vision provided by an embodiment of the present invention;

[0031] Figure 5 Shows a third-angle schematic diagram of some parts of a loading and unloading fixture based on machine vision provided by an embodiment of the present invention;

[0032] Figure 6The figure shows a schematic structural diagram of some parts of a loading and unloading fixture based on machine vision according to an embodiment of the present invention;

[0033] Figure 7 The figure shows a schematic structural diagram of an adsorption mechanism of a loading and unloading fixture based on machine vision according to an embodiment of the present invention;

[0034] Figure 8 The figure shows a partial sectional schematic diagram of a loading and unloading fixture based on machine vision according to an embodiment of the present invention.

[0035] Legend description:

[0036] 1. Mounting plate; 2. Guide rod; 3. First cylinder; 4. Moving block; 5. Top plate; 6. Second cylinder; 7. Telescopic rod; 8. Moving plate; 9. Moving block; 10. First fixing rod; 11. Frame; 12. Bottom plate; 1201. Groove; 13. L-shaped gripper; 14. Second fixing rod; 15. Connecting rod; 16. Connecting rod; 17. Triangular block; 18. Rack plate; 19. Fixed block; 1901. Guide groove; 20. Gear; 21. Rotating shaft; 22. Round table; 2201. Arc groove; 23. Mounting frame; 24. Lifting rod; 25. Sliding rod; 26. Negative pressure pipe; 27. Cylinder block; 2701. Mounting groove; 28. Piston; 30. Adsorption rubber ring; 31. Third cylinder; 32. Connecting frame; 33. Driving motor; 34. Housing; 35. Guide block; 51. Lifting mechanism; 52. Moving mechanism; 53. Gripping mechanism; 54. Adsorption mechanism; 55. Rotating mechanism. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment

[0038] Please refer to Figure 1-8 , the present invention provides a technical solution: a loading and unloading fixture based on machine vision, including a bottom plate 12, a lifting mechanism 51, a moving mechanism 52, a gripping mechanism 53, an adsorption mechanism 54 and a rotating mechanism 55. A camera is provided at the bottom of the bottom plate 12; the camera plays a role of alignment. During operation, it is convenient to move the gripping mechanism 53 above the product to be moved;

[0039] The grasping mechanism 53 includes an L-shaped gripper 13. Grooves 1201 are formed at both ends of the bottom plate 12. The L-shaped gripper 13 is rotatably installed in the grooves 1201. Two fixing blocks 19 are fixedly installed on the bottom plate 12. A rack plate 18 is slidably connected in the fixing blocks 19. A gear 20 is rotatably installed on the bottom plate 12. The gear 20 is meshed with the two rack plates 18. One end of the rack plate 18 is fixedly installed with a triangular block 17. A second fixing rod 14 is fixedly installed between two adjacent L-shaped grippers 13. A connecting rod 15 is rotatably installed on the second fixing rod 14. The free end of the connecting rod 15 is rotatably installed with the triangular block 17 through a connecting rod 16. A driving mechanism for driving the movement of the rack plate 18 is provided on the bottom plate 12.

[0040] The adsorption mechanism 54 includes a negative pressure pipe 26. A plurality of negative pressure pipes 26 are provided at the bottom of the bottom plate 12. An installation frame 23 is fixedly installed on the bottom plate 12. A lifting rod 24 is slidably connected to the installation frame 23. A cylinder block 27 is fixedly installed on the bottom plate 12. An installation groove 2701 is formed in the cylinder block 27. A piston 28 is slidably connected in the installation groove 2701. The piston 28 is fixedly installed with the lifting rod 24. The installation groove 2701 is communicated with the negative pressure pipe 26. An adsorption rubber ring 30 is provided at the bottom of the negative pressure pipe 26. The rotation of the gear 20 drives the movement of the lifting rod 24 through a transmission component.

[0041] The transmission component includes a sliding rod 25. A rotating shaft 21 is fixedly installed on the gear 20. A frustum 22 is fixedly installed on the rotating shaft 21. An arc groove 2201 is formed in the frustum 22. A sliding rod 25 inserted into the arc groove 2201 is fixedly connected to the lifting rod 24. The gear 20 drives the frustum 22 to rotate. At this time, the sliding rod 25 slides in the arc groove 2201, thereby driving the lifting rod 24 in the vertical direction.

[0042] The driving mechanism includes a third cylinder 31. The third cylinder 31 is fixedly installed on the bottom plate 12. A connecting frame 32 is fixedly connected to one of the rack plates 18. The piston rod of the third cylinder 31 is fixedly installed with the connecting frame 32.

[0043] The lifting mechanism 51 includes a moving block 4. An installation plate 1 is provided beside the bottom plate 12. A guide rod 2 is fixedly installed on the installation plate 1. A top plate 5 is fixedly installed at the top of the guide rod 2. The moving block 4 is slidably connected to the guide rod 2. A first cylinder 3 is fixedly installed on the installation plate 1. The piston rod of the first cylinder 3 is fixedly installed with the moving block 4.

[0044] The moving mechanism 52 includes a moving block 9. A second cylinder 6 is fixedly installed on the moving block 4. A moving plate 8 is fixedly installed on the piston rod of the second cylinder 6. A moving block 9 is fixedly installed on the moving plate 8. A first fixing rod 10 is fixedly installed at the bottom of the moving block 9. A frame 11 is fixedly installed at the bottom of the first fixing rod 10.

[0045] The rotating mechanism 55 includes a driving motor 33 . The driving motor 33 is fixedly mounted on the frame 11 . The output shaft of the driving motor 33 is drivingly connected to a housing 34 . The housing 34 is fixedly mounted to the bottom plate 12 .

[0046] A telescopic rod 7 is fixedly mounted on the moving block 4 , and a free end of the telescopic rod 7 is fixedly mounted on the moving plate 8 . A guide groove 1901 is provided in the fixed block 19 , and a guide block 35 sliding in the guide groove 1901 is fixedly connected to the rack plate 18 .

[0047] Working principle: When in use, start the third cylinder 31 and the second cylinder 6 to move the grabbing mechanism 53 to the product, the adsorption rubber ring 30 at the bottom of the negative pressure tube 26 contacts the top of the product, start the piston rod of the third cylinder 31 to retract, and drive the rack plate 18 to move. According to the meshing transmission principle of the latch teeth, the drive gear 20 rotates forward, and then drives the other rack plate 18 to move, and drives the L-shaped gripper 13 to rotate and clamp through the triangular block 17, the connecting rod 16 and the connecting rod 15 to clamp the product. At the same time, the gear 20 rotates forward, and the sliding rod 25 slides in the arc groove 2201, thereby driving the lifting rod 24 to move upward, driving the piston 28 to move upward, and forming negative pressure in the installation groove 2701 and the negative pressure tube 26, thereby adsorbing the product on the negative pressure tube 26, enhancing the clamping effect, and having a stable structure and good clamping effect, which is convenient for the use of the loading and unloading fixture.

[0048] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A loading and unloading fixture based on machine vision, characterized in that It includes a bottom plate (12), a lifting mechanism (51), a moving mechanism (52), a grasping mechanism (53), an adsorption mechanism (54) and a rotating mechanism (55). A camera is provided at the bottom of the bottom plate (12). The grasping mechanism (53) includes an L-shaped gripper (13). Grooves (1201) are formed at both ends of the bottom plate (12), and the L-shaped gripper (13) is rotatably installed in the grooves (1201). Two fixing blocks (19) are fixedly installed on the bottom plate (12), a rack plate (18) is slidably connected to the inner side of the fixing blocks (19), a gear (20) is rotatably installed on the bottom plate (12), and the gear (20) is meshed with the two rack plates (18). A triangular block (17) is fixedly installed at one end of the rack plate (18). A second fixing rod (14) is fixedly installed between two adjacent L-shaped grippers (13), a connecting rod (15) is rotatably installed on the second fixing rod (14), and the free end of the connecting rod (15) and the triangular block (17) are rotatably installed through a connecting rod (16). A driving mechanism for driving the rack plate (18) to move is provided on the bottom plate (12). The adsorption mechanism (54) includes a negative pressure pipe (26). A plurality of negative pressure pipes (26) are provided at the bottom of the bottom plate (12). A mounting frame (23) is fixedly installed on the bottom plate (12), a lifting rod (24) is slidably connected in the mounting frame (23), a cylinder block (27) is fixedly installed on the bottom plate (12), an installation groove (2701) is formed in the cylinder block (27), a piston (28) is slidably connected in the installation groove (2701), the piston (28) is fixedly installed with the lifting rod (24), the installation groove (2701) is communicated with the negative pressure pipe (26), an adsorption rubber ring (30) is provided at the bottom of the negative pressure pipe (26), and the rotation of the gear (20) drives the lifting rod (24) to move through a transmission component.

2. The loading and unloading fixture based on machine vision according to claim 1, wherein, The transmission component includes a sliding rod (25). A rotating shaft (21) is fixedly installed on the gear (20), a frustum (22) is fixedly installed on the rotating shaft (21), an arc-shaped groove (2201) is formed in the frustum (22), and a sliding rod (25) inserted into the arc-shaped groove (2201) is fixedly connected to the lifting rod (24).

3. The loading and unloading fixture based on machine vision according to claim 2, wherein The driving mechanism includes a third cylinder (31). The third cylinder (31) is fixedly installed on the bottom plate (12). A connecting frame (32) is fixedly connected to one of the rack plates (18), and the piston rod of the third cylinder (31) is fixedly installed with the connecting frame (32).

4. The loading and unloading fixture based on machine vision according to claim 3, characterized in that, The lifting mechanism (51) includes a moving block (4). A mounting plate (1) is provided beside the bottom plate (12). A guide rod (2) is fixedly installed on the mounting plate (1), a top plate (5) is fixedly installed at the top of the guide rod (2), the moving block (4) is slidably connected to the guide rod (2), a first cylinder (3) is fixedly installed on the mounting plate (1), and the piston rod of the first cylinder (3) is fixedly installed with the moving block (4).

5. The loading and unloading fixture based on machine vision according to claim 4, wherein The moving mechanism (52) comprises a moving block (9), a second cylinder (6) is fixedly mounted on the moving block (4), a moving plate (8) is fixedly mounted on the piston rod of the second cylinder (6), a moving block (9) is fixedly mounted on the moving plate (8), a first fixed rod (10) is fixedly mounted on the bottom of the moving block (9), and a frame (11) is fixedly mounted on the bottom of the first fixed rod (10).

6. The loading and unloading fixture based on machine vision according to claim 5, characterized in that, The rotating mechanism (55) comprises a driving motor (33), the driving motor (33) is fixedly mounted on the frame (11), a housing (34) is drivingly connected to an output shaft of the driving motor (33), and the housing (34) is fixedly mounted on the base plate (12).

7. The loading and unloading fixture based on machine vision according to claim 6, characterized in that, A telescopic rod (7) is fixedly mounted on the moving block (4), and a free end of the telescopic rod (7) is fixedly mounted on the moving plate (8).

8. The loading and unloading fixture based on machine vision according to claim 7, characterized in that, A guide groove (1901) is provided in the fixed block (19), and a guide block (35) is fixedly connected to the rack plate (18) and slides in the guide groove (1901).

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