A material conveying posture control device

Abstract

The present invention relates to the technical field of material posture adjustment, and specifically to a material conveying posture control device, comprising a chain plate conveyor belt, a visual detection unit, a posture adjustment mechanical clamp and a support frame, wherein the posture adjustment mechanical clamp is installed on a vertical mounting bracket, a sliding base is provided at the bottom of the mounting bracket, and the sliding base is respectively slidably installed in the first limiting slide grooves on both sides of the chain plate conveyor belt; a positioning block is fixedly installed at the bottom of each chain plate of the chain plate conveyor belt, and a plug-in plate is slidably installed on the mounting bracket of the posture adjustment mechanical clamp. The technical solution extends the plug-in plate in a horizontal direction perpendicular to the first limiting slide groove to the middle of two adjacent positioning blocks, so that the posture adjustment mechanical clamp can maintain a relatively static position with the moving material on the chain plate conveyor belt for posture adjustment, thereby ensuring that the material is in the correct position after the adjustment is completed.

Description

Technical Field

[0001] The invention relates to the technical field of material posture adjustment, and in particular to a material conveying posture control device. Background Art

[0002] Posture control devices are usually suitable for occasions with high requirements for posture accuracy and complex and diverse workpiece shapes, such as precision machinery manufacturing, electronic product production and other fields. Existing posture control devices first capture and analyze the current posture of the workpiece in real time through a visual recognition system installed above or on the side of the conveyor belt, which generally includes an industrial camera, a light source, and image analysis and processing software, to obtain key information such as the position, angle, and shape of the workpiece. Then, based on the analysis results, the control robot arm is usually a multi-degree-of-freedom industrial robot arm movement. The end effector of the robot arm, such as a suction cup and a gripper, grabs the workpiece, rotates it, translates it, and places it back on the conveyor belt to achieve the correct posture.

[0003] Usually, the workpieces are placed at equal intervals on the conveyor belt so that they can be processed in sequence when passing through the processing stations. The existing posture control device needs to adjust the posture of the workpiece, which changes the position of the workpiece on the original conveyor belt, making the distribution of materials on the conveyor belt uneven. As a result, empty spaces often appear when the conveyor belt drives the workpiece through the processing stations, causing waste of materials for the processing equipment, or requiring the processing to be started and stopped, affecting the entire processing flow. Summary of the invention

[0004] In view of the above problems, it is necessary to provide a material conveying posture control device to address the existing technical problems.

[0005] In order to solve the problems of the prior art, the technical solution adopted by the present invention is:

[0006] A material conveying posture control device comprises a chain plate conveyor belt, a visual detection unit arranged at the input end of the chain plate conveyor belt, and a posture adjustment mechanical clamp arranged on the moving path of the chain plate conveyor belt, and also comprises a support frame horizontally passing through the chain plate conveyor belt and located below the chain plate, the support frame is located on both sides of the chain plate conveyor belt and is provided with a first limiting slide groove extending horizontally along the conveying direction of the chain plate conveyor belt; the posture adjustment mechanical clamp has two, each posture adjustment mechanical clamp is respectively mounted on a vertical mounting bracket, a sliding base is arranged at the bottom of the mounting bracket, and the sliding base is respectively slidably mounted in the first limiting slide groove on both sides of the chain plate conveyor belt; a positioning block is fixedly installed at the bottom of each chain plate of the chain plate conveyor belt, and a plug-in plate is slidably installed on the mounting bracket of the posture adjustment mechanical clamp, when the posture adjustment mechanical clamp is started, the plug-in plate extends to the middle of two adjacent positioning blocks along the horizontal direction perpendicular to the first limiting slide groove, and the positioning block pushes the plug-in plate to make the posture adjustment mechanical clamp move synchronously with the chain plate conveyor belt.

[0007] Preferably, the support frame is located at a side of the first limiting slide away from the chain plate conveyor belt and is provided with a reset slide parallel to the first limiting slide, the end point of the first limiting slide is connected to the starting point of the reset slide by a first connecting slide, and the end point of the reset slide is connected to the starting point of the first limiting slide by a second connecting slide; a plurality of driving rollers are rotatably installed in the first connecting slide and the reset slide, and the driving rollers are evenly spaced along the length direction of the first connecting slide and the reset slide, the rotating axis of the driving roller located in the first connecting slide is perpendicular to the length direction of the first connecting slide and is horizontally arranged, the rotating axis of the driving roller located in the reset slide is perpendicular to the length direction of the reset slide, and the driving roller located in the first connecting slide is horizontally arranged The driving roller in the vehicle body fits the bottom of the sliding base so that the sliding base moves from the end point of the first limiting slide groove to the end point of the first connecting slide groove, and the driving roller in the reset slide groove fits the bottom of the sliding base so that the sliding base moves from the end point of the first connecting slide groove to the end point of the reset slide groove along the reset slide groove; a second limiting slide groove is arranged on the side of each second connecting slide groove away from the first connecting slide groove, and the second limiting slide groove is parallel to the second connecting slide groove; an extension plate is arranged on each posture adjustment mechanical clamp, and the extension plate extends along the length direction of the support frame to above the second limiting slide groove; a push plate is slidably installed on the second limiting slide groove, and the push plate pushes the extension plate to make the sliding base move along the second connecting slide groove to the starting position of the first limiting slide groove.

[0008] Preferably, a horizontal fixed slide rail is provided on the support frame, the fixed slide rail connects the two second limit slide grooves and is located on the side of the second limit slide groove away from the first limit slide groove, and the extension plate on the posture adjustment mechanical clamp located at the starting point of the first limit slide groove fits with one end of the fixed slide rail; a limit push rod is slidably installed in the fixed slide rail, one end of the limit push rod fits with the extension plate of the posture adjustment mechanical clamp located at the starting point of the first limit slide groove, and the other end of the limit push rod fits with the extension plate of the posture adjustment mechanical clamp moved to the end point of the reset slide groove.

[0009] Preferably, a moving block is slidably installed on the second limiting slide, and the moving block is located at an end of the push plate away from the chain plate conveyor belt. The second limiting slide is provided with a waist-shaped hole extending along the length direction of the second limiting slide, and a connecting block with the same width as the waist-shaped hole is provided on the moving block. The connecting block passes through the waist-shaped hole and is connected to the working end of the linear drive fixedly installed at the bottom of the second limiting slide, and the working end of the linear drive moves along the length direction of the second limiting slide; a plurality of second guide rods extending along the length direction of the second limiting slide are provided on the push plate, and the push plate is inserted on the moving block through the second guide rod, and a second spring is sleeved on the second guide rod, and the second spring elastically connects the push plate and the moving block.

[0010] Preferably, the length of the second guide rod is greater than the length of the second connecting slot.

[0011] Preferably, an installation groove is provided at one end of the second limiting slide groove located at the starting point of the first limiting slide groove, an elastic plug rod is slidably installed in the installation groove, the elastic plug rod extends along the length direction of the first limiting slide groove, and a positioning hole which is in the same straight line as the elastic plug rod is provided on the side of the sliding base facing the elastic plug rod; a first sensor is provided in the installation groove, the first sensor detects the movement of the elastic plug rod, and the first sensor is connected to the linear driver through a controller signal.

[0012] Preferably, a first inclined surface is provided at the top corner of the sliding base facing the chain plate conveyor belt side, and the first inclined surface fits the round head end of the elastic insertion rod in the first limiting sliding groove to press the elastic insertion rod into the installation groove.

[0013] Preferably, the first limiting slide, reset slide, first connecting slide and second connecting slide are spliced ​​to form a rectangular block located in the center, and limiting blocks are elastically installed at the top corners of the rectangular block, the limiting blocks protrude from the surface of the rectangular block and enter the terminal ends of the first limiting slide, reset slide, first connecting slide and second connecting slide, and the limiting block is provided with a beveled edge on the side facing the starting ends of the first limiting slide, reset slide, first connecting slide and second connecting slide, and the limiting block is provided with a right-angled edge flush with the surface of the rectangular block on the side facing the terminal ends of the first limiting slide, reset slide, first connecting slide and second connecting slide; a second sensor for detecting the movement of the limiting block at the connection between the first limiting slide and the first connecting slide is provided on the rectangular block, and the second sensor is connected to the drive roller through a controller signal.

[0014] Preferably, the plug-in plate is slidably installed in a guide sleeve provided on the mounting bracket, and a tooth groove is provided on the side of the plug-in plate facing the mounting bracket, the tooth groove is meshed and connected with a meshing gear rotatably installed at the bottom of the mounting bracket, the axis of the meshing gear is vertically arranged, the meshing gear is meshed and connected with a driving gear rotatably installed on the mounting bracket, and a rotary drive is fixedly installed on the mounting bracket, and the working end of the rotary drive is transmission-connected to the driving gear.

[0015] Preferably, an installation frame is provided at one end of the insertion plate facing the chain-plate conveyor belt, an insertion head is slidably installed in the installation frame, a plurality of first guide rods extending along the length direction of the insertion plate are provided on the insertion head, the first guide rod is inserted in the installation frame, a first spring is sleeved on the first guide rod, the first spring elastically connects the installation frame and the insertion head, the elastic force of the first spring causes the insertion head to move toward the end away from the sliding base; an inclined second slope is provided on the side of the insertion head facing the input end of the chain-plate conveyor belt, and when the positioning block is in contact with the second slope, it pushes the insertion head to compress the first spring and move toward the side of the sliding base.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] Firstly, the posture adjustment mechanical clamp in the present invention is installed on the mounting bracket, the sliding base is slidably installed in the first limiting slide groove on one side of the chain plate conveyor belt, the plug-in plate on the mounting bracket can be inserted between the positioning blocks arranged at the bottom of the chain plate of the chain plate conveyor belt, so that the sliding base moves synchronously with the movement of the chain plate conveyor belt, and the posture adjustment mechanical clamp can maintain a relatively static position with the moving material on the chain plate conveyor belt to adjust the posture, ensuring that the material is in the correct position after the adjustment is completed, so that the material can maintain the initial spacing through the subsequent processing device, ensuring the orderly processing.

[0018] Secondly, the support frame in the present invention is provided with a first limiting slide groove on both sides of the chain plate conveyor belt, and a posture adjustment mechanical clamp is slidably installed in each first limiting slide groove. Therefore, when a posture adjustment mechanical clamp moves synchronously with the chain plate conveyor belt, the posture adjustment mechanical clamp on the other side can move to the initial position to adjust the subsequent materials that need to adjust the posture.

[0019] The cam is adapted to move the first support rail to the left of the support rail when the cam is in a position to move relative to the first support rail, and the cam is adapted to move the cam towards the right of the support rail when the cam is in a position to move relative to the first support rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a material conveying posture control device in the first working state. Figure 1 ;

[0021] Figure 2 It is a material conveying posture control device in the first working state. Figure 2 ;

[0022] Figure 3 yes Figure 2 A local enlarged view of point A;

[0023] Figure 4 It is a material conveying posture control device in the first working state. Figure 3 ;

[0024] Figure 5 yes Figure 4A partial enlarged view of point B;

[0025] Figure 6 is a stereoscopic diagram of a material conveying posture control device in a second working state;

[0026] Figure 7 yes Figure 6 A partial enlarged view of point C;

[0027] Figure 8 yes Figure 6 A partial enlarged view of point D;

[0028] Fig. 9 yes Figure 6 A local enlarged view of point E;

[0029] Fig.10 It is a stereoscopic diagram of a material conveying posture control device in a second working state without a chain plate conveyor belt;

[0030] Fig.11 The present invention is a three-dimensional diagram of a posture adjustment mechanical gripper of a material conveying posture control device.

[0031] The numbers in the figure are: 1, chain plate conveyor belt; 11, positioning block; 2, visual inspection unit; 3, posture adjustment mechanical gripper; 31, mounting bracket; 311, extension plate; 312, guide sleeve; 313, meshing gear; 314, driving gear; 315, rotary driver; 32, sliding base; 321, positioning hole; 322, first inclined plane; 33, plug-in plate; 331, tooth groove; 332, mounting frame; 333, plug-in head; 334, first guide rod; 335, first spring; 336, second inclined plane; 4, support frame; 41, first limit slide groove ; 411, elastic plug rod; 412, first sensor; 413, rectangular block; 414, second sensor; 42, reset slide; 43, first connecting slide; 44, second connecting slide; 45, driving roller; 46, second limiting slide; 461, push plate; 462, moving block; 463, waist-shaped hole; 464, connecting block; 465, linear drive; 466, second guide rod; 467, second spring; 468, mounting groove; 47, fixed slide rail; 471, limiting push rod; 48, limiting block; 481, bevel edge; 482, right-angle edge. DETAILED DESCRIPTION

[0032] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] Reference Figures 1 to 11 :

[0034] A material conveying posture control device comprises a chain plate conveyor belt 1, a visual detection unit 2 arranged at the input end of the chain plate conveyor belt 1, and a posture adjustment mechanical clamp 3 arranged on the moving path of the chain plate conveyor belt 1, and also comprises a support frame 4 horizontally passing through the chain plate conveyor belt 1 and located below the chain plate, the support frame 4 is located on both sides of the chain plate conveyor belt 1 and is provided with a first limiting slide groove 41 extending horizontally along the conveying direction of the chain plate conveyor belt 1; the posture adjustment mechanical clamp 3 has two, each posture adjustment mechanical clamp 3 is respectively installed on a vertical mounting bracket 31, and the mounting bracket 31 is provided with a plurality of first limiting slide grooves 41 extending horizontally along the conveying direction of the chain plate conveyor belt 1. A sliding base 32 is provided at the bottom of the mounting bracket 31, and the sliding base 32 is slidably installed in the first limiting slide grooves 41 on both sides of the chain-plate conveyor belt 1; a positioning block 11 is fixedly installed at the bottom of each chain plate of the chain-plate conveyor belt 1, and an insertion plate 33 is slidably installed on the mounting bracket 31 of the posture adjustment mechanical clamp 3. When the posture adjustment mechanical clamp 3 is started, the insertion plate 33 extends to the middle of two adjacent positioning blocks 11 along the horizontal direction perpendicular to the first limiting slide groove 41, and the positioning block 11 pushes the insertion plate 33 to make the posture adjustment mechanical clamp 3 move synchronously with the chain-plate conveyor belt 1.

[0035] The posture control device in the present invention conveys materials at equal intervals through the chain plate conveyor belt 1, and the visual detection unit 2 detects the posture of the material placed on the chain plate conveyor belt 1. The visual detection unit 2 may include a mounting frame and a visual camera arranged on the mounting frame. The visual camera detects the posture of the workpiece on the chain plate conveyor belt 1 from multiple angles, analyzes the offset data of the workpiece posture and sends it to the posture adjustment mechanical clamp 3. The posture adjustment mechanical clamp 3 may be a multi-axis mechanical arm or other existing technologies. The posture adjustment mechanical clamp 3 is used to clamp the material and change the posture of the material. The posture adjustment mechanical clamp 3 in this embodiment is installed on the mounting bracket 31. The mounting bracket 31 makes the posture adjustment mechanical clamp 3 located above the chain plate conveyor belt 1 to clamp the material. The sliding base 32 at the bottom of the mounting bracket 31 is slidably installed in the first limiting slide groove 41 arranged on one side of the chain plate conveyor belt 1. When the visual detection unit 2 detects that the material passing through the visual detection unit 2 has a posture offset, then The insertion plate 33 slidably installed on the mounting bracket 31 is translated toward the bottom of the chain plate conveyor belt 1 until the insertion plate 33 is inserted between the positioning blocks 11 set at the bottom of the chain plate of the chain plate conveyor belt 1. After the positioning blocks 11 are in contact with the insertion plate 33, the sliding base 32 moves synchronously with the movement of the chain plate conveyor belt 1, so that the posture adjustment mechanical clamp 3 can maintain a relatively static position with the material moving on the chain plate conveyor belt 1 for posture adjustment, ensuring that the material is in the correct position after the adjustment is completed, so that the material can maintain the initial spacing through the subsequent processing device to ensure the orderly progress of the processing. The support frame 4 in this embodiment is provided with a first limiting slide groove 41 on both sides of the chain plate conveyor belt 1, and a posture adjustment mechanical clamp 3 is slidably installed in each first limiting slide groove 41. Therefore, when a posture adjustment mechanical clamp 3 moves synchronously with the chain plate conveyor belt 1, the posture adjustment mechanical clamp 3 on the other side can move to the initial position to adjust the subsequent material that needs to be adjusted in posture.

[0036] In order to solve the problem of how to reset the posture adjustment mechanical gripper 3 following the chain plate conveyor belt 1 to the initial position without colliding with the posture adjustment mechanical gripper 3 on the other side, the following features are specifically set:

[0037] The support frame 4 is located at the side of the first limiting slide 41 away from the chain plate conveyor belt 1 and is provided with a reset slide 42 parallel to the first limiting slide 41. The end point of the first limiting slide 41 is connected to the starting point of the reset slide 42 through a first connecting slide 43, and the end point of the reset slide 42 is connected to the starting point of the first limiting slide 41 through a second connecting slide 44; a plurality of driving rollers 45 are rotatably installed in the first connecting slide 43 and the reset slide 42, and the driving rollers 45 are evenly spaced along the length direction of the first connecting slide 43 and the reset slide 42. The rotation axis of the driving roller 45 located in the first connecting slide 43 is perpendicular to the length direction of the first connecting slide 43 and is horizontally arranged. The rotation axis of the driving roller 45 located in the reset slide 42 is perpendicular to the length direction of the reset slide 42 and is horizontally arranged. The driving roller 45 located in the first connecting slide 43 fits the slide The bottom of the movable base 32 causes the sliding base 32 to move from the end point of the first limiting slide groove 41 to the end point of the first connecting slide groove 43, and the driving roller 45 located in the reset slide groove 42 fits the bottom of the sliding base 32 to cause the sliding base 32 to move from the end point of the first connecting slide groove 43 along the reset slide groove 42 to the end point of the reset slide groove 42; the support frame 4 is provided with a second limiting slide groove 46 on the side of each second connecting slide groove 44 away from the first connecting slide groove 43, and the second limiting slide groove 46 is parallel to the second connecting slide groove 44, and each posture adjustment mechanical clamp 3 is provided with an extension plate 311, and the extension plate 311 extends along the length direction of the support frame 4 to above the second limiting slide groove 46; a push plate 461 is slidably installed on the second limiting slide groove 46, and the push plate 461 pushes the extension plate 311 to cause the sliding base 32 to move along the second connecting slide groove 44 to the starting position of the first limiting slide groove 41.

[0038] The first stopper 32 is moved to the first stop position, and the second stopper 32 is moved to the first stop position, and the second stopper 32 is moved to the second stop position. When the sliding base 32 moves to the end of the reset chute 42, the extension plate 311 provided on the mounting bracket 31 of the posture adjustment mechanical gripper 3 extends to the upper side of the second limiting chute 46. After the posture adjustment mechanical gripper 3 on the other side moves following the chain plate conveyor belt 1, the push plate 461 slidably installed on the second limiting chute 46 can drive the sliding base 32 to move along the second connecting chute 44 by pushing the extension plate 311, so that the posture adjustment mechanical gripper 3 located at the end of the reset chute 42 moves to the starting point of the first limiting chute 41, ready to adjust the subsequent materials. The driving roller 45 in this embodiment is rotatably installed at the first connecting chute 43 and the reset chute 42. The driving roller 45 on the first connecting chute 43 and the driving roller 45 on the reset chute 42 can be connected by a transmission belt respectively, and the first connecting chute 43 and the reset chute 42 can be installed with a servo motor that drives the driving roller 45 to rotate.

[0039] In order to achieve the purpose of preventing the two posture adjustment mechanical clamps 3 from colliding when the posture adjustment mechanical clamp 3 on one side of the chain plate conveyor belt 1 is at the starting position of the first limit chute 41 and the posture adjustment mechanical clamp 3 on the other side is always at the end of the reset chute 42 to prevent the two posture adjustment mechanical clamps 3 from colliding, the following features are specifically set:

[0040] A horizontal fixed slide rail 47 is arranged on the support frame 4, the fixed slide rail 47 connects the two second limiting slide grooves 46 and is located on the side of the second limiting slide groove 46 away from the first limiting slide groove 41, and the extension plate 311 on the posture adjustment mechanical clamp 3 located at the starting point of the first limiting slide groove 41 fits with one end of the fixed slide rail 47; a limiting push rod 471 is slidably installed in the fixed slide rail 47, one end of the limiting push rod 471 fits with the extension plate 311 of the posture adjustment mechanical clamp 3 located at the starting point of the first limiting slide groove 41, and the other end of the limiting push rod 471 fits with the extension plate 311 of the posture adjustment mechanical clamp 3 moved to the end point of the reset slide groove 42.

[0041] The support frame 4 in this embodiment is provided with a fixed slide rail 47, and a limiting push rod 471 is slidably installed in the fixed slide rail 47. The extension plate 311 on the mounting bracket 31 can contact the two ends of the limiting push rod 471. When the sliding base 32 on one side is located at the starting point of the first limiting slide groove 41, the extension plate 311 on the mounting bracket 31 at this position fits with one end of the fixed slide rail 47, and the extension plate 311 pushes the limiting push rod 471 to move in the fixed slide rail 47. At this time, the other end of the limiting push rod 471 can limit the sliding base 32 moved to the end point of the reset slide groove 42. When the sliding base 32 moves from the starting end of the reset slide groove 42 to the end point of the reset slide groove 42, the mounting bracket 31 at this position The extension plate 311 fits with one end of the limiting push rod 471, so the sliding base 32 at the end point of the reset slide groove 42 is limited by the limiting push rod 471 on the extension plate 311 and cannot move, thereby ensuring that the posture adjustment mechanical clamps 3 on both sides will not collide. When the posture adjustment mechanical clamps 3 move following the chain plate conveyor belt 1, the extension plate 311 of the posture adjustment mechanical clamps 3 releases the blockage on one end of the fixed slide rail 47, so that the limiting push rod 471 can move in the fixed slide rail 47, and the sliding base 32 at the end point of the reset slide groove 42 can be pushed by the push plate 461 on the second limiting slide groove 46, thereby moving along the second connecting slide groove 44 to the starting position of the first limiting slide groove 41.

[0042] In order to solve the problem of how to quickly reset the posture adjustment mechanical gripper 3 on one side after the posture adjustment mechanical gripper 3 moves along the chain plate conveyor belt 1 on the other side, the following features are specifically set:

[0043] A moving block 462 is slidably installed on the second limiting slide groove 46, and the moving block 462 is located at the end of the push plate 461 away from the chain plate conveyor belt 1. The second limiting slide groove 46 is provided with a waist-shaped hole 463 extending along the length direction of the second limiting slide groove 46, and the moving block 462 is provided with a connecting block 464 with the same width as the waist-shaped hole 463. The connecting block 464 passes through the waist-shaped hole 463 and is connected with the working end of the linear driver 465 fixedly installed at the bottom of the second limiting slide groove 46, and the working end of the linear driver 465 moves along the length direction of the second limiting slide groove 46; a plurality of second guide rods 466 extending along the length direction of the second limiting slide groove 46 are provided on the push plate 461, and the push plate 461 is inserted on the moving block 462 through the second guide rods 466, and a second spring 467 is sleeved on the second guide rod 466, and the second spring 467 elastically connects the push plate 461 and the moving block 462.

[0044] The length of the second guide rod 466 is greater than the length of the second connecting slot 44 .

[0045] The push plate 461 in this embodiment is inserted on the moving block 462 through the second guide rod 466, and the second spring 467 realizes the elastic connection between the push plate 461 and the moving block 462. Therefore, when the linear driver 465 drives the moving block 462 to move to one side of the chain plate conveyor belt 1, the push plate 461 adheres to the extension plate 311 to keep the position unchanged. At this time, the second spring 467 is compressed, and the other side of the extension plate 311 adheres to the limiting push rod 471, resulting in unchanged position; when the posture adjustment mechanical clamp 3 on the other side moves, the limiting push rod 471 releases the position lock, so the limiting push rod 471, the extension plate 311 and the push plate 461 move quickly under the elastic force of the second spring 467, realizing the movement of the sliding base 32 at the end point of the reset slide 42, driving the posture adjustment mechanical clamp 3 to move quickly to the initial position, ensuring that the position of the material detected by the subsequent visual inspection unit 2 can be adjusted.

[0046] In order to solve the problem of how to lock the position of the limiting push rod 471 in the fixed slide rail 47 when the sliding base 32 is at the starting point of the first limiting slide groove 41, the following features are specifically provided:

[0047] The second limiting slide groove 46 is located at one end of the starting point of the first limiting slide groove 41 and is provided with a mounting groove 468. An elastic plug rod 411 is slidably installed in the mounting groove 468. The elastic plug rod 411 extends along the length direction of the first limiting slide groove 41. The sliding base 32 is provided with a positioning hole 321 which is in the same straight line with the elastic plug rod 411 on the side facing the elastic plug rod 411. A first sensor 412 is provided in the mounting groove 468. The first sensor 412 detects the movement of the elastic plug rod 411. The first sensor 412 is connected to the linear driver 465 through a controller signal.

[0048] A first inclined surface 322 is provided at the top corner of the sliding base 32 facing the chain plate conveyor belt 1 . When the first inclined surface 322 fits the round end of the elastic insertion rod 411 in the first limiting sliding groove 41 , the elastic insertion rod 411 is pressed into the installation groove 468 .

[0049] When the sliding base 32 in the present embodiment is located at the starting position of the first limiting slide groove 41, the extension plate 311 at this position blocks one end of the fixed slide rail 47, and the first sensor 412 elastically installed on one side of the second limiting slide groove 46 is inserted into the positioning hole 321 on the sliding base 32. Therefore, the thrust direction applied by the push plate 461 on the other side to the extension plate 311 and the limiting push rod 471 is perpendicular to the length direction of the first sensor 412, and the limiting push rod 471 cannot be moved. Therefore, the position of the limiting push rod 471 can be locked. When the posture adjustment mechanical clamp 3 moves with the chain plate conveyor belt 1, the first sensor 412 disengages from the positioning hole 321, and the extension plate 311 disengages from one end of the fixed slide rail 47, and the position lock of the limiting push rod 471 can be released. The posture adjustment mechanical clamp 3 on the other side can move along the second connecting groove 44. During the movement of the sliding base 32 in the second connecting groove 44, the first inclined surface 322 of the sliding base 32 fits the round head end of the elastic plug rod 411, so that the extension plate 311 enters the installation groove 468. The first sensor 412 detects the movement of the elastic plug rod 411. The first sensor 412 detects the movement of the elastic plug rod 411 at this position to determine that the sliding base 32 on this side has driven the posture adjustment mechanical clamp 3 to reset. Then, the linear driver 465 on this side is controlled to drive the moving block 462 and the push plate 461 to reset. The linear driver 465 on the other side can push the push plate 461 to fit the extension plate 311 after the posture adjustment mechanical clamp 3 moves to the end of the reset groove 42.

[0050] In order to solve the problem of how to ensure the directional movement of the sliding base 32 in the first connecting slide groove 43 and the reset slide groove 42, the following features are specifically set:

[0051] The first limiting slide groove 41, the reset slide groove 42, the first connecting slide groove 43 and the second connecting slide groove 44 are spliced ​​to form a rectangular block 413 located at the center. The top corners of the rectangular block 413 are elastically installed with limiting blocks 48. The limiting blocks 48 protrude from the surface of the rectangular block 413 and enter the terminal ends of the first limiting slide groove 41, the reset slide groove 42, the first connecting slide groove 43 and the second connecting slide groove 44. The limiting blocks 48 move toward the first limiting slide groove 41, the reset slide groove 42, the first connecting slide groove 43 and the second connecting slide groove A beveled edge 481 is provided on one side of the starting end of the connecting slide groove 44, and a right-angled edge 482 flush with the surface of the rectangular block 413 is provided on one side of the limit stopper 48 facing the end ends of the first limit slide groove 41, the reset slide groove 42, the first connecting slide groove 43 and the second connecting slide groove 44; a second sensor 414 is provided on the rectangular block 413 for detecting the movement of the limit stopper 48 at the connection between the first limit slide groove 41 and the first connecting slide groove 43, and the second sensor 414 is connected to the driving roller 45 through the controller signal.

[0052] The sliding base 32 in this embodiment moves directionally on the support frame 4 along the first limiting slide groove 41, the first connecting slide groove 43, the reset slide groove 42 and the second connecting slide groove 44. The first limiting slide groove 41, the reset slide groove 42, the first connecting slide groove 43 and the second connecting slide groove 44 are spliced ​​to form a rectangular block 413 located at the center. The top corners of the rectangular block 413 are elastically installed with limiting blocks 48. When the sliding base 32 moves to the connection between the first limiting slide groove 41, the reset slide groove 42, the first connecting slide groove 43 and the second connecting slide groove 44, it contacts the beveled edge 481 of the limiting block 48. The sliding base 32 fits the beveled edge 481 to compress the beveled edge 481 to allow the sliding base 32 to pass. When the sliding base 32 passes the limiting block 48, the limiting The block 48 pops out to make the right-angled edge 482 fit the sliding base 32, thereby limiting the movement of the sliding base 32 so that it can only move in a certain direction. A second sensor 414 is provided on the rectangular block 413 to detect the movement of the limit block 48 at the connection between the first limit slide groove 41 and the first connecting slide groove 43. After the sliding base 32 passes through the connection between the first limit slide groove 41 and the first connecting slide groove 43, the second sensor 414 detects the movement of the limit block 48 and sends a signal to the controller. The driving roller 45 is started by the controller to move the sliding base 32 along the first connecting slide groove 43 and the reset slide groove 42, so that the plug-in plate 33 can quickly detach from the positioning block 11, thereby releasing the synchronous movement of the posture adjustment mechanical clamp 3 and the chain conveyor belt 1.

[0053] In order to solve the problem of how to realize the movement of the plug-in board 33 and quickly disengage the positioning block 11, the following features are specifically set:

[0054] The plug-in plate 33 is slidably installed in the guide sleeve 312 set on the mounting bracket 31. A tooth groove 331 is set on the side of the plug-in plate 33 facing the mounting bracket 31. The tooth groove 331 is meshed and connected with the meshing gear 313 rotatably installed at the bottom of the mounting bracket 31. The axis of the meshing gear 313 is vertically arranged. The meshing gear 313 is meshed and connected with the driving gear 314 rotatably installed on the mounting bracket 31. A rotating driver 315 is fixedly installed on the mounting bracket 31, and the working end of the rotating driver 315 is transmission-connected to the driving gear 314.

[0055] An installation frame 332 is provided at one end of the insertion plate 33 facing the chain plate conveyor belt 1, and an insertion head 333 is slidably installed in the installation frame 332. The insertion head 333 is provided with a plurality of first guide rods 334 extending along the length direction of the insertion plate 33. The first guide rods 334 are inserted in the installation frame 332, and a first spring 335 is sleeved on the first guide rod 334. The first spring 335 elastically connects the installation frame 332 and the insertion head 333. The elastic force of the first spring 335 causes the insertion head 333 to move toward the end away from the sliding base 32; an inclined second inclined surface 336 is provided on the side of the insertion head 333 facing the input end of the chain plate conveyor belt 1, and when the positioning block 11 is in contact with the second inclined surface 336, it pushes the insertion head 333 to compress the first spring 335 and move toward the side of the sliding base 32.

[0056] The plug-in plate 33 in this embodiment maintains the stability of the moving path by being installed in the guide sleeve 312, and the rotation driver 315 is started to drive the driving gear 314 and the meshing gear 313 to rotate, and the meshing gear 313 is engaged with the tooth groove 331 of the plug-in plate 33, so that the plug-in plate 33 can be moved in the horizontal direction. When the plug-in plate 33 moves toward the positioning block 11, the plug-in head 333 elastically installed in the installation frame 332 contacts the positioning block 11 and compresses the first spring 335. When the chain plate conveyor belt 1 moves to the point where the plug-in plate 33 is located between two adjacent positioning blocks 11, the elastic force of the first spring 335 causes the plug-in head 333 to pop out quickly. The second inclined surface 336 of the insertion head 333 is completely inserted between the positioning blocks 11, so that the positioning blocks 11 can push the insertion head 333 to move; when the insertion plate 33 drives the sliding base 32 to move to the end position of the first limiting slide groove 41, the driving roller 45 drives the insertion plate 33 to translate, so that the second inclined surface 336 of the insertion head 333 contacts the positioning block 11, and the positioning block 11 fits the second inclined surface 336 to push the insertion head 333 to move in the installation frame 332, thereby achieving that the insertion plate 33 is not completely separated from the positioning blocks 11. At the same time, it does not affect the movement of the chain plate conveyor belt 1, thereby ensuring the efficiency of the chain plate conveyor belt 1 in conveying materials.

[0057] Working principle: The chain conveyor belt 1 conveys materials at equal intervals, the visual inspection unit 2 detects the posture of the materials placed on the chain conveyor belt 1, detects the posture of the workpiece on the chain conveyor belt 1, analyzes the offset data of the workpiece posture and sends it to the posture adjustment mechanical clamp 3, the posture adjustment mechanical clamp 3 is installed on the mounting bracket 31, the mounting bracket 31 makes the posture adjustment mechanical clamp 3 be located above the chain conveyor belt 1 to clamp the material, the sliding base 32 at the bottom of the mounting bracket 31 is slidably installed in the first limiting slide groove 41 set on one side of the chain conveyor belt 1, when the visual inspection unit 2 detects that the material passing through the visual inspection unit 2 has a posture offset, the plug-in plate 33 slidably installed on the mounting bracket 31 is translated toward the bottom of the chain conveyor belt 1 until the plug-in plate 33 is inserted into the chain plate of the chain conveyor belt 1 Between the positioning blocks 11 set at the bottom, after the positioning blocks 11 are attached to the plug-in plate 33, the sliding base 32 moves synchronously with the movement of the chain plate conveyor belt 1, so that the posture adjustment mechanical clamp 3 can maintain a relatively static position with the material moving on the chain plate conveyor belt 1 for posture adjustment, ensuring that the material is in the correct position after the adjustment is completed. At the same time, the posture adjustment mechanical clamp 3 on the other side moves to the initial position, ready to adjust the subsequent materials that need to be adjusted in posture. When the moving posture adjustment mechanical clamp 3 completes the adjustment of the material, the sliding base 32 moves to the end point of the first limiting slide 41 and moves along the first connecting slide 43, so that the plug-in plate 33 is separated from the positioning block 11, and returns to the initial position along the reset slide 42 and the second connecting slide 44, waiting to exchange positions with the posture adjustment mechanical clamp 3 on the other side.

[0058] The above embodiments only express one or several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A material conveying posture control device, comprising a chain plate conveyor belt (1), a visual detection unit (2) arranged at the input end of the chain plate conveyor belt (1), and a posture adjustment mechanical gripper (3) arranged on the moving path of the chain plate conveyor belt (1), characterized in that: It also includes a support frame (4) that passes horizontally through the chain plate conveyor belt (1) and is located below the chain plate, and the support frame (4) is located on both sides of the chain plate conveyor belt (1) and is provided with a first limiting slide groove (41) that extends horizontally along the conveying direction of the chain plate conveyor belt (1); There are two posture adjustment mechanical clamps (3), each posture adjustment mechanical clamp (3) is mounted on a vertical mounting bracket (31), a sliding base (32) is provided at the bottom of the mounting bracket (31), and the sliding base (32) is slidably mounted in the first limiting slide grooves (41) on both sides of the chain plate conveyor belt (1); A positioning block (11) is fixedly installed at the bottom of each chain of the chain conveyor belt (1), and an insertion plate (33) is slidably installed on the mounting bracket (31) of the posture adjustment mechanical clamp (3). When the posture adjustment mechanical clamp (3) is started, the insertion plate (33) extends to the middle of two adjacent positioning blocks (11) along a horizontal direction perpendicular to the first limiting slide groove (41), and the positioning block (11) pushes the insertion plate (33) to make the posture adjustment mechanical clamp (3) move synchronously with the chain conveyor belt (1).

2. A material conveying posture control device according to claim 1, characterized in that: The support frame (4) is provided with a reset chute (42) parallel to the first limiting chute (41) on a side of the first limiting chute (41) away from the chain plate conveyor belt (1); the end point of the first limiting chute (41) is connected to the starting point of the reset chute (42) via a first connecting chute (43); and the end point of the reset chute (42) is connected to the starting point of the first limiting chute (41) via a second connecting chute (44); A plurality of driving rollers (45) are rotatably mounted in the first connecting slot (43) and the reset slot (42). The driving rollers (45) are evenly spaced along the length direction of the first connecting slot (43) and the reset slot (42). The rotation axis of the driving roller (45) in the first connecting slot (43) is arranged horizontally and perpendicular to the length direction of the first connecting slot (43). The rotation axis of the driving roller (45) in the reset slot (42) is arranged horizontally and perpendicular to the length direction of the reset slot (42). The driving roller (45) is arranged horizontally in the length direction, and the driving roller (45) located in the first connecting slide groove (43) is in contact with the bottom of the sliding base (32) so that the sliding base (32) moves from the end point of the first limiting slide groove (41) to the end point of the first connecting slide groove (43), and the driving roller (45) located in the reset slide groove (42) is in contact with the bottom of the sliding base (32) so that the sliding base (32) moves from the end point of the first connecting slide groove (43) along the reset slide groove (42) to the end point of the reset slide groove (42); The support frame (4) is provided with a second limiting slot (46) on a side of each second connecting slot (44) away from the first connecting slot (43), the second limiting slot (46) being parallel to the second connecting slot (44), and each posture adjustment mechanical clamp (3) is provided with an extension plate (311), the extension plate (311) extending along the length direction of the support frame (4) to above the second limiting slot (46); A push plate (461) is slidably mounted on the second limiting slide groove (46), and the push plate (461) pushes the extension plate (311) to move the sliding base (32) along the second connecting slide groove (44) to the starting position of the first limiting slide groove (41).

3. A material conveying posture control device according to claim 2, characterized in that: A horizontal fixed slide rail (47) is provided on the support frame (4), the fixed slide rail (47) is connected to the two second limiting slide grooves (46) and is located on a side of the second limiting slide groove (46) away from the first limiting slide groove (41), and an extension plate (311) on the posture adjustment mechanical clamp (3) located at the starting point of the first limiting slide groove (41) is in contact with one end of the fixed slide rail (47); A limiting push rod (471) is slidably installed in the fixed slide rail (47), one end of the limiting push rod (471) is fitted with an extension plate (311) of the posture adjustment mechanical clamp (3) located at the starting point of the first limiting slide groove (41), and the other end of the limiting push rod (471) is fitted with an extension plate (311) of the posture adjustment mechanical clamp (3) moved to the end point of the reset slide groove (42).

4. A material conveying posture control device according to claim 3, characterized in that: A moving block (462) is slidably mounted on the second limiting slide groove (46), the moving block (462) is located at one end of the push plate (461) away from the chain plate conveyor belt (1), the second limiting slide groove (46) is provided with a waist-shaped hole (463) extending along the length direction of the second limiting slide groove (46), and the moving block (462) is provided with a connecting block (464) having the same width as the waist-shaped hole (463), the connecting block (464) passes through the waist-shaped hole (463) and is connected to the working end of a linear driver (465) fixedly mounted at the bottom of the second limiting slide groove (46), and the working end of the linear driver (465) moves along the length direction of the second limiting slide groove (46); The push plate (461) is provided with a plurality of second guide rods (466) extending along the length direction of the second limiting sliding groove (46); the push plate (461) is inserted into the moving block (462) through the second guide rods (466); a second spring (467) is sleeved on the second guide rods (466); the second spring (467) elastically connects the push plate (461) and the moving block (462).

5. A material conveying posture control device according to claim 4, characterized in that: The length of the second guide rod (466) is greater than the length of the second connecting sliding groove (44).

6. A material conveying posture control device according to claim 4, characterized in that: The second limiting slide groove (46) is provided with a mounting groove (468) at one end located at the starting point of the first limiting slide groove (41), an elastic plug rod (411) is slidably installed in the mounting groove (468), the elastic plug rod (411) extends along the length direction of the first limiting slide groove (41), and a positioning hole (321) is provided on the side of the sliding base (32) facing the elastic plug rod (411) and is in the same straight line as the elastic plug rod (411); A first sensor (412) is disposed in the installation groove (468), and the first sensor (412) detects the movement of the elastic insertion rod (411). The first sensor (412) is connected to the linear driver (465) via a controller signal.

7. A material conveying posture control device according to claim 6, characterized in that: A first inclined surface (322) is provided at the top corner of the sliding base (32) on the side facing the chain plate conveyor belt (1), and when the first inclined surface (322) fits the round end of the elastic insertion rod (411) located in the first limiting sliding groove (41), the elastic insertion rod (411) is pressed into the installation groove (468).

8. A material conveying posture control device according to claim 4, characterized in that: The first limiting slide groove (41), the reset slide groove (42), the first connecting slide groove (43) and the second connecting slide groove (44) are spliced ​​to form a rectangular block (413) located at the center. The limiting blocks (48) are elastically installed at the top corners of the rectangular block (413). The limiting blocks (48) protrude from the surface of the rectangular block (413) and enter the end positions of the first limiting slide groove (41), the reset slide groove (42), the first connecting slide groove (43) and the second connecting slide groove (44). At one end of the point, a side of the limit stopper (48) facing the starting end of the first limit slide groove (41), the reset slide groove (42), the first connecting slide groove (43) and the second connecting slide groove (44) is provided with a beveled edge (481), and a side of the limit stopper (48) facing the ending end of the first limit slide groove (41), the reset slide groove (42), the first connecting slide groove (43) and the second connecting slide groove (44) is provided with a right-angled edge (482) flush with the surface of the rectangular block (413); The rectangular block (413) is provided with a second sensor (414) for detecting the movement of the limit stopper (48) at the connection between the first limit slide groove (41) and the first connection slide groove (43), and the second sensor (414) is connected to the driving roller (45) via a controller signal.

9. A material conveying posture control device according to claim 1, characterized in that: The plug-in plate (33) is slidably mounted in a guide sleeve (312) provided on the mounting bracket (31); a tooth groove (331) is provided on a side of the plug-in plate (33) facing the mounting bracket (31); the tooth groove (331) is meshedly connected with a meshing gear (313) rotatably mounted at the bottom of the mounting bracket (31); the axis of the meshing gear (313) is vertically arranged; the meshing gear (313) is meshedly connected with a driving gear (314) rotatably mounted on the mounting bracket (31); a rotating driver (315) is fixedly mounted on the mounting bracket (31); and a working end of the rotating driver (315) is drivingly connected with the driving gear (314).

10. A material conveying posture control device according to claim 9, characterized in that: An installation frame (332) is provided at one end of the insertion plate (33) facing the chain plate conveyor belt (1), an insertion head (333) is slidably installed in the installation frame (332), and the insertion head (333) is provided with a plurality of first guide rods (334) extending along the length direction of the insertion plate (33), the first guide rods (334) are inserted in the installation frame (332), and a first spring (335) is sleeved on the first guide rod (334), the first spring (335) elastically connects the installation frame (332) and the insertion head (333), and the elastic force of the first spring (335) causes the insertion head (333) to move toward an end away from the sliding base (32); A second inclined surface (336) is provided on one side of the insertion head (333) facing the input end of the chain plate conveyor belt (1); when the positioning block (11) is in contact with the second inclined surface (336), the insertion head (333) is pushed to compress the first spring (335) and move toward the side of the sliding base (32).

Images