Visual positioning device

Abstract

The utility model discloses a visual positioning device which comprises a first station provided with a first robot and used for carrying a grey board to the first station and adjusting the angle of the grey board so as to enable the grey board to directly face and adhere to a face paper incoming material to form a grey board-face paper adhering body; the second station is provided with a second robot and is used for adjusting the feeding angle of the grey board-surface paper bonding body and outputting the adjusted grey board-surface paper bonding body; and the visual system is used for identifying feature points on the grey board and the grey board-surface paper bonding body and feeding back the feature points of the grey board and the grey board-surface paper bonding body to the first robot and the second robot respectively. According to the utility model, the first station and the second station are arranged to respectively adjust the angle of the grey board and the angle of the grey board-surface paper bonding body, so that the original two-time angle adjustment action of one manipulator on a single station is decomposed, the consumed time on the single station is reduced, and the production efficiency of the whole line is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of packaging box assembly, in particular to a visual positioning device. Background Art

[0002] In the current packaging box assembly process, a long strip of surrounding frame is generally folded and pasted to achieve frame forming, and the surrounding frame is mainly composed of a long strip of gray board and a face paper glued together.

[0003] In the current frame forming equipment: the conveyor line receives the facial paper peeled off from the rubber roller in the previous gluing process, and the facial paper directly arrives at the pasting station without adjusting the angle. The robot sucks the single gray board output by the gray board feeding device and adapts the gray board according to the angle of the facial paper and then presses it on the facial paper to form a bonded body, which solves the positioning accuracy problem between the facial paper and the gray board. However, the facial paper on this station has not been adjusted, so the overall bonded body is crooked compared to the flow direction reference of the assembly line, which has led to the problem of positioning accuracy of the bonded body, affecting the production efficiency of the entire line. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a visual positioning device which can improve the production efficiency of the whole line.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solution: a visual positioning device, comprising:

[0006] The first station is provided with a first robot for carrying the grey board to the first station and adjusting the angle of the grey board so that the grey board is directly pasted with the incoming face paper to form a grey board-face paper bonded body;

[0007] The second station is provided with a second robot for adjusting the incoming angle of the grey board-face paper adhesive body and outputting the adjusted grey board-face paper adhesive body;

[0008] The visual system is used to identify characteristic points on the grey board and the grey board-face paper adhesive body and feed back the characteristic points of the grey board and the grey board-face paper adhesive body to the first robot and the second robot respectively.

[0009] Furthermore, the facial paper conveying mechanism is used to convey the facial paper to the first station and convey the pasted grey board-facial paper adhesive body to the second station.

[0010] Furthermore, the tissue paper conveying mechanism has two material input channels.

[0011] Furthermore, it also includes:

[0012] The grey board conveying mechanism at least comprises a pushing mechanism for outputting grey boards one by one in sequence and a receiving station for receiving the output grey boards, and the first robot extracts the grey boards from the receiving station.

[0013] Furthermore, the pushing mechanism includes at least a plurality of pallets extending along the width direction of the gray board and arranged at intervals along the length direction of the gray board, at least one dividing block arranged above the plurality of pallets, and at least one pushing block arranged between any two adjacent pallets. The plurality of pallets are used to support stacks of gray boards and have adjustable intervals. A discharge channel through which only one gray board can pass is formed between the dividing block and the pallets, and the pushing block is used to push the bottom layer of gray boards through the discharge channel to the receiving station.

[0014] Furthermore, the height of the dividing block is adjustable.

[0015] The beneficial effects of the utility model are embodied in:

[0016] The visual positioning device of the utility model is provided with a first station and a second station to respectively adjust the angle of the grey board and the angle of the grey board-face paper adhesive body, thereby reducing the time consumption at a single station and improving the production efficiency of the entire line. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the visual positioning device of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the ash board conveying mechanism of the utility model;

[0019] Figure 3 The utility model is a flowchart of the frame adjustment process.

[0020] The components in the accompanying drawings are marked as follows: 1. first station; 2. first robot; 3. second station; 4. second robot; 6. facial paper conveying mechanism; 7. grey board conveying mechanism; 701. material pushing mechanism; 7011. support plate; 7012. dividing block; 7013. pushing block; 702. material receiving station; A. grey board; B. facial paper; C. grey board-facial paper adhesive. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0022] See also Figure 1 and Figure 3 .

[0023] A visual positioning device, comprising:

[0024] The first station 1 is provided with a first robot 2 for carrying a grey board A to the first station 1 and adjusting the angle of the grey board A so that it is directly pasted with the incoming face paper B to form a grey board-face paper bonded body C;

[0025] The second workstation 3 is provided with a second robot 4 for adjusting the incoming angle of the grey board-face paper bonded body C and outputting the adjusted grey board-face paper bonded body C;

[0026] The visual system is used to identify the characteristic points on the gray board A and the gray board-face paper adhesive body C and feed back the characteristic points of the gray board A and the gray board-face paper adhesive body C to the first robot 2 and the second robot 4 respectively. It can be seen that at the first station: the face paper is freely positioned on the conveyor belt, and the visual system accurately sticks it to the face paper by adjusting the gray board; at the second station: the gray board-face paper adhesive body is freely positioned, and is set by the robot, and the output placement position and angle are fixed and unique, which is convenient for subsequent station work.

[0027] The visual positioning device of the utility model is provided with a first station 1 and a second station 3, which respectively adjust the angle of the gray board A and the angle of the gray board-face paper adhesive body C, which not only reduces the time consumption at a single station, but also improves the production efficiency of the entire line. In the utility model, the visual system is a prior art and will not be described in detail here.

[0028] In one embodiment, see Figure 1 The facial paper conveying mechanism 6 is used to convey the facial paper B to the first station 1 and convey the pasted grey board-facial paper adhesive body C to the second station 3. In this embodiment, the facial paper conveying mechanism 6 can be a conveyor belt.

[0029] In one embodiment, see Figure 1 and Figure 3 The tissue paper conveying mechanism 6 has two material supply channels. In this embodiment, the two material supply channels of the tissue paper conveying mechanism 6 are synchronously conveyed, so that two tissue papers B are always kept at the first station 1, and two gray board-tissue paper adhesive bodies C are always kept at the second station 3, so as to achieve maximum adaptation of the manipulator at each station and improve production efficiency.

[0030] In one embodiment, see Figure 1 and Figure 2 , also includes:

[0031] The grey board conveying mechanism 7 at least comprises a pushing mechanism 701 for outputting grey boards A one by one in sequence and a receiving station 702 for receiving the outputted grey boards A, and the first robot 2 takes the grey board A from the receiving station 702. This design realizes the automatic output of the grey board A, facilitates the first robot 2 to take the material, and further improves the pasting efficiency of the grey board A and the face paper B.

[0032] In one embodiment, see Figure 2 The pushing mechanism 701 at least includes a plurality of support plates 7011 extending along the width direction of the gray board A and arranged at intervals along the length direction of the gray board A, at least one dividing block 7012 arranged above the plurality of the support plates 7011, and at least one pushing block 7013 arranged between any two adjacent support plates 7011. The plurality of support plates 7011 are used to support stacks of gray boards A with adjustable intervals. A discharge channel through which only one gray board A can pass is formed between the dividing block 7012 and the support plates 7011. The pushing block 7013 is used to push the bottom gray board A through the discharge channel to the material receiving station 702. In this embodiment, the interval of the support plate 7011 is adjustable to accommodate the support of gray boards A of different lengths. The width of the discharge channel formed between the dividing block 7012 and the support plate 7011 is greater than the thickness of a layer of gray board A, which facilitates the discharge of gray board A. In this embodiment, the interval adjustment structure of the support plate 7011 and the pushing structure of the push block 7013 can be achieved through existing technologies and will not be elaborated herein.

[0033] In one embodiment, see Figure 2 The height of the partition block 7012 is adjustable. This design allows the discharge channel to meet the discharge of gray boards A with different thicknesses, and in this embodiment, the partition block 7012 is detachably arranged on a column by bolts or screws, and the height of the partition block 7012 on the column can be adjusted.

[0034] It should be understood that the examples and implementation modes described herein are for illustrative purposes only and are not intended to limit the present invention. Those skilled in the art may make various modifications or changes based on the examples and implementation modes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0035] It should be noted that if the embodiments of the present invention involve directional indications such as up, down, left, right, front, back, etc., then the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or schemes that satisfy both A and B. In addition, "multiple" refers to more than two. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

Claims

1. A visual positioning device, characterized in that: include: The first workstation (1) is provided with a first robot (2) for transporting a grey board (A) to the first workstation (1) and adjusting the angle of the grey board (A) so that the grey board (A) is directly pasted with the incoming face paper (B) to form a grey board-face paper adhesive body (C); The second workstation (3) is provided with a second robot (4) for adjusting the incoming angle of the grey board-face paper adhesive body (C) and outputting the adjusted grey board-face paper adhesive body (C); The visual system is used to identify characteristic points on the grey board (A) and the grey board-face paper adhesive body (C) and to feed back the characteristic points of the grey board (A) and the grey board-face paper adhesive body (C) to the first robot (2) and the second robot (4) respectively.

2. The visual positioning device according to claim 1, characterized in that: Also includes: The facial paper conveying mechanism (6) is used to convey the facial paper (B) to the first work station (1) and to convey the pasted grey board-facial paper adhesive body (C) to the second work station (3).

3. The visual positioning device according to claim 2, characterized in that: The tissue paper conveying mechanism (6) has two material supply channels.

4. The visual positioning device according to any one of claims 1 to 3, characterized in that: Also includes: The grey board conveying mechanism (7) comprises at least a pushing mechanism (701) for outputting the grey boards (A) one by one in sequence and a receiving station (702) for receiving the output grey boards (A), and the first robot (2) extracts the grey boards (A) from the receiving station (702).

5. The visual positioning device according to claim 4, characterized in that: The pushing mechanism (701) comprises at least a plurality of supporting plates (7011) extending along the width direction of the gray board (A) and arranged at intervals along the length direction of the gray board (A), at least one dividing block (7012) arranged above the plurality of supporting plates (7011), and at least one pushing block (7013) arranged between any two adjacent supporting plates (7011). The plurality of supporting plates (7011) are used to support stacks of gray boards (A) and have adjustable intervals. A discharge channel through which only one gray board (A) can pass is formed between the dividing block (7012) and the supporting plate (7011), and the pushing block (7013) is used to push the bottom gray board (A) through the discharge channel to the material receiving station (702).

6. The visual positioning device according to claim 5, characterized in that: The height of the dividing block (7012) is adjustable.

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