Visual clamp for grabbing label paper

Abstract

The utility model relates to the technical field of label paper grabbing, and discloses a label paper grabbing visual clamp which comprises an industrial camera, an annular light source, a proximity switch and a shaping push plate which are connected to the output end of a robot, and a sponge suction cup mounting plate is connected to the lower portion of the output end of the robot. The plane where the lens of the industrial camera is located is lower than the plane where the edge of the annular light source is located; the proximity switch and the shaping push plate are connected to different side faces of the sponge suction cup mounting plate respectively. According to the visual clamp, the industrial camera is provided with the annular light source, so that the position of the label paper can be accurately identified, and the sponge suction cup can accurately suck the label paper; and meanwhile, a shaping push plate is arranged, so that the label paper can be trimmed after the released label paper sucked by a sponge suction cup is deflected.

Description

Technical Field

[0001] The utility model relates to the technical field of trademark paper grabbing, in particular to a visual clamp for grabbing trademark paper. Background Art

[0002] The small box paper and strip paper used in the production process of the cigarette factory's rolling and packaging workshop are all small box paper stacks and strip paper stacks in pallets output by the auxiliary material warehouse. They are placed in the designated area near the packaging machine by the AGV cart, and then unpacked and isolated by the operator to be unpacked and clamped by the packaging unit robot. At present, the robot's grasping accuracy of strip paper and small box paper is not high. It is impossible to judge whether the grasped paper is placed in place, and it is impossible to place and trim the skewed paper, resulting in a large number of paper scrapped due to improper clamping, which not only wastes resources, but also affects the operation progress of the entire production line. Utility Model Content

[0003] Based on the above problems, the utility model provides a visual clamp for grabbing trademark paper.

[0004] A visual fixture for grabbing trademark paper, comprising: an industrial camera connected to the output end of a robot, a ring light source, a proximity switch and a shaping push plate, and a sponge suction cup mounting plate is connected below the output end of the robot;

[0005] The industrial camera is arranged in the middle of the annular light source, and the plane where the lens of the industrial camera is located is lower than the plane where the edge of the annular light source is located;

[0006] The proximity switch and the shaping push plate are respectively connected to different sides of the sponge suction cup mounting plate.

[0007] Furthermore, the sponge suction cup mounting plate is connected to the output end of the robot through a connecting flange, and the connecting flange includes a column and side flanges connected to both ends of the column.

[0008] Furthermore, a side flange at one end of the connecting flange is connected to a camera mounting plate, and the industrial camera is connected to the camera mounting plate.

[0009] Furthermore, a light source fixing shaft is also provided on the camera mounting plate, and the annular light source is connected to the light source fixing shaft.

[0010] Furthermore, a plurality of groups of sponge suction cups are arranged on the lower surface of the sponge suction cup mounting plate.

[0011] Furthermore, the plane where the lens of the industrial camera is located is perpendicular to the working surface of the sponge suction cup.

[0012] Furthermore, the output end of the robot is a rotatable structure.

[0013] The utility model has the following beneficial effects: the visual fixture of the utility model adopts an industrial camera equipped with a ring light source to accurately identify the position of the trademark paper, so that the sponge suction cup can accurately absorb it; at the same time, a shaping push plate is provided, and when the trademark paper is deflected after being absorbed and released by the sponge suction cup, the trademark paper can be trimmed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the visual fixture in the embodiment of the utility model;

[0015] Figure 2 The visual fixture in the embodiment of the utility model is installed on the robot part. Figure 1 ;

[0016] Figure 3 The visual fixture in the embodiment of the utility model is installed on the robot part. Figure 2 ;

[0017] Figure 4 This is a view of a visual fixture in an embodiment of the present utility model installed on an overall robot.

[0018] In the figure: 1-connecting flange; 2-sponge suction cup mounting plate; 3-robot; 4-camera mounting plate; 5-industrial camera; 6-ring light source; 7-light source fixing axis; 8-proximity switch; 9-shaping push plate. DETAILED DESCRIPTION

[0019] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0020] refer to Figures 1 to 4 The utility model provides a visual fixture for grabbing trademark paper, including: an industrial camera 5 connected to the output end of a robot 3, a ring light source 6, a proximity switch 8 and a shaping push plate 9, and a sponge suction cup mounting plate 2 is connected below the output end of the robot 3.

[0021] A plurality of groups of sponge suction cups are arranged on the lower surface of the sponge suction cup mounting plate 2, through which strip box label paper is sucked, and of course, a plurality of groups of small box label paper can also be sucked.

[0022] The sponge suction cup mounting plate 2 is connected to the output end of the robot 3 through the connecting flange 1; specifically, the connecting flange 1 includes a column and side flanges connected to both ends of the column, and the column and the side flanges at both ends are welded. The side flange at one end is connected to the output end face of the robot 3 by screws, and the side flange at the other end is connected to the upper surface of the sponge suction cup mounting plate 2 and connected by bolts.

[0023] A camera mounting plate 4 is connected to the side flange located at one side of the output end of the robot 3. The camera mounting plate 4 is a flat plate with threaded holes. One side of the body of the industrial camera 5 is connected to the camera mounting plate 4 by screws.

[0024] The camera mounting plate 4 is also connected to two parallel light source fixing shafts 7 , one end of the light source fixing shaft 7 is fixed to the camera mounting plate 4 via a hoop, and the other end is connected to a ring light source 6 .

[0025] The industrial camera 5 is arranged in the middle of the annular light source 6, and the plane where the lens of the industrial camera 5 is located is lower than the plane where the edge of the annular light source 6 is located, so that the annular light source 6 can avoid scratching the lens of the industrial camera 5 when it contacts the label paper. The annular light source 6 is responsible for assisting the industrial camera 5 to locate the label paper, and the central system can accurately grasp the label paper through the position data obtained by the industrial camera 5. The power supply of the annular light source 6 is conductively connected to the power grid on the production line.

[0026] The proximity switch 8 is used to detect whether the trademark paper is in place, and is installed on the long side of the sponge suction cup mounting plate 2. In this embodiment, the proximity switch 8 includes multiple ones, which are arranged at equal intervals.

[0027] The shaping push plate 9 is arranged on the short side of the sponge suction cup mounting plate 2, and is used to shape the trademark paper through the movement of the robot 3 after the sponge suction cup releases the trademark paper.

[0028] The robot 3 in this embodiment is regarded as the prior art, and the output end is a rotatable structure, which can be rotated and switched between the grasping state and the recognition state.

[0029] Optionally, the plane where the lens of the industrial camera 5 is located is perpendicular to the working surface of the sponge suction cup, and when the output end of the robot 3 rotates 90°, the grasping state and the recognition state can be switched.

[0030] The above is only a preferred embodiment of the utility model, which does not represent all possible forms of the utility model, and the protection scope of the utility model is not limited to such special statements and embodiments. According to the technical inspirations disclosed by the utility model, various other modifications and improvements that do not deviate from the essence of the utility model are made, and these modifications and improvements are still within the protection scope of the utility model.

Claims

1. A visual fixture for grabbing trademark paper, characterized in that: include: An industrial camera (5), a ring light source (6), a proximity switch (8) and a shaping push plate (9) are connected to the output end of the robot (3), and a sponge suction cup mounting plate (2) is connected below the output end of the robot (3); The industrial camera (5) is arranged in the middle of the annular light source (6), and the plane where the lens of the industrial camera (5) is located is lower than the plane where the edge of the annular light source (6) is located; The proximity switch (8) and the shaping push plate (9) are respectively connected to different sides of the sponge suction cup mounting plate (2).

2. The visual fixture for grabbing trademark paper according to claim 1, characterized in that: The sponge suction cup mounting plate (2) is connected to the output end of the robot (3) via a connecting flange (1), and the connecting flange (1) comprises a column and side flanges connected to both ends of the column.

3. The visual fixture for grabbing trademark paper according to claim 2, characterized in that: A side flange at one end of the connecting flange (1) is connected to a camera mounting plate (4), and the industrial camera (5) is connected to the camera mounting plate (4).

4. The visual fixture for grabbing trademark paper according to claim 3 is characterized by: The camera mounting plate (4) is also provided with a light source fixing shaft (7), and the annular light source (6) is connected to the light source fixing shaft (7).

5. The visual fixture for grabbing trademark paper according to claim 1, characterized in that: A plurality of groups of sponge suction cups are arranged on the lower surface of the sponge suction cup mounting plate (2).

6. The visual fixture for grabbing trademark paper according to claim 5, characterized in that: The plane where the lens of the industrial camera (5) is located is perpendicular to the working surface of the sponge suction cup.

7. The visual fixture for grabbing trademark paper according to any one of claims 1 to 6, characterized in that: The output end of the robot (3) is a rotatable structure.

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