Material visual grabbing, positioning and placing equipment

Abstract

The utility model relates to the technical field of material wobble plates, in particular to a material visual grabbing, positioning and placing device which comprises a bottom plate, and a material wobble plate station is arranged on the front portion of the bottom plate. At least one flexible vibration disc and a mechanical arm used for grabbing materials on the flexible vibration disc and positioning and placing the materials on a material placing disc station are arranged on the rear portion of the bottom plate, supporting plates are arranged on the two sides of the rear portion of the bottom plate respectively, and a top plate is installed above the bottom plate through the supporting plates. The top plate is provided with a visual camera facing downwards and directly facing the flexible vibration disc. Through reasonable layout and advanced mechanical arm design, the visual grabbing, positioning and placing equipment for the materials has the advantages of being high in space utilization rate, high in flexibility, compact in structure, excellent in mechanical arm performance and the like. By means of the advantages, the equipment is more efficient, accurate and stable in the material grabbing and tray arranging process, the production requirements of different industries can be met, and powerful support is provided for enterprises to improve the production efficiency, reduce the cost and improve the product quality.

Description

Technical Field

[0001] The utility model relates to the technical field of material plate arranging, in particular to a material visual grasping, positioning and placing device. Background Technique

[0002] Material plate arranging is the process of arranging materials in a specific order and requirements in plates or other containers. After arranging the materials, it is convenient for storage and transportation, improves production efficiency, and ensures product quality. The existing material plate arranging mainly includes manual plate arranging, mechanical plate arranging and automatic plate arranging. Among them, manual plate arranging has high flexibility and can be flexibly adjusted according to the shape and size of different materials. However, it has a large labor intensity, low efficiency, is prone to errors, and with the continuous increase of labor costs, its cost advantage gradually weakens. Mechanical plate arranging uses mechanical equipment such as plate arranging machines and vibrating bowls to arrange materials. These devices can automatically arrange materials in plates according to preset programs, with high speed, high efficiency, relatively high accuracy, and can meet the needs of large-scale production. However, the equipment investment is large, there are certain requirements for the shape and size of materials, and the flexibility is relatively low. Automatic plate arranging uses advanced technologies such as manipulators and vision systems to achieve automatic plate arranging of materials. The robot can accurately place the materials in the plate according to the position and shape of the materials recognized by the vision system. It can achieve high automation, extremely high efficiency, high accuracy, and can operate continuously for 24 hours, greatly reducing labor costs.

[0003] In order to achieve more flexible material plate arranging operations, in addition to using manipulators and vision systems, the prior art has also introduced a flexible vibrating bowl system. Through the flexible vibrating bowl, the materials can be scattered, so as to facilitate the vision system to control the manipulator for positioning and grasping. However, the manipulators used in existing such devices need to occupy a large space. Some manipulators are often externally placed on the device, or after occupying a certain space on the device, the device needs to have a larger size to accommodate the mechanism for setting up conveying and plate arranging, which cannot meet the structural requirements of small automatic devices. Therefore, it is necessary to propose an improved technical solution to solve the above problems. Content of the Utility Model

[0004] The utility model aims to provide a technical solution to solve the above problems in order to overcome the above deficiencies.

[0005] A material visual grasping, positioning and placing device includes a bottom plate. A material plate arranging station is arranged at the front part of the bottom plate. At least one flexible vibrating bowl and a manipulator for grasping and positioning the materials on the flexible vibrating bowl and placing them on the material plate arranging station are arranged at the rear part of the bottom plate. Support plates are respectively arranged at both sides of the rear part of the bottom plate. A top plate is installed above the bottom plate through the support plates. A vision camera facing the flexible vibrating bowl downward is arranged on the top plate.

[0006] Among them, the manipulator has an electric fixed main shaft fixedly installed on the bottom plate, a first horizontal swing arm power-connected to the electric fixed main shaft, a second horizontal swing arm power-connected to the end of the first horizontal swing arm, a lifting rod power mechanism installed at the end of the second horizontal swing arm, an electric rotating head connected to the lower end of the lifting rod power mechanism, and a material-grabbing head power-connected to the lower end of the electric rotating head for grabbing materials.

[0007] Preferably, two flexible vibrating bowls are provided, the electric fixed main shaft is arranged between the two flexible vibrating bowls, and the first horizontal swing arm and the second horizontal swing arm act together to drive the lifting rod power mechanism to move between the two flexible vibrating bowls and the material placing station.

[0008] Preferably, the material placing station includes a raised base, a positioning fixture fixed on the raised base, and a material tray positioned and placed on the positioning fixture.

[0009] Preferably, the material placing station includes a linear feeding unit horizontally arranged across the front part of the bottom plate, a positioning mechanism installed on the linear feeding unit, and a material tray placed on the linear feeding unit and corresponding to the manipulator through the positioning mechanism.

[0010] Preferably, the front end of the top plate extends to correspond to the front part of the bottom plate, and an electric control box is installed on the top plate, and an operation panel is installed at the front end of the electric control box.

[0011] Preferably, an electric motor for driving the relative rotation of the first horizontal swing arm and the second horizontal swing arm is installed on the second horizontal swing arm. The lifting rod power mechanism has a power end and a lifting rod main body connected to the power end and extending below the second horizontal swing arm. The electric rotating head is connected to the end of the lifting rod main body, and an outer protective shell covering the electric motor and the power end is installed on the second swing arm.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] Through reasonable layout and advanced manipulator design, the material vision grabbing, positioning and placing device has many advantages such as high space utilization rate, strong flexibility, compact structure, and excellent manipulator performance. These advantages make the device more efficient, accurate and stable in the process of material grabbing and placing, can meet the production needs of different industries, and provide strong support for enterprises to improve production efficiency, reduce costs and improve product quality; among them:

[0014] The flexible vibration plate and the manipulator are set at the rear of the bottom plate, the material plate placing station is set at the front of the bottom plate, and the support plates are set on both sides to install the top plate to place the visual camera. This layout leaves the front of the bottom plate to the two sides vacant. On the one hand, multiple material plate placing stations can be set up to perform material plate placing operations to meet the production needs of different scales; on the other hand, a conveying mechanism can also be set up to realize automatic plate placing and transfer the plated materials out, greatly improving the degree of automation of production. This design makes full use of the space of the equipment, improves the flexibility of the equipment, and enables it to adapt to different production scenarios. And through reasonable layout, the structure of the entire equipment is more compact. The flexible vibration plate, manipulator and material plate placing station are reasonably distributed on the bottom plate, which not only meets their respective functional requirements, but also does not take up too much space. This compact structural design enables the equipment to achieve more functions in a limited space, and also facilitates the installation, commissioning and maintenance of the equipment.

[0015] The manipulator is equipped with a first horizontal swing arm and a second horizontal swing arm, which can sweep across the flexible vibration plate and the material placement plate station and cover any designated position. This makes the manipulator more flexible in grabbing and placing materials, and can adapt to materials of different shapes and positions; the lifting rod power mechanism can perform lifting and giving way operations, and the electric rotating head can rotate and align the grabbed materials. These functions make the manipulator more precise during operation, ensuring the correct placement and angle of the materials, and improving the quality of the products; the various components of the manipulator are integrated on the bottom plate to meet the structural requirements of small automation equipment. This highly compact design makes the equipment occupy a small space, and also improves the stability and reliability of the equipment; because the structural range of the manipulator is limited, it can cover a wider range in the horizontal range and a small range in the vertical position. This design will not have too much range of movement and hit the flexible vibration plate and the material placement plate station, which makes the machine adjustment operation smoother and simpler, reduces the debugging time and cost, and improves production efficiency.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1It is a schematic structural diagram of one implementation manner of the present utility model;

[0019] Figure 2 It is a schematic structural diagram of another implementation manner of the present utility model;

[0020] Figure 3 It is a schematic structural diagram of the present utility model after removing the electric control cabinet;

[0021] Figure 4 It is a schematic structural diagram of the bottom plate, flexible vibrating disk, material placing station and manipulator in the present utility model.

[0022] The reference numerals and names in the figure are as follows:

[0023] Bottom plate 10, flexible vibrating disk 11, support plate 12, top plate 13, vision camera 14, electric control box 15, operation panel 16, material placing station 20, elevation base 21, positioning fixture 22, material tray 23, linear feeding unit 24, positioning mechanism 25, manipulator 30, electric fixed main shaft 31, first horizontal swing arm 32, second horizontal swing arm 33, lifting rod power mechanism 34, electric rotating head 35, gripping head 36, electric motor 37, outer protective shell 38. Specific implementation manner

[0024] The technical solutions in the embodiments of the present utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0025] Please refer to Figures 1-4 , in the embodiment of the present utility model, a material vision grasping and positioning placing device includes a bottom plate 10, a material placing station 20 is arranged at the front part of the bottom plate 10, at least one flexible vibrating disk 11 and a manipulator 30 for grasping and positioning the materials on the flexible vibrating disk 11 and placing them on the material placing station 20 are arranged at the rear part of the bottom plate 10, support plates 12 are respectively arranged at both sides of the rear part of the bottom plate 10, a top plate 13 is installed above the bottom plate 10 through the support plates 12, and a vision camera 14 facing the flexible vibrating disk 11 downward is arranged on the top plate 13;

[0026] The manipulator 30 includes an electric fixed spindle 31 fixedly mounted on the base plate 10, a first horizontal swing arm 32 powered by the electric fixed spindle 31, a second horizontal swing arm 33 powered by the end of the first horizontal swing arm 32, a lifting rod power mechanism 34 mounted on the end of the second horizontal swing arm 33, an electric rotating head 35 connected to the lower end of the lifting rod power mechanism 34, and a grabbing head 36 powered by the lower end of the electric rotating head 35 for grabbing materials.

[0027] In the above technical scheme, by arranging and setting the material visual grasping, positioning and placing equipment, the flexible vibration plate 11 and the manipulator 30 are arranged at the rear position of the bottom plate 10, the material plate placing station 20 is arranged at the front position of the bottom plate 10, and the support plate 12 is arranged at the two side positions of the rear of the bottom plate 10 to lift and install the top plate 13, the top plate 13 is used to set the visual camera 14, and the visual camera 14 is used to identify the materials scattered on the flexible vibration plate 11, so as to generate a corresponding moving path to control the manipulator 30, so that the manipulator 30 grabs the corresponding material and moves to the material plate placing station 20 for positioning and placing. Through the layout of this structure, the front to the two side positions of the bottom plate 10 are vacant, so that at least one material plate placing station 20 can be set to perform material plate placing operation, or a conveying mechanism can be set to achieve automatic plate placing and transfer the plated materials at the same time; therefore, through this setting, the flexibility of the material visual grasping, positioning and placing equipment can be further improved, and the compactness of the overall structural layout of the equipment can be ensured;

[0028] On this basis, a manipulator 30 is used, which has an electric fixed main shaft 31, a first horizontal swing arm 32, a second horizontal swing arm 33, a lifting rod power mechanism 34, an electric rotating head 35 and a grabbing head 36. With this manipulator 30, the first horizontal swing arm 32 and the second horizontal swing arm 33 can be used to sweep the flexible vibration plate 11 and the material swing plate station 20, and the lifting and lowering and making way operations are performed through the lifting rod power mechanism 34, and then the grabbed material is rotated and adjusted to its angle through the electric rotating head 35; through this structure, the manipulator 30 can be highly compactly integrated on the base plate 10 to meet the structural requirements of small-scale automation equipment, and can ensure that the manipulator 30 can sweep and cover any designated position on the flexible vibration plate 11 and the material swing plate station 20, and at the same time, the manipulator 30 will not have too much range of movement and collide with the flexible vibration plate 11 and the material swing plate station 20, making the machine adjustment operation smoother and simpler.

[0029] Please refer to Figure 3, on the basis of the above technical solution, it is further proposed that there are two flexible vibrating bowls 11, the electric fixed main shaft 31 is arranged between the two flexible vibrating bowls 11, and the first horizontal swing arm 32 and the second horizontal swing arm 33 work together to drive the lifting rod power mechanism 34 to move between the two flexible vibrating bowls 11 and the material placing station 20; the vision camera 14 identifies the materials on the flexible vibrating bowl 11, determines the position and attitude information of the materials, and generates corresponding movement path instructions. The electric fixed main shaft 31 serves as the fixed support point of the manipulator 30, and the first horizontal swing arm 32 and the second horizontal swing arm 33 swing under the drive of power, jointly driving the lifting rod power mechanism 34 to move between the two flexible vibrating bowls 11 and the material placing station 20. When it is necessary to grasp the materials, the manipulator 30 moves above the corresponding flexible vibrating bowl 11, and the lifting rod power mechanism 34 descends, so that the material grabbing head 36 approaches the materials and grabs the materials. After grabbing the materials, the lifting rod power mechanism 34 rises, and the first horizontal swing arm 32 and the second horizontal swing arm 33 swing again, moving the materials above the material placing station 20, then adjusting the angle of the materials through the electric rotating head 35, and finally accurately placing the materials on the material placing station 20; the two flexible vibrating bowls 11 work simultaneously, which can provide more material supply options for the manipulator 30, greatly improving the feeding speed. Compared with a single flexible vibrating bowl 11, the waiting time of the manipulator 30 for materials is reduced, thus overall improving the operating efficiency of the equipment; and when one flexible vibrating bowl 11 fails or needs to be maintained and replenished with materials, the other flexible vibrating bowl 11 can continue to supply materials to ensure the continuous operation of the equipment without pause, minimizing the production interruption time to the greatest extent. The electric fixed main shaft 31 is arranged between the two flexible vibrating bowls 11, and the first horizontal swing arm 32 and the second horizontal swing arm 33 can move more flexibly between the two flexible vibrating bowls 11 and the material placing station 20. This layout enables the manipulator 30 to quickly switch to grab materials on different flexible vibrating bowls 11 according to actual needs, adapting to the requirements of mixed production of different types of materials or different production tasks; for materials with different shapes, sizes and characteristics, the two flexible vibrating bowls 11 can be optimized and adjusted separately to better meet the vibration conveying requirements of the materials and improve the arrangement and conveying effect of the materials.

[0030] Please refer to Figures 1-4, on the basis of the above technical solution, it is further proposed that the front end of the top plate 13 extends to the front part corresponding to the bottom plate 10, and an electric control box 15 is installed on the top plate 13, and an operation panel 16 is installed at the front end of the electric control box 15; an electric motor (not shown in the figure) for driving the relative rotation of the first horizontal swing arm 32 and the second horizontal swing arm 33 is installed on the second horizontal swing arm 33. The lifting rod power mechanism 34 has a power end and a lifting rod main body connected to the power end and extending below the second horizontal swing arm 33. The electric rotary head 35 is connected to the end of the lifting rod main body, and an outer protective shell 38 covering the electric motor and the power end is installed on the second swing arm. The top plate 13 extends to the front part of the bottom plate 10 and the electric control box 15 and the operation panel 16 are installed, so that the operator can perform centralized operation and monitoring in front of the equipment without frequently moving positions, improving the convenience of operation. The setting of the operation panel 16 enables the operator to intuitively understand the operating status and parameters of the equipment and make quick adjustments, improving work efficiency; this reasonable layout makes the equipment more compact and occupies less space. The extended design of the top plate 13 makes full use of the space, integrating the electric control box 15 and the operation panel 16 in a relatively centralized position, facilitating the installation and maintenance of the equipment. At the same time, the setting of the outer protective shell 38 not only protects the key components, but also improves the safety of the equipment and reduces the risk of accidents; the setting of the electric motor makes the horizontal swing of the manipulator 30 more flexible, and the position can be adjusted quickly and accurately, improving the efficiency and accuracy of grasping materials. The combined use of the lifting rod power mechanism 34 and the electric rotary head 35 enables the manipulator 30 to be adjusted in the vertical direction and angle to adapt to the grasping requirements of materials with different shapes and sizes, improving the versatility of the equipment; the reasonable layout and protection measures of the equipment improve the overall stability and reliability. The centralized control of the electric control box 15 can ensure the coordinated operation of each part of the equipment and reduce the probability of failures. The protective effect of the outer protective shell 38 can extend the service life of the key components and reduce the maintenance cost of the equipment. At the same time, the stable and reliable operation of the equipment can improve the continuity of production and the product quality.

[0031] Please refer to Figures 1-2 , in order to further describe the flexible setting of the material tray placing station 20, the following two preferred technical solutions are adopted in this technical solution:

[0032] One: Please refer to Figure 1 , it is proposed that the material tray placing station 20 includes a raised base 21, a positioning jig 22 fixed on the raised base 21, and a material tray 23 positioned and placed on the positioning jig 22.

[0033] The elevating base 21 can adjust the height according to actual needs to adapt to different production environments and the operating height requirements of the manipulator 30. The positioning fixture 22 can be adjusted according to the material trays 23 of different sizes, improving the versatility of the equipment. The material trays 23 can be replaced according to production requirements, which is convenient and fast. Moreover, the positioning fixture 22 can firmly fix the material trays 23 to prevent the material trays 23 from moving or shaking during the operation of the manipulator 30, ensuring the accuracy and stability of the material placement. This structure is simple and clear, and the operator can quickly place the material trays 23 on the positioning fixture 22, improving the work efficiency. At the same time, it is also convenient to inspect and clean the material trays 23.

[0034] Second: Please refer to Figure 2 , it is proposed that the material placing station 20 includes a linear feeding unit 24 horizontally arranged across the front part of the bottom plate 10, a positioning mechanism 25 installed on the linear feeding unit 24, and a material tray 23 placed on the feeding unit and corresponding to the manipulator 30 through the positioning mechanism 25.

[0035] The cooperation between the linear feeding unit 24 and the positioning mechanism 25 realizes the automated operation of material placing, reducing manual intervention, improving production efficiency, and at the same time, reducing labor intensity and improving work safety. It can achieve continuous material placing and conveying, improving the continuity and stability of production. The automatic conveying of empty material trays 23 and the automatic output of full material trays 23 make the entire production process more smooth and reduce the production interruption time. The positioning mechanism 25 can accurately position the material trays 23 to ensure that the manipulator 30 accurately places the materials on the material trays 23, improving the accuracy and consistency of material placement. The speed of the linear feeding unit 24 and the parameters of the positioning mechanism 25 can be adjusted according to different production requirements to adapt to material trays 23 of different sizes and shapes and different production rhythms.

[0036] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present utility model, the present utility model can be implemented in other specific forms. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, it is intended to include all changes falling within the meaning and scope of the equivalent elements of the claims in the present utility model.

Claims

1. A material visual grasping, positioning and placing device, characterized in that: The invention comprises a bottom plate (10), a material swaying station (20) is arranged at the front of the bottom plate (10), at least one flexible vibration plate (11) and a manipulator (30) for grabbing the material on the flexible vibration plate (11) and positioning and placing the material on the material swaying station (20) are arranged at the rear of the bottom plate (10), support plates (12) are arranged at both sides of the rear of the bottom plate (10), a top plate (13) is installed above the bottom plate (10) through the support plate (12), and a visual camera (14) is arranged on the top plate (13) and faces downwards and directly toward the flexible vibration plate (11); The manipulator (30) comprises an electric fixed spindle (31) fixedly mounted on a base plate (10), a first horizontal swing arm (32) poweredly connected to the electric fixed spindle (31), a second horizontal swing arm (33) poweredly connected to the end of the first horizontal swing arm (32), a lifting rod power mechanism (34) mounted at the end of the second horizontal swing arm (33), an electric rotating head (35) connected to the lower end of the lifting rod power mechanism (34), and a grabbing head (36) poweredly connected to the lower end of the electric rotating head (35) for grabbing materials.

2. A material visual grasping, positioning and placing device according to claim 1, characterized in that: Two flexible vibration plates (11) are provided, an electric fixed spindle (31) is provided between the two flexible vibration plates (11), and a first horizontal swing arm (32) and a second horizontal swing arm (33) work together to drive a lifting rod power mechanism (34) to move between the two flexible vibration plates (11) and the material swing plate station (20).

3. The material visual grasping, positioning and placing device according to claim 1 is characterized in that: The material tray placing station (20) comprises a lifting base (21), a positioning fixture (22) fixed on the lifting base (21), and a material tray (23) positioned on the positioning fixture (22).

4. The material visual grasping, positioning and placing device according to claim 1 is characterized in that: The material tray station (20) comprises a linear feeder unit (24) arranged across the front of the base plate (10), a positioning mechanism (25) installed on the linear feeder unit (24), and a material tray (23) placed on the linear feeder unit and corresponding to the robot (30) through the positioning mechanism (25).

5. The material visual grasping, positioning and placing device according to claim 1 is characterized in that: The front end of the top plate (13) extends to the front portion corresponding to the bottom plate (10), and an electric control box (15) is installed on the top plate (13), and an operation panel (16) is installed at the front end of the electric control box (15).

6. The material visual grasping, positioning and placing device according to claim 1 is characterized in that: An electric motor for driving the first horizontal swing arm (32) and the second horizontal swing arm (33) to rotate relative to each other is mounted on the second horizontal swing arm (33); the lifting rod power mechanism (34) comprises a power end and a lifting rod body connected to the power end and extending below the second horizontal swing arm (33); an electric rotating head (35) is connected to the end of the lifting rod body; and an outer protective shell (38) covering the electric motor and the power end is mounted on the second swing arm.

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