Product tray carrying device with vision

Abstract

The utility model relates to a visual product tray carrying device which comprises a rack, a tray unit is mounted on the rack, and a product carrying unit is mounted on the rack at the rear end of the tray unit. The trays located in the first tray storage area can move in a lifting mode and are matched with the product carrying unit on one side, and therefore products can be grabbed conveniently. Visual devices are installed at the grabbing position of the product and the grabbing position of the material disc, and therefore the grabbing accuracy is improved.

Description

Technical Field

[0001] The utility model relates to the technical field related to mechanical processing, and in particular to a product tray conveying device with vision. Background Art

[0002] Visual inspection uses machines to replace the human eye in measurement and judgment. Machine vision products convert captured objects into image signals, which are then transmitted to a dedicated image processing system. These signals are converted into digital signals based on pixel distribution, brightness, color, and other information. The imaging system then performs various operations on these signals to extract the object's features and, based on the results, controls the operation of on-site equipment. This is a valuable mechanism used in production, assembly, and packaging. Its value lies in detecting defects and preventing defective products from reaching consumers.

[0003] After extensive searching, it was discovered that the Chinese patent announcement number is CN213622153U, which discloses an automatic material tray handling device, including: a workbench, a first pallet holder, a second pallet holder, a first lifting mechanism, a second lifting mechanism, a pallet-taking manipulator, and a detection mechanism; the first pallet holder, under the action of the first lifting mechanism, moves back and forth between the pallet group receiving work position and the product taking work position; the second pallet holder, under the action of the second lifting mechanism, moves back and forth between the empty pallet group to be taken work position and the empty pallet receiving work position; the pallet-taking manipulator moves back and forth between the product taking work position and the empty pallet receiving work position. This device can place the pallet with the stacked parts at the product grabbing work position, and then transfer the empty pallet after the material is taken to the empty pallet placement area for centralized and neat placement, so that the transport cart can drag the empty pallet group away at one time. The handling process is stable and reliable, and the utility model can cooperate with the robot responsible for grabbing the product to realize automatic loading.

[0004] To sum up, during the operation of the existing handling device, both the empty trays and the trays storing products are raised and lowered by the lifting mechanism, and the work process is relatively cumbersome; at the same time, when grabbing the products on the trays, there is no visual assistance, which leads to insufficient grasping accuracy.

[0005] In view of the above-mentioned defects, the designers have actively carried out research and innovation in order to create a product tray handling device with vision to make it more valuable for industrial use. Utility Model Content

[0006] In order to solve any of the above technical problems, the purpose of the present invention is to provide a product tray handling device with vision.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A product tray handling device with vision includes a frame, a tray unit is installed on the frame, and a product handling unit is installed on the frame at the rear end of the tray unit;

[0009] The tray unit includes a tray storage base mounted on a frame, with a first tray storage area and a second tray storage area sequentially arranged on the tray storage base from right to left. A servo motor is mounted directly below the frame in the first tray storage area via a motor mounting base. The servo motor drives a lifting frame to move in a vertical direction via a screw rod. The lifting frame is connected to a tray lifting base located above the tray storage base via a number of lifting brackets. The trays located on the first tray storage area are stacked from top to bottom on the tray lifting base.

[0010] The product handling unit includes a product handling linear motor installed on the frame through a product handling stand. The product handling linear motor drives the product handling motion plate to move in the left and right directions. The product handling lifting cylinder installed on the product handling motion plate drives the product handling suction cup mounting frame below to move in the vertical direction through the product handling adapter frame. Several product handling suction cups are installed on the product handling suction cup mounting frame, and a product handling vision device is installed at the bottom of the product handling suction cup mounting frame in the middle of the several product handling suction cups.

[0011] As a further improvement of the present invention, the product handling visual device is a CCD camera.

[0012] As a further improvement of the present invention, a first tray side frame is installed on the tray storage base outside the first tray storage area, and a second tray side frame is installed on the tray storage base outside the second tray storage area.

[0013] As a further improvement of the present invention, tray-mounted sensor mounting frames are installed on the tray storage bases on the left and right sides of the first tray side frame and the second tray side frame, and tray-mounted sensors that match each other are installed on the tray-mounted sensor mounting frames.

[0014] As a further improvement of the present invention, guide columns distributed along the vertical direction are installed between the motor mounting base and the material tray storage base, and the lifting frame is connected to the guide columns.

[0015] As a further improvement of the present invention, a sensor mounting bracket is installed at the bottom of the material tray storage base on one side above the motor mounting base, at least one sensor is installed on the sensor mounting bracket in a vertical direction, and an induction sheet compatible with the above-mentioned sensor is installed on the lifting frame on one side close to the sensor mounting bracket.

[0016] As a further improvement of the present invention, a tray handling assembly is installed on the frame at the front end of the tray unit.

[0017] As a further improvement of the present invention, the tray handling assembly includes a tray handling linear motor installed on the frame through a tray handling stand, the tray handling linear motor drives the tray handling moving plate to move in the left and right directions, and a tray handling lifting cylinder is installed on the tray handling moving plate, and the tray handling lifting cylinder drives the tray handling suction cup mounting frame below to move in the vertical direction through the tray handling adapter frame, and several tray handling suction cups are installed on the tray handling suction cup mounting frame, and a tray handling vision device is installed at the bottom of the tray handling suction cup mounting frame in the middle of the several tray handling suction cups.

[0018] As a further improvement of the present invention, the tray transport visual device is a CCD camera.

[0019] By means of the above solution, the present invention has at least the following advantages:

[0020] The material tray located in the first material tray storage area of ​​the utility model can be moved up and down and is adapted to the product handling unit on one side, thereby facilitating the grabbing of products.

[0021] The utility model is equipped with visual equipment at both the product grabbing position and the material tray grabbing position, thereby improving the grabbing accuracy.

[0022] The utility model senses the material trays in the material tray storage area and determines the storage conditions of the material trays through the material tray shooting sensor.

[0023] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention with accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is a schematic structural diagram of a product tray handling device with vision in the utility model;

[0026] Figure 2 yes Figure 1 Schematic diagram of the structure of the middle tray unit;

[0027] Figure 3 yes Figure 1 Schematic diagram of the structure of the product handling unit;

[0028] Figure 4 yes Figure 1 Schematic diagram of the structure of the intermediate tray handling component.

[0029] The meanings of the reference numerals in the figures are as follows.

[0030] Frame 1, tray unit 2, product handling unit 3, tray handling assembly 4;

[0031] Tray storage base 201, first tray side frame 202, tray 203, second tray side frame 204, motor mounting base 205, servo motor 206, lifting frame 207, screw 208, guide column 209, sensor sheet 210, sensor mounting frame 211, sensor 212, tray lifting base 213, tray beam sensor mounting frame 214, tray beam sensor 215;

[0032] Product handling stand 301, product handling linear motor 302, product handling motion plate 303, product handling lifting cylinder 304, product handling adapter 305, product handling suction cup mounting frame 306, product handling suction cup 307, product handling visual equipment 308;

[0033] Tray handling stand 401, tray handling linear motor 402, tray handling motion plate 403, tray handling lifting cylinder 404, tray handling adapter frame 405, tray handling suction cup mounting frame 406, tray handling suction cup 407, tray handling visual equipment 408. DETAILED DESCRIPTION

[0034] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0035] In order to enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the utility model for which protection is sought, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0036] Example

[0037] like Figures 1 to 4 As shown,

[0038] A product tray handling device with vision includes a frame 1, a tray unit 2 is installed on the frame 1, a product handling unit 3 is installed on the frame 1 at the rear end of the tray unit 2, and a tray handling assembly 4 is installed on the frame 1 at the front end of the tray unit 2.

[0039] 1. Tray unit 2:

[0040] The tray unit 2 includes a tray storage base 201 mounted on the frame 1. A first tray storage area and a second tray storage area are arranged sequentially from right to left on the tray storage base 201. A servo motor 206 is mounted directly below the frame 1 in the first tray storage area via a motor mounting base 205. The servo motor 206 drives a lift 207 vertically via a screw 208. The lift 207 is connected to a tray lifting base 213 above the tray storage base 201 via several lifting brackets. The trays 203 in the first tray storage area are stacked on the lift base 213 from top to bottom. Vertically distributed guide posts 209 are installed between the motor mounting base 205 and the tray storage base 201, and the lift 207 is connected to the guide posts 209.

[0041] A first tray side frame 202 is installed on the tray storage base 201 outside the first tray storage area, and a second tray side frame 204 is installed on the tray storage base 201 outside the second tray storage area.

[0042] A tray-mounted sensor mounting bracket 214 is installed on the tray storage base 201 on both the left and right sides of the first tray side frame 202 and the second tray side frame 204 , and mutually adapted tray-mounted sensors 215 are installed on the tray-mounted sensor mounting bracket 214 .

[0043] A sensor mounting frame 211 is installed at the bottom of the tray storage base 201 on one side above the motor mounting base 205, and at least one sensor 212 is installed vertically on the sensor mounting frame 211. An induction sheet 210 compatible with the above-mentioned sensor 212 is installed on the lifting frame 207 near the side of the sensor mounting frame 211.

[0044] 2. Product handling unit 3:

[0045] The product handling unit 3 includes a product handling linear motor 302 installed on the frame 1 through a product handling stand 301. The product handling linear motor 302 drives the product handling motion plate 303 to move in the left and right directions. The product handling lifting cylinder 304 installed on the product handling motion plate 303 drives the product handling suction cup mounting frame 306 below to move in the vertical direction through the product handling adapter frame 305. Several product handling suction cups 307 are installed on the product handling suction cup mounting frame 306, and a product handling vision device 308 is installed at the bottom of the product handling suction cup mounting frame 306 in the middle of the several product handling suction cups 307. The product handling vision device 308 is a CCD camera.

[0046] The product transport adapter frame 305 is arranged along the front-to-back direction, thereby completely covering a plurality of products to be grasped.

[0047] 3. Tray handling component 4:

[0048] The tray handling assembly 4 includes a tray handling linear motor 402 installed on the frame 1 through a tray handling stand 401, and the tray handling linear motor 402 drives the tray handling motion plate 403 to move in the left and right directions. A tray handling lifting cylinder 404 is installed on the tray handling motion plate 403, and the tray handling lifting cylinder 404 drives the tray handling suction cup mounting frame 406 below to move in the vertical direction through the tray handling adapter frame 405. Several tray handling suction cups 407 are installed on the tray handling suction cup mounting frame 406, and a tray handling vision device 408 is installed at the bottom of the tray handling suction cup mounting frame 406 in the middle of the several tray handling suction cups 407. The tray handling vision device 408 is a CCD camera.

[0049] The tray transport adapter frame 405 is arranged along the left-right direction, so as to completely cover the tray 203 to be grasped.

[0050] Brief description of the working process of this utility model:

[0051] Product trays 203 are stacked and placed on a tray lifting base 213 in the first tray storage area. Driven by the lifting mechanism below, the tray lifting base 213 lifts the upper trays 203 one by one, allowing them to mate with the product handling unit 3. The product handling suction cups 307 then grab the products on the trays 203 and transfer them to the external processing platform. Once the products in the top tray 203 have been grabbed, the tray handling suction cups 407 on the tray handling assembly 4 grab the tray 203 and transfer it to the second tray storage area on the left. During the product and tray handling process, visual positioning equipment can be used to assist in positioning, thereby improving the accuracy of the grabbing process.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implying the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0053] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A product tray handling device with vision, comprising a frame (1), a tray unit (2) mounted on the frame (1), and a product handling unit (3) mounted on the frame (1) at the rear end of the tray unit (2); Its characteristics are: The tray unit (2) comprises a tray storage base (201) mounted on a frame (1), a first tray storage area and a second tray storage area being arranged on the tray storage base (201) from right to left, a servo motor (206) being mounted directly below the frame (1) in the first tray storage area via a motor mounting base (205), the servo motor (206) driving a lifting frame (207) to move in a vertical direction via a screw rod (208), the lifting frame (207) being connected to a tray lifting base (213) located above the tray storage base (201) via a plurality of lifting brackets, and the trays (203) located in the first tray storage area being stacked from top to bottom on the tray lifting base (213); The product handling unit (3) includes a product handling linear motor (302) mounted on a frame (1) via a product handling stand (301), wherein the product handling linear motor (302) drives a product handling motion plate (303) to move in the left and right directions, and a product handling lifting cylinder (304) mounted on the product handling motion plate (303) drives a product handling suction cup mounting frame (306) below to move in the vertical direction via a product handling adapter frame (305), wherein a plurality of product handling suction cups (307) are mounted on the product handling suction cup mounting frame (306), and a product handling visual device (308) is mounted at the bottom of the product handling suction cup mounting frame (306) in the middle of the plurality of product handling suction cups (307).

2. A product tray handling device with vision according to claim 1, characterized in that: The product handling visual device (308) is a CCD camera.

3. A product tray handling device with vision according to claim 1, characterized in that: A first tray side frame (202) is installed on the tray storage base (201) outside the first tray storage area, and a second tray side frame (204) is installed on the tray storage base (201) outside the second tray storage area.

4. A product tray handling device with vision according to claim 3, characterized in that: A tray-mounted sensor mounting frame (214) is mounted on the tray storage bases (201) on the left and right sides of the first tray side frame (202) and the second tray side frame (204), and mutually adapted tray-mounted sensors (215) are mounted on the tray-mounted sensor mounting frames (214).

5. The product tray handling device with vision according to claim 1, characterized in that: A guide column (209) distributed along the vertical direction is installed between the motor mounting base (205) and the tray storage base (201), and the lifting frame (207) is connected to the guide column (209).

6. The product tray handling device with vision according to claim 1, characterized in that: A sensor mounting frame (211) is installed at the bottom of the tray storage base (201) on one side above the motor mounting base (205), at least one sensor (212) is installed on the sensor mounting frame (211) in a vertical direction, and a sensor sheet (210) adapted to the sensor (212) is installed on the lifting frame (207) on a side close to the sensor mounting frame (211).

7. The product tray handling device with vision according to claim 1, characterized in that: A tray handling assembly (4) is installed on the frame (1) at the front end of the tray unit (2).

8. The product tray handling device with vision according to claim 7, characterized in that: The tray handling assembly (4) comprises a tray handling linear motor (402) mounted on the frame (1) via a tray handling stand (401), the tray handling linear motor (402) driving a tray handling motion plate (403) to move in the left and right directions, a tray handling lifting cylinder (404) mounted on the tray handling motion plate (403), the tray handling lifting cylinder (404) driving a tray handling suction cup mounting frame (406) below to move in the vertical direction via a tray handling adapter frame (405), a plurality of tray handling suction cups (407) mounted on the tray handling suction cup mounting frame (406), and a tray handling visual device (408) mounted on the bottom of the tray handling suction cup mounting frame (406) in the middle of the plurality of tray handling suction cups (407).

9. A product tray handling device with vision according to claim 8, characterized in that: The tray handling visual device (408) is a CCD camera.

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