Self-adaptive feeding and discharging mechanism

Abstract

The utility model provides a self-adaptive feeding and discharging mechanism which comprises an installation plate used for being installed on a three-axis mechanical arm, a self-adaptive floating module and a camera assembly are installed on the installation plate, a floating plate capable of freely inclining and floating is hung on the self-adaptive floating module, and a plurality of material suction mechanisms are installed on the floating plate in an arrayed mode. The material sucking mechanism is used for sucking a product placed on the platform and placing the product on the platform, the camera assembly is used for shooting the platform to obtain the feeding and discharging angle, and the camera assembly is in signal connection with the three-axis mechanical arm; according to the utility model, a plurality of products placed on a platform in an inclined state or a platform of which the top surface is irregular in height can be carried, and a plurality of products can be placed on the platform in the inclined state or the platform of which the top surface is irregular in height; the utility model belongs to the technical field of automation equipment.

Description

Technical Field

[0001] The utility model belongs to the technical field of automation equipment, and in particular relates to an adaptive loading and unloading mechanism. Background Art

[0002] With the continuous development of manufacturing technology and the continuous rise of labor costs, many new products will generally invest heavily in automated production lines in order to reduce costs, improve quality, enhance product competitiveness and improve production efficiency. The loading and unloading mechanism is one of the most core mechanisms of the automated production line. Therefore, the working efficiency of the loading and unloading mechanism will greatly affect the production efficiency of the automated production line.

[0003] Conventional loading and unloading mechanisms mainly drive the suction cups to lift and move to adsorb and transport products from one platform to another. However, when the platform is tilted or its top surface is at an irregular height, conventional loading and unloading mechanisms cannot use multiple suction cups to adsorb and transport products in batches. Utility Model Content

[0004] The purpose of the utility model is to provide an adaptive loading and unloading mechanism to solve the technical problems described in the background technology.

[0005] The adaptive loading and unloading mechanism includes a mounting plate for installation on a three-axis robotic arm, an adaptive floating module and a camera assembly are installed on the mounting plate, a floating plate that can freely tilt and float is mounted on the adaptive floating module, and a plurality of suction mechanisms are arranged and installed on the floating plate. The suction mechanisms are used to absorb products placed on the platform and place the products on the platform. The camera assembly is used to shoot the platform to obtain the loading and unloading angles, and the camera assembly is connected to the three-axis robotic arm signal.

[0006] According to the technical solution, the utility model can achieve the following beneficial effects:

[0007] 1. When multiple products are placed on an inclined platform or a platform with an irregular top height, and these products need to be sucked and transported, the three-axis robotic arm drives the mounting plate to move, so that each suction mechanism moves to the top of the corresponding product and descends to absorb the corresponding product. At this time, since the floating plate can tilt and float freely, the products in a high position will push the floating plate to tilt, so that each suction mechanism can contact and absorb the corresponding product. After that, the three-axis robotic arm drives the mounting plate to move, thereby realizing the handling of these products at different heights;

[0008] 2. When large products with top walls of different heights need to be handled, the three-axis robotic arm drives the mounting plate to move, allowing each suction mechanism to move above the product and descend to absorb the corresponding product position. At this time, since the floating plate can freely tilt and float, the top wall located at the height of the product will push the floating plate to tilt, allowing each suction mechanism to contact and absorb the product. After that, the three-axis robotic arm drives the mounting plate to move, thereby realizing the handling of large products with top walls of different heights;

[0009] 3. When the products adsorbed by the suction mechanism need to be placed on a platform that is different from the inclined state or a platform with an irregular top height, the platform is photographed by the camera assembly to obtain the inclination angle between the platform and the floating plate. At this time, the floating plate can be adjusted to be parallel to the platform through the three-axis robotic arm or the electric angle adjustment table, thereby placing the adsorbed products on a platform that is different from the inclined state or a platform with an irregular top height.

[0010] In order to further optimize the above technical solution, it can be optionally combined with one or more of the following implementation methods without conflict.

[0011] In the following embodiment, the suction mechanism includes a mounting frame, on which a lifting module is mounted, and the lifting module drives a suction cup that can be lifted and moved, and the suction cup is used to absorb the product;

[0012] According to the technical solution, the utility model can achieve the following beneficial effects:

[0013] 1. After the suction cup of each suction mechanism has sucked the corresponding product, the lowering module drives the suction cup to rise and fall so that products of different heights are at the same height, making it easier to place these products on another platform;

[0014] 2. After the suction cup of each suction mechanism has sucked up the corresponding product, if the product needs to be placed on an inclined platform or a platform with an irregular top height, the lowering module drives the suction cup up and down to adjust the height of the product;

[0015] 3. When it is necessary to transport large products with top walls of different heights, the suction cups can be driven up and down by the lowering module to adjust the height of the suction cups so that each suction cup can contact and adsorb the large products.

[0016] In some embodiments, a laser rangefinder is mounted on the mounting plate. The laser rangefinder is used to measure the distance between the floating frame and the platform. The laser rangefinder is connected to the three-axis robotic arm and the lifting module signal.

[0017] According to the technical solution, the distance between the floating frame and the platform is detected by a laser rangefinder to obtain the distance between the suction cup and the product or the platform, thereby achieving precise adjustment of the height of the suction cup or the product.

[0018] In some embodiments, the lifting module is driven and connected to a lifting frame that can be lifted and lowered, and the suction cup is provided with a branch pipe mounted on the lifting frame for floating lifting;

[0019] According to the technical solution, when the suction cup contacts the product, during the process of the adsorbed product contacting the product, the product or platform located at a higher position can push the suction cup up, so that other suction cups can also stably adsorb the product located at a lower position or place the product on the platform located at a lower position.

[0020] In some embodiments, the lifting frame is provided with at least two suction cups, each of which is provided with a linkage plate connected to adjacent suction cups;

[0021] According to the technical solution, when the product or platform at a high place pushes the suction cup to rise, the linkage plate connected between two adjacent suction cups allows the suction cup to tilt, thereby more stably sucking the inclined products and more stably placing the horizontally adsorbed products on the inclined platform.

[0022] In some embodiments, a fill light surrounding the camera assembly is mounted on the mounting plate;

[0023] According to the technical solution, the camera assembly can stably take photos on the platform to obtain the loading and unloading angles even in an environment with poor lighting conditions.

[0024] In some embodiments, a plurality of positioning posts for contacting the platform are evenly spaced on the outer periphery of the floating plate, so that the non-horizontally arranged platform can be pushed to float and tilt by positioning;

[0025] According to the technical solution, when the three-axis robotic arm drives the mounting plate to move and each suction mechanism moves to a platform in an inclined state or a platform with an irregular top height, the positioning column contacts the platform in advance, so that the floating plate and the platform are in a parallel state, thereby enabling the suction cup to stably absorb the product on the platform or place the adsorbed product on the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation of the present invention, the following is a brief description of the drawings and reference numerals required to be used in the description of the specific implementation.

[0027] Figure 1 It is a structural diagram of the utility model;

[0028] Figure 2 This is a schematic diagram of the bottom structure of the utility model;

[0029] Figure 3 It is a structural schematic diagram of the material suction mechanism of the present invention.

[0030] Reference numerals:

[0031] 1. Mounting plate; 11. Adaptive floating module; 12. Camera assembly; 13. Laser rangefinder; 14. Fill light; 2. Floating plate; 21. Positioning column; 3. Suction mechanism; 31. Mounting frame; 32. Lifting module; 33. Lifting frame; 34. Suction cup; 35. Branch pipe; 36. Linkage plate. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail with reference to the accompanying drawings. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concept of the present invention.

[0033] like Figures 1 to 3 As shown, this specific embodiment provides an adaptive loading and unloading mechanism, which includes a mounting plate 1 for mounting on a three-axis robotic arm.

[0034] An adaptive floating module 11 , a camera assembly 12 , a fill light 14 and a laser rangefinder 13 are mounted on the mounting plate 1 .

[0035] The adaptive floating module 11 carries a freely tiltable floating plate 2. The module can include an upper and lower base. The upper base is equipped with a motor that drives the rotation of the lower base. The lower base rotates and mounts a floating base that can float and rise and fall via guide posts and bearings. A gap is provided between the guide posts and bearings to allow the floating base to tilt and float. The floating plate 2 is mounted on the floating base. The adaptive floating module 11 can also be a conventional electric angle adjustment platform. A camera assembly captures the tilt angle between the platform and the floating plate, and then adjusts the tilt angle of the floating plate 2 to keep it parallel to the platform.

[0036] The floating plate 2 is equipped with a plurality of suction mechanisms 3 and positioning columns 21. The suction mechanisms 3 are used to absorb products placed on the platform. The suction mechanisms 3 include a mounting frame 31 and suction cups 34. The mounting frame 31 is mounted with a lifting module 32. The lifting module 32 can be a cylinder, a screw module, or an electric pole. The lifting module 32 drives a lifting frame 33 that can be raised and lowered. The suction cups 34 are equipped with a branch pipe 35 mounted on the lifting frame 33 for floating and lifting. The lifting frame 33 is equipped with at least two suction cups 34, each of which is equipped with a linkage plate 36 connecting to adjacent suction cups 34. The suction cups 34 are used to absorb products.

[0037] The camera assembly 12 is used to shoot the platform to obtain the loading and unloading angles. The camera assembly 12 is signal-connected to the three-axis robotic arm and the adaptive floating module 11 , and the fill light 14 surrounds the camera assembly 12 .

[0038] A laser rangefinder 13 is installed on the mounting plate 1 . The laser rangefinder 13 is used to measure the distance between the floating plate 2 and the platform. The laser rangefinder 13 is connected to the three-axis robotic arm and the lifting module 32 by signal.

[0039] The positioning posts 21 are equally spaced on the outer periphery of the floating plate 2 . The positioning posts 21 are used to contact the platform so that the non-horizontally arranged platform can be pushed to float and tilt by positioning.

[0040] The following is a working description of the adaptive loading and unloading mechanism.

[0041] 1. When multiple products are placed on an inclined platform or a platform with an irregular top height, and these products need to be sucked and transported, the three-axis robotic arm drives the mounting plate 1 to move, so that each suction cup 34 of each suction mechanism 3 moves to above the corresponding product. At this time, the positioning column 21 is in contact with the platform in advance, and the floating plate 2 is parallel to the platform, so that the suction cup 34 can stably contact and adsorb the products on the platform. At this time, when the high-altitude product pushes the suction cup 34 to rise, a linkage plate 36 is connected between two adjacent suction cups 34, so that the suction cup 34 can stick to and adsorb the inclined product; thereafter, the three-axis robotic arm drives the mounting plate 1 to move, thereby realizing the transportation of these products.

[0042] 2. When placing the adsorbed product on an inclined platform or a platform with an irregular top height, the three-axis robotic arm drives the mounting plate 1 to move, so that the product adsorbed by each suction cup 34 moves above the platform. At this time, the camera assembly 12 captures the platform to obtain the inclination angle between the platform and the floating plate 2. Thereafter, the three-axis robotic arm or the adaptive floating module 11 adjusts the floating plate 2 to be parallel to the platform. Thereafter, the laser rangefinder 13 detects the distance between the floating plate 2 and the platform to obtain the distance between the suction cup 34 or the product and the platform. At this time, the lowering module drives the suction cup 34 to descend, thereby placing the adsorbed product on the platform.

[0043] 3. When large products with top walls of different heights need to be transported, the three-axis robotic arm drives the mounting plate 1 to move, so that each suction mechanism 3 moves above the product; thereafter, the laser rangefinder 13 detects the distance between the floating plate 2 and the platform, and obtains the distance between the suction cup 34 and the product. At this time, the lowering module drives the suction cup 34 to descend, so that each suction cup 34 contacts and absorbs the top of the product. At the same time, if the top wall of the product is inclined, the high top wall will push the floating plate 2 to tilt, so that each suction cup 34 can contact and absorb the product; thereafter, the three-axis robotic arm drives the mounting plate 1 to move, thereby realizing the transportation of large products with top walls of different heights.

Claims

1. An adaptive loading and unloading mechanism, comprising a mounting plate (1) for mounting on a three-axis robotic arm, characterized in that: An adaptive floating module (11) and a camera assembly (12) are installed on the mounting plate (1); a floating plate (2) that can freely tilt and float is mounted on the adaptive floating module (11); a plurality of suction mechanisms (3) are arranged and installed on the floating plate (2); the suction mechanisms (3) are used to absorb products placed on the platform and place the products on the platform; the camera assembly (12) is used to photograph the platform to obtain loading and unloading angles; and the camera assembly (12) is connected to the three-axis robotic arm signal.

2. The adaptive loading and unloading mechanism according to claim 1, characterized in that: The material suction mechanism (3) comprises a mounting frame (31), a lifting module (32) is mounted on the mounting frame (31), and the lifting module (32) drives a lifting and movable suction cup (34), and the suction cup (34) is used to absorb the product.

3. The adaptive loading and unloading mechanism according to claim 2, characterized in that: A laser rangefinder (13) is installed on the mounting plate (1), and the laser rangefinder (13) is used to detect the distance between the floating plate (2) and the platform. The laser rangefinder (13) is signal-connected to the three-axis mechanical arm and the lifting module (32).

4. The adaptive loading and unloading mechanism according to claim 2, characterized in that: The lifting module (32) is driven and connected to a lifting frame (33) that can be lifted and moved, and the suction cup (34) is provided with a branch pipe (35) that is mounted on the lifting frame (33) and is floated and lifted.

5. The adaptive loading and unloading mechanism according to claim 4, characterized in that: At least two suction cups (34) are provided on the lifting frame (33), and a linkage plate (36) connected to adjacent suction cups (34) is provided on the suction cups (34).

6. The adaptive loading and unloading mechanism according to claim 1, characterized in that: A fill light (14) surrounding the camera assembly (12) is mounted on the mounting plate (1).

7. The adaptive loading and unloading mechanism according to any one of claims 1 to 5, characterized in that: The outer periphery of the floating plate (2) is evenly divided with a plurality of positioning columns (21) for contacting the platform, so that the platform that is not arranged horizontally can be pushed to float and tilt through the positioning.

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