Tray arranging machine with multiple recognition

Abstract

The utility model discloses a tray arranging machine with multiple recognition, and relates to the technical field of tray arranging machine equipment. The tray arranging machine comprises a tray arranging machine body, a central control system is arranged on the upper portion of the tray arranging machine body, a first recognition device is arranged at the bottom of the central control system, a linkage mechanical arm assembly is arranged on the outer side of the first recognition device, and a grabbing mechanism is arranged at the bottom of the linkage mechanical arm assembly; a flexible vibration disc is arranged at the position, corresponding to the first recognition device, of the bottom of the disc arranging machine body, a discharging table is arranged at the front end of the flexible vibration disc, the main recognition device and the auxiliary recognition device are arranged on the disc arranging machine, the linkage type grabbing mechanism is matched, parts can be recognized multiple times, then disc arranging is conducted, and therefore the disc arranging precision can be effectively improved; and the linkage mechanism is simple in structure and convenient to operate, and the production cost of equipment can be effectively reduced.

Description

Technical Field

[0001] This utility model relates to a plate-stacking machine with multiple recognition capabilities, and belongs to the technical field of plate-stacking machine equipment. Background Technology

[0002] In the production process of some parts, qualified products need to be arranged on trays before use, and tray arranging machines are needed to automatically arrange the trays.

[0003] Existing palletizing machines mainly use robotic arms to grasp and arrange parts on pallets. During the grasping process, a vision recognition system is also needed to identify the parts so that the robotic arm can correctly grasp and arrange them on the pallet. For example, patent technology with announcement number CN114802912A discloses an automatic palletizing machine, which relates to the field of automatic product detection and packaging technology. The technical solution adopted includes a frame, a feeding device, an image acquisition device, a pallet, a palletizing device, a feeding robotic arm, and a control system. The feeding device is provided with a grasping position, the pallet is provided with multiple storage slots arranged in an array, the palletizing device includes an empty pallet bin, a storage bin, and a pallet retrieval device for moving the pallet from the empty pallet bin to the storage bin. The pallet retrieval device is provided with an infeed position, and the feeding robotic arm is provided with a suction cup and an adjustment device for horizontally rotating the suction cup. This invention uses automated equipment to complete the scanning, detection, classification and tray placement of square modules, improving production efficiency and accuracy, and avoiding the frequent errors caused by manual operation. However, since the image acquisition device is only set up in one place in the equipment, there is insufficient accuracy when the requirements for the placement of parts are high. Utility Model Content

[0004] The purpose of this utility model is to address the defects or deficiencies in the existing technology by providing a multi-identification tray placement machine. By setting a main identification device and an auxiliary identification device on the tray placement machine, and cooperating with a linkage gripping mechanism, the parts can be identified multiple times before being placed on the tray, thereby effectively improving the tray placement accuracy. Moreover, the linkage mechanism has a simple structure, is easy to operate, and can effectively reduce the production cost of the equipment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: it includes a plate-stacking machine body 1, the upper part of the plate-stacking machine body 1 is a central control system, the bottom of the central control system is provided with a first identification device 2, the outside of the first identification device 2 is provided with a linkage robotic arm assembly, the bottom of the linkage robotic arm assembly is provided with a gripping mechanism 8, a second identification device 3 is provided on one side of the base of the plate-stacking machine body 1, a flexible vibrating plate 9 is provided at the bottom of the plate-stacking machine body 1 corresponding to the position of the first identification device 2, and a feeding platform 10 is provided at the front end of the flexible vibrating plate 9.

[0006] Furthermore, the linkage robotic arm assembly is provided with three sets of linkage robotic arms. Each set of linkage robotic arms includes a servo motor 4, a crankshaft 5, a support rod 6, and a fixing plate 7. The fixing plate 7 is fixed to the bottom of the central control system. The servo motor 4 is fixed to one side of the fixing plate 7, and the output shaft of the servo motor 4 passes through the fixing plate 7. One end of the crankshaft 5 is connected to the output shaft of the servo motor 4, and the other end of the crankshaft 5 is movably connected to the top of the support rod 6. There are two support rods in total, and the bottom of the support rod 6 is movably connected to the gripping mechanism 8.

[0007] Furthermore, the gripping mechanism 8 includes a base 8-1, a suction tube 8-3, a ventilation connecting pipe 8-4, and a hollow rotary motor 8-5. The hollow rotary motor 8-5 is located at the bottom center of the base 8-1. The suction tube 8-3 is sealed to the hollow part of the hollow rotary motor 8-5. One end of the ventilation connecting pipe 8-4 is connected to the top of the base 8-1 and communicates with the hollow rotary motor 8-5. The other end of the ventilation connecting pipe 8-4 is connected to a vacuum pump through a pipeline.

[0008] Furthermore, the base 8-1 has a three-side plate structure, and connecting ball heads 8-2 are provided on both sides of the side plates.

[0009] Furthermore, the support rod 6 is provided with connecting sleeves 6-1 at both the bottom and top. The end of the connecting sleeve 6-1 is provided with a hemispherical connecting groove 6-2. The connecting sleeve 6-1 at the bottom of the support rod 6 is movably connected to the connecting ball head 8-2 through the connecting groove 6-2.

[0010] Furthermore, connecting ball joints 8-2 are also provided on both sides of the end of the crankshaft 5, and the connecting ball joints 8-2 are movably connected to the connecting grooves 6-2 on the connecting sleeves 6-1 at the top of the support rod 6.

[0011] Furthermore, the second identification device 3 includes an identification camera 3-1, a refraction seat 3-2, and a protective baffle 3-3. The identification camera 3-1 is horizontally arranged on one side of the base of the plate-stacking machine body 1, the refraction seat 3-2 is arranged at the front end of the identification camera 3-1, the protective baffle 3-3 is arranged above the refraction seat 3-2, and a light-transmitting mirror is arranged in the middle of the protective baffle 3-3.

[0012] Furthermore, a feed hopper 11 is provided on the rear side of the flexible vibrating plate 9.

[0013] Furthermore, an operation panel 12 is provided on the top front side of the main body 1 of the plate-stacking machine, and the operation panel 12 is connected to the central control system.

[0014] After adopting the above technical solution, the beneficial effects of this utility model are as follows: by setting a main identification device and an auxiliary identification device on the plate-stacking machine, and cooperating with the linkage gripping mechanism, the parts can be identified multiple times before being plated, thereby effectively improving the plate-stacking accuracy. Moreover, the linkage mechanism has a simple structure and is easy to operate, which can effectively reduce the production cost of the equipment. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 yes Figure 1 The second angle view;

[0018] Figure 3 yes Figure 1 The third-angle view;

[0019] Figure 4 yes Figure 1 The fourth angle view;

[0020] Figure 5 A schematic diagram of the connecting sleeve 6-1 in this utility model;

[0021] Figure 6 This is a schematic diagram of the gripping mechanism 8 in this utility model;

[0022] Figure 7 yes Figure 3 Enlarged structural diagram at point A in the middle.

[0023] Explanation of reference numerals in the attached drawings: 1. Main body of the tray-stacking machine; 2. First identification device; 3. Second identification device; 4. Servo motor; 5. Crankshaft; 6. Support rod; 7. Fixing plate; 8. Gripping mechanism; 9. Flexible vibrating plate; 10. Feeding platform; 11. Feeding bin; 12. Operation panel; 3-1. Identification camera; 3-2. Refraction seat; 3-3. Protective baffle; 6-1. Connecting sleeve; 6-2. Connecting groove; 8-1. Base; 8-2. Connecting ball head; 8-3. Suction tube; 8-4. Ventilation connecting pipe; 8-5. Hollow rotary motor. Detailed Implementation

[0024] See Figures 1-7As shown, the technical solution adopted in this specific embodiment is: it includes a plate-stacking machine body 1, the upper part of which is a central control system. The central control system uniformly sets the operation of the entire equipment and sets specific part identification and plate-stacking parameters according to requirements.

[0025] The central control system has a first identification device 2 at the bottom, which is a CCD vision recognition camera. A linkage robotic arm assembly is set on the outside of the first identification device 2, and the linkage robotic arm assembly is set around the first identification device. A gripping mechanism 8 is set at the bottom of the linkage robotic arm assembly. During the tray placement process, the first identification device first identifies the parts. The central control system sends movement and gripping commands to the linkage robotic arm assembly and the gripping mechanism. The linkage robotic arm assembly moves above the identified parts and moves down to align the gripping mechanism with the parts. After gripping the parts, they are placed on the tray. This mode is designed for production needs where the placement accuracy of parts is not high.

[0026] More specifically, a second identification device 3 is provided on one side of the base of the main body 1 of the tray placement machine. In some cases where the accuracy of part placement is required to be high, after the first identification device identifies and grabs the part, the linkage robotic arm assembly drives the grabbing mechanism to move above the second identification device. The second identification device identifies the angle of the grabbed part, and the grabbing mechanism adjusts the angle according to the identification result before placing the part on the tray. Through two photo identifications and adjustments to the grabbed part, the accuracy of tray placement is effectively improved for subsequent production operations.

[0027] A flexible vibrating plate 9 is installed at the bottom of the main body 1 of the tray-stacking machine, corresponding to the position of the first identification device 2. A feeding platform 10 is installed at the front end of the flexible vibrating plate 9. The flexible vibrating plate vibrates and disperses the parts inside, so that the parts do not gather together and are easy to identify and grab. The grabbed parts are placed on the feeding platform for tray-stacking. After tray-stacking, they are removed manually. At the same time, a manual operating platform is installed below the feeding platform to temporarily start and stop the settings, without controlling the power supply of the whole machine. However, there is a unified power supply operation switch on the central control system to prevent accidental operation.

[0028] More specifically, the aforementioned linkage robotic arm assembly comprises three sets of linkage robotic arms. Each set includes a servo motor 4, a crankshaft 5, a support rod 6, and a fixing plate 7. The fixing plate 7 is fixed to the bottom of the central control system. The servo motor 4 is fixed to one side of the fixing plate 7, and its output shaft passes through the fixing plate 7. One end of the crankshaft 5 is connected to the output shaft of the servo motor 4, and the other end is movably connected to the top of the support rod 6. Two support rods are provided, and their bottoms are movably connected to the gripping mechanism 8. In this embodiment, a linkage robotic arm assembly consisting of three sets of linkage robotic arms is provided. Each linkage robotic arm has the same structure, unlike some existing plate-spinning machines. The similarity lies in the fact that the linkage mechanism arm mainly consists of three parts: a servo motor, a crankshaft, and a support rod. The drive mechanism is a servo motor, which is fixed on a fixed plate and connected to the crankshaft. The crankshaft allows for a wide range of movement within a limited space. The crankshaft is then movably connected to the support rod, which in turn is movably connected to the gripping mechanism. The overall structure of the linkage mechanism arm is simple. According to the coordinates set by the central control system, the servo motor can drive the gripping mechanism to move to the corresponding position after starting. The three sets of linkage robotic arms work together to achieve high gripping accuracy, and the production cost of the robotic arms is low. There are not too many precision structures, which helps to reduce the overall production cost of the equipment and thus improve production efficiency.

[0029] More specifically, the gripping mechanism 8 includes a base 8-1, a suction tube 8-3, a ventilation connecting pipe 8-4, and a hollow rotary motor 8-5. The hollow rotary motor 8-5 is located at the bottom center of the base 8-1. The suction tube 8-3 is sealed to the hollow part of the hollow rotary motor 8-5. One end of the ventilation connecting pipe 8-4 is connected to the top of the base 8-1 and communicates with the hollow rotary motor 8-5. The other end of the ventilation connecting pipe 8-4 is connected to a vacuum pump through a pipeline. In this embodiment, the gripping mechanism adopts a vacuum suction gripping structure and also incorporates a hollow rotary motor. The suction tube used for gripping is connected to the hollow rotary motor and communicates with the hollow part. The hollow part of the hollow rotary motor is connected to the ventilation connecting pipe and then to an external vacuum pump. After moving to the identification part, a vacuuming operation can be performed to suck up the part and place it on a tray.

[0030] More specifically, the base 8-1 has three side plate structures, and connecting ball heads 8-2 are provided on both sides of the side plates. In this embodiment, the rotating part of the gripping mechanism is realized through the connection of the connecting ball heads. By using the connecting ball heads as the rotating moving parts, the movement of the robotic arm is more flexible and the movement and gripping are more precise.

[0031] More specifically, the support rod 6 is provided with connecting sleeves 6-1 at both the bottom and top. The end of the connecting sleeve 6-1 is provided with a hemispherical connecting groove 6-2. The connecting sleeve 6-1 at the bottom of the support rod 6 is movably connected to the connecting ball head 8-2 through the connecting groove 6-2. In this embodiment, the connection between the support rod and the gripping mechanism is achieved by connecting the hemispherical connecting groove and the connecting ball head. The connecting ball head can rotate freely in the connecting groove, making the movement of the entire robotic arm and gripping mechanism more flexible and accurate.

[0032] More specifically, the crankshaft 5 is also provided with connecting ball joints 8-2 on both sides of its end. The connecting ball joints 8-2 are movably connected to the connecting grooves 6-2 on the connecting sleeves 6-1 at the top of the support rod 6. The connection method between the crankshaft and the support rod is the same as the connection method between the support rod and the gripping mechanism. Both are movably connected by the cooperation of the connecting ball joints and the connecting grooves. Compared with the traditional shaft connection, the range of motion is wider.

[0033] More specifically, the second identification device 3 includes an identification camera 3-1, a refraction seat 3-2, and a protective baffle 3-3. The identification camera 3-1 is horizontally positioned on one side of the base of the main body 1 of the plate-stacking machine. The refraction seat 3-2 is positioned at the front end of the identification camera 3-1. The protective baffle 3-3 is positioned above the refraction seat 3-2. A light-transmitting mirror is positioned in the middle of the protective baffle 3-3. In this embodiment, the second identification device includes three structures. The identification camera is horizontally positioned and takes pictures of the parts by refraction through the refraction seat. It can be understood that a lens placed at a 45-degree angle is set inside the refraction seat. The lens of the horizontally positioned identification camera is not easily damaged by falling objects, which can effectively extend its service life. The light-transmitting mirror on the protective baffle can also protect the lens inside the refraction seat from damage.

[0034] More specifically, the flexible vibrating plate 9 is provided with a feeding bin 11 on the rear side. The bottom of the feeding bin adopts a direct vibration feeding method, which can disperse the material while feeding to prevent it from being concentrated and difficult to identify.

[0035] More specifically, the main body 1 of the plate-stacking machine is provided with an operation panel 12 on the top front side. The operation panel 12 is connected to the central control system. In this embodiment, the central control system can be operated and controlled through the operation panel. Preferably, a touch screen is used, which is more convenient for human-computer interaction.

[0036] The working principle of this utility model is as follows: The parts are conveyed from the feeding hopper 11 to the flexible vibrating plate 9 via bottom direct vibration. In the flexible vibrating plate 9, the parts are dispersed and adjusted by vibration. The parts to be picked up are selected through the operation panel 12. The first identification device 2 takes a picture of the parts in the flexible vibrating plate 9 for identification. The linkage mechanism arm assembly is started, which drives the picking mechanism 8 to move above the identified parts. The vacuum pump is started to suck the parts onto the suction pipe 8-3. After picking up the parts, the parts are moved to the corresponding placement cavity of the unloading platform 10. When the placement of the parts is highly critical, the parts are moved above the protective baffle 3-3 after picking up the parts. The identification camera 3-1 is started, and the refraction seat 3-2 takes a picture of the state of the parts after they are picked up. The identification information is fed back to the central control system, which drives the hollow rotary motor 8-5 to rotate and adjust the specific angle of the parts. When the placement requirements are met, the parts are moved to the corresponding position and placed on the plate. Through the two identification and adjustment by the first identification device 2 and the second identification device 3, the accuracy of the placement can be greatly improved to meet different production execution standards.

[0037] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A tray-stacking machine with multiple recognition capabilities, characterized in that: It includes a plate-stacking machine body (1), the upper part of which is a central control system, a first identification device (2) is provided at the bottom of the central control system, a linkage mechanical arm assembly is provided on the outside of the first identification device (2), a gripping mechanism (8) is provided at the bottom of the linkage mechanical arm assembly, a second identification device (3) is provided on one side of the base of the plate-stacking machine body (1), a flexible vibrating plate (9) is provided at the bottom of the plate-stacking machine body (1) corresponding to the position of the first identification device (2), and a feeding platform (10) is provided at the front end of the flexible vibrating plate (9).

2. The tray-stacking machine with multiple recognition according to claim 1, characterized in that: The linkage robotic arm assembly is provided with three sets of linkage robotic arms. Each set of linkage robotic arms includes a servo motor (4), a crankshaft (5), a support rod (6), and a fixing plate (7). The fixing plate (7) is fixed to the bottom of the central control system. The servo motor (4) is fixed to one side of the fixing plate (7), and the output shaft of the servo motor (4) passes through the fixing plate (7). One end of the crankshaft (5) is connected to the output shaft of the servo motor (4), and the other end of the crankshaft (5) is movably connected to the top of the support rod (6). There are two support rods (6), and the bottom of the support rod (6) is movably connected to the gripping mechanism (8).

3. A tray-stacking machine with multiple recognition capabilities according to claim 1, characterized in that: The gripping mechanism (8) includes a base (8-1), a suction tube (8-3), a ventilation connecting pipe (8-4), and a hollow rotary motor (8-5). The hollow rotary motor (8-5) is located at the center of the bottom of the base (8-1). The suction tube (8-3) is sealed to the hollow part of the hollow rotary motor (8-5). One end of the ventilation connecting pipe (8-4) is connected to the top of the base (8-1) and communicates with the hollow rotary motor (8-5). The other end of the ventilation connecting pipe (8-4) is connected to a vacuum pump through a pipeline.

4. A tray-stacking machine with multiple recognition capabilities according to claim 3, characterized in that: The base (8-1) has a three-side plate structure, and connecting ball heads (8-2) are provided on both sides of the side plates.

5. A tray-stacking machine with multiple recognition capabilities according to claim 2, characterized in that: The support rod (6) is provided with connecting sleeves (6-1) at both the bottom and top. The end of the connecting sleeve (6-1) is provided with a hemispherical connecting groove (6-2). The connecting sleeve (6-1) at the bottom of the support rod (6) is movably connected to the connecting ball head (8-2) through the connecting groove (6-2).

6. A tray-stacking machine with multiple recognition capabilities according to claim 2, characterized in that: The crankshaft (5) is also provided with connecting ball heads (8-2) on both sides of the end, and the connecting ball heads (8-2) are movably connected to the connecting groove (6-2) on the connecting sleeve (6-1) at the top of the support rod (6).

7. A tray-stacking machine with multiple recognition capabilities according to claim 1, characterized in that: The second identification device (3) includes an identification camera (3-1), a refraction seat (3-2), and a protective baffle (3-3). The identification camera (3-1) is horizontally set on one side of the base of the plate-slab machine body (1). The refraction seat (3-2) is set at the front end of the identification camera (3-1). The protective baffle (3-3) is set above the refraction seat (3-2). A light-transmitting mirror is set in the middle of the protective baffle (3-3).

8. A tray-stacking machine with multiple recognition capabilities according to claim 1, characterized in that: The flexible vibratory feeder (9) is provided with a feed hopper (11) on its rear side.

9. A tray-stacking machine with multiple recognition capabilities according to claim 1, characterized in that: The main body (1) of the plate-stacking machine is provided with an operation panel (12) on the top front side, and the operation panel (12) is connected to the central control system.

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