Mechanism capable of grabbing and overturning multi-specification implants

Abstract

The utility model discloses a mechanism capable of grabbing and overturning multi-specification implants, which relates to the technical related field of multi-specification implant grabbing and overturning mechanisms, and structurally comprises a feeding mechanism, a discharging mechanism fixedly connected to the right side of the feeding mechanism, and a visual identification mechanism arranged at the rear ends of the feeding mechanism and the discharging mechanism, the feeding mechanism feeds a certain number of implants into a soft vibration disc in the discharging mechanism, the soft vibration disc disperses the implants one by one through vibration, the visual recognition mechanism recognizes the position and angle of each implant in real time and transmits the position and angle to the system, and the visual recognition mechanism transmits the position and angle of each implant to the system. The grabbing mechanism moves to the position over an implant through the three-axis module, descends to suck the implant and ascends to correct the original implant to a certain angle, the module places the implant into the clamping jaw mechanism, and the clamping jaw mechanism can be transferred to the next station after being overturned by 90 degrees.

Description

TECHNICAL FIELD

[0001] The utility model relates to multi-specification implant grabbing and turnover mechanism technical field, concretely is a mechanism that can grab and overturn multi-specification implant. BACKGROUND

[0002] This mechanism is called a universal gripper or multi-fingered claw, which is a device that can simultaneously grasp and manipulate multiple objects of different sizes. This mechanism is usually composed of multiple individual grippers, each of which can be independently opened and closed as needed. They are commonly used in the fields of automation industry, logistics and medical treatment, etc. in order to more effectively carry and handle articles.

[0003] The prior art is manual grabbing of implants to turn over the implants, and manual identification takes a long time, which can cause visual fatigue and identification errors, and the turnover efficiency is not high. The current vibration disc combined with visual identification can efficiently grab and turn over the implants. UTILITY MODEL CONTENT

[0004] Therefore, in order to solve the above problems, the utility model provides a mechanism that can grab and turn over multi-specification implants.

[0005] The utility model is realized in this way, and a mechanism that can grab and turn over multi-specification implants is constructed, which comprises a feeding mechanism, a discharging mechanism fixedly connected to the right side of the feeding mechanism, a visual identification mechanism installed and placed at the rear end of the feeding mechanism and the discharging mechanism, a grabbing mechanism installed and placed at the right side of the visual identification mechanism, and a gripper mechanism fixedly connected to the right side of the discharging mechanism.

[0006] It also includes:

[0007] A hopper is arranged on the feeding mechanism.

[0008] A material guide groove is fixedly connected to the center of the lower end surface of the hopper.

[0009] A linear vibrator is fixedly connected to the lower end of the material guide groove.

[0010] An installation support is fixedly connected to the lower end surface of the linear vibrator.

[0011] An installation bottom plate is fixedly connected to the lower end surface of the installation support.

[0012] Preferably, the discharging mechanism comprises:

[0013] A flexible vibration disc mounting plate is fixedly connected to the upper end surface of the installation bottom plate.

[0014] A flexible vibration disc is fixedly connected to the upper end surface of the flexible vibration disc mounting plate.

[0015] A tray is fixedly connected to the upper end face of the soft vibration tray.

[0016] Preferably, the visual recognition mechanism comprises:

[0017] A mounting bracket is placed around the periphery of the mounting bottom plate.

[0018] An adjusting block is slidably connected to the mounting bracket.

[0019] A camera mounting plate is fixedly connected to the adjusting block.

[0020] A visual camera is fixedly connected to the end of the camera mounting plate away from the adjusting block.

[0021] Preferably, the grabbing mechanism comprises:

[0022] An XYZ module is installed on one side of the tray.

[0023] A module mounting bracket is fixedly connected to the lower end face of the XYZ module.

[0024] A servo mounting plate is fixedly connected to the left side face of the XYZ module.

[0025] A servo motor is fixedly connected to the upper end of the servo mounting plate.

[0026] Preferably, the grabbing mechanism further comprises:

[0027] A servo adjusting block is fixedly connected to the right side of the servo mounting plate.

[0028] A synchronous wheel A is fixedly connected to the output end of the servo motor.

[0029] A rotary joint is fixedly connected to the right side of the front end face of the servo mounting plate.

[0030] A synchronous wheel B is rotatably connected to the rotary joint.

[0031] A synchronous belt is movably connected to the synchronous wheel A and the synchronous wheel B.

[0032] Preferably, the grabbing mechanism further comprises:

[0033] A bearing gland is connected to the lower end of the synchronous wheel B.

[0034] A bearing seat is fixedly connected to the lower end face of the bearing gland, and the bearing seat is fixedly connected to the servo mounting plate.

[0035] The bearing is arranged in the bearing seat and the bearing gland.

[0036] The negative pressure rotating shaft is arranged at the lower end of the bearing.

[0037] The suction disc is fixedly connected to the lower end surface of the negative pressure rotating shaft.

[0038] Preferably, the claw mechanism comprises:

[0039] The motor mounting plate is fixedly connected to the left side of the mounting bottom plate.

[0040] The rotating claw motor is fixedly connected to the upper end surface of the motor mounting plate.

[0041] The guide shaft is fixedly connected to the output end of the rotating claw motor.

[0042] The left claw is slidably connected to the left side of the front end surface of the guide shaft.

[0043] The right claw is slidably connected to the right side of the front end surface of the guide shaft.

[0044] The compression spring is arranged between the left claw, the right claw and the guide shaft.

[0045] The clamping spring is arranged on the left and right side surfaces of the left claw and the right claw and the guide shaft through connecting columns.

[0046] The utility model has the advantages that the utility model provides a mechanism capable of grabbing and overturning multi-specification implants, compared with the same type of equipment, the following improvements are made:

[0047] The mechanism capable of grabbing and overturning multi-specification implants, the feeding mechanism sends a certain number of implants into the flexible damping disc in the discharging mechanism, and the flexible damping disc disperses the implants one by one through vibration. The visual recognition mechanism identifies the position and angle of each implant in real time and transmits them to the system. The grabbing mechanism moves to the upper side of the implant through a three-axis module, descends to suck the implant, rises and corrects the original implant to a certain angle. The module places the implant in the claw mechanism, and the claw mechanism can be transmitted to the next station after being overturned by 90 degrees. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 It is the front view of the structure of the utility model;

[0049] Figure 2 It is the side view of the structure of the utility model;

[0050] Figure 3 It is the top view of the structure of the utility model;

[0051] Figure 4 The utility model Figure 3 Amplified schematic view of structure A.

[0052] Wherein: feed mechanism 101, hopper 1, material guide groove 2, straight vibrator 3, mounting bracket 01 4, mounting bottom plate 46, discharge mechanism 102, tray 5, soft vibration disc 45, soft vibration disc mounting plate 44, visual identification mechanism 103, visual camera 321, camera mounting plate 314, adjusting block 317, visual detection mounting bracket 316, grabbing mechanism 104, XYZ module 86, module mounting bracket 74, servo mounting plate 55, servo motor 78, servo adjusting block 56, synchronous wheel A 70, rotary joint 79, synchronous wheel B 71, synchronous belt 72, bearing gland 58, bearing seat 57, bearing 110, negative pressure rotating shaft 59, suction disc 123, clamping jaw mechanism 105, rotary clamping jaw motor 212, motor mounting plate 170, snap spring 230, guide shaft 177, compression spring 182, left clamping jaw 239, right clamping jaw 240. DETAILED DESCRIPTION

[0053] The following detailed description of the application will be made with reference to the accompanying drawings. Figures 1-4 The principles and features of the present application are described, the examples are only used to explain the present application, and are not used to limit the scope of the present application. In the following paragraphs, the present application is described in more detail with reference to the accompanying drawings. The advantages and features of the present application will be more apparent from the following description and claims. It should be noted that the drawings are very simplified and use non-precise proportions, only to facilitate, clear and assist the purpose of explaining the embodiments of the present application.

[0054] It should be noted that when the component is referred to as "fixed to" another component, it can be directly on another component or there can be a middle component. When a component is considered to be "connected" to another component, it can be directly connected to another component or there can be a middle component. When a component is considered to be "set on" another component, it can be directly set on another component or there can be a middle component. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for illustrative purposes.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0056] Embodiment one:

[0057] Please refer to Figures 1-4 The utility model discloses a mechanism can snatch and overturn the mechanism of multiform specification implant, including feed mechanism 101, fixedly connected in the right side of feed mechanism 101 and discharge mechanism 102, install and place the visual identification mechanism 103 of feed mechanism 101 and discharge mechanism 102 rear end, install and place the snatch mechanism 104 of visual identification mechanism 103 right side, fixedly connected in the right side of discharge mechanism 102 and clamping jaw mechanism 105, be equipped with hopper 1 on feed mechanism 101, the lower end surface center of hopper 1 is fixedly connected with material guide groove 2, and the lower end of material guide groove 2 is fixedly connected with straight vibrator 3, and the lower end surface of straight vibrator 3 is fixedly connected with mounting bracket 4, and the lower end surface of mounting bracket 4 is fixedly connected with mounting bottom plate 46, and the upper end surface of mounting bottom plate 46 is fixedly connected with soft vibration tray mounting plate 44, and the upper end surface of soft vibration tray mounting plate 44 is fixedly connected with soft vibration tray 45, and through straight vibrator 3 can control soft vibration tray 45 and vibrate, and the upper end surface of soft vibration tray 45 is fixedly connected with material tray 5, and visual detection mounting bracket 316 is placed around mounting bottom plate 46, and the upper end of visual detection mounting bracket 316 is slidably connected with adjusting block 317, and the camera mounting plate 314 is fixedly connected on adjusting block 317, and the visual camera 321 is fixedly connected on the one end of camera mounting plate 314 away from adjusting block 317, and one side of material tray 5 is equipped with XYZ module 86, and the lower end surface of XYZ module 86 is fixedly connected with module mounting bracket 74, and the left side of XYZ module 86 is fixedly connected with servo mounting plate 55.

[0058] The servo motor 78 is fixedly connected to the upper end of the servo mounting plate 55, the servo adjusting block 56 is fixedly connected to the right side of the servo mounting plate 55, the synchronous wheel A 70 is fixedly connected to the output end of the servo motor 78, the rotary joint 79 is fixedly connected to the front end face of the servo mounting plate 55, the synchronous wheel B 71 is rotatably connected to the rotary joint 79, the synchronous belt 72 is in transmission connection with the synchronous wheel A 70 and the synchronous wheel B 71, the bearing press cover 58 is arranged at the lower end of the synchronous wheel B 71, the bearing seat 57 is fixedly connected to the lower end face of the bearing press cover 58, the bearing seat 57 is fixedly connected with the servo mounting plate 55, the bearing 110 is rotatably connected with the bearing seat 57 and the bearing press cover 58, the negative pressure rotating shaft 59 is arranged at the lower end of the bearing 110, the suction disc 123 is fixedly connected to the lower end face of the negative pressure rotating shaft 59, the motor mounting plate 170 is fixedly connected to the left side of the installation bottom plate 46, the rotary clamp jaw motor 212 is fixedly connected to the upper end face of the motor mounting plate 170, the guide shaft 177 is fixedly connected to the output end of the rotary clamp jaw motor 212, the left clamp jaw 239 is slidably connected to the left side of the front end face of the guide shaft 177, the right clamp jaw 240 is slidably connected to the right side of the front end face of the guide shaft 177, the compression spring 182 is arranged between the left clamp jaw 239, the right clamp jaw 240 and the guide shaft 177, the left clamp jaw 239 and the right clamp jaw 240 are connected with the guide shaft 177 through the connecting columns arranged on the left side face and the right side face of the left clamp jaw 239 and the right clamp jaw 240, and the snap spring 230 is clamped on the connecting columns.

[0059] The working principle of the mechanism capable of grabbing and overturning multiple specifications of implants based on the embodiment 1 is as follows:

[0060] Firstly, the feeding mechanism 101 sends a certain number of implants into the flexible vibration disc 45 in the discharging mechanism 102, the flexible vibration disc 45 disperses the implants one by one through vibration, the visual recognition mechanism 103 identifies the position and angle of each implant in real time and transmits to the system, the grabbing mechanism 104 moves to the upper side of the implant through the three-axis module, sucks the implant by descending, rises and corrects the original implant to a certain angle, the module places the implant in the clamp jaw mechanism 105, and the clamp jaw mechanism 105 is overturned by 90° and then is transmitted to the next station.

[0061] The mechanism capable of grabbing and overturning multiple specifications of implants is improved, a certain number of implants are sent into the flexible vibration disc 45 in the discharging mechanism 102 through the feeding mechanism 101, the flexible vibration disc 45 disperses the implants one by one through vibration, the visual recognition mechanism 103 identifies the position and angle of each implant in real time and transmits to the system, the grabbing mechanism 104 moves to the upper side of the implant through the three-axis module, sucks the implant by descending, rises and corrects the original implant to a certain angle, the module places the implant in the clamp jaw mechanism 105, and the clamp jaw mechanism 105 is overturned by 90° and then is transmitted to the next station.

[0062] The basic principle and main features of the present application and the advantages of the present application are shown and described above, and the standard parts used in the present application can be purchased from the market, and the special-shaped parts can be ordered according to the description and the drawings, and the specific connection mode of each part adopts the conventional means such as bolts, rivets and welding in the existing technology, and the mechanical parts and equipment adopt the conventional type in the existing technology, and the circuit connection adopts the conventional connection mode in the existing technology, which will not be described in detail here.

[0063] The above description of disclosed embodiments enables those skilled in the art to carry out or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An apparatus capable of grabbing and flipping multi-specification implants, comprising a feeding mechanism (101), a discharging mechanism (102) fixedly connected to the right side of the feeding mechanism (101), a visual recognition mechanism (103) installed and placed at the rear end of the feeding mechanism (101) and the discharging mechanism (102), a grabbing mechanism (104) installed and placed to the right side of the visual recognition mechanism (103), and a gripper mechanism (105) fixedly connected to the right side of the discharging mechanism (102); characterized in that Further comprising: a hopper (1), the feeding mechanism (101) is provided with a hopper (1); a material guide groove (2), the center of the lower end surface of the hopper (1) is fixedly connected with a material guide groove (2), a straight vibrator (3), the lower end of the material guide groove (2) is fixedly connected with a straight vibrator (3), a mounting bracket (4), the lower end surface of the straight vibrator (3) is fixedly connected with a mounting bracket (4), a mounting bottom plate (46), the lower end surface of the mounting bracket (4) is fixedly connected with a mounting bottom plate (46).

2. The mechanism capable of grabbing and flipping multi-specification implants according to claim 1, characterized in that: The discharging mechanism (102) comprises: a flexible vibration disc mounting plate (44), the upper end surface of the mounting bottom plate (46) is fixedly connected with a flexible vibration disc mounting plate (44); a flexible vibration disc (45), the upper end surface of the flexible vibration disc mounting plate (44) is fixedly connected with a flexible vibration disc (45); a material disc (5), the upper end surface of the flexible vibration disc (45) is fixedly connected with a material disc (5).

3. The mechanism capable of grasping and inverting multi-specification implants according to claim 1, characterized in that: The visual recognition mechanism (103) comprises: a visual detection mounting bracket (316), the periphery of the mounting bottom plate (46) is placed with a visual detection mounting bracket (316); an adjusting block (317), the adjusting block (317) is slidingly connected through the visual detection mounting bracket (316); a camera mounting plate (314), the camera mounting plate (314) is fixedly connected to the adjusting block (317); a visual camera (321), the visual camera (321) is fixedly connected to one end of the camera mounting plate (314) away from the adjusting block (317).

4. The mechanism capable of gripping and inverting implants of multiple sizes of claim 2, wherein: The grabbing mechanism (104) comprises: an XYZ module (86), one side of the material disc (5) is provided with an XYZ module (86); a module mounting bracket (74), the lower end surface of the XYZ module (86) is fixedly connected with a module mounting bracket (74); a servo mounting plate (55), the left side of the XYZ module (86) is fixedly connected with a servo mounting plate (55); a servo motor (78), the servo motor (78) is fixedly connected to the upper end of the servo mounting plate (55).

5. The mechanism capable of grasping and inverting multi-specification implants according to claim 4, characterized in that: The grabbing mechanism (104) further comprises: a servo adjusting block (56), the servo adjusting block (56) is fixedly connected to the right side of the servo motor (78) on the servo mounting plate (55); a synchronous wheel A (70), the synchronous wheel A (70) is fixedly connected to the output end of the servo motor (78); a rotary joint (79), the rotary joint (79) is fixedly connected to the right side of the front end surface of the servo mounting plate (55); a synchronous wheel B (71), the synchronous wheel B (71) is rotatably connected to the rotary joint (79); Synchronous belt (72), the synchronous wheel A (70) and the synchronous wheel B (71) drive connection has synchronous belt (72).

6. The mechanism capable of grasping and inverting multi-specification implants according to claim 5, characterized in that: The grabbing mechanism (104) further comprises: Bearing gland (58), the lower end of the synchronous wheel B (71) is connected with bearing gland (58); Bearing seat (57), the lower end surface of the bearing gland (58) is fixedly connected with bearing seat (57), and the bearing seat (57) is fixedly connected with the servo mounting plate (55); Bearing (110), the bearing (110) is rotatably connected with the bearing seat (57) and the bearing gland (58) in the center; Negative pressure rotating shaft (59), the lower end of the bearing (110) is provided with negative pressure rotating shaft (59); Suction cup (123), the lower end surface of the negative pressure rotating shaft (59) is fixedly connected with the suction cup (123).

7. The mechanism capable of grasping and inverting multi-specification implants according to claim 3, characterized in that: The clamping jaw mechanism (105) comprises: Motor mounting plate (170), the left side of the installation bottom plate (46) is fixedly connected with motor mounting plate (170); Rotary clamping jaw motor (212), the upper end surface of the motor mounting plate (170) is fixedly connected with rotary clamping jaw motor (212); Guide shaft (177), the output end of the rotary clamping jaw motor (212) is fixedly connected with guide shaft (177); Left clamping jaw (239), the left side of the front end surface of the guide shaft (177) is slidably connected with left clamping jaw (239); Right clamping jaw (240), the right side of the front end surface of the guide shaft (177) is slidably connected with right clamping jaw (240); Compression spring (182), the left clamping jaw (239), right clamping jaw (240) and guide shaft (177) are provided with compression spring (182); Snap spring (230), the left and right sides of the left clamping jaw (239) and right clamping jaw (240) are connected with the guide shaft (177) through connecting columns, and the connecting columns on the left and right sides of the left clamping jaw (239) and right clamping jaw (240) are connected with snap spring (230).

Images