Material taking mechanism with positioning function

Abstract

The utility model provides a material taking mechanism with a positioning function, which comprises a mounting vertical plate, a Z-axis linear driving mechanism, a camera mounting plate, a CCD (Charge Coupled Device) camera and a material taking head mechanism, the material taking head mechanism comprises a suction head mounting plate, a vacuum suction cup mounted at the bottom of the suction head mounting plate and a plurality of elastic buffer assemblies arranged at the bottom of the suction head mounting plate. The Z-axis linear driving mechanism is in driving connection with the camera mounting plate and the suction head mounting plate. In the descending process of the suction head mounting plate, the elastic buffer assembly abuts against the tray and is elastically compressed, so that the tray is tightly pressed, then the vacuum suction cup adsorbs materials, then the Z-axis linear driving mechanism drives the camera mounting plate and the suction head mounting plate to ascend, and in the slow elastic recovery process of the elastic buffer assembly, the camera mounting plate and the suction head mounting plate are driven by the Z-axis linear driving mechanism. The materials are taken up and separated from the tray, the tray is prevented from being taken up in the material taking process, a tray pressing mechanism does not need to be additionally arranged, the equipment structure is simplified, space is saved, and equipment energy consumption is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to a material taking manipulator technical field especially a material taking mechanism with positioning function. BACKGROUND

[0002] The tray is widely used in the packaging and transportation of materials, and the material can be placed independently in the trough by setting the trough on the tray. In the case of needing to position the material in the trough, the trough needs to be designed to have a certain positioning effect on the material, and a large amount of force is needed to take the material out of the trough. In some cases, the tray is made of foam material, and the pins of some electronic components are inserted into the tray made of foam to position the electronic components on the tray.

[0003] In the processing of products, the material taking mechanism can be used to take the material from the tray to the processing station to realize automatic feeding. For the above-mentioned material taking with positioning effect on the tray, since the existing material taking mechanism does not have the pressing function of the tray, the tray pressing mechanism needs to be added to press the tray when the material taking mechanism takes the material, so as to avoid lifting the tray during material taking, which increases the complexity of the equipment and the energy consumption of the equipment. SUMMARY

[0004] The problem to be solved by the utility model lies in providing a material taking mechanism with positioning function, which has the pressing function of the tray and can press the tray at the same time of taking the material.

[0005] To solve the above technical problems, the utility model provides a material taking mechanism with positioning function, which comprises a mounting vertical plate, a Z-axis linear driving mechanism, a camera mounting plate, a CCD camera and a material taking head mechanism. The CCD camera is fixedly installed on the camera mounting plate. The material taking head mechanism comprises a suction head mounting plate, a vacuum suction cup installed at the bottom of the suction head mounting plate and a plurality of elastic buffer assemblies arranged at the bottom of the suction head mounting plate. The Z-axis linear driving mechanism is arranged on the mounting vertical plate and is used to drive the camera mounting plate and the suction head mounting plate to move up and down synchronously.

[0006] Preferably, the elastic buffer assembly comprises a guide sleeve, a guide column matched with the guide sleeve and a buffer spring. A mounting hole matched with the guide sleeve is arranged through the suction head mounting plate. The guide sleeve is arranged on the mounting hole. A limiting end is arranged at the top end of the guide column. The guide column is movably arranged on the guide sleeve. An annular groove is arranged on the side wall of the guide column. A snap spring is clamped on the annular groove. The buffer spring is sleeved on the guide column and abuts between the bottom of the suction head mounting plate and the top end surface of the snap spring. The bottom end surface of the guide column exceeds the bottom of the vacuum suction cup.

[0007] Preferably, the Z-axis linear driving mechanism comprises a Z-axis output shaft, the camera mounting plate is drivingly connected to a top end of the Z-axis output shaft, and the taking head mechanism further comprises a connecting plate fixedly connected to the suction head mounting plate and fixedly connected to a bottom end of the Z-axis output shaft.

[0008] Preferably, a ring-shaped light source is fixedly connected to the camera mounting plate and located below the CCD camera.

[0009] The taking mechanism with the positioning function has the advantages that: during taking, the taking mechanism is moved by the mechanical hand, the CCD camera can capture the material placement image of the current position of the tray, the control system controls the taking mechanism to move to the taking position, so that the vacuum suction cup is aligned with the material to be taken, the camera mounting plate and the suction head mounting plate are driven to descend synchronously by the Z-axis linear driving mechanism, the CCD camera can be close to the material to capture image data and send the image data to the control system, and the material can be accurately clamped. BRIEF DESCRIPTION OF DRAWINGS

[0010] Fig. 1 The appearance structure schematic diagram of the taking mechanism with the positioning function is exemplified.

[0011] Fig. 2 The sectional view of the taking mechanism with the positioning function is exemplified.

[0012] Fig. 3 The structure schematic diagram of the taking head mechanism is exemplified.

[0013] The mounting vertical plate 1, the Z-axis linear driving mechanism 2, the Z-axis output shaft 20, the camera mounting plate 3, the CCD camera 4, the taking head mechanism 5, the suction head mounting plate 50, the vacuum suction cup 51, the elastic buffer assembly 52, the guide sleeve 520, the guide column 521, the limiting end portion 521a, the buffer spring 522, the clamping spring 523, the connecting plate 53, and the ring-shaped light source 6 are illustrated. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical scheme and advantages of the embodiments of the present disclosure clearer, the technical scheme of the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure.

[0015] All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure without requiring inventive effort, fall within the scope of the present disclosure.

[0016] Reference Figs. 1-3 .

[0017] The utility model provides a kind of material taking mechanism with positioning function, including installation vertical plate 1, Z axial linear drive mechanism 2, camera mounting plate 3, CCD camera 4, material taking head mechanism 5, CCD camera 4 is fixedly installed on camera mounting plate 3, material taking head mechanism 5 includes suction head mounting plate 50, vacuum chuck 51 installed in the bottom of suction head mounting plate 50, a plurality of elastic buffer components 52 are arranged in the bottom of suction head mounting plate 50, Z axial linear drive mechanism 2 is set on installation vertical plate 1 for driving camera mounting plate 3, suction head mounting plate 50 synchronous up and down movement.

[0018] Its working principle is that, when taking material, CCD camera 4 can shoot the material placement image of the current position of tray, so that the control system controls the material taking mechanism to move to the material taking position, so that vacuum chuck 51 is aligned with the material to be taken, camera mounting plate 3 and suction head mounting plate 50 are driven to descend synchronously by Z axial linear drive mechanism 2, CCD camera 4 can be close to the material to shoot and send image data to the control system, to ensure that the material can be accurately clamped. In the descending process of suction head mounting plate 50, elastic buffer component 52 will be pressed against the tray and elastically compressed, so as to press the tray tightly, then vacuum chuck 51 will adsorb the material, and then Z axial linear drive mechanism 2 drives camera mounting plate 3 and suction head mounting plate 50 to ascend synchronously, in the process of slow elastic recovery of elastic buffer component 52, the material will be taken and separated from the tray, avoiding taking the tray, without setting tray pressing mechanism on the equipment, which can simplify the equipment structure, save space and reduce the energy consumption of the equipment.

[0019] Based on the above embodiment, the elastic buffering assembly 52 comprises a guide sleeve 520, a guide column 521 matched with the guide sleeve 520, and a buffering spring 522. The mounting hole matched with the guide sleeve 520 is provided through the suction head mounting plate 50, the guide sleeve 520 is arranged on the mounting hole, the top end of the guide column 521 is provided with a limiting end 521a, the guide column 521 is movably arranged on the guide sleeve 520, the sidewall of the guide column 521 is provided with an annular groove, the annular groove is clamped with a clamping spring 523, the buffering spring 522 is sleeved on the guide column 521 and abuts between the bottom of the suction head mounting plate 50 and the top end surface of the clamping spring 523, and the bottom end surface of the guide column 521 exceeds the bottom of the vacuum chuck 51. Specifically, when taking the material, the suction head mounting plate 50 is driven to descend by the Z-axis linear driving mechanism 2, when the bottom end of the guide column 521 abuts against the tray, the guide column 521 will be lifted along the guide sleeve 520 and compress the buffering spring 522, so as to compress and position the tray, and when the vacuum chuck 51 contacts the material, the vacuum chuck 51 can adsorb the material. The suction head mounting plate 50 is driven to ascend by the Z-axis linear driving mechanism 2, the material is taken and separated from the tray, the elastic buffering assembly 52 is slowly elastically recovered and finally separated from the tray, so that the tray is avoided from being taken up.

[0020] Based on the above embodiment, the Z-axis linear driving mechanism 2 comprises a Z-axis output shaft 20, the camera mounting plate 3 is drivingly connected with the top end of the Z-axis output shaft 20, the taking head mechanism 5 further comprises a connecting plate 53 fixedly connected with the suction head mounting plate 50, and the connecting plate 53 is fixedly connected with the bottom end of the Z-axis output shaft 20. When the Z-axis linear driving mechanism 2 works, the Z-axis output shaft 20 can be driven to move up and down, so as to drive the camera mounting plate 3 and the suction head mounting plate 50 to move up and down synchronously, separate the CCD camera 4 from the taking head mechanism 5, avoid that the connecting plate 53 is overloaded, and ensure the stability of taking the material.

[0021] Based on the above embodiment, the camera mounting plate 3 is fixedly connected with the annular light source 6 located at the lower side of the CCD camera 4, the material on the tray can be illuminated, and the CCD camera 4 can shoot clear images.

[0022] The above embodiments only describe the preferred embodiments of the utility model, and do not limit the scope of the utility model. Without departing from the design spirit of the utility model, various deformations and improvements of the technical solutions of the utility model made by ordinary engineering technicians in the field shall fall within the protection scope determined by the claims of the utility model.

Claims

1. A pick-up mechanism with a positioning function, characterized in that, The application relates to a material taking device, which comprises a mounting vertical plate, a Z-axis linear driving mechanism, a camera mounting plate, a CCD camera and a material taking head mechanism, wherein the CCD camera is fixedly mounted on the camera mounting plate, the material taking head mechanism comprises a suction head mounting plate, a vacuum chuck mounted on the bottom of the suction head mounting plate and a plurality of elastic buffer assemblies arranged on the bottom of the suction head mounting plate, and the Z-axis linear driving mechanism is arranged on the mounting vertical plate and used for driving the camera mounting plate and the suction head mounting plate to move up and down synchronously.

2. The material taking mechanism with positioning function according to claim 1, characterized in that, The elastic buffer assembly comprises a guide sleeve, a guide column matched with the guide sleeve and a buffer spring, the suction head mounting plate is provided with a mounting hole matched with the guide sleeve in a penetrating mode, the guide sleeve is arranged on the mounting hole, the top end of the guide column is provided with a limiting end, the guide column is movably arranged on the guide sleeve, an annular groove is arranged on the side wall of the guide column, a clamping spring is clamped on the annular groove, the buffer spring is sleeved on the guide column and abuts between the bottom of the suction head mounting plate and the top end surface of the clamping spring, and the bottom end surface of the guide column exceeds the bottom of the vacuum chuck.

3. The material taking mechanism with the positioning function according to claim 2, characterized in that, The Z-axis linear driving mechanism comprises a Z-axis output shaft, the camera mounting plate is drivingly connected with the top end of the Z-axis output shaft, the material taking head mechanism further comprises a connecting plate fixedly connected with the suction head mounting plate, and the connecting plate is fixedly connected with the bottom end of the Z-axis output shaft.

4. The material taking mechanism with the positioning function according to claim 1 or 3, characterized in that, An annular light source is fixedly connected to the lower side of the CCD camera.

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