Vertical product taking and placing mechanism

Abstract

The utility model relates to a vertical product taking and placing mechanism, which comprises an overturning unit, a lifting unit, a lifting unit, a lifting unit, a lifting unit, a lifting unit, a lifting unit, a lifting unit and a lifting unit, and is characterized in that the overturning unit is used for 90-degree overturning of products horizontally arranged thereon and is provided with a plurality of feeding stations for placing the products; a grabbing unit is arranged at the tail end of the manipulator; the at least one feeding disc is provided with a plurality of feeding stations and is used for vertically placing the plurality of products grabbed by the grabbing unit; the at least one positioning unit is used for positioning the feeding disc during feeding; and the scanning camera unit is positioned above the feeding disc and is used for positioning a feeding station of a product to be placed. And the overturning unit, the manipulator, the positioning unit and the scanning camera unit are all connected with the control unit. By means of the overturning unit and the mechanical arm and in combination with the visual positioning technology, vertical plate arrangement of products in the feeding plate is achieved.

Description

Technical Field

[0001] This utility model relates to the field of product positioning technology, specifically to a vertical product picking and placing mechanism. Background Technology

[0002] While industrial automation liberates human beings, factories are increasingly demanding specialized equipment for automatically placing product feed trays. A device capable of automatically placing product feed trays is particularly important for industrial development.

[0003] Currently, there are some devices on the market that use visual positioning products to automatically place products. These devices use visual positioning to determine the desired placement location of the products and then arrange them on trays. However, they can only place products horizontally, which limits the types of products that can be used and results in poor flexibility.

[0004] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Utility Model Content

[0005] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a vertical product picking and placing mechanism. Through a flipping mechanism, the product is rotated from a horizontal state to a vertical state, which facilitates vertical grasping by the robotic arm. Combined with visual positioning, the vertically grasped product is accurately placed on a tray.

[0006] To solve the above-mentioned technical problems, the present invention proposes the following technical solution:

[0007] This application relates to a vertical product handling mechanism, comprising:

[0008] A flipping unit for flipping a product placed horizontally thereon, the flipping mechanism having multiple loading stations for placing products;

[0009] The robotic arm has a gripping unit at its end, which is used to vertically grip products from multiple loading stations;

[0010] At least one feed tray having multiple feed stations for vertically placing multiple products gripped by the gripping unit;

[0011] At least one positioning unit, the positioning unit being used to position the feed tray during feeding;

[0012] A scanning camera unit, located above the feed tray, is used to locate the feeding station where the product to be placed is fed.

[0013] The control unit is connected to the flipping unit, the robotic arm, the positioning unit, and the scanning camera unit.

[0014] In some embodiments of this application, the flipping unit includes:

[0015] Base;

[0016] A rotating part, which is placed on the base, is used to output rotational force;

[0017] The support frame is rotated by the aforementioned rotational force, and multiple loading stations are arranged on it;

[0018] Multiple holding parts, the number of which is the same as the number of multiple feeding stations, the holding parts are used to keep the product on the feeding station stable when the rotating part drives the support frame to flip.

[0019] After the rotating frame is rotated 90 degrees, the product on the loading station is aligned with the gripping unit.

[0020] In some embodiments of this application, the grasping unit includes:

[0021] The base is fixedly mounted on the end of the robotic arm;

[0022] Multiple acquisition units, the number of which is the same as the number of multiple loading stations, are used to acquire products on the corresponding loading station.

[0023] In some embodiments of this application, the seat includes:

[0024] A fixed side plate is fixedly mounted at the end of the robotic arm;

[0025] Multiple vertical slide rails are installed on the same side of the fixed side plate, and the number of the multiple vertical slide rail modules is the same as the number of the multiple acquisition units;

[0026] Multiple cylinders are provided, and the telescopic rods of the cylinders and the acquisition parts are respectively connected to sliders that slide in cooperation with corresponding vertical tracks. When the cylinders are working, the acquisition parts slide vertically up and down along the vertical slides.

[0027] In some embodiments of this application, the feed tray includes:

[0028] The disk body includes opposing side plates;

[0029] The upper limiting post has multiple parallel limiting posts that are spaced apart and connected to each other between opposite side plates. A feeding area is formed between adjacent limiting posts. The limiting post has multiple first limiting slots facing the first feeding area along its length direction, and multiple second limiting grooves facing the feeding area adjacent to the first feeding area. The groove opening direction of the first limiting groove and the groove opening direction of the second limiting groove are opposite to each other. The product is stuck between the second limiting groove of a limiting post facing the same feeding area and the first limiting groove of the adjacent limiting post.

[0030] In some embodiments of this application, the disk body further includes:

[0031] Multiple bottom support columns are located below the upper limiting column and are spaced apart and parallel to each other between the opposite side plates. The multiple bottom support columns include a first bottom support column, a second bottom wall support column, and at least one intermediate bottom support column located between the first bottom support column and the second bottom support column. The intermediate bottom support column is located directly below the feeding area.

[0032] The first support column is located on one side of the upper limiting column and is connected between the opposite side plates. The first support column and the first bottom support column are directly opposite each other.

[0033] The second support column is located on the other side of the upper limiting column and is connected between the opposite side plates. The second support column and the second bottom support column are directly opposite each other.

[0034] In some embodiments of this application, the positioning unit includes:

[0035] Positioning seat;

[0036] At least one first clamping part and at least one second clamping part are located on the positioning seat, and each first clamping part and each second clamping part are used to clamp the feed tray from opposite sides of the feed tray respectively;

[0037] The first and second support portions are located on the positioning seat and are used to support the feed tray.

[0038] In some embodiments of this application, the scanning camera unit includes:

[0039] Mounting bracket;

[0040] A sliding module is mounted on the mounting bracket and a scanning camera is mounted on it. The sliding module can drive the scanning camera to slide, and the sliding direction of the scanning camera is consistent with the arrangement direction of the multiple feeding stations.

[0041] A light source, which is used to provide illumination to the feed tray.

[0042] In some embodiments of this application, the at least one feed tray further includes:

[0043] The first and second feed trays are arranged in a row at intervals along the sliding direction of the sliding module. When the scanning camera slides, the feeding stations of the first and second feed trays are both within the field of view of the scanning camera.

[0044] In some embodiments of this application, the light source includes:

[0045] A first support base is located between the first feed tray and the second feed tray on the same side, and has a first support arm extending to one side of the first feed tray and a second support arm extending to one side of the second feed tray.

[0046] A first light source, which is placed on the first support arm, is used to illuminate one side of the first feed tray;

[0047] A second light source, which is placed on the second support arm, is used to illuminate one side of the second feed tray;

[0048] The second support base is located between the first feed tray and the second feed tray on the same side, and has a third support arm extending to the other side of the first feed tray and a fourth support arm extending to the other side of the second feed tray.

[0049] A third light source, which is placed on the third support arm, is used to illuminate the other side of the first feed tray;

[0050] A fourth light source, which is placed on the fourth support arm, is used to illuminate the other side of the second feed tray.

[0051] Compared with the prior art, the vertical picking and placing mechanism provided in this application has the following advantages and beneficial effects:

[0052] (1) The horizontally placed product is flipped by 90 degrees by the flipping unit and turned into a vertically placed product, which makes it easier for multiple gripping units at the end of the robot arm to grip vertically and realize vertical placement at the feeding station;

[0053] (2) Combined with the scanning camera unit, the automatic scanning and photography of the feeding station is completed. The data acquisition efficiency is high, which helps to quickly locate the feeding station and improve the product picking and placing efficiency.

[0054] Other features and advantages of this utility model will become clearer after reading the specific embodiments of this utility model in conjunction with the accompanying drawings. Attached Figure Description

[0055] 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 of this utility model or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a structural diagram of the vertical product handling mechanism proposed in this utility model;

[0057] Figure 2 This is a structural diagram of the flipping unit in the vertical product handling mechanism proposed in this utility model;

[0058] Figure 3 This is a structural diagram of the gripping unit installed at the end of the robotic arm in the vertical product handling mechanism proposed in this utility model;

[0059] Figure 4 This is a structural diagram showing the cooperation between the feeding tray and the positioning unit in the vertical product handling mechanism proposed in this utility model;

[0060] Figure 5 This is a structural diagram of the feed tray from a first-view perspective in the vertical product handling mechanism proposed in this utility model.

[0061] Figure 6 This is a structural diagram of the feed tray from a second perspective in the vertical product handling mechanism proposed in this utility model;

[0062] Figure 7 This is a top view of the feed tray in the vertical product handling mechanism proposed in this utility model;

[0063] Figure 8 This is a structural diagram of the positioning unit in the vertical product handling mechanism proposed in this utility model;

[0064] Figure label:

[0065] 1. Tilting unit; 110. Base; 120. Rotating part; 130. Support frame; 131. Loading station;

[0066] 2. Robotic arm;

[0067] 3. Gripping unit; 310. Base; 311. Fixed side plate; 312. Vertical slide rail; 313. Cylinder; 313A. Telescopic rod; 314. Slider; 320. Acquisition part; 321. Suction cup beam; 322. Vacuum suction cup;

[0068] 4. Feeding tray; 410. Tray body; 411. First side plate; 412. Second side plate; 413. First support column; 414. Second support column; 415. First bottom support column; 416. Second bottom support column; 417. Middle bottom support column; 420. Limiting column; 421. First limiting slot; 422. Second limiting slot; 423. Upper limiting column; 430. Feeding area; 431. First feeding area; 432. Second feeding area; 4A. First feeding tray; 4B. Second feeding tray;

[0069] 5. Positioning unit; 510. Positioning seat; 520. First clamping part; 521. Clamping plate; 530. Second clamping part; 540. First supporting part; 541. Supporting plate; 542. Slide rail; 550. Second supporting part; 5A. First positioning unit; 5B. Second positioning unit;

[0070] 6. Scanning camera unit; 610. Mounting bracket; 620. Sliding module; 630. Scanning camera;

[0071] 710. First support base; 711. First support arm; 712. Second support arm; 720. Second support base; 721. Third support arm; 722. Fourth support arm; 8. Product. Detailed Implementation

[0072] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0073] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this utility model. In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0074] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0075] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0076] In order to meet the needs of automated vertical tray placement, this application relates to a vertical product picking and placing mechanism, which is used to flip a horizontally placed product 8 into a vertically placed product 8, and to vertically tray the product 8 by means of existing visual positioning technology, so as to meet the vertical picking and placing requirements of the product 8.

[0077] In some embodiments of this application, see Figures 1 to 8 It describes the structure of the vertical product handling mechanism.

[0078] The vertical product handling mechanism includes a flipping unit 1, a robotic arm 2, at least one feed tray 4, at least one positioning unit 5, a scanning camera unit 6, and a control unit (not shown). The control unit is connected to the flipping unit 1, the robotic arm 2, the positioning unit 5, and the scanning camera unit 6, and is the data processing and control center of the product handling mechanism. One of the positioning units 5 is used to position one feed tray 4.

[0079] See Figure 1 and Figure 2 The flipping unit 1 is used to flip the product 8, which is placed horizontally on it, so that it is placed vertically from top to bottom.

[0080] In some embodiments of this application, the flipping unit 1 may include a base 110, a rotating part 120, a support frame 130, and a plurality of holding parts (not shown).

[0081] The base 110 serves as the foundation for the flipping unit 1 and can be fixed to other fixed platforms to maintain the stability of the entire flipping unit 1.

[0082] The rotating part 120 is mounted on the base 110 and is capable of outputting rotational force. In this application, the rotating part 120 is a rotating cylinder. The rotating part of the rotating cylinder is connected to the support frame 130. When the rotating part 120 is working, the rotational force output by the rotating part 120 is transmitted to the support frame 130 through the rotating cylinder, thereby driving the support frame 130 to rotate.

[0083] In some embodiments of this application, since the product 8 needs to be picked up and placed vertically, the rotating part 120 can drive the support frame 130 to rotate 90 degrees clockwise or counterclockwise.

[0084] The support frame 130 is equipped with multiple loading stations 131, each loading station 131 loading one product 8.

[0085] In order to prevent the product 8 on the loading station 131 from falling off when the support frame 130 is rotated 90 degrees, a retaining part is also arranged on each loading station 131 to keep the product 8 stable on the loading station 131 during the rotation of the support frame 130.

[0086] In some embodiments of this application, the retaining part can be a vacuum suction cup assembly.

[0087] The vacuum suction cup assembly may include a bracket, a suction cup beam, a vacuum suction cup, and a vacuum pump. The suction cup beam is fixed on the bracket and the vacuum suction cup is provided on the suction cup beam. The vacuum pump is connected to the vacuum suction cup. The suction cup of the vacuum suction cup can be a replaceable flat suction cup, a short corrugated tube type suction cup, or a long corrugated tube type suction cup. The vacuum pump is electrically connected to the control unit.

[0088] In some embodiments of this application, multiple loading stations 131 are arranged in a row on the support frame 130, which facilitates the placement of multiple products 8 at one time. See [link to relevant documentation]. Figure 2 Four loading stations 131 are set up in a row at intervals.

[0089] The number of loading stations 131 is the same as the number of holding units. One holding unit is used to hold the product 8 on one loading station 131 to ensure the stable reliability of the product 8.

[0090] After placing the product 8 (e.g., a sheet-like part) on the loading station 131, the control flipping unit 1 is activated. The cylinder rotates 90 degrees to flip the support frame 130 while the unit is holding the product 8 in place, waiting for the robot arm 2 to grab the product 8.

[0091] To facilitate the robotic arm 2 in grasping the product 8, when the rotating cylinder operates to rotate the support frame 130 by 90 degrees, the product 8 on the loading station 131 is aligned with the grasping unit 3, thus achieving convenient and rapid grasping.

[0092] In some embodiments of this application, see reference 1. Figure 1 The gripping unit 3 is located at the end of the robotic arm 2, and the gripping unit 3 is driven to move by controlling the movement of the robotic arm 2.

[0093] To enable the gripping unit 3 to simultaneously grip multiple products 8 on multiple loading stations 131, see [link / reference] Figure 3 The gripping unit 3 includes a base 310 and multiple acquisition parts 320. The base 310 is fixed to the end of the robot arm 2 and is used to carry the multiple acquisition parts 320. The number of multiple acquisition parts 320 is the same as the number of multiple loading stations 131 on the support frame 130, so as to acquire multiple products 8 at the same time.

[0094] In some embodiments of this application, the arrangement of multiple acquisition units 320 is related to the arrangement of loading stations 131. As described above, if multiple loading stations 131 are arranged in a row at intervals, multiple acquisition units 320 are also arranged in a row at intervals so that after the support frame 130 is rotated 90 degrees, one acquisition unit 320 is exactly aligned with one loading station 131 to complete the loading of multiple products 8 at one time.

[0095] As mentioned above, see Figure 3 If four loading stations 131 are set up, four acquisition units 320 are also set up accordingly.

[0096] To improve the flexibility of the grasping unit 3, see also some embodiments of this application. Figure 3 The base 310 includes a fixed side plate 311, multiple vertical slides 312 and multiple cylinders 313. The multiple vertical slides 312 and multiple cylinders 313 are in one-to-one correspondence, and the number of multiple vertical slides 312 is the same as the number of multiple acquisition parts 320.

[0097] The fixed side plate 311 is fixed to the end of the robot arm 2, and multiple vertical slides 312 and multiple cylinders 313 are arranged on its outer side surface.

[0098] Multiple vertical slides 312 are arranged in a row at intervals.

[0099] The following explanation uses the arrangement of a vertical slide 312 and a cylinder 313 as an example.

[0100] The vertical slide rail 312 and the corresponding cylinder 313 are fixed to the same outer side surface of the fixed side plate 311.

[0101] The telescopic rod 313A of the cylinder 313 and the acquisition part 320 are respectively connected to the slider 314, wherein the slider 314 is slidably engaged with the vertical slide rail 312. Therefore, when the cylinder 313 is working, the acquisition part 320 can slide vertically up and down by sliding the slider 314 on the vertical slide rail 312, thereby adjusting the acquisition part 320 to align it with the loading station 131 and accurately grasp the product 8.

[0102] In some embodiments of this application, the slider 314 includes a first slider portion, a second slider portion, and a third slider portion.

[0103] The length of the second slider part extends vertically and connects the first slider part and the third slider part. The first slider part has a groove (not shown) that slides and engages with the vertical slide rail 312. The third slider part is connected to the free end of the telescopic rod 313A of the cylinder 313 and is also connected to the acquisition part 320. Therefore, when the cylinder 313 is working, the acquisition part 320 can be driven to slide vertically up and down along the vertical slide rail 312 by the extension and retraction of the telescopic rod 313A.

[0104] In some embodiments of this application, the acquisition unit 320 can be a gripper, which is used to grab the product 8 on the loading station 131 when the gripping unit 3 is adjusted to be aligned with the acquisition unit 320 and the loading station 131.

[0105] In order to avoid damage or scratches to the product 8 caused by grasping the product 8, in some embodiments of this application, the acquisition part 320 can be a vacuum suction cup assembly. As described above, the vacuum suction cup assembly has a suction cup beam 321 fixed on the third slider part and a vacuum suction cup 322 provided on the suction cup beam 321. An air pump (not shown) is connected to the vacuum suction cup 322. Through the action of the air pump, the vacuum suction cup 322 can be used to adsorb or detach the product 8.

[0106] In some embodiments of this application, the gripping unit 3 may also include an acquisition unit 320. Although this method can also acquire the product 8 from the loading station 131, it is inefficient.

[0107] After multiple products 8 are adsorbed by multiple acquisition units 320, the products 8 need to be placed on the feeding tray 4 for tray arrangement. The feeding tray 4 can be placed on the production line conveyor belt. For example, when the feeding tray 4 reaches the feeding position, the conveyor belt stops, and the feeding tray 4 is positioned by the positioning unit 5 to stabilize the feeding tray 4. After the feeding tray 4 is arranged, the conveyor belt resumes operation, or the feeding tray 4 is lifted off the conveyor belt to a stable position, and the feeding tray 4 is positioned by the positioning unit 5 to stabilize the feeding tray 4 before waiting for the feeding tray 4 to be arranged.

[0108] In some embodiments of this application, see Figure 1 , Figures 4 to 7The feed tray 4 is designed with multiple feed stations that can vertically place products 8, with one product 8 placed vertically at each feed station.

[0109] See Figure 5 and Figure 6 The feed tray 4 includes a tray body 410 and an upper limiting post 423.

[0110] The disk body 410 includes opposing side plates, referred to as the first side plate 411 and the second side plate 412.

[0111] In the upper limiting column 423, each limiting column is parallel to the first side plate 411 and the second side plate 412 at intervals, and a feeding area 430 is formed between two adjacent limiting columns 420 in the upper limiting column 423.

[0112] To facilitate the vertical placement of multiple products 8 within the feeding area 430, see [reference needed]. Figure 7 The limiting post 420 forms multiple first limiting slots 421 facing the first feeding area 431 and multiple second limiting slots 422 facing the second feeding area 432 along its length direction. The slot opening directions of the first limiting slots 421 and the slot opening directions of the second limiting slots 422 are opposite to each other.

[0113] The first feeding area 431 and the second feeding area 432 are respectively feeding areas 430 as described above, and the two are adjacent feeding areas.

[0114] Thus, for a feeding area 430, such as the first feeding area 431, the second limiting slot 422 of the limiting post 420 and the first limiting slot 421 of the adjacent limiting post 420 are directly opposite each other, and the product 8 is positioned between the second limiting slot 422 facing the first feeding area 431 and the first limiting slot 421 of the adjacent limiting post 420.

[0115] In some embodiments of this application, see Figure 7 The first limiting slot 421 and the second limiting slot 422 are both tapered grooves formed on the limiting post 420 from the opening to the bottom, which facilitates the positioning and guidance of the product 8.

[0116] As described above, if four acquisition units 320 are set, more than four feeding areas 430 will be set accordingly, which makes it easier for the robot arm 2 to place multiple products 8 on a tray at one time along the length direction of the limiting post 420.

[0117] In some embodiments of this application, see also [link to previous document]. Figures 5 to 7 The disk body 410 also includes multiple bottom support columns, a first support column 413 and a second support column 414.

[0118] Multiple bottom support columns are located below the upper limiting column 423, and are all spaced apart and parallel to each other between the first side plate 411 and the second side plate 412.

[0119] The plurality of bottom support columns include a first bottom support column 415, a second bottom support column 416 and at least one intermediate bottom support column 417 located between the first bottom support column 415 and the second bottom support column 416.

[0120] The central bottom support column 417 is located directly below the feeding area 430 and is used to support the product 8 that is stuck in the feeding area 430, preventing it from falling due to not being properly secured (see...). Figure 6 If one feeding area 430 is set, then one intermediate bottom support column 417 is set accordingly; if multiple feeding areas 430 are set, then multiple intermediate bottom support columns 417 are set accordingly.

[0121] The first support column 413 and the second support column 414 are also connected between the first side plate 411 and the second side plate 412. The first support column 413 is located on the same side of the upper limiting column 423 and is directly opposite the first bottom support column 415. The second support column 414 is located on the other side of the upper limiting column 423 and is directly opposite the second bottom support column 416.

[0122] By setting multiple bottom support columns, first support column 413 and second support column 414, it is easy to visually observe the product 8 tray arrangement from the outside, and the first support column 413 and second support column 414 set on both sides can also serve as handles for transporting the feeding tray 4.

[0123] As described above, positioning unit 5 is used to position the feed tray 4, see [link / reference]. Figure 1 If there is a first feed tray 4A and a second feed tray 4B, then a first positioning unit 5A and a second positioning unit 5B are arranged. The first positioning unit 5A is used to position the first feed tray 4A during feeding, and the second positioning unit 5B is used to position the second feed tray 4B during feeding.

[0124] In some embodiments of this application, see Figure 8 The positioning unit 5 includes a positioning seat 510, at least one first clamping part 520, at least one second clamping part 530, a first supporting part 540, and a second supporting part 550.

[0125] The positioning seat 510 is fixed to, for example, a fixed platform to achieve a stable arrangement of the entire positioning unit 5.

[0126] At least one first clamping part 520, at least one second clamping part 530, a first supporting part 540 and a second supporting part 550 are all located on the positioning seat 510.

[0127] At least one first clamping part 520 is used to abut against one side of the feed tray 4, such as the first side plate 411 as described above. In this application, two first clamping parts 520 are arranged side by side along the length direction of the first side plate 411 of the feed tray 4.

[0128] At least one second clamping part 530 is used to abut against the other side of the feed tray 4, such as the second side plate 412 as described above. In this application, two second clamping parts 530 are arranged side by side along the length direction of the second side plate 412 of the feed tray 4.

[0129] Thus, the feed tray 4 is clamped from the opposite side by the first clamping part 520 and the second clamping part 530 to keep the feed tray 4 stable.

[0130] In some embodiments of this application, both the first clamping part 520 and the second clamping part 530 are implemented using telescopic cylinders.

[0131] A clamping plate 521 / 531 is provided at the free end of the telescopic rod of the telescopic cylinder. When the telescopic rod extends, the clamping plate 521 / 531 applies a force to the corresponding side plate, and when the telescopic rod retracts, the clamping plate 521 / 531 removes the force applied to the corresponding side plate.

[0132] In addition, to further ensure the stability of the feed tray 4, a first support part 540 and a second support part 550 are used to support the feed tray 4 from the bottom.

[0133] Both the first support section 540 and the second support section 550 are implemented using telescopic cylinders.

[0134] The free end of the telescopic cylinder is connected to the support plate 541 / 551. The support plate 541 / 551 is provided with slide rail 542 / 552. A matching slider (not shown) is provided on the positioning seat 510 corresponding to the slide rail 542 / 552. When the telescopic rod extends, it drives the support plate 541 / 551 to slide along the slide rail 542 / 552 to extend to the bottom of the feed tray 4 to support the feed tray 4.

[0135] In some embodiments of this application, see Figure 8 The first support portion 540 and the second support portion 550 are located on the other two sides, which are different from the opposite side of the feed tray 4 where the first clamping portion 520 and the second clamping portion 530 are provided, and are used to support the feed tray 4 from the other two sides.

[0136] In some embodiments of this application, see reference 1. Figure 1 The scanning camera unit 6 uses visual positioning technology to position the feeding station in the feeding tray 4, which facilitates accurate placement of the product 8.

[0137] The scanning camera unit 6 includes a mounting bracket 610, a sliding module 620, a scanning camera 630, and a light source (not shown).

[0138] Mounting bracket 610 can be mounted and fixed to a fixed platform for stabilizing scanning camera 630.

[0139] The sliding module 620 is mounted on the mounting bracket 610 and the scanning camera 630 is mounted on the sliding module 620, so that the scanning camera 630 can slide with the sliding module 620. The sliding direction of the scanning camera 630 is consistent with the arrangement direction of the multiple feeding stations, that is, the length direction of the limiting post 420.

[0140] The light source is used to provide illumination around the feed tray 4, which facilitates accurate imaging by the scanning camera 630.

[0141] The visual positioning technology terminology and existing positioning algorithm used by the scanning camera 630 are not the focus of this paper, nor are they areas for improvement. Therefore, they will not be elaborated upon here.

[0142] In some embodiments of this application, at least one feed tray 4 may include a first feed tray 4A and a second feed tray 4B.

[0143] The first feed tray 4A and the second feed tray 4B are arranged in a row along the sliding direction of the sliding module 620, so that when the scanning camera 630 slides along the sliding module 620, the feeding stations of the first feed tray 4A and the second feed tray 4B are both within the field of view of the scanning camera 630, which facilitates visual positioning of each feeding station.

[0144] For the convenience of arranging the light source for illuminating the first feed tray 4A and the second feed tray 4B, see also the following in this application. Figure 1 The light source includes a first group of light sources and a second group of light sources.

[0145] The first set of light sources is used to provide light to the same side of the first feed tray 4A and the second feed tray 4B, and the second set of light sources is used to provide light to the opposite side of the first feed tray 4A and the second feed tray 4B.

[0146] The first set of light sources includes a first support 710, a first light source, and a second light source.

[0147] The first support base 710 is fixed to, for example, a fixed platform and located between the first feed tray 4A and the second feed tray 4B on the same side. The first support base 710 has a first support arm 711 extending to one side of the first feed tray 4A and a second support arm 712 extending to one side of the second feed tray 4B.

[0148] The first light source is fixed to the first support arm 711, so that the light emission direction of the first light source is towards one side of the first feed plate 4A.

[0149] The second light source is fixed to the second support arm 712, so that the light emission direction of the second light source is towards one side of the second feed plate 4B.

[0150] The second set of light sources includes the second support 720, the third light source, and the fourth light source.

[0151] The second support 720 is fixed to, for example, a fixed platform and located between the first feed tray 4A and the other side of the second feed tray 4B. The second support 720 has a third support arm 721 extending to the other side of the first feed tray 4A and a fourth support arm 722 extending to the other side of the second feed tray 4B.

[0152] The third light source is fixed to the third support arm 721, so that the light emission direction of the third light source is towards the other side of the first feed plate 4A.

[0153] The fourth light source is fixed to the fourth support arm 722, so that the light emission direction of the fourth light source is towards the other side of the second feed plate 4B.

[0154] In this way, by setting multiple light sources at different locations, sufficient light can be provided evenly to the first feed plate 4A and the second feed plate 4B, ensuring the accuracy of visual positioning.

[0155] The vertical product handling mechanism involved in this application can vertically handle multiple products 8 at one time, meeting the vertical tray placement requirements of the products 8. It adopts two feeding trays 4 and combines visual positioning technology, which can quickly improve the tray placement efficiency, and the size of the feeding trays 4 is not limited. Moreover, the visual positioning technology avoids the drawback of using multiple sets of cameras for visual positioning of multiple feeding trays 4 by sliding a scanning camera 630, thus reducing hardware costs.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A vertical product handling mechanism, characterized in that, include: A flipping unit for flipping a product placed horizontally thereon by 90 degrees, the flipping unit having multiple loading stations for placing the product; The robotic arm has a gripping unit at its end, which is used to vertically grip products from multiple loading stations; At least one feed tray having multiple feed stations for vertically placing multiple products gripped by the gripping unit; At least one positioning unit, the positioning unit being used to position the feed tray during feeding; A scanning camera unit, located above the feed tray, is used to locate the feeding station where the product to be placed is fed; The control unit is connected to the flipping unit, the robotic arm, the positioning unit, and the scanning camera unit.

2. The vertical product handling mechanism according to claim 1, characterized in that, The flipping unit includes: Base; A rotating part, which is placed on the base, is used to output rotational force; The support frame is rotated 90 degrees by the aforementioned rotational force, and multiple loading stations are arranged on it; Multiple holding parts, the number of which is the same as the number of multiple feeding stations, the holding parts are used to keep the product on the feeding station stable when the rotating part drives the support frame to flip. After the rotating part is rotated 90 degrees, the product on the loading station is aligned with the gripping unit.

3. The vertical product handling mechanism according to claim 1, characterized in that, The grasping unit includes: The base is fixedly mounted on the end of the robotic arm; Multiple acquisition units, the number of which is the same as the number of multiple loading stations, are used to acquire products on the corresponding loading station.

4. The vertical product handling mechanism according to claim 3, characterized in that, The seat body includes: A fixed side plate is fixedly mounted at the end of the robotic arm; Multiple vertical slides are installed on the same side of the fixed side plate, and the number of the multiple vertical slides is the same as the number of the multiple acquisition parts; Multiple cylinders are provided, and the telescopic rods of the cylinders and the acquisition parts are respectively connected to sliders that slide in cooperation with corresponding vertical tracks. When the cylinders are working, the acquisition parts slide vertically up and down along the vertical slides.

5. The vertical product handling mechanism according to claim 1, characterized in that, The feed tray includes: The disk body includes opposing side plates; The upper limiting post has parallel joints between opposite side plates, and a feeding area is formed between adjacent limiting posts. The limiting post has multiple first limiting grooves facing the first feeding area along its length direction, and multiple second limiting grooves facing the feeding area adjacent to the first feeding area. The groove opening directions of the first limiting groove and the groove opening directions of the second limiting groove are opposite to each other. The product is stuck between the second limiting groove of a limiting post facing the same feeding area and the first limiting groove of the adjacent limiting post.

6. The vertical product loading and unloading mechanism according to claim 5, characterized in that, The disk body also includes: Multiple bottom support columns are located below the upper limiting column and are spaced apart and parallel to each other between the opposite side plates. The multiple bottom support columns include a first bottom support column, a second bottom wall support column, and at least one intermediate bottom support column located between the first bottom support column and the second bottom support column. The intermediate bottom support column is located directly below the feeding area. The first support column is located on one side of the upper limiting column and is connected between the opposite side plates. The first support column and the first bottom support column are directly opposite each other. The second support column is located on the other side of the upper limiting column and is connected between the opposite side plates. The second support column and the second bottom support column are directly opposite each other.

7. The vertical product handling mechanism according to claim 1, characterized in that, The positioning unit includes: Positioning seat; At least one first clamping part and at least one second clamping part are located on the positioning seat, and each first clamping part and each second clamping part are used to clamp the feed tray from opposite sides of the feed tray respectively; The first and second support portions are located on the positioning seat and are used to support the feed tray.

8. The vertical product handling mechanism according to claim 1, characterized in that, The scanning camera unit includes: Mounting bracket; A sliding module is mounted on the mounting bracket and a scanning camera is mounted on it. The sliding module can drive the scanning camera to slide, and the sliding direction of the scanning camera is consistent with the arrangement direction of the multiple feeding stations. A light source, which is used to provide illumination to the feed tray.

9. The vertical product loading and unloading mechanism according to claim 8, characterized in that, The at least one feed tray includes: The first and second feed trays are arranged in a row at intervals along the sliding direction of the sliding module. When the scanning camera slides, the feeding stations of the first and second feed trays are both within the field of view of the scanning camera.

10. The vertical product handling mechanism according to claim 9, characterized in that, The light source includes: A first support base is located between the first feed tray and the second feed tray on the same side, and has a first support arm extending to one side of the first feed tray and a second support arm extending to one side of the second feed tray. A first light source, which is placed on the first support arm, is used to illuminate one side of the first feed tray; A second light source, which is placed on the second support arm, is used to illuminate one side of the second feed tray; The second support base is located between the first feed tray and the second feed tray on the same side, and has a third support arm extending to the other side of the first feed tray and a fourth support arm extending to the other side of the second feed tray. A third light source, which is placed on the third support arm, is used to illuminate the other side of the first feed tray; A fourth light source, which is placed on the fourth support arm, is used to illuminate the other side of the second feed tray.

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