Visual positioning grabbing mechanical device

Abstract

The utility model provides a visual positioning and grabbing mechanical device, which relates to the technical field of automatic machinery and comprises a double-station placing table, a mounting hole is arranged on one side of the double-station placing table, a gravity sensor is arranged at the bottom of the mounting hole, a group of bolt mounting holes are arranged at the corners of the gravity sensor, and the bolt mounting holes are communicated with the mounting hole. A set of supporting columns are installed at the corners of the upper portion of the double-station containing table, and a set of supporting legs and a set of positioning strips are installed at the bottom of the double-station containing table. A locking structure is arranged on the basis of linkage of gravity sensing and visual detection, a sliding groove of a positioning strip is matched with a stabilizing plate in an embedded mode, rapid positioning of the mechanical arm is achieved, compared with a traditional bolt fixing mode, the dismounting and mounting efficiency is greatly improved, a supporting spring is adopted by the locking structure to drive a locking rod to be automatically clamped into a locking groove, and the locking effect is good. Operators can operate easily and conveniently, and the problem that traditional bolts need to be screwed and unscrewed frequently for fixation is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic mechanical technology field especially relates to a visual positioning and grabbing mechanical device. BACKGROUND

[0002] In the automatic production process, the positioning and fitting of articles are one of the key processes, especially in the precision manufacturing field, such as mobile phone parts assembly, semiconductor packaging, at present, the article handling and screening will be completed by means of the grabbing manipulator cooperating with the visual positioner, the traditional visual positioning and grabbing mechanical device has the following obvious defects:

[0003] The manipulator and visual detector of the traditional automatic equipment are fixed on the workbench by bolts, and the bolts need to be screwed out one by one every time the station is adjusted or maintained, the single disassembly and assembly takes a long time, and the bolts are easy to slip or wear due to frequent operation, which affects the stability of the manipulator and visual detector, especially in the emergency fault handling scene of the assembly line, the setting of the bolts will affect the working efficiency of the visual positioning and grabbing mechanical device;

[0004] The traditional visual detector is fixed at a single height, and the support needs to be manually adjusted by a wrench or other tools, which takes a long time for single adjustment, and it is difficult to accurately adapt to articles of different heights, such as small electronic components and large mechanical parts, which is easy to cause detection blind area or image distortion. INVENTION CONTENTS

[0005] The utility model relates to a visual positioning and grabbing mechanical device, one side of the visual detector is installed and positioned by a bolt, the visual detector is installed on both sides of the cross beam by pressing the sliding rod, the visual detector is loosened after being adjusted to the required height, the supporting spring drives the locking plate to automatically enter the card slot, and the rapid positioning of the visual detector is completed, when the visual detector is removed, the locking plate is separated from the card slot of the cross beam by pressing the sliding rod, and then the unlocked visual detector is removed, the threaded rod is rotated by the electric motor drive, the cross beam is lifted by the connecting plate, and the visual detector is adjusted to the appropriate shooting height.

[0006] The utility model provides a kind of visual positioning grabbing mechanical device, specifically includes: double-station placing table, one mounting hole is set in the side of double-station placing table, a gravity sensor is installed in the bottom position of mounting hole, a group of bolt mounting holes are set in the corner of gravity sensor, a group of support columns are installed in the upper position of double-station placing table in corner, a group of support legs, a group of positioning strips are installed in the bottom position of double-station placing table, two transverse positioning rods are equipped in the side of positioning strip, a firm plate is installed in the inner side position of positioning strip, a manipulator is installed in the upper position of firm plate, a group of universal wheels are installed in the bottom position of firm plate, a positioning frame is installed in the upper position of support column, a support plate is respectively installed in the two sides of positioning frame, one firm sleeve is equipped in the side of one support plate, an electric motor is installed in the inner side position of firm sleeve, two visual detectors are installed in the bottom position of positioning frame, two positioning seats are installed in the side of visual detector with bolt cooperation, two transverse sliding holes are set in the basis of positioning seat, sliding hole is cylindrical structure, and one sliding rod is respectively inserted in the inner portion of sliding hole.

[0007] Further, the positioning strip has two, and the two positioning strips are symmetrically distributed, a sliding groove is formed in the inner side position of the positioning strip, the sliding groove has a U-shaped structure, and the two sides of the firm plate extend to the inside of the sliding groove.

[0008] Further, a sliding hole is formed in the middle position of the positioning strip, a locking rod is inserted in the inside of the sliding hole, a positioning plate is arranged on the side of the locking rod, a sliding hole is formed in the two sides of the positioning plate, the positioning rod passes through the inside of the sliding hole, and the positioning rod, the locking rod and the positioning plate cooperatively form a locking structure.

[0009] Further, a locking groove is formed in the side of the firm plate, a support spring is arranged on the outer side of the positioning rod, the side of the locking rod extends to the inside of the locking groove, and a control rod is arranged in the middle position of the positioning plate.

[0010] Further, a sliding groove is formed in the bottom position of the positioning frame, the sliding groove has a T-shaped structure, two sliding blocks are arranged in the inner side position of the sliding groove, a positioning groove is formed in the two sides of the sliding block, a threaded rod is arranged between the support plates on the two sides of the positioning frame, a rotating hole is formed in the middle position of the support plate, the end portion of the threaded rod passes through the inside of the rotating hole, and the driving shaft of the electric motor is connected to the side of the threaded rod.

[0011] Further, the threaded rod has a double-thread structure, a threaded hole is formed in the middle position of the sliding block, the threaded holes of the two sliding blocks have opposite screw directions, and the threaded rod passes through the inside of the threaded hole.

[0012] Further, the bottom of the sliding block is respectively provided with a hinged connecting plate, the bottom of the connecting plate is provided with a hinged cross beam, and the electric motor, the threaded rod, the sliding block, the connecting plate and the cross beam are matched to form a height adjusting mechanism.

[0013] Further, the sliding rod is provided with a stepped groove at the outer side, a supporting spring is arranged at the stepped groove, a locking plate is arranged between the two sliding rods, a clamping groove is arranged at the two sides of the cross beam, one side of the locking plate extends to the inside of the clamping groove, and the positioning seat, the sliding rod and the locking plate are matched to form a quick release structure.

[0014] The visual positioning and grabbing mechanical device has the following beneficial effects:

[0015] The locking structure is arranged on the basis of gravity sensing and visual detection linkage, the sliding groove of the positioning strip and the embedded cooperation of the stable plate are adopted to realize the rapid positioning of the mechanical hand, the dismounting efficiency is greatly improved compared with the traditional bolt fixing mode, the locking structure adopts the supporting spring to drive the locking rod to be automatically clamped into the locking groove, the operator is convenient to operate, the pain point that the traditional bolt fixing needs to be frequently screwed and dismounted is solved, in addition, the universal wheel is arranged at the bottom of the mechanical hand, the universal wheel facilitates the movement of the mechanical hand, the mechanical hand can be quickly switched to any work station or production line, the poor adaptability of the traditional fixed equipment is solved, and the scene of frequent adjustment of workshop layout is suitable.

[0016] The height adjusting mechanism is arranged to realize stepless adjustment of the detection height of the visual detector, the visual detector is compatible with the detection requirements of different sizes of articles, the visual detector has high height adjustment speed and higher efficiency than manual knob adjustment, the visual detector can quickly adapt to the detection of articles of different heights, compared with the traditional fixed structure, the visual detector has high universality and more accurate coverage range.

[0017] The quick release structure is arranged to realize tool-free quick dismounting of the visual detector, realize the effect that the visual detector is convenient to maintain, and is suitable for the scene of emergency fault handling of the assembly line. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings of the embodiments will be briefly introduced below.

[0019] The drawings in the following description only relate to some embodiments of the present application, and are not limited to the present application.

[0020] In the drawings:

[0021] Figure 1This diagram shows the axonal structure of the visual positioning and grasping mechanical device of this invention after assembly.

[0022] Figure 2 This utility model illustrates Figure 1 A schematic diagram of the axonal structure from an elevation viewpoint;

[0023] Figure 3 This utility model illustrates Figure 1 A schematic diagram of a partially cut axial side structure;

[0024] Figure 4 This utility model illustrates Figure 3 Front view structural diagram;

[0025] Figure 5 A schematic diagram of the axial structure of the crossbeam section of this utility model is shown;

[0026] Figure 6 A schematic diagram of the axial side structure of the positioning seat section of this utility model is shown;

[0027] Figure 7 This utility model illustrates Figure 3 A magnified structural diagram at point A.

[0028] List of reference numerals

[0029] 1. Dual-station placement table; 101. Positioning strip;

[0030] 2. Locking structure; 201. Positioning rod; 202. Locking rod; 203. Positioning plate;

[0031] 3. Support columns;

[0032] 4. Robotic arm;

[0033] 5. Stabilizing board;

[0034] 6. Positioning frame;

[0035] 7. Height adjustment mechanism; 701. Electric motor; 702. Threaded rod; 703. Sliding block; 704. Connecting plate; 705. Crossbeam;

[0036] 8. Visual detector;

[0037] 9. Quick-release structure; 901. Positioning seat; 902. Sliding rod; 903. Locking plate. Detailed Implementation

[0038] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme of the embodiments of the utility model will be described clearly and completely in combination with the drawings of the embodiments of the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the described embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0039] Embodiment one: please refer to Figures 1-7 :

[0040] The utility model provides a kind of visual positioning grabbing mechanical device, comprising: double-station placing table 1, one side of double-station placing table 1 is provided with an installation hole, a gravity sensor is installed at the bottom position of installation hole, a group of bolt mounting holes are provided at the corner of gravity sensor, the position of bolt mounting hole is installed matched bolt according to actual needs, the stability of gravity sensor is completed after bolt installation, the model of gravity sensor is selected according to actual needs one existing technology, gravity sensor carries out gravity detection to object, a group of support columns 3 are installed at the corner of the upper position of double-station placing table 1, a group of support legs and a group of positioning strips 101 are installed at the bottom position of double-station placing table 1, two transverse positioning rods 201 are arranged on the side of positioning strip 101, a sliding hole is provided at the middle position of positioning strip 101, a locking rod 202 is inserted into the inside of sliding hole, sliding hole provides sliding space for locking rod 202, a positioning plate 203 is arranged on the side of locking rod 202, a sliding hole is provided on the both sides of positioning plate 203, positioning rod 201 passes through the inside of sliding hole, positioning rod 201 is circumferentially positioned and supported up and down to positioning plate 203, positioning rod 201, locking rod 202 and positioning plate 203 cooperatively form locking structure 2;

[0041] In the embodiment, a stable plate 5 is installed at the inner side of positioning strip 101, and the positioning strip 101 has two, which are symmetrically distributed, a sliding groove is provided at the inner side of positioning strip 101, the sliding groove has a U-shaped structure, and the stable plate 5 extends to the inside of the sliding groove at both sides, so that the positioning strip 101 cooperates with the sliding groove to realize the effect of quickly positioning the installation position of the mechanical hand 4 and the stable plate 5.

[0042] In this embodiment, the upper position of the stabilizing plate 5 is provided with a mechanical arm 4, the bottom position of the stabilizing plate 5 is provided with a set of universal wheels, the universal wheels facilitate the movement of the mechanical arm 4 by the operator, the upper position of the supporting column 3 is provided with a positioning frame 6, and the supporting column 3 and the positioning frame 6 are provided with matched bolts according to actual needs, the stable assembly of the supporting column 3 and the positioning frame 6 is completed after the bolts are installed, one side of the stabilizing plate 5 is provided with a locking groove, one side of the positioning rod 201 is provided with a supporting spring, the supporting spring pushes one side of the locking rod 202 to extend into the locking groove, at this time, the locking rod 202 achieves the quick locking effect of the mechanical arm 4 and the stabilizing plate 5, solves the problem of the base of the mechanical arm 4 being locked by bolts, the middle position of the positioning plate 203 is provided with an operating rod, after the operator applies a pulling force to the operating rod, the locking rod 202 and the positioning plate 203 are driven to move, when the positioning plate 203 leaves the inside of the locking groove, the quick unlocking of the mechanical arm 4 and the stabilizing plate 5 is completed, at this time, the mechanical arm 4 can be moved at will;

[0043] In the embodiment, two support plates are respectively arranged on the two sides of the positioning frame 6, one of the support plates is provided with a stable sleeve on one side, an electric motor 701 is arranged in the inside of the stable sleeve, a sliding groove is arranged on the bottom of the positioning frame 6, the sliding groove is in T-shaped structure, two sliding blocks 703 are arranged in the inside of the sliding groove, a positioning groove is respectively arranged on the two sides of the sliding block 703, the sliding groove and the positioning groove are matched to position the sliding block 703 in the circumferential direction and vertically, so that the sliding block 703 can stably move horizontally, a threaded rod 702 is arranged between the support plates on the two sides of the positioning frame 6, a rotating hole is arranged in the middle of the support plate, the end of the threaded rod 702 penetrates through the inside of the rotating hole, the support plate and the rotating hole are matched to realize the effect that the rotating position of the threaded rod 702 is horizontally and vertically positioned, so that the threaded rod 702 can stably rotate in place, the driving shaft of the electric motor 701 is connected with one side of the threaded rod 702, a wedge key is arranged between the driving shaft and the threaded rod 702 according to actual needs, so that the electric motor 701 can stably drive the threaded rod 702 to rotate, the threaded rod 702 is in double-thread structure, a threaded hole is respectively arranged in the middle of the sliding block 703, the screw directions of the threaded holes of the two sliding blocks 703 are opposite, the threaded rod 702 penetrates through the inside of the threaded hole, the pitches of the threaded rod 702 and the threaded hole are processed according to actual needs, so that the threaded rod 702 and the threaded hole are effectively screwed, the threaded rod 702 is rotated to control the two sliding blocks 703 to synchronously and reversely move, a hinged connecting plate 704 is respectively arranged on the bottom of the sliding block 703, the connecting plate 704 has two, a hinged cross beam 705 is arranged on the bottom of the connecting plate 704, the electric motor 701, the threaded rod 702, the sliding block 703, the connecting plate 704 and the cross beam 705 are matched to form a height adjusting mechanism 7, the connecting plate 704 realizes the effect that the cross beam 705 is hingedly positioned, the sliding block 703, the connecting plate 704 and the cross beam 705 form a connecting rod mechanism, so that the connecting plate 704 swings when the two sliding blocks 703 reversely move, and the cross beam 705 is stressed to rise and fall at this time;

[0044] In this embodiment, two visual detectors 8 are installed at the bottom position of the positioning frame 6, one side of the visual detector 8 is matched with two positioning seats 901 installed by bolts, two transverse sliding holes are opened on the basis of the positioning seat 901, the sliding hole is a cylindrical structure, a sliding rod 902 is respectively inserted into the inner part of the sliding hole, the sliding rod 902 has two, a ladder groove is opened at the outer side position of the sliding rod 902, a supporting spring is installed at the position of the ladder groove, one side of the supporting spring is blocked by the ladder groove, so that the supporting spring can effectively store power, a locking plate 903 is arranged between the two sliding rods 902, a clamping groove is respectively opened at the two sides of the cross beam 705, one side of the locking plate 903 extends to the inside of the clamping groove, the positioning seat 901, the sliding rod 902 and the locking plate 903 are matched with each other to realize the effect that the cross beam 705 and the visual detector 8 are quickly combined, so that the cross beam 705 drives the visual detector 8 to adjust the detection height when the cross beam 705 is lifted, the sliding rod 902 is circumferentially positioned and supported to the locking plate 903, the supporting spring stretches the locking plate 903 to one side, so that one side of the locking plate 903 automatically extends to the inside of the clamping groove of the cross beam 705, the operator applies a pressing force to the sliding rod 902 to drive the locking plate 903 to move, at this time, the locking plate 903 is disconnected from the clamping groove, and at the same time, the visual detector 8 is quickly unlocked, the positioning seat 901, the sliding rod 902 and the locking plate 903 are matched with each other to jointly form a quick release structure 9, the setting of the quick release structure 9 replaces the traditional bolt locking, so that the visual detector 8 is more convenient to install and remove.

[0045] In embodiment two, based on embodiment one, as shown in Figures 1-3 A controller is needed to be installed at the upper position of the double-station placing table 1, and the model of the manipulator 4 and the visual detector 8 is selected according to actual needs, the gravity sensor, the manipulator 4 and the visual detector 8 are respectively electrically connected with the controller, so that the object to be detected is placed above the gravity sensor by the manipulator 4, at this time, the gravity sensor transmits the signal to the controller, then the controller transmits the signal to the visual detector 8, and the visual detector 8 is powered on to detect the damage of the object;

[0046] There are two placing places A and B at the upper position of the double-station placing table 1, two objects to be attached are respectively placed at A and B, when the objects are placed, the visual detector 8 photographs and confirms the good and bad of the two objects, if there is damage to the object, an alarm will sound to prompt the damage; if they are all intact, the manipulator 4 will grab the object B to the upper side of the object A to perfectly attach and position.

[0047] The working principle of this embodiment is as follows:

[0048] Place the double-station placing table 1 on a flat ground, install the positioning strips 101, and make the two positioning strips 101 symmetrically distributed on the two sides of the double-station placing table 1, fix the positioning strips 101 through bolts, move the mechanical arm 4 to a suitable position through universal wheels, push the stabilizing plate 5 along the sliding groove of the positioning strip 101, ensure that the stabilizing plate 5 is completely embedded in the sliding groove, realize the rapid positioning of the mechanical arm 4, pull the control rod on the positioning plate 203, make the locking rod 202 disengage from the locking groove of the stabilizing plate 5, loosen the control rod, and the supporting spring pushes the locking rod 202 to reset, completing the locking of the mechanical arm 4;

[0049] Install the sliding block 703 in the T-shaped sliding groove at the bottom of the positioning frame 6, pass the threaded rod 702 through the rotating hole of the supporting plate, connect it with the driving shaft of the electric motor 701 through a wedge key, ensure that the threaded rod 702 rotates synchronously when the electric motor 701 rotates, install one side of the visual detector 8 in the positioning seat 901 through bolts, press the sliding rod 902 to install the visual detector 8 on the two sides of the cross beam 705, loosen the sliding rod 902 after adjusting the visual detector 8 to the required height, the supporting spring drives the locking plate 903 to automatically engage into the clamping groove, completing the rapid positioning of the visual detector 8;

[0050] When removing the visual detector 8, press the sliding rod 902 to make the locking plate 903 disengage from the clamping groove of the cross beam 705, and then remove the unlocked visual detector 8;

[0051] The electric motor 701 drives the threaded rod 702 to rotate, since the threaded rod 702 has a double-thread structure, the two sliding blocks 703 move synchronously and reversely, the cross beam 705 is driven to rise and fall through the connecting plate 704, and the visual detector 8 is adjusted to a suitable shooting height;

[0052] Refer to the prior art to electrically connect the gravity sensor, the mechanical arm 4, the visual detector 8, and the electric motor 701 with the controller through cables;

[0053] Place the articles A and B to be attached on the workstations A and B of the double-station placing table 1 respectively, and transmit the data to the controller after the gravity sensor detects the article weight signal;

[0054] The visual detector 8 takes pictures of the articles on the workstations A and B, and transmits the image data to the image processing module built in the controller, compares with the pre-stored standard image, detects the defects such as surface cracks, corner defects, and size deviations of the articles, if any article is detected to be unqualified, the controller triggers the alarm device, and displays the defect type and position on the operation interface, prompting manual replacement of the article; if all the articles are qualified products, enter the grabbing and attaching process, which is completed by referring to the prior art;

[0055] After the article is attached, the mechanical arm 4 returns to the original position, and the visual detector 8 takes a photo of the attached assembly again for detection; the qualified product is taken out by hand or conveyed to the next process through the conveying belt, and the unqualified product is marked and sorted to the rework area;

[0056] When the mobile and replacement mechanical arm 4 is pulled, the positioning plate 203 is unlocked, the stable plate 5 is pulled, and the mechanical arm 4 is moved through the universal wheel.

Claims

1. A vision positioned grasping machine comprising: The utility model provides a double -position placement platform (1), mechanical hand (4) and visual detector (8), one side of double -position placement platform (1) is provided with an installation hole, and a gravity sensor is installed at the bottom of installation hole, a group of bolt mounting holes are formed in the corner of gravity sensor, a group of support columns (3) are installed at the corner of the top of double -position placement platform (1), a group of support legs and a group of positioning strips (101) are installed at the bottom of double -position placement platform (1), characterized by, one side of positioning strip (101) is equipped with two transverse positioning rods (201), a firm plate (5) is installed at the inner side of positioning strip (101), a mechanical hand (4) is installed at the top of firm plate (5), a group of universal wheels are installed at the bottom of firm plate (5), a positioning frame (6) is installed at the top of support column (3), a support plate is installed at the both sides of positioning frame (6), one side of one support plate is equipped with a firm sleeve, an electric motor (701) is installed at the inner side of firm sleeve, two visual detectors (8) are installed at the bottom of positioning frame (6), two positioning seats (901) are installed on one side of visual detector (8) through bolt, two transverse sliding holes are formed on the basis of positioning seat (901), the sliding hole is cylindrical structure, and a sliding rod (902) is inserted into the inner part of sliding hole respectively.

2. A vision positioning and grabbing mechanical device according to claim 1, characterized in that, The positioning strip (101) has two, and the two positioning strips (101) are symmetrically distributed, a sliding groove is formed in the inner side of positioning strip (101), and the firm plate (5) extends to the inside of the sliding groove.

3. The visual positioning and grabbing mechanical device according to claim 1, characterized in that, A sliding hole is formed in the middle of the positioning strip (101), a locking rod (202) is inserted into the inside of the sliding hole, a positioning plate (203) is arranged on one side of the locking rod (202), a sliding hole is formed in the both sides of the positioning plate (203), and the positioning rod (201) passes through the inside of the sliding hole; the positioning rod (201), the locking rod (202) and the positioning plate (203) cooperatively form a locking structure (2).

4. The vision positioning and grabbing mechanical device according to claim 1, characterized in that, A locking groove is formed in one side of the firm plate (5), a supporting spring is arranged on the outer side of the positioning rod (201), the locking rod (202) extends to the inside of the locking groove, and a control rod is arranged in the middle of the positioning plate (203).

5. The vision positioning and grabbing mechanical device according to claim 1, wherein, A sliding groove is formed in the bottom of the positioning frame (6), two sliding blocks (703) are arranged in the inner side of the sliding groove, a positioning groove is formed in the both sides of the sliding block (703), a threaded rod (702) is arranged between the support plates of the both sides of the positioning frame (6), a rotating hole is formed in the middle of the support plate, the end of the threaded rod (702) passes through the inside of the rotating hole, and the driving shaft of the electric motor (701) is connected with one side of the threaded rod (702).

6. A vision positioning gripping device according to claim 5, characterized in that, The threaded rod (702) is a double-thread structure, a threaded hole is formed in the middle of the sliding block (703), and the screw directions of the threaded holes of the two sliding blocks (703) are opposite, and the threaded rod (702) passes through the inside of the threaded hole.

7. A vision positioning gripping device according to claim 5, characterized in that, The bottom position of the sliding block (703) is respectively provided with a hinged connecting plate (704), and the connecting plate (704) is provided with two hinged cross beams (705) at the bottom position. The electric motor (701), the threaded rod (702), the sliding block (703), the connecting plate (704) and the cross beam (705) are matched to constitute a height adjusting mechanism (7).

8. The vision positioning and grabbing mechanical device according to claim 1, characterized in that, The outer side of the sliding rod (902) is provided with a stepped groove, and the stepped groove is provided with a supporting spring. The two sliding rods (902) are provided with a locking plate (903) therebetween. The two sides of the cross beam (705) are respectively provided with a clamping groove, and one side of the locking plate (903) extends to the inside of the clamping groove. The positioning seat (901), the sliding rod (902) and the locking plate (903) are matched to constitute a quick release structure (9).

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