Material carrying mechanism with visual recognition function

Abstract

The utility model relates to a material carrying mechanism with a visual recognition function, and relates to the technical field of material carrying, the material carrying mechanism comprises a rack, a mounting rod is arranged on the rack, a moving disc is arranged on the mounting rod, and an X-axis moving assembly, a Y-axis moving assembly and a Z-axis moving assembly are arranged on the rack; the X-axis moving assembly, the Y-axis moving assembly and the Z-axis moving assembly are used for driving the mounting rod and the moving disc to move on the rack, a driving assembly is arranged on the mounting rod, and the driving assembly drives the moving disc to rotate on the mounting rod; a moving assembly and a material taking block are arranged on the moving disc, and the moving assembly is used for driving the material taking block to move on the moving disc; a visual camera is arranged on the mounting rod and faces the side close to the material taking block. According to the device, the accuracy of workpiece position recognition in the material carrying process is improved, the deviation of the position where the workpiece is clamped is reduced, and the workpiece is prevented from falling off in the carrying process.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and in particular to a material handling mechanism with visual recognition function. Background Technology

[0002] Currently, material handling refers to the process of moving, loading, unloading, storing, and controlling raw materials, semi-finished products, or finished products in production, warehousing, or logistics, aiming to improve efficiency, reduce costs, and ensure safety. Common methods include manual handling, mechanized (such as forklifts and conveyor belts), and automated (such as AGVs and robots) operations. The core principles are to reduce inefficient handling, standardize processes, and prioritize safety. It is widely used in manufacturing, warehousing, and e-commerce, and is a crucial link in optimizing the supply chain.

[0003] A Chinese patent with publication number CN219362460U discloses an integrated material and tray handling mechanism, which includes a base, a first handling mechanism, and two sets of second handling mechanisms. The base is connected to a first driving member, which is configured to drive the base to move as a whole. The first handling mechanism is installed on the base and is configured to handle a full or empty tray. The second handling mechanisms are installed on the base and are configured to remove material from a full tray or handle material to an empty tray.

[0004] In related technologies, a first drive mechanism transports a full material tray to a feeding station, and a second transport mechanism transports the material on the tray.

[0005] Regarding the aforementioned technologies, the inventors believe that during the material handling process, the material position cannot be accurately identified, which leads to the shift in the position of the grippers clamping the workpiece, causing the workpiece to fall during handling. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a material handling mechanism with visual recognition function, which solves the technical problem that the position of the material cannot be accurately identified during the material handling process, resulting in the position of the gripper clamping the workpiece being offset and causing the workpiece to fall off during the handling process.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A material handling mechanism with visual recognition function includes a frame, a mounting rod on the frame, a movable disk on the mounting rod, an X-axis moving component, a Y-axis moving component, and a Z-axis moving component on the frame, which drive the mounting rod and the movable disk to move on the frame. A drive component is mounted on the mounting rod, which drives the movable disk to rotate on the mounting rod. A moving component and a picking block are mounted on the movable disk, and the moving component drives the picking block to move on the movable disk. A vision camera is mounted on the mounting rod, and the vision camera faces the side closest to the picking block.

[0009] Furthermore, the drive assembly includes a drive motor mounted on the mounting rod, a first drive gear is provided on the output shaft of the drive motor, and a first driven gear is provided on the movable disk, wherein the first drive gear meshes with the first driven gear.

[0010] Furthermore, two material picking blocks are spaced apart on the moving disk. The moving component includes a screw and a moving motor. The moving motor is mounted on the moving disk. One end of the screw passes through the two material picking blocks in sequence, and the material picking blocks are threadedly connected to the screw.

[0011] Furthermore, a second driving gear is provided on the output shaft of the mobile motor, a second driven gear is provided on the screw, and a conveyor belt is provided between the second driving gear and the second driven gear, the conveyor belt being sleeved on the second driving gear and the second driven gear.

[0012] Furthermore, a rubber pad is provided on the material taking block, and air holes are opened on the rubber pad. Several air holes are spaced apart on the rubber pad, and an air channel is formed on the material taking block. All of the air holes are connected to the air channel.

[0013] Furthermore, an LED light source is provided on the side of the mounting rod near the vision camera, and the LED light source faces the side near the material picking block.

[0014] Furthermore, the movable disk is equipped with a laser sensor, and two laser sensors are spaced apart on the movable disk. The material picking block is equipped with a baffle, one end of which is connected to the material picking block, and the other end extends towards the side close to the laser sensor. The material picking block slides between the two laser sensors through the baffle.

[0015] In summary, this application includes at least one of the following beneficial technical effects of a material handling mechanism with visual recognition function:

[0016] 1. In use, the vision camera identifies the workpiece, and then the X-axis, Y-axis, and Z-axis moving components on the frame drive the mounting rod and moving disk to move on the frame. When the picking block moves above the workpiece, the moving components drive the picking block to move so that the picking block can cooperate with the workpiece. After the picking block lifts the workpiece, the driving components drive the moving disk to turn the direction. Finally, the X-axis, Y-axis, and Z-axis moving components are used for material handling, which improves the accuracy of workpiece position identification during material handling, reduces the offset of the clamped position on the workpiece, and prevents the workpiece from falling during handling.

[0017] 2. By using the first driving gear on the drive motor and the first driven gear on the moving disk, and the second driving gear on the moving motor and the second driven gear on the screw, the ease of workpiece position movement is improved;

[0018] 3. By connecting the air holes on the rubber pad with the air channels on the material picking block, and connecting the laser sensor on the moving disk with the baffle on the material picking block, the stability of the material picking block in lifting the workpiece is improved. Attached Figure Description

[0019] Figure 1 This application mainly provides an overall structural diagram of a material handling mechanism with visual recognition function;

[0020] Figure 2 This is a schematic diagram of the visual camera structure mainly provided in this application;

[0021] Figure 3 This is a schematic diagram of the main structure of the portable disk provided in this application;

[0022] Figure 4 This is a schematic diagram of the main drive component structure provided in this application;

[0023] Figure 5 This is a schematic diagram of the material taking block structure provided in this application.

[0024] Reference numerals: 1. Frame; 11. X-axis moving assembly; 12. Y-axis moving assembly; 13. Z-axis moving assembly; 2. Mounting rod; 21. Vision camera; 22. LED light source; 3. Moving disk; 31. Material picking block; 311. Air duct; 32. Laser sensor; 33. Baffle; 34. Rubber pad; 341. Air hole; 4. Drive assembly; 41. Drive motor; 42. First driving gear; 43. First driven gear; 5. Moving assembly; 51. Screw; 52. Moving motor; 53. Second driving gear; 54. Second driven gear; 55. Conveyor belt. Detailed Implementation

[0025] In order to make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0026] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0027] This application discloses a material handling mechanism with visual recognition function.

[0028] Reference Figure 1 A material handling mechanism with visual recognition function includes a frame 1, on which a mounting rod 2 is mounted. An X-axis moving assembly 11, a Y-axis moving assembly 12, and a Z-axis moving assembly 13 are also mounted on the frame 1. These three assemblies drive the mounting rod 2 to move on the frame 1. A movable disk 3 is mounted on one side of the mounting rod 2 and moves with it. A vision camera 21 is mounted on the mounting rod 2, facing towards the movable disk 3. In use, the vision camera 21 positions the workpiece, and then the movable disk 3 moves to the corresponding workpiece position under the influence of the X-axis moving assembly 11, Y-axis moving assembly 12, and Z-axis moving assembly 13, achieving precise workpiece positioning.

[0029] In this application, the mounting rod 2 is used to drive the frame 1 to move in the X, Y and Z directions. The X-axis moving component 11, Y-axis moving component 12 and Z-axis moving component 13 are prior art and will not be described in detail in this application.

[0030] Reference Figures 2-4 The mounting rod 2 is vertically oriented, and the movable disk 3 is mounted on the end of the mounting rod 2 closest to the workpiece in the vertical direction. The movable disk 3 is rectangular in shape. A drive assembly 4 is provided on the mounting rod 2. The drive assembly 4 includes a drive motor 41, which is mounted on the mounting rod 2, and the output shaft of the drive motor 41 faces the side closest to the movable disk 3.

[0031] Furthermore, a first driving gear 42 is provided on the output shaft of the drive motor 41, and a first driven gear 43 is provided on the moving disk 3. The first driving gear 42 and the first driven gear 43 mesh. In use, the drive motor 41 drives the first driving gear 42 to rotate, the first driving gear 42 drives the first driven gear 43 to rotate, and the moving disk 3 follows the first driven gear 43 to rotate. By rotating the moving disk 3, the efficiency of workpiece handling and placement is improved.

[0032] Reference Figure 5The movable disk 3 is equipped with two material picking blocks 31 spaced apart along its length. A moving assembly 5 is also mounted on the movable disk 3. The moving assembly 5 includes a screw 51 and a moving motor 52. The axis of the screw 51 is parallel to the length of the movable disk 3. One end of the screw 51 passes through two material picking blocks 31 sequentially, and the material picking blocks 31 are threadedly connected to the screw 51. The moving motor 52 is mounted on the movable disk 3, and the axis of its output shaft is parallel to the axis of the screw 51. A second driving gear 53 is mounted on the output shaft of the moving motor 52, and a second driven gear 54 is mounted on the screw 51. A conveyor belt 55 is positioned between the second driving gear 53 and the second driven gear 54, and the conveyor belt 55 is fitted onto the second driving gear 53 and the second driven gear 54. In use, the mobile motor 52 drives the second drive gear 53 to rotate, the second drive gear 53 drives the second driven gear 54 to rotate through the conveyor belt 55, the second driven gear 54 drives the screw 51 to rotate, and as the screw 51 rotates, the material taking blocks 31 move toward or away from each other.

[0033] A laser sensor 32 is installed on the moving disk 3, with two laser sensors 32 spaced apart along the axis of the screw 51. One of the picking blocks 31 is equipped with a baffle 33, one end of which is connected to the picking block 31, and the other end extends towards the laser sensor 32. In use, the picking block 31 slides between the two laser sensors 32 via the baffle 33. When the baffle 33 on the picking block 31 moves to the laser sensor 32 closer to the other picking block 31, the two picking blocks 31 merge, improving the stability of the picking block 31 in extracting the workpiece. As the baffle 33 on the picking block 31 moves towards the other laser sensor 32, the two picking blocks 31 move away from each other, thereby increasing the picking block 31's workpiece extraction range.

[0034] Furthermore, each of the two material-receiving blocks 31 is equipped with a rubber pad 34, and the rubber pad 34 has several air holes 341. In addition, an air channel 311 is formed inside the material-receiving block 31, and the air holes 341 communicate with the air channel 311. In use, the rubber pad 34 on the material-receiving block 31 is pressed against the surface of the workpiece, and then an external air extraction device extracts air from the air channel 311, compressing the rubber pad 34 and creating a negative pressure between the rubber pad 34 and the workpiece, thereby improving the stability of the workpiece during movement.

[0035] The vision camera 21 is mounted on the side of the mounting rod 2 away from the moving disk 3. In use, the X-axis moving assembly 11, Y-axis moving assembly 12, Z-axis moving assembly 13, moving assembly 5, and drive assembly 4 together act as the controller for the conveying mechanism. The vision camera 21 is connected to the controller via Ethernet. During operation, the vision camera 21 identifies the workpiece. Once identified, it transmits the workpiece coordinates to the controller, which then drives the moving disk 3 to move closer to the workpiece. Other structural features of the vision camera 21 are prior art and will not be described in detail here.

[0036] Reference Figure 2 In order to improve the recognition accuracy of the vision camera 21, an LED light source 22 is installed on the side of the frame 1 close to the vision camera 21. The vision camera 21 passes through the LED light source 22, and the LED light source 22 provides supplementary lighting for the workpiece to prevent the vision camera 21 from mistakenly identifying the shadow of the workpiece projected on the frame 1 as the workpiece entity, thereby further improving the accuracy of the vision camera 21 in recognizing the workpiece.

[0037] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A material handling mechanism with visual recognition function, comprising a frame (1), wherein a mounting rod (2) is provided on the frame (1), a movable disk (3) is provided on the mounting rod (2), and an X-axis moving assembly (11), a Y-axis moving assembly (12), and a Z-axis moving assembly (13) are provided on the frame (1), wherein the X-axis moving assembly (11), the Y-axis moving assembly (12), and the Z-axis moving assembly (13) are used to drive the mounting rod (2) and the movable disk (3) to move on the frame (1), characterized in that: A drive assembly (4) is provided on the mounting rod (2), and the drive assembly (4) drives the movable disk (3) to rotate on the mounting rod (2); a moving assembly (5) and a picking block (31) are provided on the movable disk (3), and the moving assembly (5) is used to drive the picking block (31) to move on the movable disk (3); a vision camera (21) is provided on the mounting rod (2), and the vision camera (21) faces the side close to the picking block (31).

2. The material handling mechanism with visual identification function according to claim 1, characterized in that: The drive assembly (4) includes a drive motor (41), which is mounted on the mounting rod (2). A first drive gear (42) is provided on the output shaft of the drive motor (41), and a first driven gear (43) is provided on the moving disk (3). The first drive gear (42) meshes with the first driven gear (43).

3. The material handling mechanism with visual identification function according to claim 1, characterized in that: Two material picking blocks (31) are spaced apart on the moving disk (3). The moving component (5) includes a screw (51) and a moving motor (52). The moving motor (52) is mounted on the moving disk (3). One end of the screw (51) passes through the two material picking blocks (31) in sequence, and the material picking blocks (31) are threadedly connected to the screw (51).

4. The material handling mechanism with visual identification function according to claim 3, characterized in that: A second driving gear (53) is provided on the output shaft of the mobile motor (52), and a second driven gear (54) is provided on the screw (51). A conveyor belt (55) is provided between the second driving gear (53) and the second driven gear (54), and the conveyor belt (55) is sleeved on the second driving gear (53) and the second driven gear (54).

5. The material handling mechanism with visual identification function according to claim 1, characterized in that: A rubber pad (34) is provided on the material taking block (31), and air holes (341) are provided on the rubber pad (34). Several air holes (341) are spaced apart on the rubber pad (34), and an air channel (311) is formed on the material taking block (31). Several air holes (341) are all connected to the air channel (311).

6. The material handling mechanism with visual identification function according to claim 1, characterized in that: An LED light source (22) is provided on the side of the mounting rod (2) near the vision camera (21), and the LED light source (22) faces the side near the material picking block (31).

7. The material handling mechanism with visual identification function according to claim 3, characterized in that: The movable disk (3) is provided with a laser sensor (32), and two laser sensors (32) are arranged at intervals on the movable disk (3). The picking block (31) is provided with a baffle (33), one end of the baffle (33) is connected to the picking block (31), and the other end extends towards the side close to the laser sensor (32). The picking block (31) slides between the two laser sensors (32) through the baffle (33).

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