Vertical mechanical hand feeding machine
By designing a vertical robotic arm loading machine, and utilizing SCARA robots and vision inspection cameras, the problems of low efficiency and inaccurate grasping of existing loading machines are solved, achieving a highly efficient and accurate loading process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- XIAMEN JINGRUI PRECISION EQUIP CO LTD
- Filing Date
- 2025-06-16
- Publication Date
- 2026-05-05
AI Technical Summary
The existing feeding machine is inefficient and lacks visual inspection, which leads to the need to stop the machine for feeding and inaccurate grasping.
The vertical robotic arm feeding machine, which includes a SCARA robot, a feeding mechanism, a handling mechanism, and a vision inspection camera, enables alternating feeding and precise gripping at two workstations.
It improved feeding efficiency, ensured the accuracy of product gripping, avoided downtime for feeding, and enhanced visual inspection capabilities.
Smart Images
Figure CN224198574U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of product feeding technology, specifically a vertical robotic feeding machine. Background Technology
[0002] During product processing or assembly, loading operations are often required. Currently, existing loading machines require stopping to supply materials, which reduces the efficiency of loading. Moreover, existing loading machines rarely have visual inspection during loading, which leads to inaccurate product grabbing and causes great inconvenience to users. Utility Model Content
[0003] The purpose of this utility model is to provide a vertical robotic arm loading machine to solve the problems mentioned in the background art, such as low working efficiency and the lack of visual inspection in existing loading machines.
[0004] To achieve the above objectives, this utility model provides the following technical solution: a vertical robotic arm feeding machine, including a frame, on the surface of which is mounted a control mechanism for the entire machine; two sets of feeding mechanisms are provided on one side of the frame surface, and a SCARA robot is arranged between adjacent feeding mechanisms; a receiving fixture is provided on the frame surface and on one side of the SCARA robot, and the SCARA robot can clamp the products from the feeding mechanisms into the receiving fixture; a conveying mechanism is also installed on the surface of the frame, and a discharging mechanism is provided on one side of the frame, and the conveying mechanism can load the products from the receiving fixture into the discharging mechanism.
[0005] Preferably, the feeding mechanism consists of a support frame and a feeding fixture. The feeding fixture is mounted on the surface of the support frame and is used for placing the product.
[0006] Preferably, the feeding mechanism includes a direct vibrator and a buffer tray, both of which are fixed to the surface of the frame. The direct vibrator can directly vibrate the product into the buffer tray.
[0007] Preferably, the conveying mechanism includes an X-axis motion module, a Z-axis motion module, a Y-axis motion module, and a cylinder gripper, wherein the X-axis motion module is fixedly connected to the surface of the frame.
[0008] Preferably, a Z-axis motion module is mounted on the sliding seat of the X-axis motion module, a Y-axis motion module is fixed on the sliding seat of the Z-axis motion module, and a cylinder gripper is fixed on the sliding seat of the Y-axis motion module. The cylinder gripper is used to transport and load the product in the receiving fixture into the unloading fixture.
[0009] Preferably, a feeding CCD camera is installed on the surface of the frame and directly above the two buffer trays. The feeding CCD camera is used for visual inspection of the products in the buffer trays.
[0010] Preferably, a loading CCD camera is installed on the surface of the frame and directly above the receiving fixture. This loading CCD camera is used to perform visual inspection of the products on the receiving fixture to facilitate the accurate material handling by the conveying mechanism.
[0011] Compared with the prior art, the beneficial effects of this utility model are:
[0012] In this invention, the product is placed inside a vibratory feeder, which vibrates the product directly into a buffer tray. A SCARA robot then transfers the product to a receiving fixture. During this process, a feeding CCD camera takes visual images of the product in the buffer tray to improve the accuracy of the SCARA robot's gripping. Subsequently, the X-axis, Z-axis, and Y-axis motion modules drive the cylinder grippers to load the product from the receiving fixture into the unloading fixture. This invention achieves alternating feeding at two stations through two sets of feeding mechanisms, avoiding the need to stop the machine during loading and thus increasing loading efficiency. Furthermore, by setting up feeding and feeding CCD cameras, this invention enables visual detection during product gripping, improving the accuracy of the loading machine. Attached Figure Description
[0013] Figure 1 This is a three-dimensional structural diagram of the present invention;
[0014] Figure 2 This is a magnified internal structural diagram of the present invention;
[0015] Figure 3 This is a magnified exploded view of the present invention.
[0016] Figure 4 This is an enlarged structural schematic diagram of the conveying mechanism of this utility model.
[0017] In the diagram: 1. Frame; 11. Control panel; 2. Unloading mechanism; 21. Support frame; 22. Unloading fixture; 3. Feeding mechanism; 31. Straight vibrator; 32. Buffer tray; 4. SCARA robot; 5. Handling mechanism; 51. X-axis motion module; 52. Z-axis motion module; 53. Y-axis motion module; 54. Cylinder gripper; 6. Receiving fixture; 7. Loading CCD camera; 8. Feeding CCD camera. Detailed Implementation
[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. In addition, the terms "first", "second", "third", "upper", "lower", "left", "right", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance. At the same time, in the description of the present utility model, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.
[0019] The structure of the vertical robotic arm loading machine provided by this utility model is as follows: Figure 1 as well as Figure 3 As shown, the machine includes a frame 1, on the surface of which a control panel 11 is mounted. The control panel 11 is used to control the operation of the entire machine. Two sets of feeding mechanisms 3 are provided on one side of the surface of the frame 1, and a SCARA robot 4 is provided between adjacent feeding mechanisms 3. The feeding mechanism 3 includes a direct vibrator 31 and a buffer tray 32. The direct vibrator 31 and the buffer tray 32 are both fixed to the surface of the frame 1. The direct vibrator 31 can vibrate the product directly into the buffer tray 32. A receiving fixture 6 is provided on the surface of the frame 1 and on one side of the SCARA robot 4. The SCARA robot 4 can clamp the product in the feeding mechanism 3 into the receiving fixture 6.
[0020] During implementation, the product is placed inside the vibrator 31, and the product is vibrated directly into the buffer tray 32 by the vibrator 31.
[0021] Furthermore, such as Figure 2 as well as Figure 4 As shown, a conveying mechanism 5 is also installed on the surface of the frame 1. The conveying mechanism 5 includes an X-axis motion module 51, a Z-axis motion module 52, a Y-axis motion module 53, and a cylinder gripper 54. The X-axis motion module 51 is fixed to the surface of the frame 1. The Z-axis motion module 52 is installed on the sliding seat of the X-axis motion module 51. The Y-axis motion module 53 is fixed on the sliding seat of the Z-axis motion module 52. The cylinder gripper 54 is fixed on the sliding seat of the Y-axis motion module 53. The cylinder gripper 54 is used to convey and load the product in the receiving fixture 6 into the unloading fixture 22.
[0022] During implementation, the X-axis motion module 51, Z-axis motion module 52, and Y-axis motion module 53 drive the cylinder gripper 54 to load the product from the receiving fixture 6 into the unloading fixture 22.
[0023] Furthermore, such as Figure 3 as well as Figure 4 As shown, a loading CCD camera 7 is installed on the surface of the frame 1 and directly above the receiving fixture 6. The loading CCD camera 7 is used to perform visual inspection of the products on the receiving fixture 6 to facilitate the precise picking of materials by the conveying mechanism 5. A feeding mechanism 2 is provided on one side of the frame 1, and the conveying mechanism 5 can load the products on the receiving fixture 6 into the feeding mechanism 2. The feeding mechanism 2 consists of a support frame 21 and a feeding fixture 22. The feeding fixture 22 is installed on the surface of the support frame 21 and is used for placing the products. A feeding CCD camera 8 is installed on the surface of the frame 1 and directly above the two buffer trays 32. The feeding CCD camera 8 is used for visual inspection of the products in the buffer trays 32.
[0024] During implementation, the SCARA robot 4 transports the product to the receiving fixture 6. During this process, the feeding CCD camera 8 takes visual pictures of the product in the buffer tray 32 to improve the accuracy of the SCARA robot 4 in grasping the product.
[0025] Working principle: In use, the product is first placed inside the vibrator 31, and the vibrator 31 vibrates the product directly into the buffer tray 32. Then, the SCARA robot 4 transports the product to the receiving fixture 6. During this process, the feeding CCD camera 8 takes a visual picture of the product in the buffer tray 32 to facilitate the accuracy of the SCARA robot 4 in grasping the product. Afterwards, the X-axis motion module 51, Z-axis motion module 52, and Y-axis motion module 53 drive the cylinder gripper 54 to load the product from the receiving fixture 6 into the unloading fixture 22.
[0026] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
Claims
1. A vertical robotic arm loading machine, comprising a frame (1), characterized in that: A control panel (11) is installed on the surface of the frame (1), which is used for the control of the entire machine. Two sets of feeding mechanisms (3) are provided on one side of the surface of the frame (1), and a SCARA robot (4) is provided between adjacent feeding mechanisms (3). A receiving fixture (6) is provided on the surface of the frame (1) and on one side of the SCARA robot (4), and the SCARA robot (4) can clamp the product in the feeding mechanism (3) into the receiving fixture (6). A conveying mechanism (5) is also installed on the surface of the frame (1), and a feeding mechanism (2) is provided on one side of the frame (1), and the conveying mechanism (5) can feed the product on the receiving fixture (6) into the feeding mechanism (2).
2. The vertical robotic arm loading machine according to claim 1, characterized in that: The feeding mechanism (2) consists of a support frame (21) and a feeding fixture (22). The surface of the support frame (21) is equipped with the feeding fixture (22), which is used for placing the product.
3. The vertical robotic arm loading machine according to claim 1, characterized in that: The feeding mechanism (3) includes a direct vibrator (31) and a buffer tray (32). The direct vibrator (31) and the buffer tray (32) are both fixed to the surface of the frame (1). The direct vibrator (31) can directly vibrate the product into the buffer tray (32).
4. The vertical robotic arm loading machine according to claim 1, characterized in that: The conveying mechanism (5) includes an X-axis motion module (51), a Z-axis motion module (52), a Y-axis motion module (53), and a cylinder gripper (54). The X-axis motion module (51) is fixed to the surface of the frame (1).
5. A vertical robotic arm loading machine according to claim 4, characterized in that: The Z-axis motion module (52) is mounted on the sliding seat of the X-axis motion module (51). The Y-axis motion module (53) is fixed on the sliding seat of the Z-axis motion module (52). The cylinder gripper (54) is fixed on the sliding seat of the Y-axis motion module (53). The cylinder gripper (54) is used to transport the product in the receiving fixture (6) to the unloading fixture (22).
6. A vertical robotic arm loading machine according to claim 1, characterized in that: A feeding CCD camera (8) is installed on the surface of the frame (1) and directly above the two buffer trays (32). The feeding CCD camera (8) is used for visual inspection of the products in the buffer trays (32).
7. A vertical robotic arm loading machine according to claim 1, characterized in that: A loading CCD camera (7) is installed on the surface of the frame (1) and directly above the receiving fixture (6). The loading CCD camera (7) is used to perform visual inspection of the products on the receiving fixture (6) so as to facilitate the accurate material handling by the conveying mechanism (5).