Vision-guided automated engine block gripping apparatus

Abstract

The utility model provides automatic grabbing equipment of engine cylinder based on visual guidance, including conveyer, tray piece, vision mechanism and rotary stacking mechanism, the conveyer, tray piece, vision mechanism and rotary stacking mechanism mutually cooperate setting. This device vision mechanism and rotary stacking mechanism mutually cooperate setting, accurate positioning grabs the cylinder, orderly places the cylinder on the conveyer, realizes the automatic feeding operation of cylinder, improves the processing efficiency of cylinder production. Vision mechanism expands the visual detection range through movable vision camera, provides accurate guiding positioning for rotary stacking mechanism. The carrying assembly and the clamp assembly are cooperatively installed at the end of the robot, and the corresponding clamps can be quickly switched for the cylinder and the part disc, improving the convenience of grabbing.

Description

Technical Field

[0001] This utility model relates to the field of cylinder block gripping equipment technology, specifically to an automated engine cylinder block gripping equipment based on vision guidance. Background Technology

[0002] During cylinder block production, cylinder blocks on pallets need to be sequentially moved onto the production conveyor line. Each pallet typically holds multiple cylinder blocks stacked on its corresponding parts tray. Manual labor is required using a gripping device to pick up the cylinder blocks one by one and move them to the conveyor line. Then, the corresponding parts tray is removed manually, and the process continues with picking up the next set of cylinder blocks. The gripping and positioning of the cylinder blocks requires manual calibration, adding unnecessary manpower and resulting in low efficiency. Utility Model Content

[0003] The technical problem solved by this utility model is to provide a vision-guided automated engine block gripping device to solve the problems mentioned in the background art.

[0004] The technical problem solved by this utility model is achieved by the following technical solution: a vision-guided automated engine cylinder block gripping device, comprising:

[0005] Conveyor, used to transport cylinder blocks;

[0006] A pallet assembly, on which several parts trays are stacked vertically, and cylinder bodies are placed on the parts trays;

[0007] A vision mechanism, comprising an adjustment frame, a linear module mounted on the adjustment frame, and a vision camera mounted on the linear module, wherein the linear module drives the vision camera to move, thereby expanding the observation and positioning range of the vision camera.

[0008] A rotary palletizing mechanism, comprising a robot and a handling component mounted on the outer end of the robot, and a clamping component configured to cooperate with the handling component. The clamping component is used to handle a pallet of parts, and the handling component is used to clamp a handling cylinder.

[0009] The conveyor, pallet, vision mechanism, and rotary palletizing mechanism are arranged in a coordinated manner.

[0010] As a further embodiment of this utility model:

[0011] The pallet components may be provided in several groups to facilitate the rotary palletizing mechanism to sequentially grasp the cylinder body, and one side of the rotary palletizing mechanism is also provided with a stacking area for stacking and placing parts pallets.

[0012] As a further embodiment of this utility model:

[0013] The adjustment frame includes a column and a main beam plate mounted on the column. The linear module is mounted on one side of the main beam plate. The vision camera is mounted on the outer end of the slide plate of the linear module via a machine plate, so as to control the reciprocating movement of the vision camera through the linear module. A drag chain is also provided on one side of the main beam plate, and one side of the drag chain is connected to the vision camera for internal wiring.

[0014] As a further embodiment of this utility model:

[0015] The handling assembly includes a connecting plate and a connecting seat mounted on the upper part of the connecting plate and connected to the robot, a handling frame disposed at the lower end of the connecting plate, and clamping components distributed around the handling frame. The clamping components at the lower end of the handling frame cooperate with each other to grip the cylinder. The lower end of the handling frame is also provided with a first photoelectric sensor and a positioning pin seat. Several groups of first photoelectric sensors are distributed to detect the position of the cylinder. The positioning pin seat is used to insert into the corresponding positioning hole of the cylinder to position the cylinder, so that the clamping components can be accurately moved to the periphery of the cylinder, improving the gripping accuracy.

[0016] As a further embodiment of this utility model:

[0017] The connecting seat includes a connecting column fixedly installed on the connecting plate and a flange plate disposed at the outer end of the connecting column, so as to be fixedly connected to the robot through the flange plate; the transport frame includes support rods disposed around the lower end of the connecting plate and a base plate disposed at the lower end of the support rods.

[0018] As a further embodiment of this utility model:

[0019] The clamping components include a frame plate mounted on a base plate and a clamping cylinder mounted on the frame plate. A support is fixedly mounted on the outer end of the output rod of the clamping cylinder. A support plate is rotatably mounted on the support. A vertical plate is integrally formed on the lower end of the frame plate, and an elbow clamp is rotatably mounted on the vertical plate. The elbow clamp is rotatably connected to the middle of the support plate, and a clamping block for clamping the cylinder body is fixedly mounted on the outer end of the support plate. Specifically, the clamping cylinder controls the support to descend, and the support plate and elbow clamp are linked, causing the clamping block to tilt upwards, thereby clamping and fixing the outer end of the cylinder body. The distributed clamping components are linked together to cooperate in clamping and fixing the cylinder body.

[0020] As a further embodiment of this utility model:

[0021] A detection plate is also installed on one side of the support plate, and a second photoelectric sensor is installed at the lower end of the detection plate to detect the position of the support plate.

[0022] As a further embodiment of this utility model:

[0023] The clamping assembly includes a connecting profile installed at the lower end of the connecting plate and displacement assemblies arranged on both sides of the lower end of the connecting profile. The displacement assembly includes a template fixedly installed at the lower end of the connecting profile, a displacement frame slidably installed on the template, and a side clamping plate that can be lifted and lowered on the displacement frame. Side clamping claws are respectively installed on both sides of the side clamping plate. Slide rails are arranged side by side on both sides of the lower end of the template. The displacement frame is slidably installed on the slide rails by a slider. The lower middle part of the connecting profile is provided with a clamping claw cylinder corresponding to the displacement assemblies on both sides. The outer end of the output rod of the clamping claw cylinder is connected to the displacement frame to control the reciprocating movement of the displacement frame, thereby controlling the side clamping claws on both sides to close and clamp the part tray.

[0024] As a further embodiment of this utility model:

[0025] A lifting cylinder is installed in the middle of the displacement frame. The lower end of the output rod of the lifting cylinder is fixedly connected to the side clamping plate to control the lifting and moving of the side clamping plate. Guide rods are also fixedly installed on both sides of the side clamping plate located on the lifting cylinder. The guide rods are slidably installed in the corresponding sliding sleeves of the displacement frame to improve the stability of the lifting and moving of the side clamping plate. Specifically, the displacement assembly is set on both sides of the connecting profile. The gripper cylinder controls the movement and closing of the displacement frame on both sides so that the side grippers close to hold the parts tray. The lifting cylinder controls the height of the side grippers. The connecting profile and the side clamping plate are respectively equipped with photoelectric sensors for detecting the position of the parts tray to achieve precise gripping and move the parts tray to the stacking area.

[0026] Compared with existing technologies, the advantages of this invention are as follows: The vision mechanism and the rotary palletizing mechanism work together to accurately position and grasp the cylinder, and place the cylinder on the conveyor in an orderly manner, realizing automatic cylinder feeding and improving the processing efficiency of cylinder production. The vision mechanism expands the visual detection range through a movable vision camera, providing precise guidance and positioning for the rotary palletizing mechanism. The handling component and clamping component are installed together at the end of the robot, allowing for quick switching between corresponding grippers for cylinders and parts trays, improving the ease of grasping. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0028] Figure 2 This is a schematic diagram of the vision mechanism structure of this utility model;

[0029] Figure 3 This is a schematic diagram of the rotating palletizing mechanism of this utility model;

[0030] Figure 4 This is a schematic diagram of the handling component structure of this utility model;

[0031] Figure 5 This is a schematic diagram of the clamping and conveying component structure of this utility model;

[0032] The diagram identifies the following components: 1. Conveyor; 2. Pallet; 3. Vision mechanism; 4. Robot; 5. Handling component; 6. Clamping component; 21. Parts tray; 22. Cylinder; 31. Adjusting frame; 32. Linear module; 33. Vision camera; 34. Cable chain; 35. Machine plate; 51. Connecting plate; 52. Connecting seat; 53. Handling frame; 54. Base plate; 55. Shelf plate; 56. Clamping cylinder; 57. Support; 58. Support plate; 59. Elbow clamp; 61. Connecting profile; 62. Displacement frame; 63. Profile plate; 64. Side clamp; 65. Side gripper; 66. Gripper cylinder; 67. Lifting cylinder; 68. Guide rod. Detailed Implementation

[0033] 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 with reference to specific illustrations.

[0034] like Figure 1 As shown, this embodiment provides a vision-guided automated engine block gripping device, including a conveyor 1, a pallet 2, a vision mechanism 3, and a rotary palletizing mechanism, which are arranged in cooperation with each other. The conveyor 1 is used to transport the engine block 22;

[0035] Several parts trays 21 are vertically stacked on the pallet 2, and cylinders 22 are placed on the parts trays 21. The vision mechanism 3 includes an adjustment frame 31, a linear module 32 mounted on the adjustment frame 31, and a vision camera 33 mounted on the linear module 32, so as to drive the vision camera 33 to move through the linear module 32, thereby widening the observation and positioning range of the vision camera 33. The rotary palletizing mechanism includes a robot 4, a handling component 5 mounted on the outer end of the robot 4, and a clamping component 6 that cooperates with the handling component 5. The clamping component 6 is used to handle the parts trays 21, and the handling component 5 is used to clamp and handle the cylinders 22. The pallet 2 can be provided in several sets to facilitate the rotary palletizing mechanism to grasp the cylinders 22 in sequence, and a stacking area for stacking parts trays 21 is also provided on one side of the rotary palletizing mechanism.

[0036] like Figure 2 As shown, in this embodiment, the adjustment frame 31 includes a column and a main beam plate mounted on the column. The linear module 32 is mounted on one side of the main beam plate. The vision camera 33 is mounted on the outer end of the slide plate of the linear module 32 via a machine plate 35, so as to control the reciprocating movement of the vision camera 33 through the linear module 32. A drag chain 34 is also provided on one side of the main beam plate. One side of the drag chain 34 is connected to the vision camera 33 for internal wiring.

[0037] like Figure 3 and Figure 4As shown, in this embodiment, the handling component 5 includes a connecting plate 51, a connecting seat 52 installed on the upper end of the connecting plate 51 and connected to the robot 4, a handling frame 53 disposed at the lower end of the connecting plate 51, and clamping components distributed around the handling frame 53. The clamping components at the lower end of the handling frame 53 cooperate with each other to grip the cylinder 22. The lower end of the handling frame 53 is also provided with a first photoelectric sensor and a positioning pin seat. Several groups of first photoelectric sensors are distributed to detect the position of the cylinder 22. The positioning pin seat is used to insert into the corresponding positioning hole of the cylinder 22 to position the cylinder 22 so that the clamping components can be accurately moved to the periphery of the cylinder 22, thereby improving the gripping accuracy.

[0038] The connecting seat 52 includes a connecting column fixedly installed on the connecting plate 51 and a flange plate disposed at the outer end of the connecting column, so as to be fixedly connected to the robot 4 through the flange plate; the transport frame 53 includes a support rod disposed around the lower end of the connecting plate 51 and a base plate 54 disposed at the lower end of the support rod.

[0039] The clamping components include a frame plate 55 mounted on a base plate 54 and a clamping cylinder 56 mounted on the frame plate 55. A support 57 is fixedly mounted on the outer end of the output rod of the clamping cylinder 56. A support plate 58 is rotatably mounted on the support 57. A vertical plate is integrally formed at the lower end of the frame plate 55, and an elbow clamp 59 is rotatably mounted on the vertical plate. The elbow clamp 59 is rotatably connected to the middle of the support plate 58. A clamping block for clamping the cylinder body 22 is fixedly mounted on the outer end of the support plate 58. Specifically, the clamping cylinder 56 controls the support 57 to descend, and the support plate 58 and elbow clamp 59 are linked, causing the clamping block to tilt upwards, thereby clamping and fixing the outer end of the cylinder body 22. The distributed clamping components are linked together to cooperate in clamping and fixing the cylinder body 22.

[0040] A detection plate is also installed on one side of the support plate 55, and a second photoelectric sensor is installed at the lower end of the detection plate to detect the position of the support plate 58.

[0041] like Figure 3 and Figure 5 As shown, in this embodiment, the clamping assembly 6 includes a connecting profile 61 installed at the lower end of the connecting plate 51 and displacement assemblies disposed on both sides of the lower end of the connecting profile 61. The displacement assembly includes a template 63 fixedly installed at the lower end of the connecting profile 61, a displacement frame 62 slidably installed on the template 63, and a side clamping plate 64 that can be raised and lowered on the displacement frame 62. Side clamping claws 65 are respectively installed on both sides of the side clamping plate 64. Slide rails are arranged side by side at the lower end of the template 63. The displacement frame 62 is slidably installed on the slide rails by a slider. The lower middle part of the connecting profile 61 is provided with clamping claw cylinders 66 corresponding to the displacement assemblies on both sides. The outer end of the output rod of the clamping claw cylinder 66 is connected to the displacement frame 62 to control the reciprocating movement of the displacement frame 62, thereby controlling the side clamping claws 65 on both sides to close and clamp the part tray 21.

[0042] A lifting cylinder 67 is installed in the middle of the displacement frame 62. The lower end of the output rod of the lifting cylinder 67 is fixedly connected to the side clamping plate 64 to control the lifting and lowering movement of the side clamping plate 64. Guide rods 68 are also fixedly installed on both sides of the side clamping plate 64 located on the lifting cylinder 67. The guide rods 68 are slidably installed in the corresponding sliding sleeves of the displacement frame 62 to improve the stability of the lifting and lowering movement of the side clamping plate 64. Specifically, the displacement components are set on both sides of the connecting profile 61. The gripper cylinder 66 controls the movement and closing of the displacement frames 62 on both sides so that the side grippers 65 close and clamp the parts tray 21. The lifting cylinder 67 controls the height of the side grippers 65. The connecting profile 61 and the side clamping plate 64 are respectively equipped with photoelectric sensors for detecting the position of the parts tray 21 to achieve precise gripping and move the parts tray 21 to the stacking area.

[0043] Specifically, the linear module 32 controls the movement of the vision camera 33 to detect the position of the lower pallet 2, thereby positioning the rotary palletizing mechanism. The rotary palletizing mechanism, through its own distributed photoelectric sensors, cooperates with the vision mechanism 3 to position the cylinder 22. The robot 4 controls the handling component 5 to move to the outer end of the cylinder 22. The distributed gripper cylinders 66 control the support plate 58 to move, so that the gripper blocks are pressed against the outer end of the cylinder 22, thereby clamping and fixing the cylinder 22. The robot 4 then moves the cylinder 22 onto the conveyor 1. The robot 4 controls the clamping component 6 to move to the upper end of the parts tray 21. The lifting cylinder 67 controls the side clamping plate 64 to descend to both sides of the parts tray 21. The gripper cylinder 66 controls the side grippers 65 to close to clamp and fix the parts tray 21, and then moves the parts tray 21 to a stacking area on one side. This process is repeated.

[0044] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents. It should be noted that, in this document, the use of relational terms such as "first" and "second" is merely used to distinguish one entity or operation from another, and does not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the absence of further restrictions, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A vision-guided automated engine block gripping device, characterized in that: include: Conveyor (1) for conveying cylinder (22); A tray (2) on which several parts trays (21) are stacked vertically, and a cylinder (22) is placed on the parts trays (21); The vision mechanism (3) includes an adjustment frame (31), a linear module (32) mounted on the adjustment frame (31), and a vision camera (33) mounted on the linear module (32) to drive the vision camera (33) to move through the linear module (32) and expand the observation and positioning range of the vision camera (33). The rotary palletizing mechanism includes a robot (4) and a conveying component (5) installed at the outer end of the robot (4), and a clamping component (6) that cooperates with the conveying component (5). The clamping component (6) is used to convey the parts tray (21), and the conveying component (5) is used to clamp the conveying cylinder (22). The conveyor (1), pallet (2), vision mechanism (3) and rotary palletizing mechanism are arranged in cooperation with each other.

2. The vision-guided automated engine block gripping device according to claim 1, characterized in that: The pallet component (2) may be provided in several groups so that the rotating palletizing mechanism can sequentially grab the cylinder (22), and a stacking area for stacking and placing the parts tray (21) is also provided on one side of the rotating palletizing mechanism.

3. The vision-guided automated engine block gripping device according to claim 1, characterized in that: The adjustment frame (31) includes a column and a main beam plate installed on the column. The linear module (32) is installed on one side of the main beam plate. The vision camera (33) is installed on the outer end of the slide plate of the linear module (32) through the machine plate (35) so as to control the reciprocating movement of the vision camera (33) through the linear module (32). A drag chain (34) is also provided on one side of the main beam plate. One side of the drag chain (34) is connected to the vision camera (33) for the purpose of internal wiring.

4. The vision-guided automated engine block gripping device according to claim 1, characterized in that: The transport assembly (5) includes a connecting plate (51), a connecting seat (52) installed on the upper end of the connecting plate (51) and connected to the robot (4), a transport frame (53) set at the lower end of the connecting plate (51), and clamping members distributed around the transport frame (53). The clamping members at the lower end of the transport frame (53) are arranged in cooperation with each other to grip the cylinder (22).

5. The vision-guided automated engine block gripping device according to claim 4, characterized in that: The connecting seat (52) includes a connecting column fixedly installed on the connecting plate (51) and a flange plate disposed at the outer end of the connecting column, so as to be fixedly connected to the robot (4) through the flange plate; the transport frame (53) includes a support rod disposed around the lower end of the connecting plate (51) and a base plate (54) disposed at the lower end of the support rod.

6. The vision-guided automated engine block gripping device according to claim 5, characterized in that: The clamping component includes a frame plate (55) mounted on a base plate (54) and a clamping cylinder (56) mounted on the frame plate (55). The outer end of the output rod of the clamping cylinder (56) is fixedly provided with a support (57). A support plate (58) is rotatably mounted on the support (57). A vertical plate is integrally provided at the lower end of the frame plate (55). An elbow clamp (59) is rotatably mounted on the vertical plate. The elbow clamp (59) is rotatably connected to the middle of the support plate (58). A clamping block of the clamping cylinder body (22) is fixedly provided at the outer end of the support plate (58).

7. The vision-guided automated engine block gripping device according to claim 5, characterized in that: The clamping assembly (6) includes a connecting profile (61) installed at the lower end of the connecting plate (51) and displacement assemblies arranged on both sides of the lower end of the connecting profile (61). The displacement assembly includes a template (63) fixedly installed at the lower end of the connecting profile (61), a displacement frame (62) slidably installed on the template (63), and a side clamping plate (64) that can be lifted and lowered on the displacement frame (62). Side clamping claws (65) are respectively installed on both sides of the side clamping plate (64). Slide rails are arranged side by side at the lower end of the template (63). The displacement frame (62) is slidably installed on the slide rails by a slider. The lower middle part of the connecting profile (61) is provided with clamping claw cylinders (66) corresponding to the displacement assemblies on both sides. The outer end of the output rod of the clamping claw cylinder (66) is connected to the displacement frame (62).

8. The vision-guided automated engine block gripping device according to claim 7, characterized in that: A lifting cylinder (67) is installed in the middle of the displacement frame (62). The lower end of the output rod of the lifting cylinder (67) is fixedly connected to the side clamp (64) to control the lifting and lowering movement of the side clamp (64). Guide rods (68) are also fixedly provided on both sides of the side clamp (64) located on the lifting cylinder (67). The guide rods (68) are slidably installed in the corresponding sliding sleeve of the displacement frame (62).

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