Visual positioning and grabbing automatic assembly device

Abstract

The utility model provides a kind of visual positioning and grabbing automatic assembly equipment, including workbench and set handle feeding mechanism, insert feeding mechanism, automatic pressing mechanism and manipulator, manipulator is set in handle feeding mechanism, insert feeding mechanism, automatic pressing mechanism middle, handle feeding mechanism includes first conveyor belt and first camera;Insert feeding mechanism includes flexible vibration disc and second camera;Automatic pressing mechanism includes positioning block, first pressure block, second pressure block and third pressure block, first conveyor belt is conveyed left handle and right handle to be close to automatic pressing mechanism, manipulator first picks up left handle to positioning block and first pressure block is pressed in positioning block, again, pick up insert from flexible vibration disc to be close to one side of positioning block, second pressure block promotes insert and is pressed in left handle, finally, manipulator picks up right handle in the other side of positioning block, second pressure block is pressed in right handle in left handle, and automatic installation efficiency is high and can avoid installation not in place problem.

Description

Technical Field

[0001] This utility model relates to the field of automatic assembly equipment, specifically to a vision-positioning grasping automatic assembly equipment. Background Technology

[0002] like Figure 1-2 The internal support bracket shown includes a left handle, a right handle, and an insert. The assembly process of the internal support bracket is as follows: first, install the insert on the right handle, and then press the left handle and right handle together. Traditionally, the assembly of the internal support bracket is done manually. Manual assembly has the following problems: 1. Manual assembly is prone to errors such as improper installation; 2. Manual installation is inefficient and has high labor costs. Utility Model Content

[0003] This invention provides a vision-positioning grasping automatic assembly device, which aims to improve the current problems of manual assembly of internal support brackets, which are prone to errors in installation, low efficiency, and high cost.

[0004] This utility model is implemented as follows: A visual positioning and grasping automatic assembly device includes a worktable. The worktable is equipped with a handle feeding mechanism, an insert feeding mechanism, an automatic pressing mechanism, and a robotic arm. The robotic arm is positioned between the handle feeding mechanism, the insert feeding mechanism, and the automatic pressing mechanism. The handle feeding mechanism includes a first conveyor belt and a first camera positioned on both sides of the worktable. The first camera is mounted above the end of the first conveyor belt along the conveying direction. The insert feeding mechanism includes a flexible vibrating plate and a second camera, with the second camera mounted above the flexible vibrating plate. The automatic pressing mechanism includes a positioning block and movable first, second, and third pressing blocks, arranged around the positioning block.

[0005] Furthermore, the robotic arm includes a handle suction cup and a gripper, the gripper being disposed on one side of the handle suction cup.

[0006] Furthermore, the insert feeding mechanism further includes a feeding elevator, which includes a hopper and a conveyor belt. The hopper is installed at the front end of the conveyor belt, and the end of the conveyor belt is supported on the flexible vibrating plate.

[0007] Furthermore, a material unloading mechanism is further provided on the workbench. The material unloading mechanism includes a movable base and a material unloading hopper. The base moves between the material unloading trough and the automatic pressing mechanism. A movable cylinder is installed on the base. A plate is mounted on the piston rod of the movable cylinder. A product suction cup is installed at the bottom of the plate.

[0008] Furthermore, the unloading mechanism also includes a second conveyor belt, which is disposed below the unloading chute.

[0009] Furthermore, the automatic pressing mechanism includes a base plate, the positioning block is fixed on the base plate, and a first pressing cylinder, a second pressing cylinder, and a third pressing cylinder are arranged around the positioning block. The piston rod of the first pressing cylinder is connected to the first pressing block, the piston rod of the second pressing cylinder is connected to the second pressing block, and the piston rod of the third pressing cylinder is connected to the third pressing block.

[0010] The beneficial effects of this utility model are:

[0011] This utility model discloses a vision-positioning gripping automatic assembly device, comprising a worktable, a handle feeding mechanism, an insert feeding mechanism, an automatic pressing mechanism, and a robotic arm. The robotic arm is positioned between the handle feeding mechanism, the insert feeding mechanism, and the automatic pressing mechanism. The handle feeding mechanism includes a first conveyor belt and a first camera positioned on both sides of the worktable. The insert feeding mechanism includes a flexible vibrating plate and a second camera. The automatic pressing mechanism includes a positioning block and movable first, second, and third pressing blocks. The first conveyor belt transports the left and right handles to the vibrating mechanism. The robotic arm first picks up the left handle and places it on the positioning block, where the first pressing block presses it down. Then, it picks up the insert from the flexible vibrating plate and places it on the side near the positioning block. The second pressing block pushes the insert to press it down on the left handle. Finally, the robotic arm picks up the right handle on the other side of the positioning block, where the second pressing block presses the right handle down on the left handle. This achieves automatic feeding and assembly, resulting in high automatic installation efficiency and avoiding the problem of improper installation. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the internal support frame structure;

[0014] Figure 2 This is an exploded view of the internal support frame;

[0015] Figure 3 This is a structural schematic diagram of the vision positioning and grasping automatic assembly equipment described in this utility model;

[0016] Figure 4 This is another structural schematic diagram of the vision positioning and grasping automatic assembly equipment described in this utility model;

[0017] Figure 5 This is a schematic diagram of the insert feeding mechanism of the visual positioning grasping automatic assembly equipment described in this utility model;

[0018] Figure 6 This is a schematic diagram of the automatic pressing mechanism of the vision positioning and grasping automatic assembly equipment described in this utility model;

[0019] Figure 7 This is a schematic diagram of the robotic arm structure of the vision positioning and grasping automatic assembly equipment described in this utility model;

[0020] Figure 8 This is a schematic diagram of the unloading mechanism of the visual positioning grasping automatic assembly equipment described in this utility model.

[0021] Figure label:

[0022] 10. Workbench;

[0023] 11. Handle feeding mechanism; 111. First conveyor belt; 112. First camera;

[0024] 12. Insert feeding mechanism; 121. Flexible vibratory feeder; 122. Second camera; 123. Hopper; 124. Material belt;

[0025] 13. Automatic pressing mechanism; 131. Base plate; 132. First pressing cylinder; 133. Second pressing cylinder; 134. Third pressing cylinder; 135. First pressing block; 136. Second pressing block; 137. Third pressing block; 138. Positioning block;

[0026] 14. Unloading mechanism; 141. Base; 142. Moving cylinder; 143. Product suction cup; 144. Flat plate; 145. Unloading chute; 146. Second conveyor belt;

[0027] 15. Robotic arm; 151. Handle suction cup; 152. Gripper;

[0028] 20. Internal support bracket; 201. Left handle; 202. Right handle; 203. Inlay. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] Please refer to Figure 3-4 , Figure 7As shown, this embodiment provides a vision-positioning gripping automatic assembly device, including a worktable 10. The worktable 10 is equipped with a handle feeding mechanism 11, an insert feeding mechanism 12, an automatic pressing mechanism 13, and a robot arm 15. The robot arm 15 is positioned between the handle feeding mechanism 11, the insert feeding mechanism 12, and the automatic pressing mechanism 13. The robot arm 15 is used to pick up various parts that make up the inner support bracket 20 and move them to a designated position. Specifically, the robot arm 15 includes a handle suction cup 151 and a gripper 152. The gripper 152 is located on one side of the handle suction cup 151. The handle suction cup 151 is used to hold the left handle 201 and the right handle 202, and the gripper 152 is used to hold the insert 203. Different picking methods are used according to different part structures to prevent parts from falling during movement.

[0033] Please refer to Figure 3-4 As shown, the handle feeding mechanism 11 includes a first conveyor belt 111 and a first camera 112 disposed on both sides of the workbench 10. The first camera 112 is installed above the end of the first conveyor belt 111 along the conveying direction. Specifically, the left handle 201 and the right handle 202 after injection molding are respectively placed on the first conveyor belt 111 on both sides. The first conveyor belt 111 conveys to the side close to the automatic pressing mechanism 13. Sensors are installed on both sides of the first conveyor belt 111. When the sensor senses the left handle 201 or the right handle 202, it is identified by the first camera 112 and fed back to the robot arm 15 to avoid the left handle 201 and the right handle 202 being picked up incorrectly. After being identified, the handle suction cup 151 of the robot arm 15 picks up the left handle 201 or the right handle 202 and moves it to the automatic pressing mechanism 13.

[0034] Please refer to Figure 3 , Figure 5 As shown, the insert feeding mechanism 12 includes a flexible vibratory feeder 121 and a second camera 122. The second camera 122 is installed above the flexible vibratory feeder 121. Specifically, the insert feeding mechanism 12 further includes a feeding elevator, which includes a hopper 123 and a conveyor belt 124. The hopper 123 is installed at the front end of the conveyor belt 124, and the end of the conveyor belt 124 is supported on the flexible vibratory feeder 121. A batch of inserts 203 are poured from the hopper 123 and pass through the conveyor belt of the conveyor belt 124 and the flexible vibratory feeder 121. The conveyor belt 124 realizes the function of automatically feeding the inserts to the flexible vibratory feeder 121. Under the vibration of the flexible vibratory feeder 121, the inserts 203 are spread out. After the second camera 122 identifies the inserts 203 that meet the requirements for clamping, it controls the gripper 152 to clamp the inserts 203 and move them to the automatic pressing mechanism 13.

[0035] Please refer to Figure 3 , Figure 6As shown, the automatic pressing mechanism 13 includes a positioning block 138 and movable first pressing blocks 135, second pressing blocks 136, and third pressing blocks 137, which are arranged around the positioning block 138. Specifically, the automatic pressing mechanism 13 includes a base plate 131, with the positioning block 138 fixed on the base plate 131. A first pressing cylinder 132, a second pressing cylinder 133, and a third pressing cylinder 134 are arranged around the positioning block 138. The piston rod of the first pressing cylinder 132 is connected to the first pressing block 135, the piston rod of the second pressing cylinder 133 is connected to the second pressing block 136, and the piston rod of the third pressing cylinder 134 is connected to the third pressing block 137. The robotic arm 15 places the right handle 202 close to one side of the positioning block 138 and controls the first pressing cylinder 132 to push the first pressing block 135 to press the right handle 202. 2. At the positioning block 138, the gripper 152 of the robot arm 15 picks up the insert 203 and moves it between the second pressing block 136 and the positioning block 138. The second pressing cylinder 133 is controlled to push the second pressing block 136 to press the insert 203 into the right handle 202, thereby automatically installing the insert 203 into the right handle 202. Finally, the robot arm 15 picks up the left handle 201 and moves it between the positioning block 138 and the third pressing block 137. The third pressing cylinder 134 is controlled to push the left handle 201 to press against the right handle 202, thereby automatically assembling the left handle 201, the right handle 202 and the insert 203.

[0036] Please refer to Figure 4 , Figure 8 As shown, a unloading mechanism 14 is provided on the workbench 10. The unloading mechanism 14 includes a movable base 141 and an unloading hopper 123. The base 141 moves between the unloading trough 145 and the automatic pressing mechanism 13. A movable cylinder 142 is installed on the base 141. A plate 144 is mounted on the piston rod of the movable cylinder 142. A product suction cup 143 is installed on the bottom of the plate 144. Specifically, after installation, the base 141 is controlled to move closer to the positioning block 138. Then, the movable cylinder 142 is controlled to press down, causing the plate 144 to press down closer to the product. The product suction cup 143 at the bottom of the plate 144 picks up the product. Then, the plate 144 is lifted up, and the movable base 141 moves the product away from the positioning block 138, closer to the unloading trough 145, and releases it, realizing automatic product pickup. Furthermore, the unloading mechanism 14 also includes a second conveyor belt 146, which is located below the unloading chute 145. Products falling from the unloading chute 145 land on the second conveyor belt 146 and are conveyed away from the worktable 10 by the second conveyor belt 146.

[0037] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A vision-positioning and grasping automatic assembly device, characterized in that: The device includes a worktable, on which a handle feeding mechanism, an insert feeding mechanism, an automatic pressing mechanism, and a robotic arm are arranged. The robotic arm is positioned between the handle feeding mechanism, the insert feeding mechanism, and the automatic pressing mechanism. The handle feeding mechanism includes a first conveyor belt and a first camera arranged on both sides of the worktable, with the first camera mounted above the end of the first conveyor belt along the conveying direction. The insert feeding mechanism includes a flexible vibrating plate and a second camera, with the second camera mounted above the flexible vibrating plate. The automatic pressing mechanism includes a positioning block and movable first, second, and third pressing blocks, which are arranged around the positioning block.

2. The visual positioning and grasping automatic assembly equipment according to claim 1, characterized in that: The robotic arm includes a handle suction cup and a gripper, with the gripper positioned on one side of the handle suction cup.

3. The visual positioning and grasping automatic assembly equipment according to claim 1, characterized in that: The insert feeding mechanism further includes a feeding elevator, which includes a hopper and a conveyor belt. The hopper is installed at the front end of the conveyor belt, and the end of the conveyor belt is supported on the flexible vibrating plate.

4. The visual positioning and grasping automatic assembly equipment according to claim 1, characterized in that: The workbench is further provided with an unloading mechanism, which includes a movable base and an unloading hopper. The base moves between the unloading trough and the automatic pressing mechanism. A movable cylinder is installed on the base, and a plate is mounted on the piston rod of the movable cylinder. A product suction cup is installed at the bottom of the plate.

5. The visual positioning and grasping automatic assembly equipment according to claim 4, characterized in that: The unloading mechanism also includes a second conveyor belt, which is disposed below the unloading chute.

6. The visual positioning and grasping automatic assembly equipment according to claim 1, characterized in that: The automatic pressing mechanism includes a base plate, the positioning block is fixed on the base plate, and a first pressing cylinder, a second pressing cylinder and a third pressing cylinder are arranged around the positioning block. The piston rod of the first pressing cylinder is connected to the first pressing block, the piston rod of the second pressing cylinder is connected to the second pressing block, and the piston rod of the third pressing cylinder is connected to the third pressing block.

Images