Automatic grabbing and feeding equipment with 3D visual monitoring on top
By installing a combination of 3D vision sensors and robotic arm grippers on the transport line, the problems of slow response and accuracy when the transport line faces changes in the position of objects are solved, realizing automated collection of products and empty frames, and improving the accuracy and efficiency of transport.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUZHOU ANZUO INTELLIGENT TECH CO LTD
- Filing Date
- 2025-09-11
- Publication Date
- 2026-07-21
AI Technical Summary
Existing handling lines struggle to react quickly to changes in object position, and the accuracy of handling small products stacked in multiple layers is difficult to guarantee, especially when handling errors are difficult to observe at greater depths.
An automated gripping and feeding device with 3D vision monitoring at the top is adopted. By installing 3D vision sensors at the top of the support frame, combined with robotic arms and cylinder clamps, the device can accurately grip and separate products for transport. AGV material transport vehicles are used for automated transfer of frames and empty frames.
It enables vision-assisted grasping, ensuring the separate collection of products and empty frames, improving handling accuracy and efficiency, reducing manual operation, and enhancing the automation level of the equipment.
Smart Images
Figure CN224529802U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of material handling line technology, specifically to an automatic gripping and feeding device with 3D visual monitoring at the top. Background Technology
[0002] Most material handling lines consist of conveying mechanisms, gripping mechanisms, and storage mechanisms. They can transfer objects in batches in sequence. The transfer equipment used often has a complete set of procedures. If the objects being transported change position slightly, it is difficult to react in a short time.
[0003] When robotic arms perform vertical transfers (especially for products on one or two layers), due to the depth, it is difficult for personnel to observe whether a mistake has been made. Furthermore, when small products are transferred, multiple layers of stacking are often required, making it difficult to guarantee the accuracy of the transfer.
[0004] Now, a novel automatic gripping and feeding device with 3D visual monitoring at the top is proposed to solve the above problems. Utility Model Content
[0005] The purpose of this invention is to provide an automatic gripping and feeding device with 3D visual monitoring at the top, so as to solve the problem of missing products during handling mentioned in the background art.
[0006] To achieve the above objectives, this utility model provides the following technical solution: an automatic gripping and feeding device with 3D visual monitoring at the top, comprising a protective fence, a metal wire mesh installed inside the protective fence, two sets of transport flow lines one arranged at the rear of the left side inside the protective fence, two sets of transport flow lines two arranged at the front of the left side inside the protective fence, bases installed at the bottom of each of the transport flow lines one and two, a transport flow line three arranged between the front and rear of the right side inside the protective fence, and a robot picking station installed at the front of the outside of the transport flow line three, a feeding flow line arranged at the center of the right side of the transport flow line three, a support frame longitudinally installed at the center of the left side of the transport flow line three, and a horizontal plate extending to the right at the top of the support frame, with a 3D vision sensor installed downward on the horizontal plate, the 3D vision sensor being located directly above the intersection of the robot picking station and the transport flow line three.
[0007] As a further technical solution of this utility model, the first and second transport flow lines are both located to the left of the third transport flow line, and the loading flow line is located behind the mounting frame.
[0008] As a further technical solution of this utility model, an installation frame is provided at the right front of the inside of the protective fence, and a rotating seat is fixed at the top of the installation frame. A mechanical arm one is movably connected above the rotating seat, and a mechanical arm two is movably connected above the mechanical arm one. A mechanical arm three is movably connected to the left side of the mechanical arm two, and a hanger is installed at the bottom of the mechanical arm three. Three sets of cylinders are fixed at the bottom of the hanger, and a clamp is installed at the bottom of the piston rod of the cylinder.
[0009] As a further technical solution of this utility model, the rotating seat rotates horizontally at the top of the mounting frame, the first robotic arm swings left and right in front of the rotating seat, the second robotic arm swings left and right above the first robotic arm, the third robotic arm rotates horizontally to the left of the second robotic arm, and the hanger swings left and right to the lower left of the second robotic arm.
[0010] As a further technical solution of this utility model, a feeding station is provided on the left side of the first transport flow line. Both the feeding station and the upper surface of the first transport flow line are equipped with frames, and the frames store ring-shaped products. An empty frame station is provided on the left side of the second transport flow line. Both the empty frame station and the upper surface of the second transport flow line are equipped with empty material frames.
[0011] As a further technical solution of this utility model, the first transport streamline and the second transport streamline have the same length and are at the same horizontal height.
[0012] Compared with the prior art, the beneficial effects of this utility model are: the automatic gripping and feeding device with 3D visual monitoring on the top not only realizes visual-assisted gripping of products and separates the transportation of products and empty frames, but also makes it easy to collect empty frames; A support frame is installed longitudinally at the center of the left side of the three transport flow lines. A 3D vision sensor camera is installed at the top of the support frame to facilitate the monitoring of the handling effect of the robot. When the robot grabs and loads small products, the height of the top support and the angle of the 3D camera can be set according to the height of the material box. This ensures that the camera's field of view is not blocked by the material box and the gripper, and helps the camera to focus on the product, maintaining the accuracy of grabbing and placement. By installing a clamp at the bottom of the piston rod of the cylinder, the frame containing the product moves from left to right along the first transport flow line above the base. After being affected by the third transport flow line, the frame is transported from back to front to the robot picking station. Then, the robot picking mechanism, composed of a rotating seat, robotic arm one, robotic arm two, robotic arm three, hanger, cylinder and clamp, grabs the product from the frame and places it on the right side of the loading flow line for transport. The empty frame moves to the left along the second transport flow line, realizing the separate collection of the product and the empty frame. Two sets of transport flow lines are set up at the rear left side inside the protective fence, and two sets of transport flow lines are set up at the front left side inside the protective fence. The first and second transport flow lines are of the same length and are both located to the left of the third transport flow line. The first transport flow line is used to transport frames containing products, while the second transport flow line is used to transport empty frames. The frames and empty frames in the feeding station and the empty frame station are all transferred by AGV transport vehicles, without the need for manual operation. Attached Figure Description
[0013] Figure 1 This is a frontal cross-sectional view of the present invention. Figure 2 This is a schematic diagram of the cross-sectional structure from the left perspective of this utility model; Figure 3 This is a top view of the structure of this utility model; Figure 4 This is a top-view three-dimensional structural diagram of the present invention; Figure 5 For the present utility model Figure 4 A magnified schematic diagram of a partial cross-section at point A in the middle.
[0014] In the diagram: 1. Protective fence; 2. Transport flow line one; 3. Frame; 4. Feeding station; 5. Base; 6. Support frame; 7. Robot material handling station; 8. Mounting frame; 9. Rotating seat; 10. Robotic arm one; 11. Robotic arm two; 12. Robotic arm three; 13. Hanger; 14. 3D vision sensor; 15. Metal wire mesh; 16. Product; 17. Empty frame station; 18. Transport flow line two; 19. Transport flow line three; 20. Loading flow line; 21. Fixture; 22. Cylinder; 23. Empty material frame. Detailed Implementation
[0015] 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, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0016] Please see Figure 1-5An embodiment of this utility model provides an automatic gripping and feeding device with 3D visual monitoring at the top, including a protective fence 1, a metal wire mesh 15 installed inside the protective fence 1, two sets of transport flow lines 1 2 arranged at the rear of the left side inside the protective fence 1, two sets of transport flow lines 2 18 arranged at the front of the left side inside the protective fence 1, bases 5 respectively installed at the bottom of transport flow lines 1 2 and transport flow lines 2 18, a transport flow line 3 19 arranged between the front and rear of the right side inside the protective fence 1, and a robot picking station 7 installed at the front of the outside of transport flow line 3 19, a feeding flow line 20 arranged at the center of the right side of transport flow line 3 19, a support frame 6 longitudinally installed at the center of the left side of transport flow line 3 19, and a horizontal plate extending to the right at the top of the support frame 6, with a 3D vision sensor 14 installed downward on the horizontal plate, the 3D vision sensor 14 being located directly above the intersection of the robot picking station 7 and transport flow line 3 19; Transport flow line 12 and transport flow line 28 are both located to the left of transport flow line 319, and loading flow line 20 is located behind mounting frame 8; Specifically, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the top of the support frame 6 is equipped with an angle 3D vision sensor 14 camera, which facilitates the monitoring of the handling effect of the robot. When the robot grabs and loads small products 16, the top height of the support frame and the angle of the 3D camera can be set according to the height of the material box, so that the camera's field of view is not blocked by the material box and the gripper.
[0017] A mounting frame 8 is provided at the front right of the inside of the protective fence 1, and a rotating seat 9 is fixed at the top of the mounting frame 8. A robotic arm 10 is movably connected above the rotating seat 9, and a robotic arm 21 is movably connected above the robotic arm 10. A robotic arm 32 is movably connected to the left side of the robotic arm 21, and a hanger 13 is installed at the bottom of the robotic arm 312. Three sets of cylinders 22 are fixed at the bottom of the hanger 13, and a clamp 21 is installed at the bottom of the piston rod of the cylinder 22. The rotating seat 9 rotates horizontally at the top of the mounting frame 8, the robotic arm 10 swings left and right in front of the rotating seat 9, the robotic arm 21 swings left and right above the robotic arm 10, the robotic arm 312 rotates horizontally to the left of the robotic arm 21, and the hanger 13 swings left and right to the lower left of the robotic arm 21. Specifically, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the frame 3 containing product 16 moves from left to right along the transport flow line 12 above the base 5. After being affected by the transport flow line 319, the frame 3 is transported from back to front to the robot picking station 7. Then, the robot picking mechanism, composed of rotating seat 9, robotic arm 10, robotic arm 21, robotic arm 32, hanger 13, cylinder 22 and clamp 21, grabs product 16 from the frame 3 and places product 16 at the loading flow line 20 on the right side for transport. Meanwhile, the empty material frame 23 moves to the left along the transport flow line 218.
[0018] A feeding station 4 is provided on the left side of the first transport flow line 2. Both the feeding station 4 and the upper surface of the first transport flow line 2 are equipped with a frame 3, and the frame 3 stores a ring-shaped product 16. An empty frame station 17 is provided on the left side of the second transport flow line 18. Both the empty frame station 17 and the upper surface of the second transport flow line 18 are equipped with an empty material frame 23. The first transport flow line 2 and the second transport flow line 18 have the same length and are at the same horizontal height. Specifically, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, transport flow line 12 and transport flow line 218 have the same length and are both located to the left of transport flow line 319. Transport flow line 12 is used to transport the frame 3 containing the product 16, while transport flow line 218 is used to transport the empty material frame 23. The frame 3 and the empty material frame 23 in the material supply station 4 and the empty frame station 17 are all transferred by the AGV material transport vehicle.
[0019] Furthermore, the rotating base 9, robotic arm 10, robotic arm 21, robotic arm 312, hanger 13, and cylinder 22 are all electrically connected to an external PLC control module to control the opening and closing of the rotating base 9, robotic arm 10, robotic arm 21, robotic arm 312, hanger 13, and cylinder 22 and to preset relevant parameters. The electrical connection relationship and control method between them are existing technologies and will not be described in detail. Working Principle: In use, the frame 3 containing product 16 moves from left to right along the transport flow line 2 above the base 5. Influenced by the transport flow line 3 19, the frame 3 is transported from back to front to the robot picking station 7. Then, the robot picking mechanism, composed of a rotating seat 9, robotic arm 10, robotic arm 21, robotic arm 3 12, hanger 13, cylinder 22, and clamp 21, picks up product 16 from the frame 3 and places it on the loading flow line 20 on the right side for transport. The empty frame 23 moves to the left along the transport flow line 2 18. Because the top of the support frame 6 is equipped with an angle 3D vision sensor 14 camera, it is convenient for personnel to... The handling effect of the robot is monitored. When the robot grabs and loads small products 16, the top height of the support frame and the angle of the 3D camera can be set according to the height of the material box. This ensures that the camera's view is not blocked by the material box and the gripper, and helps the camera focus on the product 16. The first transport flow line 2 and the second transport flow line 18 are of the same length and are both located to the left of the third transport flow line 19. The first transport flow line 2 is used to transport the frame 3 containing the product 16, while the second transport flow line 18 is used to transport the empty material box 23. The frame 3 and the empty material box 23 in the feeding station 4 and the empty frame station 17 are all transferred by the AGV material transport vehicle.
[0020] 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. An automatic gripping and feeding device with 3D visual monitoring at the top, comprising a protective fence (1), characterized in that: The protective fence (1) is equipped with a metal wire mesh (15). Two sets of transport flow lines (2) are set behind the left side of the protective fence (1). Two sets of transport flow lines (18) are set in front of the left side of the protective fence (1). Bases (5) are installed at the bottom of the transport flow lines (2) and (18). A transport flow line (19) is set between the front and back of the right side of the protective fence (1). A robot picking station (7) is installed in front of the outside of the transport flow line (19). A loading flow line (20) is set at the center of the right side of the transport flow line (19). A support frame (6) is installed longitudinally at the center of the left side of the transport flow line (19). A horizontal plate extends to the right at the top of the support frame (6). A 3D vision sensor (14) is installed downward on the horizontal plate. The 3D vision sensor (14) is located directly above the intersection of the robot picking station (7) and the transport flow line (19).
2. The automatic gripping and feeding device with 3D visual monitoring at the top as described in claim 1, characterized in that: The first transport flow line (2) and the second transport flow line (18) are both located to the left of the third transport flow line (19), and the loading flow line (20) is located behind the mounting frame (8).
3. An automatic gripping and feeding device with 3D visual monitoring at the top as described in claim 1, characterized in that: An installation frame (8) is provided on the right front inside the protective fence (1), and a rotating seat (9) is fixed at the top of the installation frame (8). A mechanical arm (10) is movably connected above the rotating seat (9), and a mechanical arm (11) is movably connected above the mechanical arm (10). A mechanical arm (12) is movably connected to the left side of the mechanical arm (11), and a hanger (13) is installed at the bottom of the mechanical arm (12). Three sets of cylinders (22) are fixed at the bottom of the hanger (13), and a clamp (21) is installed at the bottom of the piston rod of the cylinder (22).
4. An automatic gripping and feeding device with 3D visual monitoring at the top, as described in claim 3, is characterized in that: The rotating seat (9) rotates horizontally at the top of the mounting frame (8), the first robotic arm (10) swings left and right in front of the rotating seat (9), the second robotic arm (11) swings left and right above the first robotic arm (10), the third robotic arm (12) rotates horizontally to the left of the second robotic arm (11), and the hanger (13) swings left and right to the lower left of the second robotic arm (11).
5. An automatic gripping and feeding device with 3D visual monitoring at the top as described in claim 1, characterized in that: A feeding station (4) is provided on the left side of the first transport flow line (2). Both the feeding station (4) and the upper surface of the first transport flow line (2) are equipped with a frame (3), and the frame (3) stores a ring-shaped product (16). An empty frame station (17) is provided on the left side of the second transport flow line (18). Both the empty frame station (17) and the upper surface of the second transport flow line (18) are equipped with an empty material frame (23).
6. An automatic gripping and feeding device with 3D visual monitoring at the top as described in claim 5, characterized in that: The first transport flow line (2) and the second transport flow line (18) have the same length and are at the same horizontal level.