Handheld gimbal camera sorting and feeding device

Abstract

The utility model discloses a handheld cloud platform camera sorting feeding device with high sorting efficiency and sorting accuracy, including rotary feeding mechanism, electric quantity detection mechanism, snatch mechanism and measure height mechanism, rotary feeding mechanism includes carousel, rotary drive part, and the carousel upper surface is equipped with along the annular path distribution's multiple product clamping position, and is equipped with product charging structure at every product clamping position, and the carousel ring side is equipped with feeding area, electric quantity detection area, material taking area, unloading area, electric quantity detection mechanism sets up in electric quantity detection area, and at least includes the image acquisition equipment for gathering product display electric quantity image, snatch mechanism sets up in the side of carousel, including manipulator and the movable end of fixed in manipulator and is used for the product that rotates to material taking area on carousel to snatch, or will product put back on product clamping position on carousel's snatch structure, measure height mechanism sets up in material taking area, and at least includes the height sensor for detecting the product height on snatch structure.

Description

Technical Field

[0001] This utility model relates to the field of gimbal camera technology, and in particular to a handheld gimbal camera sorting and feeding device. Background Technology

[0002] The data clearing tests of handheld gimbal cameras before packaging and shipping exhibit a variety of defects, requiring categorization. For example, insufficient battery power accounts for 65% of all defects, followed by repeated MES system tests caused by returned products failing decryption. Therefore, before conducting full-line testing of handheld gimbal cameras, products with insufficient battery power need to be identified and recharged for testing. Furthermore, during manual loading, improper product placement often leads to poor contact at data ports, causing test failures and increasing the workload of repetitive testing. Currently, the sorting operation before full-line testing of handheld gimbal cameras is mainly performed manually, resulting in insufficient sorting efficiency. Additionally, after a large amount of repetitive work, operator fatigue easily leads to operational errors, causing sorting mistakes and interfering with the judgment of defects during subsequent product testing. Utility Model Content

[0003] Therefore, it is necessary to provide a handheld gimbal camera sorting and feeding device with high sorting efficiency and accuracy to address the above-mentioned shortcomings.

[0004] A handheld gimbal camera sorting and feeding device includes: A rotary feeding mechanism includes a turntable and a rotary drive component that drives the turntable to rotate in a horizontal plane. The upper surface of the turntable is provided with multiple product clamping positions distributed along a ring path. Each product clamping position is provided with a product charging structure. The ring side of the turntable is provided with at least a feeding area, a power detection area, a picking area, and a unloading area arranged sequentially along the ring path. A power detection mechanism is provided in the power detection area, and the power detection mechanism includes at least an image acquisition device for acquiring an image of the power displayed on the product within the product clamping position; A material gripping mechanism is located on the side of the turntable. The material gripping mechanism includes a robotic arm and a gripping clamp structure fixed to the movable end of the robotic arm for gripping products that rotate to the material picking area on the turntable or for putting products back on the turntable. A height measuring mechanism is installed in the material handling area. The height measuring mechanism includes at least a height sensor for detecting the height of the product on the gripping structure. The robotic arm is electrically connected to the image acquisition device and the height sensor, respectively.

[0005] In one embodiment, the handheld gimbal camera sorting and feeding device further includes a cabinet and a cover. The turntable, image acquisition device, robotic arm, and height sensor are all mounted on the cabinet. The cabinet contains a main controller electrically connected to the rotary drive, product charging structure, image acquisition device, robotic arm, gripping structure, and height sensor, as well as a power module electrically connected to the main controller. The cover is fixed to the upper part of the cabinet and covers the turntable, image acquisition device, robotic arm, and height sensor.

[0006] In one embodiment, the rotary loading mechanism further includes a fixed chassis and an electric slip ring. The fixed chassis is located on the loading side of the cabinet and fixed to the edge of the upper surface of the cabinet. The rotary drive is a servo motor installed on the lower surface of the fixed chassis and electrically connected to the main controller. The output end of the servo motor is connected to the turntable drive. The fixed part of the electric slip ring is fixedly connected to the upper surface of the fixed chassis and electrically connected to the main controller. The rotating part of the electric slip ring is fixedly connected to the turntable. The rotating part of the electric slip ring is electrically connected to the fixed part of the electric slip ring and the charging structure of each product.

[0007] In one embodiment, the rotary feeding mechanism further includes multiple positioning fixtures. The turntable has multiple through holes that penetrate the upper and lower surfaces of the turntable and are distributed along a circular path. The multiple positioning fixtures are fixed on the upper surface of the turntable and correspond one-to-one with each through hole. The positioning fixtures have mounting grooves to form the product clamping positions. The bottom surface of the mounting groove has a charging port that communicates with the through holes. Each product charging structure is fixed on the lower surface of the turntable and corresponds one-to-one with each through hole. The charging connectors of the product charging structures pass through the through holes and charging ports in sequence and extend into the mounting groove.

[0008] In one embodiment, the rotary feeding mechanism further includes a hollow reducer, which is mounted on a fixed chassis and cooperates with the servo motor. The output shaft of the hollow reducer is fixedly connected to the turntable.

[0009] In one embodiment, the power detection mechanism further includes a first fixed bracket located in the power detection area and fixedly connected to the upper surface of the cabinet, and the image acquisition device is a CCD camera fixed to the top of the first fixed bracket and electrically connected to the main controller, with the detection end of the CCD camera facing the turntable.

[0010] In one embodiment, the robotic arm is a four-axis robotic arm, including a second fixed bracket fixed to the upper surface of the cabinet, a first axis mounted on the top of the second fixed bracket and rotatable relative to the second fixed bracket in a horizontal plane, a second axis mounted on the movable end of the first axis and rotatable relative to the first axis in a horizontal plane, a third axis mounted on the movable end of the second axis and movable relative to the second axis, and a fourth axis mounted on the bottom end of the third axis and rotatable relative to the third axis in a horizontal plane.

[0011] In one embodiment, the gripping structure includes two pneumatic or electric grippers fixed to the bottom of the fourth axis and symmetrically arranged in a horizontal plane, wherein a gripping space for gripping products is formed between the two jaws of the pneumatic or electric grippers.

[0012] In one embodiment, an elastic protective pad is fixed to one side of the claw located in the gripping space.

[0013] In one embodiment, the height sensor is a laser sensor located on the product gripping and moving path of the robot arm and fixedly connected to the upper surface of the cabinet, with the detection end of the laser sensor facing upwards.

[0014] This invention relates to a handheld gimbal camera sorting and loading device. By incorporating a product charging structure on a turntable and an image acquisition device next to the turntable for detecting the battery level of the products, the device identifies the battery status of the products. This allows a robotic arm to pick up products with sufficient battery power for testing, while products with insufficient battery power are charged on the turntable to eliminate interference with test results. A height sensor collects the product height information to remove products whose detection height has changed due to improper placement or tilting on the turntable, preventing these products from interfering with the testing process. This handheld gimbal camera sorting and loading device replaces manual sorting and identification, improving the efficiency of pre-test sorting and avoiding errors caused by human fatigue, thus increasing sorting accuracy and facilitating subsequent product testing. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a handheld gimbal camera sorting and feeding device in one embodiment of the present invention; Figure 2 This is a schematic diagram of the handheld gimbal camera sorting and feeding device after the cover is removed in one embodiment of the present invention; Figure 3 This is a top view of the handheld gimbal camera sorting and feeding device after the cover has been removed in one embodiment of the present invention. Figure 4This is a schematic diagram of the rotating feeding mechanism from one perspective in one embodiment of the present invention; Figure 5 This is a schematic diagram of the rotating feeding mechanism from another perspective in one embodiment of the present invention; Figure 6 This is a cross-sectional view of the rotary feeding mechanism in one embodiment of the present invention; Figure 7 This is a schematic diagram of the material gripping mechanism in one embodiment of the present invention; Figure 8 for Figure 7 A partially enlarged structural diagram of part A in the illustrated embodiment. Detailed Implementation

[0016] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0017] This utility model discloses a handheld gimbal camera sorting and loading device with high sorting efficiency and sorting accuracy. The handheld gimbal camera sorting and loading device is used for the loading preparation work before the handheld gimbal camera is sent out for testing, so as to eliminate test failures caused by non-product function problems (including test failures caused by insufficient product power during testing and test failures caused by improper product placement), and reduce the workload of subsequent testing operations.

[0018] For specific details, please refer to... Figure 2-8The handheld gimbal camera sorting and loading device of this embodiment includes a rotary loading mechanism 100, a power detection mechanism 200, a gripping mechanism 300, and a height measuring mechanism 400. The rotary loading mechanism 100 includes a turntable 110 and a rotary drive component 120 that drives the turntable 110 to rotate in a horizontal plane. The upper surface of the turntable 110 is provided with multiple product clamping positions distributed along a circular path. Each product clamping position is provided with a product charging structure 130. The circumferential side of the turntable 110 is provided with at least a loading area 111, a power detection area 112, a picking area 113, and a unloading area 114 arranged sequentially along a circular path. When the turntable 110 rotates, it sequentially passes through the loading area 111, the power detection area 112, the picking area 113, and the unloading area 114, and then returns to the loading area 111, thus repeating the cycle. In this embodiment, the turntable 110 serves as a carrier for loading and unloading products, driving the products to rotate to the corresponding work area. Since the loading area 111, power detection area 112, picking area 113, and unloading area 114 are arranged sequentially along a circular path, the unloading area 114 is located beside the loading area 111. Thus, only one operator is needed to place the product on the turntable 110 at the loading area 111 and remove the product from the turntable 110 at the unloading area 114, reducing the difficulty of operation for the operator. The product charging structure 130 is used to charge the products confined to the turntable 110 in real time to replenish their power, ensuring that all products entering the testing phase have sufficient power to cope with the testing. A power detection mechanism 200 is set in the power detection area 112. The power detection mechanism 200 includes at least an image acquisition device 210 for acquiring images of the power displayed on the product in the product clamping position. In this way, the power image on the surface of the product is acquired by the image acquisition device 210 to determine the power status of the product. The material gripping mechanism 300 selectively grips only products with sufficient power on the turntable 110, while products with insufficient power remain on the turntable 110 and are charged through the product charging structure 130. In this way, the products entering the subsequent testing operation always have sufficient power, which can eliminate test failure problems caused by insufficient power. A material gripping mechanism 300 is located beside the turntable 110. The gripping mechanism 300 includes a robotic arm 310 and a gripping structure 320 fixed to the movable end of the robotic arm 310 for gripping products rotating from the turntable 110 to the material handling area 113, or for returning products to the turntable 110. The robotic arm 310 drives the gripping structure 320 to move in three-dimensional space, allowing it to move both horizontally and vertically to meet its positional movement requirements. A height measuring mechanism 400 is located in the material handling area 113. The height measuring mechanism 400 includes at least a height sensor 410 for detecting the height of the products on the gripping structure 320. The robotic arm 310 is electrically connected to the image acquisition device 210 and the height sensor 410.Thus, by detecting the height of the bottom of the product through the height sensor 410, it can be determined whether the product is placed in place when it is being grasped (the shape of the product when it is grasped, the shape when it is placed, and the shape when it is tested are consistent), so that products that are not placed in place can be reworked and repositioned.

[0019] During the sorting and loading process, the gripping structure 320 always picks up products from the product clamping position on the turntable 110 adjacent to the picking area 113. If the product power image collected by the image acquisition device 210 at the power detection area 112 is unqualified (insufficient power) before entering the picking area 113, the gripping structure 320 will not grip the product entering the picking area 113 until the product power is qualified. Then, the robot arm 310 receives the signal sent by the image acquisition device 210 and drives the gripping structure 320 to pick up the product from the product clamping position at the picking area 113. After the robotic arm 310 picks up the product from the turntable 110, it will pass through the height sensor 410 as the product moves. When the height sensor 410 detects that the bottom height of the product is not up to standard (the product is not placed properly during loading), the robotic arm 310 receives the signal sent by the height sensor 410 and puts the picked-up product back into the product clamping position on the turntable 110, so that the product flows to the unloading area 114 after the turntable 110 rotates, making it easier for the operator to reposition the product.

[0020] Please combine Figure 1-2The handheld gimbal camera sorting and loading device also includes a cabinet 500 and a cover 600. The turntable 110, image acquisition device 210, robotic arm 310, and height sensor 410 are all mounted on the cabinet 500. The cabinet 500 houses a main controller electrically connected to the rotary drive component 120, product charging structure 130, image acquisition device 210, robotic arm 310, gripping structure 320, and height sensor 410, as well as a power module electrically connected to the main controller. The cover 600 is fixed to the upper part of the cabinet 500 and covers the turntable 110, image acquisition device 210, robotic arm 310, and height sensor 410. In other words, the cabinet 500 supports the other components and serves as the control box and operating platform for the handheld gimbal camera sorting and loading device, while the cover 600 isolates the sorting and loading operation from the environment, allowing the operation to take place in a relatively independent space to eliminate environmental interference. The main controller can be a PLC controller or a microcontroller. The cabinet 500 is also equipped with an air pump that provides air to the pneumatic components of the handheld gimbal camera sorting and feeding device. The bottom of the cabinet 500 is also equipped with support feet 510 to raise the height of the bottom of the cabinet 500 and prevent water from entering the cabinet 500 from the bottom in case of an emergency. At least a part of the side of the cover 600 is supported by transparent material, that is, at least a transparent observation window is provided on the side of the cover 600 so that the operator can observe the operation inside the cover 600 from the side. The side of the cover 600 is also equipped with control buttons 610 and a display panel 620 that are electrically connected to the main controller so that the operator can understand the sorting and feeding operation parameters according to the content displayed on the display panel 620 and start and stop the device through the control buttons 610.

[0021] Please combine Figure 2-6The rotary loading mechanism 100 also includes a fixed base 140 and an electric slip ring 150. The fixed base 140 is located on the loading side of the cabinet 500 (i.e., the side where the loading area 111 is located) and fixed to the edge of the upper surface of the cabinet 500. The rotary drive component 120 is a servo motor installed on the lower surface of the fixed base 140 and electrically connected to the main controller. The output end of the servo motor is driven by the turntable 110, so that the turntable 110 rotates when the servo motor is working, thereby realizing the adjustment of the product position. Preferably, the fixed base 140 is fixedly connected to the side of the cabinet 500 by angle steel, and the fixed base 140 is fixedly connected to the upper surface of the cabinet 500 by bolts. The servo motor is located on the side of the cabinet 500 and installed on the fixed base 140, realizing the external installation of the servo motor on the side of the cabinet 500, so as to facilitate the maintenance of the servo motor. At the same time, the stability of the fixed base 140 and the servo motor installed on the cabinet 500 is ensured by multi-point fixing. The slip ring 150 includes a rotor section (i.e., the rotating part) and a stator section (i.e., the stationary part). The rotor section includes a conductive ring, a rotor shaft / core, and rotor leads. The conductive ring consists of multiple parallel, mutually insulated metal rings, each responsible for transmitting an independent circuit. The rotor shaft / core is an insulated spindle used to support and fix all the conductive rings. The rotor leads extend from each conductive ring and connect to the respective product charging structures 130 on the turntable 110. The stator section includes brushes, brush holders, stator leads, and a housing. The brushes are components that directly contact the conductive rings and conduct electricity; they are mounted on the brush holders and rely on their elasticity to continuously and pressureily press against the corresponding conductive rings. The brush holders serve as insulated supports for fixing and arranging all the brushes, ensuring that each brush is precisely aligned with a conductive ring. The stator leads extend from each brush and connect to the main controller and power module within the cabinet 500. The housing contains bearings to support the smooth rotation of the rotor section and ensure concentricity between the stator and rotor sections. In this embodiment, the fixed part of the electric slip ring 150 is fixedly connected to the upper surface of the fixed chassis 140 and electrically connected to the main controller. The rotating part of the electric slip ring 150 is fixedly connected to the turntable 110, and the rotating part of the electric slip ring 150 is electrically connected to the fixed part of the electric slip ring 150 and each product charging structure 130. Thus, by setting the electric slip ring 150, it is ensured that the product charging structure 130 is continuously energized during the rotation of the turntable 110, thereby ensuring that the product charging structure 130 can continuously replenish the power of the products, ensuring that all products entering subsequent testing operations have sufficient power.

[0022] Furthermore, in one embodiment, the rotary feeding mechanism 100 also includes multiple positioning fixtures 160. The turntable 110 has multiple through holes 115 penetrating its upper and lower surfaces and distributed along a circular path. The multiple positioning fixtures 160 are fixed to the upper surface of the turntable 110 and correspond one-to-one with each through hole 115. That is, the positioning fixtures 160 are fixed to the upper surface of the turntable 110 and located at the through holes 115. The positioning fixtures 160 have mounting grooves 161 to form product clamping positions, and the bottom surface of the mounting groove 161 has a charging port 162 communicating with the through holes 115. The through holes 115 and the charging port 162 together form a charging channel for the product. Each product charging structure 130 is fixed to the lower surface of the turntable 110 and corresponds one-to-one with each through hole 115. The charging connectors of the product charging structures 130 sequentially pass through the through holes 115 and the charging ports 162 and extend into the mounting grooves 161. In this way, when the product is inserted into the mounting slot 161, the charging port on the product is located on the lower surface of the product. After the product is inserted into the mounting slot 161, the charging connector of the product charging structure 130 simultaneously aligns with the charging port on the lower surface of the product to charge the product. In this embodiment, the inner contour shape of the charging port 162 is adapted to the outer contour shape of the charging connector. Thus, while ensuring that the charging connector can be inserted into the mounting slot 161 through the charging port 162, the inner side of the charging port 162 can limit the charging connector to prevent it from shaking, ensuring that the charging structure can be accurately inserted into the charging port when the product is inserted into the mounting slot 161.

[0023] In addition, in this embodiment, the rotary feeding mechanism 100 also includes a hollow reducer 170. The hollow reducer 170 is mounted on the fixed chassis 140 and cooperates with the servo motor. The output shaft of the hollow reducer 170 is fixedly connected to the turntable 110. In this embodiment, the hollow reducer 170 includes a drive gear fixed to the top of the servo motor output shaft, a driven gear located beside the drive gear and meshing with the drive gear, and a hollow shaft passing through the middle of the driven gear and fixedly connected to the driven gear. The driven gear rotates coaxially with the hollow shaft. The hollow shaft constitutes the output shaft of the hollow reducer 170, and the top of the hollow shaft is provided with a connecting plate or connecting piece fixedly connected to the turntable 110. The gear ratio between the driven gear and the drive gear is greater than 1. Thus, through the meshing of the drive gear and the driven gear, the output end of the servo motor can be decelerated, so that the turntable 110 rotates at a relatively slow speed to adapt to the sorting and feeding operation rate at the robot arm 310.

[0024] Please see Figure 2The power detection mechanism 200 also includes a first fixed bracket 220 located in the power detection area 112 and fixedly connected to the upper surface of the cabinet 500. The image acquisition device 210 is a CCD camera fixed to the top of the first fixed bracket 220 and electrically connected to the main controller. The detection end of the CCD camera faces the turntable 110. By setting the first fixed bracket 220, the position height of the image acquisition device 210 can be raised so that the detection height of the image acquisition device 210 is adapted to the position height of the product power display part on the turntable 110, so that the image acquisition device 210 can completely acquire the power information displayed on the product. The CCD camera (Charge-Coupled Device) can convert the light signal entering the lens into an electronic signal. Subsequently, the CCD camera transmits the electronic signal to the main controller, which judges the product power status based on the electronic signal. Since the images and electronic signals acquired when the power is full and when the power is insufficient are different, the main controller can judge whether the product power is sufficient based on the received potential, and then control the robot arm 310 to grasp the product with sufficient power. Of course, in actual work, other types of image acquisition devices on the market can be selected to obtain the product's power status according to the needs of production cost control, or devices with image recognition function can be used as image acquisition devices 210, which will not be elaborated here.

[0025] In one embodiment, the robotic arm 310 is a four-axis robotic arm, capable of positioning in the horizontal plane, positioning in the vertical direction, and rotating in the horizontal plane. Specifically, the robotic arm 310 includes a second fixed bracket 311 fixed to the upper surface of the cabinet 500, a first axis 312 mounted on the top of the second fixed bracket 311 and rotatable relative to the second fixed bracket 311 in the horizontal plane, a second axis 313 mounted on the movable end of the first axis 312 and rotatable relative to the first axis 312 in the horizontal plane, a third axis 314 mounted on the movable end of the second axis 313 and movable relative to the second axis 313, and a fourth axis 315 mounted on the bottom end of the third axis 314 and rotatable relative to the third axis 314 in the horizontal plane. The first axis 312 controls the basic orientation of the robot arm 310 within the working area; the second axis 313 controls the radial extension and retraction of the robot arm 310 in the horizontal plane; the third axis 314 controls the vertical position of the robot arm 310; and the fourth axis 315 controls the directional angle of the entire movable end of the robot arm 310, so as to adjust the angle of the product in the horizontal plane, aligning the gripping structure 320 with the product, or placing the product at a preset angle on the product clamping position on the testing station or turntable 110. Of course, in actual operation, a six-axis robot arm or other types of robots on the market can also be selected, as long as the movable end of the robot arm 310 can be positioned in the horizontal plane, positioned in the vertical direction, and rotated in the horizontal plane.

[0026] Please combine Figure 2 as well as Figure 7-8 The gripping structure 320 includes two pneumatic or electric grippers fixed to the bottom of the fourth shaft 315 and symmetrically arranged in a horizontal plane. A gripping space for gripping products is formed between the two claws 321 of the pneumatic or electric grippers. In this embodiment, the gripping structure 320 adopts a two-jaw pneumatic gripper. The pneumatic gripper includes a cylinder 322 fixed to the fourth shaft 315, a transmission mechanism connected to the bottom of the piston rod of the cylinder 322, a guide rail fixed to the lower end of the cylinder barrel of the cylinder 322, and two claws 321 arranged opposite to each other below the cylinder barrel of the cylinder 322 and slidably connected to the guide rail. Both claws 321 cooperate with the transmission mechanism, which can be a wedge mechanism, for example, a tapered guide block is provided at the end of the piston rod. An inclined surface adapted to the conical guide block is provided on the two claw plates 321 at the part that slides and limits with the guide rail. A T-shaped groove is opened on the inclined surface. The two sides of the conical guide block are slidably inserted into the T-shaped groove on the two claw plates 321. In this way, during the process of the piston rod driving the conical guide block to extend and retract, the compression of the side of the conical guide block with the inclined surface and the limiting of the conical guide block with the T-shaped groove will convert the vertical lifting and lowering of the piston rod into the synchronous reverse sliding of the two claw plates 321 in the horizontal direction. Of course, this transmission mechanism can also be a gear and rack or crank connecting rod mechanism, or other transmission mechanisms that can convert the vertical lifting and lowering of the piston rod of the cylinder 322 into the synchronous reverse sliding of the two claw plates 321 in the horizontal direction. It is only necessary to ensure that the two claw plates 321 can slide in opposite directions simultaneously during the inflation and deflation of the cylinder 322 to realize the opening and closing of the pneumatic gripper. In actual production, other types of two-jaw pneumatic grippers available on the market can also be used. For example, one jaw 321 of the pneumatic gripper can be fixed to the cylinder barrel or external support of the cylinder 322 (i.e., fixed jaw 321), while the other jaw 321 is directly fixedly connected to the telescopic rod of the cylinder 322 (i.e., movable jaw 321). The telescopic rod of the cylinder 322 drives the movable jaw 321 to move closer to or away from the fixed jaw 321, thereby realizing the opening and closing of the pneumatic gripper. Of course, the gripping structure 320 can also adopt the commonly available two-jaw electric gripper. In addition, an elastic protective pad 323 is fixed on the side of the jaw 321 located in the gripping space. This elastic protective pad 323 is made of sponge or silicone to prevent the jaw 321 from scratching the product when it comes into contact with it.

[0027] In one embodiment, the height sensor 410 is a laser sensor located on the product gripping and moving path of the robot arm 310 and fixedly connected to the upper surface of the cabinet 500, with the detection end of the laser sensor facing upward. Preferably, a third fixed bracket 420 is provided on the cabinet 500 between the turntable 110 and the robot arm 310. The height sensor 410 is installed on the third fixed bracket 420. In this way, when the robot arm 310 picks up a product from the turntable 110 and returns along the same path to remove the product from the turntable 110, the product will pass through the detection area of ​​the height sensor 410. Since the bottom of the product remains horizontal after it is placed in place, when the robot arm 310 carries the placed product through the detection area of ​​the height sensor 410, the distance from the bottom of the product to the detection end of the height sensor 410 detected by the height sensor 410 is a fixed value. Under the same operating parameters, when the robot arm 310 carries a product that is not placed in place through the detection area of ​​the height sensor 410, the distance from the bottom of the product to the detection end of the height sensor 410 changes, and the potential output by the height sensor 410 changes. The main controller then controls the robot arm 310 to put the product back into the product clamping position on the turntable 110 so that the product can be transferred to the unloading area 114 and then placed by the operator.

[0028] The handheld gimbal camera sorting and loading device of this invention features a product charging structure 130 on a turntable 110 and an image acquisition device 210 for detecting the battery level of products on the side of the turntable 110. The image acquisition device 210 identifies the battery level of products, allowing a robotic arm 310 to pick up products with sufficient battery power for testing, while products with insufficient battery power are charged on the turntable 110 via the product charging structure 130, thus eliminating interference with test results due to insufficient battery power. A height sensor 410 collects the height information of the products to remove products whose detection height has changed due to improper placement or tilting on the turntable 110, preventing these products from interfering with the testing process. This handheld gimbal camera sorting and loading device replaces manual sorting and identification, improving the efficiency of pre-test sorting and avoiding sorting errors caused by human fatigue, thus increasing sorting accuracy and facilitating effective subsequent product testing.

[0029] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0030] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A handheld gimbal camera sorting and feeding device, characterized in that, include: A rotary feeding mechanism includes a turntable and a rotary drive component that drives the turntable to rotate in a horizontal plane. The upper surface of the turntable is provided with multiple product clamping positions distributed along a ring path. Each product clamping position is provided with a product charging structure. The ring side of the turntable is provided with at least a feeding area, a power detection area, a picking area, and a unloading area arranged sequentially along the ring path. A power detection mechanism is provided in the power detection area, and the power detection mechanism includes at least an image acquisition device for acquiring an image of the power displayed on the product within the product clamping position; A material gripping mechanism is located on the side of the turntable. The material gripping mechanism includes a robotic arm and a gripping clamp structure fixed to the movable end of the robotic arm for gripping products that rotate to the material picking area on the turntable or for putting products back on the turntable. A height measuring mechanism is installed in the material handling area. The height measuring mechanism includes at least a height sensor for detecting the height of the product on the gripping structure. The robotic arm is electrically connected to the image acquisition device and the height sensor, respectively.

2. The handheld gimbal camera sorting and feeding device according to claim 1, characterized in that, It also includes a cabinet and a cover. The turntable, image acquisition device, robot arm and height sensor are all installed on the cabinet. The cabinet is equipped with a main controller that is electrically connected to the rotary drive, product charging structure, image acquisition device, robot arm, gripping structure and height sensor, and a power module that is electrically connected to the main controller. The cover is fixed to the upper part of the cabinet and covers the turntable, image acquisition device, robot arm and height sensor.

3. The handheld gimbal camera sorting and feeding device according to claim 2, characterized in that, The rotary loading mechanism also includes a fixed chassis and an electric slip ring. The fixed chassis is located on the loading side of the cabinet and fixed to the edge of the upper surface of the cabinet. The rotary drive is a servo motor installed on the lower surface of the fixed chassis and electrically connected to the main controller. The output end of the servo motor is connected to the turntable drive. The fixed part of the electric slip ring is fixedly connected to the upper surface of the fixed chassis and electrically connected to the main controller. The rotating part of the electric slip ring is fixedly connected to the turntable. The rotating part of the electric slip ring is electrically connected to the fixed part of the electric slip ring and the charging structure of each product.

4. The handheld gimbal camera sorting and feeding device according to claim 3, characterized in that, The rotary feeding mechanism also includes multiple positioning fixtures. The turntable has multiple through holes that penetrate the upper and lower surfaces of the turntable and are distributed along a circular path. The multiple positioning fixtures are fixed on the upper surface of the turntable and correspond one-to-one with each through hole. The positioning fixtures have mounting grooves to form the product clamping positions. The bottom surface of the mounting groove has a charging port that communicates with the through holes. Each product charging structure is fixed on the lower surface of the turntable and corresponds one-to-one with each through hole. The charging connectors of the product charging structures pass through the through holes and charging ports in sequence and extend into the mounting groove.

5. The handheld gimbal camera sorting and feeding device according to claim 3, characterized in that, The rotary feeding mechanism also includes a hollow reducer, which is mounted on a fixed chassis and works in conjunction with the servo motor. The output shaft of the hollow reducer is fixedly connected to the turntable.

6. The handheld gimbal camera sorting and feeding device according to claim 2, characterized in that, The power detection mechanism also includes a first fixed bracket located in the power detection area and fixedly connected to the upper surface of the cabinet. The image acquisition device is a CCD camera fixed to the top of the first fixed bracket and electrically connected to the main controller. The detection end of the CCD camera faces the turntable.

7. The handheld gimbal camera sorting and feeding device according to claim 2, characterized in that, The robotic arm is a four-axis robotic arm, including a second fixed bracket fixed to the upper surface of the cabinet, a first axis mounted on the top of the second fixed bracket and rotatable relative to the second fixed bracket in the horizontal plane, a second axis mounted on the movable end of the first axis and rotatable relative to the first axis in the horizontal plane, a third axis mounted on the movable end of the second axis and rotatable relative to the second axis, and a fourth axis mounted on the bottom end of the third axis and rotatable relative to the third axis in the horizontal plane.

8. The handheld gimbal camera sorting and feeding device according to claim 7, characterized in that, The gripping structure includes two pneumatic or electric grippers fixed to the bottom of the fourth shaft and symmetrically arranged in the horizontal plane. A gripping space for gripping products is formed between the two jaws of the pneumatic or electric grippers.

9. The handheld gimbal camera sorting and feeding device according to claim 8, characterized in that, An elastic protective pad is fixed to one side of the claw located in the gripping space.

10. The handheld gimbal camera sorting and feeding device according to claim 2, characterized in that, The height sensor is a laser sensor located on the product gripping and moving path of the robotic arm and fixedly connected to the upper surface of the cabinet, with the detection end of the laser sensor facing upwards.

Images