A pose-capturing automatic marking device

Abstract

The utility model discloses a kind of posture capture automatic marking device, including bottom plate, posture arrangement bin is equipped on bottom plate, posture capture camera, first grabbing mechanism, second grabbing mechanism, automatic marking machine, conveying mechanism;Posture capture camera is equipped in posture arrangement bin top, product is placed in posture arrangement bin and posture capture is carried out by posture capture camera;First grabbing mechanism is equipped in posture arrangement bin one side for grabbing the product of correct posture, second grabbing mechanism is equipped in first grabbing mechanism one side for grabbing product from first grabbing mechanism and carries out posture adjustment;Conveying mechanism is equipped between first grabbing mechanism and second grabbing mechanism, automatic marking machine is equipped in conveying mechanism top, product is sent to automatic marking machine by second grabbing mechanism, and it is marked after falling to conveying mechanism and is output for output after marking.The utility model can carry out posture capture to product, utilize mechanical hand cooperation and adjust posture, automatic marking output, operation is accurate, and large-scale production operation can be realized.

Description

Technical Field

[0001] This utility model relates to the field of electronic precision component manufacturing and installation technology, and in particular to an attitude capture automatic marking device. Background Technology

[0002] Our company currently has small products that require marking on the side during the production process. Due to the flat structure and small size of the products, the side area is small, and manual operation cannot achieve continuous and accurate production operations, which is not conducive to the company's large-scale mass production. Utility Model Content

[0003] This utility model aims to solve the technical problems existing in the prior art and provides an automatic marking device for posture capture. It can capture the posture of the product, and after the robot arm is used to grasp and adjust the posture of the product, it can realize the automatic marking and output of the product. The operation is precise and can realize large-scale production operations.

[0004] The technical solution of this utility model is: an automatic marking device for posture capture, including a base plate, on which a posture arrangement bin, a posture capture camera, a first gripping mechanism, a second gripping mechanism, an automatic marking machine, and a conveying mechanism are provided; the posture capture camera is located above the posture arrangement bin, and the product is placed in the posture arrangement bin for posture capture by the posture capture camera; the first gripping mechanism is located on one side of the posture arrangement bin for gripping products with correct posture, and the second gripping mechanism is located on one side of the first gripping mechanism for gripping products from the first gripping mechanism and adjusting their posture; the conveying mechanism is located between the first gripping mechanism and the second gripping mechanism, and the automatic marking machine is located above the conveying mechanism. The product is sent by the second gripping mechanism to the automatic marking machine for marking and then falls onto the conveying mechanism for output.

[0005] Furthermore, in this utility model, the base plate is provided with two uprights, the top of the two uprights is provided with clamping blocks, a fixing rod is provided between the two clamping blocks, a clamping bracket is provided on the fixing rod, and the attitude capture camera is mounted on the clamping bracket.

[0006] Furthermore, in this utility model, the first gripping mechanism includes a robotic arm and a first gripper assembly connected to the robotic arm. The first gripper assembly includes a first gripper that is driven to open and close by a first gripper cylinder.

[0007] Furthermore, in this utility model, the second gripping mechanism includes a linear module, a telescopic component connected to the linear module, a rotating component connected to the telescopic component, and a second gripper component connected to the rotating component.

[0008] Furthermore, in this utility model, the length of the linear module extends along the length direction of the conveying mechanism, a sliding plate is connected to the linear module, and the telescopic assembly includes a telescopic cylinder disposed on the sliding plate and a telescopic plate connected to the telescopic cylinder.

[0009] Furthermore, the rotating assembly of this utility model includes a rotating cylinder disposed on the telescopic plate and a rotating head connected to the rotating cylinder. The rotating head is provided with a plurality of sensing plates, and the telescopic plate is provided with a photoelectric sensor for detecting the sensing plates.

[0010] Furthermore, in this utility model, the second gripper assembly includes a second gripper cylinder connected to the rotating head and a second gripper driven to open and close by the second gripper cylinder.

[0011] Furthermore, the conveying mechanism described in this utility model includes a conveyor belt, and the output end of the conveyor belt is provided with a guide plate.

[0012] Compared with the prior art, this utility model has the following advantages: This utility model can use an attitude capture camera to capture the attitude of the product. The first gripping mechanism is used to grab the product with the correct attitude and transfer it to the second gripping mechanism. The second gripping mechanism cooperates to grab the product and then adjust its attitude, turning the product 90 degrees so that the side to be marked is facing up. Finally, the automatic marking machine automatically marks the product, and the finished product falls onto the conveyor belt below and is automatically output. The operation is more precise and can realize large-scale production operations. Attached Figure Description

[0013] Figure 1 This is a perspective view of the present utility model; Figure 2 This is a schematic diagram showing the arrangement of the attitude arrangement chamber, the attitude capture camera, the first gripping mechanism, and the second gripping mechanism described in this utility model. Figure 3 This is a schematic diagram of the product arrangement inside the posture arrangement compartment described in this utility model; Figure 4 This is a schematic diagram of the specific structure of the first gripping mechanism in this utility model; Figure 5 This is a schematic diagram of the specific structure of the second gripping mechanism in this utility model; Figure 6 This is a schematic diagram of the structure of the product described in this utility model after marking.

[0014] in: 1. Base plate; 2. Attitude arrangement compartment; 3. Attitude capture camera; 4. First gripping mechanism; 401. Robotic arm; 402. First gripper assembly; 4021. First gripper cylinder; 4022. First gripper; 5. Second gripping mechanism; 501. Linear module; 5011. Sliding plate; 502. Telescopic assembly; 5021. Telescopic cylinder; 5022. Telescopic plate; 503. Rotating assembly; 5031. Rotating cylinder; 5032. Rotating head; 5033. Sensing plate; 5034. Photoelectric sensor; 504. Second gripper assembly; 5041. Second gripper cylinder; 5042. Second gripper; 6. Automatic marking machine; 7. Conveying mechanism; 701. Conveyor belt; 702. Guide sloping plate; 8. Frame; 9. Clamping block; 10. Fixing rod; 11. Clamping bracket; a. Product. Detailed Implementation

[0015] The specific embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0016] Example: The accompanying drawings illustrate a specific embodiment of the attitude capture automatic marking device of this utility model. Figure 1 It mainly includes a base plate 1, on which are mounted an attitude arrangement chamber 2, an attitude capture camera 3, a first gripping mechanism 4, a second gripping mechanism 5, an automatic marking machine 6, and a conveying mechanism 7.

[0017] An attitude capture camera 3 is positioned above the attitude arrangement chamber 2. Product a is placed inside the attitude arrangement chamber 2, and its attitude is captured by the attitude capture camera 3. Figure 2 Two uprights 8 are mounted on the base plate 1. Each upright 8 has a clamping block 9 at its top. A fixing rod 10 is positioned between the two clamping blocks 9, clamping the front ends of the two clamping blocks 9. A clamping bracket 11 is located in the middle of the fixing rod 10, extending forward. The attitude capture camera 3 is mounted at the front end of the clamping bracket 11, above the attitude alignment chamber 2. Product a inside the attitude alignment chamber 2 is as follows... Figure 3 As shown, product a has a flat bottom surface, and the bottom surface facing down is the target capture product. The first gripping mechanism 4 grips this target capture product. The attitude arrangement chamber 2 uses a flexible vibratory feeder from Danikor, which can vibrate the product so that its bottom surface faces down for the first gripping mechanism 4 to grip.

[0018] The first gripping mechanism 4 is located on one side of the attitude arrangement chamber 2, combined with... Figure 2 , Figure 4The first gripping mechanism 4 includes a robotic arm 401 and a first gripper assembly 402 connected to the robotic arm 401. The first gripper assembly 402 includes a first gripper 4022 driven to open and close by a first gripper cylinder 4021. The robotic arm 401 is prior art and will not be described in detail here. The robotic arm 401 can drive the first gripper assembly 402 to move to a designated position to grip the product a with the correct posture according to the data coordinates provided by the posture capture camera 3. The gripped product a is placed face down and then sent to the second gripping mechanism 5.

[0019] The second gripping mechanism 5 is located on one side of the first gripping mechanism 4, in combination with... Figure 2 , Figure 5 The second gripping mechanism 5 includes a linear module 501, on which a sliding plate 5011 is connected. The linear module 501 can drive the sliding plate 5011 to move back and forth along a straight line. The linear module 501 is existing technology and will not be described in detail here.

[0020] The linear module 501 is connected to a telescopic assembly 502. The telescopic assembly 502 includes a telescopic cylinder 5021 disposed on a sliding plate 5011 and a telescopic plate 5022 connected to the telescopic cylinder 5021. The telescopic cylinder 5021 can drive the telescopic plate 5022 to extend.

[0021] The telescopic assembly 502 is connected to a rotating assembly 503. The rotating assembly 503 includes a rotary cylinder 5031 mounted on the telescopic plate 5022 and a rotating head 5032 connected to the rotary cylinder 5031. The rotating head 5032 is equipped with two sensing plates 5033, with an included angle of 90° between the two sensing plates 5033. The rotating head 5032 can drive the sensing plates 5033 to rotate, causing the two sensing plates 5033 to sequentially switch to the top position. The top of the telescopic plate 5022 is also equipped with a photoelectric sensor 5034 for detecting the sensing plates 5033. The rotation angle of the rotating head 5032 can be detected by the cooperation of the photoelectric sensor 5034 and the two sensing plates 5033.

[0022] The rotating assembly 503 is connected to a second gripper assembly 504. The second gripper assembly 504 includes a second gripper cylinder 5041 connected to the rotating head 5032 and a second gripper 5042 driven by the second gripper cylinder 5041 to open and close. When the second gripper 5042 grips the material, it is in a vertical state and can extend into the first gripper 4022 to grasp product a, clamping the bottom and top surfaces of product a. Then it rotates 90° so that the side of product a faces upwards. Figure 5 As shown, this is in preparation for marking.

[0023] Reference Figure 1The conveying mechanism 7 is located between the first gripping mechanism 4 and the second gripping mechanism 5. The conveying mechanism 7 includes a conveyor belt 701, which is arranged parallel to the linear module 501. The output end of the conveyor belt 701 is provided with a guide ramp 702 to guide product a to slide down and be output. The automatic marking machine 6 is located above the conveying mechanism 7. After being marked by the automatic marking machine 6, product a falls onto the conveying mechanism 7 for output.

[0024] In operation, the attitude capture camera 3 captures the attitude of product a within the attitude arrangement chamber 2. The product with its bottom facing down is the target product. If no target product is found, the attitude arrangement chamber 2 vibrates the product to make its bottom face down. Then, the robotic arm 401 of the first gripping mechanism 4, based on the data coordinates provided by the attitude capture camera 3, drives the first gripper assembly 402 to move to a designated position to grasp the correctly oriented product a. The grasped product a is bottom-down. Product a is then delivered to the junction position with the second gripping mechanism 5. The linear module 501 of the second gripping mechanism 5 drives the second gripper assembly 504 to move to the junction position. The telescopic cylinder 5021 then drives the second gripper assembly 504 to extend. At this point, the second gripper 5042 is in a vertical position, extending into the first gripper 4022 to grasp product a. After grasping, it retracts, and the rotary cylinder 5031 rotates product a 90° so that the side to be marked faces up, preparing it for marking. Finally, the linear module 501 drives the second gripper assembly 504 and product a to move below the automatic marking machine 6. The automatic marking machine 6 retrieves the required marking information and marks the side of product a. After marking is completed, as shown... Figure 6 As shown, the second gripper 5042 then releases, and the marked product a falls onto the conveyor belt 701 below for automatic output.

[0025] Of course, the above embodiments are only for illustrating the technical concept and features of this utility model, and their purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be used to limit the protection scope of this utility model. All modifications made in accordance with the spirit and essence of the main technical solution of this utility model should be covered within the protection scope of this utility model.

Claims

1. An automatic marking device for attitude capture, characterized in that: The system includes a base plate (1), on which are provided a posture arrangement chamber (2), a posture capture camera (3), a first gripping mechanism (4), a second gripping mechanism (5), an automatic marking machine (6), and a conveying mechanism (7). The posture capture camera (3) is located above the posture arrangement chamber (2), and the product (a) is placed in the posture arrangement chamber (2) and its posture is captured by the posture capture camera (3). The first gripping mechanism (4) is located on one side of the posture arrangement chamber (2) to grip the product (a) with the correct posture, and the second gripping mechanism (5) is located on one side of the first gripping mechanism (4) to grip the product (a) from the first gripping mechanism (4) and adjust its posture. The conveying mechanism (7) is located between the first gripping mechanism (4) and the second gripping mechanism (5), and the automatic marking machine (6) is located above the conveying mechanism (7). The product (a) is sent by the second gripping mechanism (5) to the automatic marking machine (6) for marking and then falls onto the conveying mechanism (7) for output.

2. The attitude capture automatic marking device according to claim 1, characterized in that: The base plate (1) is provided with two uprights (8), and the top of the two uprights (8) is provided with clamping blocks (9). A fixing rod (10) is provided between the two clamping blocks (9), and a clamping bracket (11) is provided on the fixing rod (10). The attitude capture camera (3) is installed on the clamping bracket (11).

3. The attitude capture automatic marking device according to claim 1, characterized in that: The first gripping mechanism (4) includes a robotic arm (401) and a first gripper assembly (402) connected to the robotic arm (401). The first gripper assembly (402) includes a first gripper (4022) driven to open and close by a first gripper cylinder (4021).

4. The attitude capture automatic marking device according to claim 1, characterized in that: The second gripping mechanism (5) includes a linear module (501), a telescopic component (502) connected to the linear module (501), a rotating component (503) connected to the telescopic component (502), and a second gripper component (504) connected to the rotating component (503).

5. The attitude capture automatic marking device according to claim 4, characterized in that: The length of the linear module (501) extends along the length direction of the conveying mechanism (7). A sliding plate (5011) is connected to the linear module (501). The telescopic assembly (502) includes a telescopic cylinder (5021) disposed on the sliding plate (5011) and a telescopic plate (5022) connected to the telescopic cylinder (5021).

6. The attitude capture automatic marking device according to claim 5, characterized in that: The rotating assembly (503) includes a rotating cylinder (5031) disposed on the telescopic plate (5022) and a rotating head (5032) connected to the rotating cylinder (5031). The rotating head (5032) is provided with a plurality of sensing plates (5033), and the telescopic plate (5022) is provided with a photoelectric sensor (5034) for detecting the sensing plates (5033).

7. The attitude capture automatic marking device according to claim 6, characterized in that: The second gripper assembly (504) includes a second gripper cylinder (5041) connected to the rotating head (5032) and a second gripper (5042) driven to open and close by the second gripper cylinder (5041).

8. The attitude capture automatic marking device according to claim 1, characterized in that: The conveying mechanism (7) includes a conveyor belt (701), and the output end of the conveyor belt (701) is provided with a guide sloping plate (702).

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