CN209263968U - A kind of dynamic following patch box vision positioning device - Google Patents
A kind of dynamic following patch box vision positioning device Download PDFInfo
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- CN209263968U CN209263968U CN201920224796.7U CN201920224796U CN209263968U CN 209263968 U CN209263968 U CN 209263968U CN 201920224796 U CN201920224796 U CN 201920224796U CN 209263968 U CN209263968 U CN 209263968U
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- transfer assembly
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Abstract
A kind of dynamic following patch box vision positioning device, comprising: workbench, outer casing frame, robot, transfer assembly, plate body feeding material component and detection device；Outer casing frame is installed on workbench；Robot is installed on workbench；Transfer assembly passes through the two sides of outer casing frame, and is installed on workbench；Transfer assembly is used to transmit leatheroid to the direction of robot；Plate body feeding material component is installed on workbench, has cardboard；Detection device is installed on outer casing frame, and is located at the top of transfer assembly, the leatheroid successively passed through for detecting lower section；Robot is used to clamp the cardboard being located on plate body feeding material component, and is sequentially placed on the leatheroid of transfer assembly；Transfer assembly intermittence stops after leatheroid to be sent to the Working position of robot, and robot is clamped from plate body feeding material component on the leatheroid for fitting in transfer assembly after plate body.The continual operation conveyer belt of the design energy, efficiently quickly patch box, precision height can replace the efficiency for manually improving patch box completely.
Description
Technical field
The utility model relates to robotic technology fields more particularly to a kind of dynamic following to paste box vision positioning device.
Background technique
In the prior art, it when processing paper piece, needs to conform to cardboard at leatheroid, then carries out down one of work
Sequence；Manual work is usually used in the prior art, and the position of manual identified feeding leatheroid manually takes hardboard fitting up.And
The step generally requires a large amount of labour, and low efficiency and fitting low efficiency, is unfavorable for the manufacturing cost of enterprise.
Utility model content
The purpose of this utility model is that propose a kind of dynamic following patch box vision positioning device, robot automation's
Feeding and feeding, and cardboard and leatheroid are carried out by automatic attaching by detection device.
For this purpose, the utility model uses following technical scheme:
A kind of dynamic following patch box vision positioning device, comprising: workbench, outer casing frame, robot, transfer assembly, plate body
Feeding material component and detection device；
The outer casing frame is installed on the workbench；The robot is installed on the workbench；The transfer assembly
Across the two sides of the outer casing frame, and it is installed on the workbench；The transfer assembly is used to pass to the direction of the robot
Paper feeding skin；The plate body feeding material component is installed on the workbench, has cardboard；The detection device is installed on described outer
In cage, and it is located at the top of the transfer assembly, the leatheroid successively passed through for detecting lower section；The robot is for clamping
Cardboard on the plate body feeding material component, and be sequentially placed on the leatheroid of the transfer assembly；
The transfer assembly intermittence stops after leatheroid to be sent to the Working position of the robot, the robot from
It is fitted on the leatheroid of the transfer assembly after clamping plate body at the plate body feeding material component.
It further explains, the clamp part of the robot is equipped with gripper assembly；
The gripper assembly includes: output main shaft, output bottom plate, output pedestal and sucker；
The output bottom plate is connected to the output main shaft, and the output pedestal is fixed on the output bottom plate, the suction
Disk is installed on the output pedestal；The adjustable connection vacuum of the sucker.
It further explains, the artificial SCARA robot of machine.
It further explains, the detection device includes: location confirmation camera, positioning camera and fitting camera；
The location confirmation camera, the positioning camera and the fitting camera are arranged successively and are installed on the outer casing frame
On, make lower section of the leatheroid of the transfer assembly successively through excessively described location confirmation camera and the positioning camera.
It further explains, the detection device further include: blanking adjusts camera；
The location confirmation camera, the positioning camera, the fitting camera and the blanking adjust camera and are arranged successively
It is installed on the outer casing frame.
It further explains, the detection device includes: detection lamp；
The detection lamp is installed on the outer casing frame.
It further explains, the plate body feeding material component includes: feeding pedestal, feeding driving assembly, deposits plate shell and release
Plate；
The feeding pedestal is installed on the workbench；The feeding pedestal is equipped with several guide rails；It is described to deposit plate
Shell is set to the feeding pedestal, and is located on the guide rail, and the plate shell of depositing is for storing cardboard；The feeding driving
The output end of component is connected to the both ends for releasing plate；
Under the driving effect of the feeding driving assembly, the cardboard for depositing plate shell lowermost end is pushed by the release plate
Close to one end of the robot.
It further explains, the feeding driving assembly includes: feeding driving roller, feeding passive roller, feeding transmission
Band and feeding motor；
The both ends of the feeding driving roller are pivotally mounted in the feeding pedestal；The feeding passive roller can turn
It is dynamic to be installed in the feeding pedestal；The both ends of the infeed conveyor are connected to the feeding driving roller and described send
Expect passive roller；The output end of the feeding motor is drivingly connected in the feeding driving roller；The both ends for releasing plate
Fix the infeed conveyor respectively, under the infeed conveyor induced effect, the release plate deposits plate shell most bottom for described
The cardboard at end is pushed into close to one end of the robot.
It further explains, the plate of releasing is equipped with the inclination for contacting with the plate body for depositing plate shell lowermost end
Pushing block；
The inclination pushing block is equipped with inclined surface.
It further explains, the inclination pushing block is equipped with horizontal push plate between the inclined surface；
The horizontal push plate is located at the upper end of the inclined surface.
The utility model has the beneficial effects that
The continual operation conveyer belt of the design energy, efficiently quickly patch box, precision height can replace manually completely, improve
The efficiency of patch box.
Detailed description of the invention
Fig. 1 is the structure chart of positioning device；
Fig. 2 is the structure chart of robot；
Fig. 3 is the structure chart of gripper assembly；
Fig. 4 is the structure chart of plate body feeding material component；
Fig. 5 is the structure chart for releasing plate；
Fig. 6 is the structure chart for tilting pushing block；
Wherein:
Workbench 1, outer casing frame 2, robot 3, transfer assembly 4, plate body feeding material component 5, detection device 6；Leatheroid 7；Cardboard
8；
Gripper assembly 003；Export main shaft 31, output bottom plate 32, output pedestal 33, sucker 34；
Location confirmation camera 61, positioning camera 62, fitting camera 63, blanking adjust camera 64, detection lamp 65；
Feeding pedestal 51, feeding driving assembly 52 deposit plate shell 53, release plate 54；Guide rail 511；
Feeding driving roller 521, feeding passive roller 522, infeed conveyor 523, feeding motor 524；
Tilt pushing block 541；Inclined surface 5411；Horizontal push plate 5412.
Specific embodiment
The technical solution of the utility model is further illustrated by specific embodiment with reference to the accompanying drawing.
A kind of dynamic following pastes box vision positioning device, comprising: workbench 1, outer casing frame 2, robot 3, transfer assembly 4,
Plate body feeding material component 5 and detection device 6；
The outer casing frame 2 is installed on the workbench 1；The robot 3 is installed on the workbench 1；The transmission
Component 4 passes through the two sides of the outer casing frame 2, and is installed on the workbench 1；The transfer assembly 4 is used for the robot 3
Direction transmit leatheroid 7；The plate body feeding material component 5 is installed on the workbench 1, has cardboard 8；The detection device
6 are installed on the outer casing frame 2, and are located at the top of the transfer assembly 4, the leatheroid 7 successively passed through for detecting lower section；Institute
Robot 3 is stated for clamping the cardboard 8 being located on the plate body feeding material component 5, and is sequentially placed in the paper of the transfer assembly 4
On skin 7；
4 intermittence of transfer assembly stops after leatheroid 7 to be sent to the Working position of the robot 3, the machine
People 3 fits on the leatheroid 7 of the transfer assembly 4 after clamping plate body from the plate body feeding material component 5.
It further explains, leatheroid 7 is fed one end and entered by the transfer assembly 4 of the design, after testing the lower section of device 6
Intermittent afterwards to stop, robot 3 can grab the cardboard 8 on plate body feeding material component 5 and fit in leatheroid 7, be examined during the fitting
The monitoring of device 6 is surveyed, detection device 6 can be positioned, calculated and be detected fitting effect to the leatheroid 7 of scanning area；And control biography
Sending component 4 and plate body feeding material component 5；And transfer assembly 4 is after cardboard 8 is fitted in leatheroid 7 based on robot 3, to make and open
It is dynamic, next leatheroid 7 not being bonded is sent to the Working position of the robot 3；Meanwhile plate body feeding material component 5 can be by paper
Plate 8 reaches the effect of the rotatable clamping of robot 3, to realize the effect of vision dynamic following fitting, reaches automation fitting
Effect.
It further explains, the clamp part of the robot 3 is equipped with gripper assembly 003；
The gripper assembly 003 includes: output main shaft 31, output bottom plate 32, output pedestal 33 and sucker 34；
The output bottom plate 32 is connected to the output main shaft 31, and the output pedestal 33 is fixed on the output bottom plate
32, the sucker 34 is installed on the output pedestal 33；The adjustable connection vacuum of the sucker 34.
It further explains, the output position for the robot 3 that the design uses is connected to output main shaft 31, utilizes robot 3
The system control output main shaft 31 of itself rotates, to realize the effect of the clamp part rotation of control robot 3；And sucker 34
Vacuum is connected, cardboard 8 is sucked using negative pressure, to reduce damage of the robot 3 to cardboard 8 as far as possible, has structure simple, folder
The good effect of holding effect fruit.
It further explains, the robot 3 is SCARA robot.
The robot 3 that the design uses is SCARA robot, has 3 rotary joints, is best suited for plane positioning,
Operating flexibility is high.
It further explains, the detection device 6 includes: location confirmation camera 61, positioning camera 62 and fitting camera 63；
The location confirmation camera 61, the positioning camera 62 and the fitting camera 63, which are arranged successively, to be installed on outside described
In cage 2, make the leatheroid 7 of the transfer assembly 4 successively through the excessively described location confirmation camera 61 and the positioning camera 62
Lower section.
It further explains, location confirmation camera 61 is used to confirm the position of leatheroid 7, and it is given to be responsible for detection trigger signal
Position camera 62；
Positioning camera 62 is responsible for detection and is calculated, and calculates the dimension information of leatheroid 7, then by robot 3 to cardboard 8
It is bonded using leatheroid 7；
It is bonded camera 63 to be responsible for examining fitting effect, prevents fitting poor, influence to be bonded efficiency.
Blanking, which adjusts camera 64, can be used as driving the transmission speed of transfer assembly 4 or to blanking device at transfer assembly 4
Blanking velocity.
Leatheroid 7 on transfer assembly 4 presses certain continuous supplied materials of spacing, when running to location confirmation 61 visual field of camera,
Detection trigger signal feeding position camera 62, takes pictures when leatheroid 7 runs to the field range of positioning camera 62, with certain
Algorithm detect the center and angle position of leatheroid 7, and pass this data onto SCARA, at this time SCARA drawn by
Plate body feeding material component 5 pushes the hardboard 8 to come and waits.SCARA follows the speed of pipeline and rotates one after receiving data
Cardboard 8 is placed on leatheroid 7 by fixed angle.It is bonded the effect that camera 63 is responsible for detection patch box, if driving not up to standard is rejected
Function or alarm.
It further explains, the detection device 6 further include: blanking adjusts camera 64；
The location confirmation camera 61, the positioning camera 62, the fitting camera 63 and the blanking adjust camera 64
It is arranged successively and is installed on the outer casing frame 2.
It further explains, the leatheroid 7 of the design is successively by the location confirmation camera 61, positioning camera 62, described
It is bonded camera 63 and the blanking adjusts the lower section of camera 64, and detected respectively by each camera correspondence, realize control
The effect of transmission speed.
It further explains, the detection device 6 includes: detection lamp 65；
The detection lamp 65 is installed on the outer casing frame 2.
It further explains, detection lamp 65 is irradiated in the position that transfer assembly 4 arranges leatheroid 7, makes at this of transfer assembly 4
Show visual identity field, it is easier to identify to leatheroid 7, improve discrimination.
It further explains, the plate body feeding material component 5 includes: feeding pedestal 51, feeding driving assembly 52, deposits plate shell 53
With release plate 54；
The feeding pedestal 51 is installed on the workbench 1；The feeding pedestal 51 is equipped with several guide rails 511；
The plate shell 53 of depositing is set to the feeding pedestal 51, and is located on the guide rail 511, and the plate shell 53 of depositing is for storing
Cardboard 7；The output end of the feeding driving assembly 52 is connected to the both ends for releasing plate 54；
Under the driving effect of the feeding driving assembly 52, the release plate 54 is by the paper for depositing 53 lowermost end of plate shell
Plate 7 is pushed into close to one end of the robot 3.
It further explains, the plate shell 53 of depositing in the design stores the cardboard 8 stacked, and release plate 54, which will push, deposits plate
One block of cardboard 8 of 53 bottommost of shell realizes the effect of transmission cardboard 8 to the position close to robot 3.
Further explain, the feeding driving assembly 52 include: feeding driving roller 521, feeding passive roller 522,
Infeed conveyor 523 and feeding motor 524；
The both ends of the feeding driving roller 521 are pivotally mounted in the feeding pedestal 51；The feeding is passively rolled
Wheel 522 is pivotally mounted in the feeding pedestal 51；The both ends of the infeed conveyor 523 are connected to the feeding master
Dynamic idler wheel 521 and the feeding passive roller 522；The output end of the feeding motor 524 is drivingly connected in the feeding actively
Idler wheel 521；The infeed conveyor 523 is fixed at the both ends for releasing plate 54 respectively, and the infeed conveyor 523 is with movement
Under, the cardboard 8 for depositing 53 lowermost end of plate shell is pushed into close to one end of the robot 3 by the plate 54 of releasing.
It further explains, feeding driving roller 521 is driven by feeding motor 524 to be rotated, and drives infeed conveyor
523, infeed conveyor 523 drives feeding passive roller 522 again；Both ends due to releasing plate 54 are connected with infeed conveyor
523, under infeed conveyor 523 drives, releases plate 54 and excessively deposited the bottom of plate shell 53, so that cardboard 8 be released；It realizes certainly
The dynamic effect for releasing cardboard 8.
It further explains, the plate 54 of releasing is equipped with for contacting with the plate body for depositing 53 lowermost end of plate shell
Tilt pushing block 541；
The inclination pushing block 541 is equipped with inclined surface 5411.
It further explains, inclination pushing block 541 is contacted with by inclined surface 5411 and deposits 53 lowermost end of plate shell, and inclined surface
5411 act on can be reduced the impact for tilting pushing block 541 to cardboard 8 under inclined end face effect, prevent the damage of cardboard 8.
It further explains, the inclination pushing block 541 is equipped with horizontal push plate 5412 between the inclined surface 5411；
The horizontal push plate 5412 is located at the upper end of the inclined surface 5411.
It further explains, horizontal push plate 5412 is located at the upper end of inclined surface 5411, when the edge inclination for depositing 53 bottom of plate shell
After horizontal push plate 5412, horizontal push plate 5412 can provide horizontally-supported for the release of cardboard 8 for the inclined surface 5411 of pushing block 541
Effect.
Technical principle of the utility model has been described above with reference to specific embodiments.These descriptions are intended merely to explain this reality
With novel principle, and it cannot be construed to the limitation to scope of protection of the utility model in any way.Based on the explanation herein,
Those skilled in the art, which does not need to pay for creative labor, can associate with other specific implementation modes of this utility model,
These modes are fallen within the protection scope of the utility model.
Claims (10)
1. a kind of dynamic following pastes box vision positioning device characterized by comprising workbench, outer casing frame, robot, transmission
Component, plate body feeding material component and detection device；
The outer casing frame is installed on the workbench；The robot is installed on the workbench；The transfer assembly passes through
The two sides of the outer casing frame, and it is installed on the workbench；The transfer assembly is used to transmit paper to the direction of the robot
Skin；The plate body feeding material component is installed on the workbench, has cardboard；The detection device is installed on the outer casing frame
On, and it is located at the top of the transfer assembly, the leatheroid successively passed through for detecting lower section；The robot is located at for clamping
Cardboard on the plate body feeding material component, and be sequentially placed on the leatheroid of the transfer assembly；
The transfer assembly intermittence stops after leatheroid to be sent to the Working position of the robot, and the robot is from described
It is fitted on the leatheroid of the transfer assembly after clamping plate body at plate body feeding material component.
2. a kind of dynamic following according to claim 1 pastes box vision positioning device, which is characterized in that the robot
Clamp part is equipped with gripper assembly；
The gripper assembly includes: output main shaft, output bottom plate, output pedestal and sucker；
The output bottom plate is connected to the output main shaft, and the output pedestal is fixed on the output bottom plate, the sucker peace
Loaded on the output pedestal；The adjustable connection vacuum of the sucker.
3. a kind of dynamic following according to claim 2 pastes box vision positioning device, which is characterized in that the machine is artificial
SCARA robot.
4. a kind of dynamic following according to claim 1 pastes box vision positioning device, which is characterized in that the detection device
It include: location confirmation camera, positioning camera and fitting camera；
The location confirmation camera, the positioning camera and the fitting camera are arranged successively and are installed on the outer casing frame, make
Lower section of the leatheroid of the transfer assembly successively through excessively described location confirmation camera and the positioning camera.
5. a kind of dynamic following according to claim 4 pastes box vision positioning device, which is characterized in that the detection device
Further include: blanking adjusts camera；
The location confirmation camera, the positioning camera, the fitting camera and the blanking adjust camera and are arranged successively installation
In on the outer casing frame.
6. a kind of dynamic following patch box vision positioning device according to claim 4~5 any one, which is characterized in that
The detection device includes: detection lamp；
The detection lamp is installed on the outer casing frame.
7. a kind of dynamic following according to claim 1 pastes box vision positioning device, which is characterized in that the plate body feeding
Component includes: feeding pedestal, feeding driving assembly, deposits plate shell and release plate；
The feeding pedestal is installed on the workbench；The feeding pedestal is equipped with several guide rails；The plate shell of depositing is set
It is placed in the feeding pedestal, and is located on the guide rail, the plate shell of depositing is for storing cardboard；The feeding driving assembly
Output end be connected to it is described release plate both ends；
Under the driving effect of the feeding driving assembly, the cardboard for depositing plate shell lowermost end is pushed into close by the release plate
One end of the robot.
8. a kind of dynamic following according to claim 7 pastes box vision positioning device, which is characterized in that the feeding driving
Component includes: feeding driving roller, feeding passive roller, infeed conveyor and feeding motor；
The both ends of the feeding driving roller are pivotally mounted in the feeding pedestal；The feeding passive roller is rotatably pacified
Loaded in the feeding pedestal；The both ends of the infeed conveyor are connected to the feeding driving roller and the feeding quilt
Dynamic idler wheel；The output end of the feeding motor is drivingly connected in the feeding driving roller；The both ends difference for releasing plate
The fixed infeed conveyor, under the infeed conveyor induced effect, the plate of releasing is by the plate shell lowermost end of depositing
Cardboard is pushed into close to one end of the robot.
9. a kind of dynamic following according to claim 8 pastes box vision positioning device, which is characterized in that the release plate
It is equipped with the inclination pushing block for contacting with the plate body for depositing plate shell lowermost end；
The inclination pushing block is equipped with inclined surface.
10. a kind of dynamic following according to claim 9 pastes box vision positioning device, which is characterized in that the inclination pushes away
Block is equipped with horizontal push plate between the inclined surface；
The horizontal push plate is located at the upper end of the inclined surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920224796.7U CN209263968U (en) | 2019-02-22 | 2019-02-22 | A kind of dynamic following patch box vision positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920224796.7U CN209263968U (en) | 2019-02-22 | 2019-02-22 | A kind of dynamic following patch box vision positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209263968U true CN209263968U (en) | 2019-08-16 |
Family
ID=67585304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920224796.7U Active CN209263968U (en) | 2019-02-22 | 2019-02-22 | A kind of dynamic following patch box vision positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209263968U (en) |
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2019
- 2019-02-22 CN CN201920224796.7U patent/CN209263968U/en active Active
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