CN109759815A - A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms - Google Patents
A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms Download PDFInfo
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- CN109759815A CN109759815A CN201910131540.6A CN201910131540A CN109759815A CN 109759815 A CN109759815 A CN 109759815A CN 201910131540 A CN201910131540 A CN 201910131540A CN 109759815 A CN109759815 A CN 109759815A
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Abstract
The invention discloses a kind of positioning of CCD vision-based detection and vacuum absorption mechanisms, it is mounted in bottom plate charging equipment, for visual determination bottom plate position during iron plate automatic charging and vacsorb bottom plate, including the CCD vision-based detection positioning component for visual determination positioning plate, vacsorb component for vacsorb bottom plate, for driving vacsorb component and CCD vision-based detection positioning component moves mould group along the X-axis that X-axis and Y-axis move respectively together and Y-axis moves mould group, and it is respectively used to the Z axis reciprocating mechanism and Z axis rotating mechanism that under on driving vacsorb component move up and down along Z axis and rotated along Z axis in 360 degree of directions.CCD vision-based detection positioning of the present invention and vacuum absorption mechanisms have many advantages, such as that position judgement standard, mechanical flexibility, vacsorb component absorption product stability are good and 360 rotations are without around pipe.
Description
Technical field
The present invention relates to electric iron package technique fields, specially sentence during iron plate automatic charging for vision
The CCD vision-based detection positioning of disconnected bottom plate position and vacsorb bottom plate and vacuum absorption mechanisms.
Background technique
Electric iron structure is simple, and manufacture is easy, and is the tool of smooth clothes and cloth, quickly grows in recent years；Utilize electricity
Flatiron ironing clothes, it has also become one of essential electric appliance in people's daily life at present.
Bottom plate is the important component of electric iron, and the selection of different type iron plate material is also variant；Copper, aluminium close
Gold, teflon non-stick bottom plate, ceramics etc., weight is generally higher than 0.25KG；Bottom plate is contacted with clothes when ironing, uniformly transfer heat；
Bottom plate needs bright and clean, smooth clothes and not viscous clothes.
It can be seen that bottom plate plays the role of vital, the especially smooth appearance of bottom plate, product product in electric iron
The consistency of matter has the influence of matter to the quality of electric iron.The assembling of electric iron relies primarily on man-made assembly at present, this kind of group
Dress mode has the following deficiencies: 1, in bottom plate feeding or assembling process, dependence be operator consummate degree, easily cause and collide with
Or scratch, it cannot ensure the smooth appearance of bottom plate；2, bottom plate mostly uses the metal materials such as copper, aluminium alloy to be made, heavier-weight, makees
Industry person's operation is more heavy, larger workload；3, bottom plate feeding uses manual type operation, and production efficiency is difficult to improve,
In certain time, artificial workload is extremely limited；4, completed knocked down products quality consistency is also difficult to ensure.
It can be seen from the above, the bottom plate feeding of electric iron is manual work, not yet since iron plate is different
Equipment by carrying out automatic charging bottom plate, while also not set for positioning iron plate and drawing the positioning absorption of bottom plate
It is standby.
Summary of the invention
The present invention provides a kind of positioning of CCD vision-based detection and vacuum absorption mechanisms, are used for iron plate automatic charging
Visual determination bottom plate position and vacsorb bottom plate in the process, with position judgement precisely, mechanical flexibility, draw stablize and
The advantages that 360 degree rotation is without around pipe.
The present invention can be achieved through the following technical solutions:
A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms, are mounted in bottom plate charging equipment, automatic for iron plate
Visual determination bottom plate position and vacsorb bottom plate in feeding process, including the CCD vision inspection for visual determination positioning plate
Positioning component is surveyed, for the vacsorb component of vacsorb bottom plate, for driving vacsorb component and CCD vision-based detection fixed
Hyte part moves mould group along the X-axis that X-axis and Y-axis move respectively together and Y-axis moves mould group, and is respectively used to driving vacuum and inhales
The Z axis reciprocating mechanism and Z axis whirler for moving up and down under taking on component along Z axis and being rotated along Z axis in 360 degree of directions
Structure.The CCD vision-based detection positioning component is connect by Y-axis connector with Z axis reciprocating mechanism, and the Z axis moves up and down
Machine and Z axis rotating mechanism are rotatablely connected, and the Z axis rotating mechanism is connect with vacsorb component, and the Y-axis connector is mounted on
In the mobile mould group of Y-axis, one end of the mobile mould group of the Y-axis is connect with the mobile mould group of X-axis, the CCD vision-based detection positioning component
It is located at the two sides of the mobile mould group of Y-axis with vacsorb component, the CCD vision-based detection positioning component and vacsorb component are with Y
Shaft coupling piece is moved by the mobile mould group driving of Y-axis along the y axis together, with the mobile mould group of Y-axis by the mobile mould group driving of X-axis
It moves along the x axis.The present invention takes the positioning of CCD vision-based detection and vacsorb to be combined together, and has the advantages that the
One, position judgement is quasi-, and the present invention takes CCD vision-based detection positioning component to carry out location determination to bottom plate, effectively ensures that vacuum is inhaled
Component is taken to draw the accuracy of product space；The second, mechanical flexibility, it is true with Z axis reciprocating mechanism and Z axis rotating mechanism
The setting of empty pick-up component carry out vacsorb component can in Z axis up and down, while can also carry out in the Z-axis direction
Rotary motion, while vacsorb component can be moved with Y direction respectively along the x axis, which makes vacuum
Pick-up component can be with 360 degree without dead angle rotation and vacsorb product.
Further, the CCD vision-based detection positioning component includes detection locating rack, and the detection locating rack and Y-axis connect
Fitting is fixedly connected, and CCD visual detection equipment is equipped on the outside of the detection locating rack, the CCD visual detection equipment
Lower section is equipped with detection device guard circle.CCD vision-based detection positioning component is taken, bottom plate is carried out by CCD visual detection equipment
Location determination effectively ensures that vacsorb component draws the accuracy of product space.
Further, the vacsorb component includes drawing frame, the upper layer connecting plate and Z axis whirler for drawing frame
Structure connects, and multiple vacuum slots are equipped on the lower layer's connecting plate for drawing frame, and the vacuum slot passes through Z axis rotating mechanism
It is connect with vacuum generator, the vacuum generator is the vacuum generator with destructive valve.Since backplate surface is smooth, have viscous
Property, when drawing bottom plate using vacuum slot, there are bottom plates in place, but the risk that can not fall, and the present invention uses band destructive valve
Vacuum generator, after effectively ensuring each bottom plate in place can smoothly from suction nozzle disengage.
CCD vision-based detection positioning component and vacsorb group in CCD vision-based detection positioning of the present invention and vacuum absorption mechanisms
The specific movement relation of part is as follows:
One, vacsorb component is along Z axis rotary motion: the vacsorb component is connect by drawing frame with Z axis rotating mechanism,
The Z axis rotating mechanism is connect with Z axis reciprocating mechanism, and the Z axis rotating mechanism includes that Z axis rotating electric machine and Z axis are hollow
Splined shaft, the Z axis rotating electric machine are sequentially connected by pulley drive component and the hollow splined shaft of Z axis, the Z axis hollow flower
The bottom of key axis is fixedly connected with frame is drawn, and drives vacsorb component with the hollow splined shaft of Z axis by Z axis rotating electric machine
It rotates along 360 degree of Z axis.It is hollow setting, the Z axis spline inside the hollow splined shaft of Z axis of the present invention
The top of axis and rotary joint are rotatablely connected, and the rotary joint is connect with vacuum generator, i.e., the described vacuum generator passes through Z
The hollow splined shaft of axis is connect with vacuum slot, and the bottom of the hollow splined shaft of Z axis is fixed with the upper layer connecting plate drawn on frame
Afterwards, it is connect by adapter and positioned at the discrimination block of upper layer connecting plate bottom with vacuum slot, the hollow splined shaft of Z axis of the present invention
Instead of the tracheae effect between existing vacuum generator and vacuum slot, effectively prevent that asking around pipe occurs in rotary course
Topic.
Two, vacsorb component Z axis moves up and down: the top of the hollow splined shaft of Z axis passes through Z axis fixed block and Z axis
Reciprocating mechanism transmission connection, the Z axis reciprocating mechanism includes Z axis mounting rack, on the outside of the upper end of the Z axis mounting rack
Equipped with motor above and below Z axis, the upper and lower motor of the Z axis is connect by pulley drive component with mould group is moved up and down, described upper and lower
Mobile mould group is ball screw mould group, the ball screw mould group by screw rod connecting plate be mounted on it is upper on Z axis mounting rack
Glidepath connection is equipped with upper sliding block between the screw rod connecting plate and upper and lower slide rail, motor driven vacsorb group above and below Z axis
Part is moved up and down with the hollow splined shaft of Z axis.
Three, vacsorb component and CCD vision-based detection positioning component move along the y axis: the Z axis reciprocating mechanism
It is mounted in the mobile mould group of Y-axis with CCD vision-based detection positioning component by the Y-axis connector, the mobile mould group of the Y-axis is Y
Axial filament bar mould group, the Y-axis screw rod mould group include Y-axis driving motor, Y-axis screw rod and Y-axis connecting plate, the Y-axis driving motor
Connect with Y-axis screw rod, the Y-axis screw rod is equipped with the Y-axis connecting plate that moves along Y-axis screw rod, the Y-axis connecting plate be used to connect
It connects CCD vision-based detection positioning component to be fixedly connected with the Y-axis connector of vacsorb component, the CCD vision-based detection positioning group
Part and vacsorb component are driven with Y-axis connector by Y-axis connecting plate to be moved along Y-axis screw rod.
Four, vacsorb component and CCD vision-based detection positioning component move in the X-axis direction: the mobile mould group of the Y-axis passes through
X-axis connecting plate is mounted in the mobile mould group of the X-axis, and the mobile mould group of the X-axis includes X-axis belt transmission mould group and is arranged in parallel
The first guide assembly and the second guide assembly in two sides, first guide assembly include the first guide rail bottom plate, described first
The side of guide rail bottom plate is equipped with the first guide rail, and the other side is equipped with X-axis belt transmission mould group；Second guide assembly includes
Second guide rail bottom plate and the second guide rail being mounted on the second guide rail bottom plate, pass through X between first guide rail and the second guide rail
The connection of axis connection plate, the both ends of the X-axis connecting plate pass through sliding block respectively and are slidably connected with the first guide rail and the second guide rail, described
One end of X-axis connecting plate is connect with the X-axis belt in X-axis belt transmission mould group, makes X-axis connecting plate with X-axis belt along X-axis
It moves left and right.
It to sum up states it is found that vision-based detection positioning described in CCD vision-based detection of the present invention positioning and vacuum absorption mechanisms and true
Empty draw frame machine includes that X-axis moves the mobile mould group of mould group, Y-axis, CCD vision-based detection positioning component and vacsorb component, described
CCD vision-based detection positioning component and vacsorb component are moved by the mobile mould group driving of X-axis along the x axis together, are moved by Y-axis
The driving of mould group is moved along the y axis, in addition, the vacsorb component is also by Z axis reciprocating mechanism drives edge Z-direction
Lower movement, while being made rotating motion by Z axis rotating mechanism drives edge Z axis.
CCD vision-based detection positioning of the present invention and vacuum absorption mechanisms, take the positioning of CCD vision-based detection and vacsorb to combine
Together, compared with prior art, it has the following beneficial effects:
The first, position judgement is quasi-, and the present invention takes CCD vision-based detection positioning component to carry out location determination to bottom plate, effectively ensures
The accuracy of vacsorb component absorption product space.
The second, mechanical flexibility, the setting of the vacsorb component with Z axis reciprocating mechanism and Z axis rotating mechanism, makes
Vacsorb component can be up and down in Z axis progress, while can also be rotated in the Z-axis direction, while vacuum is inhaled
Take component that can be moved respectively with Y direction along the x axis, which makes vacsorb component can be with 360 degree of nothings
Dead angle rotation and vacsorb product.Meanwhile the setting of the hollow splined shaft inner hollow of Z axis of the present invention, Z axis splined shaft bottom
Portion is connect by adapter and discrimination block with vacuum slot, and top is connect by rotary joint with vacuum generator, this kind of structure is set
Setting makes the hollow splined shaft of Z axis while driving the rotation of vacsorb component as axis, and plays the role of substituting conventional tracheal, rises
To the effect of connection vacuum generator and vacuum slot, effectively avoid conventional tracheal that generation asking around pipe in rotary course is set
Topic.Technical solution of the present invention setting make vacsorb component not only within the scope of 360 degree of Z axis without dead angle without being rotated around pipe, mechanism
Flexibly.
Third, vacsorb component absorption product stability are good, and since backplate surface is smooth, toughness is using vacuum
When suction nozzle draws bottom plate, there are bottom plates in place, but the risk that can not fall, and the present invention uses the vacuum generator with destructive valve,
It can smoothly be disengaged from suction nozzle after effectively ensuring each bottom plate in place.
Detailed description of the invention
Attached drawing 1 is the schematic perspective view of CCD vision-based detection of the present invention positioning and vacuum absorption mechanisms；
Attached drawing 2 is the schematic perspective view of the mobile mould group of X-axis in attached drawing 1；
Attached drawing 3 is the schematic perspective view of the mobile mould group of Y-axis in attached drawing 1；
Attached drawing 4 is CCD vision-based detection positioning component and the vacuum for having Z axis reciprocating mechanism and Z axis rotating mechanism in attached drawing 1
The schematic perspective view of pick-up component connection status；
Attached drawing 5 is the schematic perspective view of CCD vision-based detection positioning component in attached drawing 1；
Attached drawing 6 is that the stereochemical structure of the vacsorb component with Z axis reciprocating mechanism and Z axis rotating mechanism in attached drawing 1 is shown
It is intended to；
Attached drawing 7 is the structural schematic diagram of the vacsorb component and the hollow spline axis connection of Z axis in attached drawing 6.
Specific embodiment
In order that those skilled in the art will better understand the technical solution of the present invention, below with reference to examples and drawings
Product of the present invention is described in further detail.
As shown in Figures 1 to 6, a kind of CCD vision-based detection positioning and vacuum absorption mechanisms, are mounted on bottom plate charging equipment
In, sentence for the bottom plate vision positioning and vacsorb bottom plate during the automatic charging of iron plate, including for vision
The CCD vision-based detection positioning component 100 of disconnected positioning plate, for the vacsorb component 500 of vacsorb bottom plate, for driving
Vacsorb component 500 and CCD vision-based detection positioning component 100 move mould group 400 along the X-axis that X-axis and Y-axis move respectively together
Mould group 300 is moved with Y-axis, and is respectively used to move up and down along Z axis and along Z axis under on driving vacsorb component 500 360
The Z axis reciprocating mechanism 700 and Z axis rotating mechanism 600 that degree direction is rotated.The CCD vision-based detection positioning component 100
It is connect by Y-axis connector 200 with Z axis reciprocating mechanism 700, the Z axis moves up and down machine and 600 turns of Z axis rotating mechanism
Dynamic connection, the Z axis rotating mechanism 600 are connect with vacsorb component 500, and it is mobile that the Y-axis connector 200 is mounted on Y-axis
In mould group 300, one end of the mobile mould group 300 of the Y-axis is connect with the mobile mould group 400 of X-axis, the CCD vision-based detection positioning group
Part 100 and vacsorb component 500 are located at the two sides of the mobile mould group 300 of Y-axis, the CCD vision-based detection positioning component 100 and true
Empty pick-up component 500 is moved with Y-axis connector 200 by the mobile driving of mould group 300 of Y-axis along the y axis, with the mobile mould of Y-axis
Group 300 is moved by the mobile driving of mould group 400 of X-axis along the x axis together.The present invention takes the positioning of CCD vision-based detection and vacuum to inhale
It takes and is combined together, have the advantages that the judgement of first, position is quasi-, the present invention takes CCD vision-based detection positioning component 100 right
Bottom plate carries out location determination, effectively ensures that vacsorb component 500 draws the accuracy of product space；The second, mechanical flexibility, band
There is the setting of the vacsorb component 500 of Z axis reciprocating mechanism 700 and Z axis rotating mechanism 600, makes vacsorb component 500
It can carry out up and down, while can also be rotated in the Z-axis direction in Z axis, while vacsorb component 500 can be with
It is moved respectively with Y direction along the x axis, which makes vacsorb component can be with by the hollow splined shaft of Z axis
360 degree rotate simultaneously vacsorb product without dead angle, while solving the problems, such as 360 degree rotation without around pipe.
As shown in Figure 1, Figure 4 and Figure 5, the CCD vision-based detection positioning component 100 includes detection locating rack 110, the inspection
It surveys locating rack 110 to be fixedly connected with Y-axis connector 200, the outside of the detection locating rack 110 is equipped with CCD vision-based detection and sets
Standby 120, the lower section of the CCD visual detection equipment 120 is equipped with detection device guard circle 130.Take CCD vision-based detection positioning group
Part 100 carries out location determination to bottom plate by CCD visual detection equipment 120, effectively ensures that vacsorb component 500 is drawn and produces
The accuracy that grade is set.
As shown in Fig. 1, Fig. 4 and Fig. 6, the vacsorb component 500 includes drawing frame 510, described to draw the upper of frame 510
Layer connecting plate 530 is connect with Z axis rotating mechanism 600, is equipped with multiple vacuum on the lower layer's connecting plate 520 for drawing frame 510
Suction nozzle 540, the vacuum slot 540 are connect by Z axis rotating mechanism 600 with vacuum generator (not shown), described true
Empty generator is the vacuum generator with destructive valve.Since backplate surface is smooth, toughness is inhaled using vacuum slot 540
When taking bottom plate, there are bottom plates in place, but the risk that can not fall, and the present invention uses the vacuum generator with destructive valve, effectively really
It can smoothly be disengaged from suction nozzle after protecting each bottom plate in place.
In conjunction with Fig. 1 to Fig. 6, CCD vision-based detection positioning component in CCD vision-based detection positioning of the present invention and vacuum absorption mechanisms
100 and vacsorb component 500 specific movement relation it is as follows:
One, vacsorb component 500 is along Z axis rotary motion: the vacsorb component 500 is rotated by drawing frame 510 and Z axis
Mechanism 600 connects, and the Z axis rotating mechanism 600 is connect with Z axis reciprocating mechanism 700, and the Z axis rotating mechanism 600 includes
Z axis rotating electric machine 610 and the hollow splined shaft 620 of Z axis, the Z axis rotating electric machine 610 pass through pulley drive component 730 and Z axis
Hollow splined shaft 620 is sequentially connected, and the bottom of the hollow splined shaft 620 of Z axis is fixedly connected with frame 510 is drawn, specifically, institute
State the hollow splined shaft 620 of Z axis with draw frame 510 upper layer connecting plate 530 be fixedly connected and pass through upper layer connecting plate 530 after with turn
Connector 560 connects, and the adapter 560 is connect by hose with the discrimination block 550 for being located at 530 bottom of upper layer connecting plate, Duo Gezhen
Suction mouth 540 is connect by hose with discrimination block 550 respectively, and the present invention drives vacsorb component 500 by Z axis rotating electric machine 610
It is dynamic to rotate along 360 degree of Z axis with the hollow splined shaft 620 of Z axis.The hollow splined shaft 620 of Z axis of the present invention
Inside is hollow setting, and the top of the hollow splined shaft 620 of Z axis and rotary joint 640 are rotatablely connected, the rotary joint
640 connect with vacuum generator, and the vacuum generator is connect by the hollow splined shaft 620 of Z axis, discrimination block 550 with vacuum slot,
The hollow splined shaft 620 of Z axis replaces the tracheae between existing vacuum generator and vacuum slot, effectively prevents in rotary course
The problem of occurring around pipe.
Two, vacsorb component 500 moves up and down along Z-direction: on the top and Z axis of the hollow splined shaft 620 of Z axis
Lower mobile mechanism 700 is sequentially connected, and the Z axis reciprocating mechanism 700 includes Z axis mounting rack 710, the Z axis mounting rack 710
Upper end on the outside of be equipped with Z axis motor 720 up and down, the Z axis up and down motor 720 by pulley drive component 730 and above moving down
Dynamic model group 740 connects, and the mould group 740 that moves up and down is ball screw mould group, and the ball screw mould group is connected by screw rod
Plate 750 is connect with the upper and lower slide rail 760 being mounted on Z axis mounting rack 710, the screw rod connecting plate 750 and upper and lower slide rail 760 it
Between be equipped with upper sliding block 770, motor 720 drives vacsorb component 500 with the hollow splined shaft of Z axis 620 along upper to Z axis up and down
Glidepath 760 moves up and down.
Three, vacsorb component 500 and CCD vision-based detection positioning component 100 move along the y axis: moving down on the Z axis
Motivation structure 700 and CCD vision-based detection positioning component 100 are mounted in the mobile mould group 300 of Y-axis by the Y-axis connector 200,
The mobile mould group 300 of the Y-axis is 330 mould group of Y-axis screw rod, and the 330 mould group of Y-axis screw rod includes Y-axis driving motor 310, Y-axis silk
Bar 330, Y-axis connecting plate 320 and Y-axis cover board 340, the Y-axis driving motor 310 are connect with Y-axis screw rod 330, the Y-axis screw rod
330 are equipped with the Y-axis connecting plate 320 moved along Y-axis screw rod 330, are equipped with Y-axis cover board 340 above the Y-axis connecting plate 320,
320 top of Y-axis connecting plate is the frame-shaped construction of upper end opening, and the two sides upper end of the Y-axis connecting plate 320 is connect with Y-axis
The connection of part 200 is the Y-axis connecting plate 320 and is used to connect CCD vision-based detection positioning component 100 and vacsorb component
500 Y-axis connector 200 is fixedly connected, and the CCD vision-based detection positioning component 100 and vacsorb component 500 connect with Y-axis
Fitting 200 is driven by Y-axis connecting plate 320 by the mobile mould group of X-axis move with Y-axis connector 200 along Y-axis screw rod 330 together
It is dynamic.
Four, vacsorb component 500 and CCD vision-based detection positioning component 100 move in the X-axis direction: the mobile mould of the Y-axis
Group 300 is mounted in the mobile mould group 400 of the X-axis by X-axis connecting plate 440, and the mobile mould group 400 of the X-axis includes X-axis belt
411 transmission mould groups 410 and the first guide assembly 420 and the second guide assembly 430 for being arranged in parallel in two sides, first guide rail
Component 420 includes the first guide rail bottom plate 421, and the side of the first guide rail bottom plate 421 is equipped with the first guide rail 422, the other side
X-axis belt 411 is installed and is driven mould group 410；Second guide assembly 430 includes the second guide rail bottom plate 431 and is mounted on the
The second guide rail 432 on two guide rail bottom plates 431 passes through X-axis connecting plate 440 between first guide rail 422 and the second guide rail 432
Connection, the both ends of the X-axis connecting plate 440 pass through sliding block respectively and are slidably connected with the first guide rail 422 and the second guide rail 432, institute
The one end for stating X-axis connecting plate 440 is connect with the X-axis belt 411 that X-axis belt 411 is driven in mould group 410, makes X-axis connecting plate 440
It is moved left and right with X-axis belt 411 along X-axis, the X-axis belt 411 is located at both ends by 412 drives edge of X-axis driver
Belt pulley 413 or so is driven.
In conjunction with Fig. 1 to Fig. 6, in summary, vision inspection described in CCD vision-based detection positioning of the present invention and vacuum absorption mechanisms
Measurement position and vacuum absorption mechanisms include the mobile mould group 400 of X-axis, Y-axis mobile mould group 300, CCD vision-based detection positioning component 100
With vacsorb component 500, the CCD vision-based detection positioning component 100 and vacsorb component 500 are together by the mobile mould of X-axis
400 driving of group is moved along the x axis, is moved along the y axis by the mobile driving of mould group 300 of Y-axis, in addition, the vacsorb group
Part 500 is also moved up and down by 700 drives edge Z-direction of Z axis reciprocating mechanism, while by 600 drives edge Z of Z axis rotating mechanism
It makes rotating motion within the scope of 360 degree of axis.The present invention takes the positioning of CCD vision-based detection and vacsorb to be combined together, and takes CCD
CCD visual detection equipment in vision-based detection positioning component 100 carries out location determination to bottom plate, effectively ensures vacsorb component
500 draw the accuracy of product space；Vacsorb component with Z axis reciprocating mechanism 700 and Z axis rotating mechanism 600
500 setting carry out vacsorb component 500 can in Z axis up and down, can also be rotated in the Z-axis direction,
Vacsorb component 500 can be moved with Y direction respectively along the x axis simultaneously, which makes vacsorb group
Part can be moved in three shaft spaces, and allow vacsorb component along 360 degree of Z axis without dead angle by the hollow splined shaft of Z axis
Simultaneously vacsorb product is rotated, while solving the problems, such as 360 degree rotation without around pipe.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the present invention in any form；It is all
The those of ordinary skill of the industry can be shown in by specification attached drawing and described above and swimmingly implement the present invention；But it is all
Those skilled in the art without departing from the scope of the present invention, using disclosed above technology contents
The equivalent variations for a little variation, modification and evolution made is equivalent embodiment of the invention；Meanwhile it is all according to the present invention
Substantial technological any equivalent variations to the above embodiments variation, modification and evolution etc., still fall within of the invention
Within the protection scope of technical solution.
Claims (10)
1. a kind of CCD vision-based detection positioning and vacuum absorption mechanisms, it is characterised in that: the automatic charging mistake for iron plate
Bottom plate vision positioning and vacsorb bottom plate in journey, including the CCD vision-based detection positioning group for visual determination positioning plate
Part, for the vacsorb component of vacsorb bottom plate, for driving vacsorb component and CCD vision-based detection positioning component one
It rises and moves mould group along the X-axis that X-axis and Y-axis move respectively and Y-axis moves mould group, and be respectively used on driving vacsorb component
The lower Z axis reciprocating mechanism and Z axis rotating mechanism moved up and down along Z axis and rotated along Z axis in 360 degree of directions.
2. CCD vision-based detection positioning according to claim 1 and vacuum absorption mechanisms, it is characterised in that: the CCD vision
Detection positioning component is connect by Y-axis connector with Z axis reciprocating mechanism, and the Z axis moves up and down machine and Z axis rotating mechanism
Rotation connection, the Z axis rotating mechanism are connect with vacsorb component, and the Y-axis connector is mounted in the mobile mould group of Y-axis,
One end of the mobile mould group of the Y-axis is connect with the mobile mould group of X-axis, the CCD vision-based detection positioning component and vacsorb component
Positioned at the two sides of the mobile mould group of Y-axis, the CCD vision-based detection positioning component and vacsorb component are with Y-axis connector by Y
The mobile mould group driving of axis is moved along the y axis, is moved along the x axis with the mobile mould group of Y-axis by the mobile mould group driving of X-axis.
3. CCD vision-based detection positioning according to claim 2 and vacuum absorption mechanisms, it is characterised in that: the CCD vision
Detecting positioning component includes detection locating rack, and the detection locating rack is fixedly connected with Y-axis connector, the detection locating rack
Outside is equipped with CCD visual detection equipment, and the lower section of the CCD visual detection equipment is equipped with detection device guard circle.
4. CCD vision-based detection positioning according to claim 3 and vacuum absorption mechanisms, it is characterised in that: the vacuum is inhaled
Taking component includes drawing frame, and the upper layer connecting plate for drawing frame is connect with Z axis rotating mechanism, the lower layer's connection for drawing frame
Multiple vacuum slots are installed, the vacuum slot is connect by Z axis rotating mechanism with vacuum generator on plate.
5. CCD vision-based detection positioning according to claim 4 and vacuum absorption mechanisms, it is characterised in that: the Z axis rotation
Mechanism is connect with Z axis reciprocating mechanism, and the Z axis rotating mechanism includes Z axis rotating electric machine and the hollow splined shaft of Z axis, the Z
Axis rotating electric machine is sequentially connected by pulley drive component and the hollow splined shaft of Z axis, the bottom of the hollow splined shaft of Z axis with
It draws frame to be fixedly connected, drives vacsorb component with the hollow splined shaft of Z axis along 360 degree of models of Z axis by Z axis rotating electric machine
It rotates in enclosing.
6. CCD vision-based detection positioning according to claim 5 and vacuum absorption mechanisms, it is characterised in that: the Z axis is hollow
Be hollow setting inside splined shaft, the top of the Z axis splined shaft connect rotation connection with rotary joint, the rotary joint and
Vacuum generator connection, the vacuum generator are connect by the hollow splined shaft of Z axis with vacuum slot.
7. CCD vision-based detection positioning according to claim 6 and vacuum absorption mechanisms, it is characterised in that: the vacuum hair
Raw device is the generator with destructive valve.
8. CCD vision-based detection positioning according to claim 7 and vacuum absorption mechanisms, it is characterised in that: the Z axis is hollow
The top of splined shaft is sequentially connected by Z axis fixed block and Z axis reciprocating mechanism, and the Z axis reciprocating mechanism includes Z axis
Mounting rack, the upper end outside of the Z axis mounting rack are equipped with Z axis motor up and down, and motor passes through pulley drive group to the Z axis up and down
Part is connect with mould group is moved up and down, and the mould group that moves up and down is ball screw mould group, and the ball screw mould group passes through screw rod
Connecting plate is connect with the upper and lower slide rail being mounted on Z axis mounting rack, is equipped with up and down between the screw rod connecting plate and upper and lower slide rail
Sliding block, motor driven vacsorb component moves up and down Z axis with the hollow splined shaft of Z axis up and down.
9. special according to claim 1 to the positioning of CCD vision-based detection and vacuum absorption mechanisms described in any one of 8 claims
Sign is: the mobile mould group of the X-axis includes X-axis belt transmission mould group and the first guide assembly and second for being arranged in parallel in two sides
Guide assembly, first guide assembly include the first guide rail bottom plate, and the side of the first guide rail bottom plate is equipped with first and leads
Rail, the other side are equipped with X-axis belt transmission mould group；Second guide assembly includes the second guide rail bottom plate and is mounted on second and leads
The second guide rail on orbiting end plate is connected between first guide rail and the second guide rail by X-axis connecting plate, the X-axis connecting plate
Both ends pass through sliding block respectively and be slidably connected with the first guide rail and the second guide rail, one end of the X-axis connecting plate and X-axis belt pass
X-axis belt connection in dynamic model group, moves left and right X-axis connecting plate along X-axis with X-axis belt.
10. CCD vision-based detection positioning according to claim 9 and vacuum absorption mechanisms, it is characterised in that: the X-axis connects
Y-axis mobile mould group is installed, the mobile mould group of the Y-axis is Y-axis screw rod mould group, and the Y-axis screw rod mould group includes that Y-axis is driven on fishplate bar
Dynamic motor, Y-axis screw rod and Y-axis connecting plate, the Y-axis driving motor are connect with Y-axis screw rod, and the Y-axis screw rod is equipped with along Y-axis
The mobile Y-axis connecting plate of screw rod, the Y-axis connecting plate with for connecting CCD vision-based detection positioning component and vacsorb component
Y-axis connector be fixedly connected, the CCD vision-based detection positioning component and vacsorb component are with Y-axis connector by Y-axis
Connecting plate drive is moved along Y-axis screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910131540.6A CN109759815A (en) | 2019-02-22 | 2019-02-22 | A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910131540.6A CN109759815A (en) | 2019-02-22 | 2019-02-22 | A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms |
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| CN109759815A true CN109759815A (en) | 2019-05-17 |
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| CN201910131540.6A Pending CN109759815A (en) | 2019-02-22 | 2019-02-22 | A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms |
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| CN110568864A (en) * | 2019-09-27 | 2019-12-13 | 贵阳铝镁设计研究院有限公司 | Electromechanical system for accurately identifying carbon anode position and automatically positioning and clamping carbon anode |
| CN112722950A (en) * | 2020-12-29 | 2021-04-30 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Laminating machine |
| CN112827754A (en) * | 2021-01-07 | 2021-05-25 | 中国空气动力研究与发展中心超高速空气动力研究所 | Automatic packaging equipment for MEMS friction resistance sensor based on visual positioning technology |
| CN112965276A (en) * | 2021-03-09 | 2021-06-15 | 深圳汇义科技有限公司 | Bias pasting precision detection machine and control method thereof |
| CN113681270A (en) * | 2021-09-03 | 2021-11-23 | 聚鼎科技(苏州)有限公司 | Automatic assembly mechanism of soft diaphragm and diaphragm chamber of intelligent gas meter metering assembly |
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Application publication date: 20190517 |