CN219525514U - Visual positioning grabbing device for overlapped irregular materials - Google Patents
Visual positioning grabbing device for overlapped irregular materials Download PDFInfo
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- CN219525514U CN219525514U CN202223538613.XU CN202223538613U CN219525514U CN 219525514 U CN219525514 U CN 219525514U CN 202223538613 U CN202223538613 U CN 202223538613U CN 219525514 U CN219525514 U CN 219525514U
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Abstract
The utility model relates to the technical field of material conveying, in particular to a visual positioning and grabbing device for overlapped irregular materials, which comprises a bracket, a material positioning mechanism, a sliding suspension platform, a lifting and grabbing platform, a visual system and a control system, wherein the bracket is arranged on the bracket; the material positioning mechanism is arranged on the inner bottom surface of the bracket, the material is placed on the material positioning mechanism, the material positioning mechanism is used for moving and positioning the material, the sliding suspension platform is arranged on the inner top surface of the bracket, and the lifting grabbing platform is arranged on the sliding end of the sliding suspension platform; the vision system is arranged on the bracket and used for acquiring the position information of the material, the control system is arranged beside the bracket, and the material positioning mechanism, the sliding suspension platform, the lifting grabbing platform and the vision system are electrically connected with the control system; according to the utility model, the visual system is used for grabbing irregular materials, so that the grabbing precision is higher, the types of the grabbed materials are more, and compared with the traditional grabbing equipment, the grabbing is more firm, and the materials are not easy to fall off.
Description
Technical Field
The utility model relates to the technical field of material conveying, in particular to a visual positioning and grabbing device for overlapped irregular materials.
Background
In the production line of a factory, in order to save labor cost, the factory adopts a mode of grabbing objects by a manipulator to move the objects, the manipulator is applied to automatic equipment, and grabbing of the materials is realized by driving; however, at present, the traditional material grabbing equipment is low in grabbing precision and loose in grabbing, materials are easy to drop, and especially when the materials are in different shapes, the length and width of the materials are uneven, and the defects are particularly remarkable.
Disclosure of Invention
The utility model provides a visual positioning grabbing device for overlapped irregular materials, which aims to solve the technical problems of low grabbing precision and unstable grabbing of traditional grabbing equipment in the prior art.
In order to achieve the above purpose, the technical scheme of the utility model is realized as follows:
the utility model provides a visual positioning grabbing device for overlapped irregular materials, which comprises a bracket, a material positioning mechanism, a sliding suspension platform, a lifting grabbing platform, a visual system and a control system, wherein the bracket is arranged on the bracket;
the material positioning mechanism is arranged on the inner bottom surface of the bracket, the material is placed on the material positioning mechanism, the material positioning mechanism is used for moving and positioning the material, the sliding suspension platform is arranged on the inner top surface of the bracket, and the lifting grabbing platform is arranged on the sliding end of the sliding suspension platform; the visual system is arranged on the support and used for acquiring position information of materials, the control system is arranged beside the support, and the material positioning mechanism, the sliding suspension platform, the lifting grabbing platform and the visual system are electrically connected with the control system.
Further, the material positioning mechanism comprises a Z-direction shifting mechanism, a Y-direction shifting mechanism and an X-direction shifting mechanism; the fixed end of the X-direction shifting mechanism is arranged at the bottom of the bracket, the fixed end of the Y-direction shifting mechanism is arranged on the sliding end of the X-direction shifting mechanism, the sliding end of the Z-direction shifting mechanism is arranged on the fixed end of the Y-direction shifting mechanism, materials are placed on the sliding end of the Z-direction shifting mechanism, and the Z-direction shifting mechanism, the Y-direction shifting mechanism and the X-direction shifting mechanism are electrically connected with the control system.
Further, Z is to shift the mechanism and includes support frame, movable platform and promotes drive assembly, support frame and promotion drive assembly are all installed on the support, movable platform vertical sliding connection is in on the support frame, the material is placed on the movable platform, it is used for the drive to promote drive assembly the vertical slip of movable platform, promote drive assembly with control system electricity is connected.
Further, the number of the Z-direction displacement mechanisms, the number of the Y-direction displacement mechanisms and the number of the X-direction displacement mechanisms are all multiple.
Further, the lifting grabbing platform comprises an electric push rod, a mounting plate and a plurality of adsorption components, the top of the electric push rod is vertically arranged at the sliding end of the sliding hanging platform, the bottom of the electric push rod is connected to the top surface of the mounting plate, the adsorption components are arranged on the bottom surface of the mounting plate, the number of the adsorption components corresponds to that of the material positioning mechanisms respectively, and the adsorption components are positioned above the corresponding material positioning mechanisms; the adsorption component is used for sucking materials on the corresponding movable platform; the adsorption component is electrically connected with the control system.
Further, the adsorption component comprises a vertical rod, a vacuum chuck and an air pump; the vertical rod is vertically arranged on the mounting plate, the vacuum chuck is arranged at the bottom of the vertical rod, the air pump is communicated with the vacuum chuck, and the air pump is electrically connected with the control system.
Further, the adsorption component further comprises a rotating motor and a rotating plate, the number of the vertical rods is multiple, the number of the vacuum suction cups is equal to the number of the vertical rods and corresponds to the number of the vertical rods, the vacuum suction cups are respectively communicated with the bottoms of the corresponding vertical rods, the rotating motor is mounted on the mounting plate, an output shaft of the rotating motor vertically extends downwards, the rotating plate is fixed on the output shaft of the rotating motor, the vertical rods are fixed on the rotating plate, and the rotating motor is electrically connected with the control system.
Further, the device also comprises springs, wherein a plurality of vertical rods on the same rotating plate are positioned on the same plane, the springs are sleeved outside the vertical bars, and the springs are sleeved on the outer rings of the vertical rods and are in soft contact with materials.
The utility model has the beneficial effects that:
1. the utility model positions the material through the vision system, the vision system comprises a vision shooting module and a vision analysis module, the vision shooting module is used for shooting the material and transmitting the shot image to the vision analysis module in real time, the vision analysis module is used for analyzing and calculating the center coordinates of the material in the image and transmitting the center to the control system, and the vision system is used for grabbing the material, so that compared with the traditional grabbing equipment, the material grabbing precision is higher;
2. the needle of the utility model uses a plurality of vacuum chucks to adsorb the same material, so that the needle can grasp the material more tightly, and the falling of the material is avoided.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is an enlarged partial schematic view of the portion A of FIG. 1;
FIG. 3 is a partial schematic view of the view in direction D of FIG. 1;
FIG. 4 is a partially enlarged schematic illustration of the portion B of FIG. 3;
FIG. 5 is a schematic representation of a three-dimensional explosion of the present utility model;
fig. 6 is an enlarged partial schematic view of the portion C of fig. 5.
Reference numerals illustrate:
1. a bracket; 2. a Z-direction shifting mechanism; 21. a support frame; 22. a movable platform;
3. a sliding suspension platform; 4. lifting the grabbing platform; 41. an electric push rod; 42. a mounting plate; 43. an adsorption assembly; 431. a rotating motor; 432. a rotating plate; 433. a vertical rod; 434. a vacuum chuck;
5. a Y-direction shifting mechanism; 6. a visual shooting module; 7. an X-direction shifting mechanism.
Detailed Description
The utility model will be described in further detail with reference to the accompanying drawings and specific examples. In the description of the present utility model, the relative orientation or positional relationship is based on the orientation or positional relationship shown in fig. 1, where "up" and "down" refer to the up-down direction of fig. 1. It is to be understood that such directional terms are merely used to facilitate the description of the utility model and to simplify the description, and are not intended to indicate or imply that the devices or elements so referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus are not to be construed as limiting the utility model.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying that the number or order of features is indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
First embodiment:
referring to fig. 1, an embodiment of the present utility model provides a visual positioning and grabbing device for overlapping irregular materials, which includes a bracket 1, a material positioning mechanism, a sliding suspension platform 3, a lifting and grabbing platform 4, a visual system and a control system;
the material positioning mechanism is arranged on the inner bottom surface of the bracket 1, the material is placed on the material positioning mechanism, the material positioning mechanism is used for moving and positioning the material, the sliding suspension platform 3 is arranged on the inner top surface of the bracket 1, and the lifting grabbing platform 4 is arranged on the sliding end of the sliding suspension platform 3; the vision system is arranged on the support 1 and used for acquiring position information of materials, the control system is arranged beside the support 1, and the material positioning mechanism, the sliding suspension platform 3, the lifting grabbing platform 4 and the vision system are electrically connected with the control system.
In this embodiment, the vision system includes a vision shooting module 6 and a vision analysis module that are electrically connected with each other, the vision shooting module 6 is mounted on the top surface of the support 1 and located right above the material on the material positioning mechanism, and is used for shooting the material in the material positioning mechanism, the vision analysis module is disposed beside the support 1 and is used for analyzing the image shot by the vision shooting module 6 to obtain the position information of the material, and transmitting the position information of the material to the control system, where the position information may be the center coordinate and the attitude angle of the material, or other position information, and in this embodiment, the position information is preferably the center coordinate and the attitude angle of the material.
The Z-direction shifting mechanism 2 comprises a support frame 21, a movable platform 22 and a lifting driving assembly, wherein the support frame 21 and the lifting driving assembly are both installed on the support frame 1, the movable platform 22 is vertically and slidably connected to the support frame 21, materials are placed on the movable platform 22, the lifting driving assembly is used for driving the movable platform 22 to vertically slide, and the lifting driving assembly is electrically connected with the control system.
The vision positioning grabbing device further comprises a plurality of laser rangefinders electrically connected with the control system, the number of the laser rangefinders is equal to that of the Z-direction shifting mechanisms 2, the laser rangefinders respectively correspond to the Z-direction shifting mechanisms, the laser rangefinders are all installed on the inner top surface of the support 1, the laser rangefinders are located right above the corresponding movable platforms 22, and the laser rangefinders are used for detecting the heights of materials on the movable platforms 22 in real time and sending the height values to the control system in real time.
The lifting grabbing platform 4 comprises an electric push rod 41, a mounting plate 42 and a plurality of adsorption assemblies 43, wherein the top of the electric push rod 41 is vertically arranged at the sliding end of the sliding hanging platform 3, the bottom of the electric push rod 41 is connected to the top surface of the mounting plate 42, the plurality of adsorption assemblies 43 are arranged on the bottom surface of the mounting plate 42, the number of the adsorption assemblies 43 is equal to that of the Z-direction displacement mechanisms 2 and correspond to the Z-direction displacement mechanisms 2, and the adsorption assemblies 43 are positioned above the corresponding Z-direction displacement mechanisms 2; the adsorption component 43 is used for sucking the corresponding materials on the movable platform 22; the adsorption assembly 43 is electrically connected to the control system.
The adsorption assembly 43 comprises a vertical rod 433, a vacuum chuck 434 and an air pump; the vertical rod 433 is vertically installed on the mounting plate 42, the vacuum chuck 434 is installed in the bottom of the vertical rod 433, the air pump with the vacuum chuck 434 communicates, the air pump with control system electricity is connected.
The adsorption assembly 43 further comprises a rotating motor 431 and a rotating plate 432, the number of the vertical rods 433 is provided with a plurality of vacuum chucks 434, the number of the vacuum chucks 434 is equal to that of the vertical rods 433 and respectively correspond to the vertical rods 433, the vacuum chucks 434 are respectively communicated with the bottoms of the corresponding vertical rods 433, the rotating motor 431 is mounted on the mounting plate 42, an output shaft of the rotating motor 431 extends vertically downwards, the rotating plate 432 is fixed on the output shaft of the rotating motor 431, the vertical rods 433 are fixed on the rotating plate 432, and the rotating motor 431 is electrically connected with the control system; the vertical rods 433 of the same rotating plate 432 are on the same plane.
The top of Z to displacement mechanism 2 is provided with the air nozzle, the air nozzle with the air pump passes through the air supply pipe intercommunication, and when the material was lamellar matter such as blade, scraps of paper, the accessible air pump is to the air nozzle air feed, and gas is spouted in the air nozzle, can blow two upper and lower adjacent materials open to avoid upper and lower adjacent two materials bonding together.
The working process of the embodiment is as follows: firstly, the irregular materials are flatly laid on the movable platform 22 in a manipulator or manual mode, the visual shooting module 6 shoots the overlapped and unordered irregular materials of the material positioning mechanism, the shot images are transmitted to the visual analysis module, the visual analysis module performs image analysis and calculation on the materials, the center coordinates and the attitude angles of the uppermost materials are obtained, and the results are transmitted to the control system.
The control system drives the corresponding motion assembly according to the image processing result: the X-direction shifting mechanism 7 and the Y-direction shifting mechanism 5 in the material positioning mechanism below the lifting grabbing platform 4 are driven according to the central coordinate result, so that the material of the material positioning mechanism is positioned at the right center below the lifting grabbing platform 4; according to the attitude angle of the material, the control system drives the rotating motor 431 to act, so that the vacuum chuck 434 below the rotating plate 432 rotates to be right above the center line of the irregular material.
And then the electric push rod 41 is driven to enable the lifting grabbing platform 4 to descend, and meanwhile the Z-direction shifting mechanism 2 in the material positioning mechanism is driven to ascend according to the grabbing condition of the material, so that the vacuum chuck 434 below the vertical rod 433 is tightly attached to the material.
The air pump is activated to draw air from the vacuum cup 434 to create a negative pressure to hold the material.
After the material is sucked, the electric push rod 41 on the lifting grabbing platform 4 is pulled back, and the vacuum chuck 434 is lifted up to lift the material.
The sliding suspension platform 3 is activated to feed the material onto the external conveyor line.
The corresponding lifting driving assembly is started, the lifting driving assembly lifts the movable platform 22 and the materials above the movable platform 22, meanwhile, the electric push rod 41 stretches downwards, the rotary motor 431 adjusts the positions of the plurality of vertical rods 433 on the same rotary plate 432 according to the center coordinates of the corresponding materials, so that the planes of the plurality of vertical rods 433 are crossed with the lengths of the materials, and the design can enable the vacuum chucks 434 on the plurality of vertical rods 433 to fall on the materials as much as possible, and improves the adsorption firmness of the materials; the electric push rod 41 continues to extend downwards until the vacuum chuck 434 is attached to the uppermost material, the air pump is started, the vacuum chuck 434 is pulled out by the air pump, the material is grabbed by the lifting grabbing platform 4, the sliding hanging platform 3 is started, and the sliding hanging platform 3 conveys the material to an external conveying line.
Second embodiment:
the visual positioning grabbing device further comprises an X-direction shifting mechanism 7, wherein the fixed end of the X-direction shifting mechanism 7 is installed at the bottom of the support 1, the fixed end of the Y-direction shifting mechanism 5 is installed on the movable end of the X-direction shifting mechanism 7, and the X-direction shifting mechanism 7 is electrically connected with the control system.
The X-direction shifting mechanism 7 can drive the Y-direction shifting mechanism 5 and the Z-direction shifting mechanism 2 to slide along the X-axis direction, the Y-direction shifting mechanism 5 can drive the Z-direction shifting mechanism 2 to slide along the Y-axis direction, materials are placed on the Z-direction shifting mechanism 2, and the Z-direction shifting mechanism 2 can push the materials to slide in the Z-direction; the X-direction shifting mechanism 7, the Y-direction shifting mechanism 5 and the Z-direction shifting mechanism 2 can respectively drive materials to slide along the X direction, the Y direction and the Z direction, and the flexibility of the equipment is higher.
The number of the Z-direction displacement mechanisms 2, the number of the Y-direction displacement mechanisms 5, and the number of the X-direction displacement mechanisms 7 are all plural, and in this embodiment, the number of the Z-direction displacement mechanisms 2, the number of the Y-direction displacement mechanisms 5, and the number of the X-direction displacement mechanisms 7 are all two.
The foregoing is merely illustrative of embodiments of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model. Moreover, the technical solutions of the embodiments of the present utility model may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the embodiments, and when the technical solutions are contradictory or cannot be implemented, it should be considered that the combination of the technical solutions does not exist, and is not within the scope of protection claimed by the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.
Claims (8)
1. A visual positioning grabbing device for overlapped irregular materials is characterized in that: comprises a bracket (1), a material positioning mechanism, a sliding suspension platform (3), a lifting grabbing platform (4), a vision system and a control system;
the material positioning mechanism is arranged on the inner bottom surface of the bracket (1), the material is placed on the material positioning mechanism, the material positioning mechanism is used for moving and positioning the material, the sliding suspension platform (3) is arranged on the inner top surface of the bracket (1), and the lifting grabbing platform (4) is arranged on the sliding end of the sliding suspension platform (3); the visual system is arranged on the support (1) and used for acquiring position information of materials, the control system is arranged beside the support (1), and the material positioning mechanism, the sliding suspension platform (3), the lifting grabbing platform (4) and the visual system are electrically connected with the control system.
2. The visual positioning and grabbing device according to claim 1, wherein the material positioning mechanism comprises a Z-direction displacement mechanism (2), a Y-direction displacement mechanism (5) and an X-direction displacement mechanism (7);
the fixed end of the X-direction shifting mechanism (7) is arranged at the bottom of the support (1), the fixed end of the Y-direction shifting mechanism (5) is arranged on the sliding end of the X-direction shifting mechanism (7), the sliding end of the Z-direction shifting mechanism (2) is arranged on the fixed end of the Y-direction shifting mechanism (5), materials are placed on the sliding end of the Z-direction shifting mechanism (2), and the Z-direction shifting mechanism (2), the Y-direction shifting mechanism (5) and the X-direction shifting mechanism (7) are electrically connected with the control system.
3. The visual positioning grabbing device according to claim 2, wherein the Z-direction shifting mechanism (2) comprises a support frame (21), a movable platform (22) and a lifting driving assembly, the support frame (21) and the lifting driving assembly are both installed on the support frame (1), the movable platform (22) is vertically and slidably connected to the support frame (21), the material is placed on the movable platform (22), the lifting driving assembly is used for driving the movable platform (22) to vertically slide, and the lifting driving assembly is electrically connected with the control system.
4. Visual positioning gripping device according to claim 2, characterized in that the number of Z-direction displacement mechanisms (2), Y-direction displacement mechanisms (5) and X-direction displacement mechanisms (7) is provided in plurality.
5. A visual positioning and grabbing device according to claim 3, wherein the lifting and grabbing platform (4) comprises an electric push rod (41), a mounting plate (42) and a plurality of adsorption assemblies (43), the top of the electric push rod (41) is vertically mounted on the sliding end of the sliding suspension platform (3), the bottom of the electric push rod (41) is connected to the top surface of the mounting plate (42), a plurality of adsorption assemblies (43) are mounted on the bottom surface of the mounting plate (42), the number of the adsorption assemblies (43) and the material positioning mechanisms respectively correspond, and the adsorption assemblies (43) are located above the corresponding material positioning mechanisms; the adsorption component (43) is used for sucking materials on the corresponding movable platform (22); the adsorption assembly (43) is electrically connected with the control system.
6. The visual positioning gripping device according to claim 5, wherein the suction assembly (43) comprises a vertical rod (433), a vacuum chuck (434) and an air pump; the vertical rod (433) is vertically installed on the mounting plate (42), the vacuum chuck (434) is installed the bottom of montant (433), the air pump with vacuum chuck (434) intercommunication, the air pump with control system electricity is connected.
7. The visual positioning grabbing device according to claim 6, wherein the adsorption assembly (43) further comprises a rotating motor (431) and a rotating plate (432), the number of the vertical rods (433) is multiple, the number of the vacuum chucks (434) is equal to the number of the vertical rods (433), the vacuum chucks (434) are respectively corresponding to the number of the vertical rods (433), the vacuum chucks (434) are respectively communicated with the bottoms of the corresponding vertical rods (433), the rotating motor (431) is mounted on the mounting plate (42), an output shaft of the rotating motor (431) extends vertically downwards, the rotating plate (432) is fixed on the output shaft of the rotating motor (431), and the vertical rods (433) are fixed on the rotating plate (432), and the rotating motor (431) is electrically connected with the control system.
8. The visual positioning and grabbing device according to claim 7, further comprising springs, wherein the plurality of vertical rods (433) on the same rotating plate (432) are located on the same plane, and the springs are sleeved on the outer ring of the vertical rods (433).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223538613.XU CN219525514U (en) | 2022-12-29 | 2022-12-29 | Visual positioning grabbing device for overlapped irregular materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223538613.XU CN219525514U (en) | 2022-12-29 | 2022-12-29 | Visual positioning grabbing device for overlapped irregular materials |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219525514U true CN219525514U (en) | 2023-08-15 |
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ID=87582071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223538613.XU Active CN219525514U (en) | 2022-12-29 | 2022-12-29 | Visual positioning grabbing device for overlapped irregular materials |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219525514U (en) |
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2022
- 2022-12-29 CN CN202223538613.XU patent/CN219525514U/en active Active
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