CN212711615U - Mechanical arm with visual feeding function - Google Patents

Abstract

The utility model provides a feeding mechanical arm with vision, which comprises an installation base; the feeding table part is arranged on one side of the mounting base and comprises a material tray moving shaft and a material tray supplying box, and the material tray supplying box is slidably arranged on the material tray moving shaft; a blade turnover portion mounted on a top side of the mounting base, the blade turnover portion including a holder base plate, a blade turnover portion, and a blade corner portion; a pick and place robot section comprising a Z1 axis, a C axis, a vision section, an X1 axis, a robot arm ram, and a Y1 axis. The utility model provides a take vision feed arm has the processing product that can put more than a thousand, and the whole day continuous operation need not to change the charging tray, need not to place the location to the blade, directly adopts visual positioning, greatly reduced personnel's participation rate, improved production efficiency, reduction in production cost's advantage.

Description

Mechanical arm with visual feeding function

Technical Field

The utility model relates to an automated production technical field especially relates to a take vision feed arm.

Background

The material tray in the market at present needs personnel to put the knife grain on, and the position of blade is all fixed a position, but the blade uses 284 x 385MANZ product turnover charging tray in the course of the turnover of production, this kind of charging tray can not directly use on existing equipment, need extra a large amount of manual work of expense to arrange the material like this, it is inconvenient to use two kinds of charging trays to manage, standard charging tray price is higher in addition, and all are the customization product, every type of charging tray corresponds a type or a section blade, and 284 x 385MANZ product turnover charging tray whole blade production trade is general, and output is big, the low price, and all blades all can be general, for this reason the customer expects that equipment directly adopts 284 x 385MANZ product turnover charging tray to supply for equipment, thereby save a large amount of manual work and material cost. 284 x 385MANZ product turnover charging tray does not have the location function to the blade, so the arm needs to use vision to catch the recognition system to carry on the discernment location to the blade, then snatch, in addition whatever blade and whatever processing form all put on flat, need put on vertically when processing, turn over or need to carry on above-mentioned function to the product when turning over.

Therefore, it is necessary to provide a new feeding mechanical arm with vision to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem provide a can continuous operation, need not to change the charging tray, need not to place the location to the blade, directly adopts visual positioning, greatly reduced personnel's participation rate, improved production efficiency, reduction in production cost's area vision feed arm.

In order to solve the technical problem, the utility model provides a take vision feed arm includes:

installing a base;

the feeding table part is arranged on one side of the mounting base and comprises a material tray moving shaft and a material tray supplying box, and the material tray supplying box is slidably arranged on the material tray moving shaft;

a blade turnover portion mounted on the top side of the mounting base, the blade turnover portion including a holder base plate, a blade turnover portion and a blade corner portion, the blade turnover portion and the blade corner portion both mounted on the top side of the holder base plate;

a pick-and-place robot section mounted on the top side of the mounting base, the pick-and-place robot section including a Z1 axis, a C axis, a vision section, an X1 axis, a robot arm ram, and a Y1 axis.

The supply tray part is arranged on the top side of the mounting base and comprises a replacement tray cylinder shaft, an X2 shaft and a tray placing fixing seat.

Compared with the prior art, the utility model provides a take vision feed arm has following beneficial effect:

1. the product is not required to be positioned manually, and only needs to be placed in a material tray;

2. 284 × 385MANZ product turnover trays are used, customization is not needed, and the generalization degree is high;

3. the material tray taking and placing clamping jaws are designed in a non-powered mode, and the material tray can be taken and placed by using a spring design mechanism and moving along with the Z axis;

4. the clamping jaw adopts the design that the clamping jaw can be used as an external clamp and can also be used as an internal clamp, so that the barrier of the clamping jaw for single use is directly broken, and the blade can be horizontally placed to correspond to the types of flat grinding and vertical grinding;

5. no matter how the blade is processed, the blade is kept flat, and the blade has the functions of corner turning, vertical turning, turnover and the like through other structures, so that the processing type requirements of all customers can be met without customization in the true sense.

The utility model discloses a take vision feed mechanical arm makes equipment more than 24 hours of continuous operation, accomplish in the true sense and can realize not shut down production for 24 hours under the operational environment of 8 hours system, two charging trays equipment degree of automation improves greatly before, use 284 MANZ product turnover charging tray directly to carry out the feed for equipment, need not to change the charging tray, also need not to place the location to the blade, directly adopt the visual location, greatly reduced personnel's participation rate, production efficiency reduction in production cost has been improved. The material tray is an industrial general material tray, all blades can be used, customization is not needed, obtaining is easy, and a large amount of material tray material cost is saved for manufacturers.

Drawings

Fig. 1 is a schematic structural view of a preferred embodiment of a feeding robot with vision according to the present invention;

FIG. 2 is a schematic structural view of the mounting base shown in FIG. 1;

FIG. 3 is a schematic view of the feed table portion of FIG. 1;

FIG. 4 is a schematic view of the structure of the tray moving shaft shown in FIG. 1;

FIG. 5 is a schematic view of the tray supply magazine of FIG. 1;

FIG. 6 is a schematic view of the blade upturned portion of FIG. 1;

FIG. 7 is a schematic structural view of the blade turn-over portion shown in FIG. 1;

FIG. 8 is a schematic view of the corner portion of the blade shown in FIG. 1;

figure 9 is a schematic view of the pick and place robot portion of figure 1;

FIG. 10 is a schematic view of the Z1 axis of FIG. 1;

FIG. 11 is a schematic view of the structure of the C-axis shown in FIG. 1;

FIG. 12 is a schematic view of the structure of the vision portion shown in FIG. 1;

FIG. 13 is a schematic view of the structure of the X1 axis shown in FIG. 1;

FIG. 14 is a schematic diagram of the robot arm ram shown in FIG. 1;

FIG. 15 is a schematic structural view of Y1 shown in FIG. 1;

FIG. 16 is a schematic view of the structure of the portion of the supply tray shown in FIG. 1;

FIG. 17 is a schematic structural view of a cylinder shaft of the changing tray shown in FIG. 1;

FIG. 18 is a schematic view of the structure of the X2 axis shown in FIG. 1;

fig. 19 is a schematic structural view of the tray placing holder shown in fig. 1;

fig. 20 is a schematic structural view of the pulley seat shown in fig. 1.

Reference numbers in the figures:

1. installing a base;

2. a supply table portion;

21. a tray moving shaft, 2101, a sensor fixing metal plate, 2102, a support seat mounting plate, 2103, a feeding bin feeding shaft sliding plate, 2104, a feeding bin feeding shaft main plate, 2105, a feeding bin feeding sliding plate nut seat, 2106, a feeding bin feeding mechanism fixing plate, 2107, a tray feeding shaft sensing sheet, 2108, a European standard aluminum alloy section bar, 2109, a stepping motor with a brake, 2110, a guide rail, 2111, a sliding block, 2112, a buffer ring, 2113, a proximity switch, 2114, a coupler, 2115, a motor fixing seat, 2116, 1605 lead screws, 2117 and a support seat;

22. the material tray supply box comprises 2201, interlocking induction pieces, 2202, a feeding bin material box main board, 2203, a feeding bin material box auxiliary board, 2204, feeding bin material box reinforcing boards A and 2205, feeding bin material box reinforcing boards B and 2206, a feeding bin material box supporting board, 2207, a material tray tensioning blocking piece, 2208, a feeding bin material box bottom board, 2209, a circular support column, 2210, a positioning pin, 2211 and MANZ product turnover material trays;

3. the blade-turning-over part is arranged on the blade,

31. a blade turn-over part, 3101, a first turnover mechanism rotating part connecting block, 3102, an external clamping jaw, 3103, a turnover mechanism mounting plate, 3104, a barb elbow for a hose, 3105, an air claw, 3106, a first rotating cylinder, 3107 and a first speed regulating valve;

32. a blade corner portion 3201, a second turnover mechanism rotating part connecting block 3202, a corner mechanism cylinder mounting piece 3203, a corner mechanism clamping block 3204, a corner mechanism mounting plate 3205, a second rotating cylinder 3206, a second speed regulating valve 3207, a needle cylinder 3208, a polyurethane pressure head 3209 and a metal joint;

33. a support base plate;

4. a material taking and placing manipulator part;

41. the device comprises Z1 shafts, 4101 and Z1 shaft motor bases, 4102 and Z1 shaft guide rail mounting plates, 4103 and Z1 shaft protection metal plates, 4104 and Z1 shaft sliders, 4105, drag chain mounting metal plates A and 4106, sliding seats, 4107 and Z1 shaft sliding rails, 4108 and Z1 shaft approach switches, 4109, closed-loop stepping motors, 4110 and Z1 shaft couplers, 4111 and Z1 shaft bearing seats, 4112 and Z1 shaft lead screws, 4113 and Z1 shaft gaskets;

42. a C-axis, 4201, a mechanical arm finger, 4202, a C1-axis drag chain mounting metal plate, 4203, a hollow rotating platform mounting plate, 4204, a collision avoidance guide rail mounting plate, 4205, a limiting block on a floating mechanism, 4206, a C-axis first proximity switch, 4207, a C-axis second proximity switch, 4208, a C-axis guide rail, 4209, a tension spring, 4210, a C-axis stepping motor, 4211, a hollow rotating platform, 4212, a C-axis pin shaft, 4213 and a C-axis drag chain;

43. the camera comprises a visual part 4301, a light source mounting metal plate 4302, a visual mounting plate 4303, a visual cover metal plate 4304, an industrial camera 4305, an annular light source 4306, a lens 4307, a visual part drag chain 4308 and a camera protection metal plate;

44. the system comprises X1 shafts, 4401 and X1 shaft guide rail mounting blocks, 4402 and X1 shaft nut blocks, 4403 and X1 shaft motor bases, 4404, drag chain mounting metal plates B and 4405, an inductor fixing metal plate, 4406 and X1 shaft sliders, 4407 and X1 shaft sliding rails, 4408 and X1 shaft closed-loop stepping motors, 4409 and X1 shaft couplers, 4410 and X1 shaft approach switches, 4411 and X1 shaft bearing bases, 4412 and X1 shaft screws, 4413 and gaskets, 4414, drag chain mounting metal plates D and 4415, drag chain mounting metal plates C, 4416 and X1 shaft drag chains, 4417 and Z1 shaft mounting plates;

45. the mechanical arm pressing head 4501, the fixture upper pressing fixing block 4502, the product pressing rod 4503, the compression spring 4504 and the retaining ring;

46. y1 axle, 4601, Y1 axle installation sheet metal, 4602, proximity switch installation sheet metal, 4603, X-Y connecting plate, 4604, mechanical arm installation bottom plate, 4605, support sheet metal, 4606, mechanical arm decoration sheet metal, 4607, Y1 axle induction sheet, 4608, motor protective cover, 4609, aluminum profile end cover, 4610, photoelectric switch installation sheet metal, 4611, detection support fixing plate, 4612, first aluminum profile, 4613, L connecting block, 4614, end cover, 4615, electric sliding table, 4616, second aluminum profile, 4617, angle aluminum, 4618, Y1 axle first proximity switch, 4619, Y1 axle second proximity switch, 4620, Y1 axle drag chain, 4621, detection support, 4622, photoelectric switch, 4623, electromagnetic valve group;

5. a supply tray section;

51. the method comprises the following steps of replacing a tray, a cylinder shaft, 5101, a cylinder shaft mounting plate, 5102, a cylinder shaft cover metal plate, 5103, a cylinder shaft sliding plate, 5104, a movable pin mounting plate, 5105, a floating connecting plate, 5106, a hydraulic buffer mounting plate, 5107, a sensor mounting metal plate, 5108, a cylinder shaft sliding block, 5109, a cylinder shaft guide rail, 5110, a rodless cylinder, 5111, a cylindrical pin, 5112, a hydraulic buffer, 5113, a cylinder shaft speed regulating valve, 5114, a cylinder shaft approach switch, 5115 and a cylinder shaft drag chain;

52. x2 shaft, 5201, pulley block a, 5202, pulley block B, 5203, X2 shaft metal plate, 5204, sliding table end plate, 5205, X2 shaft guide rail mounting plate, 5206, X2 shaft mounting plate, 5207, sliding block plate a, 5208, sliding block plate B, 5209, proximity switch mounting metal plate, 5210, X2 shaft drag chain mounting metal plate, 5211, X2 shaft sensing piece, 5212, synchronous belt pressing plate, 5213, synchronous belt, 5214, X2 shaft stepping motor, 5215, X2 shaft coupler, 5216, X2 first proximity switch, 5217, X2 shaft second proximity switch, 5218, X2 shaft sliding block, 5219, X2 shaft guide rail, 5220, motor support aluminum material, 5221, X2 shaft aluminum profile;

53. the fixing base is placed to the charging tray, and board is placed to 5301, the charging tray, 5302, the charging tray mounting, 5303, spring mounting piece, 5304, follower mounting piece, 5305, extension spring, and the fixing base bearing is placed to 5306, charging tray, and the fixing base guide rail is placed to 5307, charging tray, 5308, turnover charging tray, 5309, hexagon socket screw.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments.

Referring to fig. 1-20 in combination, the vision feeding robot includes:

the mounting base 1 is used for mounting each functional part and fixing and connecting each functional block;

the feeding table part 2 is installed on one side of the installation base 1, the feeding table part 2 comprises a tray moving shaft 21 and a tray supply box 22, and the tray supply box 22 is installed on the tray moving shaft 21 in a sliding mode;

the blade overturning part 3 is installed on the top side of the installation base 1, the blade overturning part 3 comprises a support base plate 33, a blade overturning part 31 and a blade corner part 32, the blade overturning part 31 and the blade corner part 32 are installed on the top side of the support base plate 33, all blades are horizontally arranged due to the adoption of an MANZ material tray, the blade is required to be overturned if the blade is horizontally arranged and processed on two sides during processing, the blade is required to be vertically arranged when the blade is vertically arranged and processed, the blade is rotated in one direction to be vertical, and the other blade is used for rotating the vertical blade; the blade turnover part 31 is used for turning over a blade which is horizontally placed, and is used for erecting the blade when the blade is vertically machined; the blade corner portion 32 is used to corner the blade when the blade is being machined vertically.

A pick-and-place manipulator portion 4, the pick-and-place manipulator portion 4 being mounted on the top side of the mounting base 1, the pick-and-place manipulator portion 4 comprising a Z1 axis 41, a C axis 42, a vision portion 43, an X1 axis 44, a robot arm ram 45 and a Y1 axis 46, the pick-and-place manipulator portion 4 being configured to pick and place the blade to correspond to the various stations, the vision portion being configured to capture the position of the blade, and the ram portion being configured to assist in positioning a jig; the Y1 shaft 46 is used for controlling the Y-axis direction movement of the mechanical arm and is used as a frame of the mechanical arm; the X1 axis 44 is used for X-axis direction movement; the Z1 axis 41 is used for Z-axis direction movement; the vision part 43 is used for capturing the position of the blade and sending the position and the angle coordinate of the blade to the mechanical arm so as to grasp; the C axle 42 is used for C axle rotation, installs 2 pneumatic clamping jaws, can switch through revolving cylinder to get the blowing.

The supply tray part 5, the said supply tray part 5 is installed on the top side of the said mounting base 1, the said supply tray part 5 includes replacing the air cylinder shaft 51 of the tray, X2 axle 52 and tray to put the permanent seat 53, the supply tray part 5 is used for getting and putting the tray and supplying the products to be processed and putting the part of the processed products; the material tray replacing cylinder shaft 51 is a cylinder shaft and is used for enabling the feeding table part to be in a material tray taking and placing state and a material taking and placing state, when the shaft sliding table is arranged on the right side, the feeding table part is in the material taking and placing state, and when the shaft sliding table is arranged on the left side, the feeding table part is in the material tray taking and placing state; the X2 shaft 52 part is used for moving the tray placing plate, so that the part is switched between a tray taking and placing state and a state of taking and placing each point, thereby completing automatic loading and unloading; the charging tray placing fixing seat 53 is used for placing a charging tray, and the number of pipelines is reduced as much as possible because the charging tray placing fixing seat is a moving part, so that a clamping jaw is ingeniously designed by using a spring for the reason, a driving part is not needed, the design is very concise, and the charging tray moving shaft 21 moves up and down to finish the design and material taking.

The tray moving shaft 21 comprises two sensor fixing metal plates 2101, a support seat mounting plate 2102, a feeding bin feeding shaft sliding plate 2103, a feeding bin feeding shaft main plate 2104, a feeding bin feeding sliding plate nut 2105, two feeding bin feeding mechanism fixing plates 2106, a tray feeding shaft induction sheet 2107, an European standard aluminum alloy section 2108, a stepping motor belt brake 2109, two guide rails 2110, four sliding blocks 2111, two buffer rings 2112, two proximity switches 2113, a coupler 2114, motor fixing seats 2115, 1605 lead screws 2116 and a support seat 2117, the stepping motor belt brake 2109 is installed between the two European standard aluminum alloy sections 2108, an output shaft of the stepping motor belt brake 2109 is fixedly connected with the 1605 lead screws 2116, the guide rails 2110 are slidably sleeved with the sliding blocks 2111, the feeding bin feeding shaft sliding plate 3 is fixedly connected with the four sliding blocks 2111, the nut on the lead screw 1605 is sleeved with the feeding bin feeding sliding plate nut seat 2105, the feeding bin feeding sliding plate nut seat 2105 is fixedly connected with the feeding bin feeding shaft sliding plate 2103.

The material tray supply box 22 comprises a plurality of interlocking induction sheets 2201, a material feeding bin material box main board 2202, a material feeding bin material box auxiliary board 2203, a material feeding bin material box reinforcing board A2204, a material feeding bin material box reinforcing board B2205, a material feeding bin material box supporting board 2206, a material tray tensioning blocking piece 2207, a material feeding bin material box bottom board 2208, a circular supporting column 2209, a positioning pin 2210 and a MANZ product turnover material tray 2211, wherein a plurality of material feeding bin material box supporting boards 2206 are installed between the material feeding bin material box main board 2202 and the material feeding bin material box auxiliary board 2203, the top side of each material feeding bin material box supporting board 2206 is provided with the MANZ product turnover material tray 2211, and a material tray moving shaft 21 drives the material tray supply box 22 to move up and down, so that the material tray supply box 22 can be in different position states, such as a material taking tray, a material tray, a; the tray moving shaft 21 is built by adopting aluminum profiles, and then a round guide rail is selected, the round guide rail requires low installation precision, and the aluminum profiles can be used as installation surfaces, so that the building cost is greatly reduced, and the materials are convenient to obtain; photoelectric switch is used for detecting whether having of charging tray, and proximity sensor is used for detecting the response piece, and response piece quantity has 10, and the getting tray blowing position of 5 charging trays is corresponding to form the interlocking, whether move in place with the detection charging tray, avoid because of not moving the emergence of targetting and bumping.

The blade turn-over portion 31 includes a first turnover mechanism rotating portion connecting block 3101, an outer clamping jaw 3102, a turnover mechanism mounting plate 3103, a barb bend 3104 for a hose, an air claw 3105, a first rotating cylinder 3106 and a first speed regulating valve 3107, wherein the rotating cylinder 3106 is mounted on the turnover mechanism mounting plate 3103, the air claw 3105 is mounted on the rotating cylinder 3106, and the outer clamping jaw 3102 is mounted on the air claw 3105.

The blade corner portion 32 includes a second turnover mechanism rotation part connection block 3201, a corner mechanism cylinder mount 3202, a corner mechanism clamping block 3203, a corner mechanism mounting plate 3204, a second rotation cylinder 3205, a second speed regulating valve 3206, a needle cylinder 3207, a polyurethane ram 3208, and a metal joint 3209, the second rotation cylinder 3205 is mounted on the corner mechanism mounting plate 3204, the corner mechanism cylinder mount 3202 is mounted on the second rotation cylinder 3205, the needle cylinder 3207 is mounted on the corner mechanism cylinder mount 3202, and the polyurethane ram 3208 is mounted on the needle cylinder 3207.

The Z1 shaft 41 comprises a Z1 shaft motor seat 4101, a Z1 shaft guide rail mounting plate 4102, a Z1 shaft protection metal plate 4103, a Z1 shaft sliding block 4104, a drag chain mounting metal plate A4105, a sliding seat 4106, a Z1 shaft sliding rail 4107, a Z1 shaft approach switch 4108, a closed-loop stepping motor 4109, a Z1 shaft coupler 4110, a Z1 shaft bearing seat 4111, a Z1 shaft lead screw 4112 and a Z1 shaft gasket 4113, and the closed-loop stepping motor 4109 is mounted on the top side of the Z1 shaft sliding block 4104;

the C-axis 42 comprises a mechanical arm finger 4201, a C1 axis drag chain mounting sheet metal 4202, a hollow rotating platform mounting plate 4203, a crash rail mounting plate 4204, a floating mechanism upper limit block 4205, a C-axis first proximity switch 4206, a C-axis second proximity switch 4207, a C-axis guide rail 4208, a tension spring 4209, a C-axis stepper motor 4210, a hollow rotating platform 4211, a C-axis pivot 4212 and a C-axis drag chain 4213, the mechanical arm finger 4201 is mounted on the bottom side of the hollow rotating platform 4211, the C-axis stepper motor 4210 is mounted on the top side of the hollow rotating platform 4211, and the C-axis drag chain 4213 is mounted on the top side of the C-axis stepper motor 4210;

the X1 shaft 44 comprises an X1 shaft guide rail mounting block 4401, an X1 shaft nut block 4402, an X1 shaft motor seat 4403, a drag chain mounting metal plate B4404, an inductor fixing metal plate 4405, an X1 shaft sliding block 4406, an X1 shaft sliding rail 4407, an X1 shaft closed-loop stepping motor 4408, an X1 shaft coupler 4409, an X1 shaft approach switch 4410, an X1 shaft bearing seat 4411, an X1 shaft screw 4412, a gasket 4413, a drag chain mounting metal plate D4414, a drag chain mounting metal plate C4415, an X1 shaft drag chain 4416 and a Z1 shaft mounting plate 4417, wherein an output shaft of the X1 shaft closed-loop stepping motor 4408 is connected with the X1 shaft screw 4412;

the Y1 shaft 46 comprises a Y1 shaft mounting metal plate 4601, a proximity switch mounting metal plate 4602, an X-Y connecting plate 4603, a mechanical arm mounting bottom plate 4604, a supporting metal plate 4605, a mechanical arm decorating metal plate 4606, a Y1 shaft sensing plate 4607, a motor protective cover 4608, an aluminum profile end cover 4609, a photoelectric switch mounting metal plate 4610, a detection support fixing plate 4611, a first aluminum profile 4612, an L connecting block 4613, an end cover 4614, an electric sliding table 4615, a second aluminum profile 4616, an angle aluminum 4617, a Y1 shaft first proximity switch 4618, a Y1 shaft second proximity switch 4619, a Y1 shaft drag chain 4620, a detection support 4621, a photoelectric switch 4622 and an electromagnetic valve group 4623.

The vision part 43 comprises a light source mounting metal plate 4301, a vision mounting plate 4302, a vision cover metal plate 4303, an industrial camera 4304, an annular light source 4305, a lens 4306, a vision part drag chain 4307 and a camera protection metal plate 4308, the annular light source 4305 is mounted on the bottom side of the light source mounting metal plate 4301, the lens 4306 is mounted on the top side of the light source mounting metal plate 4301, the industrial camera 4304 is mounted on the top side of the annular light source 4305, and the vision part drag chain 4307 is mounted on the top side of the industrial camera 4304.

The mechanical arm pressure head 45 comprises a jig upper pressing fixing block 4501, a product pressing rod 4502 is sleeved on the jig upper pressing fixing block 4501 in a sliding mode, a compression spring 4503 is sleeved on the product pressing rod 4502, and a retaining ring 4504 is sleeved on the product pressing rod 4502.

The tray replacing air cylinder shaft 51 comprises an air cylinder shaft mounting plate 5101, an air cylinder shaft cover metal plate 5102, an air cylinder shaft sliding table plate 5103, a movable pin mounting plate 5104, a floating connecting plate 5105, a hydraulic buffer mounting plate 5106, a sensor mounting metal plate 5107, an air cylinder shaft sliding block 5108, an air cylinder shaft guide rail 5109, a rodless air cylinder 5110, a cylindrical pin 5111, a hydraulic buffer 5112, an air cylinder shaft speed regulating valve 5113, an air cylinder shaft proximity switch 5114 and an air cylinder shaft drag chain 5115, the air cylinder shaft drag chain 5115 is mounted on the bottom side of the air cylinder shaft mounting plate 5103, the floating connecting plate 5105 is mounted on the top side of the air cylinder shaft mounting plate 5103, the movable pin mounting plate 5104 is mounted on one side of the floating connecting plate 5105, and the rodless air cylinder 5110 is mounted on one side of the;

the X2 shaft 52 comprises a pulley seat A5201, a pulley seat B5202, an X2 shaft sheet metal 5203, a sliding table end plate 5204, an X2 shaft guide rail mounting plate 5205, an X2 shaft mounting plate 5206, a sliding block plate A5207, a sliding block plate B5208, a proximity switch mounting sheet metal 5209, an X2 shaft drag chain mounting sheet metal 5210, an X2 shaft sensing sheet 5211, a synchronous belt pressing plate 5212, a synchronous belt 5213, an X2 shaft stepping motor 5214, an X2 shaft coupler 5215, an X2 first proximity switch 5216, an X2 shaft second proximity switch 5217, an X2 shaft sliding block 5218, an X2 shaft guide rail 5219, a motor support aluminum material 5220 and an X2 shaft aluminum profile 5221;

the tray placing fixing seat 53 comprises a tray placing plate 5301, a tray fixing part 5302, a spring mounting block 5303, a follower mounting block 5304, an extension spring 5305, a tray placing fixing seat bearing 5306, a tray placing fixing seat guide rail 5307, a turnover tray 5308 and an inner hexagonal screw 5309, wherein the turnover tray 5308 is installed on the top side of the tray placing plate 5301.

The pulley seat includes two synchronous pulley mounting panels 1a, two install pivot 2a and four hexagonal type pillars 4a between the synchronous pulley mounting panel 1a, the cover is equipped with synchronizing wheel 5a on the pivot 2a, install bearing 3a on the synchronous pulley mounting panel 1a, pivot 2a with bearing 3a rotates and cup joints.

Compared with the prior art, the utility model provides a take vision feed arm has following beneficial effect:

the utility model provides a feeding mechanical arm with vision, 1, vision auxiliary positioning, products do not need manual positioning, and only need to be placed in a material tray;

2. 284 × 385MANZ product turnover trays are used, customization is not needed, and the generalization degree is high;

3. the material tray taking and placing clamping jaws are designed in a non-powered mode, and the material tray can be taken and placed by using a spring design mechanism and moving along with the Z axis;

4. the clamping jaw adopts the design that the clamping jaw can be used as an external clamp and can also be used as an internal clamp, so that the barrier of the clamping jaw for single use is directly broken, and the blade can be horizontally placed to correspond to the types of flat grinding and vertical grinding;

5. no matter how the blade is processed, the blade is kept flat, and the blade has the functions of corner turning, vertical turning, turnover and the like through other structures, so that the processing type requirements of all customers can be met without customization in the true sense.

The utility model discloses a take vision feed mechanical arm makes equipment more than 24 hours of continuous operation, accomplish in the true sense and can realize not shut down production for 24 hours under the operational environment of 8 hours system, two charging trays equipment degree of automation improves greatly before, use 284 MANZ product turnover charging tray directly to carry out the feed for equipment, need not to change the charging tray, also need not to place the location to the blade, directly adopt the visual location, greatly reduced personnel's participation rate, production efficiency reduction in production cost has been improved. The material tray is an industrial general material tray, all blades can be used, customization is not needed, obtaining is easy, and a large amount of material tray material cost is saved for manufacturers.

The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.

Claims (10)

1. A visual feeding mechanical arm is characterized by comprising:

installing a base;

the feeding table part is arranged on one side of the mounting base and comprises a material tray moving shaft and a material tray supplying box, and the material tray supplying box is slidably arranged on the material tray moving shaft;

a blade turnover portion mounted on the top side of the mounting base, the blade turnover portion including a holder base plate, a blade turnover portion and a blade corner portion, the blade turnover portion and the blade corner portion both mounted on the top side of the holder base plate;

a pick-and-place manipulator portion mounted on the top side of the mounting base, the pick-and-place manipulator portion including a Z1 axis, a C axis, a vision portion, an X1 axis, a robot arm ram, and a Y1 axis;

the supply tray part is arranged on the top side of the mounting base and comprises a replacement tray cylinder shaft, an X2 shaft and a tray placing fixing seat.

2. The mechanical arm with visual feeding function as claimed in claim 1, wherein the tray moving shaft comprises two sensor fixing plates, a support mounting plate, a feeding bin feeding shaft sliding plate, a feeding bin feeding shaft main plate, a feeding bin feeding sliding plate nut, two feeding bin feeding mechanism fixing plates, a tray feeding shaft sensing plate, a European standard aluminum alloy section, a stepping motor with brake, two guide rails, four sliding blocks, two buffer rings, two proximity switches, a coupler, a motor fixing seat, a screw rod and a support seat, the stepping motor with brake is mounted between the two European standard aluminum alloy sections, an output shaft of the stepping motor with brake is fixedly connected with the screw rod, the guide rails are slidably sleeved with the sliding blocks, the feeding bin feeding shaft sliding plates are fixedly connected with the four sliding blocks, the screw rod upper nut is sleeved with a feeding bin feeding sliding plate nut seat, and the feeding sliding plate nut of the feeding bin is fixedly connected with the feeding shaft sliding plate of the feeding bin.

3. The feeding mechanical arm with the vision as in claim 1, wherein the material tray supply box comprises a plurality of interlocking induction pieces, a feeding bin material box main plate, a feeding bin material box auxiliary plate, a feeding bin material box reinforcing plate A, a feeding bin material box reinforcing plate B, a feeding bin material box supporting plate, a material tray tensioning blocking piece, a feeding bin material box bottom plate, a circular strut, a positioning pin and a MANZ product turnover material tray, a plurality of feeding bin material box supporting plates are installed between the feeding bin material box main plate and the feeding bin material box auxiliary plate, and the MANZ product turnover material tray is arranged on the top side of the feeding bin material box supporting plate.

4. The visual feeding mechanical arm as claimed in claim 1, wherein the blade turnover part comprises a first turnover mechanism rotating part connecting block, an outer clamping jaw, a turnover mechanism mounting plate, a barb bend for a hose, an air claw, a first rotating cylinder and a first speed regulating valve, the rotating cylinder is mounted on the turnover mechanism mounting plate, the air claw is mounted on the rotating cylinder, and the outer clamping jaw is mounted on the air claw.

5. The vision-equipped feed robot of claim 1, wherein the blade corner portion comprises a second turnover mechanism rotating part connecting block, a corner mechanism cylinder mounting member, a corner mechanism clamping block, a corner mechanism mounting plate, a second rotating cylinder, a second speed regulating valve, a needle cylinder, a polyurethane ram and a metal joint, the second rotating cylinder is mounted on the corner mechanism mounting plate, the corner mechanism cylinder mounting member is mounted on the second rotating cylinder, the needle cylinder is mounted on the corner mechanism cylinder mounting member, and the polyurethane ram is mounted on the needle cylinder.

6. The vision-bearing feeding mechanical arm of claim 1, wherein the Z1 shaft comprises a Z1 shaft motor base, a Z1 shaft guide rail mounting plate, a Z1 shaft protection sheet metal, a Z1 shaft sliding block, a drag chain mounting sheet metal A, a sliding base, a Z1 shaft sliding rail, a Z1 shaft approach switch, a closed-loop stepping motor, a Z1 shaft coupler, a Z1 shaft bearing base, a Z1 shaft screw rod and a Z1 shaft gasket, and the closed-loop stepping motor is mounted on the top side of the Z1 shaft sliding block;

the C shaft comprises a mechanical arm finger, a C shaft drag chain mounting metal plate, a hollow rotating platform mounting plate, an anti-collision guide rail mounting plate, a limiting block on the floating mechanism, a C shaft first proximity switch, a C shaft second proximity switch, a C shaft guide rail, a tension spring, a C shaft stepping motor, a hollow rotating platform, a C shaft pin shaft and a C shaft drag chain, the mechanical arm finger is mounted on the bottom side of the hollow rotating platform, the C shaft stepping motor is mounted on the top side of the hollow rotating platform, and the C shaft drag chain is mounted on the top side of the C shaft stepping motor;

the X1 shaft comprises an X1 shaft guide rail mounting block, an X1 shaft nut block, an X1 shaft motor base, a drag chain mounting metal plate B, an inductor fixing metal plate, an X1 shaft sliding block, an X1 shaft sliding rail, an X1 shaft closed-loop stepping motor, an X1 shaft coupler, an X1 shaft approach switch, an X1 shaft bearing seat, an X1 shaft screw rod, a gasket, a drag chain mounting metal plate D, a drag chain mounting metal plate C, X1 shaft drag chain and a Z1 shaft mounting plate, and an output shaft of the X1 shaft closed-loop stepping motor is connected with the X1 shaft screw rod;

y1 axle includes Y1 axle installation panel beating, proximity switch installation panel beating, X-Y connecting plate, arm mounting plate, support the panel beating, the panel beating is decorated to the arm, Y1 axle response piece, the motor protection casing, the aluminium alloy end cover, photoelectric switch installation panel beating, detect the support fixed plate, first aluminium alloy, the L connecting block, the end cover, electronic slip table, the second aluminium alloy, angle aluminium, the first proximity switch of Y1 axle, Y1 axle second proximity switch, Y1 axle tow chain, detect the support, photoelectric switch and electromagnetism valves.

7. The mechanical arm with the visual feeding function of claim 1, wherein the visual part comprises a light source installation metal plate, a visual installation plate, a visual cover metal plate, an industrial camera, an annular light source, a lens, a visual part drag chain and a camera protection metal plate, the annular light source is installed on the bottom side of the light source installation metal plate, the lens is installed on the top side of the light source installation metal plate, the industrial camera is installed on the top side of the annular light source, and the visual part drag chain is installed on the top side of the industrial camera.

8. The vision-bearing feeding mechanical arm as claimed in claim 1, wherein the mechanical arm pressing head comprises a fixture upper pressing fixed block, a product pressing rod is slidably sleeved on the fixture upper pressing fixed block, a compression spring is sleeved on the product pressing rod, and a retaining ring is sleeved on the product pressing rod.

9. The feeding mechanical arm with the vision as claimed in claim 1, wherein the material disc replacing cylinder shaft comprises a cylinder shaft mounting plate, a cylinder shaft cover metal plate, a cylinder shaft slide plate, a movable pin mounting plate, a floating connecting plate, a hydraulic buffer mounting plate, a sensor mounting metal plate, a cylinder shaft slide block, a cylinder shaft guide rail, a rodless cylinder, a cylindrical pin, a hydraulic buffer, a cylinder shaft speed regulating valve, a cylinder shaft approach switch and a cylinder shaft drag chain, the cylinder shaft drag chain is mounted on the bottom side of the cylinder shaft mounting plate, the floating connecting plate is mounted on the top side of the cylinder shaft mounting plate, the movable pin mounting plate is mounted on one side of the floating connecting plate, and the rodless cylinder is mounted on one side of the movable pin mounting plate;

the X2 shaft comprises a pulley seat A, a pulley seat B, X2 shaft metal plate, a sliding table end plate, an X2 shaft guide rail mounting plate, an X2 shaft mounting plate, a sliding block plate A, a sliding block plate B, a proximity switch mounting metal plate, an X2 shaft drag chain mounting metal plate, an X2 shaft induction sheet, a synchronous belt pressing plate, a synchronous belt 5213, an X2 shaft stepping motor, an X2 shaft coupler, an X2 first proximity switch, an X2 shaft second proximity switch, an X2 shaft sliding block, an X2 shaft guide rail, a motor supporting aluminum material and an X2 shaft aluminum profile;

the fixing base is placed to the charging tray includes that the charging tray places board, charging tray mounting, spring mounting piece, follower installation piece, extension spring, charging tray place the fixing base bearing, the charging tray places the fixing base guide rail, turnover charging tray and interior hexagonal screw, the turnover charging tray is installed the top side that the board was placed to the charging tray.

10. The feeding mechanical arm with the vision as claimed in claim 9, wherein the pulley seat comprises two synchronous pulley mounting plates, a rotating shaft and four hexagonal pillars are installed between the two synchronous pulley mounting plates, a synchronous wheel is sleeved on the rotating shaft, a bearing is installed on the synchronous pulley mounting plates, and the rotating shaft is rotatably sleeved with the bearing.

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