A zinc oxide resistor automatic grouping system and its use method

Abstract

The present application relates to the field of zinc oxide assembly technology, and specifically to an automatic grouping system for zinc oxide resistors and a method of using the system, including: a conveying system for conveying resistors to be grouped; a feeding visual recognition system for reading and recording the data information sprayed on each resistor to be grouped on the conveying system, and arranging and combining the recorded information, and identifying unqualified resistors from the resistors to be grouped on the conveying system; a sorting visual recognition system for reading the data information sprayed on the resistors to be grouped transmitted from the conveying system, and determining the placement position information of each resistor to be grouped according to the read information and the grouping requirements; an automatic sorting system for repositioning each resistor to be grouped according to the placement position information, so as to achieve grouping of each resistor to be grouped. The automatic grouping system provided in the embodiment of the present application can automatically group the resistors, thereby improving the grouping efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of zinc oxide assembly, and in particular to an automatic zinc oxide resistor assembly system and a use method thereof. Background Art

[0002] The zinc oxide matching process usually involves testing the resistors first, measuring the performance parameters of each resistor, and then using a printer to print the parameter information on the resistor surface. The information on the resistor is manually recorded and sorted, and then the matching information is manually calculated. Based on the matching information, the resistor with the corresponding parameters is manually found from a large number of resistors, and the matching is performed manually. It can be seen that the matching work is currently done manually, which has the disadvantages of low efficiency, high labor costs, and high management difficulty. Summary of the invention

[0003] In view of the shortcomings of the prior art, this application provides an automatic grouping system for zinc oxide resistors, which can automatically group zinc oxide resistors, has a higher degree of automation, improves grouping efficiency, reduces labor, and is easier to manage. The specific plan is as follows:

[0004] In the first aspect, the present application provides a zinc oxide resistor automatic grouping system, comprising:

[0005] Conveying system, used for conveying resistor sheets to be assembled;

[0006] An automatic feeding visual guidance system is provided at the front end of the conveying system, and is used to lift each resistor group to be matched to a grasping height and place it at the entrance of the conveying system;

[0007] A material feeding visual recognition system is provided on the conveying system and is located at the rear side of the automatic material feeding visual guidance system, and is used to read and record the data information sprayed on each resistor to be matched on the conveying system, arrange and combine the recorded information, and identify unqualified resistors from the resistors to be matched on the conveying system;

[0008] A material feeding and rejecting system, located at the rear side of the material feeding visual recognition system, is used to identify and reject the unqualified resistor sheets from the resistor sheets to be assembled on the conveying system;

[0009] A sorting visual recognition system is provided on the conveying system and is located at the rear side of the feeding and rejecting system, and is used to read the data information sprayed on the resistor sheets to be matched transmitted from the conveying system, and determine the placement position information of each resistor sheet to be matched according to the read information and the matching requirements, wherein the placement position is used to indicate the placement position of the resistor sheets to be matched, wherein each resistor sheet to be matched can be matched after being placed according to the placement position;

[0010] The automatic sorting system is arranged on the conveying system and is located at the rear side of the sorting visual recognition system, and is used to reposition each resistor sheet to be grouped according to the placement position information to achieve grouping of each resistor sheet to be grouped.

[0011] Optionally, the conveying system includes a feeding conveying line, a sorting conveying line and a rotary conveying line;

[0012] The sorting conveyor line is located at the rear end of the feeding conveyor line and is connected to the feeding conveyor line, and the rotary conveyor line is arranged side by side with the sorting conveyor line;

[0013] The sorting conveyor line is used to convey the resistor sheets to be assembled, and the rotary conveyor line is used to convey the resistor sheets to the front end of the sorting conveyor line;

[0014] The automatic sorting system is also used to grab ungrouped resistor sheets onto the rotary conveyor line, so as to transport the ungrouped resistor sheets to the front end of the sorting conveyor line again through the rotary conveyor line.

[0015] Optionally, the automatic matching system further includes:

[0016] The automatic tray supply system, the automatic sorting system is also used to grab the successfully assembled resistors onto the tray of the automatic tray supply system;

[0017] The automatic sorting and stacking system is used to stack the trays containing the successfully assembled resistor sheets.

[0018] Optionally, the automatic matching system further includes:

[0019] The automatic sorting and rejecting system is also used to grab the ungrouped resistor sheets that have been identified a preset number of times and bring them to the automatic sorting and rejecting system, and the automatic sorting and rejecting system is used to reject the received resistor sheets.

[0020] Optionally, the automatic sorting system includes two groups, and the two groups of automatic sorting systems are respectively located on both sides of the conveying system;

[0021] The automatic tray supply system includes two groups, and the two groups of automatic tray supply systems are respectively located at the front ends of the two groups of automatic sorting systems;

[0022] The automatic sorting and stacking system comprises two groups, and the two groups of automatic sorting and stacking systems are respectively located at the rear ends of the two groups of automatic sorting systems.

[0023] Optionally, the automatic feeding visual guidance system includes:

[0024] The loading and lifting mechanism is used to lift each resistor group to be matched to the grabbing height;

[0025] The SCARA loading robot is used to grab the resistor sheets to be assembled from the loading lifting mechanism and place them in sequence at the entrance of the conveying system;

[0026] The vision-guided camera is arranged on the vertical axis of the SCARA loading robot, and is used to collect environmental images and send the environmental images to the SCARA loading robot. The SCARA loading robot is used to determine the position of the resistor sheet to be assembled according to the environmental image, so as to perform a grasping operation according to the determined position.

[0027] Optionally, a rotating mechanism is provided at the end where the sorting conveyor line and the rotary conveyor line are arranged side by side, and the rotating mechanism is used to rotate and transport the resistor sheet.

[0028] Optionally, the slewing mechanism comprises: a slewing bracket mounted on the conveying system;

[0029] A guide arc plate, connected to the swivel bracket and facing the surface of the conveying system;

[0030] A rotary power-assisting cylinder, the head of which is connected with a rotary power-assisting baffle through a hinge;

[0031] When the rotary booster cylinder is retracted, the rotary booster baffle faces downward to push the resistor sheet to rotate; when the rotary booster cylinder is pushed out, the rotary booster baffle can be closed along the hinge direction to be separated from the resistor sheet;

[0032] A tail material detection sensor for detecting whether there is a resistor is provided at the front end of the guide arc plate. The tail material detection sensor is used to control the operation of the rotary assist cylinder to push the resistor when the resistor is not detected within a preset time.

[0033] Optionally, the automatic sorting system comprises:

[0034] The SCARA sorting robot has a motion range covering the discharge end of the sorting conveyor line, the feed end of the rotary conveyor line, and the feed end of the sorting automatic rejection system;

[0035] Pallet conveyor belt line, the SCARA sorting robot covers the width of the pallet conveyor belt line;

[0036] A pallet, wherein the pallet is supplied to the pallet conveyor belt line through the automatic supply system, the pallet conveyor belt line transports the pallet to the coverage area of ​​the SCARA sorting robot, and the SCARA sorting robot is used to group and sort the resistor sheets on the pallet;

[0037] The pallet conveyor roller line changes lines by stepping motion of the pallet conveyor belt line. The pallet conveyor belt line is used to deliver the pallet containing the assembled resistor sheets to the pallet conveyor roller line. The pallet conveyor roller line is used to transport the pallet to the sorting automatic stacking system.

[0038] Optionally, the sorting automatic palletizing system comprises: a frame, a palletizing translation assembly arranged on the frame, a palletizing translation motor arranged on the frame, a palletizing translation guide rail arranged on the frame, and a palletizing lifting mechanism;

[0039] The stacking translation assembly is fixed on the stacking translation guide rail, and the stacking translation motor is connected to the stacking translation assembly via a stacking translation synchronous belt;

[0040] The palletizing translation plate of the palletizing translation assembly is fixed on the palletizing translation guide rail, a palletizing lifting cylinder is installed on the palletizing translation plate, a linear bearing is installed on the palletizing translation plate, the palletizing lifting cylinder is connected to the palletizing grabbing connecting plate, a guide rod is installed above the palletizing grabbing connecting plate, the guide rod passes through the linear bearing, a palletizing grabbing rotating cylinder is installed below the palletizing grabbing connecting plate, and the palletizing grabbing rotating cylinder can hook the assembled pallet after rotation, and grab and palletize it.

[0041] In the embodiment of the present application, through the coordinated operation of the conveying system, the automatic feeding visual guidance system, the feeding visual recognition system, the feeding rejection system, the sorting visual recognition system, and the automatic sorting system, the resistors can be automatically grouped, thereby improving the grouping efficiency.

[0042] In the embodiment of the present application, the elevator of the feeding vision guidance system lifts the arranged resistor sheets to the grabbing height, and the vision guidance camera guides the SCARA feeding robot to grab the resistor sheets in turn, and accurately place them at the entrance of the feeding conveyor line of the conveying system, so that they pass through the feeding vision recognition system, the feeding rejection system and the sorting vision recognition system in turn. The vision camera in the feeding vision recognition system reads and records the data information sprayed on the resistor sheet, and arranges and combines the input information. The feeding rejection system screens the unqualified products identified in the feeding vision recognition system, and rejects the unqualified products from the conveying system; the sorting vision recognition system reads the data information sprayed on the resistor sheet again, and judges according to the read information. The product should be grabbed to where it is, and the automatic sorting system SCARA sorting robot will grab it, grab the successfully grouped resistors to the pallets on both sides, and grab the resistors that are misidentified or not yet grouped (also called valve sheets) to the rotary conveyor line in the conveying system. The resistors grabbed to the rotary conveyor line are transported to the sorting conveyor line by the rotary conveyor line for secondary identification. If the sorting vision recognition system still cannot group it after multiple identifications, the SCARA sorting robot will grab it and send it to the sorting automatic rejection system to reject it. The sorting system will place the grouped valve sheets on the pallet and transport them to the conveyor roller line. The sorting automatic stacking system will grab the pallet and the grouped resistors together for stacking, thereby realizing automatic grouping and sorting of the resistors.

[0043] As an optimization, the automatic feeding visual guidance system platform is a feeding lifting mechanism. In this solution, the feeding lifting mechanism can lift the arranged resistor sheets to the grasping point, which is convenient for the visual guidance camera to identify and guide, and can also realize guided grasping of different layers.

[0044] As an optimization, the vision-guided camera is installed on the Z-axis of the SCARA loading robot, and the camera can rotate along with the Z-axis of the robot. In this solution, the camera is controlled to take a picture of the resistor before the robot grasps it, which facilitates the conversion of the vision-guided camera recognition coordinates and the robot grasping coordinates.

[0045] As an optimization, the feeding visual recognition system is arranged above the feeding conveyor line in the conveying system, and the resistor is placed on the feeding conveyor line and transported through the feeding visual recognition system by the feeding conveyor line, so that the resistor is dynamically identified during transportation.

[0046] As an optimization, an automatic feeding rejection system is provided behind the feeding visual recognition system. Products that cannot be identified by the feeding visual recognition system or are unqualified after identification are rejected by the automatic feeding rejection system, thereby improving the system assembly efficiency.

[0047] As an optimization, the conveying system is provided with a plurality of feeding conveying lines to increase the feeding buffer capacity and facilitate system assembly. Meanwhile, the feeding conveying lines are arranged side by side, and the resistors rotate on the conveying lines, thus saving site space.

[0048] As an optimization, a rotary mechanism is provided at the reverse conveying position of the side-by-side conveying line of the conveying system. The resistor sheet is detected by the tail material detection sensor to determine the last product, and the rotary power cylinder is used to assist in ensuring that the last product can pass smoothly.

[0049] As an optimization, the conveying system is provided with a sorting conveyor line and a rotary conveyor line. The sorting system grabs products from the sorting conveyor line and determines where to put them through the sorting visual recognition system. Products that are misidentified or temporarily unable to be grouped are grabbed to the rotary conveyor line and transported to the sorting conveyor line again through the rotary conveyor line for secondary identification and grouping.

[0050] As an optimization, an automatic tray supply system is provided in front of the automatic sorting system, and the automatic tray supply system has a tray lifting mechanism, through which the tray lifting mechanism can be used to automatically supply trays multiple times.

[0051] As an optimization, the automatic sorting system is divided into left and right sides, and the sorting systems on both sides can perform sorting at the same time, so that the system can be divided into two groups at the same time, thereby improving the system grouping efficiency.

[0052] As an optimization, a sorting automatic palletizing system is provided behind the automatic sorting system, through which the grouped products are palletized to facilitate subsequent storage and transportation.

[0053] As an optimization, a sorting automatic rejection system is provided on one side of the automatic sorting system. For some resistors that have passed through the sorting automatic rejection system for multiple times but still cannot be grouped, a rejection command is issued. The resistors that cannot be grouped are grabbed by the sorting SCARA sorting robot and brought to the sorting automatic rejection system to avoid accumulation on the rotary conveyor line and paralysis of the entire system.

[0054] In a second aspect, the present application also provides a method for using a resistor automatic grouping system, comprising the following steps:

[0055] a. The placed resistors are lifted to the grabbing height by the loading vision guidance system elevator, and the vision guidance camera guides the SCARA loading robot to grab the resistors one by one and place them accurately at the entrance of the feeding conveyor line of the conveying system;

[0056] b. The resistor is transported through the conveying system, and passes through the feeding visual recognition system, the feeding rejection system and the sorting visual recognition system in turn;

[0057] c. The visual camera in the feeding visual recognition system reads and records the data information sprayed on the resistor, and arranges and combines the input information;

[0058] d. The unqualified products identified in the feeding visual recognition system are screened through the feeding rejection system, and the unqualified products are rejected from the conveying system;

[0059] e. The data information sprayed on the resistor is read again through the sorting visual recognition system, and the location of the product should be determined based on the read information;

[0060] f. The SCARA sorting robot of the automatic sorting system is used to grab the successfully matched resistor sheets to the trays on both sides, and the valve sheets with identification errors or not yet matched are grabbed to the rotary conveyor line in the conveying system;

[0061] g. The SCARA sorting robot of the automatic sorting system grabs the resistors to the rotary conveyor line, and then transports them to the sorting conveyor line for secondary identification;

[0062] h. If the group cannot be matched after multiple identifications by the sorting vision recognition system, the SCARA robot will grab it and send it to the sorting automatic rejection system for rejection;

[0063] i. Place the assembled valve sheets on the pallet through the sorting system and transport them to the conveyor roller line;

[0064] j. The tray and the assembled resistors are picked up and stacked together through the sorting automatic stacking system.

[0065] The resistor automatic grouping system provided by the present application uses the lifting device of the feeding vision guidance system to lift the arranged resistors to the grabbing height, and the vision guidance camera guides the SCARA feeding robot to grab the resistors in turn, and accurately place them at the entrance of the feeding conveyor line of the conveying system, so that they pass through the feeding vision recognition system, the feeding rejection system and the sorting vision recognition system in turn. The vision camera in the feeding vision recognition system reads and records the data information sprayed on the resistor, and arranges and combines the input information. The feeding rejection system screens the unqualified products identified in the feeding vision recognition system and rejects the unqualified products from the conveying system; the sorting vision recognition system reads the data information sprayed on the resistor again, and determines where the product should be grabbed according to the read information, and automatically The SCARA sorting robot of the sorting system grabs and grabs the successfully grouped resistor sheets to the pallets on both sides respectively, and grabs the valve sheets that are incorrectly identified or not yet grouped to the rotary conveyor line in the conveying system. The resistor sheets grabbed to the rotary conveyor line are transported again to the sorting conveyor line by the rotary conveyor line for secondary identification. If the sorting vision recognition system still cannot group them after multiple identifications, the SCARA sorting robot grabs them to the sorting automatic rejection system to reject them. The sorting system places the grouped valve sheets on the pallet and transports them to the conveyor roller line. The sorting automatic stacking system grabs the pallet and the grouped resistor sheets together for stacking, thereby realizing automatic grouping and sorting of the resistor sheets. The present application can realize automatic grouping and sorting of the resistor sheets, greatly reducing the labor intensity of workers and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A schematic diagram of the structure of the automatic matching system provided for this application;

[0067] Figure 2 for Figure 1 A top view of the automatic matching system shown;

[0068] Figure 3 for Figure 1 A side view of the automatic matching system shown;

[0069] Figure 4 for Figure 1 The schematic diagram of the structure of the feeding visual guidance system of the automatic grouping system shown;

[0070] Figure 5 for Figure 1 A top view of a conveying system of the automatic grouping system shown;

[0071] Figure 6 for Figure 1 The schematic diagram of the rotary mechanism structure of the automatic matching system shown;

[0072] Figure 7 for Figure 1The schematic diagram of the structure of the automatic sorting system, the automatic pallet sharing system, and the automatic sorting and stacking system of the automatic grouping system shown;

[0073] Figure 8 for Figure 1 The schematic diagram of the structure of the automatic sorting system of the automatic grouping system shown;

[0074] Fig. 9 for Figure 1 The schematic diagram of the structure of the stacking translation component of the automatic grouping system is shown.

[0075] The numbers in the figure are:

[0076] 1. Automatic feeding visual guidance system; 2. Conveying system; 3. Automatic sorting system; 4. Feeding visual recognition system; 5. Sorting visual recognition system; 6. Feeding rejection system; 7. Pallet automatic supply system; 8. Sorting automatic stacking system; 9. Sorting automatic rejection system; 101. Feeding lifting mechanism; 102. Visual guidance camera; 103. SCARA feeding robot; 104. Feeding frame; 105. Lifting chain; 201. Feeding conveyor line; 202. Sorting conveyor line; 203. Rotary conveyor line; 204. Rotary mechanism; 2041. Rotary bracket; 2042. Rotary assist cylinder; 2043. Guide arc plate; 2044. Rotary assist baffle; 2045. Tail material detection sensor; 2046. Hinge; 301. SCARA sorting robot ; 302, pallet conveyor belt line; 303, pallet conveyor roller line; 304, pallet; 701, pallet lifting mechanism; 702, pallet feeding cylinder; 703, pallet feeding push plate; 801, frame; 802, palletizing translation assembly; 803, palletizing translation motor; 804, palletizing translation timing belt; 805, palletizing translation guide rail; 806, palletizing lifting mechanism; 8021, palletizing translation plate; 8022, palletizing lifting cylinder; 8023, linear bearing; 8024, guide rod; 8025, palletizing grabbing connecting plate; 8026, palletizing grabbing rotating cylinder. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0078] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly defined and specifically defined. In the present application, unless otherwise clearly defined and defined, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, it can also be a detachable connection, or it can be integrated; it can be directly connected, it can also be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0079] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0080] In the description of this application, it should be understood that the terms "inside", "outside", "upper", "bottom", "front", "back" and the like indicate directions or positional relationships (if any) based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0081] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0082] like Figures 1 to 9 As shown, the automatic grouping system of zinc oxide resistors provided in the embodiment of the present application includes: a conveying system 2, an automatic feeding visual guidance system 1, a feeding visual recognition system 4, a feeding rejection system 6, a sorting visual recognition system 5 and an automatic sorting system 3.

[0083] The conveying system 2 is used to convey the resistor sheets to be assembled.

[0084] The automatic feeding visual guidance system 1 is arranged at the front end of the conveying system 2 and is used to lift each resistor sheet to be assembled to a grasping height and place it at the entrance of the conveying system 2.

[0085] The feeding visual recognition system 4 is arranged on the conveying system 2 and is located at the rear side of the automatic feeding visual guidance system 1. It is used to read and record the data information sprayed on each resistor to be matched on the conveying system 2, arrange and combine the recorded information, and identify unqualified resistors from the resistors to be matched on the conveying system 2.

[0086] The feeding and rejecting system 6 is located at the rear side of the feeding visual recognition system 4 , and is used to identify and reject the unqualified resistor sheets from the resistor sheets to be assembled on the conveying system 2 .

[0087] The sorting visual recognition system 5 is arranged on the conveying system 2 and is located at the rear side of the feeding and rejecting system 6. It is used to read the data information sprayed on the resistor sheets to be matched transmitted from the conveying system 2, and determine the placement position information of each resistor sheet to be matched according to the read information and the matching requirements. The placement position is used to indicate the placement position of the resistor sheets to be matched, wherein each resistor sheet to be matched can be matched after being placed according to the placement position.

[0088] The automatic sorting system 3 is arranged on the conveying system 2 and is located at the rear side of the sorting visual recognition system 5, and is used to reposition the resistor sheets to be grouped according to the placement position information to achieve grouping of the resistor sheets to be grouped.

[0089] Alternatively, if Figure 5 As shown, the conveying system 2 includes a feed conveyor line 201, a sorting conveyor line 202 and a rotary conveyor line 203; the sorting conveyor line 202 is located at the rear end of the feed conveyor line 201 and is connected to the feed conveyor line 201, and the rotary conveyor line 203 is arranged side by side with the sorting conveyor line 202; the sorting conveyor line 202 is used to convey the resistor sheets to be grouped, and the rotary conveyor line 203 is used to convey the resistor sheets to the front end of the sorting conveyor line 202; the automatic sorting system 3 is also used to grab the ungrouped resistor sheets onto the rotary conveyor line 203, so as to convey the ungrouped resistor sheets to the front end of the sorting conveyor line 202 again through the rotary conveyor line 203.

[0090] The conveying system 2 includes multiple conveying lines, which is more convenient for intelligent grouping.

[0091] Alternatively, if Figures 1 to 3 , Figure 7 , Figure 8As shown, the automatic grouping system also includes: an automatic tray supply system 7 and a sorting automatic stacking system 8. The automatic sorting system 3 is also used to grab the successfully grouped resistor sheets onto the tray 304 of the automatic tray supply system 7, and the sorting automatic stacking system 8 is used to stack the tray 304 containing the successfully grouped resistor sheets.

[0092] Alternatively, if Figures 1 to 3 As shown, the automatic matching system also includes:

[0093] The automatic sorting and rejecting system 9, the automatic sorting system 3 is also used to grab the unmatched resistor sheets that have been identified for a preset number of times and bring them to the automatic sorting and rejecting system 9, the automatic sorting and rejecting system 9 is used to reject the received resistor sheets.

[0094] Alternatively, if Figures 1 to 3 As shown, the automatic sorting system 3 includes two groups, and the two groups of automatic sorting systems 3 are respectively located on both sides of the conveying system 2;

[0095] The automatic tray supply system 7 includes two groups, and the two groups of automatic tray supply systems 7 are respectively located at the front ends of the two groups of automatic sorting systems 3;

[0096] The automatic sorting and stacking system 8 includes two groups, and the two groups of automatic sorting and stacking systems 8 are respectively located at the rear ends of the two groups of automatic sorting systems 3.

[0097] Alternatively, if Figure 4 As shown, the automatic feeding visual guidance system 1 includes:

[0098] The material loading and lifting mechanism 101 is used to lift each resistor group to be matched to a grabbing height;

[0099] The SCARA loading robot 103 is used to grab the resistor sheets to be assembled from the loading lifting mechanism 101 and place them at the entrance of the conveying system 2 in sequence;

[0100] The vision-guided camera 102 is arranged on the vertical axis of the SCARA loading robot 103, and is used to collect environmental images and send the environmental images to the SCARA loading robot 103. The SCARA loading robot 103 is used to determine the position of the resistor sheet to be assembled according to the environmental image, so as to perform a grasping operation according to the determined position.

[0101] Alternatively, if Figure 5 As shown, a rotating mechanism 204 is provided at the end where the sorting conveyor line 202 and the rotating conveyor line 203 are arranged side by side. The rotating mechanism 204 is used to rotate and transport the resistor sheet.

[0102] Alternatively, if Figure 6As shown, the swivel mechanism 204 comprises: a swivel bracket 2041 installed on the conveying system 2;

[0103] A guide arc plate 2043 connected to the swivel bracket 2041 and facing the surface of the conveying system 2;

[0104] A rotary assist cylinder 2042, the head of which is connected to a rotary assist baffle 2044 via a hinge 2046;

[0105] When the rotary assisting cylinder 2042 is retracted, the rotary assisting baffle 2044 faces downward to push the resistor to rotate; when the rotary assisting cylinder 2042 is pushed out, the rotary assisting baffle 2044 can be closed along the direction of the hinge 2046 to be separated from the resistor;

[0106] The front end of the guide arc plate 2043 is provided with a tail material detection sensor 2045 for detecting whether there is a resistor. The tail material detection sensor 2045 is used to control the rotary assist cylinder 2042 to operate to push the resistor when the resistor is not detected within a preset time.

[0107] Alternatively, if Figure 7 As shown, the automatic sorting system 3 includes:

[0108] The SCARA sorting robot 301 has a movement range covering the discharge end of the sorting conveyor line 202, the feed end of the rotary conveyor line 203, and the feed end of the sorting automatic rejection system 9;

[0109] The pallet conveyor belt line 302, the SCARA sorting robot 301 covers the width of the pallet conveyor belt line 302;

[0110] A pallet, wherein the pallet is supplied to the pallet conveyor belt line 302 through the automatic supply system, and the pallet conveyor belt line 302 transports the pallet to the coverage area of ​​the SCARA sorting robot 301, and the SCARA sorting robot 301 is used to group and sort the resistor sheets on the pallet;

[0111] The pallet conveyor roller line 303 changes lines through the stepping motion of the pallet conveyor belt line. The pallet conveyor belt line is used to deliver the pallet containing the assembled resistor sheets to the pallet conveyor roller line 303. The pallet conveyor roller line 303 is used to transport the pallet to the sorting automatic stacking system 8.

[0112] Alternatively, if Figure 7As shown, the automatic sorting and stacking system 8 includes: a frame 801, a stacking translation assembly 802 arranged on the frame 801, a stacking translation motor 803 arranged on the frame 801, a stacking translation guide rail 805 arranged on the frame 801, and a stacking lifting mechanism 806;

[0113] The stacking translation assembly 802 is fixed on the stacking translation guide rail 805, and the stacking translation motor 803 is connected to the stacking translation assembly 802 via a stacking translation synchronous belt 804;

[0114] The palletizing translation plate 8021 of the palletizing translation assembly 802 is fixed on the palletizing translation guide rail 805, the palletizing translation plate 8021 is installed with a palletizing lifting cylinder 8022, the palletizing translation plate 8021 is installed with a linear bearing 8023, the palletizing lifting cylinder 8022 is connected to a palletizing grabbing connecting plate 8025, a guide rod 8024 is installed above the palletizing grabbing connecting plate 8025, the guide rod 8024 passes through the linear bearing 8023, a palletizing grabbing rotating cylinder 8026 is installed below the palletizing grabbing connecting plate 8025, and the palletizing grabbing rotating cylinder 8026 can hook the assembled pallets after rotation, and grab and palletize them.

[0115] The following is an introduction to the automatic grouping system of zinc oxide resistors provided by the present application through specific examples. Figures 1 to 9 As shown, the automatic grouping system of zinc oxide resistors provided in the present application includes: an automatic feeding visual guidance system 1, a feeding visual recognition system 4, a feeding rejection system 6, a conveying system 2, a sorting visual recognition system 5, an automatic sorting system 3, an automatic tray supply system 7, a sorting automatic stacking system 8 and a sorting automatic rejection system 9, wherein the automatic feeding visual guidance system 1 is arranged at the front end of the conveying system 2, the automatic sorting system 3 is arranged at the rear end of the conveying system 2, the feeding visual recognition system 4 is arranged on the conveying system 2, and is located behind the automatic feeding visual guidance system 1, the sorting visual recognition system 5 is arranged on the conveying system 2, and is located in front of the automatic sorting system 3, and the automatic sorting system 3 is divided into two sides, and the front end of each side is provided with an automatic tray supply system 7, and the rear end is provided with a sorting automatic stacking system 8.

[0116] The automatic feeding vision guidance system 1 includes a feeding frame 104, which is made of aluminum profiles. A feeding lifting mechanism 101 is provided on the feeding frame 104. The feeding lifting mechanism 101 is driven by a servo motor and is lifted and lowered by a lifting chain 105. A SCARA feeding robot 103 is arranged next to the feeding frame 104, and a vision guidance camera 102 is arranged on the Z axis of the SCARA feeding robot 103.

[0117] The conveying system 2 includes a plurality of feeding conveying lines 201, which are arranged side by side. The running directions of every two adjacent conveying lines are opposite to each other, so as to shorten the total length of the conveying system 2. The feeding conveying line 201 is connected with the sorting conveying line 202. The moving direction of the sorting conveying line 202 is consistent with the feeding conveying line 201 connected thereto. The rotary conveying line 203 is arranged side by side with the sorting conveying line 202, and the moving direction is opposite to that of the sorting conveying line 202. A rotary mechanism 204 is provided at all the conveying lines arranged side by side. The resistors to be grouped run along the conveying system in sequence. When passing through the conveying lines arranged side by side, the rotary mechanism guides the auxiliary resistors to run so as to change their running directions.

[0118] The resistor to be assembled can be a zinc oxide resistor or other resistors.

[0119] The rotary mechanism 204 is arranged at the end of the parallel conveying line of the conveying system 2, the rotary bracket 2041 is fixed on the conveying system 2, the guide arc plate 2043 is connected to the rotary bracket 2041, the guide arc plate 2043 is close to the upper surface of the belt of the conveying system 2, but no friction occurs, and the rotary booster cylinder 2042 is connected to the rotary bracket 2041. The head of the rotary assist cylinder 2042 is connected to the rotary assist baffle 2044 through the hinge 2046, so that when the rotary assist cylinder 2042 is retracted, the rotary assist baffle 2044 is vertically downward to push the resistor. When the rotary assist cylinder 2042 is pushed out, the rotary assist baffle 2044 can be closed along the hinge direction to avoid driving the resistor. A tail material detection sensor 2045 is provided at the front end of the guide arc plate 2043. When the tail material detection sensor 2045 does not detect the resistor for a certain period of time, it is determined that the resistor needs the auxiliary push of the rotary assist cylinder 2042, and the rotary assist cylinder 2042 runs to assist in pushing the resistor.

[0120] The automatic sorting system 3 is provided with two SCARA sorting robots 301, two pallet conveyor belt lines 302 and two pallet conveyor roller lines 303. The two SCARA sorting robots 301 are arranged side by side and are located in the middle. Their motion range covers the discharge end of the sorting conveyor line 202, the feeding end of the rotary conveyor line 203, and the feeding end of the sorting automatic rejection system. The two SCARA sorting robots 301 respectively cover the width of the corresponding side pallet conveyor belt lines 302. The pallets 304 are respectively supplied to the pallet conveyor belt lines 302 on both sides through the pallet automatic supply system 7. The pallet conveyor belt lines 302 transport the pallets 304 to the coverage range of the SCARA sorting robots 301. The SCARA sorting robots 301 perform group sorting and change lines through the stepping motion of the pallet conveyor belt lines 302. After the pallets 304 are full, the pallet conveyor belt lines send them to the pallet conveyor roller lines 303, and then the sorting automatic palletizing system 8 performs palletizing.

[0121] The automatic pallet supply system 7 includes a pallet lifting mechanism 701, and the pallets 304 are stacked and placed on the pallet lifting mechanism 701. The pallets 304 are powered by a servo motor and lifted and lowered by a chain drive so that the lower surface of the top pallet 304 is higher than the upper surface of the pallet conveyor belt line 302. The pallet feeding cylinder 702 drives the pallet feeding push plate 703 to move, pushing the pallet 304 onto the pallet conveyor belt line 302, thereby realizing automatic supply of the pallet 304.

[0122] The automatic sorting and stacking system 8 comprises a frame 801, a stacking translation assembly 802 is arranged on the frame 801, a stacking translation motor 803 is arranged on the frame 801, two stacking translation guide rails 805 are arranged on the frame 801, the stacking translation assembly 802 is fixed on the stacking translation guide rails 805, the stacking translation motor 803 is connected to the stacking translation assembly 802 through a stacking translation synchronous belt 804, and the stacking translation motor 803 is rotated forward and reversely to realize the translation, and the stacking translation assembly 802 grabs the resistor sheets that have been assembled from the pallet conveying roller line 303 and transports them to the stacking lifting mechanism 806 for stacking, and the stacking lifting mechanism 806 is arranged on the frame 801. The stacking lifting mechanism 806 starts to receive the assembled resistors from the top, and the stacking lifting mechanism 806 moves down one layer for each layer received, until the stacking lifting mechanism 806 reaches the bottom.

[0123] The palletizing translation plate 8021 of the palletizing translation assembly 802 is fixed on the palletizing translation guide rail 805, and a palletizing lifting cylinder 8022 is installed on the palletizing translation plate 8021. Four linear bearings 8023 are installed on the palletizing translation plate. The palletizing lifting cylinder 8022 is connected to the palletizing grabbing connecting plate 8025. Four guide rods 8024 are installed above the palletizing grabbing connecting plate 8025. The guide rods 8024 pass through the linear bearings 8023. Four palletizing grabbing rotating cylinders 8026 are installed below the palletizing grabbing connecting plate 8025. After the palletizing grabbing rotating cylinders 8026 rotate, they can hook the assembled pallets 304 to grab and palletize them.

[0124] Of course, the above description is not limited to the above examples. Technical features not described in the present application can be implemented by or using existing technologies, which will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solution of the present application and are not limitations of the present application. The present application is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that the changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present application do not depart from the purpose of the present application and should also fall within the scope of protection of the claims of the present application.

[0125] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An automatic grouping system for zinc oxide resistors, characterized in that: include: Conveying system, used for conveying resistor sheets to be assembled; An automatic feeding visual guidance system is provided at the front end of the conveying system, and is used to lift each resistor group to be matched to a grasping height and place it at the entrance of the conveying system; A material feeding visual recognition system is provided on the conveying system and is located at the rear side of the automatic material feeding visual guidance system, and reads and records the data information sprayed on each resistor to be matched on the conveying system, arranges and combines the recorded information, and identifies unqualified resistors from the resistors to be matched on the conveying system; A material feeding and rejecting system, located at the rear side of the material feeding visual recognition system, is used to identify and reject the unqualified resistor sheets from the resistor sheets to be assembled on the conveying system; A sorting visual recognition system is provided on the conveying system and is located at the rear side of the feeding and rejecting system, and is used to read the data information sprayed on the resistor sheets to be matched transmitted from the conveying system, and determine the placement position information of each resistor sheet to be matched according to the read information and the matching requirements, wherein the placement position is used to indicate the placement position of the resistor sheets to be matched, wherein each resistor sheet to be matched can be matched after being placed according to the placement position; An automatic sorting system, arranged on the conveying system and located at the rear side of the sorting visual recognition system, is used to reposition each resistor sheet to be grouped according to the placement position information to achieve grouping of each resistor sheet to be grouped; An automatic sorting and rejecting system, the automatic sorting system is also used to grab the unmatched resistor sheets that have been identified for a preset number of times and to the automatic sorting and rejecting system, and the automatic sorting and rejecting system is used to reject the received resistor sheets; The conveying system includes a feeding conveying line, a sorting conveying line and a rotary conveying line; The sorting conveyor line is located at the rear end of the feeding conveyor line and is connected to the feeding conveyor line, and the rotary conveyor line is arranged side by side with the sorting conveyor line; The sorting conveyor line is used to convey the resistor sheets to be assembled, and the rotary conveyor line is used to convey the resistor sheets to the front end of the sorting conveyor line; The automatic sorting system is also used to grab the ungrouped resistor sheets onto the rotary conveyor line, so as to transport the ungrouped resistor sheets to the front end of the sorting conveyor line again through the rotary conveyor line; The ends of the sorting conveyor line and the rotary conveyor line arranged side by side are provided with a rotary mechanism, and the rotary mechanism is used for rotating and transmitting the resistor sheet; The slewing mechanism comprises: a slewing bracket installed on the conveying system; A guide arc plate, connected to the swivel bracket and facing the surface of the conveying system; A rotary power-assisting cylinder, the head of which is connected with a rotary power-assisting baffle through a hinge; When the rotary booster cylinder is retracted, the rotary booster baffle faces downward to push the resistor sheet to rotate; when the rotary booster cylinder is pushed out, the rotary booster baffle can be closed along the hinge direction to be separated from the resistor sheet; A tail material detection sensor for detecting whether there is a resistor is provided at the front end of the guide arc plate. The tail material detection sensor is used to control the operation of the rotary assist cylinder to push the resistor when the resistor is not detected within a preset time.

2. The automatic matching system according to claim 1, characterized in that: The automatic matching system also includes: The automatic tray supply system, the automatic sorting system is also used to grab the successfully assembled resistors onto the tray of the automatic tray supply system; The automatic sorting and stacking system is used to stack the trays containing the successfully assembled resistor sheets.

3. The automatic matching system according to claim 2, characterized in that: The automatic sorting system comprises two groups, and the two groups of automatic sorting systems are respectively located on both sides of the conveying system; The automatic tray supply system includes two groups, and the two groups of automatic tray supply systems are respectively located at the front ends of the two groups of automatic sorting systems; The automatic sorting and stacking system comprises two groups, and the two groups of automatic sorting and stacking systems are respectively located at the rear ends of the two groups of automatic sorting systems.

4. The automatic matching system according to claim 2, characterized in that: The automatic feeding visual guidance system comprises: The loading and lifting mechanism is used to lift each resistor group to be matched to the grabbing height; The SCARA loading robot is used to grab the resistor sheets to be assembled from the loading lifting mechanism and place them in sequence at the entrance of the conveying system; The vision-guided camera is arranged on the vertical axis of the SCARA loading robot, and is used to collect environmental images and send the environmental images to the SCARA loading robot. The SCARA loading robot is used to determine the position of the resistor sheet to be assembled according to the environmental image, so as to perform a grasping operation according to the determined position.

5. The automatic matching system according to claim 2, characterized in that: The automatic sorting system comprises: The SCARA sorting robot has a motion range covering the discharge end of the sorting conveyor line, the feed end of the rotary conveyor line, and the feed end of the sorting automatic rejection system; Pallet conveyor belt line, the SCARA sorting robot covers the width of the pallet conveyor belt line; A pallet, wherein the pallet is supplied to the pallet conveyor belt line through the automatic supply system, the pallet conveyor belt line transports the pallet to the coverage area of ​​the SCARA sorting robot, and the SCARA sorting robot is used to group and sort the resistor sheets on the pallet; A pallet conveyor roller line, which changes lines by stepping through the pallet conveyor belt line, the pallet conveyor belt line is used to convey the pallet containing the assembled resistor sheets to the pallet conveyor roller line, and the pallet conveyor roller line is used to convey the pallet to the sorting automatic palletizing system; The automatic sorting and stacking system comprises: a frame, a stacking translation assembly arranged on the frame, a stacking translation motor arranged on the frame, a stacking translation guide rail arranged on the frame, and a stacking lifting mechanism; The stacking translation assembly is fixed on the stacking translation guide rail, and the stacking translation motor is connected to the stacking translation assembly via a stacking translation synchronous belt; The palletizing translation plate of the palletizing translation assembly is fixed on the palletizing translation guide rail, a palletizing lifting cylinder is installed on the palletizing translation plate, a linear bearing is installed on the palletizing translation plate, the palletizing lifting cylinder is connected to the palletizing grabbing connecting plate, a guide rod is installed above the palletizing grabbing connecting plate, the guide rod passes through the linear bearing, a palletizing grabbing rotating cylinder is installed below the palletizing grabbing connecting plate, and the palletizing grabbing rotating cylinder can hook the assembled pallet after rotation, and grab and palletize it.

6. A method for using a zinc oxide resistor automatic grouping system, characterized in that: include: a. The placed resistors are lifted to the grabbing height by the loading vision guidance system elevator, and the vision guidance camera guides the SCARA loading robot to grab the resistors one by one and place them accurately at the entrance of the feeding conveyor line of the conveying system; b. The resistor is transported through the conveying system, and passes through the feeding visual recognition system, the feeding rejection system and the sorting visual recognition system in turn; c. The visual camera in the feeding visual recognition system reads and records the data information sprayed on the resistor, and arranges and combines the input information; d. The unqualified products identified in the feeding visual recognition system are screened through the feeding rejection system, and the unqualified products are rejected from the conveying system; e. The data information sprayed on the resistor is read again through the sorting visual recognition system, and the location of the product should be determined based on the read information; f. The SCARA sorting robot of the automatic sorting system is used to grab the successfully matched resistor sheets to the trays on both sides, and the valve sheets with identification errors or not yet matched are grabbed to the rotary conveyor line in the conveying system; g. The SCARA sorting robot of the automatic sorting system grabs the resistors to the rotary conveyor line, and then transports them to the sorting conveyor line for secondary identification; h. If the sorting visual recognition system still cannot match the group after multiple identifications, the SCARA robot will grab it and send it to the sorting automatic rejection system for rejection; i. Place the assembled valve sheets on the pallet through the sorting system and transport them to the conveyor roller line; j. The tray and the assembled resistors are picked up and stacked together through the sorting automatic stacking system.

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