Full-automatic plating piece hanging device and positioning method

Abstract

The application relates to the field of automation equipment, in particular to a full-automatic hanging device for electroplated parts and a positioning method, the device comprises a hanging tool fixing mechanism, a hanging mechanical arm and a feeding sorting module, a hanging mechanical arm is arranged at the front of the hanging tool fixing mechanism, and a feeding sorting module is arranged on the side of the hanging mechanical arm, the hanging tool fixing mechanism is used for fixing the hanging tool, the hanging mechanical arm is used for taking down the hanging rod to the feeding sorting module for hanging, the feeding sorting module is provided with a visual camera module, the visual camera module is used for identifying and positioning the hanging branches on the hanging rod, the electroplated part is hung on the hanging branches, the hanging mechanical arm is used for installing the hanging rod back to the hanging tool, so that the automatic hanging of the electroplated part is realized, the labor cost is reduced, and the efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation equipment, in particular to a full-automatic hanging device for electroplated parts and a positioning method. BACKGROUND

[0002] For products that need to be electroplated, the products are generally hung on a hanger, the hanger is heavy after the products are hung, and the hanger is generally made of red copper to ensure the electroplating effect, which is even heavier, which is not conducive to the repeated taking, placing and carrying of the hanger from the production line by manual labor. Therefore, the hanger adopts a split structure, that is, the hanger is provided with a plurality of separable hanging rods, and the hanging rods are provided with a plurality of hanging branches. The manual labor only needs to take and place the hanging rods from the hanger, and then install the hanging rods back to the hanger after the products are hung on the hanging branches. The hanger is always suspended on the catenary of the electroplating line, so that the carrying problem is well solved, and the labor intensity of the manual labor is greatly reduced. However, such a way solves the problem of carrying the hanger, but it is necessary to take down the hanging rods, install the hanging rods back to the hanger after the products are hung on the hanging branches, and still need to hang the products to be electroplated on the hanging branches of the hanger by manual hanging. Such a way is low in efficiency and high in labor cost. Therefore, a device capable of automatically taking down the hanging rods, automatically positioning and hanging the products, and then installing the hanging rods back to the hanger is needed.

[0003] At the same time, the hanging branches in the hanger will be deformed to different degrees during production and use, and cannot reach the ideal state of hanging. The posture of each hanging branch in the production site is different, which is a big problem for the entire electroplating industry to realize automatic hanging of products. SUMMARY

[0004] To achieve the above purpose, the present application provides the following technical scheme: a full-automatic hanging device for electroplated parts, the device comprising a hanger fixing mechanism, a hanging mechanical arm and a feeding and sequencing module, the front of the hanger fixing mechanism being provided with the hanging mechanical arm, and the side of the hanging mechanical arm being provided with the feeding and sequencing module.

[0005] The hanger fixing mechanism comprises a fixed frame, a hanger fixing cylinder group, a fixed base and a fixed mechanism advancing cylinder. The fixed frame is slidably connected to the fixed base through a guide rail sliding block. The fixed mechanism advancing cylinder is fixedly arranged on the fixed base, and its output shaft is connected to the fixed frame. The fixed frame is provided with the hanger fixing cylinder group. The hanging mechanical arm comprises a six-axis robot and a mechanical clamp. The mechanical clamp is arranged on the six-axis robot.

[0006] The feeding sorting module comprises a workbench, a feeding module, a rotary workbench, a six-axis manipulator, a visual camera module and a positioning clamp, the workbench is provided with the feeding module and the rotary workbench; the rotary workbench is arranged at the side of the feeding module, the workbench is provided with a rotary motor, the output shaft of the rotary motor is connected with the rotary workbench, the rotary workbench is in the shape of a circular ring, a fixing table is further arranged at the circular hole of the rotary workbench, the fixing table is arranged on the workbench, the six-axis manipulator is arranged on the fixing table, the visual camera module and the positioning clamp are arranged on the six-axis manipulator.

[0007] Through the feeding module of the feeding sorting module, the product to be electroplated is fed onto the rotary workbench, the rotary workbench is driven by the rotary motor to carry the electroplated part to the stroke of the six-axis manipulator on the workbench, the position is identified by the visual camera module arranged on the six-axis manipulator, and then the electroplated part is clamped by the positioning clamp, so that the electroplated part is clamped, at the same time, the hanger moves to the device, the hanger fixing mechanism of the device fixes the hanger frame, specifically, the output shaft of the fixing mechanism push cylinder extends to drive the fixing frame to move relative to the fixed base through the guide rail block, close to the hanger, and then the hanger fixing cylinder group clamps the frame of the hanger, the six-axis robot of the hanging manipulator drives the mechanical clamp to take down the hanging rod on the hanger and moves to the feeding sorting module, and fixes the position, the visual camera module on the six-axis manipulator of the feeding sorting module identifies and positions the hanging branches on the hanging rod, and then the electroplated part on the positioning clamp is hung thereon, the feeding sorting module reciprocates to complete the hanging, until the hanging branches on the hanging rod are completely hung, and then the six-axis robot of the hanging manipulator drives the mechanical clamp to put the hanging rod on the hanger back on the hanger, and another hanging rod is taken down from the hanger for electroplated part hanging, until all the hanging rods and hanging branches on the hanger are hung, so that the automatic hanging of the electroplated part is realized, the labor cost is reduced, and the efficiency is improved.

[0008] Preferably, the fixing frame comprises a bottom sliding plate frame, a left stand, a right stand, an upper cross frame, a lower cross frame and a branch inclined frame, the bottom sliding plate frame is provided with two groups, and is slidably connected to the fixed base through the guide rail block, the left stand and the right stand are vertically fixed on the two groups of bottom sliding plate frames, the branch inclined frame is provided with two groups and is connected between the left stand, the right stand and the two groups of bottom sliding plate frames, and the upper cross frame and the lower cross frame are arranged between the left stand and the right stand.

[0009] Therefore, the left stand, the right stand, the upper cross frame and the lower cross frame form a rectangular frame structure, the branch inclined frame, the bottom sliding plate frame and the rectangular frame structure form a triangular structure, the stability of the overall fixing frame is improved, and the service life is improved while the accuracy is ensured.

[0010] Preferably, the hanger fixing cylinder group comprises four groups of hanger fixing cylinders, and the hanger fixing cylinders are arranged on the upper cross frame and the lower cross frame in pairs and oppositely.

[0011] Therefore, through the upper cross frame and the lower cross frame, the hanger fixing cylinders are arranged opposite to each other, that is, a set of hanger fixing cylinders are arranged at each end of the upper cross frame, the output shafts of the two sets of hanger fixing cylinders are opposite, and after the hanger is close to the hanger fixing cylinders, pressure is applied by the two hanger fixing cylinders through the extension of the output shafts to fix the upper end of the hanger. Similarly, the hanger fixing cylinders on the lower cross frame fix the lower end of the hanger. Such a structure is simple, low in cost, and the pressure can be controlled, thereby realizing the quick fixing of the hanger.

[0012] Preferably, the mechanical clamp comprises a mechanical hand connecting plate, a linkage plate and a setting plate, one end of the linkage plate is hinged to the mechanical hand connecting plate, the other end of the linkage plate is hinged to the setting plate, and a gripper pushing cylinder is further arranged on the mechanical hand connecting plate; the output shaft of the gripper pushing cylinder is hinged to the setting plate, and linkage clamps are arranged on both sides of the setting plate.

[0013] Therefore, through the mechanical hand connecting plate hinged to one end of the linkage plate and the other end of the linkage plate hinged to the setting plate, and the gripper pushing cylinder arranged thereon, the setting plate is rotated relative to the mechanical hand connecting plate under the extension of the output shaft of the gripper pushing cylinder, so as to change the orientation angle of the linkage clamps on the setting plate, thereby realizing the accurate grabbing of the hanging rod.

[0014] Preferably, the linkage clamp comprises a clamp pushing cylinder, a linkage block, a linkage piece, a sliding block, a fixed block and a clamping plate, the clamp pushing cylinder is fixedly arranged on the setting plate, the output shaft of the clamp pushing cylinder is provided with the linkage block at the end thereof, the linkage block is hinged to the linkage piece at one end, the linkage piece is arranged on the left and right sides of the linkage block, and the sliding block is provided with two groups of sliding blocks which are slidably connected to the setting plate through a guide rail, the other end of the linkage piece on the left and right sides of the linkage block is hinged to the sliding block, an oval hole is formed in the sliding block, the fixed block is further arranged on the setting plate, two groups of clamping plates are hinged to the fixed block, and the clamping plate is further connected to the oval hole of the sliding block through a linkage shaft.

[0015] Therefore, through the extension of the output shaft of the clamp pushing cylinder to drive the linkage block, the linkage block moves to drive the linkage piece, and the two groups of sliding blocks are relatively slid to ensure that the two groups of sliding blocks are simultaneously displaced and have the same displacement. Since one end of the clamping plate is fixedly connected to the fixed block as a fixed shaft center, and the other end is connected to the oval hole of the sliding block as a non-fixed shaft center, when the sliding block moves, the connection at the non-fixed shaft center of the clamping plate moves relatively in the oval hole, and the fixed shaft center becomes the shaft center of the clamping plate, so that the clamping plate swings, the two groups of clamping plates swing relatively, and the function of simultaneously opening or clamping the two groups of clamping plates is achieved, thereby realizing the precise and stable clamping function.

[0016] Preferably, the workbench is further provided with an upper hanging table, and a set of correction cylinders is arranged at each end of the upper hanging table; a correction plate is arranged on the output shaft of the correction cylinder, and a sawtooth-shaped V-shaped port is arranged on the side of the upper hanging table.

[0017] Therefore, by providing the feeding sorting module, the visually positioned products to be electroplated are sequentially translated to above the sawtooth-shaped tool V-shaped port in the specified posture, the product hole position is aligned with the position of the corresponding sawtooth-shaped tool V-shaped port intersection, after the whole row of products is completely placed, the six-axis robot of the hanging manipulator clamps the hanging rod to make the hanging branch align with the V-shaped port intersection, and the correction cylinder provided drives the correction plate to act upward, the hanging branch hook slowly enters the corresponding V-shaped port, the whole row of hanging branches quickly hang the whole row of products, and the sawtooth-shaped tool V-shaped port makes the hanging rod hanging branch hook to be separated in an equidistant manner, thereby playing a positioning role.

[0018] Preferably, the feeding module comprises a feeding bin and a feeding push plate, the feeding bin is arranged on the workbench, a through hole is formed in the feeding bin, and the feeding push plate is arranged in the through hole; a push plate cylinder is arranged on the feeding bin or the workbench, and the output shaft of the push plate cylinder is connected with the feeding push plate.

[0019] Therefore, by providing the feeding bin, the products to be electroplated are conveniently stacked and stored, and then by providing the feeding push plate, the feeding push plate moves upward under the action of the push plate cylinder, and the workpiece in the feeding bin is pushed into the rotary workbench, thereby realizing automatic feeding.

[0020] Preferably, the edge of the fixed table is provided with a blocking piece, and a wire guide plate is arranged between the rotary workbench and the feeding module and located at the side of the blocking piece.

[0021] Therefore, by providing the blocking piece at the edge of the fixed table, the electroplated workpiece that fails to be clamped and hung is blocked after being rotated to a certain angle during the rotation of the rotary workbench, and the next clamping and hanging operation is not affected, and the wire guide plate is arranged at the side of the blocking piece, so that the electroplated workpiece can return to the bin along the wire guide plate, thereby ensuring the accuracy of the operation.

[0022] A positioning method of a full-automatic electroplated workpiece hanging device, the positioning method adopts the device of any one of claims 1 to 8, after the sawtooth-shaped tool V-shaped port of the hanging table is recognized and positioned by the six-axis manipulator of the feeding sorting module and the visual camera module arranged thereon, the products to be electroplated are sequentially translated to above the sawtooth-shaped tool V-shaped port, the product hole position is aligned with the position of the corresponding sawtooth-shaped tool V-shaped port intersection, after the whole row of products is completely placed, then the six-axis robot clamps the hanging rod to make the hanging branch align with the V-shaped port intersection, the hanging branch hook slowly enters the corresponding V-shaped port, the deformed hanging branch hook is forced to be straightly inserted into the V-shaped port intersection under the guidance of the inclined surface of the V-shaped port, all the hanging branch hooks are separated in an equidistant manner, thereby making the hanging branch play an equidistant correction role, then the correction cylinder drives the correction plate to act upward at the same time, the bottom of the hanging branch hook is tightly attached to the upper action of the lower supporting plate, after the stroke of the cylinder is in place, the hanging branch hook has completely passed through the product hole position, and the whole row of hanging branches quickly hang the whole row of products.

[0023] Therefore, the method solves the problem that the hanging branches in the hanger will be deformed to different degrees in the production and use process and far from ideal state, solves the problem that the postures of each hanging branch in the production site are not the same, does not need to re-produce the standard hanger conforming to automation, reduces the manufacturing cost and maintenance cost. And through the structure of the correction cylinder and the correction plate, a set of low-cost hanging branch correction mechanism with simple principle is formed, which well solves the problem of difficult positioning of the deformed hanging branch, and on the basis of the hanging branch correction mechanism, a six-axis robot hand, visual positioning and other modes are added to realize the automatic hanging of the product, solve the compatibility problem of most products, and the applicability is more extensive. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a top view of the overall structure of the embodiment one;

[0025] Figure 2 It is a structure schematic diagram of the feeding and sorting module of the embodiment one;

[0026] Figure 3 It is a structure schematic diagram of the mechanical clamp of the embodiment one;

[0027] Figure 4 It is a structure schematic diagram of the hanger fixing mechanism of the embodiment one;

[0028] Figure 5 It is a structure schematic diagram of the rotating workbench of the embodiment one;

[0029] Figure 6 It is a structure schematic diagram of the linkage clamp jaw of the embodiment one;

[0030] Figure 7 It is a structure schematic diagram of the overall structure of the embodiment two. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0032] Please refer to Figures 1-6 The present application provides an embodiment one:

[0033] The application discloses a full-automatic hanging device for electroplated parts, which comprises a hanging fixture fixing mechanism 100, a hanging mechanical arm 200 and a feeding sorting module 300.

[0034] The hanging fixture fixing mechanism 100 comprises a fixing frame 1, a hanging fixture fixing cylinder 201, a fixing base 3 and a fixing mechanism advancing cylinder 4, the fixing frame 1 is slidably connected to the fixing base 3 through a guide rail sliding block, the fixing mechanism advancing cylinder 4 is fixedly arranged on the fixing base 3, and an output shaft of the fixing mechanism advancing cylinder 4 is connected to the fixing frame 1; the fixing frame 1 is provided with the oppositely arranged hanging fixture fixing cylinders 201.

[0035] The hanging mechanical arm 200 comprises a six-axis robot 5 and a mechanical clamp 6, the mechanical clamp 6 is arranged on the six-axis robot 5, the feeding sorting module 300 comprises a workbench 7, a feeding module 8, a rotary workbench 9, a six-axis mechanical arm 10, a visual camera module 11 and a positioning clamp 12, the workbench 7 is provided with the feeding module 8 and the rotary workbench 9; the rotary workbench 9 is arranged on the side of the feeding module 8, the workbench 7 is provided with a rotary motor 13, an output shaft of the rotary motor 13 is connected to the rotary workbench 9, the rotary workbench 9 is in a circular ring type, a fixed table 14 is further arranged at the circular hole of the rotary workbench 9, the fixed table 14 is arranged on the workbench 7, the six-axis mechanical arm 10 is arranged on the fixed table 14, the visual camera module 11 and the positioning clamp 12 are arranged on the six-axis mechanical arm 10.

[0036] Preferably, the fixing frame 1 comprises a bottom sliding plate frame 101, a left vertical frame 102, a right vertical frame 103, an upper horizontal frame 104, a lower horizontal frame 105 and a branch inclined frame 106, the bottom sliding plate frame 101 is provided with two groups, and is slidably connected to the fixing base 3 through a guide rail sliding block, the left vertical frame 102 and the right vertical frame 103 are vertically fixed on the two groups of bottom sliding plate frames 101 respectively, the branch inclined frame 106 is provided with two groups, and is connected between the left vertical frame 102, the right vertical frame 103 and the two groups of bottom sliding plate frames 101, and the upper horizontal frame 104 and the lower horizontal frame 105 are arranged between the left vertical frame 102 and the right vertical frame 103.

[0037] Preferably, the hanging fixture fixing cylinders 201 are provided with four groups, and are arranged in pairs on the upper horizontal frame 104 and the lower horizontal frame 105 and oppositely.

[0038] Preferably, the mechanical clamp 6 comprises a mechanical arm connecting plate 601, a linkage plate 602 and a setting plate 603, one end of the mechanical arm connecting plate 601 is hingedly connected to the linkage plate 602, the other end of the linkage plate 602 is hingedly connected to the setting plate 603, and a gripper pushing cylinder 605 is further arranged on the mechanical arm connecting plate 601; an output shaft of the gripper pushing cylinder 605 is hingedly connected to the setting plate 603, and linkage clamps 604 are arranged on the two sides of the setting plate 603.

[0039] Preferably, the linkage clamping jaw 604 comprises a clamping jaw pushing cylinder 604a, a linkage block 604b, a linkage piece 604c, a sliding block 604d, a fixed block 604e and a clamping plate 604f, the clamping jaw pushing cylinder 604a is fixedly arranged on the setting plate 603, the output shaft ends of the clamping jaw pushing cylinder 604a are provided with linkage blocks 604b, the linkage blocks 604b are respectively hinged with linkage pieces 604c on the left and right sides, and the linkage pieces 604c are hinged at one end, the sliding blocks 604d are provided with two groups, and are slidably connected to the setting plate 603 through guide rail sliding blocks, the sliding blocks 604d are respectively hinged with the other end of the linkage pieces 604c on the left and right sides of the linkage blocks 604b, the sliding blocks 604d are provided with oval holes, the setting plate 603 is further provided with a fixed block 604e, and the fixed block 604e is hinged with two groups of clamping plates 604f, and the clamping plates 604f are further connected with the oval holes on the sliding blocks 604d through linkage shafts.

[0040] Preferably, the workbench 7 is further provided with an upper hanging table 15, and each end of the upper hanging table 15 is provided with a group of correction cylinders 16; the output shaft of the correction cylinder 16 is provided with a correction plate 17, and the side of the upper hanging table 15 is provided with a sawtooth-shaped tool V-shaped port.

[0041] Preferably, the feeding module 8 comprises a feeding bin 801 and a feeding push plate 802, the workbench 7 is provided with the feeding bin 801, the feeding bin 801 is provided with an up-down through hole, and the feeding push plate 802 is arranged in the up-down through hole; the feeding bin 801 or the workbench 7 is provided with a push plate cylinder 803, and the output shaft of the push plate cylinder 803 is connected with the feeding push plate 802.

[0042] Preferably, the edge of the fixing table 14 is provided with a blocking piece 18, and a wire guide plate 19 is arranged between the rotating workbench 9 and the feeding module 8 and located at the side of the blocking piece 18.

[0043] In the embodiment, two groups of feeding and sequencing modules are arranged, the feeding and sequencing module 300 is used for feeding the products to be electroplated to the rotating workbench 9, specifically, the products to be electroplated are stacked and stored in the feeding bin 801, and then the feeding push plate 802 is arranged, the feeding push plate 802 moves upward under the action of the push plate cylinder 803, pushes the feeding bin 801 into the rotating workbench 9, the rotating workbench 9 is driven by the rotating motor 13 to transport the electroplated parts to the stroke of the six-axis manipulator 10 on the workbench 7, the position is recognized by the vision camera module 11 arranged on the six-axis manipulator 10, then the electroplated parts are clamped by the positioning clamp 12, so that the electroplated parts are clamped upward, at this time, the electroplated parts that are not clamped are blocked after being rotated and transported to a certain position, so as to avoid rotating back and affecting other newly fed electroplated parts, so as to ensure that the next hanging action is not affected, and the wire guide plate 19 is arranged at the side of the blocking piece 18, so that the electroplated parts can return to the bin along the wire guide plate 19.

[0044] At the same time, the hanger moves to the device, the hanger fixing mechanism 100 of the device fixes the hanger frame, specifically, the output shaft of the fixing mechanism push cylinder 4 extends to drive the fixed frame 1 to move relative to the fixed base 3 through the guide rail slider, close to the hanger, and then the hanger fixing cylinder 201 group 2 clamps the frame of the hanger, that is, a group of hanger fixing cylinders 201 are arranged at both ends of the upper cross 104, the output shafts of the two groups of hanger fixing cylinders 201 are opposite, after the hanger is close, the output shafts of the two groups of hanger fixing cylinders 201 are extended, and the hanger fixing cylinders 201 on both sides apply pressure at the same time to fix the upper end of the hanger, and the hanger fixing cylinders 201 on the lower cross 105 fix the lower end of the hanger, the six-axis robot 5 of the upper hanging mechanical hand 200 drives the mechanical clamp 6 to take down the hanging rod on the hanger, and the hanging rod is taken down specifically as follows: the output shaft of the gripper push cylinder 605 is extended, the setting plate 603 rotates relative to the mechanical hand connecting plate 601, thereby changing the orientation angle of the linkage clamp jaw 604 on the setting plate 603, and then the clamp jaw push cylinder 604a of the linkage clamp jaw 604 is extended to drive the linkage block 604b, and then the linkage block 604b is moved to drive the linkage member 604c, thereby driving the two groups of sliding blocks 604d to slide relative to the linkage, ensuring that the two groups of sliding blocks 604d displace at the same time and the displacement is the same, and because one end of the clamp plate 604f is fixed to the fixed block 604e, and the other end is connected to the elliptical hole of the sliding block 604d, when the sliding block 604d moves, the connection at the non-fixed shaft of the clamp plate 604f moves relative to the elliptical hole, and the fixed shaft becomes the axis of the clamp plate 604f, so that the clamp plate 604f swings, the two groups of clamp plates 604f swing relative to each other, and the two groups of clamp plates 604f are clamped at the same time, that is, the hanging rod on the hanger is clamped, and is moved to the feeding and sorting module 300 and is fixed in position, the correction cylinder 16 drives the correction plate 17 to pre-adjust the height of the hanging rod, and determines the position of the hanging rod.

[0045] The six-axis robot 5 of the feeding and sequencing module 300 is provided with a vision camera module 11 on the six-axis robot 10, which identifies and positions the sawtooth-shaped tool V-shaped port of the upper hanging table 15, and then translates the products to be electroplated to the upper side of the sawtooth-shaped tool V-shaped port in sequence, so that the product hole position is aligned with the position of the intersection of the corresponding sawtooth-shaped tool V-shaped port. After the products are completely placed, the six-axis robot 5 clamps the hanging rod to make the hanging branch align with the intersection of the V-shaped port, and the hanging branch hook slowly enters the corresponding V-shaped port, forcing the deformed hanging branch hook to be guided and straightly inserted into the V-shaped port by the inclined surface of the V-shaped port. All the hanging branch hooks are separated from each other in an equidistant manner, so that the hanging branch plays a role of equidistant correction. Then, the correction cylinder drives the correction plate to move upward, and the bottom of the hanging branch hook is tightly attached to the lower supporting plate to move upward. After the stroke of the cylinder is in place, the hanging branch hook has completely passed through the product hole position, and the hanging branch of the whole row of products is quickly hung. Then, the six-axis robot 5 moves the hanging rod to the second feeding and sequencing module 300, and hangs the products on the other side in the same way. After the whole hanging rod is hung with products, the six-axis robot 5 puts the hanging rod full of products back on the hanger. The feeding and sequencing module 300 reciprocates to complete the hanging, until the hanging branch on the hanging rod is completely hung. Then, the six-axis robot 5 of the upper hanging robot 200 drives the mechanical clamp 6 to put the hanging rod on the hanger back on the hanger, and takes another hanging rod from the hanger to hang the electroplated parts. Until all the hanging rods and hanging branches on the hanger are hung, the automatic hanging of the electroplated parts is realized, the labor cost is reduced, and the efficiency is improved.

[0046] Embodiment two

[0047] Please refer to Figure 7 The difference between the present embodiment and embodiment one is that the feeding module 8 adopts a conveying belt to send the products to be electroplated to the rotating workbench, and the remaining structure and operation steps are the same. The above description is only the preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A fully automatic hanging device for electroplated parts, characterized in that: The device includes a hanging fixture fixing mechanism, an upper hanging robot arm, and a material feeding and sorting module; The hanging fixture fixing mechanism is equipped with an upper hanging robot arm in front of it; The side of the upper-mounted robotic arm is equipped with a material sorting module; The hanging fixture fixing mechanism includes a fixing frame, a hanging fixture fixing cylinder assembly, a fixing base, and a fixing mechanism push cylinder; The fixed frame is slidably connected to the fixed base via a guide rail slider, and the fixed mechanism push cylinder is fixedly mounted on the fixed base, with its output shaft connected to the fixed frame; The mounting frame is equipped with a hanging fixture for fixing the cylinder assembly; The attached robotic arm includes a six-axis robot and a mechanical gripper, with the mechanical gripper mounted on the six-axis robot. The material feeding and sorting module includes a workbench, a material feeding module, a rotary workbench, a six-axis robot, a vision camera module, and a positioning fixture; The workbench is equipped with a feeding module and a rotary worktable; the rotary worktable is located on the side of the feeding module. The workbench is also equipped with a rotary motor, whose output shaft is connected to the rotary workbench; The rotary worktable is annular in shape, and a fixed platform is provided at its circular hole. The fixed platform is set on the worktable. The fixed platform is equipped with a six-axis robotic arm, which is equipped with a vision camera module and a positioning fixture. The workbench is also equipped with an upper hanging platform, and a set of calibration cylinders are provided at both ends of the upper hanging platform; a calibration plate is provided on the output shaft of the calibration cylinder, and a sawtooth V-shaped tooling opening is provided on the side of the upper hanging platform.

2. The fully automatic hanging device for electroplated parts according to claim 1, characterized in that: The fixed frame includes a bottom slide frame, a left upright frame, a right upright frame, an upper horizontal frame, a lower horizontal frame, and an extension inclined frame; The bottom slide frame is provided in two sets, and each set is slidably connected to the fixed base via guide rail sliders; The left and right uprights are respectively vertically fixed on the two sets of bottom slide frames; The inclined support frame is provided in two sets, which are respectively connected between the left upright frame, the right upright frame and the two sets of bottom slide frames; An upper crossbeam and a lower crossbeam are provided between the left and right uprights.

3. The fully automatic hanging device for electroplated parts according to claim 2, characterized in that: The mounting bracket fixing cylinder group consists of four sets of mounting bracket fixing cylinders, which are arranged in pairs on the upper and lower crossbeams and are positioned opposite each other.

4. The fully automatic hanging device for electroplated parts according to claim 3, characterized in that: The mechanical gripper includes a robotic arm connecting plate, a linkage plate, a setting plate, and a linkage gripper. The connecting plate of the robotic arm is hinged to one end of the linkage plate, and the other end of the linkage plate is hinged to the setting plate; The robotic arm connecting plate is also equipped with a gripper push cylinder; the output shaft of the gripper push cylinder is hinged to the mounting plate. Both sides of the setting plate are equipped with linkage grippers.

5. The fully automatic hanging device for electroplated parts according to claim 4, characterized in that: The linkage gripper includes a gripper push cylinder, a linkage block, a linkage component, a sliding block, a fixed block, and a clamping plate; The gripper push cylinder is fixedly mounted on the mounting plate, and a linkage block is provided at the end of its output shaft. The linkage block is hinged to a linkage component on both the left and right sides, and is hinged to one end of the linkage component. The sliding block is provided in two sets, which are slidably connected to the setting plate by the guide rail slider. The sliding block is respectively hinged to the other end of the linkage block on the left and right sides. The sliding block is provided with an elliptical hole. The setting plate is also provided with a fixed block, and two sets of clamping plates are hinged on the fixed block. The clamping plates are also connected to the elliptical holes on the sliding block through a linkage shaft.

6. The fully automatic hanging device for electroplated parts according to claim 5, characterized in that: The feeding module includes a feeding bin and a feeding pusher plate; The workbench is equipped with a feeding bin, which has upper and lower through holes and feeding push plates installed in the upper and lower through holes. The feeding hopper or workbench is equipped with a push plate cylinder, and the output shaft of the push plate cylinder is connected to the feeding push plate.

7. The fully automatic hanging device for electroplated parts according to claim 6, characterized in that: The fixed platform is provided with a blocking plate at its edge, and a guide plate is provided between the rotating worktable and the feeding module, located on the side of the blocking plate.

8. A positioning method for a fully automatic electroplating part hanging device, characterized in that: The method employs the apparatus described in any one of claims 1 to 7. The apparatus uses a vision camera module on a six-axis robotic arm of the loading and sorting module to identify and position the serrated V-shaped opening of the upper hanging table. Then, it sequentially moves the products to be electroplated above the serrated V-shaped opening, aligning the product holes with the corresponding intersections of the serrated V-shaped openings. After the entire row of products is fully arranged, the six-axis robot grips the hanging rod, aligning the hanging branch with the intersection of the V-shaped openings. The hook tip of the hanging branch slowly enters the corresponding V-shaped opening, forcing the deformed hook tip to be guided by the inclined surface of the V-shaped opening and directly pushed into the intersection of the V-shaped openings. All the hook tips are separated at equal intervals, thus enabling the hanging branches to perform equidistant correction. Simultaneously, the correction cylinder drives the correction plate upwards. After the cylinder reaches its stroke, the hook tip has completely passed through the product hole, enabling the entire row of hanging branches to quickly hang the entire row of products.

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