An automatic part placement and conveying device

Abstract

The present invention belongs to the technical field of feeding equipment manufacturing, and specifically relates to an automatic part placement and conveying device, which includes a bracket and a vibrating feeder. Conveying devices and part status recognition converters are respectively arranged at both ends of the bracket. The starting end of the conveying device is connected to the output end of the part status recognition converter, and the output end of the vibrating feeder is connected to the input end of the part status recognition converter through a buffer connector. The application adopts the method of setting a vibrating feeder in cooperation with a part status recognition converter to design an automatic part placement and conveying device, which can enable the product (part) to reach a preset state after being conveyed to the labeling station, and solves the problem that there is currently no machine that can automatically place parts according to the preset part status.

Description

Technical Field

[0001] The present invention belongs to the technical field of manufacturing of feeding equipment, and specifically relates to an automatic part placing and conveying device. Background Art

[0002] In industrial manufacturing, whether it is the assembly process or the labeling process, the product needs to be in a preset state. That is to say, in the assembly process, the surface of the product that can be assembled must face upwards, and the position of the product and which side it faces are fixed. If it is semi-automatic assembly, this state of the product is convenient for workers to operate and improves productivity. In the fully automated assembly process, a change in the state of the product will cause the machine to stop. For example, three fixing screws need to be driven at the left end of the upper surface of the product, but after the product reaches the assembly station, the position where the three screws need to be driven becomes the right end of the upper surface of the product, which causes the screws on the screw-driving machine to collide with the product and stop suddenly. The same is true in the labeling process. The position where the label is pasted on each product is preset, so the product needs to reach the preset state after being conveyed to the labeling station. At present, there is no machine that can automatically place products according to the preset product state, and manual labor is used, resulting in low work efficiency. Summary of the Invention

[0003] The purpose of the present invention is to address the shortcomings of the prior art. By adopting a method of setting a vibrating feeder in cooperation with a part state recognition converter, an automatic part placing and conveying device is designed, which can enable the product (part) to reach the preset state after being conveyed to the labeling station, and solves the problem that there is currently no machine that can automatically place parts according to the preset part state.

[0004] To achieve the above object, the present invention provides the following technical solution:

[0005] An automatic part placing and conveying device, comprising a bracket and a vibrating feeder. The two ends of the bracket are respectively provided with a conveying device and a part state recognition converter. The starting end of the conveying device is connected to the output end of the part state recognition converter, and the output end of the vibrating feeder is connected to the input end of the part state recognition converter through a buffer connector.

[0006] Preferably, the part status recognition converter includes a single-item separator, a status changer, and a CCD camera. On the bracket, at the output port of the vibrating feeder, the input end of the single-item separator is connected through the buffer connector. The output port of the single-item separator faces upward and is flush with the starting end of the conveying device. Four CCD cameras are evenly distributed around the output port of the single-item separator. A CCD camera is also provided directly above the output port of the single-item separator. On the bracket, the status changer is provided directly above the CCD cameras evenly distributed around the output port of the single-item separator. The status changer is below the CCD camera directly above the output port of the single-item separator. All the CCD cameras are signal-connected to the single-item separator and the status changer.

[0007] Preferably, the single-item separator includes a product receiving channel, a lifting table, and a limiting plate provided on the bracket. The input end of the product receiving channel is connected to the output port of the vibrating feeder through the buffer connector. The other end of the product receiving channel is fixed on the bracket. The lifting table is provided at the output end of the product receiving channel. The output end of the product receiving channel and the status changer are both within the lifting stroke range of the lifting table. The lifting direction of the lifting table is perpendicular to the axis of the product receiving channel. The axis of the lifting table and the axis of the product receiving channel are in the same vertical plane. On the bracket, the limiting plate is fixedly provided on the side of the lifting table facing away from the product receiving channel. The limiting plate is provided with a squeezer facing the product receiving channel. The position of the squeezer on the limiting plate is at the same height as the axis of the output port of the product receiving channel. The outer top wall of the output end of the product receiving channel and the upper end of the limiting plate together form the output port of the single-item separator. The lower edge of the output port of the product receiving channel is provided with a recess. The recess extends to the outside of the product receiving channel on the side facing the limiting plate. The upper edge of the output port of the product receiving channel is provided with a horizontal roller. The roller is perpendicular to the axis of the product receiving channel. The side wall of the recess facing away from the limiting plate is between the axis of the roller and the output port of the product receiving channel. The side of the roller facing the limiting plate is tangent to the plane where the output port of the product receiving channel is located. On the lifting table, a switch plate is fixedly provided on the side facing the product receiving channel. The length of the switch plate in the vertical direction is greater than the distance between the output port of the single-item separator and the bottom wall of the output port of the product receiving channel. The two opposite sides of the lifting table are respectively in contact with the vertical plane where the output port of the product receiving channel is located and the surface of the limiting plate facing the product receiving channel. The upper and lower ends of the squeezer are flush with the surface of the limiting plate facing the product receiving channel. The middle section of the squeezer forms an arc convexity facing the product receiving channel.

[0008] Preferably, the extruder includes a cavity, a first spring, and a semi-cylinder. The cavity is disposed on the side of the limiting plate facing the product receiving channel, and the opening of the cavity faces the product receiving channel. On the bottom wall of the cavity, the plane of the semi-cylinder opposite to the arc surface is connected through the first spring. The surface of the semi-cylinder connected to the first spring is located inside the cavity, and the cylindrical cross-section of the semi-cylinder is a vertical plane perpendicular to the limiting plate.

[0009] Preferably, the product receiving channel is a pipe with openings at both ends.

[0010] Preferably, the state changer includes a first rotating manipulator, a second rotating manipulator, and a Z-axis rotator. The first rotating manipulator and the second rotating manipulator are both disposed on the bracket. The rotation axes of the first rotating manipulator and the second rotating manipulator are both horizontally arranged. The Z-axis rotator is disposed at the center of the lifting table. The first rotating manipulator is disposed on one side of the bracket, and the rotation axis of the first rotating manipulator is perpendicular to the conveying direction of the conveying device. The rotation axis of the second rotating manipulator is parallel to the conveying direction of the conveying device. The second rotating manipulator is disposed on the side of the single-item separator facing away from the conveying device. The starting end of the conveying device and the output port of the single-item separator are both within the stroke range of the first rotating manipulator, and the starting end of the conveying device and the output port of the single-item separator are both within the stroke range of the second rotating manipulator.

[0011] Preferably, the first rotating manipulator includes a first thumb cylinder, a first rotating motor, a first lifting cylinder, a first horizontal moving cylinder, and a rodless cylinder. The sliding direction of the slider on the rodless cylinder is parallel to the conveying direction of the conveying device. The first lifting cylinder is fixedly disposed on the slider, and the free end of the first lifting cylinder faces upward. The output end of the first lifting cylinder is fixedly provided with the first horizontal moving cylinder. The telescopic direction of the first horizontal moving cylinder is perpendicular to the conveying direction of the conveying device and faces the bracket. The telescopic direction of the first horizontal moving cylinder is parallel to the conveying surface of the conveying device. The output end of the first horizontal moving cylinder is fixedly connected to the first rotating motor, and the first thumb cylinder is fixedly disposed on the output shaft of the first rotating motor. When the first thumb cylinder is in the starting state, the connecting line segment between the two first clamping hands on the first thumb cylinder is parallel to the conveying direction of the conveying device and parallel to the conveying surface of the conveying device.

[0012] Preferably, the second rotating manipulator includes a second thumb cylinder, a second rotating motor, a second horizontal moving cylinder, and a second lifting cylinder. The second lifting cylinder is arranged on the bracket. The output end of the second lifting cylinder is fixedly connected to the second horizontal moving cylinder. The telescopic direction of the second horizontal moving cylinder is the same as the conveying direction of the conveying device. The output end of the second horizontal moving cylinder is fixedly connected to the second rotating motor. The output end of the second rotating motor is fixedly connected to the second thumb cylinder. The output end of the second thumb cylinder faces the conveying device. When the second thumb cylinder is in the starting state, the connecting line segment between the two second clamping hands on the second thumb cylinder is perpendicular to the conveying direction of the conveying device and parallel to the conveying surface of the conveying device. The horizontal perpendicular bisector of the connecting line segment between the two second clamping hands on the second thumb cylinder and the perpendicular bisector of the width of the conveying surface of the conveying device are in the same vertical plane.

[0013] Preferably, the Z-axis rotator includes a disk body and a third rotating motor. The third rotating motor is arranged in the lifting table. The output shaft of the third rotating motor faces upward. The disk body is coaxially and fixedly connected to the output shaft of the third rotating motor.

[0014] Preferably, the upper surface of the disk body is covered with a number of blind holes. An axial limiting shaft is arranged in each blind hole through a second spring. When all the second springs are in the normal state, the tops of all the limiting shafts are located in the same horizontal plane.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. By adopting the method of setting a vibrating feeder in cooperation with a part state recognition converter, the present application designs an automatic part placement and conveying device, which can enable the product (part) to reach the preset state after being conveyed to the labeling station, and solves the problem that there is currently no machine that can automatically place parts according to the preset part state.

[0017] 2. In this application, five CCD cameras are used to collect images of the front, back, left, right, and top of the parts. In this way, the image information is transmitted to the state changer, so that the state of the state changer when it enters the conveying device meets the preset standard (that is, the state changer makes the placement state of the parts entering the conveying device consistent with the preset placement state according to the requirement of which side of the part should face up and which side should face down as preset). The state changer is arranged directly above the CCD cameras evenly distributed around the output port of the single-item separator on the bracket, and the state changer is below the CCD camera directly above the output port of the single-item separator; all the CCD cameras are signal-connected to the single-item separator and the state changer, so that the single-item separator can stop or continue to move according to the information output by the CCD cameras; and the state changer determines the placement state that the part needs to change according to the information output by CCD camera 3. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of this application;

[0019] Figure 2 is Figure 1 a schematic structural diagram of the back side;

[0020] Figure 3 is a schematic structural diagram of the single-item separator;

[0021] Figure 4 is Figure 3 a sectional view of;

[0022] Figure 5 is Figure 4 a schematic diagram of the principle of;

[0023] Figure 6 is a schematic structural diagram of being stuck by the single-item separator when no recess and roller are provided;

[0024] Figure 7 is a top view of the lifting table;

[0025] Figure 8 is Figure 1 a partial schematic diagram after removing one side plate on the bracket in;

[0026] Among them, 1. Support; 2. Vibration feeder; 3. CCD camera; 4. Product receiving channel; 5. Lifting table; 6. Limiting plate; 7. Depressed part; 8. Roller; 9. Switch plate; 10. Cavity; 11. First spring; 12. Semi-cylinder; 13. Disk body; 14. First thumb cylinder; 14-1. First clamping hand; 15. First rotating motor; 16. First lifting cylinder; 17. First horizontal moving cylinder; 18. Rodless cylinder; 19. Second thumb cylinder; 19-1. Second clamping hand; 20. Second rotating motor; 21. Second horizontal moving cylinder; 22. Second lifting cylinder; 23. Second spring; 24. Third rotating motor; 25. Blind hole; 26. Limiting shaft; 27. Conveyor belt; 28. Servo motor; 29. Vertical line between the axis of the roller and the inner bottom wall of the product receiving channel; 30. Side wall of the depressed part facing the input end of the product receiving channel; 31. Part; M. Bottom surface of the part when it is in the product receiving channel; N. Upper right corner of the lifting table. Detailed implementation mode

[0027] See Figure 1-8 As shown, an automatic part placement and conveying device includes a support 1 and a vibration feeder 2. Conveying devices and part state recognition converters are respectively arranged at both ends of the support 1. The starting end of the conveying device is connected to the output end of the part state recognition converter, and the output end of the vibration feeder 2 is connected to the input end of the part state recognition converter through a buffer connector.

[0028] In this implementation mode, when in use, the parts 31 are put into the vibration feeder 2. Here, it is putting in, that is, as long as the capacity in the vibration feeder 2 allows, a large number of parts 31 can be put in. Under the action of the vibration feeder 2, the parts 31 move one by one from the output end of the vibration feeder 2 into the part state recognition converter, and the part state recognition converter places the placement states of the parts 31 on the conveying device according to the preset states, and the conveying device conveys the parts 31 to the workstations (such as labeling workstations or assembly workstations, etc.) where the placement states of the parts need to be clarified.

[0029] As Figure 1 、 Figure 2 shown, for the convenience of describing this application, the upper surface of the support 1 is set to be horizontal, and in the following description process, it is defaulted that the state of the upper surface of the support 1 is a horizontal state:

[0030] The part status recognition converter includes a single-item separator, a status changer, and a CCD camera 3. At the output port of the vibrating feeder 2 on the bracket 1, the input end of the single-item separator is connected through the buffer connector, so as to prevent the vibration of the vibrating feeder 2 from affecting the parts on the bracket 1. Therefore, a buffer connector is adopted, and the buffer connector can use flexible injection rubber, etc.; the output port of the single-item separator faces upward, and the output port of the single-item separator is flush with the starting end of the conveying device, so that the upper surface of the part 31 coming out of the output port of the single-item separator can be higher than the conveying surface of the conveying device, thus facilitating the status changer to change the status of the part; four of the CCD cameras 3 are evenly distributed around the output port of the single-item separator, and the CCD camera 3 is also provided directly above the output port of the single-item separator, that is, the front, back, left, right, and top of the part are imaged by 5 CCD cameras, and the image information is transmitted to the status changer, so that the status of the status changer when it enters the conveying device (that is, the status changer makes the placement status of the part 31 on the conveying device consistent with the preset placement status according to the requirement of which surface of the part should face upward and which surface should face downward preset) is determined; the status changer is provided directly above the CCD cameras 3 evenly distributed around the output port of the single-item separator on the bracket 1, and the status changer is below the CCD camera 3 directly above the output port of the single-item separator; all the CCD cameras 3 are signal-connected to the single-item separator and the status changer, so that the single-item separator can stop or continue to move according to the information output by the CCD cameras 3; and the status changer determines the placement status that the part 31 needs to be changed according to the information output by the CCD cameras 3.

[0031] Such as Figure 3 , Figure 4 , Figure 5 , Figure 6As shown, the single product separator includes a product receiving channel 4, a lifting platform 5, and a limit plate 6 arranged on the bracket 1. The input end of the product receiving channel 4 is connected to the output port of the vibrating feeder 2 through the buffer connector, and the other end of the product receiving channel 4 is fixed on the bracket 1. The lifting platform 5 is arranged at the output end of the product receiving channel. The output end of the product receiving channel 4 and the state changer are both within the lifting stroke range of the lifting platform 5, so that the lifting platform 5 can transport the parts 31 output from the product receiving channel 4 to the state changer; the lifting direction of the lifting platform 5 is perpendicular to the axis of the product receiving channel (this is for the convenience of introducing the structure of the present application, and it is assumed that the upper surface of the bracket 1 is in a horizontal state), and the axis of the lifting platform 5 is in the same vertical plane as the axis of the product receiving channel, so that the lifting platform 5 can pass through the output port of the product receiving channel 4 during the lifting process and can receive the parts 31 output from the product receiving channel 4.

[0032] like Figures 4 to 6 As shown, the bracket 1 is fixedly provided with the limit plate 6 on the side of the lifting platform 5 facing away from the product receiving channel, and the limit plate 6 is provided with an extruder facing the product receiving channel 4. The position of the extruder on the limit plate 6 is at the same height as the axis of the output port of the product receiving channel 4, that is, the parts output from the output port of the product receiving channel 4 can be supported by the extruder (such as Figure 5 The outer top wall of the output end of the product receiving channel 4 and the upper end of the limiting plate 6 together constitute the output port of the single product separator, and the lower edge of the output port of the product receiving channel 4 is provided with a recessed portion 7 (the recessed portion 7 is also a step, a step lower than the inner bottom surface of the product receiving channel 4), and the recessed portion 7 extends toward one side of the limiting plate 6 to the outside of the product receiving channel (that is, the recessed portion 7 does not face the side wall of the limiting plate 6, as shown in the state ... Figure 4 and Figure 5 As shown, the recessed portion only has a side wall 30 on the recessed portion facing the input end of the product receiving channel), a horizontal roller 8 is provided on the upper edge of the output port of the product receiving channel 4, and the roller 8 is perpendicular to the axis of the product receiving channel. The side wall of the recessed portion 7 facing away from the limiting plate is between the axis of the roller 8 and the output port of the product receiving channel 4 (as shown in FIG. Figure 4 As shown, that is, the side wall 30 of the recessed portion facing the input end of the product receiving channel is on the left side of the vertical line 29 between the axis of the roller and the inner bottom wall of the product receiving channel), and the side of the roller 8 facing the limit plate 6 is tangent to the plane where the output port of the product receiving channel is located. This arrangement can facilitate the part 31 coming out of the product receiving channel 4 to be brought to the state changer by the lifting platform 5;

[0033] First, take an example where the recess 7 and the roller 8 are not provided to feel the problems encountered. As Figure 6 shown, Figure 6 the recess 7 and the roller 8 are not provided, so that the first part 31 coming out of the product receiving channel 4 has not had time to fully enter the lifting table 5, and a part of the second part 31 coming out of the product receiving channel 4 has already protruded outside the output end of the product receiving channel 4. In this way, during the rising process of the lifting table 5, the upper right corner N of the lifting table will hit the bottom surface M of the part when it is in the product receiving channel, resulting in the jamming of the entire machine.

[0034] As Figure 5 shown, after the recess 7 and the roller 8 are provided, when the first part 31 coming out of the product receiving channel 4 has not completely fallen onto the lifting table 5, one end of the part 31 facing the input direction of the product receiving channel 4 first enters the recess 7 under the action of gravity. During the rising process of the lifting table 5 (as Figure 5 shown, the lifting table 5 rises in the F direction), since the side wall 30 of the recess facing the input end of the product receiving channel is on the left side of the vertical line 29 between the axis of the roller and the inner bottom wall of the product receiving channel 4, the upper right corner of the part 31 on the lifting table 5 will contact the lower left part of the roller 8, thereby causing the roller 8 to rotate in the W direction and prompting the part 31 to leave the product receiving channel 4. In this way, the situation of the entire machine being jammed will not occur.

[0035] A switch plate 9 is fixedly provided on the lifting table 5 on the side facing the product receiving channel. The length of the switch plate 9 in the vertical direction is greater than the distance between the output port of the single-piece separator and the bottom wall of the output port of the product receiving channel 4. The two opposite sides of the lifting table 5 are respectively in contact with the vertical plane where the output port of the product receiving channel 4 is located and the surface of the limiting plate 6 facing the product receiving channel 4. After setting the switch plate 9 in this way, after the switch plate 9 rises with the lifting table 5, the side of the switch plate 9 facing the output port of the product receiving channel 4 can just block the output port of the product receiving channel 4, preventing other parts 31 in the product receiving channel 4 from flowing out of the product receiving channel 4 after the lifting table 5 rises above the product receiving channel 4; the upper and lower ends of the squeezer are flush with the surface of the limiting plate 6 facing the product receiving channel 4, and an arc-shaped protrusion is formed at the middle section of the squeezer facing the product receiving channel 4. This way of setting the arc-shaped protrusion enables the lifting table 5 to smoothly squeeze the squeezer when rising and falling, so that when the lifting table 5 is located at the output port of the product receiving channel 4, the squeezer will not block the part 31 from coming out of the output port of the product receiving channel 4, and when the lifting table 5 is located below the output port of the product receiving channel 4, there will be no situation where one part 31 comes out of the output port of the product receiving channel 4 while a part of another part 31 is outside the product receiving channel 4 and another part is inside the product receiving channel 4 (because such a situation will lead to Figure 6 such a situation).

[0036] As Figures 4 to 6 shown, specifically, the squeezer includes a cavity 10, a first spring 11, and a semi-cylinder 12. The cavity 10 is provided on the surface of the limiting plate 6 facing the product receiving channel. The opening of the cavity 10 faces the product receiving channel. The bottom wall of the cavity 10 is connected to the plane of the semi-cylinder 12 opposite to the arc surface through the first spring 11. The surface of the semi-cylinder 12 connected to the first spring 11 is located inside the cavity 10, and the cylindrical cross-section of the semi-cylinder 12 is a vertical plane perpendicular to the limiting plate 6.

[0037] As a preferred method, the product receiving channel 4 is a pipe with openings at both ends. After such a setting, since the vibrating feeder 2 continuously vibrates the parts 31 into the product receiving channel 4, the parts 31 in the product receiving channel 4 will continuously move towards the output port of the product receiving channel 4. Therefore, there is no need to set a power source for driving the movement of the parts 31 on the product receiving channel 4.

[0038] As Figure 8As shown, the state changer includes a first rotating manipulator, a second rotating manipulator, and a Z-axis rotator. The first rotating manipulator and the second rotating manipulator are both arranged on the bracket 1. The rotating axes of the first rotating manipulator and the second rotating manipulator are both horizontally arranged. The Z-axis rotator is arranged at the center of the lifting table 5. The first rotating manipulator is arranged on one side of the bracket 1. The rotating axis of the first rotating manipulator is perpendicular to the conveying direction of the conveying device. The rotating axis of the second rotating manipulator is parallel to the conveying direction of the conveying device. The second rotating manipulator is arranged on the side of the single-item separator facing away from the conveying device. The starting end of the conveying device and the output port of the single-item separator are both within the stroke range of the first rotating manipulator. The starting end of the conveying device and the output port of the single-item separator are both within the stroke range of the second rotating manipulator. In this way, the placement state of the part 31 is changed by the first rotating manipulator and the second rotating manipulator.

[0039] As a preferred embodiment, the first rotating manipulator includes a first thumb cylinder 14, a first rotating motor 15, a first lifting cylinder 16, a first horizontal moving cylinder 17, and a rodless cylinder 18. The sliding direction of the slider 18-1 on the rodless cylinder 18 is parallel to the conveying direction of the conveying device. The first lifting cylinder 16 is fixedly arranged on the slider 18-1, with the free end of the first lifting cylinder 16 facing upward. The output end of the first lifting cylinder 16 is fixedly provided with the first horizontal moving cylinder 17. The telescopic direction of the first horizontal moving cylinder 17 is perpendicular to the conveying direction of the conveying device and faces the bracket 1. The telescopic direction of the first horizontal moving cylinder 17 is parallel to the conveying surface of the conveying device. The output end of the first horizontal moving cylinder 17 is fixedly connected to the first rotating motor 15, and the first thumb cylinder 14 is fixedly arranged on the output shaft of the first rotating motor 15. When the first thumb cylinder 14 is in the starting state, the connecting line segment between the two first clamping hands 14-1 on the first thumb cylinder 14 is parallel to the conveying direction of the conveying device and parallel to the conveying surface of the conveying device. The part 31 is clamped by the first thumb cylinder 14. The first horizontal moving cylinder 17 is used to drive the first thumb cylinder 14 to move towards or away from the bracket 1. The first rotating motor 15 drives the first thumb cylinder 14 to rotate, and the first lifting cylinder 16 drives the first thumb cylinder 14 to lift. The second rotating manipulator includes a second thumb cylinder 19, a second rotating motor 20, a second horizontal moving cylinder 21, and a second lifting cylinder 22. The second lifting cylinder 22 is arranged on the bracket 1. The output end of the second lifting cylinder 22 is fixedly connected to the second horizontal moving cylinder 21. The telescopic direction of the second horizontal moving cylinder 21 is the same as the conveying direction of the conveying device. The output end of the second horizontal moving cylinder 21 is fixedly connected to the second rotating motor 20, and the output end of the second rotating motor 20 is fixedly connected to the second thumb cylinder 19. The output end of the second thumb cylinder 19 faces the conveying device. When the second thumb cylinder 19 is in the starting state, the connecting line segment between the two second clamping hands 19-1 on the second thumb cylinder 19 is perpendicular to the conveying direction of the conveying device and parallel to the conveying surface of the conveying device. The horizontal mid-perpendicular on the connecting line segment between the two second clamping hands 19-1 on the second thumb cylinder 19 and the mid-perpendicular of the width of the conveying surface of the conveying device are in the same vertical plane.

[0040] Such as Figures 4 to 7As shown, the Z-axis rotator includes a disk body 13 and a third rotating motor 24. The third rotating motor 24 is arranged in the lifting platform 5. The output shaft of the third rotating motor 24 faces upward. The disk body 13 is coaxially fixedly connected with the output shaft of the third rotating motor 24. The third rotating motor 24 is connected to all the CCD cameras 3 by signal. After such arrangement, the disk body 13, driven by the third rotating motor 24, can make the parts 31 on the disk body 13 rotate around the Z axis as the central axis and change into the state changer; the upper surface of the disk body 13 is covered with a plurality of blind holes 25, and a limiting shaft 26 is axially arranged in each blind hole 25 through the second spring 23. When all the second springs 23 are in a normal state, the top ends of all the limiting shafts 26 are located in the same horizontal plane. The arrangement of the blind hole 25, the second spring 23 and the limiting shaft 26 ensures that when the part 31 reaches the disk body 13, the part 31 will squeeze the limiting shaft 26 directly below the part 31 and the second spring 23 due to its own gravity, and retract into the blind hole 25 on the disk body 13, while the top end of the limiting shaft 26 that is not squeezed by the part 31 will be higher than the bottom surface of the part 31 on the disk body 13, thereby limiting the rotation of the part 31 relative to the disk body 13, so that the part 31 and the disk body 13 can reach a stable relative static state.

[0041] Optionally, the conveying device includes a conveyor belt 27 and a servo motor 28 arranged on the bracket 1, and the servo motor 28 drives the conveyor belt 27 to convey the parts 31 whose placement state has been changed by the part state recognition converter. Of course, the conveying device belongs to the prior art, and an ordinary conveyor belt mechanism can also be used.

Claims

1. A device for automatically placing and conveying parts. It is characterized in that It comprises a bracket (1) and a vibrating feeder (2), wherein a conveying device and a part state recognition converter are respectively arranged at two ends of the bracket (1), the starting end of the conveying device is connected to the output end of the part state recognition converter, and the output end of the vibrating feeder (2) is connected to the input end of the part state recognition converter via a buffer connector; The part state recognition converter comprises a single product separator, a state changer, and a CCD camera (3); The single product separator comprises a product receiving channel (4), a lifting platform (5), and a limit plate (6) arranged on the support (1); the input end of the product receiving channel (4) is connected to the output port of the vibrating feeder (2) through the buffer connector; the other end of the product receiving channel (4) is fixed to the support (1); the lifting platform (5) is arranged at the output end of the product receiving channel (4); the output end of the product receiving channel (4) and the state changer are both within the lifting travel range of the lifting platform (5); the lifting direction of the lifting platform (5) is perpendicular to the axis of the product receiving channel (4); the axis of the lifting platform (5) and the axis of the product receiving channel (4) are in the same vertical plane; the support (1) The limiting plate (6) is fixedly arranged on the side of the lifting platform (5) facing away from the product receiving channel (4); the limiting plate (6) is provided with an extruder facing the product receiving channel (4); the position of the extruder on the limiting plate (6) is at the same height as the axis of the output port of the product receiving channel (4); the outer top wall of the output end of the product receiving channel (4) and the upper end of the limiting plate (6) together constitute the output port of the single product separator; a recessed portion (7) is provided at the lower edge of the output port of the product receiving channel (4); the recessed portion (7) extends toward the side of the limiting plate (6) to the outside of the product receiving channel (4); and a horizontal roller (8) is provided at the upper edge of the output port of the product receiving channel (4); The state changer includes a first rotating manipulator, a second rotating manipulator, and a Z-axis rotator; The Z-axis rotator comprises a disk body (13) and a third rotating motor (24); the third rotating motor (24) is arranged in the lifting platform (5); the output shaft of the third rotating motor (24) faces upward; the disk body (13) and the output shaft of the third rotating motor (24) are coaxially fixedly connected; The upper surface of the disk body (13) is covered with a plurality of blind holes (25), and a limiting shaft (26) is axially arranged in each blind hole (25) through a second spring (23). When all the second springs (23) are in a normal state, the top ends of all the limiting shafts (26) are located in the same horizontal plane.

2. The automatic parts placement and conveying device according to claim 1, It is characterized in that At the output port of the vibrating feeder (2) on the bracket (1), the input end of the single-piece separator is connected through the buffer connector. The output port of the single-piece separator faces upward and is flush with the starting end of the conveying device. Four CCD cameras (3) are evenly distributed around the output port of the single-piece separator. A CCD camera (3) is also provided directly above the output port of the single-piece separator. On the bracket (1), a state changer is provided directly above the CCD cameras (3) evenly distributed around the output port of the single-piece separator. The state changer is below the CCD camera (3) directly above the output port of the single-piece separator. All the CCD cameras (3) are signal-connected to the single-piece separator and the state changer.

3. The automatic part placement and conveying device according to claim 2, characterized in that the roller (8) is perpendicular to the axis of the product receiving channel (4). The side wall of the recess (7) facing away from the limiting plate (6) is between the axis of the roller (8) and the output port of the product receiving channel (4). The side of the roller (8) facing the limiting plate (6) is tangent to the plane where the output port of the product receiving channel (4) is located. On the lifting table (5), a switch plate (9) is fixedly provided on the side facing the product receiving channel (4). The length of the switch plate (9) in the vertical direction is greater than the distance between the output port of the single-piece separator and the bottom wall of the output port of the product receiving channel (4). The two opposite sides of the lifting table (5) are respectively in contact with the vertical plane where the output port of the product receiving channel (4) is located and the surface of the limiting plate (6) facing the product receiving channel (4). The upper and lower ends of the squeezer are flush with the surface of the limiting plate (6) facing the product receiving channel (4). An arc-shaped protrusion is formed at the middle section of the squeezer facing the product receiving channel (4).

4. The automatic part placement and conveying device according to claim 3, characterized in that the squeezer includes a cavity (10), a first spring (11), and a semi-cylinder (12). The cavity (10) is provided on the surface of the limiting plate (6) facing the product receiving channel (4). The opening of the cavity (10) faces the product receiving channel (4). On the bottom wall of the cavity (10), the plane of the semi-cylinder (12) opposite to the arc-shaped surface is connected through the first spring (11). The surface of the semi-cylinder (12) connected to the first spring (11) is located inside the cavity (10). The cylindrical cross-section of the semi-cylinder (12) is a vertical plane perpendicular to the limiting plate (6).

5. The automatic part placement and conveying device according to claim 3, characterized in that the product receiving channel (4) is a pipe with two open ends.

6. The automatic part placement and conveying device according to claim 3, characterized in that The first rotating manipulator and the second rotating manipulator are both arranged on the bracket (1). The rotating axes of the first rotating manipulator and the second rotating manipulator are both horizontally arranged. The Z-axis rotator is arranged at the center of the lifting table (5). The first rotating manipulator is arranged on one side of the bracket (1). The rotating axis of the first rotating manipulator is perpendicular to the conveying direction of the conveying device. The rotating axis of the second rotating manipulator is parallel to the conveying direction of the conveying device. The second rotating manipulator is arranged on the side of the single-item separator facing away from the conveying device. The starting end of the conveying device and the output port of the single-item separator are both within the stroke range of the first rotating manipulator. The starting end of the conveying device and the output port of the single-item separator are both within the stroke range of the second rotating manipulator.

7. An automatic part placing and conveying device according to claim 6, wherein, The first rotating manipulator includes a first thumb cylinder (14), a first rotating motor (15), a first lifting cylinder (16), a first horizontal moving cylinder (17), and a rodless cylinder (18). The sliding direction of the slider (18-1) on the rodless cylinder (18) is parallel to the conveying direction of the conveying device. The first lifting cylinder (16) is fixedly arranged on the slider (18-1). The free end of the first lifting cylinder (16) faces upward. The output end of the first lifting cylinder (16) is fixedly provided with the first horizontal moving cylinder (17). The telescopic direction of the first horizontal moving cylinder (17) is perpendicular to the conveying direction of the conveying device and faces the bracket (1). The telescopic direction of the first horizontal moving cylinder (17) is parallel to the conveying surface of the conveying device. The output end of the first horizontal moving cylinder (17) is fixedly connected to the first rotating motor (15). The first thumb cylinder (14) is fixedly arranged on the output shaft of the first rotating motor (15). When the first thumb cylinder (14) is in the starting state, the connecting line segment between the two first clamping hands (14-1) on the first thumb cylinder (14) is parallel to the conveying direction of the conveying device and parallel to the conveying surface of the conveying device.

8. An automatic part placing and conveying device according to claim 6, wherein, The second rotating manipulator includes a second thumb cylinder (19), a second rotating motor (20), a second horizontal moving cylinder (21), and a second lifting cylinder (22). The second lifting cylinder (22) is arranged on the bracket (1). The output end of the second lifting cylinder (22) is fixedly connected to the second horizontal moving cylinder (21). The telescopic direction of the second horizontal moving cylinder (21) is the same as the conveying direction of the conveying device. The output end of the second horizontal moving cylinder (21) is fixedly connected to the second rotating motor (20). The output end of the second rotating motor (20) is fixedly connected to the second thumb cylinder (19). The output end of the second thumb cylinder (19) faces the conveying device. When the second thumb cylinder (19) is in the starting state, the connecting line segment between the two second clamping hands (19-1) on the second thumb cylinder (19) is perpendicular to the conveying direction of the conveying device and parallel to the conveying surface of the conveying device. The horizontal perpendicular bisector on the connecting line segment between the two second clamping hands (19-1) on the second thumb cylinder (19) and the perpendicular bisector of the width of the conveying surface of the conveying device are in the same vertical plane.

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