Automatic feeding device and feeding method

Abstract

The application provides an automatic feeding device, comprising a Z-shaped workpiece conveying unit, a blanking-misfeed sorting unit, a sleeve positioning unit, a misfeed output track, a support frame, a control unit and a robot gripper, the Z-shaped workpiece conveying unit is used for conveying sleeve workpieces, detecting misfeeds and missing parts; the blanking-misfeed sorting unit is used for sorting the sleeve workpieces, discharging misfeeds to the misfeed output track and conveying correct sleeve workpieces to the sleeve positioning unit; the sleeve positioning unit is used for accurately positioning the sleeve workpieces; the support frame is used for supporting the Z-shaped workpiece conveying unit, the blanking-misfeed sorting unit, the sleeve positioning unit and the control unit; the control unit is used for controlling the actions of the blanking-misfeed sorting unit and the sleeve positioning unit; and the robot gripper is used for grabbing the sleeve workpieces and completing feeding. The application can improve the feeding efficiency of the sleeve workpieces.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology, and in particular to an automatic feeding device and feeding method. Background Technology

[0002] With the continuous improvement of automation and intelligent welding levels in the automotive industry, more and more car manufacturers are using automotive welding production lines. However, the current automation rate of robotic automotive frame welding production lines is relatively low. The operation of welding workpieces from the rack to the welding fixture is mostly manual. Due to the special conditions of welding production, the harsh operating environment, the large amount of fumes after welding, and the repetitive operations and long working hours of workers, the fumes generated after welding are very harmful to the health of workers.

[0003] To better protect workers' health and improve work efficiency, it is necessary to continuously automate the loading process of various welding parts, using corresponding automatic loading devices in conjunction with robots to replace manual labor and complete the loading of corresponding workpieces.

[0004] In automotive welding production lines, cylindrical parts with sleeve positioning holes are commonly used for welding, such as... Figure 1 As shown, when welding such parts on a robotic welding production line, most workpieces require manual placement onto fixtures for clamping and positioning. Workers first need to distinguish between two different diameter sleeves. Experienced operators must observe the position of the positioning holes on the sleeves and align them with the anti-misalignment positioning pins on the fixture. During this process, workers are very close to the welding equipment. The working environment is hot and produces a lot of welding fumes, affecting the health of the operators. Workers typically repeat this work for 8-12 hours without rest, resulting in very high labor intensity. Some automotive manufacturers have made designs for these workpieces, using single-channel feeding or vibrating screens, but these methods are limited by insufficient material storage capacity and the inability to correctly identify the discharge direction, failing to achieve the desired results.

[0005] Therefore, there is an urgent need to develop an automatic feeding device for cylindrical parts with sleeve positioning holes that can overcome the above-mentioned shortcomings. Summary of the Invention

[0006] In order to overcome the shortcomings of the existing technology, the purpose of this invention is to provide an automatic feeding device and feeding method to maximize the storage of materials, reduce the labor intensity of workers, and improve production efficiency.

[0007] To achieve the above objectives, the present invention provides an automatic feeding device, comprising: a Z-shaped workpiece transport unit, a dropping-misplacement sorting unit, a sleeve positioning unit, a misplacement output track, a support frame, a control unit, and a robot gripper.

[0008] The Z-shaped workpiece transport unit is used for transporting sleeve workpieces, detecting incorrect loading, and detecting missing materials.

[0009] The unloading-mistake sorting unit is located at the exit of the Z-shaped workpiece transport unit. It is used to sort the sleeve workpieces, discharge the mistakes to the mistake output track, and transport the correct sleeve workpieces to the sleeve positioning unit.

[0010] The sleeve positioning unit is used to accurately position the sleeve workpiece;

[0011] The support frame is used to support the Z-shaped workpiece transport unit, the unloading-misfit sorting unit, the sleeve positioning unit, and the control unit.

[0012] The control unit is used to control the operation of the material feeding-mistake sorting unit and the sleeve positioning unit;

[0013] The robotic gripper is used to grasp the sleeve workpiece and complete the loading process.

[0014] Furthermore, the Z-shaped workpiece transport unit includes a Z-shaped material channel assembly and a material channel-frame connecting plate, wherein,

[0015] The Z-shaped material channel assembly is installed on the support frame via the material channel-frame connecting plate, and the support frame is made of spliced ​​aluminum profiles;

[0016] The Z-shaped material channel assembly includes a first material channel assembly, a second material channel assembly, and a third material channel assembly arranged sequentially, and connecting components thereof. The first material channel assembly, the second material channel assembly, and the third material channel assembly are assembled in a Z-shaped inclined configuration. The connecting components of the material channel assembly are used to connect the material channel assemblies at bends.

[0017] Furthermore, the first, second, and third material channel assemblies all include a sleeve upper pressure rod, a side stop rod, and a support rod. The length of the sleeve upper pressure rod is shorter than the length of the support rod, and the length of the side stop rod is equal to the length of the support rod. The side stop rods on both sides of the sleeve upper pressure rod and the support rod together constitute the main support structure of the Z-shaped material channel assembly. The distance between the sleeve upper pressure rod and the support rod is adjustable.

[0018] The material channel assembly connection component includes a steering material channel side stop bar, an outer guide plate, and an inner guide plate, wherein the distance between the outer guide plate and the inner guide plate is adjustable.

[0019] Furthermore, the first material channel assembly is also equipped with a sleeve diameter detection switch, a mounting bracket for the sleeve diameter detection switch, a sleeve passage detection switch, a mounting bracket for the sleeve passage detection switch, and a port baffle, wherein,

[0020] The sleeve is mounted on the mounting bracket of the sleeve detection switch to detect whether the sleeve has passed through;

[0021] The sleeve diameter detection switch is mounted on the mounting bracket of the sleeve diameter detection switch and is used to detect whether the wrong material has been loaded.

[0022] Furthermore, the material feeding-mistake sorting unit includes a material release cylinder, a material release pressure head, a material stop pressure head, a bracket, a bracket cylinder, a large sleeve detection switch assembly, and a small sleeve detection switch assembly, wherein...

[0023] The material release cylinder is installed on the upper pressure rod of the sleeve at the outlet end of the Z-shaped material channel assembly;

[0024] The piston rod of the stop-discharge cylinder is connected to the discharge pressure head and the stop-discharge pressure head;

[0025] The bracket cylinder is mounted on a fixed support on the ground.

[0026] The piston rod of the bracket cylinder is hinged at the middle position of the bracket, and one end of the bracket is hinged to the fixed support.

[0027] Furthermore, the sleeve positioning unit includes a first position detection switch, a sleeve clamping roller, a clamping cylinder, a first support shaft, a second support shaft, a second position detection switch, a servo motor, a synchronous pulley, a toothed synchronous belt, and a spring rocker arm, wherein...

[0028] The first position detection switch, the second position detection switch, and the servo motor are mounted on a fixed bracket on the ground.

[0029] The outer rings of the bearings of the first and second support shafts are fixed to the ground-mounted fixed brackets;

[0030] The inner rings of the bearings of the first and second support shafts are connected to the synchronous pulley via a rotating shaft and a keyway;

[0031] The cylinder body of the clamping cylinder is mounted on a fixed bracket;

[0032] The piston rod of the clamping cylinder is connected to the hinge mechanism, and the workpiece is clamped by the clamping wheel set at the front end of the hinge mechanism;

[0033] The motor output shaft is connected to the synchronous pulley via a key and a keyway;

[0034] The pulley on the motor output shaft and the pulley on the support shaft cooperate with each other to transmit power;

[0035] The spring swing arm is placed on a fixed support on the ground. The swing arm maintains the feeding position through its own spring. When the gripper moves, the swing arm swings to the picking position against the spring force under the action of the gripper.

[0036] Furthermore, the spring swing arm includes a swing arm, a spring, and a spring fixing seat, wherein the spring fixing seat is mounted on a fixed bracket on the ground;

[0037] The swing arm is hinged to the spring fixing seat via a rotating shaft;

[0038] The spring is a torsion spring, with one end fixed to the spring fixing seat and the other end placed on one end of the swing rod. The swing rod is maintained in the feeding position by the spring force.

[0039] Furthermore, the control unit includes an inlet material error detection module, an outlet material error detection module, a stop-discharge cylinder drive module, a sleeve positioning hole detection module, and an alarm module, wherein...

[0040] The inlet incorrect material loading module is used to detect whether incorrect material has been loaded;

[0041] The outgoing material error detection module is used to re-detect whether the wrong material has been loaded.

[0042] The material release cylinder drive module is used to control the material release cylinder to move according to the output signal of the outlet mis-material detection module, so as to place the bracket in the corresponding position.

[0043] The sleeve positioning hole detection module controls the rotation and stop of the servo motor based on signals from the first position detection switch and the second position detection switch.

[0044] The alarm module receives the output signals from the inlet material error detection module and the outlet material error detection module, and provides an alarm.

[0045] To achieve the above objectives, the present invention also provides an automatic feeding method, which utilizes the aforementioned automatic feeding device and includes the following steps:

[0046] (1) Place the sleeve workpiece into the material channel assembly through the material channel opening;

[0047] (2) The sleeve workpiece slides down through the Z-shaped material channel assembly. The sleeve is detected by the detection switch and the sleeve diameter detection switch. The control unit determines whether the wrong material is loaded based on the signal from the sleeve diameter detection switch.

[0048] (3) The unloading-mis-sorting unit checks the specifications of the sleeve workpieces again. Correct sleeve workpieces flow into the sleeve positioning unit, while incorrect sleeve workpieces flow into the mis-sorting port and are discharged through the mis-sorting output track.

[0049] (4) When any position detection switch in the sleeve positioning unit detects the workpiece, the workpiece starts to rotate. When the signal of the first position detection switch or the second position detection switch changes, a stop signal is given to the motor to obtain the sleeve in the desired position.

[0050] (5) The robot takes away the sleeve workpiece and completes the loading process.

[0051] Furthermore, step (2) further includes:

[0052] If the control unit determines that the wrong material has been loaded, it notifies the alarm module to issue a "wrong material loading" alarm.

[0053] The material shortage sensor detects whether there is a material shortage. If there is no signal for three consecutive cycles, a material shortage alarm will be triggered to remind the worker to add material.

[0054] The automatic feeding device and automatic feeding method of the present invention have the following advantages compared with the prior art:

[0055] (1) Each shift only requires manual loading once. The device automatically detects and distributes materials according to requirements, automatically feeds materials without power, and transfers the materials to the designated position according to requirements. The robot then grabs the materials to complete the entire feeding process.

[0056] (2) The equipment operates efficiently and reliably, greatly reducing the time workers spend working at the workstation. They only need to replenish the material at the feed inlet regularly, which greatly improves the workers' operating space and operating environment.

[0057] (3) Automatic material distribution and unloading device has a simple structure. After detection by the material distribution device, it can complete the material distribution and unloading action according to the requirements. It is reliable and efficient in operation.

[0058] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0059] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0060] Figure 1 A schematic diagram of a cylindrical part with a sleeve positioning hole commonly used in welding production lines;

[0061] Figure 2 This is a schematic diagram of the automatic feeding device according to the present invention;

[0062] Figure 3 This is a schematic diagram of a Z-shaped material channel assembly according to an embodiment of the present invention;

[0063] Figure 4 This is a partial schematic diagram of a Z-shaped feed channel assembly according to an embodiment of the present invention;

[0064] Figure 5A schematic diagram of a commercially available pneumatic oscillator;

[0065] Figure 6 This is a schematic diagram of a material discharge-mistake sorting unit according to an embodiment of the present invention;

[0066] Figure 7 This is a partial schematic diagram of a material feeding-mistake sorting unit according to an embodiment of the present invention;

[0067] Figure 8 This is a schematic diagram of a sleeve positioning unit according to an embodiment of the present invention;

[0068] Figure 9 This is a schematic diagram of a control unit according to an embodiment of the present invention;

[0069] Figure 10 This is a flowchart of the automatic feeding method according to the present invention. Detailed Implementation

[0070] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0071] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0072] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0073] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless explicitly stated otherwise in the context, they should be understood as "one or more". "A plurality of" should be understood as two or more.

[0074] Figure 2 This is a schematic diagram of the automatic feeding device according to the present invention, as shown below. Figure 2As shown, the automatic feeding device of the present invention includes a Z-shaped workpiece transport unit 1, a dropping-misplacement sorting unit 2, a sleeve positioning unit 3, a misplacement output track 4, a support frame 5, and a control unit, wherein...

[0075] Z-type workpiece transport unit 1 includes Z-type material channel assembly 10 and material channel-frame connecting plate 11. Z-type material channel assembly 10 is installed on support frame 5 through material channel-frame connecting plate 11. Support frame 5 is spliced ​​from aluminum profiles.

[0076] Figure 3 This is a schematic diagram of a Z-shaped material channel assembly according to an embodiment of the present invention. Figure 4 This is a partial schematic diagram of a Z-shaped feed channel assembly according to an embodiment of the present invention, as shown below. Figure 3 and Figure 4 As shown, the Z-shaped material channel assembly 10 includes a first material channel assembly 101, a second material channel assembly 102, and a third material channel assembly 103 arranged sequentially, and a connecting assembly 104. After assembly, the first material channel assembly 101, the second material channel assembly 102, and the third material channel assembly 103 are arranged in a Z-shaped inclined configuration. Preferably, the first material channel assembly 101, the second material channel assembly 102, and the third material channel assembly 103 are each arranged at a 5° inclination angle to the horizontal plane, thereby ensuring that the sleeve can move in the straight material channel by gravity.

[0077] The first material channel assembly 101, the second material channel assembly 102, and the third material channel assembly 103 all include a sleeve upper pressure rod 105, a side stop rod 106, and a support rod 107. The material channel assembly connecting assembly 104 includes a turning material channel side stop rod 108, an outer guide plate 109, and an inner guide plate 110. The material channel assembly connecting assembly 104 is used to connect the three material channel assemblies at the bend. The distance between the outer guide plate 109 and the inner guide plate 110 is adjustable. During equipment debugging, the distance is adjusted according to the diameter of the conveyed workpiece to ensure that the sleeve smoothly turns to the next material channel assembly in a circular state for transportation.

[0078] In addition to the sleeve upper pressure rod 105, side stop rod 106, and support rod 107, the first material channel assembly 101 is also equipped with a sleeve diameter detection switch 111, a sleeve diameter detection switch mounting bracket 112, a sleeve passing detection switch 113, a sleeve passing detection switch mounting bracket 114, and a port baffle 115.

[0079] The length of the upper pressure rod 105 on the sleeve is shorter than the length of the support rod 107, and the length of the side stop rod 106 is equal to the length of the support rod 107. Therefore, the side stop rods 106 on both sides of the upper pressure rod 105 and the support rod 107 together constitute the main support structure of the Z-shaped material channel assembly. Simultaneously, because the length of the upper pressure rod 105 on the sleeve is shorter than the length of the support rod 107, an inlet is formed that can accommodate the sleeve workpiece.

[0080] Port baffles 115 are provided at the ends of the support rod 107 and the side stop rod 106 to prevent the sleeve from falling from the port of the Z-shaped material channel assembly.

[0081] The distance between the upper pressure rod 105 and the support rod 107 of the sleeve is adjustable. For example, by adjusting the distance between the upper pressure rod 105 and the support rod 107 of the sleeve, the material opening size of the 58mm diameter material can be adjusted to about 62mm, which can ensure that a sleeve with a diameter greater than 62mm cannot be put into the material channel of the 58mm diameter sleeve.

[0082] A sleeve diameter detection switch 111 is provided on the upper pressure rod 105 of the sleeve near the inlet. The sleeve diameter detection switch 111 is installed on the upper pressure rod 105 of the sleeve via a mounting bracket 112.

[0083] A sleeve-pass detection switch 113 is installed on the support rod 107 at the installation position corresponding to the sleeve diameter detection switch 111, and is installed on the support rod 107 through the mounting bracket 114 of the sleeve-pass detection switch.

[0084] The sleeve passes through the detection switch 113 to detect whether a workpiece passes through the Z-shaped material channel assembly. If a workpiece passes through, the sleeve passes through the detection switch 113 to output a signal. If no workpiece passes through, there is no signal output. If there is no signal for three consecutive cycles, a "material shortage" alarm is issued to notify the worker to load the material.

[0085] The sleeve diameter detection switch 111 is used to detect whether the diameter of the workpiece passing through the Z-shaped feed channel assembly meets the set requirements. For example, when the diameter of the workpiece to be transported is required to be 66mm, the distance between the upper pressure rod 104 and the support rod 106 of the sleeve needs to be adjusted to adjust the feed port distance to about 68mm. However, this cannot prevent 58mm sleeves from being placed. If small sleeves are continuously placed in the 66mm sleeve feed channel, it will affect the efficiency of the feeding equipment, causing incorrect material discharge and affecting the cycle time. Therefore, the equipment needs to issue an alarm when an incorrect sleeve is placed. When a 66mm sleeve is placed, both the sleeve detection switch 113 and the sleeve diameter detection switch 111 will give a signal. When a 58mm sleeve is placed, the sleeve detection switch 113 will give a signal, but the sleeve diameter detection switch 111 will not give a signal because the diameter of the sleeve being fed is small. At this time, the equipment will alarm to ensure that small sleeve workpieces are not continuously placed in this feed channel.

[0086] In addition, although the material channel itself can ensure that the sleeve can smoothly reach the discharge port, oil, dust and other impurities may still appear on the sleeve, which may occasionally cause the sleeve to get stuck. Therefore, pneumatic vibrators 116 are installed at the connection of the three material channels. The vibration time of the vibrators is adjusted according to the on-site usage to ensure that the sleeve can reach the discharge port normally.

[0087] The pneumatic oscillator 116 can be purchased from existing products. Figure 5 A commercially available pneumatic oscillator is shown. The frequency and amplitude of the vibration can be controlled by the air flow. An air intake speed control valve is installed at the air inlet of the pneumatic oscillator to control the pneumatic oscillator.

[0088] The Z-type material channel assembly adopts a Z-type environmentally friendly inclined material storage device, which requires no external power, maximizes material storage, and reduces the number of times workers need to fill the material; it can automatically detect the quantity and correctness of the material and remind workers to fill it at the appropriate time.

[0089] A material unloading / missorting unit 2 is installed at the exit of the Z-type workpiece transport unit 1, such as... Figure 6 As shown, the material feeding-missorting unit 2 includes a material release cylinder 201, a material feeding head 202, a material stopping head 203, a bracket 204, a bracket cylinder 205, a large sleeve detection switch assembly, and a small sleeve detection switch assembly. The material release cylinder 201 is installed on the upper pressure rod 105 of the sleeve at the outlet end of the Z-shaped material channel assembly. The piston rod of the material release cylinder 201 is connected to the material feeding head 202 and the material stopping head 203. The bracket cylinder 205 is installed at the fixed support on the ground. The piston rod of the bracket cylinder 205 is hinged to the bracket 204. The hinge position is located in the middle of the bracket 204. One end of the bracket 204 is hinged to the fixed support on the ground.

[0090] Figure 7 This is a partial schematic diagram of a material feeding-mistake sorting unit according to an embodiment of the present invention, showing a large sleeve detection switch assembly and a small sleeve detection switch assembly.

[0091] A large sleeve detection switch assembly includes a large sleeve detection switch 2060 and a large sleeve detection switch mounting bracket 2061, wherein the large sleeve detection switch assembly is mounted on a fixed bracket on the ground.

[0092] The small sleeve detection switch assembly includes a small sleeve detection switch 2070 and a small sleeve detection switch mounting bracket 2071, and the small sleeve detection switch assembly is mounted on a fixed bracket on the ground.

[0093] For a feed channel where the large sleeve is correctly fed while the small sleeve is incorrectly fed, when the large sleeve detection switch 2060 signals, the stop-feed cylinder 201 activates, placing the correct workpiece into the discharge port, and the sleeve rolls down to the sleeve positioning unit. If the small sleeve detection switch 2070 signals, it indicates that this sleeve is an incorrectly fed workpiece. The bracket cylinder 205 moves the bracket 204 to the incorrect workpiece bracket position, and the stop-feed cylinder 201 activates, placing the incorrect workpiece into the incorrect feeding port for the worker to remove. After the feeding head 202 finishes feeding, the stop head 203 blocks the next sleeve from continuing downwards. After the workpiece is removed, the cycle for the next workpiece begins. For a feed channel where the large sleeve is incorrectly fed while the small sleeve is correctly fed, as long as the large sleeve detection switch 2060 signals, it indicates incorrect feeding; the large sleeve will be sent to the incorrect feeding port, and the small sleeve will be sent to the discharge port. Moreover, theoretically, the material channel of the large sleeve cannot be inserted into the material channel of the small sleeve because the height of the material channel is set to be smaller than the diameter of the large sleeve, so the large sleeve cannot be inserted.

[0094] After the correct sleeve workpiece is sent to the discharge port, it enters the sleeve positioning unit 3.

[0095] Figure 8 This is a schematic diagram of a sleeve positioning unit according to an embodiment of the present invention.

[0096] The sleeve positioning unit 3 includes a first position detection switch 301, a sleeve clamping roller 302, a clamping cylinder 303, a first support shaft 304, a second support shaft 305, a second position detection switch 306, a servo motor 307, a synchronous pulley, a toothed synchronous belt, a spring swing rod 308, a synchronous pulley 309, a toothed synchronous belt 310, and a floor-mounted fixed support 311. The first position detection switch 301, the second position detection switch 306, and the servo motor 307 are placed on the floor-mounted fixed support 311.

[0097] The outer rings of the bearings of the first support shaft 305 and the second support shaft 306 are fixed on the ground-mounted bracket 311;

[0098] The inner rings of the bearings of the first support shaft 305 and the second support shaft 306 are connected to the synchronous pulley 309 through a rotating shaft and a keyway;

[0099] The cylinder body of the clamping cylinder 303 is mounted on the fixed bracket 311;

[0100] The piston rod of the clamping cylinder 303 is connected to a hinge mechanism. The workpiece is clamped by the clamping wheel at the front end of the hinge mechanism.

[0101] The output shaft of the motor 307 is connected to the synchronous pulley 309 via a key and a keyway.

[0102] The pulley on the output shaft of the motor 307 and the pulley on the support shaft are driven by the meshing of the teeth on the synchronous belt 310 and the pulley 309.

[0103] The spring swing arm 308 is placed on a fixed bracket on the ground. The swing arm maintains the feeding position through the spring of the structure itself, and swings to the picking position by overcoming the spring force when the gripper moves.

[0104] After the sleeve comes out of the discharge port, it will come into contact with the first support shaft 304 and the second support shaft 305 in the lower part of their cross-sections and be supported on the two support shafts. The tangent plane of the contact line will form a V shape. When either of the two detection switches detects that a workpiece has fallen in, the servo motor 307 will be rotated by the program. The mechanism will transmit the rotation to the two support shafts through the synchronous pulley 309 and the toothed synchronous belt 310, so that the support shafts will drive the sleeve to start rotating.

[0105] The sleeve workpiece is provided with a sleeve positioning hole, which is used to be identified by the first position detection switch 301 and the second position detection switch 306, thereby determining the stop time of the sleeve rotation, so that the gripper can grasp the sleeve at the desired sleeve rotation angle for subsequent assembly, welding and other operations. The system responds to the signal of one of the first position detection switches 301 and the second position detection switch 306 as needed. For example, taking the response to the first position detection switch 301 as an example, when the sleeve positioning hole rotates to the point where the signal of the first position detection switch 301 changes from zero to one, the servo motor 307 stops rotating, and after the sleeve stops rotating, the robot gripper holds the sleeve tightly. When the sleeve rolls onto the support shaft, it needs to be ensured that it does not deviate, and at the same time, the gripper's fingers also need to pass through this position. Therefore, the swing arm is designed as a spring swing arm 308. After the gripper's fingers hold the workpiece tightly, they overcome the spring force to push the swing arm open and grab the workpiece. After grabbing, the spring swing arm 308 returns to its initial position by the spring force. At this point, the workpiece grabbing is completed.

[0106] The 308 spring lever is commercially available, and brands such as Omron and Keyence are available.

[0107] The sleeve positioning unit offers precise positioning and rapid action, perfectly synchronized with the robot's movement rhythm to intelligently identify the two positions of two different sleeves. This allows the robot to quickly and accurately retrieve the corresponding sleeve according to requirements.

[0108] Figure 9 This is a schematic diagram of a control unit according to an embodiment of the present invention, such as... Figure 9As shown, the control unit includes an inlet incorrect material detection module 61, an outlet incorrect material detection module 62, a stop-discharge cylinder drive module 63, a sleeve positioning hole detection module 64, and an alarm module 65. The inlet incorrect material detection module 61 receives signals from the sleeve passing detection switch and the sleeve diameter detection switch and determines whether incorrect material has been loaded. If both the sleeve passing detection switch and the sleeve diameter detection switch have signals, it indicates that the loading is correct. If the sleeve passing detection switch has a signal but the sleeve diameter detection switch has no signal, it indicates that a small sleeve has been mixed into the large material channel. The inlet incorrect material detection module 61 outputs a "wrong material loading" signal to the alarm module 65, instructing the alarm module to issue a "wrong material loading" alarm.

[0109] The export error detection module 62 receives signals from the large sleeve detection switch and the small sleeve detection switch and determines whether the transported workpiece is an error according to the set program. For example, under the working condition that the transported large sleeve is correct but the small sleeve is incorrect, when the large sleeve detection switch has a signal but the small sleeve detection switch has no signal, it means that the transported workpiece is correct. If the large sleeve detection switch has no signal but the small sleeve detection switch has a signal, it means that the transported workpiece is an error.

[0110] The stop-release cylinder drive module 63 receives the output signal from the outlet mis-discharge detection module 62. When the signal output by the outlet mis-discharge detection module 62 indicates that the transported workpiece is the correct workpiece, the stop-release cylinder drive module 63 controls the bracket cylinder to place the bracket at the normal workpiece passage position, and then controls the stop-release cylinder to move the correct workpiece to the outlet. If the signal output by the outlet mis-discharge detection module 62 indicates that the transported workpiece is the wrong workpiece, the stop-release cylinder drive module 63 controls the bracket cylinder to place the bracket at the wrong workpiece passage position, and then controls the stop-release cylinder to move the wrong workpiece to the wrong workpiece outlet for the worker to remove.

[0111] The sleeve positioning hole detection module 64 receives signals from the first position detection switch and the second position detection switch. When it receives the signals from the first position detection switch and the second position detection switch, the sleeve positioning hole detection module 64 controls the servo motor to stop rotating and waits for the robot gripper to pick up the sleeve workpiece.

[0112] The mis-material output track 4 is assembled from sheet metal and is used to transfer incorrectly loaded workpieces to the mis-material recycling container for subsequent recycling by workers.

[0113] Figure 10 A flowchart illustrating a method for feeding materials using the automatic feeding device of the present invention is shown. The method for feeding materials using the automatic feeding device of the present invention includes the following steps:

[0114] (1) Place the sleeve workpiece into the material channel assembly through the material channel opening;

[0115] (2) The sleeve workpiece slides down through the Z-shaped material channel assembly. The sleeve is detected by the detection switch and the sleeve diameter detection switch. The control unit determines whether the wrong material is loaded based on the signal of the sleeve diameter detection switch. If the wrong material is loaded, the alarm module is notified to issue a "wrong material" alarm. At the same time, the material shortage sensor detects whether the material is missing. If there is no signal to indicate the material shortage alarm for three consecutive cycles, the worker is reminded to load the material.

[0116] (3) The unloading-mis-sorting unit checks the specifications of the sleeve workpieces again. Correct sleeve workpieces flow into the sleeve positioning unit, while incorrect sleeve workpieces flow into the mis-sorting port and are discharged through the mis-sorting output track.

[0117] (4) Any position detection switch in the sleeve positioning unit detects that the workpiece starts to rotate. When the signal of the first position detection switch or the second position detection switch changes, a stop signal is given to the motor to obtain the sleeve in the desired position.

[0118] (5) The robot takes away the sleeve workpiece and completes the loading process.

[0119] The entire feeding system will display prompts on the control panel at the feeding port if there is a shortage or incorrect material. Workers can then load parts or place the incorrect material into the correct feeding port according to the prompts. Each feeding channel can hold 65-70 sleeves and generally needs to be refilled approximately once an hour.

[0120] Additionally, it should be noted that multiple sets of the automatic feeding device of the present invention can be installed in parallel as needed, such as... Figure 2 As shown in the figure, two sets of automatic feeding devices are set up, and the sensor settings can be adjusted according to the diameter of the transport sleeve workpiece to set the error prevention capability.

[0121] It will be understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic feeding device, comprising a Z-shaped workpiece transport unit, a dropping-misplacement sorting unit, a sleeve positioning unit, a misplacement output track, a support frame, a control unit, and a robot gripper, characterized in that, The Z-shaped workpiece transport unit is used for transporting sleeve workpieces, detecting incorrect loading, and detecting missing materials. The unloading-mistake sorting unit is located at the exit of the Z-shaped workpiece transport unit. It is used to sort the sleeve workpieces, discharge the mistakes to the mistake output track, and transport the correct sleeve workpieces to the sleeve positioning unit. The sleeve positioning unit is used to accurately position the sleeve workpiece; The support frame is used to support the Z-shaped workpiece transport unit, the unloading-misfit sorting unit, the sleeve positioning unit, and the control unit. The control unit is used to control the operation of the material feeding-mistake sorting unit and the sleeve positioning unit; The robotic gripper is used to grasp the sleeve workpiece and complete the loading process; The sleeve positioning unit includes: a first position detection switch, a sleeve clamping wheel, a clamping cylinder, a first support shaft, a second support shaft, a second position detection switch, a servo motor, a synchronous pulley, a toothed synchronous belt, and a spring swing arm. The first and second position detection switches and the servo motor are mounted on a fixed support on the ground. The outer rings of the bearings of the first and second support shafts are fixed to the fixed support on the ground. The inner rings of the bearings of the first and second support shafts are connected to the synchronous pulley via a rotating shaft and a keyway. The cylinder body of the clamping cylinder is mounted on the fixed support. The piston rod of the clamping cylinder is connected to a hinge mechanism, and the workpiece is clamped by the clamping wheel located at the front end of the hinge mechanism. The motor output shaft is connected to the synchronous pulley via a key and a keyway. The pulley on the motor output shaft and the pulley on the support shaft cooperate to transmit power. The spring swing arm is placed on the fixed support on the ground. The swing arm maintains the feeding position through its own spring. When the gripper moves, the swing arm swings to the picking position against the spring force under the gripper's action.

2. The automatic feeding device according to claim 1, characterized in that, The Z-shaped workpiece transport unit This includes Z-shaped material channel components and material channel-frame connection plates, among which... The Z-shaped material channel assembly is installed on the support frame via the material channel-frame connecting plate, and the support frame is spliced ​​from aluminum profiles; The Z-shaped material channel assembly includes a first material channel assembly, a second material channel assembly, and a third material channel assembly arranged sequentially, and connecting components thereof. The first material channel assembly, the second material channel assembly, and the third material channel assembly are assembled in a Z-shaped inclined configuration. The connecting components of the material channel assembly are used to connect the material channel assemblies at bends.

3. The automatic feeding device according to claim 2, characterized in that, The first, second, and third material channel assemblies all include a sleeve upper pressure rod, a side stop rod, and a support rod. The length of the sleeve upper pressure rod is shorter than the length of the support rod, and the length of the side stop rod is equal to the length of the support rod. The side stop rods on both sides of the sleeve upper pressure rod and the support rod together constitute the main support structure of the Z-shaped material channel assembly. The distance between the sleeve upper pressure rod and the support rod is adjustable. The material channel assembly connection component includes a steering material channel side stop bar, an outer guide plate, and an inner guide plate, wherein the distance between the outer guide plate and the inner guide plate is adjustable.

4. The automatic feeding device according to claim 3, characterized in that, The first material channel assembly also includes a sleeve diameter detection switch, a mounting bracket for the sleeve diameter detection switch, a sleeve passage detection switch, a mounting bracket for the sleeve passage detection switch, and a port baffle. The sleeve is mounted on the mounting bracket of the sleeve detection switch to detect whether the sleeve has passed through; The sleeve diameter detection switch is mounted on the mounting bracket of the sleeve diameter detection switch and is used to detect whether the wrong material has been loaded.

5. The automatic feeding device according to claim 1, characterized in that, The material feeding-misalignment sorting unit includes a material release cylinder, a material release pressure head, a material stop pressure head, a bracket, a bracket cylinder, a large sleeve detection switch assembly, and a small sleeve detection switch assembly. The material release cylinder is installed on the upper pressure rod of the sleeve at the outlet end of the Z-shaped material channel assembly; The piston rod of the stop-discharge cylinder is connected to the discharge pressure head and the stop-discharge pressure head; The bracket cylinder is mounted on a fixed support on the ground. The piston rod of the bracket cylinder is hinged at the middle position of the bracket, and one end of the bracket is hinged to the fixed support.

6. The automatic feeding device according to claim 1, characterized in that, The spring swing arm includes a swing arm, a spring, and a spring fixing seat, wherein the spring fixing seat is mounted on a fixed bracket on the ground. The swing arm is hinged to the spring fixing seat via a rotating shaft; The spring is a torsion spring, with one end fixed to the spring fixing seat and the other end placed on one end of the swing rod. The swing rod is maintained in the feeding position by the spring force.

7. The automatic feeding device according to claim 1, characterized in that, The control unit includes an inlet material error detection module, an outlet material error detection module, a stop-discharge cylinder drive module, a sleeve positioning hole detection module, and an alarm module, wherein... The inlet incorrect material loading module is used to detect whether incorrect material has been loaded; The outgoing material error detection module is used to re-detect whether the wrong material has been loaded. The material release cylinder drive module is used to control the material release cylinder to move according to the output signal of the outlet mis-material detection module, so as to place the bracket in the corresponding position. The sleeve positioning hole detection module controls the rotation and stop of the servo motor based on signals from the first position detection switch and the second position detection switch. The alarm module receives the output signals from the inlet material error detection module and the outlet material error detection module, and provides an alarm.

8. An automatic feeding method, utilizing the automatic feeding device according to any one of claims 1-7, comprising the following steps: (1) Place the sleeve workpiece into the material channel assembly through the material channel opening; (2) The sleeve workpiece slides down through the Z-shaped material channel assembly. The sleeve is detected by the detection switch and the sleeve diameter detection switch. The control unit determines whether the wrong material is loaded based on the signal of the sleeve diameter detection switch. (3) The unloading-mistake sorting unit checks the specifications of the sleeve workpieces again. Correct sleeve workpieces flow into the sleeve positioning unit, while incorrect sleeve workpieces flow into the mistake outlet and are discharged through the mistake output track. (4) When any position detection switch in the sleeve positioning unit detects the workpiece, the workpiece starts to rotate. When the signal of the first position detection switch or the second position detection switch changes, a stop signal is given to the motor to obtain the sleeve in the desired position. (5) The robot takes away the sleeve workpiece and completes the loading process.

9. The automatic feeding method according to claim 8, characterized in that, Step (2) further includes: If the control unit determines that the wrong material has been loaded, it notifies the alarm module to issue a "wrong material loading" alarm. The material shortage sensor detects whether there is a material shortage. If there is no signal for three consecutive cycles, a material shortage alarm will be triggered to remind the worker to add material.

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