Automatic rubber plug feeding system

Abstract

The automatic feeding system for rubber plugs relates to the field of automated processing technology, and is used to replace manual material placement and improve material placement efficiency. The automatic feeding system for rubber plugs includes a circular vibration feeding device and a direct vibration feeding device connected to the circular vibration feeding device, and also includes a transfer device, a material tray and a visual recognition system. The visual recognition system includes a camera, and the camera is set toward the detection station. The transfer device is set between the detection station and the direct vibration feeding device to transfer the rubber plugs from the direct vibration feeding device and place them on the material tray located at the detection station; the visual recognition system, the transfer device and the control system are connected, and the visual recognition system performs visual recognition of the direction of the rubber plugs placed on the material tray located at the detection station, and the control system controls the transfer device to pick up the rubber plugs in the corresponding area and rotate the rubber plugs to a specific angle according to the visual recognition results. The beneficial effect is that it is conducive to the rapid, accurate and directional placement of the rubber plugs.

Description

Technical Field

[0001] The invention relates to the technical field of automated processing, in particular to an automatic rubber plug feeding system. Background Art

[0002] Rubber plugs are a part of medical packaging and are used to seal medicine bottles. The rubber plugs include a plug rod, which is used to be inserted into the bottle mouth.

[0003] In the feeding process of rubber plug production (such as vulcanization), some rubber plugs are placed in batches on the tray or workstation. In order to facilitate the subsequent matching with the characteristics of the mold, there are requirements for the direction of each rubber plug. For example, the plug part includes a rubber plug with a notch. When this type of rubber plug is placed, the direction of each notch must be consistent, so that it is convenient to automatically put it into the processing mold later.

[0004] In the prior art, the loading method is to manually place the rubber plugs one by one on a material tray, and then wait for subsequent processing steps to use them. This manual material placement method has low work efficiency, and when placing rubber plugs with orientation requirements, it is difficult to ensure that a large number of rubber plugs have the same orientation, and the placement is also easy to cause visual fatigue.

[0005] The driving cylinder can be a hydraulic cylinder, an electric cylinder or a pneumatic cylinder.

[0006] The circular vibration feeding device includes a hopper. There is a pulse electromagnet under the hopper, which can make the hopper vibrate in the vertical direction. The inclined spring sheet drives the hopper to do torsional vibration around its vertical axis. The parts in the hopper have inertia due to the vibration, so they rise along the spiral track. During the rising process, they are screened or changed in posture through a series of tracks. The parts can enter the direct vibration feeding device in a unified state according to the requirements of assembly or processing. The circular vibration feeding device can be set with multiple channels for side-by-side output of materials. Similarly, the direct vibration conveying device connected to it also needs to be equipped with a corresponding number of channels. Summary of the invention

[0007] The object of the present invention is to provide an automatic rubber plug feeding system for replacing manual feeding and improving feeding efficiency.

[0008] The technical solution adopted by the present invention to solve the technical problem is:

[0009] The automatic feeding system for rubber plugs comprises a circular vibration feeding device and a straight vibration feeding device connected to the circular vibration feeding device, and also comprises a transfer device, a material tray and a visual recognition system, wherein the straight vibration feeding device comprises a vibration tray, and the vibration tray comprises a plurality of material guide grooves, wherein the front end of the material guide groove is open and the rear end is closed, and the front end of the material guide groove is used to receive the rubber plugs conveyed by the circular vibration feeding device;

[0010] A cover plate is provided on the upper side of the vibration plate, and a plurality of rows of material taking holes are provided on the cover plate, and each of the material guide grooves is provided with a row of material taking holes, and the cover plate is slidably connected to the vibration plate for aligning or misaligning the material guide grooves with the material taking holes;

[0011] The transfer device includes a first manipulator and a picker mounted on the first manipulator, the picker includes a slide, a plurality of first picking racks are slidably connected to the slide, and each first picking rack is provided with a plurality of picking devices, the picking device includes a first negative pressure picking head, a first motor and a rotating joint, the first motor includes a hollow shaft, the first negative pressure picking head is connected to the lower end of the hollow shaft, the upper end of the hollow shaft is connected to the rotating joint, the first motor and the rotating joint are mounted on the first picking rack, the first motor is used to drive the first negative pressure picking head to rotate, and a variable pitch driving mechanism is provided between the first picking rack and the slide;

[0012] The material tray is arranged on a feeding conveying mechanism, the feeding conveying mechanism includes a detection station, the visual recognition system includes a first camera and a second camera, the first camera is arranged toward the detection station, and the transfer device is arranged between the detection station and the direct vibration feeding device to transfer the rubber plug from the direct vibration feeding device and place it on the material tray located at the detection station;

[0013] The visual recognition system, the transfer device and the control system are connected, the first camera is used to collect images of the material tray located at the detection station, and the visual recognition system identifies the degree of material placement of the material tray located at the detection station;

[0014] The visual recognition system is used to detect the orientation of the rubber plug on the picker. The picker can move to a state where each of the first negative pressure pickup heads faces the second camera. The second camera is used to collect images of the rubber plug picked up by the picker. The visual recognition system performs image recognition on the rubber plug on the picker to analyze the actual angular vector of the orientation of the rubber plug. The control system controls the corresponding first motor to rotate according to the difference between the target angular vector of the corresponding rubber plug and the actual angular vector, thereby adjusting the orientation of the corresponding rubber plug.

[0015] After the picker completes the adjustment of the direction of the rubber plug, the transfer device changes the distance of the rubber plug on the picker and places it on the material tray.

[0016] The beneficial effects are:

[0017] The present invention can automatically arrange and place the rubber plugs, and at the same time, it is beneficial to ensure that the orientation of each rubber plug is consistent, thereby replacing manual labor, improving feeding efficiency, ensuring feeding accuracy, and reducing the work intensity of staff.

[0018] The rubber plugs are vibrated and conveyed to the material guide grooves by the circular vibration feeding device and the straight vibration feeding device until each material guide groove is filled; then, the cover plate is aligned with the material guide groove, and the picker picks up the rubber plugs in the material extraction hole and takes them out. The first manipulator drives the picker to operate to a state facing the first camera (each picked up rubber plug faces the first camera), and the first camera performs image recognition on the rubber plug matrix picked up by the picker, and the visual recognition system identifies the orientation of each rubber plug. The control system controls the corresponding first motor to rotate according to the difference between the target angle vector of the corresponding rubber plug and the actual angle vector, thereby adjusting the corresponding rubber plug orientation. After the adjustment of the plug orientation is completed, the variable pitch drive mechanism drives each first picking frame to perform variable pitch operation, and then the transfer device places the rubber plug on the tray. When the visual recognition system detects that the material on the tray is full, it is sent out through the loading conveying mechanism.

[0019] Furthermore, the circular vibration feeding device includes a plurality of feeding channels, and each feeding channel is aligned with one of the guide grooves.

[0020] The beneficial effect is: it is conducive to placing multiple rows of rubber plugs at the same time, which is conducive to improving the efficiency of material placement

[0021] Furthermore, the variable pitch drive mechanism includes a second motor, a drive shaft and a nut member. The second motor is connected to the drive shaft for driving the drive shaft to rotate. The drive shaft is provided with multiple guide screws, and the directions of two adjacent guide screws are opposite. Each of the first picking frames is provided with a nut member, and each nut member cooperates with a guide screw.

[0022] The beneficial effect is that when the driving shaft rotates, two adjacent first picking racks move closer to or farther from each other, thereby adjusting the distance between them. The above structure of the variable mechanism of the hoof jelly of the present invention is conducive to accurate and rapid distance change, and is conducive to the accuracy of picking and placing positions.

[0023] Furthermore, a first driving device is provided between the vibration plate and the cover plate, and the first driving device is used to drive the cover plate to slide on the vibration plate.

[0024] The beneficial effect is that the sliding of the cover plate is driven by the first driving device to realize the automatic driving work of aligning or misaligning the material guide groove and the material taking hole.

[0025] Furthermore, a first fill light box is provided above the detection station, the first fill light box is connected to a bracket, and the first camera is mounted on the first fill light box.

[0026] The beneficial effect is that the first fill light box is used to provide fill light for the first camera, which is beneficial to improving the clarity of image acquisition by the first camera and the clarity of image recognition by the visual recognition system.

[0027] Furthermore, the second camera is mounted on a second fill light box, and the second fill light box and the second camera are arranged upward.

[0028] The beneficial effect is that the second fill light box is used to fill light for the second camera, which is beneficial to the clarity of image acquisition by the second camera and the clarity of image recognition by the visual recognition system.

[0029] Furthermore, the feeding and conveying mechanism includes a linear guide rail, and the material tray is provided with a first sliding block for cooperating with the linear guide rail. The material tray is mounted on the linear guide rail, and a suspension is slidably connected to the top of the linear guide rail. The sliding direction of the suspension is perpendicular to the extension direction of the linear guide rail. The suspension is slidably connected to an extension arm, and a second picking frame is carried on the extension arm. The second picking frame can be raised and lowered on the extension arm, and a second negative pressure picking head group is provided on the second picking frame. The suspension is connected to a suspension driving device, and an extension arm driving device is provided between the suspension and the extension arm.

[0030] Beneficial effect: Under the premise of ensuring the stability of the equipment (ensuring the smooth and accurate delivery of the rubber plug), it is conducive to increasing the material delivery stroke. The second pick-up rack is used to pick up the rubber plugs on the material tray in batches downward. The suspension and extension arm can increase the material delivery stroke, thereby facilitating the subsequent material delivery work and extending to the production line (such as the material cavity of the vulcanization equipment).

[0031] Furthermore, it comprises two groups of the feeding and conveying mechanisms, and the transfer device is arranged between two detection stations and the vibration plate.

[0032] The beneficial effects are: it is conducive to configuring two production lines and improving feeding efficiency and production efficiency.

[0033] Furthermore, the cover plate is transparent.

[0034] Beneficial effects: It is helpful to observe the condition of the rubber plug, for example, timely discover the jamming of the rubber plug.

[0035] Furthermore, after the picker completes one adjustment of the orientation of the rubber plug, the transfer device directs each first negative pressure pick-up head toward the second camera again, and the visual recognition system rechecks the orientation of each rubber plug.

[0036] Beneficial effect: During the process of batch loading of rubber plugs, it is helpful to improve the accuracy of the consistent orientation of each rubber plug. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of a rubber plug having a direction requirement when placed;

[0038] Figure 2 It is a top view schematic diagram of the present invention;

[0039] Figure 3 It is a front view schematic diagram of the present invention;

[0040] Figure 4 It is a left side schematic diagram of the present invention;

[0041] Figure 5 It is a schematic diagram of a direct vibration feeding device and a vibration plate;

[0042] Figure 6 It is a schematic diagram of the cover plate on the vibration plate;

[0043] Figure 7 is a three-dimensional schematic diagram of a pickup;

[0044] Figure 8 is a schematic diagram of a slide;

[0045] Fig. 9 is a schematic diagram of the drive shaft;

[0046] Fig.10 is a schematic diagram of a nut member;

[0047] In the figure: 1 circular vibration feeding device, 2 vibration plate, 21 material guide groove, 22 cover plate, 23 material picking hole, 24 first driving device, 241 connecting plate, 25 second guide rail, 26 second slider, 27 blocking member, 3 first manipulator, 4 picker, 41 slide, 42 first negative pressure picking head, 43 first motor, 431 hollow shaft, 44 rotary joint, 45 second motor, 46 driving shaft, 461 guide screw, 47 nut member, 471 connecting part, 472 matching part, 48 first picking frame, 49 docking member, 5 first fill light box, 51 first camera, 52, second fill light box, 53 second camera, 6 linear guide rail, 61 suspension, 62 extension arm, 63 second picking frame, 64 second negative pressure picking head, 65 extension arm driving device, 7 material tray, 8 plug, 81 notch. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] like Figure 1 As shown, a rubber plug having a direction requirement when placed is listed, which includes a plug column 8, and a notch 81 is provided on the rubber plug. This rubber plug has a direction requirement when placing the material.

[0050] like Figures 2 to 5As shown, the automatic feeding system for rubber plugs includes a circular vibration feeding device 1 and a straight vibration feeding device connected to the circular vibration feeding device 1. It also includes a transfer device, a material tray 7 and a visual recognition system. The straight vibration feeding device includes a vibration disk 2, and the vibration disk 2 includes a plurality of material guide grooves 21. The material guide groove 21 includes two vertical surfaces that are parallel to each other and oppositely arranged and a bottom surface located between the bottoms of the two vertical surfaces. The front end of the material guide groove 21 is open and the rear end is closed. The "front" and "rear" here are defined with reference to the feeding direction. The direction in which the rubber plug enters the material guide groove 21 is from the "front" to the "rear". A sealing member is provided on the vibration disk 2, and the sealing member is used to seal the rear end of each material guide groove 21. The front end of the material guide groove 21 is used to receive the rubber plug transported by the circular vibration feeding device 1. The circular vibration feeding device includes a plurality of feeding channels, and each feeding channel is aligned with a material guide groove.

[0051] like Figure 5 and Figure 6 As shown, a cover plate 22 is provided on the upper side of the vibration disk 2, and a plurality of rows of material extraction holes 23 are provided on the cover plate 22, and each material guide groove 21 is provided with a row of material extraction holes 23. The cover plate 22 is slidably connected to the vibration disk 2 for alignment or misalignment of the material guide groove 21 and the material extraction holes 23. Four mutually parallel second guide rails 25 are provided on the vibration disk 2. Each second guide rail 25 is slidably connected to a second slider 26, and the cover plate 22 is pressed against the second slider 26 by bolts. The material extraction holes 23 are circular. When the material guide groove 21 is filled with rubber plugs 8 and the material guide groove 21 is aligned with the material extraction holes 23, only one rubber plug in each material extraction hole 23 can be taken out from the material extraction hole 23. When the material guide groove 21 is misaligned with the material extraction hole 23, any rubber plug located in the material guide groove 21 cannot be taken out upward. A first driving device 24 is provided between the vibration plate 2 and the cover plate 22, and the first driving device 24 is used to drive the cover plate 22 to slide on the vibration plate 2; a driving cylinder is used as the first driving device 24, and a connecting plate 241 is connected to the action end of the driving cylinder, and the connecting plate 241 is pressed onto the cover plate 22 by bolts and nuts.

[0052] like Figures 3 to 6 As shown, when the present invention is working, the first placement work is performed by connecting the circular vibration feeding device 1 and the straight vibration feeding device. Under the action of the circular vibration feeding device 1 and the straight vibration feeding device, the rubber plug enters the material guide groove 21 from the front end of the material guide groove 21 in sequence. During the feeding process of the material guide groove 21, the material guide groove 21 and the material extraction hole 23 should be in a misaligned state, thereby preventing the rubber plug from vibrating out of the material guide groove.

[0053] like Figure 2 and Figure 3 As shown, the transfer device includes a first robot 3 and a picker 4 mounted on the first robot 3 .

[0054] like Figure 7 and Figure 8 As shown, a variable pitch drive mechanism is provided between the first picking rack 48 and the slide 41. The picker includes a slide 41, and a plurality of first picking racks 48 are slidably connected to the slide 41. Four slide rails are arranged in parallel on the slide 41, and two sliders are connected to each first picking rack 48, and each slider is slidably connected to a guide rail. The sliders of adjacent first picking racks 48 are staggered, so that the minimum distance between adjacent first picking racks 48 is as small as possible, which is conducive to picking up more rubber plugs. Each first picking rack 48 is provided with a plurality of picking devices, and the picking devices include a first negative pressure picking head 42, a first motor 43 and a rotary joint 44. The first motor 43 includes a hollow shaft 431, and the first negative pressure picking head 42 is connected to the lower end of the hollow shaft 431, and the upper end of the hollow shaft 431 is connected to the rotary joint 44. The first negative pressure picking head 42, the hollow shaft 431 and the rotary joint 44 form an air path that is interconnected. The first motor 43 and the rotary joint are mounted on the first picking frame 48, and the first motor 43 is used to drive the first negative pressure picking head 42 to rotate. The first motor 43 adopts a stepping motor. When the present invention is working, the first negative pressure picking head 42 is used to pick up rubber plugs in batches. The picker provided by the present invention can rotate the picked up rubber plugs by the rotation of the first motor 43, thereby adjusting the direction of the rubber plugs. The first motor 43 adopts a stepping motor, which is conducive to accurately controlling the angular position of the rotation, thereby improving the accuracy of the direction of the rubber plugs placed in batches.

[0055] like Figure 8 , Fig. 9 and Fig.10 As shown, the variable pitch drive mechanism includes a second motor 45, a drive shaft 46 and a nut member 47. The second motor 45 is connected to the drive shaft 46 in a transmission manner to drive the rotation of the drive shaft 46. The second motor is a stepping motor. The drive shaft 46 is provided with a plurality of guide screws 461, and the directions of two adjacent guide screws are opposite. Each first picking rack is provided with a nut member 47, where the nut member refers to a general term for a type of member that can cooperate with the guide screw 461 and can be displaced when the guide shaft rotates, and each nut member 47 cooperates with a guide screw 461. The guide screw 461 is arranged in the form of a groove on the drive shaft 46, and the nut member 47 includes a matching portion 472 for extending into the guide screw 461. The nut member 47 is provided with a connecting portion 471, and the connecting portion 471 is used to connect the first picking rack. When the drive shaft 42 rotates, the two adjacent nut members 47 move toward or away from each other, thereby adjusting the spacing, and thus adjusting the spacing of the picked-up rubber plugs. In addition, in order to facilitate the assembly of the nut member on the drive shaft, the nut member can be designed as a detachable structure of two halves, and the two halves are detachably connected by a bolt member.

[0056] like Figures 2 to 4As shown, the visual recognition system includes a first camera 51 and a second camera 53. The first camera 51 is arranged toward the detection station. The transfer device is arranged between the detection station and the direct vibration feeding device to transfer the rubber plug from the direct vibration feeding device and place it on the material tray 7 located at the detection station. The visual recognition system, the transfer device and the control system are connected. The first camera 51 is used to collect images of the material tray 7 located at the detection station. The visual recognition system identifies the degree of material placement of the material tray 7 located at the detection station, that is, detects whether the material tray 7 is full of rubber plugs, or whether there is a lack of material or leakage. The visual recognition system is used to detect the direction of the rubber plug on the picker 4, and the picker 4 can move to a state where each first negative pressure pickup head faces the second camera 53, and the second camera 53 is used to collect the image of the rubber plug picked up by the picker 4. The visual recognition system performs image recognition on the rubber plug located on the picker to analyze the actual angular vector of the rubber plug direction, and the control system controls the corresponding first motor to rotate according to the difference between the target angular vector and the actual angular vector of the corresponding rubber plug placement, thereby adjusting the corresponding rubber plug direction. After the picker completes the adjustment of the rubber plug's direction, the transfer device changes the distance of the rubber plug on the picker and places it on the tray. A first fill light box 5 is provided above the detection station, and the first fill light box 5 is connected to the bracket. The first camera is mounted on the first fill light box, and the second camera 53 is mounted on the second fill light box 52. The second camera 53 of the second fill light box 52 is set upward, so that the picker focuses the picked rubber plug downward with the second camera 53.

[0057] like Figures 2 to 4 As shown, the feeding and conveying mechanism includes a linear guide 6, a material tray 7 is provided with a first sliding block for cooperating with the linear guide 6, the material tray 7 is mounted on the linear guide 6, a suspension 61 is slidably connected above the linear guide 6, the sliding direction of the suspension 61 is perpendicular to the extension direction of the linear guide 6, an extension arm 62 is slidably connected to the suspension 61, a second picking frame 63 is carried on the extension arm 62, the second picking frame 63 is liftably arranged on the extension arm 62, a second negative pressure picking head 64 group is provided on the second picking frame 63, the suspension 61 is connected to a suspension driving device, and an extension arm driving device 65 is provided between the suspension 61 and the extension arm.

[0058] like Figures 1 to 10 As shown, the working process of loading the rubber plug using the present invention is as follows:

[0059] The rubber plugs are vibrated and conveyed to the material guide grooves 21 by the circular vibration feeding device 1 and the straight vibration feeding device until each material guide groove is filled (the placement status can be detected by a designed sensor, or the filling time point can be calculated in the automatic control process by the placement efficiency of the machine), and the cover plate 22 and the material guide grooves 21 are staggered during the placement process;

[0060] Then, the cover plate 22 is aligned with the material guide groove 21, and the picker 4 picks up the rubber plug in the material taking hole 23 and takes it out. In this process, each first negative pressure pick-up head 42 picks up a rubber plug under negative pressure;

[0061] Then, the transfer device directs the picker 4 toward the second camera 53, and the visual recognition system analyzes the orientation of each rubber plug picked up by the picker. The control system controls the corresponding first motor to rotate according to the difference between the target angle vector and the actual angle vector of the corresponding rubber plug, and adjusts the orientation of the rubber plug that does not meet the requirements.

[0062] After the rubber plug has adjusted its direction, the identification system will be used to check the direction of the rubber plug again until the rubber plug is placed correctly;

[0063] The variable pitch drive mechanism adjusts the spacing of the first pick-up frame 48, and then adjusts the spacing of each row of rubber plugs, so as to adapt to the difference in spacing between the vibration plate 2 and the material plate 7;

[0064] Then, the transfer device places each row of rubber plugs in the corresponding holes on the tray 2;

[0065] When the tray 2 is filled with rubber plugs in the above manner, the tray 2 slides along the linear guide rail, and then the second negative pressure picking heads 64 on the second picking rack 63 pick up the rubber plugs on the tray 2; then the rubber plugs are sent to the production line through the sliding of the suspension 61 and the extension arm 62.

[0066] The present invention can automatically arrange and place the rubber plugs, and at the same time, it is beneficial to ensure that the orientation of each rubber plug is consistent, thereby replacing manual labor, improving feeding efficiency, ensuring feeding accuracy, and reducing the work intensity of staff.

[0067] like Figure 1 As shown, it includes two sets of feeding and conveying mechanisms, and the transfer device is arranged between the two detection stations and the vibration plate 2. This facilitates improving the efficiency of feeding.

Claims

1. The automatic feeding system for rubber plugs comprises a circular vibration feeding device and a straight vibration feeding device connected to the circular vibration feeding device, characterized in that: It also includes a transfer device, a material tray and a visual recognition system, wherein the direct vibration feeding device includes a vibration tray, and the vibration tray includes a plurality of material guide grooves, the front end of the material guide groove is open and the rear end is closed, and the front end of the material guide groove is used to receive the rubber plug conveyed by the circular vibration feeding device; A cover plate is provided on the upper side of the vibration plate, and a plurality of rows of material taking holes are provided on the cover plate, and each of the material guide grooves is provided with a row of material taking holes, and the cover plate is slidably connected to the vibration plate for aligning or misaligning the material guide grooves with the material taking holes; The transfer device includes a first manipulator and a picker mounted on the first manipulator, the picker includes a slide, a plurality of first picking racks are slidably connected to the slide, and each first picking rack is provided with a plurality of picking devices, the picking device includes a first negative pressure picking head, a first motor and a rotating joint, the first motor includes a hollow shaft, the first negative pressure picking head is connected to the lower end of the hollow shaft, the upper end of the hollow shaft is connected to the rotating joint, the first motor and the rotating joint are mounted on the first picking rack, the first motor is used to drive the first negative pressure picking head to rotate, and a variable pitch driving mechanism is provided between the first picking rack and the slide; The material tray is arranged on a feeding conveying mechanism, the feeding conveying mechanism includes a detection station, the visual recognition system includes a first camera and a second camera, the first camera is arranged toward the detection station, and the transfer device is arranged between the detection station and the direct vibration feeding device to transfer the rubber plug from the direct vibration feeding device and place it on the material tray located at the detection station; The visual recognition system, the transfer device and the control system are connected, the first camera is used to collect images of the material tray located at the detection station, and the visual recognition system identifies the degree of material placement of the material tray located at the detection station; The visual recognition system is used to detect the orientation of the rubber plug on the picker. The picker can move to a state where each of the first negative pressure pickup heads faces the second camera. The second camera is used to collect images of the rubber plug picked up by the picker. The visual recognition system performs image recognition on the rubber plug on the picker to analyze the actual angular vector of the orientation of the rubber plug. The control system controls the corresponding first motor to rotate according to the difference between the target angular vector of the corresponding rubber plug and the actual angular vector, thereby adjusting the orientation of the corresponding rubber plug. After the picker completes the adjustment of the direction of the rubber plug, the transfer device changes the distance of the rubber plug on the picker and places it on the material tray.

2. The automatic rubber plug feeding system according to claim 1 is characterized in that: The circular vibration feeding device comprises a plurality of feeding channels, and each feeding channel is aligned with one of the guide grooves.

3. The automatic rubber plug feeding system according to claim 1 is characterized in that: The variable pitch drive mechanism includes a second motor, a drive shaft and a nut member. The second motor is connected to the drive shaft for driving the drive shaft to rotate. The drive shaft is provided with multiple guide screws, and the directions of two adjacent guide screws are opposite. Each of the first picking frames is provided with a nut member, and each nut member cooperates with a guide screw.

4. The automatic rubber plug feeding system according to claim 1 is characterized in that: A first driving device is provided between the vibration plate and the cover plate, and the first driving device is used to drive the cover plate to slide on the vibration plate.

5. The automatic rubber plug feeding system according to claim 1 is characterized in that: A first fill light box is provided above the detection station, the first fill light box is connected to the bracket, and the first camera is mounted on the first fill light box.

6. The automatic rubber plug feeding system according to claim 1 is characterized in that: The second camera is mounted on the second fill light box, and the second fill light box and the second camera are arranged upward.

7. The automatic rubber plug feeding system according to claim 1 is characterized in that: The feeding and conveying mechanism includes a linear guide rail, a first sliding block for cooperating with the linear guide rail is provided on the material tray, the material tray is mounted on the linear guide rail, a suspension is slidably connected above the linear guide rail, the sliding direction of the suspension is perpendicular to the extension direction of the linear guide rail, an extension arm is slidably connected to the suspension, a second picking frame is mounted on the extension arm, the second picking frame can be raised and lowered on the extension arm, a second negative pressure picking head group is provided on the second picking frame, the suspension is connected to a suspension driving device, and an extension arm driving device is provided between the suspension and the extension arm.

8. The automatic rubber plug feeding system according to claim 7, characterized in that: It comprises two groups of feeding and conveying mechanisms, and the transfer device is arranged between two detection stations and the vibration plate.

9. The automatic rubber plug feeding system according to claim 1, characterized in that: The cover plate is transparent.

10. The automatic rubber plug feeding system according to claim 1, characterized in that: After the picker completes one adjustment of the orientation of the plug, the transfer device turns each first negative pressure pick-up head toward the second camera again, and the visual recognition system reviews the orientation of each plug until all the plugs are placed correctly.

Images