Intelligent ball loading control system and method

Abstract

The application provides a kind of intelligent ball loading control system and method, relating to medical instrument technical field, including support frame, the inside of support frame is equipped with fixed plate one and fixed plate two, fixed plate one is installed with transmission mechanism, transmission mechanism is installed with jig tooling, jig tooling is used to place ball, the rear end of support frame is equipped with ball loading mechanism and gland loading mechanism, fixed plate one and fixed plate two are installed with loading execution mechanism and force control mechanical arm, and loading execution mechanism and force control mechanical arm are set in the back side of transmission mechanism, force control mechanical arm transfers the ball material transferred by ball loading mechanism to loading execution mechanism, visual mechanism is equipped between ball loading mechanism and force control mechanical arm, gland loading mechanism is used to transmit gland to loading execution mechanism, visual mechanism and force control mechanical arm are combined, ensure the grip force control of force control mechanical arm to ball material in the process of grabbing and centering, improve the loading stability of ball material.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of medical devices, in particular to an intelligent ball feeding control system and method. BACKGROUND

[0002] A medical negative pressure ball is usually made of silica gel material. The silica gel material is prone to sliding during the feeding and clamping process due to its softness and viscosity. If the medical negative pressure ball is assembled by manual feeding, time and effort are consumed, and the feeding and assembling efficiency of the medical negative pressure ball is reduced. SUMMARY

[0003] The application provides an intelligent ball feeding control system and method to solve the technical problem that a medical negative pressure ball is usually made of silica gel material, the silica gel material is prone to sliding during the feeding and clamping process due to its softness and viscosity, and if the medical negative pressure ball is assembled by manual feeding, time and effort are consumed, and the feeding and assembling efficiency of the medical negative pressure ball is reduced.

[0004] To solve the above technical problem, the application discloses an intelligent ball feeding control system, which comprises a support frame, a protective plate is installed outside the support frame, a fixed plate one and a fixed plate two are arranged inside the support frame, a transmission mechanism is installed on the fixed plate one, a jig tool is installed on the transmission mechanism, the jig tool is used for placing a ball, a ball feeding mechanism and a gland feeding mechanism are arranged at the rear end of the support frame, a feeding execution mechanism and a force control mechanical arm are installed on the fixed plate one and the fixed plate two, the feeding execution mechanism and the force control mechanical arm are arranged at the rear side of the transmission mechanism, the force control mechanical arm transfers the ball material transferred by the ball feeding mechanism to the feeding execution mechanism, a visual mechanism is arranged between the ball feeding mechanism and the force control mechanical arm, and the gland feeding mechanism is used for transferring a gland to the feeding execution mechanism.

[0005] Preferably, the gland feeding mechanism comprises a shell one, a circular vibrating screen is arranged in the shell one, and the circular vibrating screen is communicated with a straight vibrating feeder.

[0006] Preferably, the feeding execution mechanism comprises, from left to right, a ball material transfer device, a neck ball entering device, a gland pre-assembly device, a gland device and a ball reversing device which are sequentially installed on the fixed plate one, the force control mechanical arm transfers the ball material to the ball material transfer device, the visual mechanism is arranged on the upper side of the force control mechanical arm and the ball material, and the gland feeding mechanism transfers the gland to the gland pre-assembly device.

[0007] Preferably, the spherical material transfer device comprises a fixed plate one, a fixed table one is fixedly arranged on the fixed plate one, a sliding rail one is installed on the fixed table one, the sliding rail one is in sliding connection with a sliding block one, the sliding block one is driven by a control motor on the fixed table one, the sliding block one is fixedly connected with a fixed block one, drive motors one are symmetrically arranged on the left and right sides of the fixed block one, the drive motors one are fixedly connected with mechanical claws one, the mechanical claws one are used for clamping the spherical material, the spherical material is arranged in a positioning mechanical claw, the positioning mechanical claw is fixedly connected with a drive motor two, the drive motor two is fixedly arranged on a fixed block two, the fixed block two is fixedly connected with a drive motor three, the fixed block two is in sliding connection with the fixed plate one, and the drive motor three is fixedly arranged on the fixed plate one.

[0008] Preferably, the connecting neck into the spherical device comprises a telescopic cylinder one, the telescopic cylinder one is fixedly connected with a fixed table two, drive motors four are symmetrically arranged on the lower ends of the left and right sides of the fixed table two, the drive motors four are fixedly connected with mechanical claws two, positioning holes are correspondingly arranged on the lower sides of the mechanical claws two, the positioning holes are used for positioning the spherical material, the positioning holes are symmetrically arranged on the left and right sides of a positioning block, the positioning block is fixedly connected with a telescopic cylinder two, and the telescopic cylinder one and the telescopic cylinder two are both fixedly connected with the fixed table two.

[0009] Preferably, the gland preloading device comprises a feeding table, a drive motor five is fixedly connected with the front end of the feeding table, the drive motor five is fixedly connected with a telescopic cylinder three, the telescopic cylinder three is fixedly arranged on the fixed plate one, positioning grooves are symmetrically arranged on the upper ends of the left and right sides of the feeding table, the positioning grooves are correspondingly arranged with discharge ports of the straight vibration feeders, and the positioning grooves are used for placing glands, the positioning grooves are correspondingly arranged with clamping claws, the clamping claws are fixedly connected with a drive motor six, the drive motor six is symmetrically arranged on the front ends of the left and right sides of a fixed block three, the fixed block three is fixedly connected with a sliding block two, the sliding block two is in sliding connection with the drive motor seven in the front-rear direction, the drive motor seven is fixedly arranged on a base one, and the base one is in sliding connection with a drive motor eight in the up-down direction.

[0010] Preferably, position sensors are arranged on the transmission mechanism at positions corresponding to the connecting neck into the spherical device and the gland preloading device in the left-right direction.

[0011] Preferably, the gland device comprises an upper pressing mechanism and a lower pressing mechanism, the upper pressing mechanism is fixedly arranged on a fixed plate two, the lower pressing mechanism is fixedly arranged on the fixed plate one, and the upper pressing mechanism and the lower pressing mechanism both comprise a telescopic cylinder four, the telescopic cylinder four is installed with a pressing block close to one end of a jig tool, and the fixed plate one is provided with an opening through which the pressing block in the upper pressing mechanism passes.

[0012] Preferably, the ball reversing device comprises a driving motor nine, the driving motor nine is slidingly arranged on the base two in the up-down vertical direction, the base two is fixedly provided with a driving motor ten, the driving motor ten is slidingly arranged on the sliding block three in the front-back direction, the sliding block three is fixedly connected with the working shell, the front end of the working shell is movably provided with a rotating plate in the groove, the rotating plate is fixedly connected with the motor shaft, the motor shaft penetrates through the side end of the groove and is fixedly connected with the motor, the motor is installed on the side end of the working shell, the left and right sides of the rotating plate are symmetrically provided with driving motors eleven, and the driving motors eleven are fixedly connected with the mechanical claws three.

[0013] A control method of an intelligent ball feeding control system, comprising the following steps:

[0014] Step 1: The ball material is fed by the ball feeding mechanism, and after visual identification by the visual mechanism, the force control mechanical arm is controlled to grab the material and place it in the ball material transfer device for positioning, the ball material transfer device transfers the positioned ball material to the jig tool, and the jig tool clamps the tail of the ball material;

[0015] Step 2: Control the transmission mechanism to work, so that the jig tool drives the ball material to move, and after the ball material moves to the corresponding position of the connecting neck ball device, the position sensor corresponding to the connecting neck ball device controls the transmission mechanism to stop working;

[0016] Step 3: The connecting neck ball device takes down the connecting neck assembly and puts it into the ball of the ball material, and makes an upward pulling action, so that the connecting neck assembly and the ball material are clamped together;

[0017] Step 4: Control the transmission mechanism to continue working, and after the jig tool moves to the corresponding position of the cover pre-assembly device, the position sensor corresponding to the cover pre-assembly device controls the transmission mechanism to stop working;

[0018] Step 5: The cover feeding mechanism passes through the round vibration-straight vibration-misdivision, and the cover pre-assembly device places the cover above the ball material;

[0019] Step 6: Control the transmission mechanism to continue working, and after the jig tool moves to the corresponding position of the cover device, the transmission mechanism stops working, the tail pipe of the ball material is loosened, and the downward pressing mechanism is controlled to descend and press the cover, and the upward pressing mechanism is controlled to ascend and press the ball material, forming a negative pressure ball;

[0020] Step 7: Control the transmission mechanism to continue working, and after the jig tool moves to the corresponding position of the ball reversing device, the transmission mechanism stops working, the ball reversing device reverses the pressed negative pressure ball by 90 degrees and places it in the jig tool again;

[0021] Step 8: Control the transmission mechanism to continue working, and the negative pressure ball placed in the jig tool is transmitted to the next station.

[0022] The technical solutions of the present application are described in further detail below with reference to the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of this specification that describes it, together with the embodiments of the present application, to explain the present application, and do not constitute a limitation on the present application. In the drawings:

[0024] Figure 1 is a schematic diagram of the overall structure of the present application;

[0025] Figure 2 is a schematic diagram of the front view structure of the present application;

[0026] Figure 3 is a schematic diagram of the ball feeding structure of the present application Figure 1 ;

[0027] Figure 4 is a schematic diagram of the ball feeding structure of the present application Figure 2 ;

[0028] Figure 5 is a schematic diagram of the enlarged structure of area A in Figure 3 ;

[0029] Figure 6 is a schematic diagram of the enlarged structure of area B in Figure 4 ;

[0030] Figure 7 is a schematic diagram of the enlarged structure of area C in Figure 4 ;

[0031] Figure 8 is a schematic diagram of the enlarged structure of area D in Figure 3 ;

[0032] Figure 9 is a schematic diagram of the ball feeding mechanism structure of the present application;

[0033] Figure 10 is a schematic diagram of the cap feeding mechanism structure of the present application.

[0034] In the figure: 1, ball feeding mechanism; 2, ball material; 3, shell one; 4, circular vibrating screen; 5, straight vibrating feeder; 6, gland; 7, support frame; 8, fixed plate one; 9, fixed plate two; 10, visual mechanism; 11, force control mechanical arm; 12, ball material transfer device; 121, fixed table one; 122, sliding block one; 123, sliding rail one; 124, fixed block one; 125, driving motor one; 126, mechanical claw one; 127, positioning mechanical claw; 128, fixed block two; 129, driving motor two; 1210, driving motor three; 13, connecting neck into ball device; 131, fixed table two; 132, driving motor four; 133, mechanical claw two; 134, positioning block; 135, telescopic cylinder one; 136, positioning hole; 14, driving motor eight; 141, telescopic cylinder three; 142, driving motor five; 143, feeding table; 15, gland preloading device; 151, driving motor seven; 152, sliding block two; 153, driving motor six; 154, fixed block three; 155, clamping claw; 16, pressing mechanism; 161, telescopic cylinder four; 162, pressing block; 17, ball reversing device; 171, driving motor nine; 172, driving motor ten; 173, sliding block three; 174, working shell; 175, motor; 176, rotating plate; 177, driving motor eleven; 178, mechanical claw three; 18, jig tooling; 19, transmission mechanism; 20, position sensor. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present application will be described herein below with reference to the drawings; it is to be noted that the preferred embodiments described herein are intended to explain and illustrate the present application, and are not intended to limit the present application.

[0036] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and does not mean to specially indicate the order or sequence, nor to limit the present application, which is merely to distinguish the components or operations described by the same technical terms, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears to be contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0037] The present application provides the following embodiments

[0038] Embodiment 1

[0039] The embodiment of the present application provides an intelligent ball feeding control system, such as Figures 1-10As shown, it comprises a support frame 7, a protective plate is mounted outside the support frame 7, a fixed plate one 8 and a fixed plate two 9 are arranged inside the support frame 7, a transmission mechanism 19 is mounted on the fixed plate one 8, a jig tool 18 is mounted on the transmission mechanism 19, the jig tool 18 is used to place the ball, a ball feeding mechanism 1 and a cover feeding mechanism are arranged at the rear end of the support frame 7, a feeding execution mechanism is mounted on the fixed plate one 8 and the fixed plate two 9, and the feeding execution mechanism and the force control mechanical arm 11 are arranged on the rear side of the transmission mechanism 19, the force control mechanical arm 11 transfers the ball material 2 transferred by the ball feeding mechanism 1 to the feeding execution mechanism, a visual mechanism is arranged between the ball feeding mechanism 1 and the force control mechanical arm 11, and the cover feeding mechanism is used to transfer the cover 6 to the feeding execution mechanism.

[0040] The beneficial effects of the above technical scheme are:

[0041] By arranging the visual mechanism, the visual mechanism uses a high-resolution camera to visually determine the shape, color and centering hole of the ball material 2, ensuring the accuracy of grabbing, combining the visual mechanism and the force control mechanical arm 11, ensuring the control of the grabbing force of the force control mechanical arm 11 during grabbing and centering, preventing damage to the ball material 2, improving the feeding stability of the ball material 2, and combining the force control technology and the visual technology of the force control mechanical arm 11. Refer to CN201910566156-A kind of mechanical arm calligraphy writing system and method based on boundary and force feedback, and the force control mechanical arm 11 automatically transfers the ball material 2 transferred by the ball feeding mechanism 1 to the feeding execution mechanism, the cover feeding mechanism is used to automatically transfer the cover 6 to the feeding execution mechanism, and the feeding execution mechanism automatically feeds and assembles the cover 6 and the ball material 2, without using manual method, saving time and effort, solving the technical problem that medical negative pressure ball usually adopts silica gel material, and the silica gel material is soft and sticky, which is easy to slip during feeding and grabbing. And if the medical negative pressure ball is manually fed and assembled, it is time-consuming and labor-intensive, and the feeding and assembling efficiency of the medical negative pressure ball is reduced.

[0042] Embodiment 2

[0043] Based on embodiment 1, as shown in Figures 1-10 The cover feeding mechanism comprises a shell one 3, and a circular vibrating screen 4 is arranged in the shell one 3, and the circular vibrating screen 4 is communicated with a straight vibrating feeder 5;

[0044] The force control mechanical arm 11 is fixedly arranged at the leftmost side of the fixed plate one 8;

[0045] The loading execution mechanism includes, from left to right on the fixed plate one 8, the ball material moving device 12, the connecting neck entering ball device 13, the cap preloading device 15, the cap device and the ball reversing device 17. The force control mechanical arm 11 moves the ball material 2 to the ball material moving device 12. The force control mechanical arm 11 and the upper side of the ball material 2 are provided with the vision mechanism 10. The cap loading mechanism moves the cap 6 to the cap preloading device 15.

[0046] The ball material moving device 12 includes the fixed table one 121 fixedly arranged on the fixed plate one 8. The fixed table one 121 is provided with the slide rail one 123. The slide rail one 123 is in sliding connection with the slide block one 122. The slide block one 122 is driven by the control motor on the fixed table one 121. The slide block one 122 is fixedly connected with the fixed block one 124. The left and right sides of the fixed block one 124 are symmetrically provided with the drive motor one 125. The drive motor one 125 is fixedly connected with the mechanical claw one 126. The mechanical claw one 126 is used for clamping the fixed ball material 2. The ball material 2 is arranged in the positioning mechanical claw 127. The positioning mechanical claw 127 is fixedly connected with the drive motor two 129. The drive motor two 129 is fixedly arranged on the fixed block two 128. The fixed block two 128 is fixedly connected with the drive motor three 1210. The fixed block two 128 is in sliding connection with the fixed plate one 8. The drive motor three 1210 is fixedly arranged on the fixed plate one 8.

[0047] The above technical scheme has the following beneficial effects:

[0048] The arrangement of the circular vibrating screen 4 and the straight vibrating feeder 5 can uniformly arrange the caps 6. The ball material moving device 12 can move the ball material 2 to the jig tool 18. The connecting neck entering ball device 13 is used for clamping the connecting neck assembly and the ball material 2. The cap preloading device 15 is used for placing the cap 6 on the ball material 2 after clamping the connecting neck assembly. The cap device tightly presses the cap 6 and the ball material 2. The ball reversing device 17 turns the tightly pressed negative pressure ball by 90 degrees and places it on the jig tool 18 again.

[0049] The force control mechanical arm 11 first moves the ball material 2 to the corresponding position of the positioning mechanical claw 127 and makes the drive motor two 129 work. The drive motor two 129 controls the work of the positioning mechanical claw 127 to clamp and fix the ball material 2. Then the control motor is controlled to work, so that the slide block one 122 slides along the track of the slide rail one 123. The slide rail one 123 is n-shaped, so as to drive the slide block one 122 to move up and down and move forward and backward. The slide block one 122 drives the fixed block one 124 to move. The fixed block one 124 drives the drive motor one 125 to move. The drive motor one 125 clamps and fixes the ball material 2 through the mechanical claw one 126, so that the positioning mechanical claw 127 is loosened. Then the control motor is reversely worked. The ball material 2 is moved to the jig tool 18 through the mechanical claw one 126.

[0050] Example 3

[0051] Based on embodiment 2, as shown in Figures 1-10 The connecting neck into the ball device 13 includes a telescopic cylinder one 135, which is fixedly connected with a fixed table two 131. The lower end of the fixed table two 131 is symmetrically provided with a driving motor four 132 on the left and right sides. The driving motor four 132 is fixedly connected with a mechanical claw two 133. The lower side of the mechanical claw two 133 is correspondingly provided with a positioning hole 136 for positioning the spherical material 2. The positioning hole 136 is symmetrically arranged on the left and right sides of a positioning block 134. The positioning block 134 is fixedly connected with a telescopic cylinder two. The telescopic cylinder one 135 and the telescopic cylinder two are both fixedly connected with the fixed table two 131;

[0052] The cap preloading device 15 includes a feeding table 143. The front end of the feeding table 143 is fixedly connected with a driving motor five 142. The driving motor five 142 is fixedly connected with a telescopic cylinder three 141, which is fixedly arranged on a fixed plate one 8. The upper end of the feeding table 143 is symmetrically provided with a feeding groove on the left and right sides. The feeding groove is correspondingly arranged with a discharge port of a straight vibration feeder 5 and is used for placing the cap 6. The feeding groove is correspondingly arranged with a clamping claw 155. The clamping claw 155 is fixedly connected with a driving motor six 153. The driving motor six 153 is symmetrically arranged on the front end of a fixed block three 154 on the left and right sides. The fixed block three 154 is fixedly connected with a sliding block two 152. The sliding block two 152 is slidingly connected with a driving motor seven 151 in the front-rear direction. The driving motor seven 151 is fixedly arranged on a base table one. The base table one is slidingly connected with a driving motor eight 14 in the up-down direction.

[0053] The transmission mechanism 19 is provided with a position sensor 21 at a corresponding position of the connecting neck into the ball device 13 and the cap preloading device 15 in the left-right direction;

[0054] The cap device includes an upper pressing mechanism and a lower pressing mechanism 16. The upper pressing mechanism is fixedly arranged on a fixed plate two 9. The lower pressing mechanism 16 is fixedly arranged on the fixed plate one 8. The upper pressing mechanism and the lower pressing mechanism 16 both include a telescopic cylinder four 161. The telescopic cylinder four 161 is installed with a pressing block 162 at one end close to the jig tooling 18. The fixed plate one 8 is provided with an opening for the pressing block 162 in the upper pressing mechanism to pass through;

[0055] The ball reversing device 17 comprises a driving motor 171, the driving motor 171 is slidably arranged on a base 2 in the up-down vertical direction, the base 2 is fixedly provided with a driving motor 172, the driving motor 172 is slidably arranged on a sliding block 173 in the front-back direction, the sliding block 173 is fixedly connected with a working shell 174, the working shell 174 is rotatably provided with a rotating plate 176 in the front end movable groove, the rotating plate 176 is fixedly connected with a motor shaft, the motor shaft penetrates through the side end of the movable groove and is fixedly connected with a motor 175, the motor 175 is installed on the side end of the working shell 174, the rotating plate 176 is symmetrically provided with a driving motor 177 on the left side and the right side, and the driving motor 177 is fixedly connected with a mechanical claw 178.

[0056] The above technical scheme has the beneficial effects that:

[0057] When the transmission mechanism 19 works, the jig tool 18 drives the spherical material 2 to move, after the spherical material 2 moves to the corresponding position of the connecting neck into the spherical device 13, the position sensor 21 corresponding to the connecting neck into the spherical device 13 controls the transmission mechanism 19 to stop working, then the telescopic cylinder one 135 and the telescopic cylinder two in the connecting neck into the spherical device 13 are controlled to retract, the telescopic cylinder one 135 drives the fixed table two 131 to move downward, the telescopic cylinder two drives the positioning block 134 to move downward, the positioning hole 136 in the positioning block 134 first positions the spherical material 2, the fixed table two 131 drives the driving motor four 132 to move downward, the driving motor four 132 controls the mechanical claw two 133 to work, the mechanical claw two 133 spreads the spherical material 2, and the connecting neck assembly is placed in the spherical material 2, then the telescopic cylinder one 135 is controlled to extend, the fixed table two 131 is driven to move upward, the mechanical claw two 133 drives the connecting neck assembly to make upward pulling action, and the connecting neck assembly is clamped together with the spherical material 2;

[0058] After the jig tool 18 moves to the corresponding position of the cover preloading device 15, the position sensor 21 corresponding to the cover preloading device 15 controls the transmission mechanism 19 to stop working, and the cover preloading device 15 automatically works, the telescopic cylinder three 141 can drive the driving motor five 142 to move to the target height, the driving motor five 142 can drive the discharging table 143 to move left and right when working, the discharging table 143 divides the cover 6, so that the cover 6 conveyed by the cover feeding mechanism falls in the discharging groove on the left side and the right side of the discharging table 143, the base one moves up and down when the driving motor eight 14 works, the base one drives the driving motor seven 151 to move up and down, the driving motor seven 151 drives the sliding block two 152 to move forward and backward, the sliding block two 152 drives the fixed block three 154 to move forward and backward, so that the fixed block three 154 moves up and down and forward and backward, the fixed block three 154 drives the driving motor six 153 to move, the driving motor six 153 drives the clamping claw 155 to move, and the clamping claw 155 transfers the cover 6 to the spherical material 2 after being clamped with the connecting neck assembly;

[0059] After the jig tool 18 moves to the corresponding position of the capping device, the telescopic cylinders four 161 on both sides are controlled to work, the telescopic cylinders four 161 drive the pressing block 162 to move towards the ball material 2 and the capping 6, so as to press the ball material 2 and the capping 6 tightly, and a negative pressure ball is obtained;

[0060] After the jig tool 18 moves to the corresponding position of the ball reversing device 17, the transmission mechanism 19 stops working, the ball reversing device 17 works, the driving motor nine 171 is controlled to work, the driving motor nine 171 drives the base table two to move up and down, the driving motor ten 172 drives the sliding block three 173 to move forward and backward, so as to achieve the purpose of moving the working shell 174 up and down and forward and backward, the working shell 174 drives the rotating plate 176 and the motor 175 to move, the rotating plate 176 drives the mechanical claw three 178 to move, after the mechanical claw three 178 moves to the target position, the driving motor eleven 177 controls the mechanical claw three 178 to work to clamp and fix the negative pressure ball, so that the negative pressure ball is separated from the jig tool 18, then the motor 175 drives the rotating plate 176 to rotate by 90 degrees, the rotating plate 176 drives the driving motor eleven 177 to rotate by 90 degrees, so that the negative pressure ball rotates by 90 degrees, the mechanical claw three 178 is controlled to move to the corresponding position of the jig tool 18 again, and the rotated negative pressure ball is placed in the jig tool 18,

[0061] Through the cooperation of the ball material transfer device 12, the connecting neck into ball device 13, the capping pre-assembly device 15, the capping device and the ball reversing device 17, the step of automatically feeding and assembling the negative pressure ball is realized.

[0062] Embodiment 4

[0063] On the basis of embodiment 3, as shown in the control method of the intelligent ball feeding control system, the following steps are included: Figures 1-10

[0064] Step 1: The ball material 2 is fed through the ball feeding mechanism 1, and after visual identification by the visual mechanism 10, the force control mechanical arm 11 is controlled to grab the material and place it in the ball material transfer device 12 for positioning, the ball material transfer device 12 transfers the positioned ball material 2 into the jig tool 18, and the jig tool 18 clamps the tail of the ball material 2;

[0065] Step 2: The transmission mechanism 19 is controlled to work, so that the jig tool 18 drives the ball material 2 to move, after the ball material 2 moves to the corresponding position of the connecting neck into ball device 13, the position sensor 21 corresponding to the connecting neck into ball device 13 controls the transmission mechanism 19 to stop working;

[0066] Step 3: The connecting neck into ball device 13 takes down the connecting neck assembly and puts it into the ball body of the ball material 2, and makes an upward pulling action, so that the connecting neck assembly is clamped together with the ball material 2; ​

[0067] Step 4: control the transmission mechanism 19 to continue to work, and after the jig tool 18 moves to the corresponding position of the cover preloading device 15, the position sensor 21 corresponding to the cover preloading device 15 controls the transmission mechanism 19 to stop working;

[0068] Step 5: the cover feeding mechanism passes the cover 6 through a circle-vibration-straight-vibration-misplacement, and the cover preloading device 15 places the cover 6 above the spherical material 2;

[0069] Step 6: control the transmission mechanism 19 to continue to work, and after the jig tool 18 moves to the corresponding position of the cover device, the transmission mechanism 19 stops working, loosens the tail pipe of the spherical material 2, and controls the lower pressing mechanism 16 to descend and press the cover 6, and controls the upper pressing mechanism to ascend and press the spherical material 2, to form a negative pressure ball;

[0070] Step 7: control the transmission mechanism 19 to continue to work, and after the jig tool 18 moves to the corresponding position of the spherical reversing device 17, the transmission mechanism 19 stops working, and the spherical reversing device 17 turns the pressed negative pressure ball by 90 degrees and places it in the jig tool 18 again;

[0071] Step 8: control the transmission mechanism 19 to continue to work, and convey the negative pressure ball placed in the jig tool 18 to the next station.

[0072] The beneficial effects of the above technical solution are:

[0073] A plurality of jig tools 18 can be arranged, so that the distances between the spherical material transfer device 12, the connecting neck into the spherical device 13, the cover preloading device 15, the cover device, and the spherical reversing device 17 are all the same, and the distance is X, the distance between the cover preloading device 15 and the cover device is several times of X, when the position sensor 21 controls the transmission mechanism 19 to stop working, the transmission mechanism 19 can correspond to a jig tool 18 at the corresponding position of the spherical material transfer device 12, the connecting neck into the spherical device 13, the cover preloading device 15, the cover device, and the spherical reversing device 17 in the left-right direction, the spherical material transfer device 12, the connecting neck into the spherical device 13, the cover preloading device 15, the cover device, and the spherical reversing device 17 do not interfere with each other during work, so that a plurality of negative pressure balls can be simultaneously completed in the feeding and assembling step, and the position sensor 21 is arranged at the corresponding position of the connecting neck into the spherical device 13 and the cover preloading device 15 in the left-right direction of the transmission mechanism 19, so as to avoid damage to one of the position sensors 21 and affect the normal feeding and assembling process of the negative pressure ball.

[0074] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and variations.

Claims

1. An intelligent ball loading control system, characterized in that: The utility model provides a ball loading device, which comprises a support frame (7), a protective plate is mounted on the outside of the support frame (7), a fixed plate one (8) and a fixed plate two (9) are arranged in the support frame (7), a transmission mechanism (19) is mounted on the fixed plate one (8), a jig tool (18) is mounted on the transmission mechanism (19), the jig tool (18) is used for placing a ball, a ball feeding mechanism (1) and a cover feeding mechanism are arranged at the rear end of the support frame (7), a feeding execution mechanism and a force control mechanical arm (11) are mounted on the fixed plate one (8) and the fixed plate two (9), the feeding execution mechanism and the force control mechanical arm (11) are arranged on the rear side of the transmission mechanism (19), the force control mechanical arm (11) transfers the ball material (2) conveyed by the ball feeding mechanism (1) to the feeding execution mechanism, a visual mechanism is arranged between the ball feeding mechanism (1) and the force control mechanical arm (11), and the cover feeding mechanism is used for conveying the cover (6) to the feeding execution mechanism. The cover feeding mechanism comprises a shell one (3), and a circular vibrating screen (4) is arranged in the shell one (3) and communicates with a straight vibrating feeder (5); The feeding execution mechanism comprises, from left to right, a ball material transfer device (12), a neck ball feeding device (13), a cover preloading device (15), a cover device and a ball reversing device (17) which are sequentially mounted on the fixed plate one (8), the force control mechanical arm (11) transfers the ball material (2) to the ball material transfer device (12), the force control mechanical arm (11) and the upper side of the ball material (2) are provided with a visual mechanism (10), and the cover feeding mechanism conveys the cover (6) to the cover preloading device (15).

2. The intelligent ball loading control system according to claim 1, wherein: The ball material transfer device (12) comprises a fixed platform one (121) fixedly arranged on the fixed plate one (8), a sliding rail one (123) is mounted on the fixed platform one (121), the sliding rail one (123) is slidably connected with a sliding block one (122), the sliding block one (122) is driven by a control motor on the fixed platform one (121), the sliding block one (122) is fixedly connected with a fixed block one (124), drive motors one (125) are symmetrically arranged on the left and right sides of the fixed block one (124), the drive motors one (125) are fixedly connected with mechanical claws one (126), the mechanical claws one (126) are used for clamping the fixed ball material (2), the ball material (2) is arranged in a positioning mechanical claw (127), the positioning mechanical claw (127) is fixedly connected with a drive motor two (129), the drive motor two (129) is fixedly arranged on a fixed block two (128), the fixed block two (128) is fixedly connected with a drive motor three (1210), the fixed block two (128) is slidably connected with the fixed plate one (8), and the drive motor three (1210) is fixedly arranged on the fixed plate one (8).

3. The intelligent ball loading control system according to claim 1, wherein: The connecting neck into the ball device (13) comprises a telescopic cylinder one (135), the telescopic cylinder one (135) is fixedly connected with the fixed table two (131), the lower end of the fixed table two (131) is symmetrically provided with the drive motor four (132), the drive motor four (132) is fixedly connected with the mechanical claw two (133), the lower side of the mechanical claw two (133) is correspondingly provided with the positioning hole (136), the positioning hole (136) is used for positioning the spherical material (2), the positioning hole (136) is symmetrically arranged on the left and right sides of the positioning block (134), the positioning block (134) is fixedly connected with the telescopic cylinder two, and the telescopic cylinder one (135) and the telescopic cylinder two are fixedly connected with the fixed table two (131).

4. The intelligent ball loading control system according to claim 3, wherein: The cap preloading device (15) comprises a feeding table (143), the front end of the feeding table (143) is fixedly connected with the drive motor five (142), the drive motor five (142) is fixedly connected with the telescopic cylinder three (141), the telescopic cylinder three (141) is fixedly arranged on the fixed plate one (8), the upper end of the feeding table (143) is symmetrically provided with a feeding groove on the left and right sides, the feeding groove is correspondingly arranged with the discharge port of the straight vibration feeder (5), and the feeding groove is used for placing the cap (6), the feeding groove is correspondingly arranged with the clamping claw (155), the clamping claw (155) is fixedly connected with the drive motor six (153), the drive motor six (153) is symmetrically arranged on the left and right sides of the front end of the fixed block three (154), the fixed block three (154) is fixedly connected with the sliding block two (152), the sliding block two (152) is slidably connected with the drive motor seven (151) in the front-rear direction, the drive motor seven (151) is fixedly arranged on the base table one, and the base table one is slidably connected with the drive motor eight (14) in the up-down direction.

5. The intelligent ball loading control system according to claim 4, wherein: The transmission mechanism (19) is provided with a position sensor (21) at the corresponding position of the connecting neck into the ball device (13) and the cap preloading device (15) in the left-right direction.

6. The intelligent ball loading control system according to claim 1, wherein: The cap device comprises an upper pressing mechanism and a lower pressing mechanism (16), the upper pressing mechanism is fixedly arranged on the fixed plate two (9), and the lower pressing mechanism (16) is fixedly arranged on the fixed plate one (8); the upper pressing mechanism and the lower pressing mechanism (16) both comprise a telescopic cylinder four (161), the telescopic cylinder four (161) is provided with a pressing block (162) at one end close to the jig tooling (18), and the fixed plate one (8) is provided with an opening through which the pressing block (162) of the upper pressing mechanism passes.

7. The intelligent ball loading control system according to claim 1, wherein: The ball reversing device (17) comprises a driving motor nine (171), the driving motor nine (171) is slidably arranged on a base two in the vertical direction, the base two is fixedly provided with a driving motor ten (172), the driving motor ten (172) is slidably arranged on a sliding block three (173) in the front-back direction, the sliding block three (173) is fixedly connected with a working shell (174), a rotating plate (176) is rotatably arranged in the front end movable slot of the working shell (174), the rotating plate (176) is fixedly connected with a motor shaft, the motor shaft penetrates the side end of the movable slot and is fixedly connected with a motor (175), the motor (175) is installed on the side end of the working shell (174), driving motors eleven (177) are symmetrically arranged on the left and right sides of the rotating plate (176), and the driving motors eleven (177) are fixedly connected with mechanical claws three (178).

8. The control method of the intelligent ball feeding control system according to any one of claims 1-7, characterized in that: The method comprises the following steps: Step 1: the ball material (2) is fed through the ball feeding mechanism (1), and after visual identification by the visual mechanism (10), the force control mechanical arm (11) is controlled to grab the material and place it in the ball material transfer device (12) for positioning, the ball material transfer device (12) transfers the positioned ball material (2) into the jig tool (18), and the jig tool (18) clamps the tail of the ball material (2); Step 2: control the transmission mechanism (19) to work, so that the jig tool (18) drives the ball material (2) to move, and after the ball material (2) moves to the corresponding position of the connecting neck ball device (13), the position sensor (21) corresponding to the connecting neck ball device (13) controls the transmission mechanism (19) to stop working; Step 3: the connecting neck ball device (13) takes down the connecting neck assembly and puts it into the ball inside the ball material (2), and makes an upward pulling action, so that the connecting neck assembly is clamped together with the ball material (2); Step 4: control the transmission mechanism (19) to continue working, and after the jig tool (18) moves to the corresponding position of the gland preloading device (15), the position sensor (21) corresponding to the gland preloading device (15) controls the transmission mechanism (19) to stop working; Step 5: the gland feeding mechanism makes the gland (6) pass through the circular vibration-straight vibration-misdivision, and the gland preloading device (15) places the gland (6) above the ball material (2); Step 6: control the transmission mechanism (19) to continue working, and after the jig tool (18) moves to the corresponding position of the gland device, the transmission mechanism (19) stops working, the tail pipe of the ball material (2) is loosened, and the downward pressing mechanism (16) is controlled to press the gland (6) tightly, the upward pressing mechanism is controlled to press the ball material (2) tightly, and a negative pressure ball is formed; Step 7: control the transmission mechanism (19) to continue working, and after the jig tool (18) moves to the corresponding position of the ball reversing device (17), the transmission mechanism (19) stops working, the ball reversing device (17) turns the pressed negative pressure ball by 90 degrees as a whole and re-places it in the jig tool (18); Step 8: control the transmission mechanism (19) to continue working, and the negative pressure ball placed in the jig tool (18) is transmitted to the next station.

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