Feeding device and automatic feeding system and method

Abstract

The invention relates to the technical field of feeding and unstacking, and discloses a feeding device and an automatic feeding system and method.The feeding device comprises a lifting conveying module, the lifting conveying module comprises a conveying assembly, a lifting assembly and an inclined driving assembly, the lifting assembly is connected with the conveying assembly, and the conveying assembly is used for conveying turnover boxes; the inclined driving assembly can switch the turnover box on the conveying assembly from the horizontal state to the inclined state. By controlling lifting and the inclination degree of the product turnover box, it is ensured that the postures of all products are clearly scanned in the subsequent camera scanning process, support is provided for robot feeding and discharging, workers do not need to adjust the products in advance, the overall operation efficiency and accuracy are improved, and the device has the automatic feeding function; the problems that the feeding error rate and efficiency are not high through manual sorting in the prior art are solved. And moreover, when the turnover box is subjected to inclination adjustment, an internal product can be assisted to be subjected to certain posture adjustment, and the subsequent grabbing efficiency can be improved conveniently.

Description

Technical Field

[0001] The invention relates to the technical field of material loading and destacking, and in particular to a material loading device and an automatic material loading system and method. Background Art

[0002] In the recycling of electric meters, the recycled electric meters are packed and transported to the recycling site for stacking and storage. After the recycling process begins, the products in the turnover boxes need to be taken out and placed at the next station for inspection and preparation. The old meters are inspected and sorted, and then the good meters are directly cleaned and packaged for continued use. The bad meters are inspected and cleaned for continued use. Currently, most of the feeding methods are manual loading and destacking, or require the assistance of other equipment. The accuracy and efficiency of manual labor alone are not high, and the time cost is high; the operation method assisted by other equipment is difficult for robots to grasp because the product placement positions are not uniform at the beginning, and they need to be adjusted and transported to the conveyor line for the next operation, which slows down the overall work efficiency. In response to the above problems, this application is proposed. Summary of the invention

[0003] The purpose of the present invention is to provide a loading device and an automatic loading system and method, which can assist in the posture recognition of products in the turnover box, so that the robot can take the product out to the next workstation in a correct grasping manner, thereby improving the loading and destacking efficiency.

[0004] The present invention is achieved through the following technical solutions.

[0005] A loading device of the present invention includes a lifting and conveying module, which includes a conveying component, a lifting component and a tilting drive component. The lifting component is connected to the conveying component, the conveying component is used to convey turnover boxes, and the tilting drive component can switch the turnover boxes on the conveying component from a horizontal state to a tilted state.

[0006] Optionally, the lifting assembly can be configured as a single-arm lifting assembly or a double-arm lifting assembly.

[0007] Preferably, the conveying assembly is connected to the guide rails, and at least two groups of guide rails are provided.

[0008] Furthermore, the loading device also includes a baffle, which is used to prevent the turnover box from falling when it is tilted, and the baffle can be made of metal or plastic.

[0009] Optionally, the baffle can be configured to be liftable, that is, it can be lowered to below the conveying assembly when no obstruction is required.

[0010] Furthermore, the baffle is movably installed and can swing to a certain angle when the turnover box is tilted, and the angle is generally less than 60°.

[0011] Furthermore, the conveying assembly is a roller conveyor, and the tilting drive assembly is arranged at the bottom of the roller conveyor, and can be realized by a pneumatic cylinder or a hydraulic cylinder.

[0012] Furthermore, the conveying assembly is provided with guide bodies, which are symmetrically arranged on both sides.

[0013] An automatic loading system includes a robot loading and unloading component, a visual guidance component and the above-mentioned loading device, wherein the visual guidance component includes a camera module, and the camera module is electrically connected to the robot loading and unloading component. The camera module is used to identify the posture of products in a turnover box conveyed by a conveying component. During identification, the lifting component drives the conveying component to approach the camera module. The camera module is preferably an industrial 3D camera. The tilting drive component switches the turnover box to a tilted state. The robot loading and unloading component adopts a correct grasping method to transfer the product to the next workstation according to the product posture identified by the camera module.

[0014] Furthermore, several groups of feeding devices are provided in the automatic feeding system, and at least two groups of feeding devices correspond to a set of vision guidance components and robot loading and unloading components.

[0015] Furthermore, the automatic feeding system also includes a product feeding conveyor line, which is connected to a plurality of groups of conveying components, and the turnover box can enter the corresponding conveying component through the conveyor line.

[0016] An automatic feeding method, based on the above automatic feeding system, comprises the following steps

[0017] S1: Use the conveying component to transport the turnover box to the position of the visual guidance component;

[0018] S2: Use the lifting assembly to drive the conveying assembly close to the camera module;

[0019] S3: Use the tilting drive assembly to switch the turnover box from a horizontal state to a tilted state;

[0020] S4: Use the camera module to identify the postures of all products in the turnover box in a tilted state;

[0021] S5: The camera module sends the product posture parameters to the robot loading and unloading component. The robot loading and unloading component adopts the correct grasping method to transfer the product to the next workstation based on the product posture recognized by the camera module.

[0022] Furthermore, the method further comprises the following steps:

[0023] In step S4, when the camera module cannot obtain the postures of all products, the tilt drive component adjusts the tilt angle of the weekly box; optionally, at this time, the lifting component can also drive the conveying component to adjust the height to assist in obtaining the postures of all products.

[0024] Before step S4, the tilting drive assembly adjusts the turnover box from a horizontal state to an inclined state several times, and the movement speed when converting from a horizontal state to an inclined state is greater than the movement speed when converting from an inclined state to a horizontal state.

[0025] Beneficial effects of the present invention:

[0026] Through the setting of the loading device, the product can be conveyed and loaded, and by controlling the lifting and tilting of the product turnover box, it is ensured that the posture of all products is clearly scanned during the subsequent camera scanning process, providing support for the robot loading and unloading, without the need for workers to adjust the products in advance, thereby improving the overall operation efficiency and accuracy, and making the device have the function of automatic loading, solving the problem of error rate and low efficiency of manual sorting and loading in previous equipment. In addition, when adjusting the tilt of the turnover box, it can also assist the internal products to make certain posture adjustments, which is convenient for improving the subsequent grasping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0029] Figure 1 It is the overall planar structure diagram of the automatic feeding system;

[0030] Figure 2 It is a structural schematic diagram of the feeding device;

[0031] Figure 3 It is a structural schematic diagram of the feeding device from another perspective;

[0032] Figure 4 It is a side view of the feeding device;

[0033] Figure 5 This is a schematic diagram of the robot loading and unloading components and the visual guidance components;

[0034] Figure 6 This is a schematic diagram of the structure of the robot loading and unloading components. DETAILED DESCRIPTION

[0035] Combine the following Figure 1-Figure 6 The present invention is described in detail.

[0036] A feeding device embodiment 1: Figure 2-Figure 3 , including two sets of lifting and conveying modules 1, which are used for loading one-way electric energy meters and three-phase electric energy meters respectively. This device is the front-end loading part of the old electric energy meter recycling and processing production line.

[0037] The lifting and conveying module 1 includes a conveying component 13, a lifting component 12 and a tilting drive component 16. The conveying component 13 is used to convey the turnover box. The conveying component 13 and the lifting component 12 are both installed on the frame 11. A guide rail 15 is arranged on the frame 11, and at least two groups are arranged. The conveying component 13 is connected to the guide rail 15. The lifting component 12 is a single-arm lifting component. The main device includes a cylinder and a transmission component, which is used to drive the conveying component 13 to move up and down as a whole. The tilting drive component 16 is realized by a cylinder and a pushing rod. The tilting drive component 16 can be connected to the conveying component 13 and rise and fall together, or it can be installed on the frame 11. The conveying component 13 is a roller conveyor, and guide bodies 14 are symmetrically arranged on both sides. The pushing rod of the tilting drive component 16 extends upward through the gap between the rollers and contacts the rear end position of the bottom of the turnover box 5, lifts the rear of the turnover box 5 to switch it from a horizontal state to an inclined state. Optionally, a roller or a drum can be set at the contact position between the pushing rod and the turnover box 5.

[0038] The turnover box 5 is generally a carton or a plastic box.

[0039] The function of the lifting component 12 driving the conveying component 13 to lift and lower is to adjust the distance between the turnover box 5 and the 3D camera, as well as the distance between the turnover box 5 and the robot, so as to facilitate posture recognition and product grabbing. The tilting drive component 16 can switch the turnover box 5 to a tilted state. In order to solve the problem that the turnover box is conveyed outside the scanning range of the visual guidance component 3, the tilting angle is precisely controlled to ensure that all products are clearly scanned during the scanning process, thereby improving the overall operation efficiency and accuracy. In addition, since the recycling meters in the box are not placed closely and the postures of the products are different, it is difficult to recognize the postures of all products if only the 3D camera is used for recognition at the top, resulting in reduced loading efficiency. After tilting, the products in the box move closer to one side, and one side is raised to leave a gap, which can facilitate the camera to obtain all product posture parameters from the side and the front, thereby facilitating subsequent robot loading and unloading.

[0040] In addition, when the tilting drive assembly 16 pushes the turnover box 5 to tilt, the electric meter moves toward the lower side, which also helps to unify the posture of the electric meter, making it easier for subsequent robot grasping.

[0041] By adopting static visual recognition and positioning technology, the robot's loading and unloading components are not restricted by fixed positions. They can swing flexibly and accurately load materials within a limited working area, which enhances their adaptability to the working environment. By precisely controlling the inclination angle of the turnover box, it ensures that all products are clearly scanned during the scanning process, thereby improving the overall working efficiency and accuracy.

[0042] Embodiment 2: Based on embodiment 1, Figure 3 The feeding device also includes a baffle 17, which is used to prevent the turnover box from falling when it is tilted. The baffle 17 can be made of metal or plastic.

[0043] Optionally, the baffle 17 can be set to be liftable, that is, it can be lowered to below the conveying assembly 13 when no blocking is required.

[0044] Preferably, the baffle 17 is movably installed and can swing to a certain angle when the turnover box is tilted. It is in a vertical state initially, and the deflection angle when tilted is generally less than 60°. This angle can be set as the maximum angle at which the turnover box can tilt.

[0045] An automatic feeding system embodiment 1: Figure 1 , including a robot loading and unloading component 4, a visual guidance component 3 and a loading device in any of the above embodiments.

[0046] The visual guidance component 3 and the robot loading and unloading component 4 are both arranged at the end positions of the conveying component 13 .

[0047] like Figure 5 The visual guidance component 3 includes a frame 31 and a camera module 32. The camera module 32 adopts an industrial 3D camera and is installed on an aluminum profile through a connecting plate. End cover plates are installed on both sides of the aluminum profile, and the aluminum profile is installed on the frame 31 by screws.

[0048] Robot loading and unloading components 4 Figure 6 , including a fixed base 41 and a robot body 42. The robot body 42 is installed on the fixed base 41. The robot body 42 can adopt a robot in the prior art, which can flexibly swing in a limited working area and accurately dismantle and load materials. It generally includes a rotating base 421, a lower arm 422, an upper arm 423, a wrist bend 424, a sensor and other structures. The grasping module of the robot body 42 adopts a sponge suction cup 43. Preferably, the rotation angle of the robot body 42 should be not less than 340°, the horizontal effective movement distance should be not less than 1440 mm, and the vertical effective movement distance should be not less than 2511 mm.

[0049] The two groups of loading devices correspond to a set of visual guidance components 3 and a robot loading and unloading component 4.

[0050] The camera module 32 is electrically connected to the robot loading and unloading component 4. The camera module 32 is used to identify the product posture in the turnover box conveyed by the conveying component 13. During identification, the lifting component 12 drives the conveying component 13 to approach the camera module 32, and the tilting drive component 16 switches the turnover box to a tilted state. The product posture parameters are obtained and sent to the robot loading and unloading component 4 after being processed by a computer. The robot loading and unloading component 4 rotates the rotating base 421 to an appropriate angle according to the product posture identified by the camera module 32, the lower arm 422 and the upper arm 423 move a certain distance, the wrist bends 424 to an appropriate angle, and the sponge suction cup 43 adopts the correct grasping method to absorb the product and transfer the product to the next workstation.

[0051] Embodiment 2: Based on embodiment 1, Figure 1 The automatic feeding system also includes a product feeding conveyor line 2. The product feeding conveyor line 2 and several groups of conveying components 13 are arranged perpendicular to each other. Workers place the turnover boxes on the conveyor line 2. A pushing device or a variable guide can be set on the conveyor line 2 to input different products into the corresponding conveying components 13. It can also be used to transport empty turnover boxes.

[0052] Example 3: On the basis of Example 1 or 2, a robot connecting plate 44 is installed at the wrist bend 424 on the robot body, and a sponge suction cup 43 is installed on a suction cup mounting plate 46. A clamp floating shaft 45 is arranged between the robot connecting plate 44 and the suction cup mounting plate 46. The clamp floating shaft 45 is a cylindrical shaft, and there are 4 of them. Each of them is equipped with a flange linear bearing and a rectangular coil spring to form a floating grasping end, that is, the suction cup mounting plate 46 and the robot connecting plate 44 can move relative to each other within a certain range, so as to facilitate grasping.

[0053] An automatic feeding method, based on the automatic feeding system in any of the above embodiments, comprises the following steps:

[0054] S1: Use the conveying component 13 to transport the turnover box 5 to the position of the visual guidance component 3;

[0055] S2: Using the lifting assembly 12 to drive the conveying assembly 13 to approach the camera module 32;

[0056] S3: Using the tilting drive assembly 16 to switch the turnover box 5 from a horizontal state to a tilted state, the tilting angle being a preset value;

[0057] S4: using the camera module 32 to identify the postures of all products in the turnover box 5 in the tilted state;

[0058] S5: The camera module 32 sends the product posture parameters to the robot loading and unloading component 4. The robot loading and unloading component 4 adopts the correct grasping method to transfer the product to the next workstation according to the product posture recognized by the camera module 32.

[0059] Optionally, the method further comprises the following steps:

[0060] In step S4, when the camera module 32 cannot obtain all product postures, the tilt drive assembly 16 adjusts the tilt angle of the peripheral packaging box 5 according to a preset adjustment method;

[0061] Optionally, the following steps are also included: before step S4, the tilt drive component 16 adjusts the turnover box 5 from a horizontal state to a tilted state several times, and the movement speed when converting from a horizontal state to a tilted state is greater than the movement speed when converting from an tilted state to a horizontal state. This step is used to achieve posture adjustment of the products in the turnover box 5. During the process of the turnover box 5 quickly tilting and stopping, the electric meter moving toward the lower side also helps to unify the posture of the electric meter, which is convenient for subsequent robot grasping.

[0062] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology in this field to understand the content of the present invention and implement it, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A feeding device, characterized in that: The invention comprises a lifting and conveying module (1), wherein the lifting and conveying module (1) comprises a conveying component (13), a lifting component (12) and a tilting drive component (16), wherein the lifting component (12) is connected to the conveying component (13), the conveying component (13) is used to convey turnover boxes, and the tilting drive component (16) can switch the turnover boxes on the conveying component (13) from a horizontal state to a tilted state.

2. The feeding device according to claim 1, characterized in that: The loading device also includes a baffle (17), wherein the baffle (17) is used to prevent the turnover box from falling when it is tilted.

3. The feeding device according to claim 2, characterized in that: The baffle (17) is movably installed and can swing to a certain angle when the turnover box is tilted.

4. The feeding device according to any one of claims 1 to 3, characterized in that: The conveying assembly (13) is a roller conveyor, and the inclined driving assembly (16) is arranged at the bottom of the roller conveyor.

5. The feeding device according to claim 1, characterized in that: A guide body (14) is provided on the conveying component (13).

6. An automatic feeding system, characterized in that: The invention comprises a robot loading and unloading component (4), a visual guidance component (3) and a loading device as claimed in any one of claims 1 to 5, wherein the visual guidance component (3) comprises a camera module (32), the camera module (32) is electrically connected to the robot loading and unloading component (4), and the camera module (32) is used to identify the posture of products in a turnover box conveyed by a conveying component (13). During identification, the lifting component (12) drives the conveying component (13) to approach the camera module (32), and the tilting drive component (16) switches the turnover box to a tilted state. The robot loading and unloading component (4) adopts a correct grasping method to transfer the product to the next workstation according to the posture of the product identified by the camera module (32).

7. The automatic feeding system according to claim 6, characterized in that: The automatic loading system is provided with a plurality of groups of loading devices, and at least two groups of loading devices correspond to a set of visual guidance components (3) and a robot loading and unloading component (4).

8. The automatic feeding system according to claim 6 or 7, characterized in that: The automatic feeding system also includes a product feeding conveyor line (2), wherein the product feeding conveyor line (2) is connected to a plurality of groups of conveyor components (13), and the turnover box can enter the corresponding conveyor component (13) through the conveyor line (2).

9. An automatic feeding method, based on the automatic feeding system according to any one of claims 6 to 8, characterized in that: The following steps are included S1: using the conveying component (13) to transport the turnover box (5) to the position of the visual guidance component (3); S2: using the lifting component (12) to drive the conveying component (13) to approach the camera module (32); S3: using the tilting drive assembly (16) to switch the turnover box (5) from a horizontal state to a tilted state; S4: using the camera module (32) to identify the postures of all products in the turnover box (5) in a tilted state; S5: The camera module (32) sends the product posture parameters to the robot loading and unloading component (4), and the robot loading and unloading component (4) adopts the correct grasping method to transfer the product to the next workstation according to the product posture identified by the camera module (32).

10. The automatic feeding method according to claim 9, characterized in that: The following steps are also included: In step S4, when the camera module (32) is unable to obtain all product postures, the tilt drive component (16) adjusts the tilt angle of the peripheral packaging box (5); Before step S4, the tilting drive assembly (16) adjusts the turnover box (5) from a horizontal state to an inclined state several times, and the movement speed when converting from the horizontal state to the inclined state is greater than the movement speed when converting from the inclined state to the horizontal state.

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