A fully automatic blade swinging machine

Abstract

The present application discloses a fully automatic blade swinging machine, which relates to the field of tool production, and includes a controller, a material gripping device, a tray transfer device, a visual recognition device and a tray storage device, wherein the material gripping device, the tray transfer device, the visual recognition device and the tray storage device are all electrically connected to the controller; two tray storage devices are provided, and are arranged side by side in the horizontal direction; two tray transfer devices are provided; the tray transfer device includes a tray clamp and a tray Y axis, the tray clamp is used to clamp the tray located on the tray frame, and the tray Y axis is used to drive the tray clamp to move longitudinally; the material gripping device is used to transfer the blade from the tray transferred by the discharge tray transfer device to the tray transferred by the receiving tray transfer device; two material gripping devices are provided, and are arranged side by side in the longitudinal direction; two visual recognition devices are provided, one of which is a discharge tray visual recognition device, and the other is a receiving tray visual recognition device. The present application can improve the efficiency and adaptability of the swinging machine.

Description

Technical Field

[0001] The present application relates to the field of tool production, and in particular to a fully automatic blade swinging machine. Background Art

[0002] The blades used in mechanical manufacturing are basically used to cut metal materials, so the term "blade" is generally understood as a metal cutting blade. In the blade processing industry, there are many types of blades and a large number of processing. Blades need to be placed on different trays at different process stages. For example, sintering trays are needed for blade sintering, sandblasting trays are needed for blade sandblasting, and passivation trays are needed for blade passivation; so a blade needs to be transferred from metal powder to finished product. At present, the blade processing industry generally places blades manually. The process of manual placement of blades is inefficient and prone to blade collision and defect. Even if a robot replaces manual placement, the placement efficiency is still relatively low, and it is difficult to adapt to various special-shaped trays. Therefore, there is an urgent need for an efficient solution that can adapt to various trays and blades. Summary of the invention

[0003] In order to improve the efficiency and adaptability of a blade placing machine, the present application provides a fully automatic blade placing machine.

[0004] The fully automatic blade swinging machine provided in this application adopts the following technical solution:

[0005] A fully automatic blade swinging machine comprises a controller, a material grasping device, a material tray transfer device, a visual recognition device and a material tray storage device, wherein the material grasping device, the material tray transfer device, the visual recognition device and the material tray storage device are all electrically connected to the controller; the controller is used to receive the image signal of the visual recognition device, and to control the operating state of the material grasping device, the material tray transfer device and the material tray storage device; there are two material tray storage devices, which are arranged side by side in the horizontal direction, one of which is a material discharge tray storage device, and the other is a material receiving tray storage device; the material tray storage device comprises a material tray rack and a lifting drive mechanism, the lifting drive mechanism is used to drive the material tray rack to move up and down, and the material tray rack is provided with a plurality of material tray storage positions arranged in the height direction; there are two material tray transfer devices, one of the two material tray transfer devices is a material discharge tray transfer device, and the other is a material receiving tray transfer device; the material tray transfer device comprises a material tray clamp and a material tray Y-axis, and the material tray clamp is used to clamp The tray is located on the tray rack, and the tray Y-axis is used to drive the tray clamp to move in the longitudinal direction; the grabbing device is used to transfer the blade from the tray transferred by the discharge tray transfer device to the tray transferred by the receiving tray transfer device; there are two grabbing devices, and they are arranged side by side in the longitudinal direction; the grabbing device includes a grabbing actuator and a grabbing X-axis, a grabbing Y-axis and a grabbing Z-axis for driving the grabbing actuator to move, and the grabbing actuator includes a base plate, and the base plate is provided with a plurality of picking claws, and the plurality of picking claws are installed on the base plate at equal intervals in the horizontal direction, and the picking claw has a picking claw C-axis; the picking claw is used to grab the blade in the tray transferred by the tray transfer device; there are two visual recognition devices, one of which is a discharge tray visual recognition device, and the other is a receiving tray visual recognition device; the visual recognition device includes a camera and a camera X-axis for driving the camera to move, and the camera is used to identify the tray of the corresponding tray transfer device.

[0006] By adopting the above technical solution, when the tray placing machine is working, the discharge tray with the blade placed on it is placed in the tray rack of the discharge tray storage device, and the empty receiving tray is placed in the tray rack of the receiving tray storage device. The discharge tray transfer device takes out the discharge tray from the tray storage device and transfers it to the bottom of the camera of the discharge tray visual recognition device. The receiving tray transfer device takes out the receiving tray from the tray storage device and transfers it to the bottom of the camera of the receiving tray visual recognition device. The camera of the discharge tray visual recognition device searches for the blade in the discharge tray according to the pre-set blade template, and the camera of the receiving tray visual recognition device searches for the material slot where the blade is placed according to the pre-set tray template. After the cameras of the two visual recognition devices search, the controller processes the pixel data and distributes the data to each material grabbing claw in turn, and then the two grabbing devices take and discharge materials alternately. When the products in the camera's single-shot area are grabbed or the material trough in the single-shot area is full, the camera of the corresponding visual recognition device will move horizontally, and the tray transfer device will clamp the tray and move it vertically, so as to complete the shooting of the entire tray area and achieve the purpose of grabbing and discharging the entire tray. After the discharge tray is grabbed or the receiving tray is full, the tray will be automatically replaced, and the lifting mechanism of the tray storage device will drive the tray frame to move up and down to cooperate with the action of the tray transfer device until all blades are grabbed or the receiving tray is full of blades.

[0007] The two grabbing devices can grab and release materials alternately through the material claws, and can grab materials in large quantities and continuously, thereby improving the efficiency of blade placement. The two visual devices perform visual recognition and positioning, which can achieve the purpose of accurate grasping even if the blades are placed randomly. For irregularly placed trays such as round and misaligned trays, the visual recognition device can still automatically find the material slot position of the tray and place it accurately according to the angle of the slot. Accurate visual positioning can reduce the problem of blade collision.

[0008] Optionally, the lifting drive mechanism includes two lifting drive members, the two lifting drive members are arranged in a transverse direction, and the spacing between the two lifting drive members is greater than or equal to the transverse dimension of the material tray rack; the lifting drive member is provided with a movable clamping member, the movable clamping member is slidably connected to the lifting drive member in a transverse direction, and the movable clamping member is provided with a return spring, and the return spring is used to force the movable clamping member to remain in a position close to the lifting drive member on the other side; fixed clamping members are respectively provided on both sides of the material tray rack, and the fixed clamping members on both sides of the material tray rack are respectively arranged corresponding to the movable clamping members of the two lifting drive members, and the movable clamping member is provided with a guide surface and a clamping surface, the clamping surface is arranged upward, the clamping surface is used to support the corresponding fixed clamping member, and the guide surface is inclined downward It is arranged that when the movable clamping part passes through the fixed clamping part from top to bottom, the fixed clamping part can push the movable clamping part away from the fixed clamping part laterally through the guide surface; there are two lifting drive mechanisms, the two lifting drive mechanisms are arranged in the longitudinal direction, and the spacing between the two lifting drive mechanisms is greater than or equal to the longitudinal dimension of the material tray rack; the material tray storage device also includes a first pushing Y-axis and a second pushing Y-axis, the first pushing Y-axis is used to push the material tray rack at the upper dead point, and the second pushing Y-axis is used to push the material tray rack at the lower dead point, and the driving directions of the first pushing Y-axis and the second pushing Y-axis are opposite; there are two material tray racks, and they are arranged in the longitudinal direction, one of the two material tray racks is used as a working material tray rack, and the other is used as a preparatory material tray rack.

[0009] By adopting the above technical solution, the two lifting drive members of the lifting drive mechanism respectively support the fixed clamping members located on both sides of the material tray rack through the movable clamping members, so that the lifting drive mechanism can lift the material tray rack upward. When one of the lifting drive mechanisms lifts the working material tray rack to complete the discharge or collection of all the material trays, the second push material Y axis moves the reserve material tray rack to the bottom of the working material tray rack as a new working material tray rack, and then the lifting drive mechanism away from the working material tray rack moves to the same position as the lifting drive mechanism where the working material tray rack is located, and then the first push material Y axis moves the working material tray rack from one lifting drive mechanism to another lifting drive mechanism, and then the two lifting drive mechanisms are lowered and reset, and the movable clamping member of one of the lifting drive mechanisms passes through the fixed clamping member of the new working material tray rack and clamps the new fixed clamping member. After the material tray of the original working material tray rack is replaced, it serves as a new reserve material tray rack. Through the above solution, the material tray storage bin can continuously supply material trays to the material tray transfer device, so that the tray placing machine can perform continuous operation.

[0010] Optionally, each of the lifting drive members is provided with a plurality of movable clamping members, and they are arranged at intervals along the height direction; each side of the tray rack is provided with a plurality of fixed clamping members, and they correspond one-to-one to the plurality of movable clamping members of the lifting drive members.

[0011] By adopting the above technical solution, the movable clamping parts and the fixed clamping parts are both provided in plurality and can be clamped one by one, so that the connection between the lifting drive mechanism and the material tray frame is more stable.

[0012] Optionally, the fixed clamping member includes a base and a clamping portion, the base is fixedly connected to the tray rack, an inwardly concave angle area is formed between the clamping portion and the base, and the clamping portion and the base are transitioned with an inner fillet.

[0013] By adopting the above technical solution, an inwardly concave angle area is formed between the base and the clamping part, so that the torque applied to the fixed clamping part acts on the connecting part between the clamping part and the base. The clamping part and the base are transitioned with an inner fillet, so that the connecting part between the clamping part and the base is not easy to break.

[0014] Optionally, the C-axis of the material picking claw has a rotating shaft that can be telescopically slid, one end of the rotating shaft of the C-axis of the material picking claw is fixedly connected to the material picking claw, and the other end is connected to the Z-axis of the material picking claw, and the Z-axis of the material picking claw is fixedly installed on the base plate.

[0015] By adopting the above technical solution, each picking claw can move vertically through the Z-axis of the picking claw, so that each picking claw can perform the picking action independently.

[0016] Optionally, the material picking claw has two claw fingers, and the claw fingers include a connecting body and a finger rod. The cross section of the finger rod is a minor arc, and the two claw fingers abut against the circular hole of the blade through the arc surface of the finger rod.

[0017] By adopting the above technical solution, when the material taking claw takes the material, the finger rods of the two claw fingers are extended into the circular hole of the blade, and then the inner hole of the blade is supported from the inside to the outside, so as to grasp the blade. In this way, the material taking claw can adapt to blades of different shapes.

[0018] Optionally, the finger rod is slidably and telescopically connected to the connecting body, and the connecting body is provided with a compression spring, and the compression spring is used to force the claw finger to remain in a state of maximum extension size.

[0019] By adopting the above technical solution, when the picking claw picks up materials from a material tray that is not a matrix material trough, the claw fingers of one of the picking claws extend into the circular hole of the blade, and the claw fingers of the remaining picking claws cannot be aligned with the circular holes of other blades at the same time. At this time, the claw fingers that cannot be aligned with the circular holes of the blades will shrink inward to avoid the blades or the side walls of the material trough. The shrinking claw fingers will cause the compression spring to be compressed and deformed. When the picking claw rises, the elastic force of the compression spring will cause the finger rod to extend outward and reset.

[0020] Optionally, a sliding rod is provided at one end of the finger rod, and the connecting body is provided with a sliding hole adapted to the sliding rod. The compression spring is located in the sliding hole, one end of the compression spring abuts against the sliding rod, and the other end abuts against the downward inner wall of the sliding hole. Balls are respectively provided on both sides of the sliding rod, and the balls abut against the inner wall of the sliding hole. The direction of the force between the balls and the inner wall of the sliding hole is consistent with the opening and closing direction of the two finger rods; the connecting body is provided with a limit screw, and the limit screw is used to prevent the sliding rod from slipping out of the sliding hole.

[0021] By adopting the above technical solution, the claw finger is installed on the connecting body through the cooperation of the sliding rod and the sliding hole. Ball bearings are arranged on both sides of the sliding rod, which can reduce the friction of the sliding rod in the sliding hole. The direction of the force between the ball bearings and the sliding hole is consistent with the opening and closing direction of the finger rod, so that the force of the claw finger when grasping the material indirectly acts on the ball bearings, which is conducive to making the sliding of the sliding rod smoother. The position of the sliding rod is maintained by a limit screw. By removing the limit screw, the sliding rod can leave the sliding hole to facilitate the replacement of the ball bearings.

[0022] Optionally, four material picking claws are provided and are arranged at equal intervals in the transverse direction, and the material picking claws are detachably connected to the base plate; the base plate is provided with a synchronous adjustment mechanism, and the synchronous adjustment mechanism includes a first screw and a second screw parallel to each other, the first screw and the second screw are rotatably installed on the base plate, a synchronous transmission assembly is connected between the first screw and the second screw, the pitch of the second screw is three times that of the first screw, the first screw and the second screw are both double-headed screws, the two material picking claws located in the middle are the first material picking claws, and the other two material picking claws are the second material picking claws, the first material picking claw is provided with a first threaded hole adapted to the first screw, and a first light hole for the second screw to pass through, the second material picking claw is provided with a second threaded hole adapted to the second screw, and a second light hole for the first screw to pass through.

[0023] By adopting the above technical solution, the four material-grabbing claws of the material-grabbing device are arranged at equal intervals in the horizontal direction. For material troughs arranged in a rectangular array, the four material-grabbing claws of the material-grabbing device can grab materials at the same time. When the specifications of the blades change and the arrangement spacing of the material troughs changes accordingly, the material-grabbing claws can be temporarily removed from the base plate, and then the first screw or the second screw is rotated. The first screw can drive the two first material-grabbing claws to move closer or farther away from each other, and the second screw can drive the two second material-grabbing claws to move closer or farther away. When the pitch of the second screw is three times the pitch of the first screw, the spacing between the various material-grabbing claws can always remain consistent. After the spacing of the material-grabbing claws is adjusted, each material-grabbing claw is reinstalled and locked.

[0024] Optionally, the synchronous adjustment mechanism also includes a vernier nut and a hand screw, the hand screw is coaxially fixedly connected to the first screw, the pitch of the hand screw is twice the pitch of the first screw, the vernier nut is threadedly connected to one end of the first screw or the second screw, the material picking claw box is provided with a guide, the guide is used to prevent the vernier nut from rotating around its own center line, and the guide is provided with a scale; the cap head of the hand screw is provided with an annular scale, and the annular scale uses the edge of the guide as a position reference.

[0025] By adopting the above technical solution, the first screw and the second screw are adjusted by hand screws, which is more convenient. The hand screw drives the vernier nut to move at the same time, so as to judge the change in the spacing between the material picking claws in combination with the scale of the guide. The nut of the hand screw is set to twice the size of the first screw, so that the distance change of the vernier nut can be consistent with the change in the spacing of the material picking claws, which is more convenient to read. On the other hand, the annular scale combined with the marking function of the edge of the guide can achieve a more precise adjustment of the spacing of the material picking claws.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] The two grabbing devices can grab and release materials alternately through the material claws, and can grab materials in large quantities and continuously, thereby improving the efficiency of blade placement. The two visual devices can recognize and locate the blades at random, so as to achieve the purpose of accurate grabbing. For round, misaligned and other irregularly placed trays, the visual recognition device can still automatically find the position of the tray's trough and place it accurately according to the angle of the trough. Accurate visual positioning can reduce the problem of blade collision.

[0028] When the material-retrieving claw retrieves the material, the finger rods of the two claw fingers are inserted into the circular holes of the blade, and then the inner hole of the blade is supported from the inside to the outside, so as to grasp the blade. In this way, the material-retrieving claw can adapt to blades of different shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the plate placing machine of Example 1.

[0030] Figure 2 It is a schematic diagram of the tray placing machine of Example 1 in the state of removing the tray storing device.

[0031] Figure 3 It is a schematic diagram of the structure of the tray storage device of Example 1.

[0032] Figure 4 It is a structural schematic diagram of the material grabbing actuator of Example 1.

[0033] Figure 5 It is a side view of the material grabbing actuator in Example 1.

[0034] Figure 6 It is a schematic diagram of the state where the gear box is removed from the material grabbing actuator in Example 1.

[0035] Figure 7 It is a schematic diagram of the structure of the tray storage device of Example 2.

[0036] Figure 8 It is a structural schematic diagram of the tray storage device of Example 2 from another perspective.

[0037] Fig. 9 It is a structural schematic diagram of the movable clamping block of Example 2.

[0038] Fig.10 It is a side view of the material grabbing actuator of Example 3.

[0039] Fig.11 yes Fig.10 Magnified view at A in the middle.

[0040] Fig.12 It is a structural schematic diagram of the material grabbing actuator of Example 4.

[0041] Description of reference numerals:

[0042] 1. Controller; 2. Material grabbing device; 21. Material grabbing actuator; 211. Base plate; 2111. Cover; 210. Material grabbing claw assembly; 212. Material grabbing claw; 21201. First material grabbing claw; 21202. Second material grabbing claw; 2121. Claw finger; 2122. Connector; 2123. Finger rod; 2124. Sliding rod; 2125. Sliding hole; 2126. Compression spring; 2127. Limit screw; 2128. Ball; 2129. Ball groove; 213. Material grabbing claw C axis; 21 30. Gear transmission structure; 2131. Gear box; 2132. Drive motor; 214. Z-axis of the material-retrieving claw; 2141. Z-axis cylinder; 2142. Slide seat; 2143. Limiting member; 2144. Buffer spring; 215. Bolt; 216. First screw rod; 2161. First threaded hole; 2162. First light hole; 217. Second screw rod; 2171. Second threaded hole; 2172. Second light hole; 218. Vernier nut; 2181. Guide member; 2182. Twist screw; 219, synchronous transmission assembly; 22, material grabbing X-axis; 23, material grabbing Y-axis; 24, material grabbing Z-axis; 3, material tray transfer device; 301, material discharging tray transfer device; 302, material receiving tray transfer device; 31, material tray clamp; 32, material tray Y-axis; 4, visual recognition device; 401, material discharging tray visual recognition device; 402, material receiving tray visual recognition device; 41, camera; 42, camera X-axis; 5, material tray storage device; 501, material discharging tray storage device; 502, material receiving tray storage device; 51, lifting Lifting drive mechanism; 510, lifting drive member; 511, sliding execution member; 512, guide rod and guide sleeve assembly; 5121, guide rod; 5122, guide sleeve; 513, movable clamping member; 5131, guide surface; 5132, clamping surface; 514, return spring; 515, fixed clamping member; 5151, base; 5152, clamping part; 516, first push material Y-axis; 517, second push material Y-axis; 518, slide rail and slider assembly; 52, material tray rack; 61, discharge tray; 62, receiving tray. DETAILED DESCRIPTION

[0043] The following is combined with Figure 1-Figure 12 This application is described in further detail. Example 1

[0044] The present application embodiment discloses a fully automatic blade swinging machine. Figure 1 and Figure 2The fully automatic blade swinging machine includes a controller 1, a material gripping device 2, a tray transfer device 3, a visual recognition device 4 and a tray storage device 5, and the material gripping device 2, the tray transfer device 3, the visual recognition device 4 and the tray storage device 5 are all electrically connected to the controller 1. The controller 1 is used to receive and process the image information obtained by the visual recognition device 4, and to control the operating states of the material gripping device 2, the tray transfer device 3 and the tray storage device 5. In this embodiment, when it comes to the moving direction of the components of the swinging machine, the horizontal direction is equivalent to the X-axis direction of the swinging machine, the longitudinal direction is equivalent to the Y-axis direction of the swinging machine, and the vertical direction is equivalent to the Z-axis direction of the swinging machine.

[0045] Reference Figure 1 and Figure 3 There are two material tray storage devices 5, which are arranged side by side in the horizontal direction, one of which is the material discharging tray storage device 501, and the other is the material receiving tray storage device 502; there are two material tray transfer devices 3, one of the two material tray transfer devices 3 is the material discharging tray transfer device 301, and the other is the material receiving tray transfer device 302; there are two visual recognition devices 4, one of which is the material discharging tray visual recognition device 401, and the other is the material receiving tray visual recognition device 402; the material grabbing device 2 is used to transfer the blade from the material tray transferred by the material discharging tray transfer device 301 to the material tray transferred by the material receiving tray transfer device 302.

[0046] When the swinging machine is working, the material tray as the discharge tray 61 contains a blade, and the material tray as the receiving tray 62 is in an empty state. The discharge tray 61 is placed on the discharge tray storage device 501, and the receiving tray 62 is placed on the receiving tray storage device 502. The discharge tray transfer device 301 transfers the discharge tray 61 located on the discharge tray storage device 501 to the bottom of the discharge tray visual recognition device 401, and the receiving tray transfer device 302 transfers the receiving tray 62 located on the receiving tray storage device 502 to the bottom of the receiving tray visual recognition device 402. The controller 1 controls the gripping device 2 to transfer the blade from the material tray transferred by the discharge tray transfer device 301 to the material tray transferred by the receiving tray transfer device 302 according to the image information of the discharge tray 61 and the receiving tray 62 recognized by the two visual recognition devices 4.

[0047] Reference Figure 3 The tray storage device 5 includes a tray frame 52 and a lifting drive mechanism 51. The lifting drive mechanism 51 is fixedly installed on the body of the tray placing machine. The lifting drive mechanism 51 is used to drive the tray frame 52 to move up and down. The lifting drive mechanism 51 is a linear module. The linear module has a sliding actuator component 511. The sliding actuator component 511 of the lifting drive mechanism 51 is fixedly connected to the tray frame 52.

[0048] The tray rack 52 is provided with a plurality of tray storage positions arranged along the height direction; slide rail slider assemblies 518 are respectively provided on both sides of the tray rack 52, the sliders of the slide rail slider assemblies 518 are fixedly connected to the tray rack 52, and the slide rails of the slide rail slider mechanism are fixedly installed on the body of the tray placing machine.

[0049] Reference Figure 2 The tray transfer device 3 includes a tray clamp 31 and a tray Y-axis 32. The tray clamp 31 can be opened and closed up and down. The tray clamp 31 is used to clamp the tray located at the tray storage position, and the tray Y-axis 32 is used to drive the tray clamp 31 to move longitudinally.

[0050] Reference Figure 2 and Figure 4 There are two grabbing devices 2, which are arranged side by side; the grabbing device 2 includes a grabbing actuator 21 and a grabbing X-axis 22, a grabbing Y-axis 23 and a grabbing Z-axis 24 for driving the grabbing actuator 21 to move; the grabbing actuator 21 includes a seat plate 211, the seat plate 211 is provided with four sets of material picking claw assemblies 210, and the seat plate 211 is provided with a cover body 2111 for covering the electrical components of the material picking claw assemblies 210.

[0051] Four sets of material-picking claw assemblies 210 are installed on the base plate 211 at equal intervals in the horizontal direction. The material-picking claw assembly 210 includes a material-picking claw 212, a material-picking claw C-axis 213 and a material-picking claw Z-axis 214. The material-picking claw Z-axis 214 and the material-picking claw C-axis 213 are fixedly installed on the base plate 211. The material-picking claw Z-axis 214 includes a Z-axis cylinder 2141, which is fixedly installed on the base plate 211. A slide seat 2142 is provided at the output end of the material-picking claw Z-axis 214. The rotating shaft of the material-picking claw C-axis 213 can be telescopically moved up and down. One end of the rotating shaft of the material claw C axis 213 passes through the slide seat 2142 and forms a rotational connection with the slide seat 2142, and is connected to the limiting member 2143. The rotating shaft sleeve is provided with a buffer spring 2144, and the rotating shaft is provided with an annular step surface. The buffer spring 2144 is located between the annular step surface and the slide seat 2142. The buffer spring 2144 and the limiting member 2143 jointly clamp the slide seat 2142, and the other end is fixedly connected to the material picking claw 212; the material picking claw 212 is used to grab the blade in the material tray transferred by the material tray transfer device 3.

[0052] Reference Figure 5 and Figure 6In this embodiment, the main structure of the material claw C-axis 213 of the four sets of material claw assemblies 210 is based on the gear transmission structure 2130 of the same driving motor 2132. The gear transmission structures 2130 of the four material claw C-axis 213 are installed in the same gear box 2131, and the gears of every two adjacent material claw C-axis 213 are meshed with each other; the driving motor 2132 drives the gear of one of the material claw C-axis 213 to rotate through the gear. The rotating shaft of the material claw C-axis 213 and the gear transmission structure 2130 of the material claw C-axis 213 are matched with the guide flat key.

[0053] Reference Figure 4 The main body of the material-collecting claw 212 has two claw fingers 2121, which include a connecting body 2122 and a finger rod 2123. The connecting body 2122 is integrally connected with the finger rod 2123. The cross section of the finger rod 2123 is a bad arc. The two claw fingers 2121 abut against the circular hole of the blade through the arc surface of the finger rod 2123. When the material-collecting claw 212 collects materials, the two finger rods 2123 are inserted into the circular hole of the blade, and then the two finger rods 2123 are used to tighten the circular hole of the blade from the inside to the outside, so as to achieve the purpose of grabbing the blade.

[0054] Reference Figure 2 The visual recognition device 4 includes a camera 41 and a camera X-axis 42 for driving the camera 41 to move. The camera 41 is used to identify the corresponding tray of the tray transfer device 3.

[0055] The blade swinging method of the fully automatic blade swinging machine includes the following steps:

[0056] Step 1, calibration preparation before the plate placing machine is put into operation:

[0057] Step 11, setting the template of the camera 41, placing a discharging tray 61 and a receiving tray 62 required for plating under the corresponding camera 41 of the tray visual recognition device 4, and using the visual software of the controller 1 to frame the material slot of the tray under the camera 41 to set the template, so that the subsequent camera 41 can search for objects similar to the template according to the template when it is running;

[0058] Step 12, the pixels of the camera 41 are calibrated with the actual unit size. After the template of the camera 41 is set, two blades are placed on the material tray, and then the camera 41 is used to search. After the search is successful, the controller 1 performs a proportional calibration between the pixel coordinates of the blades found by the camera 41 and the two actual coordinate positions when the material grabbing device 2 takes the material;

[0059] Step 13, the method for calibrating the pixel coordinate zero point of the camera 41 and the position of the gripping device 2: a blade is placed in the material tray, and after taking a photo with the corresponding camera 41, the gripping device 2 is controlled to move to the center hole position of the blade, and then the calibration is triggered by the controller 1 to obtain the relative position relationship between the camera 41 and the material picking claw 212 of the gripping device 2;

[0060] Step 14, calibration of the positions of the four picking claws 212: a sharp point is placed on the material tray, one of the picking claws 212 of the material grabbing device 2 is moved to the top of the sharp point, and then the calibration is triggered by the controller 1, and then the remaining picking claws 212 of the material grabbing device 2 are triggered and calibrated in turn;

[0061] Step 2, the process of the plate placing machine:

[0062] Step 21, the lifting drive mechanisms 51 of the two tray storage devices 5 move the tray racks 52 vertically to a set height, and then the tray clamps 31 of the two tray transfer devices 3 respectively clamp the trays of the corresponding tray racks 52 and transfer them to the corresponding cameras 41 for taking pictures;

[0063] Step 22, the controller 1 obtains the pixel coordinates of the blades of the discharge tray 61 through the camera 41 of the discharge tray visual recognition device 401, and controls the four picking claws 212 of one of the grabbing devices 2 to grab the blades in sequence. After the four picking claws 212 have completed picking up the materials; the controller 1 controls the grabbing device 2 to put the four blades into the material trough of the receiving tray 62 one by one on the premise of obtaining the pixel coordinates of the material trough of the receiving tray 62 through the camera 41 of the receiving tray visual recognition device 402;

[0064] Step 23, while one of the grabbing devices 2 is discharging the material, the other grabbing device 2 moves to the top of the discharge tray 61 to pick up the material; when the first grabbing device 2 has finished discharging the material and the second grabbing device 2 has finished picking up the material, the two grabbing devices 2 alternate positions, and the picking up and discharging actions are repeated in this way;

[0065] Step 24, when the blades under the visual recognition camera 41 of the discharge tray 61 are taken out, the camera 41 of the discharge tray visual recognition device 401 moves according to the set shooting distance, and when the number of shooting areas set horizontally for the discharge tray 61 is reached, the discharge tray transfer device 301 carries the discharge tray 61 to move according to the set shooting distance; when the material trough under the camera 41 of the receiving tray visual recognition device 402 is full, the camera 41 of the receiving tray visual recognition device 402 moves according to the set shooting distance, and when the number of shooting areas set horizontally for the receiving tray 62 is reached, the receiving tray transfer device 302 carries the receiving tray 62 to move according to the set shooting distance;

[0066] Step 25, when all the photographing areas of the discharge tray 61 have been photographed and all the knives have been grabbed, the discharge tray transfer device 301 returns the discharge tray 61 to the tray rack 52 of the discharge tray storage device 501. If the current number of discharge trays 61 is less than the set total number of trays, the discharge tray storage device 501 moves one layer according to the set spacing; similarly, when all the photographing areas of the receiving tray 62 have been photographed and the material trough is full, the receiving tray transfer device 302 returns the receiving tray 62 to the tray rack 52 of the tray storage device 502. If the current number of receiving trays 62 is less than the set total number of trays, the receiving tray storage device 502 moves one layer according to the set spacing. Then the system repeats the process from step X until all tray operations in a single bin are completed;

[0067] Step 26, the finished tray is removed from the tray rack 52, and a new tray is placed in the tray rack to continue the operation, thus performing a continuous operation in a cycle.

[0068] In the working process of a fully automatic blade swinging machine in the embodiment of the present application, the two grabbing devices 2 respectively grab and release materials alternately through the material claws 212, and can grab materials in large quantities and continuously, thereby improving the efficiency of blade swinging. The two visual devices visually identify and position, and can achieve the purpose of accurately grabbing blades even if they are randomly placed. For circular, misaligned and other irregularly placed trays, the visual recognition device 4 can still automatically find the material trough position of the tray and accurately place it according to the angle of the material trough. Accurate visual positioning can reduce the problem of blade collision. Example 2

[0069] The difference between this embodiment and embodiment 1 is that the material tray storage device 5 in this embodiment is different from that in embodiment 1.

[0070] Reference Figure 7-Figure 9 In this embodiment, the lifting drive mechanism 51 of the tray storage device 5 includes two lifting drive members 510. The lifting drive member 510 is a linear module. The linear module is installed on the body of the tray placing machine. The linear module has a sliding actuator 511. The sliding actuator 511 is separated from the tray frame 52, and the slide rail slider assembly 518 is not provided in this embodiment; the linear module is integrated with a guide rod and guide sleeve assembly 512. The guide rod and guide sleeve assembly 512 has a guide rod 5121 and a guide sleeve 5122. The two ends of the guide rod 5121 are respectively connected and fixed to the two ends of the linear module and are parallel to the lead screw of the linear module. The guide sleeve 5122 is fixedly connected to the sliding actuator 511 of the linear module. The two lifting drive members 510 are arranged in the horizontal direction, and the spacing between the two lifting drive members 510 is greater than the horizontal dimension of the tray frame 52.

[0071] The lifting drive member 510 is provided with a movable clamping member 513, which is installed on the sliding execution component 511 of the linear module. The movable clamping member 513 is connected to the lifting drive member 510 in a lateral sliding manner. The movable clamping member 513 is provided with a return spring 514, which is a spiral spring. The return spring 514 is used to force the movable clamping member 513 to remain in a position close to the lifting drive member 510 on the other side; fixed clamping members 515 are respectively provided on both sides of the material tray frame 52, and the fixed clamping members 515 on both sides of the material tray frame 52 The connecting member 515 is respectively arranged corresponding to the movable clamping members 513 on the two lifting driving members 510. The movable clamping member 513 is provided with a guide surface 5131 and a clamping surface 5132. The clamping surface 5132 is arranged upward, and the clamping surface 5132 is used to support the corresponding fixed clamping member 515. The guide surface 5131 is arranged downwardly at an angle. When the movable clamping member 513 passes through the fixed clamping member 515 from top to bottom, the fixed clamping member 515 can push the movable clamping member 513 laterally away from the fixed clamping member 515 through the guide surface 5131.

[0072] There are two lifting drive mechanisms 51, which are arranged in the longitudinal direction, and the spacing between the two lifting drive mechanisms 51 is greater than the longitudinal dimension of the material tray rack 52; the material tray storage device 5 also includes a first pushing Y-axis 516 and a second pushing Y-axis 517, the first pushing Y-axis 516 is used to push the material tray rack 52 at the upper dead point, and the second pushing Y-axis 517 is used to push the material tray rack 52 at the lower dead point, and the driving directions of the first pushing Y-axis 516 and the second pushing Y-axis 517 are opposite; there are two material tray racks 52, which are arranged in the longitudinal direction, one of the two material tray racks 52 is used as a working material tray rack 52, and the other is used as a standby material tray rack 52.

[0073] Each lifting drive member 510 is provided with two movable clamping members 513 , which are arranged at intervals in the height direction; each side of the material tray frame 52 is provided with two fixed clamping members 515 , which correspond one by one to the two movable clamping members 513 of the lifting drive member 510 .

[0074] The fixed clamping member 515 includes a base 5151 and a clamping portion 5152. The base 5151 is fixedly connected to the tray frame 52. An inwardly concave angle area is formed between the clamping portion 5152 and the base 5151. The clamping portion 5152 and the base 5151 are transitioned with an inner fillet.

[0075] The implementation principle of this embodiment is as follows: the two lifting driving members 510 of the lifting driving mechanism 51 respectively support the fixed clamping members 515 located on both sides of the material tray frame 52 through the movable clamping members 513, so that the lifting driving mechanism 51 can lift the material tray frame 52 upward. When one of the lifting driving mechanisms 51 lifts the working material tray frame 52 to complete the material discharging or receiving of all the material trays, the second material pushing Y axis 517 moves the prepared material tray frame 52 to the bottom of the working material tray frame 52 as a new working material tray frame 52, and then the lifting driving mechanism 51 away from the working material tray frame 52 moves to the same position as the lifting driving mechanism 51 where the working material tray frame 52 is located, and then the first material pushing Y axis 516 moves the working material tray frame 52 from one lifting driving mechanism 51 to another lifting driving mechanism 51, and then the two lifting driving mechanisms 51 are lowered and reset, and the movable clamping member 513 of one of the lifting driving mechanisms 51 passes through the fixed clamping member 515 of the new working material tray frame 52 and clamps the new fixed clamping member 515. The trays of the original working tray rack 52 are replaced and used as new reserve tray racks 52. Through the above scheme, the tray storage bin can continuously supply trays to the tray transfer device 3, so that the tray placing machine can perform continuous operation. Example 3

[0076] Reference Fig.10 and Fig.11 The difference between this embodiment and the first embodiment is that the finger rod 2123 and the connecting body 2122 are different components. A sliding rod 2124 is provided at one end of the finger rod 2123, and a sliding hole 2125 adapted to the sliding rod 2124 is provided in the connecting body 2122. The sliding rod 2124 is slidably connected to the sliding hole 2125. A compression spring 2126 is provided in the sliding hole 2125. The length direction of the compression spring 2126 is consistent with the depth direction of the sliding hole 2125. One end of the compression spring 2126 abuts against the sliding rod 2124, and the other end abuts against the downward inner wall of the sliding hole 2125. The connecting body 2122 is threadedly connected with a limit screw 2127. The limit screw 2127 is parallel to the sliding rod 2124, and the cap of the limit screw 2127 can prevent the sliding rod 2124 from slipping out of the sliding hole 2125. The compression spring 2126 is used to force the claw finger 2121 to remain in the state of maximum extension.

[0077] At least two balls 2128 are respectively provided on both sides of the sliding rod 2124. The balls 2128 on the same side are spaced apart along the height direction. The sliding rod 2124 is provided with ball grooves 2129 for installing the balls 2128. The number of the ball grooves 2129 is consistent with the number of the balls 2128. The balls 2128 abut against the inner wall of the sliding hole 2125. The direction of the force between the balls 2128 and the inner wall of the sliding hole 2125 is consistent with the opening and closing direction of the two finger rods 2123.

[0078] When the picking claw 212 picks up material from a material tray that is not a matrix material trough, the claw finger 2121 of one of the picking claws 212 extends into the circular hole of the blade, and the claw fingers 2121 of the other picking claws 212 cannot align with the circular holes of other blades at the same time. At this time, the claw fingers 2121 that cannot align with the circular holes of the blades will shrink inward to avoid the blades or the side walls of the material trough. The shrinking claw fingers 2121 will compress and deform the compression spring 2126. When the picking claw 212 rises, the elastic force of the compression spring 2126 will cause the finger rod 2123 to extend outward and reset.

[0079] Since the finger rod 2123 of the material grabbing gripper can be retracted to avoid the blade or the side wall of the material trough, the material grabbing gripper does not need to be provided with a material grabbing gripper Z axis in this embodiment, and therefore, the rotating shaft of the material grabbing claw C axis 213 in this embodiment does not need to have the function of telescopic sliding. In order to facilitate the distinction from the embodiment 1, the material grabbing claw C axis 213 of each material grabbing device 2 in this embodiment is provided with a mutually independent driving motor 2132. Example 4

[0080] Reference Fig.12 The difference between this embodiment and the third embodiment is that the C-axis 213 of the material-grabbing claw assembly 210 is detachably connected to the base plate 211 by a bolt 215, so that the material-grabbing claw 212 can be removed relative to the base plate 211. The base plate 211 is provided with a synchronous adjustment mechanism, which includes a first screw rod 216 and a second screw rod 217 parallel to each other. The first screw rod 216 and the second screw rod 217 are both rotatably mounted on the base plate 211. A synchronous transmission assembly 219 is connected between the first screw rod 216 and the second screw rod 217. The synchronous transmission assembly 219 in this embodiment is a synchronous belt assembly, and in other embodiments, it can also be a chain sprocket assembly or a gear set. The pitch of the second screw rod 217 is three times that of the first screw rod 216. The first screw rod 216 The first and second screw rods 216 and 217 are both double-headed screw rods. The two material picking claws 212 in the middle are the first material picking claws 21201, and the other two material picking claws 212 are the second material picking claws 21202. The first material picking claw 21201 is provided with a first threaded hole 2161 adapted to the first screw rod 216, and a first light hole 2162 for the second screw rod 217 to pass through. The second material picking claw 21202 is provided with a second threaded hole 2171 adapted to the second screw rod 217, and a second light hole 2172 for the first screw rod 216 to pass through.

[0081] The synchronous adjustment mechanism also includes a vernier nut 218 and a hand screw 2182. The hand screw 2182 is coaxially fixedly connected to the first screw 216. The pitch of the hand screw 2182 is twice the pitch of the first screw 216. The vernier nut 218 is threadedly connected to one end of the first screw 216 or the second screw 217. The base plate is provided with a guide 2181. The guide 2181 is used to prevent the vernier nut 218 from rotating around its own center line. The guide 2181 is provided with a scale; the cap of the hand screw 2182 is provided with an annular scale, and the annular scale uses the edge of the guide 2181 as a position reference.

[0082] The working principle of this embodiment is as follows: the four material-grabbing claws 212 of the material-grabbing device 2 are arranged at equal intervals in the horizontal direction. For material troughs arranged in a rectangular array, the four material-grabbing claws 212 of the material-grabbing device 2 can grab materials at the same time. When the specifications of the blades change and the arrangement spacing of the material troughs changes accordingly, the material-grabbing claws 212 can be temporarily removed from the base plate 211, and then the first screw 216 can be rotated by the hand screw 2182. The first screw 216 can drive the two first material-grabbing claws 21201 to move closer or farther from each other, and the second screw 217 can drive the two second material-grabbing claws 21202 to move closer or farther from each other. When the pitch of the second screw 217 is three times the pitch of the first screw 216, the spacing between the material-grabbing claws 212 can always remain consistent. After the spacing between the material-grabbing claws 212 is adjusted, each material-grabbing claw 212 is reinstalled and locked. In the process of adjusting the spacing of the material picking claws 212 , the variation of the spacing of the material picking claws 212 can be determined by utilizing the variation of the horizontal position of the vernier nut 218 and the variation of the angle of the annular scale.

[0083] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A fully automatic blade swinging machine, characterized in that: The invention comprises a controller (1), a material grabbing device (2), a material tray transfer device (3), a visual recognition device (4) and a material tray storage device (5), wherein the material grabbing device (2), the material tray transfer device (3), the visual recognition device (4) and the material tray storage device (5) are all electrically connected to the controller (1); the controller (1) is used to receive an image signal from the visual recognition device (4), and to control the operating states of the material grabbing device (2), the material tray transfer device (3) and the material tray storage device (5); Two material tray storage devices (5) are provided and arranged side by side in the transverse direction, one of which is a material discharging tray storage device (501) and the other is a material receiving tray storage device (502); the material tray storage device (5) comprises a material tray frame (52) and a lifting drive mechanism (51), the lifting drive mechanism (51) is used to drive the material tray frame (52) to move up and down, and the material tray frame (52) is provided with a plurality of material tray storage positions arranged in a height direction; Two material tray transfer devices (3) are provided, one of the two material tray transfer devices (3) is a material tray discharging transfer device (301), and the other is a material tray receiving transfer device (302); the material tray transfer device (3) comprises a material tray clamping claw (31) and a material tray Y axis (32), the material tray clamping claw (31) is used to clamp a material tray located on the material tray frame (52), and the material tray Y axis (32) is used to drive the material tray clamping claw (31) to move longitudinally; The material grabbing device (2) is used to transfer the blade from the material tray transferred by the material discharging tray transfer device (301) to the material tray transferred by the material receiving tray transfer device (302); two material grabbing devices (2) are provided and are arranged side by side in the longitudinal direction; the material grabbing device (2) comprises a material grabbing actuator (21) and a material grabbing X-axis (22), a material grabbing Y-axis (23) and a material grabbing Z-axis (24) for driving the material grabbing actuator (21) to move; the material grabbing actuator (21) comprises a base plate (211); the base plate (211) is provided with a plurality of material grabbing claws (212); the material grabbing claws (212) have material grabbing claw C-axis (213); the plurality of material grabbing claws (212) are installed on the base plate (211) at equal intervals in the transverse direction; the material grabbing claws (212) are used to grab the blades in the material tray transferred by the material tray transfer device (3); The visual recognition devices (4) are provided with two, one of which is a material discharging tray visual recognition device (401), and the other is a material receiving tray visual recognition device (402); the visual recognition device (4) comprises a camera (41) and a camera X-axis (42) for driving the camera (41) to move, and the camera (41) is used to identify the corresponding material tray of the material tray transfer device (3); The lifting drive mechanism (51) comprises two lifting drive members (510), the two lifting drive members (510) are arranged in a transverse direction, and the distance between the two lifting drive members (510) is greater than or equal to the transverse dimension of the material tray frame (52); the lifting drive member (510) is provided with a movable clamping member (513), the movable clamping member (513) is slidably connected to the lifting drive member (510) in a transverse direction, and the movable clamping member (513) is provided with a return spring (514), and the return spring (514) is used to force the movable clamping member (513) to remain in a position close to the lifting drive member (510) on the other side; Fixed clamping parts (515) are respectively provided on both sides of the material tray frame (52), and the fixed clamping parts (515) on both sides of the material tray frame (52) are respectively arranged corresponding to the movable clamping parts (513) of the two lifting drive parts (510), and the movable clamping parts (513) are provided with a guiding surface (5131) and a clamping surface (5132), and the clamping surface (5132) is arranged upwards, and the clamping surface (5132) is used to support the corresponding fixed clamping part (515), and the guiding surface (5131) is arranged obliquely downwards; When the movable clamping member (513) passes through the fixed clamping member (515) from top to bottom, the fixed clamping member (515) can push the movable clamping member (513) laterally away from the fixed clamping member (515) through the guide surface (5131); two lifting drive mechanisms (51) are provided, the two lifting drive mechanisms (51) are arranged in the longitudinal direction, and the distance between the two lifting drive mechanisms (51) is greater than or equal to the longitudinal dimension of the material tray frame (52); the material tray storage device (5) also includes a first material pusher The first pushing Y-axis (516) is used to push the material tray frame (52) at the upper dead point, and the second pushing Y-axis (517) is used to push the material tray frame (52) at the lower dead point. The driving directions of the first pushing Y-axis (516) and the second pushing Y-axis (517) are opposite. Two material tray frames (52) are provided and arranged in the longitudinal direction. One of the two material tray frames (52) is used as a working material tray frame (52), and the other is used as a standby material tray frame (52).

2. The fully automatic blade swinging machine according to claim 1, characterized in that: Each of the lifting drive members (510) is provided with a plurality of movable clamping members (513), which are arranged at intervals in the height direction; and each side of the material tray frame (52) is provided with a plurality of fixed clamping members (515), which correspond one-to-one to the plurality of movable clamping members (513) of the lifting drive members (510).

3. The fully automatic blade swinging machine according to claim 1 is characterized in that: The fixed clamping member (515) comprises a base (5151) and a clamping portion (5152); the base (5151) is fixedly connected to the tray frame (52); an inwardly concave angle region is formed between the clamping portion (5152) and the base (5151); and an inner fillet transition is formed between the clamping portion (5152) and the base (5151).

4. The fully automatic blade swinging machine according to claim 1, characterized in that: The material picking claw C-axis (213) has a rotating shaft capable of telescopic sliding, one end of the rotating shaft of the material picking claw C-axis (213) is fixedly connected to the material picking claw (212), and the other end is connected to the material picking claw Z-axis (214), and the material picking claw Z-axis (214) is fixedly mounted on the base plate (211).

5. The fully automatic blade swinging machine according to claim 1, characterized in that: The material taking claw (212) has two claw fingers (2121), and the claw fingers (2121) include a connecting body (2122) and a finger rod (2123). The cross section of the finger rod (2123) is a minor arc, and the two claw fingers (2121) abut against the circular hole of the blade through the arc surface of the finger rod (2123).

6. The fully automatic blade swinging machine according to claim 5, characterized in that: The finger rod (2123) is slidably and telescopically connected to the connecting body (2122), and the connecting body (2122) is provided with a compression spring (2126), and the compression spring (2126) is used to force the claw finger (2121) to remain in a state of maximum extension size.

7. The fully automatic blade swinging machine according to claim 6, characterized in that: A sliding rod (2124) is provided at one end of the finger rod (2123); a sliding hole (2125) adapted to the sliding rod (2124) is provided on the connecting body (2122); the compression spring (2126) is located in the sliding hole (2125); one end of the compression spring (2126) abuts against the sliding rod (2124), and the other end abuts against the downward inner wall of the sliding hole (2125); and the two sides of the sliding rod (2124) are respectively A ball (2128) is provided, the ball (2128) abuts against the inner wall of the sliding hole (2125), and the direction of the force between the ball (2128) and the inner wall of the sliding hole (2125) is consistent with the opening and closing direction of the two finger rods (2123); the connecting body (2122) is provided with a limit screw (2127), and the limit screw (2127) is used to prevent the sliding rod (2124) from slipping out of the sliding hole (2125).

8. The fully automatic blade swinging machine according to claim 6, characterized in that: The material-grabbing claws (212) are provided with four and are arranged at equal intervals in the transverse direction. The material-grabbing claws (212) are detachably connected to the base plate (211). The base plate (211) is provided with a synchronous adjustment mechanism, which comprises a first screw rod (216) and a second screw rod (217) which are parallel to each other. The first screw rod (216) and the second screw rod (217) are both rotatably mounted on the base plate (211). A synchronous transmission assembly (219) is connected between the first screw rod (216) and the second screw rod (217). The pitch of the second screw rod (217) is three times that of the first screw rod (216). ) and the second screw (217) are both double-headed screws, the two material-picking claws (212) located in the middle are first material-picking claws (21201), and the other two material-picking claws (212) are second material-picking claws (21202), the first material-picking claw (21201) is provided with a first threaded hole (2161) adapted to the first screw (216), and is provided with a first light hole (2162) for the second screw (217) to pass through, the second material-picking claw (21202) is provided with a second threaded hole (2171) adapted to the second screw (217), and is provided with a second light hole (2172) for the first screw (216) to pass through.

9. The fully automatic blade swinging machine according to claim 8, characterized in that: The synchronous adjustment mechanism further comprises a vernier nut (218) and a hand screw (2182), wherein the hand screw (2182) is coaxially fixedly connected to the first screw rod (216), and the pitch of the hand screw (2182) is twice the pitch of the first screw rod (216). The vernier nut (218) is threadedly connected to one end of the first screw rod (216) or the second screw rod (217). The material picking claw (212) box is provided with a guide member (2181), and the guide member (2181) is used to prevent the vernier nut (218) from rotating around its own center line. The guide member (2181) is provided with a scale. The cap of the hand screw (2182) is provided with an annular scale, and the annular scale uses the edge of the guide member (2181) as a position reference.

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