Track link section automatic feeding device and working method thereof

Abstract

The invention relates to an automatic feeding device for caterpillar track sections. The automatic feeding device comprises a rack, a caterpillar track section recognition module, a swing manipulator assembly, a caterpillar track section turnover mechanism, a caterpillar track section positioning and conveying mechanism, a feeding manipulator assembly and a control system. The caterpillar track section recognition module shoots caterpillar track section images in the transfer box through an industrial camera to obtain shape, position and posture information of the caterpillar track sections; the swinging manipulator assembly grabs the caterpillar track section through a swinging manipulator, the caterpillar track section is placed in the caterpillar track section turnover mechanism after the posture of the caterpillar track section is adjusted, and then the caterpillar track section is grabbed and placed on the follow-up positioning plate; the caterpillar track section turnover mechanism is used for turning over caterpillar track sections; the caterpillar track section positioning and conveying mechanism conveys the caterpillar track sections on the follow-up positioning plate to the feeding manipulator through a conveying mechanism; the feeding mechanical arm assembly grabs the caterpillar track sections on the follow-up positioning plate through a feeding mechanical arm and places the caterpillar track sections on machining equipment. The device is high in automation degree and high in feeding efficiency, and the caterpillar track sections can be accurately positioned in the feeding process, so that the machining precision of the next working procedure is improved.

Description

Technical Field

[0001] The invention relates to the technical field of chain track segment processing, and in particular to an automatic feeding device for chain track segments and a working method thereof. Background Art

[0002] As an important part of tracked vehicles, the machining quality of track links plays a vital role in the performance of the entire vehicle. The milling process of the end face of track links is a key link in the machining process, but most existing technologies rely on manual loading, which not only leads to low production efficiency, but also easily damages the workpiece surface or causes positioning errors during handling, thus affecting product quality.

[0003] In the prior art, there are some patents for automatic feeding of chain track segments, such as patents CN213104311U and CN113665881A, which use manipulators or conveyor belts to transport chain track segments from storage devices to processing stations, thus reducing manual intervention. However, these implementation solutions still have the following shortcomings: 1. Low degree of automation and insufficient feeding efficiency: The existing device has insufficient degree of automation and weak automatic adjustment capability. Sometimes manual intervention is still required to successfully complete the loading of the track link identification, sorting, grabbing and other operations, which not only wastes labor but also has a slow loading speed and is difficult to meet the needs of an efficient production line.

[0004] 2. Insufficient positioning accuracy: Since the position and posture of the chain track segments in the transfer box are different, most equipment lacks accurate positioning and correction mechanisms during the transportation and loading of the chain track segments, resulting in deviations in the positioning of the chain track segments during the loading process. These deviations will affect the processing accuracy of the next process of the chain track segments, thereby further affecting the assembly accuracy of the chain track segments. Summary of the invention

[0005] The object of the present invention is to provide an automatic feeding device for track links and a working method thereof, the device has a high degree of automation and high feeding efficiency, and can accurately position the track links during the feeding process to improve the processing accuracy of the next process.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an automatic feeding device for a chain track segment, comprising a frame, on which a chain track segment identification module, a swinging material manipulator assembly, a chain track segment flipping mechanism, a chain track segment positioning and conveying mechanism, a feeding manipulator assembly and a control system are arranged; The chain track segment recognition module includes a material placement shelf, an industrial camera and a bracket thereof. The material placement shelf is used to place a transfer box with chain track segments. The industrial camera is used to capture images of the chain track segments in the transfer box and obtain the shape, position and posture information of the chain track segments through an image processing system to provide guidance for subsequent material placement robot operations. The swing material manipulator assembly includes a swing material manipulator and a first driving mechanism. The swing material manipulator is installed on the upper front side of the frame through the first driving mechanism, and is used to grab the chain track segment in the transfer box, adjust its posture and then place it on the follower positioning plate of the chain track segment positioning and conveying mechanism, or adjust its initial posture and then place it in the chain track segment flipping mechanism, flip it through the chain track segment flipping mechanism, and then grab it and place it on the follower positioning plate of the chain track segment positioning and conveying mechanism; The chain track segment flipping mechanism is located in the working area of ​​the swinging material manipulator and is used to flip the chain track segment placed thereon; The chain track segment positioning and conveying mechanism comprises a follower positioning plate and a conveying mechanism, wherein the follower positioning plate is located on the conveying mechanism and moves back and forth along the conveying direction of the chain track segment to convey the accurately positioned chain track segment to the working area of ​​the loading robot and reset it; The feeding manipulator assembly includes a feeding manipulator and a second driving mechanism, and the feeding manipulator is installed on the upper rear side of the frame through the second driving mechanism, and is used to grab the chain track section on the follower positioning plate and place it on the next process processing equipment for processing; The control system is used to automatically control the entire working process of the chain track segment automatic feeding device.

[0007] Furthermore, the bracket of the industrial camera includes a camera gimbal adjustment frame and a camera lifting bracket; the industrial camera is installed on the camera gimbal adjustment frame to flexibly adjust the angle of the industrial camera; the camera lifting bracket is provided with a first slide groove along the length direction, and the camera gimbal adjustment frame is slidably assembled in the first slide groove of the camera lifting bracket and can slide back and forth along the first slide groove; the frame is provided with a vertical slide groove, and the camera lifting bracket is installed on the vertical slide groove of the frame, and the length direction of the camera lifting bracket is parallel to the conveying direction of the chain track section, so that the installation height and front and rear orientation of the industrial camera can be adjusted by changing the installation position of the camera lifting bracket on the vertical slide groove and the position of the camera gimbal adjustment frame in the first slide groove.

[0008] Furthermore, the material unloading shelf is located beside the chain track segment flipping mechanism and the chain track segment positioning and conveying mechanism, and the transfer box containing the chain track segments is placed on the material unloading shelf. The industrial camera captures images of the chain track segments in the transfer box, and analyzes the captured image data through the image processing system to identify the shape characteristics, spatial position and angular posture of the chain track segments, which are used to subsequently guide the material swinging robot to grasp, adjust the posture and carry the chain track segments, thereby ensuring the accuracy and stability of the entire loading process.

[0009] Furthermore, the first driving mechanism is a three-degree-of-freedom truss structure composed of an X-axis screw slide, a Y-axis screw slide and a Z-axis screw slide, the Y-axis screw slide is installed on the upper front side of the frame, the X-axis screw slide is installed on the Y-axis screw slide, and the Z-axis screw slide is installed on the X-axis screw slide; the swinging robot is installed on the Z-axis screw slide so as to move in three directions under the drive of the first driving mechanism.

[0010] Furthermore, the material swinging robot includes a robot connecting frame, a robot arm base, a swinging robot arm, an end connecting plate and a robot clamp, the robot arm base is installed on a first driving mechanism through the robot connecting frame, the swinging robot arm is installed on the robot arm base, and a swinging driving device is provided in the robot arm base to drive the swinging robot arm to swing, the end connecting plate is installed on the swinging robot arm, and a first rotation driving device is provided in the swinging robot arm to drive the end connecting plate to rotate, and the robot clamp is installed on the end connecting plate and can perform clamping and releasing actions.

[0011] Furthermore, the chain track segment flipping mechanism includes a rotating clamp, a rotating turntable and a flipping mechanism base. The rotating turntable is installed on the frame through the flipping mechanism base, and a second rotating drive device is provided in the flipping mechanism base to drive the rotating turntable to rotate. The rotating clamp is installed on the rotating turntable and can perform clamping and releasing actions.

[0012] Furthermore, the conveying mechanism includes two transmission driven sprockets, a driven shaft, two transmission chains, two transmission driving sprockets, a driving shaft, a motor driven sprocket, a motor driving chain, a motor driving sprocket, a power motor and a chain supporting guide rail; the driven shaft is rotatably connected to the front end of the frame, the two transmission driven sprockets are installed on the left and right sides of the driven shaft, the driving shaft is rotatably connected to the rear end of the frame, the two transmission driving sprockets are installed on the left and right sides of the driving shaft, and the two transmission chains are respectively wound between the transmission driven sprockets and the transmission driving sprockets on the left and right sides; The motor driven sprocket is installed at one end of the driving shaft, the power motor is installed on the frame, and its output end is connected to the motor driving sprocket, and the motor driving sprocket cooperates with the motor driven sprocket through the motor driving chain to drive the driving shaft and the transmission driving sprocket thereon to rotate; a plurality of chain support rails are arranged on the frame along the conveying direction of the chain track section to support the transmission chain; the left and right ends of the follower positioning plate are respectively fixedly connected to the two transmission chains to move with the operation of the transmission chain; a plurality of groups of positioning pins for positioning the chain track section are arranged on the follower positioning plate.

[0013] Furthermore, the conveying mechanism also includes two chain drive adjustment modules, which are respectively arranged on the left and right sides of the front end of the frame, and slideably cooperate with the frame, and can be fixed to the frame by fasteners. The left and right ends of the driven shaft are rotatably connected to the two chain drive adjustment modules, so that the tension of the transmission chain can be adjusted by changing the relative position of the chain drive adjustment module and the frame.

[0014] Furthermore, the second driving mechanism includes a Z-axis motor of a loading robot, a motor mounting seat, a compound slide, an X-axis motor of a loading robot, an X-axis slide and a loading robot. The Z-axis motor of the loading robot is fixedly mounted on the upper rear side of the frame through the motor mounting seat. The Z-axis motor of the loading robot drives the compound slide to move up and down along the Z-axis direction. The X-axis motor of the loading robot is fixedly mounted on the compound slide. The X-axis motor of the loading robot drives the X-axis slide to move forward and backward along the X-axis direction. The loading robot is mounted on the X-axis slide and can perform clamping and placing actions to clamp the chain track segments and place them accurately on the next process equipment for processing.

[0015] The present invention also provides a working method of the above-mentioned automatic feeding device for chain track segments, comprising the following steps: S1. Use an industrial camera to capture images of the chain track segments in the transfer box on the material rack, and then use an image processing system to obtain the shape, position and posture information of the chain track segments; S2. According to the shape, position and posture information of the chain track segment, determine whether it is necessary to perform a flipping process and calculate the operation process of the swing material manipulator. If flipping is required, the swing material manipulator is controlled to grab the chain track segment in the transfer box, adjust its initial posture and place it in the chain track segment flipping mechanism, then control the chain track segment flipping mechanism to flip the chain track segment, and then control the swing material manipulator to grab the chain track segment on the chain track segment flipping mechanism, adjust its posture and place it on the follow-up positioning plate; if flipping is not required, the swing material manipulator is controlled to grab the chain track segment in the transfer box, directly adjust its posture and place it on the follow-up positioning plate; S3, control the conveying mechanism to convey the precisely positioned chain rail segment to the working area of ​​the feeding robot, and reset it after the feeding robot grabs it; S4, control the loading robot to grab the chain track section on the follow-up positioning plate, and place it on the next process processing equipment for processing.

[0016] Compared with the prior art, the present invention has the following beneficial effects: the present invention provides an automatic feeding device for track links and a working method thereof, which realizes the automatic feeding process of track links based on the comprehensive technology of image recognition, robot grabbing, automatic flipping, precise positioning and conveying; the industrial camera collects the image of the track link and identifies it, the swinging robot grabs the track link according to the identification information and adjusts the posture of the track link in cooperation with the flipping mechanism, and then accurately positions it on the follow-up positioning plate and conveys it to the working area of ​​the feeding robot, and finally grabs the track link by the feeding robot and places it in the next process processing equipment. The whole device has a high degree of automation, which not only greatly improves the feeding efficiency, but also can accurately position the track link during the feeding process, thereby improving the processing accuracy of the next process of the track link, and then improving the assembly accuracy of the track link. Therefore, the present invention has strong practicality and broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the overall structure of the automatic feeding device for the chain track section according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of an industrial camera and a bracket thereof in an embodiment of the present invention; Figure 3 2 is a schematic diagram of the structure of the swinging material manipulator in an embodiment of the present invention; Figure 4 2 is a schematic structural diagram of a chain track section flipping mechanism according to an embodiment of the present invention; Figure 5 It is a schematic structural diagram of a follow-up positioning plate in an embodiment of the present invention.

[0018] In the figure: 1-frame; 2-material unloading shelf; 3-material swinging manipulator; 4-industrial camera and its bracket; 5-chain track section flipping mechanism; 6-chain transmission adjustment module; 7-driven shaft; 8-driven driven sprocket; 9-transmission chain; 10-X-axis screw slide; 11-Y-axis screw slide; 12-Z-axis screw slide; 13-chain track section; 14-follow-up positioning plate; 15-Z-axis motor of feeding manipulator; 16-motor mounting seat; 17-compound slide; 18-X-axis motor of feeding manipulator; 19-X-axis slide; 20-up Material robot; 21-transmission driving sprocket; 22-driving shaft; 23-motor driven sprocket; 24-motor driving chain; 25-motor driving sprocket; 26-power motor; 27-chain support guide rail; 28-robot connecting frame; 29-robotic arm base; 30-swinging robotic arm; 31-end connecting plate; 32-mechanical gripper; 33-industrial camera; 34-camera universal adjustment frame; 35-camera lifting bracket; 36-rotating gripper; 37-rotating turntable; 38-flip mechanism base; 39-positioning pin. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0021] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0022] like Figure 1-5 As shown, this embodiment provides an automatic feeding device for track segments, including a frame 1, on which a track segment identification module, a swinging robot assembly, a track segment flipping mechanism 5, a track segment positioning and conveying mechanism, a feeding robot assembly and a control system are provided.

[0023] The track segment identification module includes a material placement rack 2, an industrial camera and its bracket 4. The material placement rack 2 is used to place a transfer box containing track segments. The industrial camera 33 is used to capture images of the track segments in the transfer box and obtain the shape, position and posture information of the track segments through an image processing system to provide precise guidance for subsequent material placement robot 3 operations.

[0024] The swinging material robot assembly includes a swinging material robot 3 and a first driving mechanism. The swinging material robot 3 is installed on the upper front side of the frame 1 through the first driving mechanism, and is used to grab the chain track segment 13 in the transfer box, adjust its posture and then place it on the follower positioning plate 14 of the chain track segment positioning and conveying mechanism, or adjust its initial posture and then place it in the chain track segment flipping mechanism 5. After being flipped by the chain track segment flipping mechanism 5, it is grabbed and placed on the follower positioning plate 14 of the chain track segment positioning and conveying mechanism.

[0025] The track segment flipping mechanism 5 is located in the working area of ​​the swinging manipulator 3 and is used to flip the track segment placed thereon by 180 degrees to ensure that the track segment can reach a preset posture and meet the requirements of subsequent processing.

[0026] The chain track segment positioning and conveying mechanism includes a follower positioning plate 14 and a conveying mechanism. The follower positioning plate 14 is located on the conveying mechanism and moves back and forth along the conveying direction of the chain track segment to convey the accurately positioned chain track segment to the working area of ​​the feeding robot 20 and reset it. The positioning of the follower positioning plate ensures the accuracy of subsequent grabbing and placement.

[0027] The loading robot assembly includes a loading robot 20 and a second drive mechanism. The loading robot 20 is installed on the upper rear side of the frame 1 through the second drive mechanism, and is used to grab the chain track segment on the follower positioning plate and place it on the next process processing equipment (in this embodiment, the chain track segment end milling machine) for processing.

[0028] The control system is used to automatically control the entire working process of the chain track segment automatic feeding device.

[0029] All the above modules, components and mechanisms are designed and installed in an integral rack. The structural support and overall design of the rack can effectively improve the coordination and stability between modules, ensuring that the system has good stability, accuracy and reliability during long-term operation.

[0030] like Figure 2 As shown, the bracket of the industrial camera 33 includes a camera gimbal adjustment frame 34 and a camera lifting bracket 35; the industrial camera 33 is installed on the camera gimbal adjustment frame 34 to flexibly adjust the angle of the industrial camera; the camera lifting bracket 35 is provided with a first slide groove along the length direction, and the camera gimbal adjustment frame 34 is slidably assembled in the first slide groove of the camera lifting bracket 35 and can slide back and forth along the first slide groove; the frame 1 is provided with a vertical slide groove, and the camera lifting bracket 35 is installed on the vertical slide groove of the frame 1, and the length direction of the camera lifting bracket is parallel to the conveying direction of the chain track section, so that the installation height and front and rear orientation of the industrial camera can be adjusted by changing the installation position of the camera lifting bracket on the vertical slide groove and the position of the camera gimbal adjustment frame in the first slide groove.

[0031] The unloading shelf 2 is located beside the chain track segment flipping mechanism 5 and the chain track segment positioning and conveying mechanism. The transfer box containing the chain track segments is placed on the unloading shelf. The industrial camera 33 captures images of the chain track segments in the transfer box, and analyzes the captured image data through the image processing system to identify the shape characteristics, spatial position and angular posture of the chain track segments, which are used to subsequently guide the material swinging robot to grasp, adjust the posture and carry the chain track segments, thereby ensuring the accuracy and stability of the entire loading process.

[0032] In this embodiment, the first driving mechanism is a three-degree-of-freedom truss structure composed of an X-axis screw slide 10, a Y-axis screw slide 11 and a Z-axis screw slide 12, the Y-axis screw slide 11 is installed on the upper front side of the frame 1, the X-axis screw slide 10 is installed on the Y-axis screw slide 11, and the Z-axis screw slide 12 is installed on the X-axis screw slide 10; the swinging robot 3 is installed on the Z-axis screw slide 12 to move in three directions under the drive of the first driving mechanism.

[0033] like Figure 3 As shown, the swinging material robot 3 includes a robot connecting frame 28, a robot arm base 29, a swinging robot arm 30, an end connecting plate 31 and a robot clamp 32. The robot arm base 29 is installed on the first driving mechanism through the robot connecting frame 28. The swinging robot arm 30 is installed on the robot arm base 29, and a swinging driving device is provided in the robot arm base 29 to drive the swinging robot arm to swing. The end connecting plate 31 is installed on the swinging robot arm 30, and a first rotating driving device is provided in the swinging robot arm 30 to drive the end connecting plate to rotate. The robot clamp 32 is installed on the end connecting plate 31 and can perform clamping and placing actions.

[0034] like Figure 4 As shown, the chain track segment flipping mechanism 5 includes a rotating jaw 36, a rotating turntable 37 and a flipping mechanism base 38. The rotating turntable 37 is installed on the frame 1 through the flipping mechanism base 38, and a second rotating drive device is provided in the flipping mechanism base 38 to drive the rotating turntable 37 to rotate. The rotating jaw 36 is installed on the rotating turntable 37 and can perform a clamping and releasing action.

[0035] like Figure 1 As shown, the conveying mechanism includes two transmission driven sprockets 8, a driven shaft 7, two transmission chains 9, two transmission driving sprockets 21, a driving shaft 22, a motor driven sprocket 23, a motor drive chain 24, a motor driving sprocket 25, a power motor 26, a chain support guide rail 27 and two chain transmission adjustment modules 6. The driven shaft 7 is rotatably connected to the front end of the frame 1, the two transmission driven sprockets 8 are installed on the left and right sides of the driven shaft 7, the driving shaft 22 is rotatably connected to the rear end of the frame 1, the two transmission driving sprockets 21 are installed on the left and right sides of the driving shaft 22, and the two transmission chains 9 are respectively wound between the transmission driven sprockets and the transmission driving sprockets on the left and right sides. The motor driven sprocket 23 is installed at one end of the driving shaft, the power motor 26 is installed on the frame 1, and its output end is connected to the motor driving sprocket 25, and the motor driving sprocket 25 cooperates with the motor driven sprocket 23 through the motor driving chain 24 to drive the driving shaft and the transmission driving sprocket thereon to rotate. The frame 1 is provided with a plurality of chain support rails 27 along the conveying direction of the chain track segment to support the transmission chain. The left and right ends of the follower positioning plate 14 are respectively fixedly connected to the two transmission chains 9 to move with the operation of the transmission chain 9. The follower positioning plate 14 is provided with a plurality of groups of positioning pins 39 for positioning the chain track segment 13. The positioning of the positioning pins ensures the stability and accuracy of the chain track segment during the conveying process. Figure 5 As shown, in this embodiment, two left and right groups of positioning pins 39 are arranged side by side on the follower positioning plate 14 .

[0036] The two chain drive adjustment modules 6 are respectively arranged on the left and right sides of the front end of the frame 1, and are slidably matched with the frame 1, and can be fixed to the frame by fasteners. The left and right ends of the driven shaft 7 are rotatably connected to the two chain drive adjustment modules 6, so that the tension of the transmission chain can be adjusted by changing the relative position of the chain drive adjustment module and the frame.

[0037] In this embodiment, the second driving mechanism includes a feeding robot Z-axis motor 15, a motor mounting seat 16, a compound slide 17, a feeding robot X-axis motor 18, an X-axis slide 19 and a feeding robot 20. The feeding robot Z-axis motor 15 is fixedly mounted on the upper rear side of the frame 1 through the motor mounting seat 16. The feeding robot Z-axis motor 15 drives the compound slide 17 to move up and down along the Z-axis direction through the transmission of the ball screw. The feeding robot X-axis motor 18 is fixedly mounted on the compound slide 17. The feeding robot X-axis motor 18 drives the X-axis slide 19 to move forward and backward along the X-axis direction through the transmission of the ball screw. The feeding robot 20 is installed on the X-axis slide 19 and can perform clamping and placing actions to clamp the chain track segment and place it accurately on the chain track segment end milling machine for processing.

[0038] This embodiment also provides a working method of the above-mentioned automatic feeding device for chain track segments, comprising the following steps: S1. Use an industrial camera to capture images of the chain track segments in the transfer box on the material rack, and then use an image processing system to obtain the shape, position and posture information of the chain track segments; S2. According to the shape, position and posture information of the chain track segment, determine whether it is necessary to perform a flipping process and calculate the operation process of the swing material manipulator. If flipping is required, the swing material manipulator is controlled to grab the chain track segment in the transfer box, adjust its initial posture and place it in the chain track segment flipping mechanism, then control the chain track segment flipping mechanism to flip the chain track segment, and then control the swing material manipulator to grab the chain track segment on the chain track segment flipping mechanism, adjust its posture and place it on the follow-up positioning plate; if flipping is not required, the swing material manipulator is controlled to grab the chain track segment in the transfer box, directly adjust its posture and place it on the follow-up positioning plate; S3, control the conveying mechanism to convey the precisely positioned chain rail segment to the working area of ​​the feeding robot, and reset it after the feeding robot grabs it; S4, control the loading robot to grab the chain track segment on the follow-up positioning plate, and place it on the chain track segment end face milling machine for processing.

[0039] The relevant contents in the process of implementing this device are further elaborated below.

[0040] 1. Installation of industrial camera: Install the industrial camera 33 on the camera universal adjustment bracket 34. The camera universal adjustment bracket 34 can flexibly adjust the angle of the industrial camera and the installation position along the X-axis direction to better meet the shooting requirements in different working scenes. The camera universal adjustment bracket 34 is installed on the camera lifting bracket 35, and the camera lifting bracket 35 is mainly used to adjust the height of the industrial camera to ensure that the industrial camera can achieve a comprehensive field of view coverage of the entire area of ​​the material rack. After adjusting the installation height, the camera lifting bracket 35 is fixed on the rack 1 to maintain the overall stability of the camera.

[0041] 2. Placement of transfer box and camera shooting: Place the transfer box with the chain track segment on the material placement shelf 2. The industrial camera 33 automatically starts after starting work and collects images of the chain track segment in the transfer box. The image processing system analyzes the collected image data to accurately identify the shape characteristics, spatial position and angle posture of the chain track segment, thereby obtaining the initial posture and position information of the chain track segment. This information will be used to guide the subsequent material placement robot 3 to grasp, adjust the posture and carry the chain track segment, ensuring the accuracy and stability of the entire loading process.

[0042] 3. Operation of the swinging manipulator: The swinging manipulator 3 is freely movable through a three-degree-of-freedom truss structure composed of an X-axis screw slide 10, a Y-axis screw slide 11, and a Z-axis screw slide 12. The connecting frame 28 of the swinging manipulator 3 is mounted on the Z-axis screw slide 12 and is connected to the mechanical arm 29. The mechanical arm 29 enables the swinging manipulator 30 to swing. At the same time, the swinging manipulator 30 can drive the end connecting plate 31 and the mechanical gripper 32 to rotate. The end connecting plate 31 tightly connects the swinging manipulator 30 with the mechanical gripper 32, thereby ensuring that the swinging manipulator 3 can more stably and accurately complete the clamping operation of the chain track section when performing translation and rotation movements.

[0043] During operation, the swinging manipulator 3 uses the coordinated movement of the X-axis screw slide 10, the Y-axis screw slide 11 and the Z-axis screw slide 12 to move to the top of the identified chain track section and implement clamping. According to actual needs, the swinging manipulator 3 can drive the end connecting plate 31 and the mechanical clamp 32 to adjust the angle in the horizontal direction by swinging the mechanical arm 30, thereby adjusting the initial posture of the chain track section to a preset horizontal state, providing an accurate posture reference for subsequent operations.

[0044] 5. Operation of the chain track segment flipping mechanism: When the swinging manipulator 3 delivers the chain track segment to the flipping mechanism, the rotating claw 36 first firmly clamps the chain track segment. Then, the rotating turntable 37 is driven by the flipping mechanism base 38 to flip the chain track segment 180°, completing the chain track segment flipping operation. The entire flipping process accurately controls the rotation angle to ensure that the chain track segment can reach the preset posture, thereby providing reliable protection for subsequent processing steps.

[0045] 6. Adjustment and placement of the chain track segment: After the flipping is completed, the chain track segment is re-clamped by the swinging manipulator 3, and the chain track segment is swung from a vertical state to a horizontal position by swinging the mechanical arm 30, and at the same time, the end connecting plate 31 and the mechanical clamp 32 are coordinated to perform a 90° horizontal rotation. Subsequently, the swinging manipulator 3 relies on the precise translation movement of the X-axis screw slide 10, the Y-axis screw slide 11 and the Z-axis screw slide 12 to firmly place the chain track segment adjusted to a predetermined posture on the follow-up positioning plate 14, providing a stable positioning basis for subsequent processes.

[0046] 7. The transmission process of the follower positioning plate and the chain: The follower positioning plate 14 is fixed on the chain 9 and moves with the chain 9. The main function of the chain 9 is to carry the follower positioning plate 14 and the chain track section, and to transmit the chain track section to the designated position of the assembly line through chain transmission. Two sets of positioning pins 39 are installed on the follower positioning plate 14 to accurately locate the chain track section to ensure that the chain track section can maintain a stable posture during the transmission process. A chain support rail 27 is also provided at the bottom of the chain 9 to carry and support the chain, reduce the force deformation of the chain during the movement, and thus improve the stability and carrying capacity of the entire transmission system.

[0047] 8. Grasping and processing positioning of the loading manipulator: When the chain track segment is transmitted to the designated grabbing position of the frame 1, the loading manipulator 20 located at the end area of ​​the frame 1 starts the grabbing operation. The Z-axis motor 15 and the motor mounting seat 16 provide the power for the translational movement of the Z-axis, and drive the compound slide 17 to move in the Z-axis direction through the transmission of the ball screw. The X-axis motor 18 on the compound slide 17 drives the X-axis slide 19 to move horizontally, so that the left and right loading manipulators 20 installed on the X-axis slide 19 can synchronously clamp the two chain track segments 13 on the two sets of positioning pins, and accurately place them into the chain track segment end milling machine for processing. The double loading manipulator 20 can accurately clamp and transfer the chain track segment 13 according to the positioning information provided by the positioning pins 39 on the follower positioning plate 14, thereby ensuring the stability and processing accuracy of the chain track segment 13 during the processing.

[0048] The automatic feeding device for chain track segments provided by the present invention has the following advantages: 1. Improve feeding efficiency: The industrial camera automatically identifies the position information of the chain track segment, and the swing robot and flip mechanism automatically adjust the chain track segment. In combination with the feeding robot, the feeding efficiency can be greatly improved and manual intervention can be reduced.

[0049] 2. Achieve high-precision positioning and processing: By utilizing the cooperation between the follow-up positioning plate and the chain and the precise positioning of the positioning pin, the loading robot can accurately grab the chain track segment and place it in the processing equipment, thereby ensuring the stability and processing accuracy of the chain track segment processing process.

[0050] 3. Improve the level of automation: The present invention realizes the fully automated operation of the chain track section from identification, placement, positioning to processing, which greatly improves the automation level of the production line and reduces the complexity and labor intensity of manual operation.

[0051] To sum up, the automatic feeding device for chain track segments provided by the present invention effectively solves the problems of low manual feeding efficiency and low automation level in the prior art, has the advantages of high feeding accuracy, high efficiency and high degree of automation, and can be widely used in the field of automatic processing and feeding of chain track segment production lines.

[0052] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A chain track segment automatic feeding device, characterized in that: It comprises a frame, on which a chain track segment identification module, a swinging material manipulator assembly, a chain track segment flipping mechanism, a chain track segment positioning and conveying mechanism, a feeding manipulator assembly and a control system are arranged; The chain track segment recognition module includes a material placement shelf, an industrial camera and a bracket thereof. The material placement shelf is used to place a transfer box with chain track segments. The industrial camera is used to capture images of the chain track segments in the transfer box and obtain the shape, position and posture information of the chain track segments through an image processing system to provide guidance for subsequent material placement robot operations. The swing material manipulator assembly includes a swing material manipulator and a first driving mechanism. The swing material manipulator is installed on the upper front side of the frame through the first driving mechanism, and is used to grab the chain track segment in the transfer box, adjust its posture and then place it on the follower positioning plate of the chain track segment positioning and conveying mechanism, or adjust its initial posture and then place it in the chain track segment flipping mechanism, flip it through the chain track segment flipping mechanism, and then grab it and place it on the follower positioning plate of the chain track segment positioning and conveying mechanism; The chain track segment flipping mechanism is located in the working area of ​​the swinging material manipulator and is used to flip the chain track segment placed thereon; The chain track segment positioning and conveying mechanism comprises a follower positioning plate and a conveying mechanism, wherein the follower positioning plate is located on the conveying mechanism and moves back and forth along the conveying direction of the chain track segment to convey the accurately positioned chain track segment to the working area of ​​the loading robot and reset it; The feeding manipulator assembly includes a feeding manipulator and a second driving mechanism, and the feeding manipulator is installed on the upper rear side of the frame through the second driving mechanism, and is used to grab the chain track section on the follower positioning plate and place it on the next process processing equipment for processing; The control system is used to automatically control the entire working process of the chain track segment automatic feeding device.

2. The automatic feeding device for chain track segments according to claim 1 is characterized in that: The industrial camera bracket includes a camera universal adjustment bracket and a camera lifting bracket; The industrial camera is installed on a camera universal adjustment frame to flexibly adjust the angle of the industrial camera; the camera lifting bracket is provided with a first slide groove along the length direction, and the camera universal adjustment frame is slidably assembled in the first slide groove of the camera lifting bracket and can slide back and forth along the first slide groove; the frame is provided with a vertical slide groove, and the camera lifting bracket is installed on the vertical slide groove of the frame, and the length direction of the camera lifting bracket is parallel to the conveying direction of the chain track section, so that the installation height and front and rear orientation of the industrial camera can be adjusted by changing the installation position of the camera lifting bracket on the vertical slide groove and the position of the camera universal adjustment frame in the first slide groove.

3. The automatic feeding device for chain track segments according to claim 1 is characterized in that: The material unloading shelf is located beside the chain track segment flipping mechanism and the chain track segment positioning and conveying mechanism. The transfer box containing the chain track segments is placed on the material unloading shelf. The industrial camera captures images of the chain track segments in the transfer box, and analyzes the captured image data through the image processing system to identify the shape characteristics, spatial position and angular posture of the chain track segments, which are used to subsequently guide the material swinging robot to grasp, adjust the posture and carry the chain track segments, thereby ensuring the accuracy and stability of the entire loading process.

4. The automatic feeding device for chain track segments according to claim 1 is characterized in that: The first driving mechanism is a three-degree-of-freedom truss structure composed of an X-axis screw slide, a Y-axis screw slide and a Z-axis screw slide. The Y-axis screw slide is installed on the upper front side of the frame, the X-axis screw slide is installed on the Y-axis screw slide, and the Z-axis screw slide is installed on the X-axis screw slide; the swinging robot is installed on the Z-axis screw slide to move in three directions under the drive of the first driving mechanism.

5. The automatic feeding device for chain track segments according to claim 1 is characterized in that: The material swinging robot includes a robot connecting frame, a robot arm base, a swinging robot arm, an end connecting plate and a robot clamp, the robot arm base is installed on a first driving mechanism through the robot connecting frame, the swinging robot arm is installed on the robot arm base, and a swinging driving device is provided in the robot arm base to drive the swinging robot arm to swing, the end connecting plate is installed on the swinging robot arm, and a first rotating driving device is provided in the swinging robot arm to drive the end connecting plate to rotate, and the robot clamp is installed on the end connecting plate and can perform clamping and releasing actions.

6. The automatic feeding device for chain track segments according to claim 1, characterized in that: The chain track segment flipping mechanism includes a rotating clamp, a rotating turntable and a flipping mechanism base. The rotating turntable is installed on the frame through the flipping mechanism base, and a second rotating drive device is arranged in the flipping mechanism base to drive the rotating turntable to rotate. The rotating clamp is installed on the rotating turntable and can perform clamping and releasing actions.

7. The automatic feeding device for chain track segments according to claim 1, characterized in that: The conveying mechanism includes two driven transmission sprockets, a driven shaft, two transmission chains, two transmission driving sprockets, a driving shaft, a motor driven sprocket, a motor driving chain, a motor driving sprocket, a power motor and a chain supporting guide rail; the driven shaft is rotatably connected to the front end of the frame, the two driven transmission sprockets are installed on the left and right sides of the driven shaft, the driving shaft is rotatably connected to the rear end of the frame, the two transmission driving sprockets are installed on the left and right sides of the driving shaft, and the two transmission chains are respectively wound between the driven transmission sprockets and the transmission driving sprockets on the left and right sides; the motor The driven sprocket is installed at one end of the driving shaft, the power motor is installed on the frame, and its output end is connected to the motor driving sprocket, the motor driving sprocket cooperates with the motor driven sprocket through the motor driving chain to drive the driving shaft and the driving driving sprocket thereon to rotate; a plurality of chain support rails are arranged on the frame along the conveying direction of the chain track section to support the transmission chain; the left and right ends of the follower positioning plate are respectively fixedly connected to the two transmission chains to move with the operation of the transmission chain; a plurality of groups of positioning pins for positioning the chain track section are arranged on the follower positioning plate.

8. The automatic feeding device for chain track segments according to claim 7, characterized in that: The conveying mechanism also includes two chain drive adjusting modules, which are respectively arranged on the left and right sides of the front end of the frame, and slideably cooperate with the frame, and can be fixed to the frame by fasteners. The left and right ends of the driven shaft are rotatably connected to the two chain drive adjusting modules, so that the tension of the transmission chain can be adjusted by changing the relative position of the chain drive adjusting module and the frame.

9. The automatic feeding device for chain track segments according to claim 1, characterized in that: The second driving mechanism includes a Z-axis motor of a loading robot, a motor mounting seat, a compound slide, an X-axis motor of a loading robot, an X-axis slide and a loading robot. The Z-axis motor of the loading robot is fixedly mounted on the upper rear side of the frame through the motor mounting seat. The Z-axis motor of the loading robot drives the compound slide to move up and down along the Z-axis direction. The X-axis motor of the loading robot is fixedly mounted on the compound slide. The X-axis motor of the loading robot drives the X-axis slide to move forward and backward along the X-axis direction. The loading robot is mounted on the X-axis slide and can perform clamping and placing actions to clamp the chain track segments and place them accurately on the next process equipment for processing.

10. A working method of a track link automatic feeding device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Use an industrial camera to capture images of the chain track segments in the transfer box on the material rack, and then use an image processing system to obtain the shape, position and posture information of the chain track segments; S2. According to the shape, position and posture information of the chain track segment, determine whether it is necessary to perform a flipping process and calculate the operation process of the swing material manipulator. If flipping is required, the swing material manipulator is controlled to grab the chain track segment in the transfer box, adjust its initial posture and place it in the chain track segment flipping mechanism, then control the chain track segment flipping mechanism to flip the chain track segment, and then control the swing material manipulator to grab the chain track segment on the chain track segment flipping mechanism, adjust its posture and place it on the follow-up positioning plate; if flipping is not required, the swing material manipulator is controlled to grab the chain track segment in the transfer box, directly adjust its posture and place it on the follow-up positioning plate; S3, control the conveying mechanism to convey the precisely positioned chain rail segment to the working area of ​​the feeding robot, and reset it after the feeding robot grabs it; S4, control the loading robot to grab the chain track section on the follow-up positioning plate, and place it on the next process processing equipment for processing.

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