Error correction supplement system for sorting and arraying integrated nails

Abstract

The invention relates to the technical field of integrated nail production, and discloses an error correction supplementing system for integrated nail sequencing and arraying, which comprises a rack, and further comprises a feeding conveying mechanism and a discharging collecting mechanism which are arranged on the rack, and a transfer connecting mechanism arranged between the feeding conveying mechanism and the discharging collecting mechanism, and the transfer connecting mechanism is used for transferring a tool plate filled with ammunition shells; the transferring and connecting mechanism comprises a visual detection mechanism used for detecting the loading condition of the ammunition shells on the tool plate, the discharging and collecting mechanism comprises a first discharging mechanism and a second discharging mechanism, and an error correction supplementing mechanism is arranged on the first discharging mechanism and used for taking out the ammunition shells which are reversely loaded on the tool plate and loading the ammunition shells with new ammunition shells; and the visual detection mechanism is in communication connection with the error correction supplementing mechanism. In practical application, automatic error correction and supplement in the integrated nail production process are achieved, manual intervention is not needed, the production efficiency is improved, and meanwhile the safety risk of manual operation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated nail production, and particularly relates to an error correction and replenishment system for sorting and aligning integrated nails. Background Art

[0002] As a new type of fastening product in the building decoration industry, integrated nails are widely used in indoor and outdoor building decoration projects. Its unique design integrates the nail 002, integrated nail ammunition 001, and gasket 003 into one (see attachment Figure 1 ). By firing with a special nail gun and using the energy released by the combustion of gunpowder inside the nail, different types of nails can be driven into various substrates such as steel, concrete, and brick masonry, thereby effectively fixing the components to be fixed. According to different uses, integrated nails are mainly divided into multiple types such as ceiling nails, fire nails, pipe clip nails, and wooden keel nails.

[0003] In the current production process of integrated nails, the integrated nail ammunition 001 and the nail 002 are manufactured separately and then assembled. Among them, the production of integrated nail ammunition 001 is relatively crucial. The integrated nail ammunition 001 is composed of gunpowder filled in a cylindrical ammunition shell. In order to improve the production efficiency of integrated nail ammunition 001 and achieve mass production, several ammunition shells are usually arranged with their openings facing up on the tooling plate for subsequent processes such as batch charging or drying. However, in this arrangement process, due to various factors, there will inevitably be a small number of ammunition shells installed in the reverse direction, that is, with the openings facing down. These ammunition shells installed in the reverse direction will cause abnormal charging and thus affect the smooth progress of the entire production process.

[0004] When dealing with the problem of incorrect arrangement of ammunition shells in the production of integrated nail ammunition 001, most of the existing technologies adopt the methods of manual visual inspection and manual error correction and replenishment. This traditional method has many drawbacks. First, the efficiency of manual inspection and error correction is extremely low, which is difficult to meet the growing demand for large-scale production and greatly limits the improvement of production efficiency. Second, since gunpowder needs to be filled inside the integrated nail ammunition 001, workers perform manual operations in the operation room for a long time and are constantly faced with potential safety risks. Once an accident occurs, the consequences will be unimaginable.

[0005] Therefore, the present invention aims to provide a brand-new, efficient, and safe error correction and replenishment system for the sorting and aligning process of integrated nails to fundamentally solve the deficiencies of the existing technology. Summary of the Invention

[0006] The present invention aims to provide an error correction and replenishment system for sorting and aligning integrated nails to solve the problems of low production efficiency of existing integrated nails and high safety risks of manual operations.

[0007] To achieve the above object, the present invention adopts the following technical solution: An error correction and replenishment system for sorting and aligning integrated nails, including a frame, further including a feeding conveyor mechanism, a discharging and collecting mechanism provided on the frame, and a transfer and connection mechanism provided between the two. The transfer and connection mechanism is used to transfer the tooling plate filled with ammunition casings; the transfer and connection mechanism includes a vision detection mechanism for detecting the loading condition of the ammunition casings on the tooling plate. The discharging and collecting mechanism includes a first discharging mechanism and a second discharging mechanism. The first discharging mechanism is provided with an error correction and replenishment mechanism for taking out the ammunition casings installed in reverse on the tooling plate and loading new ammunition casings; the vision detection mechanism is communicatively connected with the error correction and replenishment mechanism.

[0008] In this solution, the ammunition casings are neatly arranged into the tooling plate through the feeding conveyor mechanism, and then the tooling plate is transferred to the vision detection mechanism by the transfer and connection mechanism, and the sorting condition of the ammunition casings on the tooling plate is detected. The detection result is communicated and transmitted to the error correction and replenishment system. If there is a phenomenon that the ammunition casings are installed in reverse in the detection result, the transfer and connection mechanism will transfer the tooling plate to the first discharging mechanism, and the error correction and replenishment mechanism will take out the ammunition casings installed in reverse on the tooling plate and load new ammunition casings, and then carry out discharging and collection. If the detection result shows that there are no ammunition casings installed in reverse on the tooling plate, the tooling plate will be transferred to the second discharging mechanism for direct discharging and collection.

[0009] The beneficial effects of this solution are:

[0010] 1. Improve production efficiency: By setting up the feeding conveyor mechanism, the transfer and connection mechanism and the discharging and collecting mechanism, the automation of the error correction and replenishment process for sorting and aligning integrated nails is realized. Compared with the traditional manual vision detection and manual error correction and replenishment, the labor input and operation time are greatly reduced. The feeding conveyor mechanism can quickly transport the tooling plate filled with ammunition casings to the transfer and connection mechanism, and the transfer and connection mechanism can efficiently transfer the tooling plate to each process position, avoiding the low efficiency and errors of manual handling. The vision detection mechanism can quickly and accurately detect the loading condition of the ammunition casings on the tooling plate. Compared with manual detection, it is faster and more accurate, and can complete the detection of a large number of tooling plates in a short time. The error correction and replenishment mechanism automatically takes out the ammunition casings installed in reverse and loads new ammunition casings according to the feedback of the vision detection mechanism, without the need for manual searching and processing one by one, greatly shortening the error correction time, and thus significantly improving the overall production efficiency.

[0011] 2. Ensure production safety: Since the integrated nails are filled with gunpowder, there are great safety risks in manual operation in the operation room. In this technical solution, the vision detection mechanism and the error correction and replenishment mechanism replace manual detection and error correction work. The operator only needs to perform simple operations in the feeding and discharging links, reducing the direct contact time and frequency between personnel and gunpowder. Moreover, the entire system operates orderly on the frame, and corresponding safety protection devices can be equipped to further reduce the possibility of safety accidents and ensure the life safety of workers.

[0012] 3. Improve product quality: The visual inspection mechanism is connected to the error correction and supplement mechanism in communication, so that the inspection and error correction form an accurate closed-loop system. The visual inspection mechanism can accurately identify the reversed ammunition shells and transmit the information to the error correction and supplement mechanism in real time. Based on this information, the error correction and supplement mechanism accurately removes the reversed ammunition shells and loads new ammunition shells to ensure that the ammunition shells on each tooling board are arranged correctly, avoiding product quality problems caused by the mixing of reversed ammunition shells, improving the overall quality of the integrated nails, and reducing the defective rate.

[0013] Furthermore, the feeding conveying mechanism includes a conveyor belt line and a vibration sorting line. The conveyor belt line is provided with an intermittent pushing structure for pushing the tooling plate from the conveyor belt line to the vibration sorting line. The intermittent pushing structure includes an intermittent pushing cylinder. The intermittent pushing cylinder is connected to a mounting plate. A push plate is hinged at one end of the mounting plate close to the vibration sorting line, and the push plate rotates toward the vibration sorting line 16.

[0014] Furthermore, the vibration sorting line includes a vibration plate slidably connected to a frame and a driving assembly for driving the vibration plate to slide, the driving assembly includes a driving motor arranged at the bottom of the vibration plate, a transmission shaft eccentrically arranged with the driving motor is provided on the conveying shaft of the driving motor, a connecting rod is provided on the outer sleeve of the transmission shaft, and connecting blocks are provided at both ends of the connecting rod to be connected to the bottom of the vibration plate.

[0015] Furthermore, the transfer connection mechanism includes two parallel transfer belt lines, which are respectively connected to the loading conveying mechanism and the unloading collection mechanism, wherein the visual inspection mechanism is arranged on the transfer belt line connected to the unloading collection mechanism, and the initial end of the other transfer belt line is provided with a conveying cylinder, and a conveying plate is connected to the bottom of the conveying cylinder, and a supporting plate for receiving the tooling plate is also provided under the conveying cylinder; a connecting cylinder is provided between the two transfer belt lines, and a vacuum suction cup for grabbing the tooling plate is provided at the bottom of the connecting cylinder.

[0016] Furthermore, the transfer connection mechanism also includes a three-axis grab plate structure, which is used to transfer the tooling plate after inspection by the visual inspection mechanism to the unloading and collecting mechanism. The three-axis grab plate structure includes a first transverse cylinder and a second transverse cylinder that are arranged perpendicular to each other in a horizontal plane. The first transverse cylinder spans the first unloading mechanism and the second unloading mechanism, and the second transverse cylinder is parallel to the conveying direction of the unloading and collecting mechanism and is connected to a vertical transport cylinder arranged vertically downward. A vacuum suction cup is provided at the end of the output shaft of the vertical transport cylinder.

[0017] Further, a cover plate circulating and conveying mechanism is also provided between the feeding and conveying mechanism and the transfer and connection mechanism. The cover plate circulating and conveying mechanism includes a circulating belt line, and a cover plate recycling structure and a cover plate feeding structure respectively arranged at the initial end and the end of the circulating belt line. The cover plate feeding structure is used to transfer and place the cover plate on the circulating belt line above the tooling plate, and the cover plate recycling structure is used to pick up the cover plate on the tooling plate and place it on the circulating belt line to be conveyed to the initial end.

[0018] Further, both the feeding and conveying mechanism and the discharging and collecting mechanism include a double-bin structure. The double-bin structure includes two bins and a pneumatic mechanical gripper for material handling. Among them, a lifting and feeding assembly is provided at the bottom of the bin in the feeding and conveying mechanism, and a lifting and discharging assembly is provided at the bottom of the bin in the discharging and conveying mechanism.

[0019] Further, the vision inspection mechanism includes an inspection camera. A lifting support assembly and a supplementary light source are provided directly below the vision inspection mechanism. The lifting support assembly is used to lift the tooling plate upward to be close to the vision inspection mechanism, and the supplementary light source is used to supplement light to the tooling plate.

[0020] Further, the error correction and supplement mechanism includes a supplementary manipulator and a supplementary tray. The supplementary tray is filled with spare cartridge cases with openings facing upward. The supplementary manipulator is used to take out the cartridge cases installed reversely on the tooling plate and grab spare cartridge cases from the supplementary tray for loading and supplementing.

[0021] This solution also has the following technical effects:

[0022] 1. Optimize the feeding process and improve the feeding accuracy and efficiency: The newly added vibration sorting line and intermittent pushing structure in the feeding and conveying mechanism can initially sort and organize the tooling plates. The intermittent pushing structure precisely controls the pushing rhythm of the tooling plate from the conveying belt line to the vibration sorting line, avoiding the accumulation or collision of tooling plates. The vibration sorting line uses the front and rear eccentric vibrations generated by the driving component to further align the integral nails on the tooling plate during the conveying process, reducing the difficulty of subsequent inspection and error correction. The setting of the mounting plate cylinder and the push block accurately pushes the tooling plate to the transfer and connection mechanism, ensuring the high efficiency and stability of the feeding process. Compared with the traditional feeding method, the feeding accuracy and efficiency are greatly improved.

[0023] 2. Enhance the function of the transfer connection mechanism and improve the transfer flexibility and accuracy: The design of two parallel transfer belt lines, connecting cylinders, and vacuum suction cups in the transfer connection mechanism facilitates the transfer of the tooling plate between different processes. The connecting cylinder drives the vacuum suction cup to grab the tooling plate, realizing the rapid transfer of the tooling plate between the transfer belt lines and improving the transfer efficiency. The addition of the three-axis plate-grabbing structure enables the tooling plate after visual inspection to be accurately transferred to different positions of the blanking and collection mechanism to meet different processing requirements. The cooperation of the first horizontal cylinder and the second horizontal cylinder can achieve precise movement of the tooling plate in the horizontal plane, and the vertical lifting cylinder and the vacuum suction cup ensure the stable grasping and placement of the tooling plate, greatly enhancing the transfer flexibility and accuracy.

[0024] 3. Realize the recycling of the cover plate and reduce the production cost: In the process of vibrating and sorting the ammunition cases in this solution, the setting of overlapping tooling plates and cover plates makes the part of the ammunition case protruding from the tooling plate not exposed to the air but accommodated in the cover plate. The cover plate, tooling plate, and ammunition holes form a flat overall structure, making the flow of the sorted ammunition cases smoother, reducing the air resistance to the flow of the ammunition cases, and reducing energy consumption. The specific setting of the cover plate recycling and conveying mechanism realizes the automatic recovery and reuse of the cover plate. The cover plate recycling structure takes away the cover plate on the tooling plate and places it on the circulating belt line. After being conveyed to the initial end, the cover plate feeding structure transfers and places it above the new tooling plate, reducing the loss and purchase cost of the cover plate. At the same time, the automated cover plate recycling process improves the production continuity, eliminating the need for manual frequent replacement of the cover plate and saving labor and time costs.

[0025] 4. Improve the material management efficiency and ensure the production continuity: The double-bin structure of the loading and conveying mechanism and the blanking and collection mechanism, as well as the setting of pneumatic mechanical grippers, lifting feeding components, and lifting blanking components, increase the storage capacity of the materials and reduce the time waste of frequent loading and unloading. The pneumatic mechanical gripper can quickly and accurately handle the materials, and the lifting feeding component and the lifting blanking component ensure the orderly entry and exit of the materials in the bin, guaranteeing the continuous supply and collection of the materials during the production process and improving the production continuity and stability.

[0026] 5. Improve the visual inspection accuracy and ensure the product quality: The newly added lifting support component and supplementary light source in the visual inspection mechanism can make the tooling plate closer to the inspection camera and the optical module, reducing the inspection error. The supplementary light source provides supplementary lighting for the tooling plate, improving the lighting uniformity of the inspection area and enabling the inspection camera to more clearly obtain the loading situation of the ammunition cases on the tooling plate, enhancing the visual inspection accuracy, ensuring that the ammunition cases loaded in the wrong direction can be accurately identified, and providing a reliable basis for subsequent error correction and supplementation, thereby ensuring the product quality.

[0027] 6. Optimize the error correction and replenishment process to improve the error correction efficiency: The design of the replenishment manipulator and replenishment tray of the error correction and replenishment mechanism makes the error correction process more efficient. The replenishment manipulator can quickly and accurately take out the ammunition cases that are installed backwards and grab spare ammunition cases from the replenishment tray for loading and replenishment. The replenishment tray is pre-loaded with spare ammunition cases with their openings facing upwards, which is convenient for the replenishment manipulator to grab, reducing the time for finding and grabbing spare ammunition cases, improving the error correction efficiency, ensuring that the ammunition cases on the tooling board can be corrected in a timely manner, and guaranteeing the smooth progress of the production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic cross-sectional view of an integrated nail.

[0029] Figure 2 It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0030] Figure 3 It is a schematic diagram of the structure of the feeding and conveying mechanism of an embodiment of the present invention.

[0031] Figure 4 It is a schematic diagram of the intermittent pushing structure of an embodiment of the present invention

[0032] Figure 5 It is a schematic diagram of the structure of the vibration sorting line of an embodiment of the present invention.

[0033] Figure 6 It is a schematic diagram of the structure of the transfer connection mechanism and the cover plate circulation conveying mechanism of an embodiment of the present invention.

[0034] Figure 7 It is a schematic diagram of the cover plate recycling structure of an embodiment of the present invention.

[0035] Figure 8 It is a schematic diagram of the structure of the blanking collection mechanism and the error correction and replenishment mechanism of an embodiment of the present invention.

[0036] Figure 9 It is a schematic diagram of the visual inspection result. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] The following is a further detailed description through specific embodiments:

[0038] The reference numerals in the accompanying drawings of the specification include: integrated nail ammunition 001, nail 002, gasket 003, tooling plate 004, cover plate 005, feeding conveying mechanism 1, conveying belt line 11, feeding cylinder 12, intermittent pushing cylinder 13, mounting plate 14, pushing plate 15, vibrating sorting line 16, vibrating plate 161, driving motor 162, transmission shaft 163, connecting rod 164, blanking and collecting mechanism 2, first blanking mechanism 21, second blanking mechanism 22, lifting blanking cylinder 23, blanking support plate 24, transfer connecting mechanism 3, transfer belt line 31, conveying cylinder 32, conveying plate 33, supporting plate 34, connecting cylinder 35, three-axis gripper structure 36, first transverse cylinder 361, second transverse cylinder 362, vertical lifting cylinder 363, visual inspection mechanism 4, inspection camera 41, lifting cylinder 42, inspection support plate 43, error correction and replenishment mechanism 5, replenishment manipulator 51, replenishment tray 52, cover plate circulating conveying mechanism 6, circulating belt line 61, cover plate feeding structure 62, cover plate recycling structure 63, double bin structure 7, bin 71, pneumatic mechanical gripper 72, vacuum suction cup 8.

[0039] The embodiment is basically as shown in the attached Figures 2 - 9 drawing:

[0040] An error correction and replenishment system for integrated nail sorting and alignment includes a frame. As Figure 2 shown, a feeding conveying mechanism 1 and a blanking and collecting mechanism 2 are provided on the frame. A transfer connecting mechanism 3 is provided between the two. The transfer connecting mechanism 3 is used to transfer the tooling plate 004 filled with ammunition casings. A number of through holes for accommodating ammunition casings are opened on the tooling plate 004. The transfer connecting mechanism 3 includes a visual inspection mechanism 4 for detecting the loading condition of the ammunition casings on the tooling plate 004. The blanking and collecting mechanism 2 includes a first blanking mechanism 21 and a second blanking mechanism 22. An error correction and replenishment system is provided on the first blanking mechanism 21 for taking out the ammunition casings installed in the wrong direction on the tooling plate 004 and filling new ammunition casings. The visual inspection mechanism 4 is communicatively connected with the error correction and replenishment mechanism 5.

[0041] As Figure 8 shown, the error correction and replenishment mechanism 5 includes a replenishment manipulator 51 and a replenishment tray 52. The replenishment manipulator 51 is an existing grasping robotic arm and will not be elaborated here. The replenishment tray 52 is filled with spare ammunition casings with the openings facing upwards. The replenishment manipulator 51 is used to take out the ammunition casings installed in the wrong direction on the tooling plate 004 and grab spare ammunition casings from the replenishment tray 52 for filling and replenishment. As Figure 6As shown in the figure, the vision inspection mechanism 4 includes an inspection camera 41. The inspection camera 41 is communicatively connected to the supplementary manipulator 51 through existing technologies, such as WiFi, Bluetooth, PLC program, or wired connection, etc., which will not be elaborated here. There is a lifting support assembly and a supplementary light source (not shown in the figure) directly below the vision inspection mechanism 4. The lifting support assembly is used to lift the tooling plate 004 upward to be close to the vision inspection mechanism 4, and the supplementary light source is used to supplement light to the tooling plate 004. The lifting support assembly includes symmetrically arranged lifting support cylinders and L-shaped inspection support plates 43 fixed at the ends of the output shafts of the lifting support cylinders. The two inspection support plates 43 are arranged opposite to each other and limit the tooling plate 004 through the L-shaped structure, preventing the tooling plate 004 from shifting during lifting, which may reduce the accuracy of the vision inspection results and thus affect subsequent error correction and supplementary operations.

[0042] As Figures 3 - 5 As shown in the figure, the feeding conveyor mechanism 1 includes a conveyor belt line 11 and a vibration sorting line 16. At the initial end of the conveyor belt line 11, there is a feeding cylinder 12, and a vacuum suction cup 8 is connected to the bottom of the feeding cylinder 12. At the end of the conveyor belt line 11, there is an intermittent pushing structure. The intermittent pushing structure includes an intermittent pushing cylinder 13 fixed on the machine frame, as Figure 4 As shown in the figure, an installation plate 14 is bolted to the intermittent pushing cylinder 13. One end of the installation plate 14 close to the vibration sorting line 16 is hinged with a pushing plate 15, and the pushing plate 15 rotates towards the vibration sorting line 16. The tooling plate 004 is pushed from the conveyor belt line 11 to the vibration sorting line 16 through the intermittent pushing structure. The vibration sorting line 16 includes a vibrating plate 161 slidably connected to the machine frame and a driving assembly for driving the vibrating plate 161 to slide. The driving assembly includes a driving motor 162 arranged at the bottom of the vibrating plate 161. An eccentrically arranged transmission shaft 163 is provided on the output shaft of the driving motor 162. A connecting rod 164 is sleeved outside the transmission shaft 163, and connecting blocks are provided at both ends of the connecting rod 164 and are connected to the bottom of the vibrating plate 161.

[0043] As Figure 8 As shown in the figure, both the first blanking mechanism 21 and the second blanking mechanism 22 of the blanking and collection mechanism 2 include blanking belt lines. After being detected by the vision inspection mechanism 4, if error correction and supplementation are required, the tooling plate 004 is transferred to the blanking belt line of the first blanking mechanism 21. If error correction and supplementation are not required, the tooling plate 004 is transferred to the blanking belt line of the second blanking mechanism 22.

[0044] As Figure 2 、 Figure 8As shown, the loading and conveying mechanism 1 and the unloading and collecting mechanism 2 both include a double-bin structure 7. The double-bin structure 7 includes two bins 71 and a pneumatic mechanical gripper 72 for batch handling of materials. Among them, the bottoms of the two bins 71 in the loading and conveying mechanism 1 are slidably connected to the frame, and a lifting and feeding assembly is provided inside the frame corresponding to the conveying belt line 11. The lifting and feeding assembly includes a lifting and feeding cylinder and a feeding support plate. The two bins 71 of the unloading and conveying mechanism are respectively arranged at the ends of the first unloading mechanism 21 and the second unloading mechanism 22, and a lifting and unloading assembly is provided at the bottom of each of the two bins 71. The lifting and unloading assembly includes a lifting and unloading cylinder 23 and a unloading support plate 24.

[0045] As Figure 6 shown, the transfer and connection mechanism 3 includes two parallel transfer belt lines 31, and the two transfer belt lines 31 are respectively docked with the loading and conveying mechanism 1 and the unloading and collecting mechanism 2. Among them, the vision inspection mechanism 4 is arranged on the transfer belt line 31 docked with the unloading and collecting mechanism 2. A conveying cylinder 32 is provided at the initial end of the other transfer belt line 31. The bottom of the conveying cylinder 32 is connected with a conveying plate 33, and a support plate 34 for receiving the tooling plate 004 is also provided below the conveying cylinder 32. A connection cylinder 35 is provided between the two transfer belt lines 31, and a vacuum chuck 8 for gripping the tooling plate 004 is provided at the bottom of the connection cylinder 35. The transfer and connection mechanism 3 further includes a three-axis gripper structure 36 for transferring the tooling plate 004 after being inspected by the vision inspection mechanism 4 to the unloading and collecting mechanism 2. The three-axis gripper structure 36 is communicatively connected with the vision inspection mechanism 4, such as in ways of WiFi, Bluetooth, PLC program or wired connection, etc. When an ammunition case is found to be installed backwards in the vision inspection result, the vision inspection mechanism 4 sends an NG signal to the three-axis gripper structure 36 for alarm, and the three-axis gripper structure 36 transfers the tooling plate 004 to the first unloading mechanism 21. If there is no ammunition case installed backwards in the vision inspection result, the vision inspection mechanism 4 sends an OK signal to the three-axis gripper structure 36, and the three-axis gripper structure 36 transfers the tooling plate 004 to the second unloading mechanism 22. The three-axis gripper structure 36 includes a first transverse cylinder 361 and a second transverse cylinder 362 that are perpendicularly arranged in the horizontal plane. The first transverse cylinder 361 straddles the first unloading mechanism 21 and the second unloading mechanism 22. The second transverse cylinder 362 is parallel to the conveying direction of the unloading and collecting mechanism 2 and is connected with a vertically downward arranged vertical handling cylinder. The end of the output shaft of the vertical handling cylinder 363 is provided with a vacuum chuck 8.

[0046] As Figure 2 、 Figure 6 、 7As shown in the figure, a cover plate circulating conveying mechanism 6 is further provided between the loading conveying mechanism 1 and the transfer connecting mechanism 3. Among them, a number of guide holes corresponding to the through holes of the tooling plate 004 are provided on the cover plate 005, and the aperture of the guide hole is slightly larger than that of the through hole; the cover plate circulating conveying mechanism 6 includes a circulating belt line 61 and a cover plate recycling structure 63 and a cover plate loading structure 62 respectively arranged at the initial end and the end of the circulating belt line 61. The cover plate loading structure 62 is used to transfer and place the cover plate 005 on the circulating belt line 61 above the tooling plate 004, and the cover plate recycling structure 63 is used to pick up the cover plate 005 on the tooling plate 004 and place it at the initial end of the circulating belt line 61; the cover plate recycling structure 63 includes a horizontal recycling cylinder and a vertical recycling cylinder. A vacuum suction head is fixed at the bottom of the vertical recycling cylinder, and a number of punches corresponding to the guide holes of the cover plate 005 are provided at the bottom of the vacuum suction head. The cartridge case is pressed down by the punches so that the cartridge case completely falls to the bottom of the tooling plate 004. The cover plate loading structure 62 includes a horizontal picking cylinder and a vertical picking cylinder, and a vacuum suction cup 8 is fixed at the bottom of the vertical picking cylinder.

[0047] During the vibration sorting process of the cartridge cases, the overlapping tooling plate 004 and cover plate 005 make the part of the cartridge case protruding from the tooling plate 004 not exposed to the air, but be accommodated in the guide holes of the cover plate 005. The cover plate 005, the tooling plate 004 and the cartridge holes form a flat overall structure, making the flow of the cartridge cases after sorting smoother, reducing the air flow resistance to the cartridge cases, and reducing energy consumption. Specific implementation method:

[0049] The pneumatic mechanical gripper 72 in the loading conveying mechanism 1 stacks the tooling plates 004 in batches in the storage bin 71, and then the loading cylinder 12 drives the vacuum suction cup 8 to place the empty tooling plate 004 on the conveying belt line 11 to start conveying. During the conveying process, the horizontal picking cylinder and the vertical picking cylinder of the cover plate loading structure 62 drive the vacuum suction cup 8 to stack the cover plates 005 on the circulating belt line 61 on the tooling plate 004, and then the tooling plate 004 and the cover plate 005 are conveyed forward together and completely pass through the push plate 15. At this time, the intermittent pushing cylinder 13 starts to drive the push plate 15 to convey the tooling plate 004 and the cover plate 005 together to the vibrating plate 161. In the vibrating plate 161, the existing push plate type loader loads the cartridge cases in batches. The driving motor 162 starts to drive the vibrating plate 161 to vibrate back and forth through the transmission shaft 163, the connecting rod 164 and the connecting block, so that the cartridge cases are neatly arranged in the through holes of the tooling plate 004;

[0050] The intermittent pushing structure pushes the empty tooling plate 004 into the vibrating plate 161 while pushing the fully loaded tooling plate 004 onto the supporting plate 34. The conveying cylinder 32 drives the conveying plate 33 to send the tooling plate 004 and the cover plate 005 to the transfer connection mechanism 3, and then the cover plate recycling structure 63 recycles the cover plate 005 to the circulating belt line 61; the tooling plate 004 after removing the cover plate 005 continues to be conveyed and is transferred to another conveying belt line 11 by the connecting cylinder 35 and the vacuum suction cup 8, and then conveyed to the lower part of the vision inspection mechanism 4. The lifting cylinder 42 jacks up the tooling plate 004 so that the inspection camera 41 visually inspects the ammunition shell loading condition on the tooling plate 004. After the inspection is completed, the lifting cylinder 42 drives the tooling plate 004 to reset and continue to be conveyed;

[0051] Meanwhile, the vision inspection mechanism 4 sends the inspection result to the three-axis gripper plate structure 36 and the error correction and replenishment mechanism 5. If the inspection result shows that there are ammunition shells installed in the wrong direction, as Figure 7 shown, where the ammunition shell with a darker color is the one installed in the wrong direction and the ammunition shell with a lighter color is the normal one, then the three-axis gripper plate structure 36 grabs the tooling plate 004 to the first blanking mechanism 21, and then conveys it to the error correction and replenishment mechanism 5. The replenishment manipulator 51 takes out the ammunition shell installed in the wrong direction on the tooling plate 004 according to the received inspection result and grabs a new ammunition shell from the replenishment tray 52 for supplementary loading, and then conveys it to the magazine 71; if the inspection result shows that there are no ammunition shells installed in the wrong direction, then the three-axis gripper plate structure 36 grabs the tooling plate 004 to the second blanking mechanism 22 and directly conveys it to the magazine 71. After the magazine 71 is full, the pneumatic mechanical gripper 72 transfers the tooling plates 004 in batches.

[0052] The above are only the embodiments of the present invention. Specific technical solutions and / or common knowledge such as characteristics well known in the art are not described in detail here. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners described in the specification can be used to explain the content of the claims.

Claims

1. An error correction and supplement system for integrated nail sorting and alignment, comprising a frame, characterized in that: It further includes a loading conveyor mechanism, a discharging and collecting mechanism provided on the frame, and a transfer and connection mechanism provided between the two. The transfer and connection mechanism is used to transfer the tooling plates filled with cartridge cases. The transfer and connection mechanism includes a visual inspection mechanism for detecting the loading condition of the cartridge cases on the tooling plates. The discharging and collecting mechanism includes a first discharging mechanism and a second discharging mechanism. The first discharging mechanism is provided with an error correction and replenishment mechanism for taking out the cartridge cases installed in reverse on the tooling plates and loading new cartridge cases. The visual inspection mechanism is communicatively connected to the error correction and replenishment mechanism.

2. The error correction and supplement system for integrated nail sorting and alignment according to claim 1, characterized in that: The loading conveyor mechanism includes a conveyor belt line and a vibration sorting line. The conveyor belt line is provided with an intermittent pushing structure for pushing the tooling plates from the conveyor belt line onto the vibration sorting line. The intermittent pushing structure includes an intermittent pushing cylinder. An installation plate is connected to the intermittent pushing cylinder. One end of the installation plate close to the vibration sorting line is hinged with a push plate, and the push plate rotates towards the vibration sorting line 16.

3. An error correction and supplement system for sorting and aligning integrated nails according to claim 2, characterized in that: The vibration sorting line includes a vibration plate slidably connected to the frame and a driving component for driving the vibration plate to slide. The driving component includes a driving motor provided at the bottom of the vibration plate. A transmission shaft eccentrically provided with the driving motor is provided on the transmission shaft of the driving motor. A connecting rod is sleeved outside the transmission shaft, and connecting blocks are provided at both ends of the connecting rod and are connected to the bottom of the vibration plate.

4. An error correction and supplement system for integrated nail sorting and alignment according to claim 1, characterized in that: The transfer and connection mechanism includes two parallel transfer belt lines, which are respectively docked with the loading conveyor mechanism and the discharging and collecting mechanism. Among them, the visual inspection mechanism is provided on the transfer belt line docked with the discharging and collecting mechanism. A conveying cylinder is provided at the initial end of the other transfer belt line. A conveying plate is connected to the bottom of the conveying cylinder. A supporting plate for receiving the tooling plate is further provided below the conveying cylinder. A connecting cylinder is provided between the two transfer belt lines, and a vacuum chuck for gripping the tooling plate is provided at the bottom of the connecting cylinder.

5. An error correction and supplement system for integrated nail sorting and alignment according to claim 4, characterized in that: The transfer and connection mechanism further includes a three-axis gripper structure for transferring the tooling plate after being detected by the visual inspection mechanism onto the discharging and collecting mechanism. The three-axis gripper structure includes a first transverse cylinder and a second transverse cylinder perpendicularly arranged in the horizontal plane. The first transverse cylinder straddles the first discharging mechanism and the second discharging mechanism. The second transverse cylinder is parallel to the conveying direction of the discharging and collecting mechanism and is connected with a vertically downward arranged vertical handling cylinder. A vacuum chuck is provided at the end of the output shaft of the vertical handling cylinder.

6. An error correction and supplement system for integrated nail sorting and alignment according to any one of claims 1-5, characterized in that: A cover plate circulating conveyor mechanism is further provided between the loading conveyor mechanism and the transfer and connection mechanism. The cover plate circulating conveyor mechanism includes a circulating belt line and a cover plate recycling structure and a cover plate loading structure respectively provided at the initial end and the end of the circulating belt line. The cover plate loading structure is used to transfer and place the cover plates on the circulating belt line above the tooling plates. The cover plate recycling structure is used to take away the cover plates on the tooling plates and place them on the circulating belt line and convey them to the initial end.

7. An error correction and supplement system for integrated nail sorting and alignment according to claim 6, characterized in that: Both the loading conveyor mechanism and the discharging and collecting mechanism include a double-bin structure. The double-bin structure includes two bins and a pneumatic mechanical gripper for material handling. Among them, a lifting and feeding component is provided at the bottom of the bin in the loading conveyor mechanism, and a lifting and discharging component is provided at the bottom of the bin in the discharging conveyor mechanism.

8. An error correction and supplement system for integrated nail sorting and alignment according to claim 1, characterized in that: The visual inspection mechanism includes an inspection camera. A lifting support assembly and a supplementary light source are provided directly below the visual inspection mechanism. The lifting support assembly is used to lift the tooling plate upward to be close to the visual inspection mechanism, and the supplementary light source is used to supplement light to the tooling plate.

9. An error correction and supplement system for integrated nail sorting and alignment according to claim 1, characterized in that: The error correction and replenishment mechanism includes a replenishment manipulator and a replenishment tray. The replenishment tray is filled with spare cartridge cases with openings facing upward. The replenishment manipulator is used to take out the cartridge cases installed in reverse on the tooling plate and grab spare cartridge cases from the replenishment tray for loading and replenishment.

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