Double-station automatic feeding device

Abstract

The invention provides a double-station automatic feeding device. The double-station automatic feeding device comprises a feeding vibration disc, an index plate, a feeding mechanical arm and a movable mechanical arm. The feeding vibration disc is located on one side of the index plate, connected with the index plate and used for feeding inserts to the index plate. The feeding mechanical arm is located on one side of the index plate, faces the index plate, is used for picking up inserts and is installed on a jig. And the movable manipulator is positioned on one side of the index plate and is used for clamping the jig assembled with the insert. According to the double-station automatic feeding device, automatic assembly of the inserts and the jigs is achieved through the mechanical arm and the index plate, feeding assembly can be rapidly completed in cooperation with a visual inspection system, once unqualified products appear, shutdown rechecking can be conducted, assembly errors can be automatically detected, manual intervention is reduced, and the production efficiency is improved. The feeding equipment can work efficiently and intelligently, and particularly, the accuracy and the high efficiency of double-insert installation can be guaranteed.

Description

Technical Field

[0001] The present invention relates to a double-station automatic loading device. Background Art

[0002] Nowadays, blow molding fixtures are widely used as the basis for rapid production. However, during the production process of blow molding fixtures, the processes of mold closing and mold opening are required. With the complication of product parts, the structure of the fixtures becomes more and more complex, and a variety of inserts are needed. The size and positioning of the inserts require precision to ensure the injection molding results.

[0003] In this way, it is very difficult to load the fixtures because accurate positioning and secondary assembly are required. Therefore, in traditional processes, it can only be completed by manual operation. How to use equipment to ensure assembly accuracy and loading efficiency has become the most urgent problem in the existing technology. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a double-station automatic loading device, aiming to achieve automatic loading through manipulator automation and overall loading equipment, not only ensuring loading accuracy but also improving loading efficiency.

[0005] To solve the above technical problem, the technical solution of the present invention is: a double-station automatic loading device, including a loading vibrating disk, an indexing disk, a loading manipulator, and a moving manipulator; the loading vibrating disk is located on one side of the indexing disk and is connected to the indexing disk for feeding inserts into the indexing disk; the loading manipulator is located on one side of the indexing disk, facing the indexing disk, for picking up inserts and installing them on the fixture; the moving manipulator is located on one side of the indexing disk for clamping the fixture assembled with inserts. A vision detection device is provided on one side of the indexing disk. When the moving manipulator clamps the fixture after assembly, visual detection is performed on the fixture; the loading manipulator is also provided with a vision sensor for distinguishing the shape and assembly position of the insert. A control system is provided in the loading device for controlling the entire automatic loading process; it includes a feeding module, a picking module, an assembly operation module, and a clamping and moving module; the feeding module controls the loading vibrating disk for controlling the loading vibration frequency and loading quantity; the picking module controls the loading manipulator for clamping the loaded inserts; the assembly operation module is used to control the cooperation between the indexing disk and the loading manipulator to sequentially assemble the inserts and perform assembly according to the fixture requirements; the clamping and moving module controls the moving manipulator to clamp the assembled fixture and send it to the equipment for processing after detection.

[0006] Furthermore, two loading vibrating disks are provided for loading different inserts.

[0007] Furthermore, two feeding manipulators are provided, symmetrically distributed on both sides of the indexing table, corresponding to the assembly of two different inserts.

[0008] Furthermore, the assembly operation module includes a first insert assembly module, a second insert assembly module, and an indexing table rotation module; the first insert assembly module controls one of the feeding manipulators to pick up and install the insert. After one insert is installed, the indexing table rotation module rotates 90 degrees clockwise to send the fixture near the other feeding manipulator; the second insert assembly module controls the feeding manipulator to assemble the second insert. At this time, an empty fixture is placed on the indexing table, and the first insert assembly module repeats controlling the feeding manipulator to pick up and install; after the second insert assembly module completes the assembly operation, the indexing table rotation module controls the indexing table to rotate 90 degrees clockwise to send the assembled fixture near the moving manipulator, and the moving manipulator picks up, inspects, and feeds the fixture.

[0009] Furthermore, the assembly operation module is programmed and controlled according to the on-site fixture requirements. It can only control the feeding manipulator to assemble two different inserts on the indexing table respectively, or can control the feeding manipulator to install the first insert first and then the second insert in sequence.

[0010] Furthermore, a detection module is provided in the picking and moving module. The detection module controls the vision detection device to perform vision detection on the fixture, judge whether the installation is qualified. After judging qualified, it is sent into the processing equipment. If judged unqualified, it is placed back on the indexing table, and at this time the control system alarms.

[0011] Furthermore, the control system further includes an error correction module; the error correction module controls the vision sensor of the feeding manipulator. When the judged fixture is unqualified, the whole feeding device stops. At this time, the indexing table rotates 90 degrees counterclockwise to transport the fixture near the feeding manipulator, and relies on the vision sensor to recheck the fixture. During the recheck process, the feeding manipulator reassembles the insert according to the recheck result, and then the indexing table rotates 180 degrees counterclockwise to send the fixture near the other feeding manipulator, repeats the recheck work, installs the insert in place, and then performs feeding detection. After the detection passes, the feeding device continues to perform the feeding work. If it is still unqualified after recheck, an alarm is given and the operator is required to perform manual detection.

[0012] Furthermore, the feeding manipulator adopts a four-axis linkage manipulator.

[0013] Further, the mobile manipulator adopts a six-axis linkage manipulator.

[0014] Compared with the prior art, a double-station automatic feeding device provided by the present invention realizes the automatic assembly of inserts and fixtures through a manipulator and an indexing table. With the cooperation of a vision detection system, the feeding and assembly can be completed extremely quickly. Once unqualified products appear, the machine can also be stopped for recheck, and the assembly errors can be detected automatically, reducing manual intervention and enabling the feeding equipment to work efficiently and intelligently. In particular, it can ensure the accuracy and efficiency of the installation of double inserts. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shows a schematic structural diagram of the present invention.

[0016] Figure 2 Shows a schematic system diagram of the present invention.

[0017] Wherein: 1. Feeding vibrating bowl, 2. Indexing table, 3. Feeding manipulator, 4. Mobile manipulator, 5. Vision detection device, 6. Vision sensor, 7. Control system, 8. Inlet module, 9. Pick-up module, 10. Assembly operation module, 11. Clamping and moving module, 12. First insert assembly module, 13. Second insert assembly module, 14. Indexing table rotation module, 15. Detection module, 16. Error correction module, 17. Activity range of the feeding manipulator, 18. Detection range of the vision detection device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] As shown in the figure, in one embodiment, a double-station automatic feeding device includes a feeding vibrating bowl 1, an indexing table 2, a feeding manipulator 3 and a mobile manipulator 4; the feeding vibrating bowl 1 is located on one side of the indexing table 2 and is connected to the indexing table 2 for feeding inserts onto the indexing table 2; the feeding manipulator 3 is located on one side of the indexing table 2 and faces the indexing table 2 for picking up inserts and installing them on the fixture; the mobile manipulator 4 is located on one side of the indexing table 2 for clamping the fixture with the assembled inserts. A vision detection device 5 is provided on one side of the indexing table 2 to perform vision detection on the fixture when the mobile manipulator 4 clamps the fixture after assembly; the feeding manipulator 3 is also provided with a vision sensor 6 for distinguishing the shape and assembly position of the insert. The feeding device is provided with a control system 7 for controlling the entire automatic feeding process; it includes a feeding module 8, a picking module 9, an assembly operation module 10, and a clamping and moving module 11; the feeding module 8 controls the feeding vibrating disk 1 to control the feeding vibration frequency and the feeding quantity; the picking module 9 controls the feeding manipulator 3 to clamp the inserts for feeding; the assembly operation module 10 is used to control the cooperation between the indexing disk 2 and the feeding manipulator 3 to assemble the inserts in sequence and perform the assembly according to the fixture requirements; the clamping and moving module 11 controls the moving manipulator 4 to clamp the assembled fixture, and after the detection is completed, it is sent to the equipment for processing.

[0019] Further, two feeding vibrating disks 1 are provided for feeding different inserts; it is possible to only control the feeding manipulator 3 to respectively assemble two different inserts on the indexing disk 2, or to control the feeding manipulator 3 to first install the first insert and then install the second insert in sequence.

[0020] Further, two feeding manipulators 3 are provided, symmetrically distributed on both sides of the indexing disk 2, corresponding to the assembly of two different inserts.

[0021] Further, the assembly operation module 10 includes a first insert assembly module 12, a second insert assembly module 13, and an indexing disk rotation module 14; the first insert assembly module 12 controls one of the feeding manipulators 3 to clamp and install the insert, and the indexing disk rotation module 14 rotates clockwise by 90 degrees after one insert is installed to send the fixture near the other feeding manipulator 3; the second insert assembly module 13 controls the feeding manipulator 3 to assemble the second insert. At this time, an empty fixture is placed on the indexing disk 2, and the first insert assembly module 12 repeats controlling the feeding manipulator 3 to clamp and install; after the second insert assembly module 13 completes the assembly operation, the indexing disk rotation module 14 controls the indexing disk 2 to rotate clockwise by 90 degrees to send the assembled fixture near the moving manipulator 4, and the moving manipulator 4 clamps, detects, and feeds the fixture.

[0022] Further, the assembly operation module 10 is programmed and controlled according to the on-site fixture requirements.

[0023] Further, a detection module 15 is provided in the clamping and moving module 11. The detection module 15 controls the vision detection device 5 to perform vision detection on the fixture, determines whether the installation is qualified. If it is determined to be qualified, it is sent into the processing equipment. If it is determined to be unqualified, it is re-placed on the indexing disk 2, and at this time, the control system 7 alarms.

[0024] Furthermore, the control system 7 further includes an error correction module 16; the error correction module 16 controls the vision sensor 6 of the loading manipulator 3. When it is determined that the jig is unqualified, the entire loading device stops. At this time, the indexing table 2 rotates counterclockwise by 90 degrees to transport the jig near the loading manipulator 3. Relying on the vision sensor 6 to recheck the jig. During the recheck process, the loading manipulator 3 reassembles the insert according to the recheck result. Then the indexing table 2 rotates counterclockwise by 180 degrees to send the jig near another said loading manipulator 3, repeats the recheck work, installs the insert in place, and then performs loading detection. After passing the detection, the loading device continues the loading work. If it is still unqualified after the recheck, an alarm is given and the operator is required to perform manual detection.

[0025] Furthermore, the loading manipulator 3 adopts a four-axis linkage manipulator.

[0026] Furthermore, the moving manipulator 4 adopts a six-axis linkage manipulator, which can flip the jig by 90 degrees to align with the vision detection device.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than restrictive technical solutions. Those of ordinary skill in the art should understand that any modifications or equivalent replacements to the technical solutions of the present invention without departing from the spirit and scope of the present technical solution shall be covered by the scope of the claims of the present invention.

Claims

1. A double-station automatic feeding device, characterized in that It includes a feeding vibrating bowl, an indexing table, a feeding manipulator and a moving manipulator; the feeding vibrating bowl is located on one side of the indexing table and is connected to the indexing table for feeding inserts onto the indexing table; the feeding manipulator is located on one side of the indexing table, facing the indexing table, for picking up inserts and installing them on the fixture; the moving manipulator is located on one side of the indexing table for clamping the fixture with the inserts assembled. A vision detection device is provided on one side of the indexing table. When the moving manipulator clamps the fixture after the assembly is completed, visual detection of the fixture is performed; the feeding manipulator is also provided with a vision sensor for distinguishing the shape and assembly position of the insert. A control system is provided in the feeding device for controlling the entire automatic feeding process; it includes a feeding module, a picking module, an assembly operation module and a clamping and moving module; the feeding module controls the feeding vibrating bowl for controlling the feeding vibration frequency and the feeding quantity; the picking module controls the feeding manipulator for clamping the fed inserts; the assembly operation module is used to control the cooperation between the indexing table and the feeding manipulator to assemble the inserts in sequence and perform the assembly according to the requirements of the fixture; the clamping and moving module controls the moving manipulator to clamp the assembled fixture and send it to the equipment for processing after the detection is completed.

2. The double-station automatic feeding device according to claim 1, wherein There are two feeding vibrating bowls for feeding different inserts.

3. A double-station automatic feeding device according to claim 1, characterized in that, There are two feeding manipulators, symmetrically distributed on both sides of the indexing table, corresponding to the assembly of two different inserts.

4. A double-station automatic feeding device according to claim 1, wherein The assembly operation module includes a first insert assembly module, a second insert assembly module and an indexing table rotation module; the first insert assembly module controls one of the feeding manipulators to clamp the insert for installation, and the indexing table rotation module rotates 90 degrees clockwise after one insert is installed to send the fixture near the other feeding manipulator; the second insert assembly module controls the feeding manipulator to assemble the second insert. At this time, an empty fixture is placed on the indexing table, and the first insert assembly module repeats to control the feeding manipulator to clamp and install; when the second insert assembly module completes the assembly operation, the indexing table rotation module controls the indexing table to rotate 90 degrees clockwise to send the assembled fixture near the moving manipulator, and the moving manipulator clamps, detects and feeds it.

5. A double-station automatic feeding device according to claim 4, characterized in that, The assembly operation module is programmed and controlled according to the needs of the on-site fixture, and can control only the feeding manipulator to assemble two different inserts on the indexing table respectively, or can control the feeding manipulator to install the first insert first and then the second insert in sequence.

6. A two-station automatic feeding device according to claim 1, characterized in that, A detection module is provided in the clamping and moving module. The detection module controls the vision detection device to perform visual detection on the fixture, judge whether the installation is qualified, send it to the processing equipment after judging it to be qualified, and place it back on the indexing table again if it is judged to be unqualified. At this time, the control system alarms.

7. The double-station automatic feeding device according to claim 6, characterized in that, The described control system further includes an error correction module; the error correction module controls the vision sensor of the loading manipulator. When it is determined that the fixture is unqualified, the entire loading device stops. At this time, the indexing plate rotates counterclockwise by 90 degrees to transport the fixture near the loading manipulator, and the vision sensor is relied on to recheck the fixture. During the recheck process, the loading manipulator reassembles the insert according to the recheck result. Then the indexing plate rotates counterclockwise by 180 degrees to send the fixture near another said loading manipulator, repeats the recheck work, installs the insert in place, and then conducts a loading detection. After the detection passes, the loading device continues the loading work. If it is still unqualified after the recheck, an alarm is given and the operator is required to conduct manual inspection.

8. A double-station automatic feeding device according to claim 1, characterized in that, The described loading manipulator uses a four-axis linkage manipulator.

9. A double-station automatic feeding device according to claim 1, characterized in that The described mobile manipulator uses a six-axis linkage manipulator.

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