Disordered feeding mechanism

Abstract

The application provides a disordered feeding mechanism, relates to the technical field of disordered feeding, and through the cooperation of a frame body, a conveying belt, a turnover table, a suction structure, a driving assembly and a control device, a complete automatic feeding system of special-shaped parts is constructed, the problems of low efficiency and insufficient precision of traditional manual feeding are effectively solved, the combination design of the turnover table and a weighing sensor realizes accurate quantitative control of the special-shaped parts, intelligent switching of forward and reverse rotation is realized, the accuracy of single feeding quantity is ensured, and the conditions of material accumulation or deficiency are avoided; meanwhile, the suction structure replaces manual carrying, the feeding efficiency is significantly improved, and the operation risk is reduced; meanwhile, the posture adjusting structure arranged on the conveying belt can automatically correct the special-shaped parts, so that the special-shaped parts reach the specified form, subsequent grabbing is facilitated, subsequent processing links are processed, and therefore the stability and accuracy of the subsequent processing links are ensured.

Description

TECHNICAL FIELD

[0001] The present application generally relates to the technical field of disordered feeding, and particularly relates to a disordered feeding mechanism. BACKGROUND

[0002] Special-shaped parts are collectively referred to as non-standard and irregular-shaped parts in manufacturing industry, usually referring to parts that do not conform to the shape characteristics of conventional standard parts (such as bolts, nuts, and gaskets), and have complex structure, special curved surface or customized shape; their design and manufacturing are closely related to specific functional requirements, and have wide and key applications in fields such as high-end equipment and precision instruments that have strict requirements on part functionality and adaptability.

[0003] However, in the existing technology, the feeding of special-shaped parts is mostly dependent on manual operation due to the irregular shape of the parts and the requirement for fine posture. The workers need to manually stack the parts according to the established feeding direction and posture requirements, which not only has low efficiency, but also easily affects the stability and precision of the subsequent processing process due to operation errors, making it difficult to adapt to the modern intelligent manufacturing requirements for high efficiency and precision. SUMMARY

[0004] In view of the above-mentioned defects or shortcomings in the prior art, it is desirable to provide a disordered feeding mechanism that can solve the above-mentioned technical problems.

[0005] The present application provides a disordered feeding mechanism, comprising:

[0006] a rack, wherein a conveying belt extending in a first direction is arranged on the rack;

[0007] a turnover table, wherein at least one turnover table is installed on the rack and located on one side of the conveying belt; a load cell is arranged on the turnover table, and the load cell is used to weigh the special-shaped parts placed on the turnover table to obtain the actual weight;

[0008] a suction structure, which is installed on the rack, and is used to adsorb and transport the special-shaped parts to the turnover table;

[0009] a first driving assembly, which is connected with the turnover table, and is used to drive the turnover table to rotate in the first direction;

[0010] a control device, which is configured to:

[0011] determine whether the actual weight is greater than a first preset weight; if yes, control the first driving assembly to drive the turnover table to rotate in the reverse direction to pour out the excess special-shaped parts; if no, control the first driving assembly to drive the turnover table to rotate in the forward direction to place the special-shaped parts on the conveying belt;

[0012] A posture adjusting structure is arranged on the conveying belt, and is used for adjusting the shape of the special-shaped part conveyed by the conveying belt.

[0013] According to the technical scheme provided in the application, the turnover table is provided with a placing groove, the two sides of the placing groove along a second direction are provided with first openings, and the placing groove is used for accommodating the special-shaped part; a filter screen is arranged in the placing groove, a residue discharging groove is formed between the filter screen and the bottom surface of the placing groove, the residue discharging groove is used for accommodating filtered waste chips, and a shielding plate is arranged on the side of the residue discharging groove close to the conveying belt; and the second direction is perpendicular to the first direction.

[0014] According to the technical scheme provided in the application, the control device is further configured to: judge whether the turnover table performs a reverse rotation action within a first preset time; if not, control the first driving assembly to drive the turnover table to perform a reverse rotation, so that the waste chips in the residue discharging groove are discharged through the first openings.

[0015] According to the technical scheme provided in the application, a plurality of turnover tables are arranged on the frame body along a first direction.

[0016] The control device is further configured to: control a plurality of the turnover tables to perform a rotation action in sequence.

[0017] According to the technical scheme provided in the application, the posture adjusting structure comprises: a coarse adjustment assembly and a fine adjustment assembly, the coarse adjustment assembly is arranged on the frame body and located close to the turnover table, and the coarse adjustment assembly is located above the conveying belt; the coarse adjustment assembly is used for adjusting the special-shaped part to a pre-inverted shape; and the fine adjustment assembly is arranged on the frame body and located above the conveying belt, and the fine adjustment assembly is used for receiving the special-shaped part in the pre-inverted shape and adjusting the special-shaped part to the specified shape.

[0018] According to the technical scheme provided in the application, the coarse adjustment assembly comprises:

[0019] A first support frame is arranged above the conveying belt, and a second opening is arranged on the side of the first support frame close to the conveying belt.

[0020] A first motor is arranged on one side of the first support frame along a second direction, a driving end of the first motor is connected with a first rotating shaft, the other end of the first rotating shaft is rotationally connected with the first support frame, a stirring impeller is sleeved on the first rotating shaft, and a first interval is formed between the stirring impeller and the conveying belt; and the first motor is used for driving the stirring impeller to rotate around the second direction.

[0021] A first separating mechanism is arranged on one side of the first supporting frame close to the turnover table, and is used for separating a plurality of special-shaped parts;

[0022] A first photoelectric sensor is arranged on one side of the stirring vane close to the turnover table, and is located between the stirring vane and the first separating mechanism; the first photoelectric sensor is connected with the control device;

[0023] A second photoelectric sensor is arranged on one side of the stirring vane away from the turnover table, and is located between the stirring vane and the fine adjustment assembly; the second photoelectric sensor is connected with the control device;

[0024] The control device is further configured to: when the first photoelectric sensor detects a first signal, control the first separating mechanism to descend, and control the first motor to start to drive the stirring vane to rotate until the special-shaped part is adjusted to a pre-inverted shape and passes below the stirring vane; when the second photoelectric sensor detects a second signal, control the first motor to stop to make the stirring vane stop moving, and control the first separating mechanism to ascend, so that the next special-shaped part to be adjusted is conveyed to the stirring vane.

[0025] According to the technical scheme provided in the application, the fine adjustment assembly comprises:

[0026] A second supporting frame is arranged above the conveying belt, and a contact sensor is arranged on the second supporting frame, and the contact sensor is used for identifying whether the special-shaped part is adjusted to a specified shape;

[0027] A second separating mechanism is arranged between the second photoelectric sensor and the first supporting frame, and is used for separating the special-shaped parts; when the second photoelectric sensor detects a second signal, the control device is further configured to control the second separating mechanism to descend;

[0028] A first cylinder is arranged on the frame body and extends along the third direction; the first cylinder is located on one side of the second supporting frame away from the first supporting frame, and a first baffle is connected to a driving end of the first cylinder; the first cylinder is used for driving the first baffle to move along the third direction; the third direction is perpendicular to the first direction and perpendicular to the second direction;

[0029] A turnover unit is arranged on one side of the first cylinder along the second direction, and is used for turning the identified special-shaped part which is not adjusted to a specified shape to the specified shape;

[0030] A first pushing unit is arranged on the other side of the first cylinder along the second direction, and is used for pushing the special-shaped part to the turnover unit;

[0031] A second pushing unit is arranged on one side of the turnover unit along the first direction, and is used for pushing the special-shaped part adjusted to the specified shape out of the turnover unit.

[0032] According to the technical scheme provided by the application, the turnover unit comprises a rotary cylinder and a clamping piece, the driving end of the rotary cylinder is connected with the clamping piece, and the rotary cylinder is used for driving the clamping piece to turn over; and the clamping piece is used for clamping the special-shaped part.

[0033] According to the technical scheme provided by the application, further comprising: a detection assembly is arranged on the side of the turnover unit away from the second pushing unit, and the second pushing unit is used for pushing the special-shaped part adjusted to the specified shape to the detection assembly; and the detection assembly comprises:

[0034] A rotating device is arranged on the frame body, and is used for driving the special-shaped part in the specified shape to rotate;

[0035] A first identification module is arranged on the frame body and above the rotating device, and is used for detecting and identifying whether the special-shaped part has defects.

[0036] According to the technical scheme provided by the application, the adsorption structure comprises a second driving assembly, a third driving assembly and an adsorption assembly, the second driving assembly is arranged on the frame body, the second driving assembly is connected with the third driving assembly, the bottom of the third driving assembly is connected with a plurality of adsorption assemblies, the second driving assembly is used for driving the third driving assembly to drive the adsorption assembly to move along the second direction; and the third driving assembly is used for driving the adsorption assembly to move along the third direction.

[0037] The adsorption assembly comprises:

[0038] A support block is fixedly arranged on the third driving assembly, and a tension sensor is arranged in the support block; a sensing block is connected to the top of the tension sensor, and the sensing block extends out of the support block.

[0039] A connecting shaft is connected to one end of the tension sensor, and an adsorption head is arranged at the other end of the connecting shaft, and the adsorption head is used for adsorbing the special-shaped part.

[0040] A buffering mechanism is sleeved on the connecting shaft, and the buffering mechanism comprises a spring, a protective cover and a fixing plate, the fixing plate is sleeved on the connecting shaft, the spring is sleeved on the connecting shaft and located between the fixing plate and the tension sensor, the protective cover is sleeved outside the spring and the fixing plate, the end of the protective cover is fixedly connected with the support block, one end of the spring is fixedly connected with the inner wall of the protective cover, and the other end of the spring is connected with the fixing plate, and the buffering mechanism is used for buffering when the adsorption head is subjected to axial impact.

[0041] An upper limit sensing structure is arranged on the side wall of the support block, and the upper limit sensing structure is used for detecting the position of the sensing block and monitoring the axial movement upper limit of the connecting shaft and the adsorption head.

[0042] The present application has the following beneficial effects:

[0043] The present application provides an unordered feeding mechanism, which cooperates with the frame body, the conveying belt, the turnover table, the adsorption structure, the driving assembly and the control device to construct a complete automatic feeding system of special-shaped parts, effectively solving the problems of low efficiency and insufficient precision of traditional manual feeding. The combination of the turnover table and the weighing sensor realizes accurate quantitative control of the special-shaped parts. The intelligent switching of forward and reverse rotation ensures the accuracy of single feeding quantity and avoids material accumulation or shortage. At the same time, the adsorption structure replaces manual handling, significantly improving the feeding efficiency and reducing the operation risk. At the same time, the posture adjusting structure arranged on the conveying belt can automatically correct the special-shaped parts to reach the specified shape, which is convenient for subsequent grabbing to the machining link for processing, thereby ensuring the stability and accuracy of the subsequent machining link. BRIEF DESCRIPTION OF DRAWINGS

[0044] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments made with reference to the accompanying drawings:

[0045] Figure 1 is a schematic view of an unordered feeding mechanism provided by the present application;

[0046] Figure 2 is Figure 1 a schematic view of part A in

[0047] Figure 3 is Figure 1 a schematic view of part B in

[0048] Figure 4 is a right rear side schematic view of an unordered feeding mechanism provided by the present application;

[0049] Figure 5 is Figure 4 a schematic view of part C in

[0050] Figure 6 is a left rear side schematic view of a disordered feeding mechanism provided by the present application;

[0051] Figure 7 is Figure 6 a schematic view of part D in

[0052] Figure 8 is a schematic view of a special-shaped part provided by the present application;

[0053] Figure 9 is a rear side schematic view of a disordered feeding mechanism provided by the present application;

[0054] Figure 10 is Figure 9 a schematic view of part E in

[0055] Figure 11 is a schematic view of the inside of the adsorption assembly.

[0056] In the figure: 1, frame body; 2, conveying belt; 3, turnover table; 31, shielding plate; 32, filter screen; 4, coarse adjustment assembly; 41, first support frame; 42, second air cylinder; 43, first motor; 44, second shielding plate; 45, push vane; 5, second support frame; 6, first air cylinder; 7, contact sensor; 8, rotary air cylinder; 9, clamping piece; 101, first telescopic rod; 102, first push plate; 111, second telescopic rod; 112, second push plate; 12, first guide rail; 13, first connecting piece; 14, second guide rail; 15, second connecting piece; 16, adsorption head; 17, special-shaped part; 171, reference surface; 172, connecting rod; 18, first shielding plate; 19, rotating device; 20, first identification module; 21, second identification module; 22, waste bucket; 23, third motor; 24, third air cylinder; 25, swing air cylinder; 26, clamping jaw; 27, conveying unit; 28, fourth air cylinder; 29, third shielding plate; 30, support block; 33, inductive block; 34, tension sensor; 35, connecting shaft; 36, fixed plate; 37, spring; 38, protective cover; 39, connecting plate; 40, proximity switch. DETAILED DESCRIPTION

[0057] The present application will be further described below in conjunction with the drawings and examples. It can be understood that the specific examples described herein are only used to explain the related application, and are not a limitation on the application. In addition, it should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings.

[0058] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0059] Embodiment 1

[0060] Please refer to Figures 1-11 The present application provides a kind of unordered feeding mechanism, comprising:

[0061] Frame body 1, frame body 1 is equipped with the conveying belt 2 extending along the first direction;

[0062] Turnover table 3, turnover table 3 is equipped with at least one, is installed on frame body 1 and is located on the side of conveying belt 2;Turnover table 3 is configured with load cell, load cell is used to weigh the special-shaped part 17 placed on the turnover table 3, to obtain actual weight;

[0063] Suction structure, installed on frame body 1, suction structure is used to adsorb special-shaped part 17 and transport to turnover table 3;

[0064] First drive assembly, first drive assembly is connected with turnover table 3, and first drive assembly is used to drive turnover table 3 to rotate around the first direction;

[0065] Control device, control device is configured to:

[0066] Determine whether actual weight is greater than the first preset weight;If yes, control first drive assembly to drive turnover table 3 to rotate reversely, to pour out the excess special-shaped part 17;If not, control first drive assembly to drive turnover table 3 to rotate forward, to place special-shaped part 17 on conveying belt 2;

[0067] Posture adjustment structure, posture adjustment structure is arranged on conveying belt 2, and posture adjustment structure is used to adjust the shape of special-shaped part 17 conveyed by conveying belt 2.

[0068] Specifically, frame body 1 is the basic support structure of the entire unordered feeding mechanism, and provides installation reference for conveying belt 2, turnover table 3, suction structure and other components;The design of frame body 1 needs to meet the weight bearing and stability requirements of the equipment, and the material can be selected from high-strength profiles, which are welded to form a frame.

[0069] Specifically, frame body 1 is equipped with conveying belt 2 extending along the first direction, and in the embodiment, the first direction is horizontal direction;The conveying surface of conveying belt 2 needs to have certain wear resistance and slip resistance to adapt to the conveying requirements of irregular shape of special-shaped part 17;In the embodiment, the driving of conveying belt 2 is realized through the conventional mode of motor and transmission shaft, that is, two transmission shafts are arranged along the first direction, one of which is connected with the output end of the motor, and the conveying belt 2 is sleeved on the transmission shaft.

[0070] Specifically, the first driving assembly includes a servo motor, a speed reducer and a rotating shaft, the rotating shaft is arranged through the turnover table 3 in the first direction, the speed reducer is arranged at one end of the rotating shaft, and the speed reducer is connected with the output end of the servo motor; the servo motor provides controllable rotary power, the speed reducer is used for reducing the rotating speed and increasing the torque, so that the turnover table 3 can still rotate stably when carrying the special-shaped part 17; the rotating shaft serves as the rotating support of the turnover table 3 and is connected with the frame body 1 through a bearing, so as to ensure coaxiality and smoothness in the rotating process.

[0071] Specifically, the control device serves as the control center of the device and is realized by an upper computer in this embodiment; the control device is signal-connected with the weighing sensor and the first driving assembly, receives the analog electric signal of the actual weight transmitted by the weighing sensor, converts the analog electric signal into a digital signal through analog-digital conversion, and then performs subsequent operation processing; at the same time, the control device is built-in with a preset program, and the numerical relationship between the actual weight and the first preset weight is compared; the first preset weight can be set by itself according to needs.

[0072] When the actual weight is greater than the first preset weight, it is judged that the turnover table 3 carries an overweight part, at this time, the control device sends a reverse rotation instruction to the first driving assembly to drive the turnover table 3 to rotate reversely, so as to pour out the excess special-shaped part 17;

[0073] When the actual weight is less than or equal to the first preset weight, it is judged that the number of parts meets the feeding requirements, at this time, the control device sends a forward rotation instruction to the first driving assembly to drive the turnover table 3 to rotate forward, so as to stably put the special-shaped part 17 into the conveying belt 2, and complete the quantitative feeding action.

[0074] Working principle: the present application cooperates the frame body 1, the conveying belt 2, the turnover table 3, the adsorption structure, the first driving assembly and the control device, and constructs a complete special-shaped part 17 automatic feeding system, effectively solves the problems of low efficiency and insufficient precision of traditional manual feeding; the combination design of the turnover table 3 and the weighing sensor realizes the accurate quantitative control of the special-shaped part 17, the intelligent switching of forward and reverse rotation ensures the accuracy of single feeding quantity and avoids the situation of material accumulation or deficiency; at the same time, the adsorption structure replaces manual carrying, which significantly improves the feeding efficiency and reduces the operation risk; at the same time, the posture adjusting structure arranged on the conveying belt 2 can automatically correct the special-shaped part 17, so that it reaches the specified form, which is convenient for subsequent grabbing to the machining link for machining, so as to ensure the stability and accuracy of the subsequent machining link.

[0075] In some embodiments, the tilting table 3 has a placement slot, and the placement slot has a first opening on both sides along the second direction. The placement slot is used to accommodate irregularly shaped parts 17. A filter screen 32 is provided inside the placement slot. A slag discharge trough is formed between the filter screen 32 and the bottom surface of the placement slot. The slag discharge trough is used to accommodate the waste from filtration. A baffle plate 31 is provided on the side of the slag discharge trough near the conveyor belt 2. The second direction is perpendicular to the first direction.

[0076] Specifically, in this embodiment, the second direction is horizontal and perpendicular to the first direction.

[0077] Specifically, such as Figure 3 As shown, the tilting table 3 has a placement slot. In the initial state, it extends along the second direction to form a temporary bearing space for the irregular part 17. The irregular part 17 grabbed by the adsorption structure falls accurately into the slot through the top opening of the placement slot. The slot has a first opening on both sides. When the tilting table 3 performs the rotating feeding action, the irregular part 17 can slide out along the opening direction. With the guidance and constraint of the slot, it is ensured that the irregular part 17 only moves along the preset trajectory, effectively preventing the irregular part 17 from being scattered in the non-feeding area of ​​the frame 1, and ensuring the orderliness of the feeding process.

[0078] Specifically, the interior of the placement tank is equipped with a filter screen 32, which is made of wear-resistant and breathable metal mesh or polymer screen. The filter screen 32 and the bottom of the placement tank form a slag discharge tank. When the irregular part 17 is placed in the tank, the waste adhering to the surface of the part will fall into the slag discharge tank through the filter screen 32 under the action of gravity.

[0079] Meanwhile, a baffle plate 31 is provided on the side of the slag discharge trough near the conveyor belt 2. When the tilting table 3 rotates in the reverse direction to discharge material, the waste in the slag discharge trough is discharged from the first opening on the side away from the conveyor belt 2. When the tilting table 3 rotates in the forward direction to discharge material, the baffle plate 31 forms a seal on the side of the slag discharge trough facing the conveyor belt 2 to prevent waste from falling onto the conveyor belt 2 and to ensure the cleanliness of the material feeding.

[0080] In some embodiments, the control device is further configured to: determine whether the tilting table 3 performs a reverse rotation action within a first preset time; if not, control the first drive assembly to drive the tilting table 3 to rotate in the reverse direction so that the waste in the slag discharge trough is discharged through the first opening.

[0081] Specifically, the control device is pre-configured with a waste cleaning trigger mechanism. When the control device continuously monitors and determines that the turnover table 3 has not performed a reverse rotation action within the first preset time period (the first preset time period can be flexibly set according to the actual working conditions of the production line, such as adjusting according to the cleanliness requirements of parts, the rate of waste generation, etc.), the "forced waste removal" process is triggered.

[0082] At this time, the control device sends a specific control instruction to the first driving assembly to drive the turnover table 3 to perform a reverse rotation action. During the reverse rotation of the turnover table 3, the accumulated waste in the slag discharge groove is discharged out of the turnover table 3 through the first opening by means of gravity and the tilting movement of the turnover table 3. The present application periodically checks the reverse action of the turnover table 3 to forcibly clean the accumulated waste in the slag discharge groove, avoids the slag discharge groove from being blocked due to long-term accumulation of waste, ensures the continuous and effective screening of the filter screen 32 and the stability of the accuracy of the weighing detection of the turnover table 3, and improves the self-cleaning capability and long-term operation reliability of the equipment from the process mechanism level.

[0083] In some embodiments, the turnover table 3 is provided in a plurality, and the plurality of turnover tables 3 are arranged in a straight line along the first direction on the frame body 1.

[0084] The control device is further configured to sequentially control the plurality of turnover tables 3 to perform the rotation action.

[0085] Specifically, to adapt to different production scale and efficiency requirements, the turnover table 3 can be provided in a plurality, and the plurality of turnover tables 3 are installed in a straight line along the first direction on the frame body 1, and each turnover table 3 is connected with a corresponding first driving assembly. In this layout, the adsorption structure can flexibly transport the special-shaped parts 17 to different turnover tables 3, and a parallel feeding process is formed by using the spatial distribution of multiple stations.

[0086] Specifically, taking control of three turnover tables 3 as an example for description: the three turnover tables 3 are sequentially numbered, and the control device sends a turnover driving instruction to the first driving assembly corresponding to each turnover table 3 at a preset instruction interval time (in this embodiment, the instruction interval time is 30s) in the order of numbering to sequentially control the turnover tables 3 to perform the rotation action. The rotation action is that the turnover table 3 rotates forward or reversely around the rotation shaft.

[0087] In some embodiments, the posture adjusting structure includes a coarse adjustment assembly 4 and a fine adjustment assembly. The coarse adjustment assembly 4 is arranged on the frame body 1 and located close to the turnover table 3, and is located above the conveying belt 2. The coarse adjustment assembly 4 is used to adjust the special-shaped part 17 to a pre-tilting posture. The fine adjustment assembly is arranged on the frame body 1 and located above the conveying belt 2, and is used to receive the special-shaped part 17 in the pre-tilting posture and adjust it to a specified posture.

[0088] Specifically, the posture adjusting structure includes a coarse adjustment assembly 4 and a fine adjustment assembly. The coarse adjustment assembly 4 is installed on the frame body 1 and arranged close to the turnover table 3, and is located in the upper area of the conveying belt 2. For the special-shaped part 17 quantitatively fed by the turnover table 3, a preliminary posture is first adjusted to a pre-tilting posture (i.e., as shown in FIG. 6) which is convenient for subsequent fine adjustment processing. Figure 8The profiled part 17 provided by the present application is shown. The coarse adjustment assembly 4 makes the reference surface 171 of the profiled part 17 upward or downward, which is the basis for fine adjustment. The fine adjustment assembly is also arranged above the conveying belt 2 and forms a process link with the coarse adjustment assembly 4. It receives the profiled part 17 in the pre-inverted state after coarse adjustment and finally adjusts it to the specified shape required for subsequent processing and assembly (the reference surface 171 is upward). It ensures the consistency of the part posture in the next process and provides protection for the stable and high-precision operation of the production line. Through the strategy of hierarchical adjustment, the posture adjustment efficiency and accuracy requirements are balanced, and the diverse posture correction requirements of the profiled part 17 due to complex structure are adapted.

[0089] Specifically, in the present embodiment, when the reference surface 171 of the profiled part 17 is upward, the profiled part 17 is adjusted to the specified shape. At this time, the connecting rod 172 on the reference surface 171 is easily clamped for subsequent operation.

[0090] In some embodiments, the coarse adjustment assembly 4 comprises:

[0091] The first support frame 41 is arranged above the conveying belt 2, and the side of the first support frame 41 facing the conveying belt 2 is provided with a second opening;

[0092] The first motor 43 is arranged on the side of the first support frame 41 along the second direction. The driving end of the first motor 43 is connected with a first rotating shaft, and the other end of the first rotating shaft is rotationally connected with the first support frame 41. A stirring impeller 45 is sleeved on the first rotating shaft, and the stirring impeller 45 has a first interval with the conveying belt 2. The first motor 43 is used to drive the stirring impeller 45 to rotate around the second direction;

[0093] The first separation mechanism is arranged on the side of the first support frame 41 close to the turnover table 3. The first separation mechanism is used to separate a plurality of profiled parts 17;

[0094] The first photoelectric sensor is arranged on the side of the stirring impeller 45 close to the turnover table 3 and is located between the stirring impeller 45 and the first separation mechanism. The first photoelectric sensor is connected with the control device;

[0095] The second photoelectric sensor is arranged on the side of the stirring impeller 45 away from the turnover table 3 and is located between the stirring impeller 45 and the fine adjustment assembly. The second photoelectric sensor is connected with the control device;

[0096] The control device is further configured to control the first partition mechanism to descend and control the first motor 43 to start driving the poking impeller 45 to rotate when the first photoelectric sensor detects the first signal, until the special-shaped part 17 is adjusted to the pre-tilting state and passes below the poking impeller 45; and control the first motor 43 to stop when the second photoelectric sensor detects the second signal, so that the poking impeller 45 stops moving, and the first partition mechanism rises, so that the special-shaped part 17 in the pre-tilting state passes.

[0097] Specifically, as shown in Figure 1 and Figure 2 The first support frame 41 is arranged above the conveying belt 2, and a side of the first support frame 41 facing the conveying surface of the conveying belt 2 is provided with a second opening, so as to form a mounting base frame of the coarse adjustment assembly 4; the first motor 43 is arranged on one side of the first support frame 41 along the second direction, and the driving end of the first motor 43 is connected with a first rotating shaft, and the other end of the first rotating shaft is rotatably connected with the first support frame 41 through a bearing; the poking impeller 45 is sleeved on the first rotating shaft, and the poking impeller 45 has a first interval with the conveying belt 2; when the special-shaped part 17 is in the pre-tilting state, the height of the special-shaped part 17 is lower than the first interval, and the special-shaped part 17 can pass below the poking impeller 45; if the special-shaped part 17 is in other states, the height of the special-shaped part 17 is higher than the first interval, and the first motor 43 is operated to drive the poking impeller 45 to rotate around the second direction, and the special-shaped part 17 on the conveying belt 2 is subjected to an external force by the mechanical poking action of the poking impeller 45, so as to adjust the state of the special-shaped part 17;

[0098] Meanwhile, the first support frame 41 is provided with a first partition mechanism near the turnover table 3, and in the embodiment, the first partition mechanism includes a second air cylinder 42 and a second baffle 44; the second air cylinder 42 is fixed on the first support frame 41, the driving end of the second air cylinder 42 is connected with the second baffle 44, and the second air cylinder 42 is used to drive the second baffle 44 to move along the third direction; when the second air cylinder 42 drives the second baffle 44 to descend, the subsequent part is blocked from advancing, so as to ensure that only one part is adjusted at the current station; when the second air cylinder 42 drives the second baffle 44 to ascend, the part is allowed to continue to be conveyed;

[0099] Specifically, the first photoelectric sensor and the second photoelectric sensor are arranged in pairs and are respectively located on the feeding side and the discharging side of the poking impeller 45, and the detection light paths of the first photoelectric sensor and the second photoelectric sensor are parallel to the second direction;

[0100] Specifically, when the first photoelectric sensor detects the first signal that the special-shaped part 17 passes (the height of the special-shaped part 17 causes the first photoelectric sensor to generate a blocking signal), the control device sends an instruction to the second cylinder 42 of the first separation mechanism to drive the second baffle 44 to descend along the third direction to block the subsequent parts from entering the current adjustment station, ensuring that a single part receives independent posture adjustment; at the same time, the first motor 43 is started to drive the stirring impeller 45 to rotate around the second direction, and the mechanical stirring of the stirring impeller 45 is used to exert an external force on the special-shaped part 17 on the conveying belt 2 to correct the posture (for the special-shaped part 17 in the upright state, the stirring impeller 45 stirs the special-shaped part 17, and the special-shaped part 17 is flipped backward to the pre-inverted state; and for the special-shaped part 17 facing the two sides of the conveying belt 2, after the stirring impeller 45 stirs the special-shaped part 17, the special-shaped part 17 is flipped backward to the upright state, and then the special-shaped part 17 in the upright state is continuously stirred by the stirring impeller 45, and the special-shaped part 17 is flipped backward to the pre-inverted state after being stirred), and after the special-shaped part 17 is adjusted to the pre-inverted state, its height is lower than the first interval between the stirring impeller 45 and the conveying belt 2, and can smoothly pass below the stirring impeller 45; when the second photoelectric sensor detects the second signal (i.e., the height of the special-shaped part 17 causes the second photoelectric sensor to generate a blocking signal), the control device controls the first motor 43 to stop, and then the stirring impeller 45 stops stirring, and synchronously controls the second cylinder 42 to drive the second baffle 44 to retract to open the channel and allow the next special-shaped part 17 to be adjusted to continue to be conveyed to the stirring impeller 45. Through the cooperation of the mechanical structure and the electrical control logic, the special-shaped part 17 is quickly and roughly adjusted, laying a foundation for the subsequent fine adjustment link; at the same time, relying on the closed-loop detection and feedback of the first photoelectric sensor and the second photoelectric sensor, the accuracy of the rough adjustment action triggering is ensured, and it is ensured that only a single part is adjusted each time, thereby improving the efficiency and consistency of the posture adjustment of the special-shaped part 17 and meeting the needs of continuous posture adjustment of the production line.

[0101] In some embodiments, the fine adjustment assembly comprises:

[0102] The second support frame 5 is arranged above the conveying belt 2, and the contact sensor 7 is arranged on the second support frame 5, which is used to identify whether the special-shaped part 17 is adjusted to a specified state;

[0103] The second separation mechanism is arranged between the second photoelectric sensor and the first support frame 41, and is used to separate the special-shaped part 17; when the second photoelectric sensor detects the second signal, the control device is further configured to control the second separation mechanism to descend;

[0104] The first cylinder 6 is arranged on the frame body 1 and extends along the third direction. The first cylinder 6 is located on the side of the second support frame 5 away from the first support frame 41. The driving end of the first cylinder 6 is connected with the first baffle 18. The first cylinder 6 is used to drive the first baffle 18 to move along the third direction. The third direction is perpendicular to the first direction and perpendicular to the second direction.

[0105] The turnover unit is arranged on the side of the first cylinder 6 along the second direction. The turnover unit is used to turn the identified irregular-shaped part 17 that is not adjusted to the specified shape to the specified shape.

[0106] The first pushing unit is arranged on the other side of the first cylinder 6 along the second direction. The first pushing unit is used to push the irregular-shaped part 17 to the turnover unit.

[0107] The second pushing unit is arranged on the side of the turnover unit along the first direction. The second pushing unit is used to push the irregular-shaped part 17 adjusted to the specified shape out of the turnover unit.

[0108] The second separation mechanism is arranged between the second photoelectric sensor and the first support frame 41. In this embodiment, the second separation mechanism includes a fourth cylinder 28 and a third baffle 29. The fourth cylinder 28 is fixed on the first support frame 41. The driving end of the fourth cylinder 28 is connected with the third baffle 29. The fourth cylinder 28 is used to drive the third baffle 29 to move along the third direction. When the second photoelectric sensor detects the second signal, the control device controls the fourth cylinder 28 of the second separation mechanism to drive the third baffle 29 to descend, so as to block the subsequent part from advancing, and ensure that only one part is detected in the current station.

[0109] Specifically, as shown in Figure 2 , Figure 4 and Figure 5As shown, the second support frame 5 is arranged above the conveying belt 2, and a contact sensor 7 is arranged on the second support frame 5. The contact sensor 7 can identify whether the current posture of the special-shaped part 17 meets the specified shape requirement by contacting the surface of the special-shaped part 17, thereby providing a basis for judgment for fine adjustment. In this embodiment, the contact sensor 7 is a probe type contact sensor. In this embodiment, the reference surface 171 of the special-shaped part 17 has a plurality of connecting rods 172. The contact sensor 7 contacts the upward surface of the special-shaped part 17 to identify whether the upward surface of the special-shaped part 17 has a connecting rod 172. If it is identified, it indicates that the current special-shaped part 17 is in the specified shape. If it is not identified, it indicates that the reference surface 171 of the current special-shaped part 17 is downward. A first cylinder 6 is arranged on the side of the second support frame 5 away from the first support frame 41. The first cylinder 6 is arranged on the frame body 1 and extends in a third direction (in this embodiment, the third direction is the vertical direction). The driving end of the first cylinder 6 is connected with a first baffle 18. The first cylinder 6 is connected with a control device. When the second photoelectric sensor detects a second signal (i.e., the height of the special-shaped part 17 causes the second photoelectric sensor to generate a shielding signal), the control device also controls the first cylinder 6 to start and drive the first baffle 18 to descend to block the special-shaped part 17 from continuing to move forward.

[0110] Meanwhile, a turnover unit is arranged on the side of the first cylinder 6 along the second direction. A first pushing unit is arranged on the other side of the second direction. The two units form a cooperative working relationship. When the contact sensor 7 identifies the shape of the special-shaped part 17, the control device drives the first pushing unit to push the part from the conveying belt 2 to the turnover unit. At this time, the control device controls the first baffle 18 and the third baffle 29 to rise, so that the next special-shaped part 17 moves to the contact sensor 7 for detection. After the turnover unit receives the part, the control device determines whether to perform posture turnover adjustment on the part according to the detection result sent by the contact sensor 7, so that the part is accurately transformed to the specified shape. Then, the special-shaped part 17 is pushed into the next process by the second pushing unit. The whole fine adjustment assembly takes the contact sensor 7 as a detection and judgment unit. The first pushing unit and the turnover unit cooperate to perform posture correction. Through the cooperative action of multiple components, the accurate posture of the part after rough adjustment is calibrated, the demand of the production line for the high-precision posture of the special-shaped part 17 is met, the directness of contact detection and the reliability of mechanical turnover are utilized to ensure the accuracy and stability of the fine adjustment link, and the fine adjustment scene of the complex posture of the special-shaped part 17 is adapted.

[0111] Specifically, in the present embodiment, a dense pressure sensing unit (such as a thin film pressure sensor array) is arranged on the surface of the contact sensor 7. When the part comes into contact with the sensor, the sensing units at different positions will generate differentiated pressure signals according to the characteristics of the reference surface 171 (in the present embodiment, the connecting rod 172 on the reference surface 171); the control device pre-stores the pressure distribution map of the standard reference surface 171 (such as the pressure distribution characteristics of the reference surface 171 when it is ideally upward), and compares the real-time detected pressure map with it; if matched, it is judged that the reference surface 171 is upward, and the special-shaped part 17 is in the specified form, at which time the posture correction of the turnover unit is not needed; if not matched, the posture correction is performed by the turnover unit.

[0112] Specifically, the first pushing unit includes a first telescopic rod 101 and a first pushing plate 102. The first telescopic rod 101 is arranged on the frame body 1 along the second direction, and the driving end of the first telescopic rod 101 is connected with the first pushing plate 102. The first telescopic rod 101 is used to drive the first pushing plate 102 to move along the second direction to push the special-shaped part 17 into the turnover unit.

[0113] Specifically, the second pushing unit includes a second telescopic rod 111 and a second pushing plate 112. The second telescopic rod 111 is arranged on the frame body along the first direction, and the driving end of the second telescopic rod 111 is connected with the second pushing plate. The second telescopic rod 111 is used to drive the second pushing plate 112 to move along the first direction to push the special-shaped part 17 out of the turnover unit into the next process.

[0114] In some embodiments, the turnover unit includes a rotary air cylinder 8 and a clamping piece 9. The driving end of the rotary air cylinder 8 is connected with the clamping piece 9, and the rotary air cylinder 8 is used to drive the clamping piece 9 to turn over. The clamping piece 9 is used to clamp the special-shaped part 17.

[0115] Specifically, the turnover unit is composed of the rotary air cylinder 8 and the clamping piece 9. The rotary air cylinder 8 serves as a power source, and its driving end is directly connected with the clamping piece 9, which can accurately output rotary power to drive the clamping piece 9 to turn over.

[0116] When the turnover unit needs to perform posture correction, the first pushing unit pushes the part to the working area of the turnover unit, the clamping piece 9 quickly clamps the part, and the rotary air cylinder 8 drives the clamping piece 9 to perform accurate turning over according to the instruction of the control device, through the set turning angle (such as 180°), the special-shaped part 17 is converted from the current posture (the reference surface 171 downward) to the specified form (the reference surface 171 upward), which provides the part with a qualified posture for the subsequent process. With the accuracy of the rotary air cylinder 8 and the adaptability of the clamping piece 9, the turnover is stable and reliable, which meets the posture fine adjustment requirement of the special-shaped part 17, and the part can be clamped by the subsequent detection assembly to the next link after turnover in the correct posture.

[0117] Specifically, in the present embodiment, the clamping member 9 can adopt a double-plate clamping structure, and the design and coordination logic are as follows: the two clamping plates are arranged in parallel, and the distance between the two clamping plates can be accurately controlled through the extension and retraction of the third extension rod extending in the third direction, so as to realize self-adaptive clamping of the different-size special-shaped parts 17; the fixed end of the third extension rod is rigidly connected with the driving end of the rotary air cylinder 8, the rotary air cylinder 8 drives the third extension rod to rotate as a whole around the second direction, and then drives the clamped part to rotate synchronously; when the first pushing unit pushes the part to the preset position between the two clamping plates, the control device instructs the third extension rod to retract, so that the clamping plates gradually approach the part, until the pressure sensor (embedded on the surface of the clamping plate) on the inner side of the clamping plate detects a preset pressure value (such as 1.2N), at which time the clamping plate stops moving and maintains the pressure, so as to ensure stable clamping of the part without causing damage; then, the rotary air cylinder 8 starts and rotates by a preset angle (such as 180°), and the part posture is turned over; after turning over, the third extension rod reverses to release the clamping plate, and the second pushing unit pushes the special-shaped part 17 into the subsequent process; through the linear motion of the third extension rod and the rotary motion of the motor, the structure realizes reliable grabbing and precise turning over of the special-shaped part 17, and through pressure feedback control, it is adapted to parts with different shapes and materials, so as to ensure the stability and adaptability of the fine adjustment process.

[0118] When the posture correction is not needed, the first pushing unit pushes the part to the working area of the turning unit, and then the second pushing unit starts to push the special-shaped part 17 into the next process.

[0119] In some embodiments, further comprising: a detection assembly, the detection assembly comprising: the detection assembly is arranged on the side of the turning unit away from the second pushing unit, and the second pushing unit is used to push the special-shaped part 17 adjusted to the specified shape to the detection assembly; the detection assembly comprises:

[0120] a rotating device 19, the rotating device 19 being arranged on the frame body 1, and the rotating device 19 being used to drive the special-shaped part 17 in the specified shape to rotate;

[0121] a first identification module 20, the first identification module 20 being arranged on the frame body 1 and located above the rotating device 19, and the first identification module 20 being used to detect and identify whether the special-shaped part 17 has defects.

[0122] Specifically, in order to accurately control the quality of the special-shaped part 17 after the posture adjustment, a detection assembly is further configured. The detection assembly is arranged on the side of the turning unit away from the second pushing unit, and the second pushing unit is used to push the special-shaped part 17 adjusted to the specified shape to the detection assembly, so as to carry out defect detection.

[0123] AsFigure 6 and Figure 7 As shown in the figure, the detection assembly specifically comprises a rotating device 19 and a first identification module 20: the rotating device 19 is installed on the frame body 1 and has the function of driving the special-shaped part 17 in a specified shape to rotate, in this embodiment, the rotating device 19 comprises a second motor and a rotating disc, the second motor is arranged on the frame body 1, the driving end of the second motor is connected with the rotating disc, the rotating disc is driven to rotate by the second motor, and in turn the special-shaped part 17 is slowly and uniformly rotated around the driving shaft axis of the second motor, so that the special-shaped part 17 can be rotated to a specified angle; the first identification module 20 is also arranged on the frame body 1 and above the rotating device 19, in this embodiment, the first identification module 20 is a camera, which will shoot the special-shaped part 17 at the specified angle and send the obtained image to the control device, and the control device will compare the image with the preset qualified standard data, so as to accurately identify whether the part has defects such as surface indentation, size deviation and uneven material.

[0124] In some embodiments, a conveying assembly is further arranged between the rotating device 19 and the first identification module 20, which comprises a third motor 23 arranged on the frame body 1 along the second direction, the driving end of the third motor 23 is connected with a third air cylinder 24, the driving end of the third air cylinder 24 is connected with a swing air cylinder 25, and the driving end of the swing air cylinder 25 is provided with a clamping jaw 26. Among them, the third air cylinder 24 is used to drive the clamping jaw 26 to move along the third direction, and the swing air cylinder 25 is used to adjust the angle of the clamping jaw 26; when the first identification module 20 identifies the special-shaped part 17 on the rotating device 19, the third motor 23 drives the third air cylinder 24 to exit the identification area of the first identification module 20; after the identification is completed, the third motor 23 drives the third air cylinder 24 to move above the rotating device 19, and controls the clamping jaw 26 to clamp the special-shaped part 17 (in this embodiment, the clamping jaw 26 clamps the connecting rod 172 on the reference surface 171).

[0125] Specifically, the conveying assembly is provided with a waste barrel 22 on one side along the second direction, and the other side is a conveying unit 27, which is used to convey the special-shaped part 17 to the next process; when the first identification module 20 identifies that the current special-shaped part 17 is an unqualified part, the clamping jaw 26 is controlled to move above the waste barrel 22, and the unqualified special-shaped part 17 is discarded; when the first identification module 20 identifies that the current special-shaped part 17 is a qualified part, the clamping jaw 26 is controlled to move above the conveying unit 27, so that the special-shaped part 17 enters the subsequent link;

[0126] Specifically, in the embodiment, the conveying unit is further provided with a second identification module 21 on one side in the second direction. When the jaw 26 clamps the special-shaped part 17, the third cylinder 24 is used to make the special-shaped part 17 at the same height as the second identification module 21. The second identification module 21 takes a side view of the part and transmits it to the control device. The control device compares the image with the preset qualified standard data to further confirm whether the special-shaped part 17 has defects such as surface indentation, size deviation, and uneven material.

[0127] In some embodiments, the adsorption structure comprises: a second driving assembly, a third driving assembly and an adsorption assembly, the second driving assembly is arranged on the frame body 1, the second driving assembly is connected with the third driving assembly, the bottom of the third driving assembly is connected with a plurality of adsorption assemblies, the second driving assembly is used to drive the third driving assembly to drive the adsorption assembly to move in the second direction; the third driving assembly is used to drive the adsorption assembly to move in the third direction;

[0128] The adsorption assembly comprises:

[0129] The support block 30 is fixedly arranged on the third driving assembly, and the inside of the support block 30 is provided with a tension sensor 34; the top of the tension sensor 34 is connected with a sensing block 33, and the top of the sensing block 33 extends out of the support block 30;

[0130] The connecting shaft 35 is connected with the tension sensor 34 at one end, and the other end of the connecting shaft 35 is provided with an adsorption head 16 through a connecting flange, and the adsorption head 16 is used to adsorb the special-shaped part 17;

[0131] The buffer mechanism is sleeved on the connecting shaft 35, and the buffer mechanism comprises: a spring 37, a protective cover 38 and a fixed plate 36, the fixed plate 36 is sleeved on the connecting shaft 35, the spring 37 is sleeved on the connecting shaft 35 and located between the fixed plate 36 and the tension sensor 34; the protective cover 38 is sleeved on the outside of the spring 37 and the fixed plate 36, and the end of the protective cover 38 is fixedly connected with the support block 30; one end of the spring 37 is fixedly connected with the inner wall of the protective cover 38, and the other end of the spring 37 is connected with the fixed plate 36; the buffer mechanism is used to buffer when the adsorption head 16 is subjected to axial impact;

[0132] The upper limit sensing structure is arranged on the side wall of the support block 30, and is used to detect the position of the sensing block 33 and monitor the upper limit of the axial movement of the connecting shaft 35 and the adsorption head 16.

[0133] Specifically, the second driving assembly and the third driving assembly move in different spatial directions in cooperation, the adsorption assembly can flexibly reach the designated point of the material storage area, accurately adsorb the irregular-shaped part 17, and then move the irregular-shaped part 17 to the placement groove of the turnover table 3 according to the feeding requirement, so as to provide stable part input for subsequent quantitative feeding and posture adjustment process. With the spatial movement cooperation of the multiple driving assemblies, the flexibility and accuracy of the adsorption structure for taking and placing the irregular-shaped part 17 are improved, and the irregular-shaped part 17 is adapted to the various feeding position requirements caused by the irregular shape.

[0134] In the embodiment, the second driving assembly is composed of two first guide rails 12 arranged in parallel along a first direction and extending along a second direction, and a first connecting piece 13 fitted and installed between the two first guide rails 12. The two first guide rails 12 are symmetrically erected on the frame body 1 to provide stable sliding support for the first connecting piece 13. The first connecting piece 13 is slidably connected to the first guide rails 12 at both ends through sliding blocks, can be flexibly moved along the second direction, and the top of the first connecting piece 13 is fixedly connected with the third driving assembly to realize power transmission.

[0135] The third driving assembly includes a second guide rail 14 and a second connecting piece 15. The second connecting piece 15 is fixedly connected with the first connecting piece 13 and moves along the second direction synchronously with the first connecting piece 13. The second guide rail 14 extends along a third direction and is slidably connected with the second connecting piece 15, so that the second guide rail 14 can drive the adsorption assembly at the bottom to ascend and descend along the third direction. Through the cascade cooperation of the double guide rail assemblies, the second driving assembly drives the adsorption assembly to translate along the second direction to adjust the horizontal position, and the third driving assembly drives the adsorption assembly to ascend and descend along the third direction to control the taking and placing height. The two assemblies cooperate to build a precise two-dimensional motion trajectory, so as to ensure that the adsorption assembly can adapt to the storage position of the irregular-shaped part 17 and the feeding station of the turnover table 3, realize stable grabbing and moving of the part, improve the motion accuracy, load capacity and maintenance convenience of the adsorption structure by means of the standardized guide rail structure, and adapt to the precise control requirement of the production line on the feeding position of the irregular-shaped part 17.

[0136] Specifically, in the embodiment, the adsorption head 16 is an electromagnetic adsorption head.

[0137] Specifically, as shown in FIG. 1, the adsorption assembly includes an adsorption head 16 and a connecting rod 18. Figures 9-11As shown, the adsorption assembly includes a support block 30, which is rigidly fixed to the third driving assembly as the basic structure of the entire assembly; a tension sensor 34 is precisely installed in the internal cavity of the support block 30, and the top of the tension sensor 34 is connected with a sensing block 33, and the top end of the sensing block 33 extends to the outside space of the support block 30; this design makes that when the adsorption head 16 contacts and picks up the special-shaped part 17, the weight and the inertial force of the special-shaped part 17 will be transmitted to the tension sensor 34 through the connecting shaft 35, so as to realize real-time monitoring of the adsorption state (such as whether the part is successfully grabbed or whether it slips); at the same time, after the control device receives the real-time weight value fed back by the tension sensor 34, it is compared with the first preset weight, and when the real-time weight value is greater than the first preset weight, it is judged that the adsorption head 16 adsorbs too many special-shaped parts 17, in order to prevent the subsequent process from being chaotic, the control device will immediately control the adsorption head 16 to release all the parts, and control the adsorption head 16 to re-adsorb the special-shaped part 17;

[0138] The buffering mechanism is the key to ensure the stability and softness of the pick-and-place process. It is mainly composed of a spring 37, a protective cover 38 and a fixed plate 36. The fixed plate 36 is fixedly sleeved on the connecting shaft 35; the spring 37 is also sleeved on the connecting shaft 35 and is pre-compressed between the fixed plate 36 and the inner wall of the support block 30; the protective cover 38 serves as an outer cover, and its end is fixedly connected with the support block 30, encapsulating the spring 37 and the fixed plate 36 in the clean space inside it, effectively preventing dust and foreign matter from invading. When the adsorption head 16 accidentally collides with the special-shaped part 17 or the table in the vertical direction, the axial impact force generated will make the connecting shaft 35 drive the fixed plate 36 to compress the spring 37, and most of the impact energy will be absorbed through the deformation of the spring 37, thereby providing effective protection for the precise tension sensor 34 and the driving assembly, and preventing the parts from being damaged due to hard contact;

[0139] At the same time, the side wall of the support block 30 is provided with an upper limit sensing structure, which includes a connecting plate 39 arranged on the side wall of the support block 30, and a proximity switch 40 arranged on the connecting plate 39. In this embodiment, the proximity switch 40 is a non-contact proximity switch, and its sensing end is directly opposite the movement track of the sensing block 33. When the connecting shaft 35 is accidentally retracted, it will drive the sensing block 33 to approach the upper limit sensing structure. Once the sensing block 33 enters its detection range, the structure will immediately send a signal to the control device, thereby immediately stopping the downward movement of the third driving assembly, preventing rigid collision of the connecting shaft 35, the adsorption head 16 and other components, and accurately limiting the upper limit of the axial movement of the entire adsorption assembly, ensuring the safety of the equipment operation.

[0140] The above description is only the preferred embodiment of the present application and the explanation of the applied technical principles. It should be understood by those skilled in the art that the inventive scope of the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by the combinations of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features with similar functions disclosed in the present application (but not limited to) without departing from the inventive concept.

Claims

1. A disordered feeding mechanism, characterized in that, The utility model relates to a kind of special-shaped parts conveying device, including: Frame (1), the frame (1) is equipped with conveying belt (2) extending along first direction; Turnover table (3), the turnover table (3) is equipped at least one, is installed on the frame (1) and is located in conveying belt (2) one side;The turnover table (3) is configured with load cell, the load cell is used to weigh the special-shaped parts (17) placed on the turnover table (3), to obtain actual weight;The turnover table (3) is opened with placing groove, the placing groove is equipped with first opening along the two sides of second direction, the placing groove is used to accommodate the special-shaped parts (17);The inside of the placing groove is provided with filter screen (32), the filter screen (32) and the bottom surface of placing groove form slag discharge groove, the slag discharge groove is used to accommodate filtered scrap, the slag discharge groove is provided with baffle (31) near conveying belt (2) side;The second direction is perpendicular to the first direction; Adsorption structure, installed on the frame (1), the adsorption structure is used to adsorb special-shaped parts (17) and is transported to the turnover table (3); First drive assembly, the first drive assembly is connected with turnover table (3), the first drive assembly is used to drive the turnover table (3) rotates around the first direction; Control device, the control device is configured to: determine whether the actual weight is greater than first preset weight;If yes, control the first drive assembly drives the turnover table (3) reverse rotation, to pour out the excess special-shaped parts (17);If no, control the first drive assembly drives the turnover table (3) forward rotation, to place the special-shaped parts (17) on the conveying belt (2); Posture adjustment structure, the posture adjustment structure is arranged on the conveying belt (2), and the posture adjustment structure is used to adjust the shape of the special-shaped parts (17) conveyed by the conveying belt (2); The posture adjustment structure includes: coarse adjustment assembly (4) and fine adjustment assembly, the coarse adjustment assembly (4) is arranged on the frame (1) and is located close to the turnover table (3), and the coarse adjustment assembly (4) is located above the conveying belt (2);The coarse adjustment assembly (4) is used to adjust the special-shaped parts (17) to pre-put-down form;The fine adjustment assembly is arranged on the frame (1), and is located above the conveying belt (2), and the fine adjustment assembly is used to receive the special-shaped parts (17) in the pre-put-down form and adjust to specified form; The coarse adjustment assembly (4) includes: First support frame (41), the first support frame (41) is arranged above the conveying belt (2), and its side towards the conveying belt (2) is equipped with second opening; A first motor (43) is arranged on one side of the first support frame (41) along a second direction, and a driving end of the first motor (43) is connected with a first rotating shaft, and the other end of the first rotating shaft is rotationally connected with the first support frame (41); a stirring impeller (45) is sleeved on the first rotating shaft, and a first interval is formed between the stirring impeller (45) and the conveying belt (2); and the first motor (43) is used for driving the stirring impeller (45) to rotate around the second direction; A first separation mechanism is arranged on one side of the first support frame (41) close to the turnover table (3), and the first separation mechanism is used for separating a plurality of special-shaped parts (17); A first photoelectric sensor is arranged on one side of the stirring impeller (45) close to the turnover table (3) and between the stirring impeller (45) and the first separation mechanism, and the first photoelectric sensor is connected with the control device; A second photoelectric sensor is arranged on one side of the stirring impeller (45) away from the turnover table (3) and between the stirring impeller (45) and the fine adjustment assembly, and the second photoelectric sensor is connected with the control device; The control device is further configured to: when the first photoelectric sensor detects a first signal, control the first separation mechanism to descend, control the first motor (43) to start, drive the stirring impeller (45) to rotate, and make the special-shaped part (17) pass below the stirring impeller (45) after the special-shaped part (17) is adjusted to a pre-inverted shape; and when the second photoelectric sensor detects a second signal, control the first motor (43) to stop, make the stirring impeller (45) stop moving, and control the first separation mechanism to ascend, so that a subsequent special-shaped part (17) to be adjusted is conveyed to the stirring impeller (45).

2. A disordered feeding mechanism according to claim 1, wherein, The control device is further configured to: determine whether the turnover table (3) performs a reverse rotation action within a first preset time; if not, control the first driving assembly to drive the turnover table (3) to perform a reverse rotation action, so that the waste in the slag discharge groove is discharged through the first opening.

3. A disordered feeding mechanism according to claim 1, wherein, A plurality of turnover tables (3) are arranged on the frame body (1) along a first direction; The control device is further configured to: control a plurality of turnover tables (3) to perform a rotation action in sequence.

4. A disordered feeding mechanism according to claim 1, wherein, The fine adjustment assembly comprises: A second support frame (5) is arranged above the conveying belt (2), and a contact sensor (7) is arranged on the second support frame (5), and the contact sensor (7) is used for identifying whether the special-shaped part (17) is adjusted to a specified shape; A second separating mechanism is arranged between the second photoelectric sensor and the first support frame (41), and is used for separating the special-shaped part (17); when the second photoelectric sensor detects a second signal, the control device is further configured to control the second separating mechanism to descend; A first air cylinder (6) is arranged on the frame body (1) and extends in a third direction; the first air cylinder (6) is located on a side of the second support frame (5) away from the first support frame (41), and a first baffle (18) is connected to a driving end of the first air cylinder (6); the first air cylinder (6) is used for driving the first baffle (18) to move in the third direction; the third direction is perpendicular to the first direction and perpendicular to the second direction; A turnover unit is arranged on a side of the first air cylinder (6) in the second direction, and is used for turning over the identified special-shaped part (17) that is not adjusted to a specified shape to the specified shape; A first pushing unit is arranged on another side of the first air cylinder (6) in the second direction, and is used for pushing the special-shaped part (17) to the turnover unit; A second pushing unit is arranged on a side of the turnover unit in the first direction, and is used for pushing the special-shaped part (17) adjusted to the specified shape out of the turnover unit.

5. A disordered feeding mechanism according to claim 4, wherein, The turnover unit comprises a rotary air cylinder (8) and a clamping piece (9), a driving end of the rotary air cylinder (8) is connected with the clamping piece (9), and the rotary air cylinder (8) is used for driving the clamping piece (9) to turn over; the clamping piece (9) is used for clamping the special-shaped part (17).

6. A disordered feeding mechanism according to claim 5, wherein, Further comprising: A detection assembly is arranged on a side of the turnover unit away from the second pushing unit, and is used for pushing the special-shaped part (17) adjusted to the specified shape to the detection assembly; the detection assembly comprises: A rotating device (19) is arranged on the frame body (1), and is used for driving the special-shaped part (17) in the specified shape to rotate; A first identification module (20) is arranged on the frame body (1) and located above the rotating device (19), and is used for detecting and identifying whether the special-shaped part (17) has a defect.

7. A disordered feeding mechanism according to claim 4, wherein, The adsorption structure comprises a second driving assembly, a third driving assembly and an adsorption assembly, the second driving assembly is arranged on the frame body (1), the second driving assembly is connected with the third driving assembly, the bottom of the third driving assembly is connected with a plurality of adsorption assemblies, and the second driving assembly is used for driving the third driving assembly to drive the adsorption assemblies to move in the second direction; the third driving assembly is used for driving the adsorption assemblies to move in the third direction; The adsorption assembly comprises: Support block (30), the support block (30) is fixedly arranged on the third drive assembly, the inside of the support block (30) is provided with tension sensor (34);The top of the tension sensor (34) is connected with induction block (33), and the induction block (33) top extends the support block (30); Connecting shaft (35), one end of the connecting shaft (35) is connected with the tension sensor (34), and the other end of the connecting shaft (35) is provided with adsorption head (16), and the adsorption head (16) is used to adsorb the special-shaped part (17); Buffer mechanism, the buffer mechanism is sleeved on the connecting shaft (35), and the buffer mechanism includes: spring (37), protection cover (38) and fixed plate (36), the fixed plate (36) is sleeved on the connecting shaft (35), the spring (37) is sleeved on the connecting shaft (35), and is located between the fixed plate (36) and the tension sensor (34);The protection cover (38) is sleeved on the outside of the spring (37) and the fixed plate (36), and the end of the protection cover (38) is fixedly connected with the support block (30);One end of the spring (37) is fixedly connected with the inner wall of the protection cover (38), and the other end of the spring (37) is connected with the fixed plate (36);The buffer mechanism is used when the adsorption head (16) is subjected to axial impact, and plays a buffering role; Upper limit sensing structure, the upper limit sensing structure is arranged on the side wall of the support block (30), and the upper limit sensing structure is used to detect the position of the induction block (33), and the axial movement upper limit of connecting shaft (35) and adsorption head (16) is monitored.

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