Ordered feeding and returning mechanism of copper pipe robot

Abstract

The utility model relates to the technical field of material conveying, in particular to an orderly feeding and returning mechanism of a copper pipe robot, a lifting mechanism is arranged on one side of a mechanism main body, a backflow mechanism is arranged between two belt lifting mechanisms of the lifting mechanism, and two feeding belt mechanisms are arranged in a frame of the mechanism main body. One side of the feeding belt mechanism is close to the lower portion of a discharging position above the belt lifting mechanism, a pair of robot assemblies is arranged on one side of the feeding belt mechanism, a visual recognition system is arranged on the main body frame at the top above material taking waiting positions of the robot assemblies, and a discharging mechanism is arranged between the pair of robot assemblies; according to the utility model, the working efficiency is improved, the labor cost is reduced, and the economic maximization is realized for the development of enterprises.

Description

Technical Field

[0001] The utility model relates to the technical field of material transmission, in particular to an orderly material feeding and returning mechanism for a copper tube robot. Background Art

[0002] Brass pipe is a kind of non-ferrous metal pipe, which is a pressed and drawn seamless pipe. It has the characteristics of being strong and corrosion-resistant, and is used in the installation of water pipes, heating and cooling pipes in modern houses.

[0003] For the production of brass pipes, SCARA robots are usually used for grasping, positioning and other operations to improve product quality and work efficiency. SCARA robots are auxiliary production tools that have been widely used in industrial production. They are a type of robot arm used for assembly operations. They contain multiple rotating joints and are more suitable for auxiliary processes such as plane positioning, grasping, and positioning.

[0004] However, the copper tube production mechanism in the prior art only utilizes the planar grasping function of the SCARA robot, but ignores the improvement of the copper material loading and unloading steps, resulting in the improvement of the efficiency of the SCARA robot, but other parts of the mechanism still drag down the overall production efficiency.

[0005] In view of the above problems, the utility model designs an orderly feeding and returning mechanism for a copper tube robot. By improving the automatic feeding and returning structure and coordinating with visual grasping, the overall efficiency is improved, while ensuring the stability of processing quality, energy saving and versatility. Summary of the invention

[0006] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a copper tube robot orderly feeding and returning mechanism, which realizes the improvement of overall efficiency through the improvement of automatic feeding and returning structure and the combination of visual grasping, while ensuring the stability of processing quality, energy saving and versatility.

[0007] In order to achieve the above-mentioned purpose, the utility model provides an orderly feeding and returning mechanism for a copper tube robot, a lifting mechanism is arranged on one side of the mechanism body, a reflux mechanism is arranged between the two belt lifting mechanisms of the lifting mechanism, two feeding belt mechanisms are arranged in the frame of the mechanism body, one side of the feeding belt mechanism is close to the lower part of the discharge point above the belt lifting mechanism, a pair of robot components are arranged on one side of the feeding belt mechanism, a visual recognition system is arranged on the top main body frame above the material picking waiting position of the robot component, and a discharging mechanism is arranged between the pair of robot components.

[0008] There are two blanking frames at the bottom of the lifting mechanism, and an inclined belt lifting mechanism is arranged inside the blanking frames. A return frame is arranged between the two blanking frames. The outer periphery of the two blanking frames is composed of blanking frames. The bottom of the blanking frame is a speed reduction mechanism 1, and a copper material baffle 1 is arranged on the outside of the belt lifting mechanism. Foot cups are arranged around the bottom of the blanking frame.

[0009] The reflux mechanism is located below the main body of the mechanism, and a belt deceleration mechanism is arranged on one side of the reflux mechanism. The main body of the reflux mechanism is a return belt assembly with return baffles arranged on both sides. Below the return belt assembly is an aluminum profile 1, and below the aluminum profile 1 is an installation bracket 1.

[0010] The main body of the feeding belt mechanism is a feeding belt assembly with two copper material baffles on both sides, a speed reduction mechanism is arranged on one side of the feeding belt mechanism, and below the feeding belt assembly is an aluminum profile. Vertical columns are arranged above the two side edges of the aluminum profile, and copper material baffle brushes are arranged on the vertical columns. A pair of material channel adjustment baffles are arranged on both sides of the feeding belt assembly, and a mounting bracket is arranged below the aluminum profile.

[0011] The SCARA robot in the robot assembly is connected to a rotary joint below, the other side of the rotary joint is connected to a robot mounting base installed on the mechanism body, and a loading suction cup is arranged below the SCARA robot.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] The utility model automatically conveys the copper material to the feeding belt mechanism through the lifting mechanism, and identifies whether the copper material is in the waiting position and whether it is grabbed by the robot through the visual recognition system, and then transmits and transfers the successful grabbing information to the discharge mechanism, thereby realizing the full automation, high efficiency and accuracy of material loading and unloading, and the copper material that is not successfully grabbed will be recovered and re-loaded through the return mechanism, thus avoiding the waste of copper material, and has the advantages of high efficiency, stable workpiece processing quality, energy saving and strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0015] Figure 2 It is a schematic diagram of the specific structure of the lifting mechanism of the utility model.

[0016] Figure 3 It is a schematic diagram of the specific structure of the reflux mechanism of the utility model.

[0017] Figure 4 It is a schematic diagram of the specific structure of the feeding belt mechanism of the utility model.

[0018] Figure 5 This is a schematic diagram of the specific structure of the robot component of the utility model.

[0019] Figure 6 It is a schematic diagram of the working steps of the robot assembly of the utility model.

[0020] Description of reference numerals:

[0021] 1 is the lifting mechanism, 2 is the reflow mechanism, 3 is the feeding belt mechanism, 4 is the robot assembly, 5 is the visual recognition system, 6 is the discharge mechanism, 1-1 is the foot cup, 1-2 is the blanking frame, 1-3 is the blanking frame, 1-4 is the belt lifting mechanism, 1-5 is the copper material baffle one, 1-6 is the return material frame, 1-7 is the speed reduction mechanism one, 2-1 is the return material baffle, 2-2 is the return material belt assembly, 2-3 is the aluminum profile one, 2-4 is the mounting bracket one, 2-5 is the belt speed reduction mechanism, 3-1 is the feeding belt assembly, 3-2 is the copper material baffle two, 3-3 is the copper material baffle brush, 3-4 is the material channel adjustment baffle, 3-5 is the mounting bracket two, 3-6 is the aluminum profile two, 3-7 is the speed reduction mechanism two, 4-1 is the SCARA robot, 4-2 is the feeding suction cup, and 4-3 is the robot mounting base. DETAILED DESCRIPTION

[0022] The utility model is now further described with reference to the accompanying drawings.

[0023] See also Figures 1 to 6 The utility model provides an orderly feeding and returning mechanism for a copper tube robot, a lifting mechanism 1 is arranged on one side of the mechanism body, a reflux mechanism 2 is arranged between the two belt lifting mechanisms 1-4 of the lifting mechanism 1, two feeding belt mechanisms 3 are arranged in the frame of the mechanism body, one side of the feeding belt mechanism 3 is close to the lower part of the material discharge position above the belt lifting mechanism 1-4, a pair of robot components 4 are arranged on one side of the feeding belt mechanism 3, a visual recognition system 5 is arranged on the top main body frame above the material picking waiting position of the robot component 4, and a discharge mechanism 6 is arranged between the pair of robot components 4.

[0024] The bottom of the lifting mechanism 1 is composed of two blanking frames 1-3, and an inclined belt lifting mechanism 1-4 is arranged inside the blanking frame 1-3. A return frame 1-6 is arranged between the two blanking frames 1-3. The outer periphery of the two blanking frames 1-3 is composed of a blanking frame 1-2. The bottom of the blanking frame 1-2 is a speed reduction mechanism 1-7. A copper material baffle 1-5 is arranged on the outer side of the belt lifting mechanism 1-4, and foot cups 1-1 are arranged around the bottom of the blanking frame 1-2.

[0025] The reflux mechanism 2 is located below the main body of the mechanism, and a belt deceleration mechanism 2-5 is arranged on one side of the reflux mechanism 2. The main body of the reflux mechanism 2 is a return belt assembly 2-2 with return baffles 2-1 on both sides. Below the return belt assembly 2-2 is an aluminum profile 2-3, and below the aluminum profile 2-3 is an installation bracket 2-4.

[0026] The main body of the feeding belt mechanism 3 is a feeding belt assembly 3-1 with copper material baffles 3-2 on both sides, a speed reduction mechanism 3-7 is arranged on one side of the feeding belt mechanism 3, and an aluminum profile 3-6 is arranged below the feeding belt assembly 3-1. Pillars are arranged above the two sides of the aluminum profile 3-6, and copper material baffle brushes 3-3 are arranged on the pillars. A pair of material channel adjustment baffles 3-4 are arranged on both sides of the feeding belt assembly 3-1, and a mounting bracket 3-5 is arranged below the aluminum profile 3-6.

[0027] The SCARA robot 4-1 in the robot assembly 4 is connected to a rotary joint at the bottom, and the other side of the rotary joint is connected to a robot mounting base 4-3 installed on the mechanism body, and a loading suction cup 4-2 is arranged below the SCARA robot 4-1.

[0028] Working principle:

[0029] The utility model does not require much debugging when in use:

[0030] Before starting the equipment, the copper tube raw material is manually placed in the blanking frame 1-3 and then the equipment is started. The copper tube raw material passes through the belt lifting mechanism 1-4 to automatically load the copper tube, and the copper material will fall into the loading belt mechanism 3 and fall on the loading belt assembly 3-1. The reduction mechanism 2 3-7 drives the copper material on the loading belt assembly 3-1 to move, and then moves to the material picking waiting position of the SCARA robot 4-1 in the robot assembly 4. The copper material in the loading belt mechanism 3 is detected by taking pictures with the camera in the visual recognition system 5 set above the material picking waiting position. When the copper material in the loading belt mechanism 3 is not recognized by the camera in the visual recognition system 5 in time and is grabbed by the SCARA robot 4-1, the remaining copper material falls into the return belt assembly 2-2 in the return mechanism 2 under the frame table of the main body of the mechanism under the continuous movement of the loading belt assembly 3-1, and then falls back into the return frame 1-6 in the lifting mechanism 1 through the return belt assembly 2-2. When the copper material is photographed and identified by the camera in the visual recognition system 5 on the feeding belt mechanism 3, the feeding belt mechanism 3 sends the copper material to the robot's material picking waiting position, and the SCARA robot 4-1 receives the instruction to grab the copper material through the feeding suction cup 4-2 and automatically send it to the discharge mechanism 6.

[0031] Since the robot mounting base 4-3 is installed on the frame table of the main body of the mechanism and there are two of them, the purpose is that when one SCARA robot 4-1 is grabbing the copper material, the other SCARA robot 4-1 is executing the waiting position. When the arm of the SCARA robot 4-1 grabbing the copper material grabs the copper material to the waiting position, the arm of the other SCARA robot 4-1 has grabbed the copper material to the discharge position in the orderly discharge mechanism 6. In this way, when the arm of this SCARA robot 4-1 returns to the position of grabbing the copper material, the arm of the other SCARA robot 4-1 is in the discharge position, thereby realizing automatic and orderly loading.

[0032] The above are only preferred implementations of the present invention, which are only used to help understand the method and core ideas of the present application. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the idea of ​​the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0034] The utility model solves the problem of affecting the overall work efficiency caused by the defects in the prior art in the loading and unloading steps of copper materials being ignored. Through a mechanism composed of a set of fully automatic components for loading, visual recognition, unloading and returning materials, it truly realizes the improvement of work efficiency and the reduction of labor costs, thereby achieving economic maximization for the development of the enterprise.

Claims

1. A copper tube robot orderly feeding and returning mechanism, characterized in that: A lifting mechanism (1) is arranged on one side of the mechanism body, a reflux mechanism (2) is arranged between the two belt lifting mechanisms (1-4) of the lifting mechanism (1), two feeding belt mechanisms (3) are arranged in the frame of the mechanism body, one side of the feeding belt mechanism (3) is close to the lower part of the discharge position above the belt lifting mechanism (1-4), a pair of robot components (4) are arranged on one side of the feeding belt mechanism (3), a visual recognition system (5) is arranged on the top main body frame above the material picking waiting position of the robot component (4), and a material discharge mechanism (6) is arranged between the pair of robot components (4).

2. The orderly feeding and returning mechanism of the copper tube robot according to claim 1 is characterized in that: The bottom of the lifting mechanism (1) is provided with two blanking frames (1-3), an inclined belt lifting mechanism (1-4) is arranged inside the blanking frames (1-3), a return frame (1-6) is arranged between the two blanking frames (1-3), the outer periphery of the two blanking frames (1-3) is composed of a blanking frame (1-2), the bottom of the blanking frame (1-2) is a speed reduction mechanism (1-7), a copper material baffle (1-5) is arranged on the outer side of the belt lifting mechanism (1-4), and foot cups (1-1) are arranged around the bottom of the blanking frame (1-2).

3. The orderly feeding and returning mechanism of the copper tube robot according to claim 1 is characterized in that: The return mechanism (2) is located below the mechanism body, a belt deceleration mechanism (2-5) is provided on one side of the return mechanism (2), the body of the return mechanism (2) is a return belt assembly (2-2) with return baffles (2-1) provided on both sides, an aluminum profile one (2-3) is provided below the return belt assembly (2-2), and a mounting bracket one (2-4) is provided below the aluminum profile one (2-3).

4. The orderly feeding and returning mechanism of the copper tube robot according to claim 1 is characterized in that: The main body of the feeding belt mechanism (3) is a feeding belt assembly (3-1) with two copper material baffles (3-2) arranged on both sides, a speed reduction mechanism (3-7) is arranged on one side of the feeding belt mechanism (3), and below the feeding belt assembly (3-1) is two aluminum profiles (3-6), and columns are arranged above the two sides of the two aluminum profiles (3-6), and copper material baffle brushes (3-3) are arranged on the columns, and a pair of material channel adjustment baffles (3-4) are arranged on both sides of the feeding belt assembly (3-1), and two mounting brackets (3-5) are arranged below the two aluminum profiles (3-6).

5. The orderly feeding and returning mechanism of the copper tube robot according to claim 1 is characterized in that: The SCARA robot (4-1) in the robot assembly (4) is connected to a rotating joint at the bottom, the other side of the rotating joint is connected to a robot mounting base (4-3) mounted on the mechanism body, and a loading suction cup (4-2) is arranged below the SCARA robot (4-1).

Images