Flexible feeding equipment based on SCARA robot

Abstract

The utility model discloses flexible feeding equipment based on an SCARA robot, which comprises a machine table, a flexible vibration disc and the SCARA robot are arranged on the machine table, a flexible visual positioning camera is further erected above the flexible vibration disc, a bottom secondary positioning camera is further arranged on one side of the flexible vibration disc, the SCARA robot is positioned on one side of the secondary positioning camera, and the bottom secondary positioning camera is positioned on the other side of the secondary positioning camera. The action output tail end of the SCARA robot is provided with a pair of profiling suction cups and a pair of water gap clamps, and the SCARA robot is further fixedly provided with a head camera; according to the utility model, the flexible vibration disc is adopted, the flexible vibration disc can replace a common vibration disc, so that the space utilization rate of equipment can be improved, and meanwhile, a part to be subjected to injection molding can be vibrated to a specific surface which faces upwards so as to reach the direction of being sucked and carried; the three visual cameras are arranged in the device and can position and adjust the direction of the part in the carrying process, and the precision of the direction of the part in the assembling and carrying process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field related to handling equipment, in particular to a flexible feeding device based on a SCARA robot. Background Art

[0002] In some hardware products, one of the processes is to place them in a mold for injection molding and then take them out into a silo. However, some hardware parts need to be assembled and injection molded in pairs at the same time. These hardware parts can only be installed in a specific position and direction, so the direction of the hardware needs to be well adjusted before the next process.

[0003] There is a dual-robot injection molding loader with patent number CN201920221445.0. The dual-robot injection molding loader includes a frame and two robots respectively installed on the frame, two groups of loading components, and two groups of rotating fixtures. The first robot is arranged on the left side of the frame, the second robot is arranged on the front side of the frame, the first loading component is arranged on the rear side of the frame, the second loading component is arranged on the right side of the frame, and the two groups of rotating fixtures are arranged side by side in the middle of the frame component. Grippers are respectively provided at the ends of the two robots, and an electric control board, a controller and a solenoid valve group are provided inside the frame.

[0004] The above patent has certain defects. The vibration plate used takes up a large space. The vibration plate needs to be at a certain distance when vibrating to discharge the material. In other words, it may take a long time to wait for the discharge of the material in the early stage of the work, which will waste time before the start of each process, or a certain waiting time is required when changing materials. Utility Model Content

[0005] The utility model aims to provide a flexible feeding device based on a SCARA robot to overcome the deficiencies in the prior art.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A flexible feeding device based on a SCARA robot comprises a machine platform, wherein the machine platform is equipped with a flexible vibration plate and a SCARA robot, a flexible visual positioning camera is also mounted above the flexible vibration plate, a bottom secondary positioning camera is also mounted on one side of the flexible vibration plate, the SCARA robot is located on one side of the secondary positioning camera, a pair of contoured suction cups and a pair of nozzle clamps are mounted at the motion output end of the SCARA robot, and the SCARA robot is also fixedly provided with a head camera.

[0008] To further explain, the flexible visual positioning camera is fixedly connected to the machine through a stand. The flexible visual positioning camera is used to take pictures and locate the products on the flexible vibration plate. After positioning, it guides the SCARA robot to grab the two products on the plate separately.

[0009] To further explain, a protective cover body is arranged outside the bottom secondary positioning camera, a refractor is fixedly arranged inside the protective cover body, and the refractor is arranged on one side of the bottom secondary positioning camera.

[0010] To further explain, the flexible vibration plate includes a material storage bin and a material batching bin. The material batching bin is arranged on one side close to the bottom secondary positioning camera, and the material discharge port of the material storage bin extends to the top of the material batching bin.

[0011] To further explain, the motion output end of the SCARA robot is provided with a fixture frame, and a pair of lifting cylinders are symmetrically fixed on both sides of the fixture frame. The piston rod ends of the lifting cylinders are fixedly connected to the contouring suction cup; the contouring suction cup is connected to the SCARA robot in a lifting and movable manner through the lifting cylinders.

[0012] To further elaborate, a finger cylinder is also installed on one side of the fixture frame, and a pair of nozzle clamps are respectively fixedly connected to the output ends of the finger cylinder.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0014] The utility model adopts a flexible vibration plate, which can replace the above-mentioned ordinary vibration plate to improve the space utilization rate of the equipment. At the same time, the parts to be injected can be vibrated to a specific side facing upward to achieve the direction of being sucked and transported. The utility model is equipped with three visual cameras to locate and adjust the direction of the parts during the transportation process, thereby improving the accuracy of the direction of the parts during assembly and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the utility model ignoring the machine outer shell and the protective cover;

[0016] Figure 2 This is a partial enlarged view of the output end of the SCARA robot of the present invention.

[0017] Notes on the attached drawings:

[0018] 1. Batching bin; 2. Storage bin; 3. Bottom secondary vision camera; 4. Contour suction cup; 5. Water inlet clamp; 6. Head camera; 7. SCARA robot; 8. Lifting cylinder; 9. Finger cylinder; 11. Refractor; 12. Flexible vision positioning camera; 13. Machine table. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0020] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. When the number of an element is referred to as "plurality", it may be any number of two or more. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific implementations and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0022] The present invention is described in detail below in conjunction with the embodiments shown in the accompanying drawings:

[0023] like Figure 1-2 As shown, in this embodiment, a flexible feeding device based on a SCARA robot 7 is provided, including a machine table 13, the machine table 13 is equipped with a flexible vibration plate and a SCARA robot 7, a flexible visual positioning camera 12 is also set up above the flexible vibration plate, a bottom secondary positioning camera 3 is also installed on one side of the flexible vibration plate, the SCARA robot 7 is located on one side of the secondary positioning camera 3, a pair of contoured suction cups 4 and a pair of nozzle clamps 5 are installed at the action output end of the SCARA robot 7, and the SCARA robot 7 is also fixed with a head camera 6. Each time the SCARA robot 7 clamps a component on the flexible vibration plate, it will pass through the secondary positioning camera 3 and then be placed in the injection mold, so that the components to be transported can be visually inspected during the transportation process.

[0024] In this embodiment, the flexible visual positioning camera 12 is fixedly connected to the machine platform 13 via a stand. The flexible visual positioning camera 12 is used to photograph and locate the products on the flexible vibration disk. After positioning, the SCARA robot 7 is guided to separately grab the two products on the disk.

[0025] In this embodiment, a protective cover is provided outside the bottom secondary positioning camera 3, and the protective cover is used to prevent the nozzle from shearing or parts from falling and hitting the camera during transportation. A refractor 11 is fixedly provided inside the protective cover, and the refractor 11 is arranged on one side of the bottom secondary positioning camera 3. The refractor 11 is tilted and fixed at a fixed angle, and refracts the image above into the secondary positioning camera 3.

[0026] To further explain, the flexible vibration plate includes a storage bin 2 and a batching bin 1. The batching bin 1 is arranged on one side near the bottom secondary positioning camera 3, and the discharge port of the storage bin 2 extends to the top of the batching bin 1; the storage bin 2 is responsible for scattering the components contained therein onto the batching plate through vibration, and then the batching plate vibrates the components to be moved until their front sides face up, thereby improving the handling efficiency.

[0027] In this embodiment, a jig frame is provided at the action output end of the SCARA robot 7, and the jig frame is fixedly connected to a self-rotating degree of freedom at the end of the SCARA robot 7. When sucking the parts to be grasped, the jig frame needs to be able to rotate a certain angle so that the contour suction cup 4 can well absorb the parts of corresponding shapes and directions; a pair of lifting cylinders 8 are symmetrically fixed on both sides of the jig frame, and the piston rod ends of the lifting cylinders 8 are fixedly connected to the contour suction cup 4; the contour suction cup 4 is connected to the SCARA robot 7 in a lifting and movable manner through the lifting cylinders 8; when the SCARA robot 7 moves into place and rotates, the contour suction cup 4 can better absorb the parts scattered on the ingredient tray.

[0028] To further explain, a finger cylinder 9 is also installed on one side of the jig frame, and a pair of sprue clamps 5 are fixedly connected to the output ends of the finger cylinder 9 respectively; when the component is closed for injection molding, a sprue (injection channel in the mold) will be formed, so a sprue clamp 5 is needed to hold and remove the sprue clamps 5.

[0029] The action steps of the utility model are:

[0030] 1. After the mold is in place, the robot uses the head camera 6 to take a photo of the mold to locate it.

[0031] 2. The soft vibration positioning camera takes pictures of the products on the flexible vibration plate and locates them. After positioning, it guides the robot arm to grab the two products on the plate separately.

[0032] 3. After the grabbing is completed, the products are placed into the mold in turn. (The utility model is placed on one side of the mold table, and a fixed film is placed on the mold table. The utility model moves the parts to be injected to the fixed film for injection molding.) During the transfer process, the secondary positioning camera 3 at the bottom will monitor the sucked parts to confirm whether the direction and position after being clamped are wrong or even lack of material.

[0033] 4. After placing the hardware products, the injection molding machine performs mold closing and injection molding, and the soft vibration top camera continues to take pictures and position the products on the batching bin 1 in advance. Observe in advance which part is facing up, and output a signal to drive the SCARA robot 7 to grab the corresponding part facing up.

[0034] 5. After the injection molding is completed, the finished product and the sprue are clamped by the claw cylinder on the robot, the finished product is placed in the finished product warehouse, and the sprue is placed in the designated recycling warehouse.

[0035] 6. Continue with this cycle and carry out a new round of material discharge.

[0036] The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. For ordinary technicians in this field, they can make several modifications and improvements without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A flexible feeding device based on a SCARA robot, comprising a machine platform, characterized in that: The machine is equipped with a flexible vibration plate and a SCARA robot. A flexible visual positioning camera is installed above the flexible vibration plate. A bottom secondary positioning camera is installed on one side of the flexible vibration plate. The SCARA robot is located on one side of the secondary positioning camera. A pair of contoured suction cups and a pair of sprue clamps are installed at the motion output end of the SCARA robot. The SCARA robot is also fixed with a head camera.

2. A flexible feeding device based on a SCARA robot as claimed in claim 1, characterized in that: The flexible visual positioning camera is fixedly connected to the machine through a stand. The flexible visual positioning camera is used to take pictures and locate the products on the flexible vibration plate. After positioning, it guides the SCARA robot to grab the two products on the plate separately.

3. The flexible feeding device based on a SCARA robot as claimed in claim 1, characterized in that: A protective cover body is arranged outside the bottom secondary positioning camera, a refractor is fixedly arranged inside the protective cover body, and the refractor is arranged at one side of the bottom secondary positioning camera.

4. The flexible feeding device based on a SCARA robot as claimed in claim 1, characterized in that: The flexible vibration plate includes a material storage bin and a material batching bin. The material batching bin is arranged on one side close to the bottom secondary positioning camera, and the material discharge port of the material storage bin extends to the top of the material batching bin.

5. The flexible feeding device based on a SCARA robot as claimed in claim 1, characterized in that: A jig frame is provided at the motion output end of the SCARA robot, and a pair of lifting cylinders are symmetrically fixed on both sides of the jig frame. The piston rod ends of the lifting cylinders are fixedly connected to the contouring suction cup; the contouring suction cup is connected to the SCARA robot in a lifting and movable manner through the lifting cylinders.

6. A flexible feeding device based on a SCARA robot as claimed in claim 5, characterized in that: A finger cylinder is also installed on one side of the fixture frame, and a pair of water inlet clamps are respectively fixedly connected to the output ends of the finger cylinder.

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