Flexible feeding equipment based on DELTA robot

Abstract

The utility model discloses flexible feeding equipment based on a DELTA robot. The flexible feeding equipment comprises a machine base, a flexible vibration disc is placed on the machine base, the DELTA robot is erected above the flexible vibration disc, the DELTA robot comprises a motor arranged at the bottom, the DELTA robot is fixedly provided with a visual positioning camera, and the visual positioning camera is arranged above the motor; the flexible vibration disc is adopted, parts can be effectively scattered one by one, meanwhile, the front faces of a plurality of parts to be carried and installed can face upwards so that the DELTA robot can carry the parts conveniently, in order to adjust the direction of products correctly, a motor is further installed at the bottom of the DELTA robot to control rotation of a suction nozzle, and the DELTA robot can carry the parts conveniently. The direction of the sucked part is judged through the visual positioning camera, and the motor is controlled to rotate to achieve the purpose of adjusting the direction of the sucked part. According to the DELTA robot, the space utilization rate of equipment can be increased, the advantages of the DELTA robot can be brought into full play, and it is not needed to spend too much time to wait for feeding of products.

Description

Technical Field

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

[0002] Generally, products need to be transported and assembled, especially some small and delicate products need to be rotated before they can be put into the corresponding place or assembled to the corresponding finished products. Manual processing may take a long time and may cause direction errors or assembly errors.

[0003] An existing automatic wine bottle capping device, application number 201821658153.5 The utility model discloses an automatic wine bottle capping device, belonging to the technical field of automated liquor production equipment, comprising a first conveyor line and a wine bottle capping unit, the wine bottle capping unit comprising a posture adjustment unit, a first visual inspection mechanism and a handling robot; the first visual inspection mechanism and the handling robot are sequentially arranged above the first conveyor line along the movement direction thereof, the posture adjustment unit is arranged on one side of the handling robot, the posture adjustment unit comprises a vibration plate, the output end of the vibration plate is connected to the input end of the linear feeder, the receiving trough is opposite to the output end of the linear feeder, the wine bottles enter the receiving trough through the linear feeder, the light-transmitting plate is horizontally installed at the lower end of the receiving trough, a second visual inspection mechanism is arranged below the receiving trough, the second visual inspection mechanism is used to detect the posture of the bottle caps in the receiving trough, and the handling robot is used to carry the bottle caps from the receiving trough and place them on the bottle mouths of the wine bottles.

[0004] The above equipment uses a DELTA robot and a traditional vibrating plate. The vibrating plate takes up a large space. The vibrating plate needs to be at a certain distance when vibrating to discharge materials, or it may take a long time to wait for discharge of materials in the early stage of work. This does not give full play to the advantages of the DELTA robot. Utility Model Content

[0005] The utility model aims to provide a flexible feeding device based on a DELTA 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 DELTA robot comprises a machine base, a flexible vibration plate is placed on the machine base, a DELTA robot is mounted above the flexible vibration plate, the DELTA robot comprises a motor installed at the bottom, and the DELTA robot is also fixedly provided with a visual positioning camera, and the visual positioning camera is arranged above the motor.

[0008] To further explain, a display screen is provided on one side of the machine base, and the display screen is used to electrically connect with the DELTA robot and the flexible vibration plate. The display screen is used for workers to control the parallel robot and the flexible vibration plate and can display the parameters of the equipment at the same time.

[0009] To further explain, the DELTA robot includes a top plate fixedly connected to the base, a connecting rod extending downward is provided in the middle of the top plate, and the bottom end of the connecting rod is fixedly connected to the visual positioning camera.

[0010] To further explain, the DELTA robot includes a translation plate at the bottom end, the translation plate is movably connected to the base, and a motor is fixedly connected to the middle of the translation plate.

[0011] To further explain, the motor includes a stator housing and a rotating shaft. The stator housing is fixedly connected to the translation plate. The rotating shaft is a center-through structure. The rotating shaft is rotatably connected to the stator housing. The rotating shaft passes through the stator housing and the translation plate. The top of the rotating shaft is used to connect to an external air source, and the bottom of the rotating shaft is fixedly connected to a suction nozzle.

[0012] To further explain, the flexible vibration plate includes a material storage bin and a material batching bin. The material batching bin is located below the DELTA robot, and the material outlet of the material storage bin extends to the top of the material batching bin.

[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 effectively spread the parts into individual pieces, and can make multiple parts to be transported and installed face up to facilitate the DELTA robot to carry them. In order to correctly adjust the direction of the product, a motor is installed at the bottom of the DELTA robot to control the rotation of the suction nozzle, and the direction of the sucked parts is determined by the visual positioning camera, and the signal is output to control the motor to rotate to achieve the purpose of adjusting the direction of the sucked parts. The utility model can improve the space utilization rate of the equipment, can give full play to the advantages of the DELTA robot, and does not need to spend too much time waiting for the delivery of products. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0016] Figure 2 It is a three-dimensional structural schematic diagram of the utility model from another viewing angle.

[0017] Notes on the attached drawings:

[0018] 1. Top plate; 2. Translation plate; 3. Machine base; 4. DELTA robot; 5. Motor; 6. Rotation axis; 7. Light baffle; 8. Photoelectric sensor; 9. Display screen; 10. Batching bin; 11. Visual positioning camera. 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 1-2As shown, in this embodiment, a flexible loading device based on a DELTA robot 4 is provided. The DELTA robot 4 can respond quickly to suck and carry the components, including a base 3, on which a flexible vibration plate is placed. The flexible vibration plate can disperse the stacked components by vibration, and can control the direction of a single component to face upward by vibration to improve the efficiency of carrying the components. A DELTA robot 4 is mounted above the flexible vibration plate. The DELTA robot 4 includes a motor 5 installed at the bottom. The motor 5 controls the sucked components to rotate to a suitable angle for assembly or transportation, because the components need to adjust their direction to be well loaded into a specific slot. The DELTA robot 4 is also fixedly provided with a visual positioning camera 11, which is arranged above the motor 5. The visual positioning camera 11 is used to observe whether the grasped components are rotated into place.

[0024] In this embodiment, a display screen 9 is provided on one side of the machine base 3. The display screen 9 is used to be electrically connected to the DELTA robot 4 and the flexible vibration disk. The display screen 9 is used by workers to control the parallel robot and the flexible vibration disk and can display the parameters of the equipment.

[0025] In this embodiment, the DELTA robot 4 includes a top plate 1 fixedly connected to the base at the top, a connecting rod extending downward is provided in the middle of the top plate 1, and the bottom end of the connecting rod is fixedly connected to the visual positioning camera 11; the visual positioning camera 11 is facing downward to facilitate observation of the direction of the components below.

[0026] To further explain, the DELTA robot 4 includes a translation plate 2 at the bottom end, the translation plate 2 is movably connected to the base 3, and a motor 5 is fixedly connected to the middle of the translation plate 2. The motor 5 includes a stator housing and a rotating shaft 6, the stator housing is fixedly connected to the translation plate 2, the rotating shaft 6 is a through-type structure, the rotating shaft 6 is rotatably connected to the stator housing, the rotating shaft 6 passes through the stator housing and the translation plate 2, the top of the rotating shaft 6 is used to connect to an external air source, and the bottom of the rotating shaft 6 is fixedly connected to a suction nozzle. The rotating shaft 6 can realize rotation and can also connect air to make the air nozzle at the end perform suction.

[0027] To prevent the rotating shaft 6 from over-rotating, a photoelectric sensor 8 is fixedly provided at the bottom of the translation plate 2, and a light blocking plate 7 extending outward is fixedly provided on the side wall of the rotating shaft 6. When the light blocking plate 7 rotates, the photoelectric sensor 8 will be cut, and the sensor will send a signal to control the rotation of the motor 5 to prevent the rotating shaft 6 from over-rotating.

[0028] To further explain, the flexible vibration plate includes a storage bin (not shown in the figure) and a batching bin 10. The batching bin 10 is located below the DELTA robot 4, and the material outlet of the storage bin extends to the top of the batching bin 10. The storage bin and the batching bin 10 are both provided with a voice coil motor 5 to vibrate and move the components placed or stored therein. The most important thing is that the specific side of the component can be controlled to face upwards, and the component can be vibrated and jumped during vibration, thereby improving the efficiency of the DELTA robot 4 in handling, sucking, and assembling.

[0029] Specifically, during use, the vibration plate is responsible for vibration, while the DELTA robot 4 absorbs the components with specific sides facing upwards, and the visual positioning camera 11 is responsible for observing whether the components scattered on the batching bin 10 are all facing upwards, and instructing the DELTA robot 4 to grab them. After grabbing them, the visual positioning camera 11 is also responsible for observing whether the direction of the sucked components is correct. If it is not correct, the motor 5 will control the components to rotate, and then the DELTA robot 4 will transport or assemble them to a specific place.

[0030] 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 DELTA robot, comprising a machine base, characterized in that: A flexible vibration plate is placed on the machine base, a DELTA robot is mounted above the flexible vibration plate, the DELTA robot includes a motor installed at the bottom, and the DELTA robot is also fixedly provided with a visual positioning camera, which is arranged above the motor.

2. A DELTA robot-based flexible feeding device as claimed in claim 1, characterized in that: A display screen is set on one side of the machine base. The display screen is used to electrically connect to the DELTA robot and the flexible vibration plate. The display screen is used for workers to control the parallel robot and the flexible vibration plate and can also display the parameters of the equipment.

3. A DELTA robot-based flexible feeding device as claimed in claim 1, characterized in that: The DELTA robot includes a top plate fixedly connected to a base, a connecting rod extending downward is arranged in the middle of the top plate, and a bottom end of the connecting rod is fixedly connected to a visual positioning camera.

4. A DELTA robot-based flexible feeding device as claimed in claim 1, characterized in that: The DELTA robot comprises a translation plate at the bottom end, the translation plate is movably connected to the machine base, and a motor is fixedly connected to the middle of the translation plate.

5. A DELTA robot-based flexible feeding device as claimed in claim 4, characterized in that: The motor includes a stator housing and a rotating shaft. The stator housing is fixedly connected to the translation plate. The rotating shaft is a center-through structure. The rotating shaft is rotatably connected to the stator housing. The rotating shaft passes through the stator housing and the translation plate. The top of the rotating shaft is used to connect to an external air source, and the bottom of the rotating shaft is fixedly connected with a suction nozzle.

6. A DELTA robot-based flexible feeding device as claimed in claim 1, characterized in that: The flexible vibration plate includes a storage bin and a batching bin. The batching bin is located below the DELTA robot, and the discharge port of the storage bin extends to the top of the batching bin.

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