Flexible automatic feeding machine

Abstract

The utility model relates to a flexible automatic feeding machine which comprises a part storage pool, a first conveying device, a visual inspection device, a first mechanical arm, a positioning table and a recycling device, and the part storage pool is used for containing parts. The first conveying device is arranged on one side of the part storage pool. The visual detection device is arranged above the first conveying device and used for recognizing the posture of the part on the first conveying device. The first manipulator is arranged on one side of the first conveying device. The positioning table is arranged on one side of the first mechanical arm, and a containing groove for containing parts is formed in the positioning table. The recycling device is arranged at the discharging end of the first conveying device. The postures of the parts are detected through the visual detection device, the parts meeting the requirements are clamped through the first mechanical arm, the parts meeting the conditions can be rapidly selected, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a flexible automatic loading machine. Background Art

[0002] A vibrating bowl is an auxiliary feeding device widely used in an automatic production line. Its main function is to automatically and orderly orient and arrange disordered workpieces and convey them to the designated next process, so as to realize automatic production. However, for some parts that require strict control of the discharging direction, it is difficult for the vibrating bowl to control the posture of the parts after discharging. Therefore, a loading device that can strictly control the discharging posture of the parts is needed. Summary of the Invention

[0003] The purpose of the utility model is to provide a flexible automatic loading machine for solving the problem that it is difficult to control the posture of parts in automatic loading.

[0004] To achieve the above purpose, the utility model discloses a flexible automatic loading machine, including: a part storage tank, a first conveying device, a vision detection device, a first manipulator, a positioning table and a recycling device. The part storage tank is used for placing parts. The first conveying device is arranged on one side of the part storage tank, and the first conveying device is used for sending out the parts in the part storage tank. The vision detection device is arranged above the first conveying device, and the vision detection device is used for identifying the posture of the parts on the first conveying device. The first manipulator is arranged on one side of the first conveying device, and the first manipulator is used for grasping the parts. The positioning table is arranged on one side of the first manipulator, and a placement groove for placing parts is formed on the positioning table for positioning the parts. The recycling device is arranged at the discharging end of the first conveying device for recycling the parts.

[0005] Preferably, the first conveying device includes a lifting mechanism and a first horizontal conveying mechanism. The lifting mechanism is installed on one side of the part storage tank, and the first horizontal conveying mechanism is arranged on the side of the lifting mechanism away from the part storage tank. The vision detection device is arranged above the first horizontal conveying mechanism, and the first manipulator is arranged on the side of the vision detection device away from the lifting mechanism.

[0006] Preferably, the lifting mechanism is a hoist, and the first horizontal conveying mechanism is a conveyor belt.

[0007] Preferably, the recycling device includes a hopper and a second horizontal conveying mechanism. The hopper is installed on the side of the first horizontal conveying mechanism away from the part storage tank for collecting the parts conveyed by the first horizontal conveying mechanism. The second horizontal conveying mechanism is arranged below the hopper, and one end of the second horizontal conveying mechanism is arranged on the part storage tank. The second horizontal conveying mechanism is used for sending the parts back into the part storage tank.

[0008] Preferably, the second horizontal conveying mechanism is a conveyor belt.

[0009] Preferably, it further includes a light source, which is arranged above the first horizontal conveying mechanism and below the first manipulator.

[0010] Preferably, a discharging device is arranged on one side of the positioning table, and the discharging device is used to move the parts in the positioning groove to the next process.

[0011] Preferably, the discharging device includes a second manipulator and a third manipulator. The second manipulator includes a rotating device, a rotating table, a control cylinder, a rotating head and a first chuck. The rotating device is installed on one side of the positioning table, the rotating table is installed on the rotating device, the control cylinder is installed on the rotating table, the rotating head is installed on one side of the control cylinder, and the first chuck is installed on the side of the rotating head away from the control cylinder. The control cylinder is used to control the rotation of the rotating head and the opening and closing of the first chuck;

[0012] The third manipulator is used to transfer the parts on the second manipulator to the next process. The third manipulator includes a horizontal moving platform, a vertical moving platform and a second chuck. The horizontal moving platform is installed above the second manipulator, the vertical moving platform is installed on the horizontal moving platform, and the second chuck is installed on the vertical moving platform; A lifting device is arranged at the bottom of the positioning table.

[0013] Preferably, a through groove for the second manipulator to clamp the parts is opened on one side of the placing groove.

[0014] Preferably, it further includes a control device, which is electrically connected to the vision detection device, the first manipulator, the second manipulator and the third manipulator.

[0015] The utility model has the following beneficial effects:

[0016] 1. The utility model detects the posture of the parts through the vision detection device, and combines with the first manipulator to clamp the qualified parts, so that the qualified parts can be quickly selected, improving the production efficiency. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the overall structure provided in the specific embodiment of the utility model;

[0018] Figure 2 It is a three-dimensional structure diagram of the positioning table provided in the specific embodiment of the utility model;

[0019] Figure 3 It is a top view of the positioning table provided in the specific embodiment of the utility model;

[0020] Figure 4 Schematic three-dimensional structure diagram of the second manipulator provided in a specific embodiment of the present utility model;

[0021] Figure 5 Schematic side view of the second manipulator provided in a specific embodiment of the present utility model;

[0022] Figure 6 Schematic three-dimensional structure diagram of the third manipulator provided in a specific embodiment of the present utility model;

[0023] Figure 7 Schematic enlarged partial view of position A provided in a specific embodiment of the present utility model.

[0024] Description of main component symbols:

[0025] 100, part storage pool; 110, lifting mechanism; 120, first horizontal conveying mechanism; 130, hopper; 140, second horizontal conveying mechanism; 200, vision detection device; 210, light source; 220, first manipulator; 300, positioning table; 310, placement groove; 320, through groove; 330, lifting device; 400, second manipulator; 410, control cylinder; 420, rotating head; 430, first chuck; 440, rotating table; 450, rotating device; 500, third manipulator; 510, horizontal moving platform; 520, vertical moving platform; 530, second chuck. Specific implementation manner

[0026] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0027] As Figures 1 to 7 shown, the present utility model provides a flexible automatic loading machine, including: a part storage pool 100, a first conveying device, a vision detection device 200, a first manipulator 220, a positioning table 300 and a recycling device. The part storage pool 100 is used for placing parts. The first conveying device is arranged on one side of the part storage pool 100, and the first conveying device is used for sending out the parts in the part storage pool 100. The vision detection device 200 is arranged above the first conveying device, and the vision detection device 200 is used for identifying the posture of the parts on the first conveying device. The first manipulator 220 is arranged on one side of the first conveying device, and the first manipulator 220 is used for grasping the parts. The positioning table 300 is arranged on one side of the first manipulator 220, and a placement groove 310 for placing parts is formed on the positioning table 300, which is used for positioning the parts. The recycling device is arranged at the discharge end of the first conveying device and is used for recycling the parts.

[0028] In this embodiment, the first conveying device includes a lifting mechanism 110 and a first horizontal conveying mechanism 120. The lifting mechanism 110 is installed on one side of the part storage tank 100. The first horizontal conveying mechanism 120 is arranged on the side of the lifting mechanism 110 away from the part storage tank 100. The visual inspection device 200 is arranged above the first horizontal conveying mechanism 120. The first manipulator 220 is arranged on the side of the visual inspection device 200 away from the lifting mechanism 110. The lifting mechanism 110 is a hoist, and the first horizontal conveying mechanism 120 is a conveyor belt.

[0029] In the above embodiment, the lifting mechanism 110 takes out parts from the part storage tank 100 and drops them into the first horizontal conveying mechanism 120. As the first horizontal conveying mechanism 120 moves, when it moves below the visual inspection device 200, the visual inspection device 200 identifies the posture of the parts. When the posture of the parts that meet the requirements is identified, the first horizontal conveying mechanism 120 stops running. The first manipulator 220 grabs the parts that meet the requirements from the first horizontal conveying mechanism 120 and places the parts into the placement groove 310 on the positioning table 300. The parts that do not meet the requirements continue to move along the first horizontal conveying mechanism 120 until they are recycled by the recycling device.

[0030] The recycling device includes a hopper 130 and a second horizontal conveying mechanism 140. The hopper 130 is installed on the side of the first horizontal conveying mechanism 120 away from the part storage tank 100 and is used to collect the parts conveyed by the first horizontal conveying mechanism 120. The second horizontal conveying mechanism 140 is arranged below the hopper 130. One end of the second horizontal conveying mechanism 140 is arranged on the part storage tank 100, and the second horizontal conveying mechanism 140 is used to send the parts back into the part storage tank 100.

[0031] In this embodiment, the second horizontal conveying mechanism 140 is a conveyor belt. During use, the parts with non-conforming postures fall into the hopper 130 from the discharge end of the first horizontal conveying mechanism 120. The conveyor belt is sent into one end of the second horizontal conveying mechanism 140 through the hopper 130, and the parts are sent back into the part storage tank 100 through the second horizontal conveying mechanism 140.

[0032] To improve the detection accuracy and detection effect of the visual inspection device 200, a light source 210 is arranged below the visual inspection device 200. The light source 210 is arranged above the first horizontal conveying mechanism 120 and is located below the first manipulator 220. In this embodiment, the light source 210 is surrounded in a rectangle. The setting of the light source 210 can assist the visual inspection device 200 to accurately identify the posture of the parts and avoid the equipment from malfunctioning due to dim light.

[0033] Such as Figures 4 to 7As shown in the figure, a discharging device is provided on one side of the positioning table 300. The discharging device is used to move the parts in the positioning groove to the next process. The discharging device includes a second manipulator 400 and a third manipulator 500. The second manipulator 400 includes a rotating device 450, a rotating table 440, a control cylinder 410, a rotating head 420 and a first chuck 430. The rotating device 450 is installed on one side of the positioning table 300, the rotating table 440 is installed on the rotating device 450, the control cylinder 410 is installed on the rotating table 440, the rotating head 420 is installed on one side of the control cylinder 410, and the first chuck 430 is installed on the side of the rotating head 420 away from the control cylinder 410. The control cylinder 410 is used to control the rotation of the rotating head 420 and the opening and closing of the first chuck 430. In this embodiment, the rotating device 450 is a rotating cylinder, and the control cylinder 410 is a cylinder.

[0034] The third manipulator 500 is used to transfer the parts on the second manipulator 400 to the next process. The third manipulator 500 includes a horizontal moving platform 510, a vertical moving platform 520 and a second chuck 530. The horizontal moving platform 510 is installed above the second manipulator 400, the vertical moving platform 520 is installed on the horizontal moving platform 510, and the second chuck 530 is installed on the vertical moving platform 520.

[0035] In this embodiment, a lifting device 330 is provided at the bottom of the positioning table 300, and the lifting device 330 is a cylinder. During the discharging process, the first manipulator 220 places the parts in the placement groove 310 of the positioning table 300 for secondary positioning of the parts. A through groove 320 for the second manipulator 400 to clamp the parts is provided on one side of the placement groove 310. The second manipulator 400 clamps the parts through the through groove 320. After the second manipulator 400 clamps the parts, the lifting device 330 drives the positioning table 300 to move downward to make way for the parts. Through the rotation of the rotating device, after the second manipulator 400 rotates, it sends the parts to one side close to the third manipulator 500, and the third manipulator 500 takes away the parts and sends them to the next process.

[0036] In this embodiment, the control device is electrically connected to the vision detection device 200, the first conveying device, the first manipulator 220, the second manipulator 400 and the third manipulator 500. The control device is a single-chip microcomputer, a PLC or a microcomputer. The control device is used to analyze the posture of the parts recognized by the vision detection device 200 and coordinate the actions of the first conveying device, the first manipulator 220, the second manipulator 400 and the third manipulator 500.

[0037] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A flexible automatic feeding machine, characterized in that: include: A parts storage pool (100), wherein the parts storage pool (100) is used to place parts; A first conveying device, the first conveying device being arranged on one side of the parts storage pool (100), and the first conveying device being used to convey the parts in the parts storage pool (100); A visual inspection device (200), the visual inspection device (200) being arranged above the first conveying device, and the visual inspection device (200) being used to identify the posture of parts on the first conveying device; A first manipulator (220), the first manipulator (220) being disposed on one side of the first conveying device, and the first manipulator (220) being used to grasp parts; A positioning platform (300), the positioning platform (300) being arranged on one side of the first manipulator (220), the positioning platform (300) being provided with a placement groove (310) for placing parts, and being used for positioning the parts; A recovery device is arranged at the discharge end of the first conveying device and is used for recovering parts.

2. A flexible automatic feeding machine according to claim 1, characterized in that: The first conveying device comprises a lifting mechanism (110) and a first horizontal conveying mechanism, wherein the lifting mechanism (110) is installed on one side of the parts storage pool (100), and the first horizontal conveying mechanism is arranged on a side of the lifting mechanism (110) away from the parts storage pool (100), the visual inspection device (200) is arranged above the first horizontal conveying mechanism, and the first manipulator (220) is arranged on a side of the visual inspection device (200) away from the lifting mechanism (110).

3. A flexible automatic feeding machine according to claim 2, characterized in that: The lifting mechanism (110) is a lifting machine, and the first horizontal conveying mechanism (120) is a conveyor belt.

4. A flexible automatic feeding machine according to claim 3, characterized in that: The recovery device comprises a hopper (130) and a second horizontal conveying mechanism, wherein the hopper (130) is installed on a side of the first horizontal conveying mechanism (120) away from the parts storage pool (100) and is used to collect the parts conveyed by the first horizontal conveying mechanism (120); The second horizontal conveying mechanism (140) is arranged below the hopper (130), one end of the second horizontal conveying mechanism (140) is arranged on the parts storage pool (100), and the second horizontal conveying mechanism (140) is used to return the parts to the parts storage pool (100).

5. A flexible automatic feeding machine according to claim 4, characterized in that: The second horizontal conveying mechanism (140) is a conveyor belt.

6. A flexible automatic feeding machine according to claim 5, characterized in that: It also includes a light source (210), which is arranged above the first horizontal conveying mechanism (120) and below the first robot (220).

7. A flexible automatic feeding machine according to claim 6, characterized in that: A discharging device is provided on one side of the positioning platform (300), and the discharging device is used to move the parts in the positioning groove to the next process.

8. The flexible automatic feeding machine according to claim 7, characterized in that: The discharging device comprises a second manipulator (400) and a third manipulator (500), the second manipulator (400) comprises a rotating device (450), a rotating table (440), a control cylinder (410), a rotating head (420) and a first chuck (430), the rotating device (450) is installed on one side of the positioning table (300), the rotating table (440) is installed on the rotating device (450), the control cylinder (410) is installed on the rotating table (440), the rotating head (420) is installed on one side of the control cylinder (410), the first chuck (430) is installed on a side of the rotating head (420) away from the control cylinder (410), and the control cylinder (410) is used to control the rotation of the rotating head (420) and the opening and closing of the first chuck (430); The third manipulator (500) is used to transfer the parts on the second manipulator (400) to the next process. The third manipulator (500) comprises a horizontal moving platform (510), a vertical moving platform (520) and a second chuck (530). The horizontal moving platform (510) is installed above the second manipulator (400), the vertical moving platform (520) is installed on the horizontal moving platform (510), and the second chuck (530) is installed on the vertical moving platform (520); A lifting device (330) is provided at the bottom of the positioning platform (300).

9. The flexible automatic feeding machine according to claim 8, characterized in that: A through slot (320) for the second manipulator (400) to clamp parts is provided on one side of the placement slot (310), the control cylinder (410) is a control cylinder, and the first clamp (430) and the second clamp (530) are both pneumatically controlled.

10. A flexible automatic feeding machine according to claim 9, characterized in that: It also includes a control device, which is electrically connected to the visual inspection device (200), the first conveying device, the first robot (220), the second robot (400) and the third robot (500).

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