Automatic rubber electrode feeding device

Abstract

The utility model discloses an automatic rubber electrode feeding device which comprises a punching device and an electric control cabinet electrically connected with the punching device, the punching device and a positioning workbench are oppositely arranged, an industrial robot is arranged between the punching device and the positioning workbench, and the industrial robot is connected with the punching device. A rubber electrode is grabbed by the industrial robot and placed into the punching equipment to be punched to form a finished product mold, a visual detection camera is arranged above the punching equipment and used for detecting the internal state of the rubber electrode mold, and a positioning camera is detachably installed above the positioning workbench and used for detecting the internal state of the rubber electrode mold. The positioning camera is used for photographing and detecting a rubber electrode workpiece, the positioning workbench comprises a positioning table top, two feeding areas are symmetrically arranged on the left side and the right side of the positioning table top, a plurality of positioning holes are formed in the boundaries of the feeding areas, and positioning columns are detachably connected into the positioning holes.

Description

Technical Field

[0001] This utility model belongs to the technical field of industrial automation, and particularly relates to an automatic feeding device for rubber electrodes. Background Art

[0002] When manufacturing rubber electrodes in the prior art, the commonly used method is manual operation. During the manual operation process, the working environment is poor, with loud noise and strong odors. Moreover, during the process of manually operating the machine, it is easy to cause mechanical injuries. Also, due to the soft texture of rubber workpieces, it is difficult to perform mechanical positioning during processing operations.

[0003] In view of the above factors, an automatic feeding device for rubber electrodes is provided, which solves the situation of manual repetitive labor facing mechanical equipment all the time. At the same time, it greatly reduces the probability of mechanical injuries. Workers can load multiple products at one time for the robot to pick up and process, reducing the work intensity. Summary of the Utility Model

[0004] The purpose of this utility model is to provide an automatic feeding device for rubber electrodes to solve the problems raised in the above background art.

[0005] The purpose of this utility model is achieved through the following technical solutions: an automatic feeding device for rubber electrodes, including a punching device and an electric control cabinet electrically connected to the punching device. The punching device is disposed opposite to a positioning workbench. An industrial robot is arranged between the punching device and the positioning workbench. The industrial robot grabs rubber electrodes and puts them into the punching device for punching to form finished molds.

[0006] A vision inspection camera is arranged above the punching device, and the vision inspection camera is used to detect the internal state of the rubber electrode mold.

[0007] A positioning camera is installed above the positioning workbench in a detachable manner, and the positioning camera takes pictures and inspects the rubber electrode workpieces.

[0008] Further, the positioning workbench includes a positioning tabletop. Two feeding areas are symmetrically arranged on the left and right sides of the positioning tabletop. A number of positioning holes are arranged on the upper boundary of the feeding area, and positioning columns are detachably connected in the positioning holes.

[0009] Further, the positioning columns are arranged at intervals, and a number of the positioning columns form an enclosing structure to fix the rubber electrodes.

[0010] Further, the feeding area is made of plastic or steel plate, and the feeding area is detachably connected to the positioning workbench.

[0011] Further, the middle position of the positioning workbench is a positioning tabletop, which is made of transparent acrylic board, and a weighing sensor is arranged below the positioning tabletop to weigh and detect the rubber electrode through the weighing sensor;

[0012] Four weighing sensors are arranged at the four-corner boundary positions of the positioning tabletop.

[0013] Further, a plurality of spaced grooves are formed on the end face of the positioning tabletop, and a positioning camera detachably installed above the positioning workbench is arranged opposite to the positioning tabletop;

[0014] The positioning camera is arranged on a support platform formed by a steel structure truss.

[0015] Further, the positioning camera is connected to an L-shaped fixing frame by bolts, and the L-shaped fixing frame is connected to the support platform formed by the steel structure truss by bolts.

[0016] Further, a photographing light source is arranged below the positioning tabletop to cooperate with the positioning camera.

[0017] Further, the industrial robot is mainly a six-axis industrial robot, and a robot end effector is installed at the end of the industrial robot. The robot end effector integrates the functions of vacuum adsorption and high-pressure purging, and the robot end effector is a vacuum adsorption end effector.

[0018] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0019] The present utility model solves the situation that the traditional contour positioning method cannot position products with soft texture or inconsistent outer contours;

[0020] The present utility model solves the situation that manual labor has been facing repeated labor with mechanical equipment, and at the same time greatly reduces the probability of mechanical injury to people.

[0021] In the present utility model, multiple products can be loaded by manual at one time for the robot to pick up and process, reducing the working intensity.

[0022] The present utility model uses a vision detection camera to avoid manual inspection of whether there is any residue inside the die after punching. Description of the Drawings

[0023] Figure 1 is a three-dimensional schematic diagram of the present utility model;

[0024] Figure 2 is a side view schematic diagram of the present utility model;

[0025] Figure 3 is a three-dimensional schematic diagram of the positioning workbench of the present utility model;

[0026] Figure 4 is a partial enlarged schematic view of the feeding area of the present utility model;

[0027] Figure 5 is a side view schematic diagram of the positioning workbench of the present utility model;

[0028] Figure 6 is a schematic diagram of the present utility model with a vision inspection camera;

[0029] Figure 7 is a partial enlarged schematic view of the present utility model with a light source;

[0030] Figure 8 is an enlarged schematic view of the robot end effector of the present utility model;

[0031] Figure 9 is a plane enlarged schematic view of the robot end effector of the present utility model. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0033] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0034] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0035] Such as Figures 1-9As shown in the figure, a rubber electrode automatic feeding device includes a punching device 1 and an electric control cabinet 2 electrically connected to the punching device 1. The punching device 1 is disposed opposite to a positioning workbench 3. An industrial robot 4 is arranged between the punching device 1 and the positioning workbench 3. The industrial robot 4 grabs the rubber electrode and puts it into the punching device 1 for punching to form a finished mold.

[0036] A vision detection camera 5 is arranged above the punching device 1. The vision detection camera 5 is used to detect the internal state of the rubber electrode mold.

[0037] A positioning camera 6 is detachably installed above the positioning workbench 3. The positioning camera 6 takes pictures of the rubber electrode workpiece for detection.

[0038] Adjustable-height floor supports are arranged at the bottom of the positioning workbench 3, and double doors are connected to the positioning workbench 3 in a hinged manner.

[0039] The electric control cabinet 2 is controlled by a PLC or a single-chip microcomputer, and the electric control cabinet is electrically connected to the industrial robot.

[0040] The electric control cabinet (including an industrial computer, which is a prior art and not shown in the figure) is electrically connected to the vision detection camera 5 and the positioning camera 6.

[0041] In order to facilitate providing a material taking and positioning area for the robot through the positioning workbench in the use state, the positioning workbench 3 includes a positioning tabletop 7. Two feeding areas 8 are symmetrically arranged on the left and right sides of the positioning tabletop 7. A number of positioning holes are arranged on the upper boundary of the feeding area 8, and positioning columns are detachably connected in the positioning holes.

[0042] In order to facilitate surrounding and fixing the rubber electrode by the positioning columns in the use state, the positioning columns are arranged at intervals, and a number of the positioning columns form a surrounding structure to fix the rubber electrode.

[0043] Among them, the positioning columns are connected to the feeding area 8 by screwing. Manual feeding is carried out in the bin of the feeding area 8. The robot takes out one workpiece at a time from top to bottom in the bin of the feeding area 8. The feeding area 5 is made of plastic or steel plate, and the feeding area 5 is detachably connected to the positioning workbench 3.

[0044] In order to facilitate weight detection, weighing qualified and successful photo positioning in the use state, the middle position of the positioning workbench 3 is the positioning tabletop 7. The positioning tabletop 7 is made of transparent acrylic board, and a weighing sensor 9 is arranged below the positioning tabletop 7. The rubber electrode is weighed and detected by the weighing sensor 9.

[0045] Four weighing sensors 9 are provided and located at the four corner boundary positions of the positioning tabletop 7.

[0046] In order to facilitate non-slip placement of workpieces in the use state, a number of spaced grooves are provided on the end face of the positioning tabletop 7, and a positioning camera 6 detachably installed above the positioning workbench 3 is arranged opposite to the positioning tabletop 7;

[0047] The positioning camera 6 is arranged on a support platform formed by a steel structure truss.

[0048] In order to facilitate detachable replacement in the use state, the positioning camera 6 is connected to an L-shaped fixing bracket by bolts, and the L-shaped fixing bracket is connected to the support platform formed by the steel structure truss by bolts.

[0049] In order to facilitate providing a light source for photographing in the use state, a photographing light source is arranged below the positioning tabletop 7 to cooperate with the positioning camera 6.

[0050] The utility model solves the problem of avoiding manual inspection of whether there is any residue inside the die after punching by means of the vision detection camera 5.

[0051] The vacuum adsorption end effector is connected to a vacuum pump through a connecting pipe (not shown in the figure). The industrial robot 4 is mainly a six-axis industrial robot. A robot end effector is installed at the end of the industrial robot 4. The robot end effector integrates the functions of vacuum adsorption and high-pressure purging. The robot end effector is a vacuum adsorption end effector (a vacuum adsorption end effector disclosed in the prior art). The vacuum adsorption end effector realizes air intake and exhaust through a vacuum pump. Based on the vacuum negative pressure, the vacuum adsorption end effector utilizes the pressure difference between the external atmospheric pressure and the negative pressure to adsorb the rubber electrode.

[0052] When the vacuum pump works, it sucks air, thereby forming a negative pressure in the contact area between the suction cup and the rubber electrode. The generation of the negative pressure is realized through the air extraction port of the vacuum pump, which can form a vacuum environment, so that a certain negative pressure is formed between the suction cup and the rubber electrode. Air intake: During the air intake process, as Figure 8 shown, the end face of the vacuum adsorption end effector has an air intake port. The vacuum pump extracts air through the air extraction port, making the inside of the suction cup form a low-pressure environment. Exhaust: When it is necessary to release the adsorbed rubber electrode, by changing the air flow direction or using an exhaust valve, the air inside the suction cup is discharged, thereby reducing the negative pressure inside the suction cup and weakening the adsorption force, so that the rubber electrode can be easily removed.

[0053] After the visual light source and the transparent acrylic plate of the present utility model are combined, the workpiece is irradiated from the back and then photographed and positioned by the visual positioning camera, solving the problems of insufficient light or backlight that are likely to occur during illumination and affecting the shooting effect; the weighing sensor detects the weight of the workpiece to prevent two workpieces from entering the punching equipment simultaneously and damaging the equipment; through the robot vacuum adsorption end effector, the situation where a perforated workpiece cannot be grasped when using vacuum adsorption to grab is solved.

[0054] The present utility model takes a six-axis industrial robot as the main device. The tooling table provides a material taking and positioning area for the robot and a light source irradiation and photographing area for the positioning camera. The robot end effector is installed at the end of the robot and integrates the functions of vacuum adsorption and high-pressure purging. The visual inspection system is installed above the customer's punching equipment to detect the internal state of the mold.

[0055] Working principle and process: Manual feeding is carried out in the magazine of the loading table and the equipment is started → The robot takes out one workpiece from top to bottom in the magazine of the loading table each time → The robot places the taken workpiece on the positioning table in the middle of the loading table → The positioning camera above the positioning table takes pictures of the workpiece for inspection, and at the same time, the weighing sensor below the positioning table weighs the workpiece for inspection → After the weighing is qualified and the photographing and positioning are successful, the positioning system industrial control computer sends the corrected data to the industrial robot → The robot performs precise grasping → After the robot precisely grasps the workpiece, it is placed into the punching equipment → Before punching, the visual inspection camera takes pictures to detect whether the workpiece is abnormal → After punching, the visual camera takes pictures to detect whether the mold is abnormal.

[0056] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present utility model. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0057] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatic feeding device for rubber electrodes, comprising a punching device (1) and an electric control cabinet (2) electrically connected to the punching device (1), characterized in that: The punching device (1) is arranged opposite to the positioning workbench (3). An industrial robot (4) is arranged between the punching device (1) and the positioning workbench (3). The industrial robot (4) grabs the rubber electrode and puts it into the punching device (1) for punching to form a finished mold. A vision detection camera (5) is arranged above the punching device (1). The vision detection camera (5) is used to detect the internal state of the rubber electrode mold. A positioning camera (6) is detachably installed above the positioning workbench (3). The positioning camera (6) takes pictures and detects the rubber electrode workpiece.

2. The automatic feeding device for rubber electrodes according to claim 1, characterized in that: The positioning workbench (3) includes a positioning tabletop (7). Two feeding areas (8) are symmetrically arranged on the left and right sides of the positioning tabletop (7). A number of positioning holes are arranged on the upper boundary of the feeding area (8), and positioning columns are detachably connected in the positioning holes.

3. The automatic feeding device for rubber electrodes according to claim 2, characterized in that: The positioning columns are arranged at intervals, and a number of the positioning columns form an enclosing structure to fix the rubber electrode.

4. The automatic rubber electrode feeding device according to claim 3, characterized in that: The feeding area (8) is made of plastic or steel plate, and the feeding area (8) is detachably connected to the positioning workbench (3).

5. The automatic rubber electrode feeding device according to claim 4, characterized in that: The middle position of the positioning workbench (3) is the positioning tabletop (7). The positioning tabletop (7) is made of transparent acrylic board, and a weighing sensor (9) is arranged below the positioning tabletop (7). The rubber electrode is weighed and detected by the weighing sensor (9). 4 weighing sensors (9) are arranged and located at the four-corner boundary positions of the positioning tabletop (7).

6. The automatic feeding device for rubber electrodes according to claim 5, characterized in that: A number of spaced grooves are formed on the end surface of the positioning tabletop (7). The positioning camera (6) detachably installed above the positioning workbench (3) is arranged opposite to the positioning tabletop (7). The positioning camera (6) is arranged on a support platform formed by a steel structure truss.

7. The automatic feeding device for rubber electrodes according to claim 6, characterized in that: The positioning camera (6) is connected to an L-shaped fixing frame by bolts. The L-shaped fixing frame is connected to the support platform formed by the steel structure truss by bolts.

8. The automatic feeding device for rubber electrodes according to claim 7, characterized in that: A photographing light source is arranged below the positioning tabletop (7) to cooperate with the positioning camera (6).

9. The automatic feeding device for rubber electrodes according to claim 8, wherein: The industrial robot (4) is mainly a six-axis industrial robot. A robot end effector is installed at the end of the industrial robot (4). The robot end effector integrates the functions of vacuum adsorption and high-pressure purging. The robot end effector is a vacuum adsorption end effector.

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