Robot batch feeder

Abstract

The utility model discloses a robot batch feeder which comprises a machine table, a material supporting table is arranged on the machine table, a jacking vibration motor is further arranged in the machine table so as to drive the material supporting table to ascend, descend and vibrate, a hopper containing a mixed material bag is arranged on the material supporting table, and the hopper is detachably connected with the material supporting table. The machine table is further provided with a square frame matched with the hopper, the top of the square frame is provided with a mechanical arm matched with the hopper, the top of the square frame is further provided with a visual detection mechanism, and the portion, on one side of the material supporting table, of the machine table is further provided with a material conveying mechanism. According to the utility model, the mechanical arm and the visual inspection mechanism are arranged, the similar material bags in the hopper can be accurately identified through the visual inspection mechanism, and then the mechanical arm is used for automatically grabbing the material bags.

Description

Technical Field

[0001] The utility model relates to the technical field of material grabbing and feeding, in particular to a robot feeding machine. Background Art

[0002] Bag noodles are a common food in people's daily lives. To provide people with different flavors, manufacturers often add different flavor packets to the bags. Sometimes, in factories, multiple flavors of noodles are mixed in a single hopper. To avoid waste, it is necessary to separate the mixed packets in the hopper from those of the same flavor during sorting and packaging. However, packets not on the surface of the hopper can obstruct each other and collide with each other. Manual sorting is time-consuming and labor-intensive, so a device that can automatically sort packets is needed. Utility Model Content

[0003] In order to overcome the defects of the existing technology, the technical problem to be solved by the utility model is to propose a robotic feeder, which, by setting a manipulator and a visual recognition system, enables the feeder to automatically identify the material in the hopper and then use the manipulator to grab it out.

[0004] To achieve this purpose, the present invention adopts the following technical solutions:

[0005] The utility model provides a robot feeding machine, including a machine platform, a supporting platform is provided on the machine platform, and a lifting and vibration motor is also provided in the machine platform to drive the supporting platform to lift and vibrate, and a hopper filled with mixed material bags is provided on the supporting platform, and the hopper and the supporting platform are detachably connected; a square frame that cooperates with the hopper is also provided on the machine platform, a manipulator that cooperates with the hopper is provided on the top of the square frame, and a visual detection mechanism is also provided on the top of the square frame. A feeding mechanism is also provided on the machine platform on one side of the supporting platform. When sorting material bags, the manipulator grabs the material bags in the hopper to the feeding mechanism, and a display controller is also provided on the machine platform to control the lifting and vibration motor, the manipulator, the visual detection mechanism and the feeding mechanism.

[0006] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0007] The visual inspection mechanism includes a C-frame and an inspection camera. The two ends of the C-frame are fixedly connected to the top of the square frame. A sliding cylinder is also provided on the crossbeam of the C-frame. The inspection camera is fixed on the sliding cylinder so that the sliding cylinder drives the inspection camera to move in a direction parallel to the transverse rail.

[0008] The feeding mechanism includes a feeding rack fixed on the machine platform and a feeding belt arranged on the feeding rack. A material receiving box is also placed on the feeding belt. After the robot grabs the material bag in the hopper, it places the material bag in the material receiving box.

[0009] The beneficial effects of the utility model are:

[0010] (1) The utility model is provided with a manipulator and a visual detection mechanism, which can accurately identify the same type of material packages in the hopper through the visual detection mechanism, and then the manipulator can automatically grab them;

[0011] (2) After selecting the material bags on the surface, the hopper can be vibrated and shaken by the lifting vibration motor, which can turn the material bags at the bottom of the hopper to the surface, and then continue to be grabbed by the robot. In this way, multiple operations can be performed automatically until the detection camera cannot recognize the same material bags that have been detected. In this way, it can be fully guaranteed that all the material bags in the hopper are taken out. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a structural diagram of a robot feeder provided in a specific embodiment of the present invention;

[0013] Figure 2This is a schematic structural diagram of a robot feeder provided in a specific embodiment of the utility model from another perspective;

[0014] Figure 3 It is a side view of a robot feeder provided in a specific embodiment of the present utility model;

[0015] In the picture:

[0016] 1. Machine platform; 11. Material support platform; 12. Lifting vibration motor;

[0017] 2. Hopper;

[0018] 3. Square frame;

[0019] 4. Manipulator; 41. Transverse rail; 42. Longitudinal rail; 421. Slide; 422. Vertical seat; 4221. Vertical plate; 43. Vertical cylinder; 431. Grasping unit; 44. Transverse mechanism; 45. Longitudinal mechanism;

[0020] 5. Visual inspection mechanism; 51. C-frame; 52. Inspection camera; 53. Sliding cylinder;

[0021] 6. Feeding mechanism; 61. Feeding rack; 62. Feeding belt; 63. Feeding box;

[0022] 7. Display controller. DETAILED DESCRIPTION

[0023] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0024] As shown in the figure, the utility model provides a robot feeding machine, including a machine platform 1, a supporting platform 11 is provided on the machine platform 1, and a lifting and vibration motor 12 is also provided in the machine platform 1 to drive the supporting platform 11 to lift and vibrate. In order to achieve this function, a lifting motor and a vibration motor that cooperate with the supporting platform 11 can also be separately provided in the machine platform 1 for equivalent replacement. This is a replacement method that can be thought of by people in this field; a hopper 2 with a mixed material bag is provided on the supporting platform 11, and the hopper 2 and the supporting platform 11 are detachably connected; the machine platform 1 is also provided with a square frame 3 that cooperates with the hopper 2, and a manipulator 4 that cooperates with the hopper 2 is provided on the top of the square frame 3. A visual detection mechanism 5 is also provided on the top of the square frame 3. A feeding mechanism 6 is also provided on one side of the supporting platform 11 on the machine platform 1. When sorting material bags, the manipulator 4 grabs the material The material bags in the hopper 2 are sent to the feeding mechanism 6; preferably, a display controller 7 is also provided on the machine 1 to control the lifting vibration motor 12, the manipulator 4, the visual inspection mechanism 5 and the feeding mechanism 6; in this way, when in use, the hopper 2 containing the mixed material bags can be first fixed on the supporting platform 11, and then the manipulator 4 grabs the same material bags in the hopper 2 to the feeding mechanism 6. When the same material bags on the surface of the hopper 2 have been grabbed and sorted, the lifting vibration motor 12 drives the hopper 2 to vibrate and shake, and turn out the other material bags on the bottom layer, which are then identified by the visual inspection mechanism 5. The manipulator 4 then continues to grab the same material bags in the hopper 2 to the feeding mechanism 6, and so on. Repeatedly, until the visual inspection mechanism 5 can no longer identify the same material bags that have been sorted out, and then the next type of material bag is sorted under the control of the display controller 7.

[0025] Preferably, the manipulator 4 is capable of grabbing the material bag in the hopper 2. The manipulator 4 includes two transverse rails 41 and a longitudinal rail 42 arranged between the two transverse rails 41. The two transverse rails 41 are perpendicular to the conveying direction of the feeding mechanism 6. The transverse rail 41 is fixedly connected to the top of the square frame 3. The longitudinal rail 42 is parallel to the conveying direction of the feeding mechanism 6. Slides 421 are provided at both ends of the longitudinal rails 42. The two slides 421 are slidably connected to the two transverse rails 41 respectively. At the same time, a transverse mechanism 44 is provided at both ends of the transverse rail 41 on the top of the square frame 3 to drive the longitudinal rail 42 to move along the transverse rail 41. Furthermore, a vertical seat 422 is also provided on the longitudinal rail 42. The vertical seat 422 is slidably connected to the longitudinal rail 42, and the slides at both ends of the longitudinal rail 42 A longitudinal movement mechanism 45 is also provided on 421 to drive the vertical movement seat 422 to move along the longitudinal movement rail 42; further, a vertical plate 4221 is fixed on the vertical movement seat 422, and a vertical cylinder 43 is installed on the vertical plate 4221 near one end of the hopper 2. The extension and contraction direction of the vertical cylinder 43 is perpendicular to the surface of the machine 1, and a grabbing unit 431 is provided at the power output end of the vertical cylinder 43; the grabbing unit 431 is a suction cup or a clamping claw; in this way, the grabbing unit 431 can be flexibly moved in the longitudinal, transverse and vertical directions to grab the material bags in the hopper 2. In actual operation, after the surface material bags of the hopper 2 are grabbed, the jacking vibration motor 12 can be used to lift the hopper or the vertical cylinder 43 can be further extended to use the grabbing unit 431 to grab.

[0026] In the case where the grasping is possible, it is also necessary to accurately identify the material bags of the same type, that is, accurate grasping is also required. The visual inspection mechanism 5 includes a C-frame 51 and a detection camera 52. The two ends of the C-frame 51 are fixedly connected to the top of the square frame 3. A sliding cylinder 53 is also provided on the crossbeam of the C-frame 51. The detection camera 52 is fixed on the sliding cylinder 53, so that the sliding cylinder 53 can drive the detection camera 52 to move in a direction parallel to the transverse rail 41; in this way, the sliding cylinder 53 can drive the detection camera 52 to cooperate with the movement of the grasping unit 431, accurately identify the type of material bag in the hopper 2, and then the grasping unit 431 can grasp it accurately.

[0027] After the grabbing unit 431 accurately grabs the material bag, in order to further ensure the collection of similar material bags, the feeding mechanism 6 includes a feeding rack 61 fixed on the machine 1 and a feeding belt 62 arranged on the feeding rack 61. A material receiving box 63 is also placed on the feeding belt 62. After the robot 4 grabs the material bag in the hopper 2, it places the material bag in the material receiving box 63.

[0028] The present invention is described through preferred embodiments. Those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. The present invention is not limited to the specific embodiments disclosed herein, and other embodiments falling within the scope of the claims of this application are also within the scope of protection of the present invention.

Claims

1. A robot feeding machine, comprising a machine platform (1), characterized in that: A material support platform (11) is provided on the machine (1), and a lifting vibration motor (12) is further provided in the machine (1) to drive the material support platform (11) to lift and vibrate. A hopper (2) containing a mixed material bag is provided on the material support platform (11), and the hopper (2) and the material support platform (11) are detachably connected; The machine (1) is further provided with a square frame (3) cooperating with the hopper (2), a manipulator (4) cooperating with the hopper (2) is provided on the top of the square frame (3), a visual detection mechanism (5) is further provided on the top of the square frame (3), and a feeding mechanism (6) is further provided on the machine (1) on one side of the supporting platform (11). When sorting material bags, the manipulator (4) grabs the material bags in the hopper (2) and feeds them to the feeding mechanism (6).

2. A robot feeding machine according to claim 1, characterized in that: The manipulator (4) includes two transverse rails (41) and a longitudinal rail (42) arranged between the two transverse rails (41), the two transverse rails (41) are perpendicular to the conveying direction of the feeding mechanism (6), the transverse rails (41) are fixedly connected to the top of the square frame (3), the longitudinal rail (42) is parallel to the conveying direction of the feeding mechanism (6), and slides (421) are provided at both ends of the longitudinal rail (42), and the two slides (421) are respectively connected to the two transverse rails ( 41) is slidably connected, a vertical shift seat (422) is also provided on the longitudinal shift rail (42), the vertical shift seat (422) is slidably connected to the longitudinal shift rail (42), a vertical plate (4221) is fixedly provided on the vertical shift seat (422), a vertical cylinder (43) is installed on one end of the vertical plate (4221) close to the hopper (2), the telescopic direction of the vertical cylinder (43) is perpendicular to the surface of the machine (1), and a grabbing unit (431) is provided at the power output end of the vertical cylinder (43).

3. A robot feeding machine according to claim 2, characterized in that: The top of the square frame (3) is provided with a transverse movement mechanism (44) at both ends of the transverse movement rail (41) to drive the longitudinal movement rail (42) to move along the transverse movement rail (41), and a longitudinal movement mechanism (45) is also provided on the slide seat (421) at both ends of the longitudinal movement rail (42) to drive the vertical movement seat (422) to move along the longitudinal movement rail (42).

4. A robot feeding machine according to claim 3, characterized in that: The grasping unit (431) is a suction cup or a clamping claw.

5. The robot feeding machine according to claim 3, characterized in that: The visual inspection mechanism (5) includes a C-shaped frame (51) and an inspection camera (52), wherein both ends of the C-shaped frame (51) are fixedly connected to the top of the square frame (3), and a sliding cylinder (53) is further provided on the crossbeam of the C-shaped frame (51). The inspection camera (52) is fixed on the sliding cylinder (53) so as to be driven by the sliding cylinder (53) to move in a direction parallel to the transverse rail (41).

6. A robot feeding machine according to claim 5, characterized in that: The feeding mechanism (6) comprises a feeding frame (61) fixed on the machine (1) and a feeding belt (62) arranged on the feeding frame (61); a material receiving box (63) is also placed on the feeding belt (62); after the manipulator (4) grabs the material bag in the hopper (2), the material bag is placed in the material receiving box (63).

7. A robot feeding machine according to claim 6, characterized in that: The machine platform (1) is also provided with a display controller (7) for controlling the lifting vibration motor (12), the manipulator (4), the visual detection mechanism (5) and the feeding mechanism (6).

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