Flexible terminal feeding device

Abstract

The utility model is applicable to the technical field of assembly line equipment, and provides a flexible terminal feeding device which comprises a vibration feeding module, a vibration straightening module, a conveying module and two multi-axis transfer robots, the vibration feeding module feeds a terminal straightening tray of the vibration straightening module in a vibration mode, and the conveying module conveys the terminal straightening tray to the vibration straightening module. A large number of terminals placed on the terminal straightening tray in disorder are vibrated disorderly through the flexible vibration tray, part of the terminals conforming to a preset placing angle after vibration are recognized through the CCD visual detection unit, and then the terminals are adsorbed through the multi-axis transfer robot. And the terminal is transferred to a special terminal limiting tool on the conveying module to be placed according to a standard position and waits for another subsequent multi-axis transfer robot to take and use the terminal, manual operation is not needed in the whole process, the efficiency is high, and the cost is low.

Description

Technical Field

[0001] This utility model applies to the field of assembly line equipment technology and provides a flexible terminal feeding device. Background Technology

[0002] In modern assembly line production, when automatic gripping equipment is used to pick up and use parts, the parts need to be pre-placed in designated positions, and the placement angle and other parameters need to be adjusted according to preset requirements, as shown in the attached figure. Figure 8 One of the terminal types mentioned is made from a thin metal sheet that has been bent multiple times. Before being put into automated production line production, these terminals generally need to be placed manually one by one onto a workpiece tray with a workpiece limiting slot. The workpiece limiting slot limits the terminals. However, the usage of these terminals is very large, and the efficiency of manual placement is too low and the cost is also high. Utility Model Content

[0003] To address this, the present invention provides a flexible terminal feeding device. A flexible vibrating plate randomly vibrates a large number of terminals placed on a terminal alignment tray. A CCD vision detection unit (i.e., a charge-coupled device vision detection unit) identifies the terminals that conform to a preset placement angle after vibration. Then, a multi-axis transfer robot picks up these terminals and transfers them to a dedicated terminal limiting fixture to be placed in a standard position for later retrieval.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a flexible terminal feeding device, wherein the terminal is formed by bending a metal sheet multiple times, and the flexible terminal feeding device includes:

[0005] A vibrating feeding module includes a vibrator, and a terminal feeding bin is fixedly provided on the upper end of the vibrator. The terminal feeding bin is provided with a terminal feeding port.

[0006] The vibration alignment module includes a flexible vibratory plate, a material tray hopper at the upper end of the flexible vibratory plate, a terminal alignment material tray inside the material tray hopper, a plurality of terminal alignment slots on the upper surface of the terminal alignment material tray, a terminal feed port located above the terminal alignment material tray, and a CCD vision inspection unit (i.e., charge-coupled device vision inspection unit) located above the terminal alignment material tray.

[0007] The conveying module includes a circulating conveyor belt, on which several terminal limiting fixtures are fixedly installed;

[0008] Two multi-axis transfer robots are provided. Each multi-axis transfer robot includes a fixed base. The fixed base is driven to be equipped with a multi-axis manipulator. One end of each multi-axis manipulator is equipped with a terminal suction unit. One of the two multi-axis transfer robots is located at the beginning of a circulating conveyor belt, and the other is located at the end of the circulating conveyor belt.

[0009] Furthermore, the multi-axis manipulator includes several rotating robotic arms connected in sequence. The rotating robotic arm at the first end is driven to a fixed base. The rotating robotic arm at the last end is provided with an end-effector lifting mechanism. The lifting part of the end-effector lifting mechanism is provided with an end-effector rotation mechanism. The terminal picking unit is connected to the rotation part of the end-effector rotation mechanism.

[0010] Furthermore, the terminal suction unit includes a suction bracket, which is fixedly connected to several suction cup lifting cylinders, and the lifting part of the suction cup lifting cylinder is provided with at least two terminal suction cups.

[0011] Furthermore, the terminal limiting fixture is provided with several terminal placement slots.

[0012] Furthermore, the conveying module also includes a conveyor belt drive device and a height detection camera. The conveyor belt drive device is connected to the circulating conveyor belt drive to drive the circulating conveyor belt to rotate cyclically, and the height detection camera is positioned above the circulating conveyor belt.

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

[0014] 1. In the solution of this utility model, a flexible vibrating plate is used in conjunction with a terminal alignment tray with several terminal alignment slots, so that the terminals can be partially aligned to a preset shape during disordered vibration. The CCD vision detection unit, in conjunction with a multi-axis transfer robot, can automatically identify and pick up terminals that meet the requirements. No manual operation is required throughout the process, which is highly efficient and low in cost.

[0015] 2. Utilize several terminal limiting fixtures on the circulating conveyor belt to store terminals arranged in the correct shape for later retrieval on the production line. At the same time, install a height detection camera above the circulating conveyor belt to perform secondary confirmation of the terminal placement position, thereby improving accuracy. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a flexible terminal feeding device mentioned in this utility model;

[0017] Figure 2 This is a schematic diagram of the assembly structure of the vibratory feeding module and the vibratory alignment module mentioned in this utility model;

[0018] Figure 3This is a schematic diagram of the terminals mentioned in this utility model being vibrated and aligned on the terminal alignment tray;

[0019] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle;

[0020] Figure 5 This is a schematic diagram of the conveying module mentioned in this utility model;

[0021] Figure 6 This is a schematic diagram of the structure of the multi-axis transfer robot mentioned in this utility model;

[0022] Figure 7 for Figure 6 A schematic diagram of the terminal picking unit in the mentioned multi-axis transfer robot;

[0023] Figure 8 This is a structural schematic diagram of one type of terminal mentioned in this utility model.

[0024] In the picture:

[0025] 100. Vibrating feeder module; 110. Vibrator; 120. Terminal feeding bin;

[0026] 200. Vibration alignment module; 210. Flexible vibratory feeder; 220. Material tray; 230. Terminal alignment tray; 231. Terminal alignment slot; 240. CCD vision inspection unit.

[0027] 300. Multi-axis transfer robot; 310. Fixed base; 320. Multi-axis manipulator; 330. End-effector lifting mechanism; 340. Terminal suction unit; 341. Suction bracket; 342. Suction cup lifting cylinder; 343. Terminal suction cup.

[0028] 400. Conveying module; 410. Circulating conveyor belt; 420. Terminal limit fixture; 430. Conveyor belt drive device; 440. Height detection camera.

[0029] 500, terminal. Detailed Implementation

[0030] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0031] Example, see attached document Figure 1 This utility model provides a flexible terminal feeding device, as shown in the attached figure. Figure 8As shown, the aforementioned terminal 500 is made of metal sheet through several bending processes. The flexible terminal feeding device in this embodiment includes a vibration feeding module 100, a vibration alignment module 200, a conveying module 400, and two multi-axis transfer robots 300.

[0032] As attached Figure 2 As shown, the vibration feeding module 100 includes a vibrator 110, with a terminal feeding bin 120 fixedly mounted on the upper end of the vibrator 110. The terminal feeding bin 120 is provided with a terminal feeding port. The vibrator 110 enables the terminal feeding bin 120 to supply terminals 500 to the vibration alignment module 200 at a certain rate through the terminal feeding port. The vibration alignment module 200 includes a flexible vibrating plate 210, with a material tray 220 mounted on the upper end of the flexible vibrating plate 210. A terminal alignment material tray 230 is provided inside the material tray 220. The upper surface of the terminal alignment material tray 230 is provided with a plurality of terminal alignment grooves 231. The terminal feeding port is provided with... The flexible vibratory feeder 210, which is a prior art technology, is placed above the terminal alignment tray 230. Based on multi-directional vibration fitting technology, it can control the random movement of scattered terminals 500 on the terminal alignment tray 230. A CCD vision detection unit 240 (i.e., charge-coupled device vision detection unit) is set above the terminal alignment tray 230. The CCD vision detection unit 240 can monitor the arrangement shape of the terminals 500 on the terminal alignment tray 230 at any time. The computer software identifies the terminals 500 that conform to the preset arrangement shape and sends their coordinate data to the multi-axis transfer robot 300.

[0033] As attached Figure 5 As shown, the conveying module 400 includes a circulating conveyor belt 410, a conveyor belt drive device 430, and a height detection camera 440. One of the two multi-axis transfer robots 300 is located at the starting end of the circulating conveyor belt 410, and the other is located at the end of the circulating conveyor belt 410. The conveyor belt drive device 430 is connected to the circulating conveyor belt 410 to drive the circulating conveyor belt 410 to rotate cyclically. The height detection camera 440 is located above the circulating conveyor belt 410. Several terminal limiting fixtures 420 are fixedly installed on the circulating conveyor belt 410. The terminal limiting fixtures 420 are provided with several terminal placement slots. Each terminal placement slot is designed for a different type of terminal 500. In this way, the same set of terminal limiting fixtures 420 can simultaneously meet the limiting placement of multiple similar types of terminals 500, reducing the cost of use.

[0034] As attached Figure 6As shown, the multi-axis transfer robot 300 includes a fixed base 310, on which a multi-axis manipulator 320 is driven. One end of the multi-axis manipulator 320 is equipped with a terminal picking unit 340. The multi-axis manipulator 320 includes several rotating robotic arms connected in sequence. The first rotating robotic arm is driven to the fixed base 310, and the last rotating robotic arm is equipped with an end effector lifting mechanism 330. The lifting part of the end effector lifting mechanism 330 is equipped with an end effector rotation mechanism. The several rotating robotic arms, the end effector lifting mechanism 330, and the end effector rotation mechanism ensure the flexibility of the multi-axis transfer robot 300. The terminal picking unit 340 is connected to the rotating part of the end effector rotation mechanism, as shown in the attached figure. Figure 7 As shown, the terminal suction unit 340 includes a suction bracket 341, and a number of suction cup lifting cylinders 342 are fixedly connected to the suction bracket 341. The lifting part of the suction cup lifting cylinder 342 is provided with at least two terminal suction cups 343. The multiple terminal suction cups 343 respectively adsorb different end faces of the column terminal 500, thereby picking up the terminal 500 from the terminal alignment tray 230.

[0035] The working principle of this embodiment is as follows:

[0036] Vibration is applied to the terminals 500 in the terminal feeding bin 120 by the vibrator 110, causing the terminals 500 stacked in the terminal feeding bin 120 to be transferred from the terminal feeding port to the terminal aligning tray 230 at a certain rate. The flexible vibrating plate 210 causes the terminals 500 to vibrate randomly in any direction on the terminal aligning tray 230, as shown in the attached figure. Figure 3 Appendix Figure 4As shown, during the random vibration process, some terminals 500 will vibrate to the terminal alignment groove 231. With the assistance of the terminal alignment groove 231, these terminals 500 continue to vibrate. Thus, some of these terminals 500 will vibrate to a preset terminal 500 placement shape. It should be noted that the preset terminal 500 placement shape is mainly to allow the terminals 500 to be adsorbed and transferred to the terminal limiting fixture 420 by the multi-axis transfer robot 300 according to the predetermined placement shape. Since these vibrations are random, the CCD vision detection unit 240 (i.e., the charge-coupled device vision detection unit) needs to identify the terminals 500 that conform to the preset placement shape. Then, the position coordinate information of these terminals 500 that conform to the preset placement shape is sent to the multi-axis transfer robot 300. Finally, the terminal picking unit 340 of the multi-axis transfer robot 300 picks up the terminals that conform to the preset placement shape. The terminals 500 in the arrangement shape are picked up. During the picking process, the end rotating mechanism can pick up multiple terminals 500 in the same direction. Then, these terminals 500 are transferred at once to the corresponding terminal placement slots on the terminal limiting fixtures 420 on the circulating conveyor belt 410. During the transfer, the terminals 500 in the terminal limiting fixtures 420 pass through the height detection camera 440. In actual applications, the height detection camera 440 generally adopts a fully automatic laser scanning 3D detection method to detect the height position of multiple points of the terminals 500 in the terminal limiting fixtures 420 to ensure that the terminals 500 in the terminal limiting fixtures 420 are placed in accordance with the requirements. Finally, these terminals 500 that are placed in the terminal limiting fixtures 420 in accordance with the requirements are picked up by another multi-axis transfer robot 300 at the end of the circulating conveyor belt 410 and transferred to the next process.

[0037] In the description of this utility model, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0038] The above are merely preferred embodiments of this utility model. Any person skilled in the art may modify this utility model or modify it into an equivalent technical solution using the technical solutions described above. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of this utility model are within the scope of protection claimed by this utility model.

Claims

1. A flexible terminal feeding device, wherein the terminal (500) is formed by bending a metal sheet several times, characterized in that, include: The vibrating feed module (100) includes a vibrator (110), and a terminal feeding bin (120) is fixedly provided on the upper end of the vibrator (110). The terminal feeding bin (120) is provided with a terminal feeding port. The vibration alignment module (200) includes a flexible vibratory plate (210), a material tray (220) is provided at the upper end of the flexible vibratory plate (210), a terminal alignment material tray (230) is provided in the material tray (220), a plurality of terminal alignment slots (231) are provided on the upper surface of the terminal alignment material tray (230), the terminal feeding port is provided above the terminal alignment material tray (230), and a CCD vision inspection unit (240) (i.e., charge-coupled device vision inspection unit) is provided above the terminal alignment material tray (230). The conveying module (400) includes a circulating conveyor belt (410), on which a plurality of terminal limiting fixtures (420) are fixedly installed. Two multi-axis transfer robots (300) are provided, each including a fixed base (310). The fixed base (310) is driven to provide a multi-axis manipulator (320). One end of the multi-axis manipulator (320) is provided with a terminal picking unit (340). One of the two multi-axis transfer robots (300) is located at the beginning of a circulating conveyor belt (410), and the other is located at the end of the circulating conveyor belt (410).

2. The flexible terminal feeding device according to claim 1, characterized in that, The multi-axis manipulator (320) includes several rotating manipulators connected in sequence. The rotating manipulator at the first end is connected to the fixed base (310). The rotating manipulator at the end is provided with an end lifting mechanism (330). The lifting part of the end lifting mechanism (330) is provided with an end rotating mechanism. The terminal picking unit (340) is connected to the rotating part of the end rotating mechanism.

3. The flexible terminal feeding device according to claim 2, characterized in that, The terminal suction unit (340) includes a suction bracket (341), and the suction bracket (341) is fixedly connected to several suction cup lifting cylinders (342). The lifting part of the suction cup lifting cylinder (342) is provided with at least two terminal suction cups (343).

4. The flexible terminal feeding device according to claim 1, characterized in that, The terminal limiting fixture (420) is provided with several terminal placement slots.

5. A flexible terminal feeding device according to claim 4, characterized in that, The conveying module (400) also includes a conveyor belt drive device (430) and a height detection camera (440). The conveyor belt drive device (430) is connected to the circulating conveyor belt (410) to drive the circulating conveyor belt (410) to rotate cyclically. The height detection camera (440) is located above the circulating conveyor belt (410).

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