Machine vision automatic feeding device

Abstract

The utility model provides a machine vision automatic feeding device which comprises a feeding device bottom frame, an X-axis left feeding guide rail, an X-axis right feeding guide rail, a feeding support, a feeding table and a material tray and is matched with a pneumatic clamping mechanism to achieve automatic material taking. The pneumatic clamping jaw is connected with the feeding clamping air cylinder, height self-adaptive adjustment is achieved by adjusting the pneumatic cylinder up and down through the Y axis of the feeding clamping jaw, the clamping assembly is installed on the clamping sliding installation frame and stably moves along the feeding clamping sliding rail, and the positioning precision is ensured. A discharging mechanism is arranged on the opposite side of the feeding clamping mechanism and comprises a discharging pneumatic suction cup, a suction cup installation frame and a discharging swing arm driven by a swing arm rotating motor, and automatic discharging of finished products or empty trays can be synchronously completed. The device integrates X-axis positioning, Y-axis adjusting, pneumatic clamping and visual guiding, is compact in structure and stable in operation, achieves automatic collaborative operation of feeding and discharging, is suitable for various industrial automatic production lines, and remarkably improves the production efficiency and the intelligent level.

Description

TECHNICAL FIELD

[0001] The utility model relates to machine vision feeding technology field, specifically, relate to a kind of machine vision automatic feeding device. BACKGROUND

[0002] With the development of intelligent manufacturing and industrial automation, machine vision technology is widely used in product detection, positioning guidance and quality control. Machine vision captures images through industrial cameras, and combines image processing algorithms to identify and judge the position and attitude of objects, with the advantages of non-contact, high precision and fast response.

[0003] Application No. CN202122720509.1 discloses a kind of machine vision multifunctional intelligent detection device, including detection table, mobile frame and support frame, the both sides surface of detection table is all set with sliding slot, the bottom end of detection table is fixedly connected with support leg, the quantity of mobile frame is two.The utility model rotates the sliding block by the rotation of sliding rod, the detection head is rotated by the rotation of sliding block, the side surface of object is detected by the rotation of detection head, so that the detection is more accurate, the detection head is detected more clearly by the installation of illuminating lamp on sliding block, the effect of detection is improved, the sliding rod is more stable by sliding connection in circular sliding slot, so that the detection head is more stable by rotation.

[0004] However, the existing machine vision automatic feeding still needs to be improved in the process of use. The existing machine vision system can only complete single material identification and simple positioning work, and it is difficult to build a complete and efficient automatic feeding. In many small and medium-sized enterprises and part of traditional manufacturing production lines, the material feeding link still generally adopts manual operation mode. Workers need to manually pick up materials from the material box or conveyor belt and place them one by one into the designated station of the processing equipment. This feeding mode relying on manpower has many disadvantages, which seriously restricts the improvement of production efficiency and product quality. First, the speed of manual feeding is limited by the physiological limit of human body, which cannot meet the requirements of modern high-speed production line for rhythm. Especially in the scene of large quantity and continuous operation, workers are prone to fatigue after long time of repeating monotonous actions, which leads to unstable feeding rhythm and even mistakes such as missing and misplacing, directly affecting the product qualification rate. Secondly, the precision of manual operation cannot be guaranteed, and factors such as hand shaking and visual error will cause material positioning deviation, which affects the subsequent processing or assembly precision. Especially for precision parts, small position deviation may cause the whole piece to be scrapped. In addition, manual feeding also brings high labor intensity and safety risk. In the harsh working environment of high temperature, high pressure, dust and noise, workers are exposed to dangerous areas for a long time, which may cause occupational health problems or safety accidents. The existing machine vision system can only complete single material identification and simple positioning work. In the movement process of the material, the X-axis left and right feeding guide rail and the feeding horizontal sliding block are lack of the ability of rapid and accurate movement in the horizontal direction, and the feeding claw Y-axis up and down adjusting pneumatic cylinder and pneumatic rod are lack of the function of rapid lifting in the vertical direction, which greatly limits the continuity and speed of material feeding. Therefore, we improve it and propose a machine vision automatic feeding device. Practical new type content

[0005] The utility model discloses a machine vision automatic feeding device, which can realize automatic feeding of materials in the horizontal and vertical directions, and can realize automatic feeding of materials in the horizontal and vertical directions.

[0006] As a preferred technical scheme of the utility model, the feeding pneumatic clamping mechanism is provided with a pneumatic clamping jaw, the pneumatic clamping jaw is connected with a feeding clamping pneumatic cylinder, and the feeding clamping pneumatic cylinder is respectively provided with a pneumatic cylinder air inlet connection valve and a pneumatic cylinder air outlet connection valve.

[0007] The utility model discloses a feeding clamping air cylinder is connected with the upper and lower adjusting air pressure rod of feeding claw Y axle, and the upper and lower adjusting air pressure rod of feeding claw Y axle is connected with the upper and lower adjusting air pressure cylinder of feeding claw Y axle.

[0008] The utility model discloses a feeding claw Y axle upper and lower adjusting air pressure cylinder is provided with Y axle upper and lower adjusting air pressure cylinder air inlet pipe and Y axle upper and lower adjusting air pressure cylinder air outlet pipe.

[0009] The utility model discloses a feeding claw Y axle upper and lower adjusting air pressure cylinder is connected with the clamping sliding mounting bracket.

[0010] The utility model discloses a feeding claw Y axle upper and lower adjusting air pressure cylinder is connected with the clamping sliding mounting bracket.

[0011] The utility model discloses a feeding claw Y axle upper and lower adjusting air pressure cylinder is connected with the clamping sliding mounting bracket.

[0012] The utility model discloses a feeding claw Y axle upper and lower adjusting air pressure cylinder is connected with the clamping sliding mounting bracket.

[0013] The utility model discloses a feeding claw Y axle upper and lower adjusting air pressure cylinder is connected with the clamping sliding mounting bracket.

[0014] The utility model discloses a feeding claw Y axle upper and lower adjusting air pressure cylinder is connected with the clamping sliding mounting bracket.

[0015] Compared with the prior art, the utility model has the advantages that through the automatic operation process, the utility model can realize quick and continuous feeding and discharging work.

[0016] The machine vision automatic feeding device has high accuracy and stability. When the pneumatic clamping jaw grabs the material, the feeding clamping air cylinder can accurately control the force to avoid damage to the material caused by uneven force. When the discharging pneumatic suction cup adsorbs and places the material, the material can be accurately placed at the specified position. Meanwhile, through the cooperation of the Y-axis up-down adjusting air pressure cylinder of the feeding clamping jaw and the clamping sliding mounting frame, the automatic operation reduces the dependence on manual operation and reduces the labor cost. The device can operate in various complex and harsh production environments, can replace manual operation to complete feeding and discharging work, avoids direct exposure of workers to dangerous working environment, and protects the health of workers. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A structure schematic view is provided for the utility model;

[0018] Figure 2 A feeding clamping air cylinder structure schematic view is provided for the utility model;

[0019] Figure 3 A cylinder air inlet connection valve structure schematic view is provided for the utility model;

[0020] Figure 4 A Y-axis up-down adjusting air pressure cylinder air inlet pipe structure schematic view is provided for the utility model;

[0021] Figure 5 A discharging swing arm structure schematic view is provided for the utility model;

[0022] Figure 6 A clamping sliding mounting frame structure schematic view is provided for the utility model;

[0023] Figure 7 A material tray structure schematic view is provided for the utility model.

[0024] Indications in the drawing:

[0025] 1, feeding device chassis; 2, X-axis left and right feeding guide rail; 3, X-axis left and right feeding guide rail sliding block; 4, feeding support; 5, feeding table; 6, material tray; 7, pneumatic clamping jaw; 8, feeding clamping air cylinder; 801, cylinder air inlet connection valve; 802, cylinder air outlet connection valve;

[0026] 9, feeding clamping jaw Y-axis up-down adjusting air pressure rod; 10, feeding clamping jaw Y-axis up-down adjusting air pressure cylinder; 1001, Y-axis up-down adjusting air pressure cylinder air inlet pipe; 1002, Y-axis up-down adjusting air pressure cylinder air outlet pipe; 11, clamping sliding mounting frame; 1101, feeding horizontal sliding block; 1102, feeding clamping sliding rail; discharging pneumatic suction cup; 1201, suction cup mounting frame; 13, discharging swing arm; 14, swing arm rotating motor; 15, discharging placing disc; 1501, U-shaped groove. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments.

[0028] Therefore, the following detailed description of the embodiments of the utility model is not intended to limit the scope of the claimed utility model, but only represents some embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model. It should be noted that the embodiments in the utility model and the features and technical schemes in the embodiments can be combined with each other without conflict, and attention should be paid to the fact that similar reference numerals and letters represent similar items in the following drawings, so that once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0029] Embodiment 1: A machine vision automatic feeding device, comprising a feeding device chassis 1, an X-axis left and right feeding guide rail 2 is arranged above the feeding device chassis 1, an X-axis left and right feeding guide rail sliding block 3 is arranged on the X-axis left and right feeding guide rail 2, a feeding support 4 is arranged on the X-axis left and right feeding guide rail sliding block 3, a feeding table 5 is arranged on the feeding support 4, a material tray 6 is arranged on the feeding table 5, and the material tray 6 is matched with a feeding pneumatic clamping mechanism. The feeding pneumatic clamping mechanism is provided with a pneumatic clamping jaw 7, the pneumatic clamping jaw 7 is connected with a feeding clamping air cylinder 8, and the feeding clamping air cylinder 8 is respectively provided with a cylinder air inlet connection valve 801 and a cylinder air outlet connection valve 802. The feeding clamping air cylinder 8 is connected with a feeding claw Y-axis up-down adjusting air pressure rod 9, and the feeding claw Y-axis up-down adjusting air pressure rod 9 is connected with a feeding claw Y-axis up-down adjusting air pressure cylinder 10.

[0030] The feeding claw Y-axis up-down adjusting air pressure cylinder 10 is provided with a Y-axis up-down adjusting air pressure cylinder air inlet pipe 1001 and a Y-axis up-down adjusting air pressure cylinder air outlet pipe 1002. The feeding claw Y-axis up-down adjusting air pressure cylinder 10 is connected with a clamping sliding mounting bracket 11. The clamping sliding mounting bracket 11 is connected with a feeding horizontal sliding block 1101, and the feeding horizontal sliding block 1101 is slidingly arranged on a feeding clamping sliding rail 1102.

[0031] The feeding clamping air cylinder 8 is provided with a discharging mechanism in the opposite direction. The discharging mechanism is provided with a discharging pneumatic suction cup 12, the discharging pneumatic suction cup 12 is installed on a suction cup mounting bracket 1201, and the suction cup mounting bracket 1201 is connected with a discharging swing arm 13.

[0032] The unloading swing arm 13 is connected with the swing arm rotating motor 14, and the side of the swing arm rotating motor 14 is provided with the unloading placing disc 15. The unloading placing disc 15 is provided with a U-shaped groove 1501.

[0033] The working principle of the machine vision automatic feeding device is as follows: the materials are placed on the material tray 6 in advance, and the material tray 6 is placed on the feeding table 5. The feeding table 5 is connected with the X-axis left and right feeding guide rail slider 3 through the feeding support 4, the X-axis left and right feeding guide rail slider 3 can slide on the X-axis left and right feeding guide rail 2, and the X-axis left and right feeding guide rail 2 is installed above the feeding device chassis 1. The whole feeding device realizes the position adjustment preparation of the materials in the X-axis direction through this structure.

[0034] The unloading swing arm 13 is connected with the swing arm rotating motor 14, and the side of the swing arm rotating motor 14 is provided with the unloading placing disc 15. The unloading placing disc 15 is provided with a U-shaped groove 1501.

[0035] The unloading swing arm 13 is connected with the swing arm rotating motor 14, and the side of the swing arm rotating motor 14 is provided with the unloading placing disc 15. The unloading placing disc 15 is provided with a U-shaped groove 1501.

[0036] The unloading swing arm 13 is connected with the swing arm rotating motor 14, and the side of the swing arm rotating motor 14 is provided with the unloading placing disc 15. The unloading placing disc 15 is provided with a U-shaped groove 1501.

[0037] The unloading swing arm 13 is connected with the swing arm rotating motor 14, and the side of the swing arm rotating motor 14 is provided with the unloading placing disc 15. The unloading placing disc 15 is provided with a U-shaped groove 1501.

[0038] The unloading swing arm 13 is connected with the swing arm rotating motor 14, and the side of the swing arm rotating motor 14 is provided with the unloading placing disc 15. The unloading placing disc 15 is provided with a U-shaped groove 1501.

[0039] When the materials reach the unloading position, the unloading swing arm 13 is driven to rotate by the swing arm rotating motor 14, so that the unloading pneumatic suction disc 12 moves above the materials. The unloading pneumatic suction disc 12 is started to adsorb the materials from the pneumatic clamp jaw 7. The swing arm rotating motor 14 continues to drive the unloading swing arm 13 to rotate, so that the unloading pneumatic suction disc 12 adsorbing the materials moves above the unloading placing disc 15. The unloading pneumatic suction disc 12 stops adsorption, and the materials are placed on the unloading placing disc 15. The U-shaped groove 1501 on the unloading placing disc 15 facilitates the subsequent manual removal of the materials by the operator.

[0040] The components such as the Y-axis up-down adjusting pneumatic cylinder 10 of the loading clamping jaw, the loading clamping cylinder 8, etc. are operated through corresponding air outlet to make the pneumatic clamping jaw 7 return to the initial position, waiting for the next loading operation. The X-axis left-right loading guide rail slider 3 returns to the initial position, and the loading table 5 and the material tray 6 also return to the initial state.

[0041] The swing arm rotating motor 14 drives the unloading swing arm 13 to return to the initial position, and the unloading pneumatic suction cup 12 waits for the next unloading operation.

[0042] The working process of the machine vision automatic loading device: initial preparation stage: place the materials to be processed neatly on the material tray 6, and then place the material tray 6 stably on the loading table 5. Conduct a comprehensive inspection of the entire device, including confirming whether the loading device chassis 1 is stable; checking whether the X-axis left-right loading guide rail 2 and its slider 3 can slide smoothly; checking whether the components of the loading pneumatic clamping mechanism and the unloading mechanism are tightly connected, whether the air path of the pneumatic components is unobstructed, and whether the electrical connection is normal, etc. According to the size, weight of the material and the position requirement of loading and unloading, set the parameters such as the stroke of the Y-axis up-down adjusting pneumatic cylinder 10 of the loading clamping jaw, the sliding distance of the loading horizontal sliding block 1101, and the rotation angle of the swing arm rotating motor 14.

[0043] Loading stage: after starting the device, the X-axis left-right loading guide rail slider 3 slides on the X-axis left-right loading guide rail 2, driving the loading bracket 4, the loading table 5 and the material tray 6 to move to the appropriate X-axis position, so that the material approaches the loading pneumatic clamping mechanism.

[0044] The Y-axis up-down adjusting pneumatic cylinder 10 of the loading clamping jaw is filled with air through the Y-axis up-down adjusting pneumatic cylinder inlet pipe 1001, pushing the Y-axis up-down adjusting pneumatic rod 9 to move downward, driving the loading clamping cylinder 8 and the pneumatic clamping jaw 7 to descend, until the pneumatic clamping jaw 7 reaches the material grabbing height.

[0045] The loading clamping cylinder 8 is filled with air through the cylinder air inlet connection valve 801, driving the pneumatic clamping jaw 7 to close and tightly clamp the material on the material tray 6. The Y-axis up-down adjusting pneumatic cylinder 10 of the loading clamping jaw is discharged through the Y-axis up-down adjusting pneumatic cylinder outlet pipe 1002, and the Y-axis up-down adjusting pneumatic rod 9 is retracted upward, lifting the grabbed material to a certain height to avoid collision with other components in the subsequent movement process.

[0046] The clamping sliding mounting bracket 11 drives the loading horizontal sliding block 1101 to slide on the loading clamping sliding rail 1102, fine-tuning the horizontal position of the material to ensure that the material is accurately aligned with the loading position. The X-axis left-right loading guide rail slider 3 slides on the X-axis left-right loading guide rail 2 again, transferring the grabbed material to the designated loading position.

[0047] The unloading stage: when the material reaches the unloading position, the swing arm rotating motor 14 is started to drive the unloading swing arm 13 to rotate, so that the unloading pneumatic suction cup 12 installed on the suction cup mounting frame 1201 moves above the material.

[0048] The unloading pneumatic suction cup 12 is started to generate suction force to suck the material from the pneumatic clamping jaw 7, and the swing arm rotating motor 14 continues to drive the unloading swing arm 13 to rotate, so that the unloading pneumatic suction cup 12 with the sucked material moves above the unloading placement disc 15. Then the unloading pneumatic suction cup 12 stops suction, and the material is placed on the unloading placement disc 15.

[0049] The upper feeding dog Y-axis up and down adjusting air cylinder 10, the upper feeding clamping cylinder 8 and other components are operated by corresponding air outlet to make the pneumatic clamping jaw 7 return to the initial height and open state. The X-axis left and right upper feeding guide rail slider 3 returns to the initial position, the upper feeding table 5 and the material tray 6 also return to the initial state, waiting for the next feeding. The swing arm rotating motor 14 drives the unloading swing arm 13 to return to the initial position, and the unloading pneumatic suction cup 12 stops working, ready for the next unloading.

[0050] The above examples are only used to illustrate the technical solutions described in the utility model and are not limited to the technical solutions described in the utility model. Although the utility model has been described in detail with reference to the above-mentioned embodiments, the utility model is not limited to the above-mentioned specific embodiments, so any modification or equivalent replacement of the utility model; all technical solutions and improvements without departing from the spirit and scope of the utility model are covered in the scope of the claims of the utility model.

Claims

1. A machine vision automatic feeding device, comprising a feeding device base frame (1), wherein an X-axis left and right feeding guide rail (2) is disposed above the feeding device base frame (1), and an X-axis left and right feeding guide rail slider (3) is disposed on the X-axis left and right feeding guide rail (2), characterized in that, A feeding bracket (4) is provided on the left and right feeding guide slider (3) of the X-axis, a feeding platform (5) is provided on the feeding bracket (4), a material tray (6) is provided on the feeding platform (5), and the material tray (6) cooperates with the feeding pneumatic clamping mechanism.

2. The machine vision automatic feeding device according to claim 1, characterized in that, The pneumatic clamping mechanism for feeding is provided with a pneumatic gripper (7), which is connected to a feeding clamping cylinder (8). The feeding clamping cylinder (8) is provided with a cylinder inlet connection valve (801) and a cylinder outlet connection valve (802).

3. The machine vision automatic feeding device according to claim 2, characterized in that, The feeding clamping cylinder (8) is connected to the feeding claw Y-axis up and down adjusting air pressure rod (9), and the feeding claw Y-axis up and down adjusting air pressure rod (9) is connected to the feeding claw Y-axis up and down adjusting air pressure cylinder (10).

4. The machine vision automatic feeding device according to claim 3, characterized in that, The Y-axis up-and-down adjustable air cylinder (10) of the feeding claw is provided with an air inlet pipe (1001) and an air outlet pipe (1002).

5. The machine vision automatic feeding device according to claim 4, characterized in that, The Y-axis up-and-down adjustable pneumatic cylinder (10) of the feeding chuck is connected to the clamping sliding mounting frame (11).

6. The machine vision automatic feeding device according to claim 5, characterized in that, The clamping sliding mounting bracket (11) is connected to the feeding horizontal sliding block (1101), and the feeding horizontal sliding block (1101) is slidably mounted on the feeding clamping slide rail (1102).

7. The machine vision automatic feeding device according to claim 6, characterized in that, The unloading mechanism is provided in the opposite direction of the feeding clamping cylinder (8).

8. The machine vision automatic feeding device according to claim 7, characterized in that, The unloading mechanism is equipped with an unloading pneumatic suction cup (12), which is mounted on a suction cup mounting frame (1201) and connected to the unloading swing arm (13).

9. The machine vision automatic feeding device according to claim 8, characterized in that, The unloading swing arm (13) is connected to the swing arm rotation motor (14), and the side of the swing arm rotation motor (14) is provided with an unloading placement plate (15).

10. The machine vision automatic feeding device according to claim 9, characterized in that, The unloading tray (15) is provided with a U-shaped groove (1501).

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