Automatic iron core feeding device

Abstract

The utility model discloses an automatic iron core feeding device which comprises a six-axis robot, a first inner supporting clamping jaw is installed at the output end of the six-axis robot, storage containers are arranged on the two sides of the six-axis robot, a gantry truss moving module is arranged at the top of each storage container, and a first inner supporting clamping jaw is installed at the output end of the six-axis robot. A visual positioning module is installed at the output end of the gantry truss moving module, and a control cabinet is arranged on one side of the six-axis robot. Automatic quality detection is carried out on the iron core materials before feeding, tiny unevenness, defects or protrusions on the surfaces of the iron core materials are automatically recognized, unqualified products are removed, and the iron core materials are grabbed again to be measured till the iron core materials meeting the requirements are discharged. And iron core materials with quality problems are prevented from participating in subsequent processing steps, so that the production process of the transformer is more efficient, the product quality and the production efficiency are effectively improved, and the labor cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to transformer production equipment technical field especially relates to a core automatic feeding device. BACKGROUND

[0002] The core is the main magnetic circuit part in the transformer, usually made of silicon steel sheet, has very strong magnetic induction capacity, can produce larger magnetic induction intensity, thereby makes the volume of transformer reduce, the core mainly plays the role of magnetic conduction in the transformer, changes the electric energy of primary circuit into magnetic energy, and changes the magnetic energy into the electric energy of secondary circuit, simultaneously, the core is also the mechanical skeleton of transformer, supports the lead wire, and installs all components in the transformer inside, in the prior art, the transformer core needs to carry out quality detection to the core extra when producing feeding, to guarantee the production quality of product, leads to the cumbersome production flow and time -consuming, and the detection link often relies on manual operation, not only increases the labor cost, but also is difficult to avoid the error that human factor can bring, influences the qualified rate of transformer production.

[0003] How to design a kind of core feeding device of automatic quality detection is the technical problem to be solved by the utility model. CONTENT OF UTILITY MODEL

[0004] The utility model provides a kind of core automatic feeding device, realize the automatic quality detection of its before core material feeding, automatically identify the tiny unevenness, defect or protrusion on the surface of core material, and the unqualified product is rejected, again grab core material and measure, until the core material that meets the requirements is completed unloading operation, avoid the core material with quality problem to participate in subsequent processing steps, make transformer production process more efficient, effectively improve product quality and production efficiency, and reduce labor cost.

[0005] To achieve the above object, the utility model adopts the following technical scheme:

[0006] The utility model provides a kind of iron core automatic feeding device, including six-axis robot, the output of six-axis robot is equipped with first inner bracing jaw, the both sides of six-axis robot are equipped with storage container, the top of storage container is equipped with portal truss moving module, the output of portal truss moving module is equipped with visual positioning module, the side of six-axis robot is equipped with control cabinet, the front of six-axis robot below is equipped with quality detection component;The quality detection component includes platen, chuck, first servo stepper motor, vertical support, laser ranging sensor and defective product conveying module;The platen is set to the front below of six-axis robot, the top of platen is rotatably connected with chuck, the bottom of platen is equipped with first servo stepper motor, the output of first servo stepper motor is drivingly connected with chuck, the top of platen is equidistantly fixedly connected with vertical support outside chuck, the top of vertical support is equipped with laser ranging sensor, laser ranging sensor is correspondingly arranged with chuck, the side of platen away from six-axis robot is equipped with defective product conveying module.

[0007] Preferably, the side of the defective product conveying module is provided with a material conveying assembly; the material conveying assembly includes a first feeding belt line, a rotary reversing lifting assembly, a lifting belt line, a second feeding belt line, and a third feeding belt line; the first feeding belt line is arranged on the front side of the six-axis robot, the lifting belt line is arranged above the side of the first feeding belt line away from the six-axis robot, both ends of the lifting belt line are provided with rotary reversing lifting assemblies, the second feeding belt line is arranged on the bottom side of the rotary reversing lifting assembly away from the first feeding belt line, and the third feeding belt line is arranged on the side of the defective product conveying module away from the first feeding belt line.

[0008] Preferably, the rotary reversing lifting assembly includes a first frame, a transmission screw, a servo motor, a lifting seat, a first guide rod, a rotary seat, a transfer conveying module, and a second servo stepper motor; two first frames are arranged, distributed at both ends of the lifting belt line, a transmission screw is rotatably connected to the inside of the first frame, first guide rods are fixedly connected to both sides of the first frame, a servo motor is installed at the bottom of the first frame, the output of the servo motor is drivingly connected with the transmission screw, a lifting seat is arranged in the first frame, the lifting seat is threadedly connected with the transmission screw, the lifting seat is slidingly connected with the first guide rod, a rotary seat is arranged on the top of the lifting seat, a transfer conveying module is arranged on the top of the rotary seat, a second servo stepper motor is installed at the bottom of the lifting seat, and the output of the second servo stepper motor is drivingly connected with the rotary seat.

[0009] Preferably, the second upper feeding belt line and the third upper feeding belt line are provided with a discharging assembly above; the discharging assembly comprises a second frame, a sliding rail, a first cylinder, a moving seat, a second cylinder and a second inner supporting clamp jaw; the second frame is provided with two, which are arranged above the second upper feeding belt line and the third upper feeding belt line respectively, sliding rails are arranged on the inner wall of the second frame on the top and bottom of one side, a first cylinder is arranged on the inner wall of the second frame on the side where the two sliding rails are close to each other, the moving seat is slidably connected to the outer wall of the sliding rail, the moving seat is fixedly connected to the output end of the first cylinder, a second cylinder is arranged on the outer wall of the moving seat, and a second inner supporting clamp jaw is arranged on the bottom of the output end of the second cylinder.

[0010] Preferably, the first upper feeding belt line and the lifting belt line are provided with a material conveying limiting assembly at the end; the material conveying limiting assembly comprises a mounting frame, a third cylinder, a limiting baffle and a second guide rod; the mounting frame is provided with two, which are fixedly connected to the top of the end of the first upper feeding belt line and the lifting belt line respectively, a third cylinder is arranged on the top of the mounting frame, a limiting baffle is arranged on the bottom of the mounting frame, the limiting baffle is fixedly connected to the output end of the third cylinder, and a second guide rod is fixedly connected to the both sides of the limiting baffle and slidably connected to the mounting frame.

[0011] Preferably, a material returning assembly is arranged below the chuck; the material returning assembly comprises a fourth cylinder, a material returning rod and a rubber soft pad; the fourth cylinder is arranged below the table plate, a plurality of material returning rods are arranged below the chuck at equal intervals, the material returning rods are fixedly connected to the output end of the fourth cylinder, the material returning rods are slidably connected to the table plate, and a rubber soft pad is fixedly connected to the top of the material returning rod.

[0012] Preferably, the end of the defective product conveying module is provided with a defective product storage box.

[0013] Preferably, guardrails are arranged on the outer sides of the six-axis robot and the storage container.

[0014] Preferably, warning lights are arranged on the top of the guardrails.

[0015] Preferably, a guide inclined plate is arranged below the back of the storage container.

[0016] The technical scheme of the utility model has the following technical effects relative to the prior art: through automatic quality detection of the iron core material before feeding, the small unevenness, defects or protrusions on the surface of the iron core material are automatically identified, and unqualified products are removed, the iron core material is grasped again for measurement, and the discharging operation is completed until the iron core material meeting the requirements, so that the iron core material with quality problems is avoided to participate in subsequent processing steps, the transformer production process is more efficient, the product quality and production efficiency are effectively improved, and the labor cost is reduced. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an automatic iron core feeding device according to the present invention;

[0018] Figure 2 This is an installation diagram of an automatic iron core feeding device according to the present invention;

[0019] Figure 3 This is a schematic diagram of the appearance of an automatic iron core feeding device according to this utility model;

[0020] Figure 4 This is a schematic diagram of the appearance of the six-axis robot, storage container and quality inspection components in the automatic iron core feeding device of this utility model;

[0021] Figure 5 This is a schematic diagram of the appearance of the six-axis robot, chuck, and unloading assembly in an automatic iron core feeding device of this utility model;

[0022] Figure 6 This is an assembly diagram of the rotary reversing lifting component, lifting belt and unloading component in an automatic iron core feeding device of this utility model;

[0023] Figure 7 This is a schematic diagram of the assembly of the rotary reversing lifting component, the unloading component, and the second feeding belt in an automatic iron core feeding device of this utility model;

[0024] Figure 8 for Figure 6 A magnified view of a portion of region A in the middle;

[0025] Figure 9 This is a schematic diagram of the material conveying and limiting component in an automatic iron core feeding device of this utility model.

[0026] : 1, six-axis robot; 2, first inner support clamp jaw; 3, storage container; 4, gantry truss moving module; 5, visual positioning module; 6, control cabinet; 7, quality detection assembly; 71, table plate; 72, chuck; 73, first servo stepping motor; 74, vertical frame; 75, laser ranging sensor; 76, defective product conveying module; 8, material conveying assembly; 81, first feeding belt line; 82, rotary reversing lifting assembly; 83, lifting belt line; 84, second feeding belt line; 85, third feeding belt line; 821, first frame; 822, transmission screw; 823, servo motor; 824, lifting seat; 825, first guide rod; 826, rotating seat; 827, transfer conveying module; 828, second servo stepping motor; 9, discharging assembly; 91, second frame; 92, slide rail; 93, first air cylinder; 94, moving seat; 95, second air cylinder; 96, second inner support clamp jaw; 10, material conveying limiting assembly; 101, mounting frame; 102, third air cylinder; 103, limiting baffle; 104, second guide rod; 11, material returning assembly; 111, fourth air cylinder; 112, material returning rod; 113, rubber cushion; 12, defective product storage box; 13, guardrail; 14, warning light; 15, guide inclined plate. DETAILED DESCRIPTION

[0027] As Figures 1-6 shown, the utility model provides a kind of iron core automatic feeding device, including six-axis robot 1, the output end of six-axis robot 1 is equipped with first inner support clamp jaw 2, both sides of six-axis robot 1 are equipped with storage container 3, the top of storage container 3 is equipped with gantry truss moving module 4, the output end of gantry truss moving module 4 is equipped with visual positioning module 5, one side of six-axis robot 1 is equipped with control cabinet 6, the front of six-axis robot 1 is equipped with quality detection assembly 7 below;Quality detection assembly 7 includes table plate 71, chuck 72, first servo stepping motor 73, vertical frame 74, laser ranging sensor 75 and defective product conveying module 76;Table plate 71 is set to the front of six-axis robot 1 below, the top of table plate 71 is rotatably connected with chuck 72, the bottom of table plate 71 is equipped with first servo stepping motor 73, the output end of first servo stepping motor 73 is transmissionally connected with chuck 72, the top of table plate 71 is fixedly connected with vertical frame 74 at the outside equidistance of chuck 72, the top of vertical frame 74 is equipped with laser ranging sensor 75, laser ranging sensor 75 is correspondingly arranged with chuck 72, the side of table plate 71 away from six-axis robot 1 is equipped with defective product conveying module 76.

[0028] In the implementation process, it is particularly worth pointing out that by installing the first inner support clamp jaw 2 at the output end of the six-axis robot 1, the six-axis robot 1 and the first inner support clamp jaw 2 are automatically controlled by the control system of the feeding device, the core material can be clamped and moved, and the core material can be transferred from one position to another designated position. The storage container 3 is provided with two, respectively located on both sides of the six-axis robot 1, which can be used to store core materials of different size specifications, so as to simultaneously feed two transformer production lines. When it is necessary to clamp and move the core material in the storage container 3, the control system automatically controls the output end of the gantry truss moving module 4 to move above the storage container 3 storing the core of the corresponding size. The storage position and quantity of the core in the storage container 3 are scanned by the visual positioning module 5 at the bottom of the gantry truss moving module 4, and the scanning information is transmitted to the control system, so as to accurately position the position of the target core and its specific quantity. Subsequently, the control system automatically adjusts the motion trail of the six-axis robot 1 and the angle of the first inner support clamp jaw 2, so as to ensure that the first inner support clamp jaw 2 can accurately and correctly extend into the inner hole of the core to be taken in the storage container 3, and automatically control the first inner support clamp jaw 2 to grab the core. The control cabinet 6 is a control component of the core automatic feeding device. According to the preset program logic, accurate control signals are sent to each actuator, so as to ensure that the core material is stably and orderly conveyed. The quality detection component 7 is used for detecting the core material, including the thickness of the core material, whether there is a problem of edge lifting or misplacement. Through the cooperation between the table plate 71, the chuck 72, the first servo stepping motor 73, the vertical frame 74 and the laser ranging sensor 75, the top of the chuck 72 is provided with a clamp jaw groove for fixing the core material. After the core material is placed in the clamp jaw groove of the chuck 72 by the six-axis robot 1 and the first inner support clamp jaw 2, the core material is clamped and fixed on the top of the chuck 72. The control system of the feeding device automatically controls the first servo stepping motor 73, so that the chuck 72 drives the core material to slowly rotate. The top of the rotating core material is continuously measured by two or more laser ranging sensors 75, and the measurement data is transmitted to the control system of the feeding device in real time. The data model of the core material is constructed by advanced algorithm, including the three-dimensional shape, size accuracy and surface flatness of the core material. The system automatically identifies the small unevenness, defects or protrusions on the surface of the core material, so as to realize the quality detection of the core material. After the quality detection of the core material is completed, the six-axis robot 1 and the first inner support clamp jaw 2 are controlled by the control system to take out the core material from the clamp jaw groove of the chuck 72. The qualified products are placed on the corresponding material conveying belt line for feeding, and the unqualified products are placed in the defective product conveying module 76, and the core material is grabbed again for measurement until the core material meeting the requirements is completed. The core material with quality problems is avoided to participate in the subsequent processing steps.Through the cooperation between the six-axis robot 1, the first inner support clamping jaw 2, the storage container 3, the gantry truss moving module 4, the visual positioning module 5, the control cabinet 6, the table plate 71, the chuck 72, the first servo stepping motor 73, the vertical frame 74, the laser ranging sensor 75 and the defective product conveying module 76, the iron core material can be accurately placed into the chuck 72 top and rotated uniformly through the precise grabbing of the iron core material by the six-axis robot 1 and the first inner support clamping jaw 2, the continuous measurement of the iron core material at different positions in rotation by two or more laser ranging sensors 75, the construction of the data model of the iron core material by the control system, the automatic identification of the small unevenness, defects or protrusions on the surface of the iron core material, and the rejection of unqualified products, the re-grabbing of the iron core material for measurement until the qualified iron core material completes the discharging operation, realizing the automatic quality detection of the iron core material before feeding, avoiding the participation of the iron core material with quality problems in the subsequent processing steps, making the transformer production process more efficient, effectively improving the product quality and production efficiency, and reducing the labor cost.

[0029] In an implementable mode, the side of the defective product conveying module 76 is provided with a material conveying assembly 8; the material conveying assembly 8 comprises a first feeding belt line 81, a rotary reversing lifting assembly 82, a lifting belt line 83, a second feeding belt line 84 and a third feeding belt line 85; the first feeding belt line 81 is arranged on the front side of the six-axis robot 1, the end of the first feeding belt line 81 is provided with the lifting belt line 83 above the side away from the six-axis robot 1, both ends of the lifting belt line 83 are provided with the rotary reversing lifting assembly 82, the bottom side of the rotary reversing lifting assembly 82 away from the first feeding belt line 81 is provided with the second feeding belt line 84, and the third feeding belt line 85 is arranged on the side of the defective product conveying module 76 away from the first feeding belt line 81.

[0030] In the specific implementation process, it is particularly worth pointing out that through the cooperation between the first feeding belt line 81, the rotating conversion lifting assembly 82, the lifting belt line 83 and the second feeding belt line 84, a core material conveying line located on one side is formed, and the rotating speeds of each belt line are consistent. Through the rotating conversion and lifting of the rotating conversion lifting assembly 82 to the material, the core material is stably transmitted between the first feeding belt line 81, the lifting belt line 83 and the second feeding belt line 84. According to the actual needs of the production environment, the height and conveying length of the lifting belt line 83 can be flexibly adjusted, which provides great convenience and flexibility for the cross-channel and long-distance conveying of the core material. The third feeding belt line 85 is a core material conveying line on the other side. By arranging the material conveying line capable of cross-channel and long-distance conveying on one side of the feeding device and the short-distance material conveying line on the other side, the automatic core feeding device can supply material for two transformer production lines respectively, ensuring that each production line can be supplied with timely and sufficient core material, optimizing the space layout in the factory area and improving the efficiency and flexibility of transformer production.

[0031] In an implementable manner, the rotating conversion lifting assembly 82 comprises a first frame 821, a transmission screw rod 822, a servo motor 823, a lifting seat 824, a first guide rod 825, a rotating seat 826, a transfer conveying module 827 and a second servo stepping motor 828. The first frame 821 is provided with two, which are distributed at both ends of the lifting belt line 83. The transmission screw rod 822 is rotatably connected to the inner side of the first frame 821. The first frame 821 is fixedly connected with the first guide rod 825 on both sides of the transmission screw rod 822. The servo motor 823 is installed at the bottom of the first frame 821. The output end of the servo motor 823 is in transmission connection with the transmission screw rod 822. The lifting seat 824 is arranged in the first frame 821 and is in threaded connection with the transmission screw rod 822. The lifting seat 824 is in sliding connection with the first guide rod 825. The rotating seat 826 is arranged at the top of the lifting seat 824. The transfer conveying module 827 is arranged at the top of the rotating seat 826. The second servo stepping motor 828 is installed at the bottom of the lifting seat 824 and is in transmission connection with the rotating seat 826.

[0032] In the specific implementation process, it is particularly worth pointing out that the rotating conversion lifting assembly 82 is used for transferring the core material between the first feeding belt line 81 and the lifting belt line 83, the lifting belt line 83 and the second feeding belt line 84, the first frame 821 is respectively installed at both ends of the lifting belt line 83, the driving transmission screw 822 is driven to rotate by controlling the servo motor 823, and the lifting seat 824 is stably and accurately lifted and moved under the action of the driving transmission screw 822 and through the guidance positioning of the first guide rod 825, the angle rotation and accurate positioning of the rotating seat 826 and the transfer conveying module 827 are realized by controlling the second servo stepping motor 828, the transfer conveying module 827 is installed with a conveying belt and a driving motor, the conveying belt can be driven to rotate by the driving motor, and then the core material conveying is transferred, when the core material needs to be transferred, the control system of the feeding device automatically controls the servo motor 823 and the second servo stepping motor 828, moves the transfer conveying module 827 to the corresponding height of the feeding end belt line, rotates the rotating seat 826, makes the rotating direction of the transfer conveying module 827 consistent with the feeding end belt line, moves the core material on the feeding end belt line to the top of the transfer conveying module 827, stops the rotation of the transfer conveying module 827, realizes the transfer of the core material from the feeding end belt line to the top of the transfer conveying module 827, then the control system of the feeding device automatically controls the servo motor 823 and the second servo stepping motor 828, moves the transfer conveying module 827 to the corresponding height of the discharging end belt line with the core material, rotates the rotating seat 826, makes the rotating direction of the transfer conveying module 827 consistent with the discharging end belt line, moves the core material on the top of the transfer conveying module 827 to the top of the discharging end belt line, realizes the transfer of the core material from the transfer conveying module 827 to the top of the feeding end belt line, the rotating conversion lifting assembly 82 is used for transferring the core material between the first feeding belt line 81 and the lifting belt line 83, the lifting belt line 83 and the second feeding belt line 84, realizes stable conveying of the core material between belt lines of different heights and directions, and can make the first feeding belt line 81, the lifting belt line 83 and the second feeding belt line 84 convey the core material in various combination modes to meet the conveying needs in different production environments, wherein the specific type of the servo motor 823 and the second servo stepping motor 828 is not limited, and it can meet the use requirement.

[0033] In an implementable mode, the second feeding belt line 84 and the third feeding belt line 85 are both provided with a discharging assembly 9 above; the discharging assembly 9 comprises a second frame 91, a sliding rail 92, a first cylinder 93, a moving seat 94, a second cylinder 95 and a second inner support clamping jaw 96; the second frame 91 is provided with two, which are respectively arranged above the second feeding belt line 84 and the third feeding belt line 85, the inner wall of the second frame 91 is provided with the sliding rail 92 on the upper and lower sides of one side, the inner wall of the second frame 91 is provided with the first cylinder 93 on the side where the two sliding rails 92 are close to each other, the outer wall of the sliding rail 92 is slidably connected with the moving seat 94, the moving seat 94 is fixedly connected with the output end of the first cylinder 93, the outer wall of the moving seat 94 is provided with the second cylinder 95, and the output end bottom of the second cylinder 95 is provided with the second inner support clamping jaw 96.

[0034] In the specific implementation process, it is particularly worth pointing out that the discharging assembly 9 is used to move and deliver the core material on the second feeding belt line 84 and the third feeding belt line 85 to the transformer production conveying line, the second frame 91 is arranged above the second feeding belt line 84 and the third feeding belt line 85, the horizontal movement of the moving seat 94 and the second inner support clamping jaw 96 is realized by controlling the first cylinder 93, the lifting control of the second inner support clamping jaw 96 is realized by controlling the second cylinder 95, when it is needed to deliver the core material on the second feeding belt line 84 and the third feeding belt line 85 to the transformer production conveying line, the control system of the feeding device automatically controls the first cylinder 93 to move the moving seat 94 and the second inner support clamping jaw 96 above the second feeding belt line 84 and the third feeding belt line 85, then the control system of the feeding device automatically controls the second cylinder 95 to move the second inner support clamping jaw 96 downward and automatically controls the second inner support clamping jaw 96 to accurately clamp the core material, the control system of the feeding device automatically controls the second cylinder 95 to reset to separate the core material from the second feeding belt line 84 or the third feeding belt line 85, then the control system automatically controls the first cylinder 93 to move the moving seat 94 and the second inner support clamping jaw 96 to move the core material to the moving transformer production conveying line, after moving to the top of the transformer production conveying line, the second cylinder 95 is automatically controlled to move downward, and the second inner support clamping jaw 96 is controlled to release the clamping of the core material, so that the core material is stably placed on the top of the transformer production conveying line, then the control system automatically controls the second cylinder 95 to reset, waiting for the next material delivery, realizing the stable delivery of the core material to the transformer production conveying line, the sliding rail 92 is used to improve the movement stability and accuracy of the moving seat 94 and form support and guidance for the moving seat 94, wherein the specific models of the first cylinder 93, the second cylinder 95 and the second inner support clamping jaw 96 are not limited, which can meet the use requirements.

[0035] In an implementable mode, ends of the first feeding belt line 81 and the lifting belt line 83 are respectively provided with a material conveying limiting assembly 10; the material conveying limiting assembly 10 comprises a mounting frame 101, a third air cylinder 102, a limiting baffle 103 and a second guide rod 104; the mounting frame 101 is provided with two, and is fixedly connected to top ends of the first feeding belt line 81 and the lifting belt line 83 respectively, the top end of the mounting frame 101 is provided with the third air cylinder 102, the bottom end of the mounting frame 101 is provided with the limiting baffle 103, the limiting baffle 103 is fixedly connected to an output end of the third air cylinder 102, and both sides of the limiting baffle 103 are fixedly connected with the second guide rod 104, and the second guide rod 104 is slidingly connected with the mounting frame 101.

[0036] In the specific implementation process, it is worth pointing out that the material conveying limiting assembly 10 is used for limiting the core material at the ends of the first feeding belt line 81 and the lifting belt line 83, so that the core material is orderly conveyed to the rotary conversion lifting assembly 82 from the first feeding belt line 81 or the lifting belt line 83, the mounting frame 101 is mounted at the ends of the first feeding belt line 81 and the lifting belt line 83, the limiting baffle 103 is driven to move downward by the third air cylinder 102, so that the limiting baffle 103 blocks the core material moving to the end of the first feeding belt line 81 or the lifting belt line 83, when it is needed to convey the core material to the rotary conversion lifting assembly 82, the control system of the feeding device automatically controls the third air cylinder 102 to drive the limiting baffle 103 to move upward, so as to release the limitation of the core material, and the core material is conveyed to the transfer conveying module 827 of the rotary conversion lifting assembly 82 from the end of the first feeding belt line 81 or the lifting belt line 83, and after the conveying is completed, the limiting baffle 103 automatically moves downward to limit the subsequent core material, and waits for the next conveying command, and the second guide rod 104 is used for guiding during the lifting of the limiting baffle 103, and improves the stability during the lifting of the limiting baffle 103, wherein the specific model of the third air cylinder 102 is not limited, and it only needs to meet the use requirement.

[0037] In an implementable mode, the chuck 72 is provided below with a material returning assembly 11; the material returning assembly 11 comprises a fourth air cylinder 111, a material returning rod 112 and a rubber soft pad 113; the fourth air cylinder 111 is mounted below the table plate 71, the material returning rod 112 is provided with a plurality of, and is equidistantly distributed below the chuck 72, the material returning rod 112 is fixedly connected to an output end of the fourth air cylinder 111, the material returning rod 112 is slidingly connected with the table plate 71, and the top of the material returning rod 112 is fixedly connected with the rubber soft pad 113.

[0038] In the specific implementation process, it is particularly worth pointing out that after the core completes the quality detection, the first inner support clamping jaw 2 of the six-axis robot 1 is inserted into the inside of the core for fixation, while the first inner support clamping jaw 2 drives the core to move upwards, the control system of the feeding device automatically controls the synchronous extension of the extension rod of the fourth cylinder 111, the material withdrawal rod 112 and the rubber cushion 113 move upwards, the rubber cushion 113 applies an upward force at the bottom of the core, so that the core can be more stably clamped by the first inner support clamping jaw 2 and smoothly separated from the clamping groove of the chuck 72, thereby improving the stability and efficiency of the core transfer process, wherein the specific model of the fourth cylinder 111 is not limited, as long as it meets the use requirement.

[0039] In an implementable manner, the end of the defective product conveying module 76 is provided with a defective product storage box 12.

[0040] In the specific implementation process, it is particularly worth pointing out that the defective product storage box 12 is used to store the cores with quality problems at the end of the defective product conveying module 76, so as to facilitate the unified treatment of the cores with quality problems by the staff.

[0041] In an implementable manner, the outer side of the six-axis robot 1 and the storage container 3 is provided with a guardrail 13.

[0042] In the specific implementation process, it is particularly worth pointing out that the guardrail 13 is arranged on the outer side of the six-axis robot 1 and the storage container 3, thereby improving the safety protection level of the entire working area.

[0043] In an implementable manner, the top of the guardrail 13 is provided with warning lights 14 on both sides.

[0044] In the specific implementation process, it is particularly worth pointing out that the warning lights 14 are connected with the control system of the feeding device, which is used to display the working state of the feeding device and issue a sound reminder when the feeding device fails or the material is insufficient, thereby facilitating the staff to timely handle and make the feeding device quickly recover to the feeding state, wherein the specific model of the warning light 14 is not limited, as long as it meets the use requirement.

[0045] In an implementable manner, the back of the storage container 3 is provided with a guide inclined plate 15 below.

[0046] In the specific implementation process, it is particularly worth pointing out that when the storage container 3 needs to be replenished with materials, the storage container 3 needs to be moved out from the inside of the guardrail 13, and the guide inclined plate 15 is used to guide the storage container 3 when it is moved out or put in, thereby improving the convenience of moving out or putting in the storage container 3.

[0047] The above merely is the specific implementation manner of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, and all should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An automatic core feeding device comprising a six-axis robot, characterized in that: The output end of the six-axis robot is provided with a first inner support clamp jaw, both sides of the six-axis robot are provided with a storage container, the top of the storage container is provided with a portal truss moving module, the output end of the portal truss moving module is provided with a visual positioning module, one side of the six-axis robot is provided with a control cabinet, and the front of the six-axis robot is provided below with a quality detection assembly; The quality detection assembly comprises a table plate, a chuck, a first servo stepping motor, a vertical support, a laser ranging sensor and a defective product conveying module. The table plate is arranged below the front of the six-axis robot, the top of the table plate is rotatably connected with the chuck, the bottom of the table plate is provided with the first servo stepping motor, the output end of the first servo stepping motor is in transmission connection with the chuck, the top of the table plate is fixedly connected with the vertical support at the outside of the chuck, the top of the vertical support is provided with the laser ranging sensor, the laser ranging sensor is correspondingly arranged with the chuck, and the side of the table plate away from the six-axis robot is provided with the defective product conveying module.

2. The automatic core feeding device according to claim 1, characterized in that: The side of the defective product conveying module is provided with a material conveying assembly; The material conveying assembly comprises a first feeding belt line, a rotary reversing lifting assembly, a lifting belt line, a second feeding belt line and a third feeding belt line. The first feeding belt line is arranged on one side of the front of the six-axis robot, the end of the first feeding belt line away from the six-axis robot is provided above with the lifting belt line, both ends of the lifting belt line are provided with the rotary reversing lifting assembly, the bottom side of the rotary reversing lifting assembly away from the first feeding belt line is provided with the second feeding belt line, and the third feeding belt line is arranged on the side of the defective product conveying module away from the first feeding belt line.

3. The automatic core feeding device according to claim 2, characterized in that: The rotary reversing lifting assembly comprises a first frame, a transmission screw rod, a servo motor, a lifting seat, a first guide rod, a rotary seat, a transfer conveying module and a second servo stepping motor. The first frame is provided with two, which are distributed at both ends of the lifting belt line, the inside of the first frame is rotatably connected with the transmission screw rod, the first guide rod is fixedly connected to both sides of the first frame, the bottom of the first frame is provided with the servo motor, the output end of the servo motor is in transmission connection with the transmission screw rod, the inside of the first frame is provided with the lifting seat, the lifting seat is in threaded connection with the transmission screw rod, the lifting seat is in sliding connection with the first guide rod, the top of the lifting seat is provided with the rotary seat, the top of the rotary seat is provided with the transfer conveying module, and the bottom of the lifting seat is provided with the second servo stepping motor.

4. The automatic core feeding device according to claim 2, characterized in that: The top of the second feeding belt line and the third feeding belt line is provided with a discharging assembly; The discharging assembly comprises a second frame, a sliding rail, a first air cylinder, a moving seat, a second air cylinder and a second inner support clamp jaw. The second frame is provided with two, which are arranged above the second feeding belt line and the third feeding belt line respectively, the inner wall of the second frame is provided with sliding rails on both sides, the inner wall of the second frame is provided with a first cylinder on the side close to the two sliding rails, the outer wall of the sliding rail is provided with a moving seat in sliding connection, the moving seat is fixedly connected with the output end of the first cylinder, the outer wall of the moving seat is provided with a second cylinder, and the bottom of the output end of the second cylinder is provided with a second inner supporting clamp jaw.

5. The automatic core feeding device according to claim 2, characterized in that: The ends of the first feeding belt line and the lifting belt line are provided with material conveying limiting assemblies; The material conveying limiting assembly comprises a mounting frame, a third cylinder, a limiting baffle and a second guide rod; The mounting frame is provided with two, which are fixedly connected to the top of the ends of the first feeding belt line and the lifting belt line respectively, the top of the mounting frame is provided with a third cylinder, the bottom of the mounting frame is provided with a limiting baffle, the limiting baffle is fixedly connected with the output end of the third cylinder, and the two sides of the limiting baffle are fixedly connected with second guide rods in sliding connection with the mounting frame.

6. The automatic core feeding device according to claim 1, characterized in that: The chuck is provided below with a material returning assembly. The material returning assembly comprises a fourth cylinder, a material returning rod and a rubber cushion; The fourth cylinder is arranged below the table plate, the material returning rod is provided with a plurality of rods, which are distributed equidistantly below the chuck, the material returning rod is fixedly connected with the output end of the fourth cylinder, the material returning rod is in sliding connection with the table plate, and the top of the material returning rod is fixedly connected with a rubber cushion.

7. The automatic core feeding device according to claim 1, characterized in that: The end of the defective product conveying module is provided with a defective product storage box.

8. The automatic core feeding device according to claim 1, characterized in that: The outer sides of the six-axis robot and the storage container are provided with guardrails.

9. The automatic core feeding device according to claim 8, characterized in that: The top of the guardrail is provided with warning lights on both sides.

10. The automatic core feeding device according to claim 1, characterized in that: The back of the storage container is provided below with a guide inclined plate.

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