Automatic positioning and feeding device

Abstract

An automatic positioning feeding device comprises a machine table, a feeding mechanism, a suction nozzle mechanism, a positioning mechanism and a driving mechanism. The machine table is provided with a material conveying station, a deviation rectifying station and a material placing station; the feeding mechanism can convey the parts to a conveying station; the suction nozzle mechanism comprises a fastening bolt, a core rod with an air channel and a cylinder with an air cavity. A gas guide end and a connecting end are mounted at two ends of the barrel; a nozzle is arranged at the head end of the core rod, the air channel is communicated with the air cavity and the nozzle so that the nozzle can suck parts, the tail end of the core rod is rotatably installed in the connecting end and has damping, and a movable opening is formed in the tail end of the core rod. The fastening bolt is located on the connecting end, and the end of the fastening bolt extends into the movable opening so as to limit the rotation range of the core rod. The positioning mechanism is installed on the deviation rectifying station and comprises a parallel air cylinder and two positioning blocks, the two positioning blocks are each provided with a profiled groove, the parallel air cylinder can drive the two profiled grooves to be close to each other to define a positioning cavity, and a positioning part matched with the positioning cavity is arranged on the part; and the driving mechanism is used for driving the nozzle head to move among the three stations.

Description

Technical Field

[0001] This utility model belongs to the field of automation equipment technology, and in particular relates to an automated positioning and feeding device. Background Technology

[0002] Parts refer to basic components made of materials such as metal and plastic, which have various specifications and shapes. They are commonly used in the assembly of 3C products, mechanical instruments, and various equipment.

[0003] In existing technologies, a feeding device is typically used to pick up parts located at the feeding station and transfer them to the placement station for placement, facilitating subsequent processing and assembly. This method is highly automated. However, traditional feeding devices often experience positional misalignment during the part transfer process, causing the transferred parts to frequently miss the placement station and fail to be placed properly, thus affecting subsequent processing and assembly. Therefore, it is necessary to propose a new feeding device to solve this problem. Utility Model Content

[0004] Technical problems to be solved

[0005] This invention provides an automated positioning and feeding device that can position and correct parts, ensuring that the transferred parts are accurately aligned with the placement station and that subsequent processes can proceed normally.

[0006] Technical solution

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] An automated positioning and feeding device includes a machine base, a feeding mechanism, a suction nozzle mechanism, a positioning mechanism, and a driving mechanism. The machine base is equipped with a material conveying station, a correction station, and a placement station. The feeding mechanism is mounted on the machine base and is used to convey parts to the material conveying station. The suction nozzle mechanism includes a cylinder, a core rod, and a fastening bolt. The cylinder has an internal air chamber, and its two ends are respectively equipped with an air guide end and a connecting end for connecting to the air chamber. The core rod has a nozzle for sucking up parts at its front end, and its rear end is rotatably mounted in the connecting end with rotational damping. The rear end of the core rod has a movable opening, and the core rod has an air passage connecting the air chamber and the nozzle. The fastening bolt is... The fastening bolt is mounted on the connecting end and extends into the movable opening to restrict the core rod from rotating within a specific angle range. The positioning mechanism is installed on the correction station of the machine and includes a parallel cylinder and two positioning blocks. The two positioning blocks are respectively fixed to the two jaws of the parallel cylinder, and each of the two positioning blocks is provided with a groove. When the parallel cylinder drives the two positioning blocks to move closer to each other, the two grooves enclose to form a positioning cavity. The part away from the nozzle is provided with a positioning part that matches the positioning cavity. The driving mechanism is installed on the machine and drivenly connected to the cylinder to drive the nozzle to move between the feeding station, the correction station, and the placement station.

[0009] Preferably, the feeding mechanism includes a vibratory feeder and a 3D industrial camera; the vibratory feeder is used to transport the parts to the feeding station and break up the parts; the 3D industrial camera is positioned directly above the vibratory feeder and is signal-connected to the drive mechanism; wherein, the 3D industrial camera can capture the distribution position of the parts and feed the relevant information back to the drive mechanism, so that the drive mechanism can precisely drive the nozzle to move and pick up the parts at the feeding station one by one.

[0010] Preferably, the vibratory feeder includes a base, a vibrator, a hopper, and a carrier plate; the vibrator is installed inside the base, the hopper is disposed above the base and connected to the vibrator; the carrier plate is disposed above the base and corresponds to the material conveying station; the base supports the carrier plate by multiple spring feet; the 3D industrial camera is located directly above the carrier plate.

[0011] When the vibrator drives the hopper to shake, the parts located in the hopper are transported to the carrier and dispersed. The 3D industrial camera captures the distribution position of the parts on the carrier and feeds the relevant information back to the drive mechanism, so that the drive mechanism drives the nozzle to move and pick up the parts in the carrier one by one.

[0012] Preferably, the suction nozzle mechanism further includes an elastic element, which is sleeved on the core rod. The two ends of the elastic element abut against the connecting end and the nozzle, respectively. The elastic element also slightly deforms to store energy, so as to provide rotational damping.

[0013] Preferably, the connecting end has a vertical mounting hole inside that connects the air chamber and the air passage, the first end of the core rod is rotatably mounted in the mounting hole, and the core rod can move up and down along the length of the mounting hole; wherein, when the core rod moves upward, the elastic element deforms and stores energy.

[0014] Preferably, the outer wall of the core rod has a groove connected to the middle of the movable opening, and the end of the fastening bolt located in the movable opening can slide and engage with the groove to restrict the core rod from moving up and down within a specific position range.

[0015] Preferably, the part near the nozzle has a protrusion with an arc-shaped surface, and the bottom of the nozzle has a recessed cavity with an arc-shaped inner surface. The cavity is adapted to the protrusion of the part, and the air passage is connected to the cavity.

[0016] Preferably, the opening edge of the sleeve cavity is provided with an annular sealing groove for installing a sealing ring, and when the sleeve cavity is fitted with the protrusion of the part, the part abuts against the sealing ring.

[0017] Preferably, the driving mechanism includes a robotic arm, the arm of which is connected to the cylinder of the nozzle mechanism, and the robotic arm has an a-axis rotation unit and a b-axis rotation unit for driving the arm to move on a horizontal plane; the arm has a c-axis rotation unit for controlling the rotation of the nozzle and a z-axis movement unit for controlling the up and down movement of the nozzle.

[0018] Preferably, the system further includes a discharge mechanism, which comprises a Y-axis moving unit and a fixture. The Y-axis moving unit is mounted on the machine platform and drivenly connected to the fixture to drive the fixture away from or towards the placement station. When the Y-axis moving unit drives the fixture to the placement station, the driving mechanism can place the part, after being corrected by the positioning mechanism, onto the fixture. After the part is placed, the Y-axis moving unit can drive the fixture away from the placement station to transfer the part to the next process.

[0019] Preferably, the discharge mechanism further includes an x-axis moving unit and a CCD vision inspection unit. The CCD vision inspection unit is located above the fixture and is signal-connected to the y-axis moving unit. The CCD vision inspection unit is used to detect whether there are parts on the fixture. The x-axis moving unit is mounted on the machine base and is drivenly connected to the CCD vision inspection unit to drive the CCD vision inspection unit to move and align with the fixture.

[0020] [III] Beneficial Effects

[0021] This utility model provides an automated positioning and feeding device. A drive mechanism is designed to move the suction nozzle mechanism between the material feeding station, the correction station, and the placement station on the machine. This allows parts sucked up by the nozzle to be transferred to the correction station. By designing the core rod of the suction nozzle mechanism to be rotatable, the two positioning blocks of the positioning mechanism can drive the parts on the nozzle to rotate at a suitable angle, thereby completing the correction operation. Because the core rod has rotational damping, the parts stop after correction, ensuring that the drive mechanism can smoothly and accurately transfer the corrected parts to the placement station for placement, ensuring that subsequent processes can proceed normally. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0023] Figure 1 A schematic diagram of the overall structure of this utility model is shown;

[0024] Figure 2 It shows Figure 1 Top view;

[0025] Figure 3 A partial structural schematic diagram of this utility model is shown. Figure 1 ;

[0026] Figure 4 A schematic diagram of the structure of the y-axis moving unit and fixture of this utility model is shown;

[0027] Figure 5 A partial structural schematic diagram of this utility model is shown. Figure 2 ;

[0028] Figure 6 A schematic diagram of the positioning mechanism of this utility model is shown;

[0029] Figure 7 A schematic diagram of the suction nozzle mechanism of this utility model is shown;

[0030] Figure 8It shows Figure 7 A schematic diagram of the decomposition process;

[0031] Figure 9 It shows Figure 7 A sectional view;

[0032] Figure 10 A cross-sectional view of the core rod of this utility model is shown;

[0033] Figure 11 A schematic diagram of the structure of the part of this utility model is shown;

[0034] Figure 12 A partial structural schematic diagram of this utility model is shown. Figure 3 ;

[0035] Figure 13 An exploded view of the vibratory feeder of this invention is shown;

[0036] Figure 14 A schematic diagram of the drive mechanism of this utility model is shown.

[0037] In the diagram: 1. Machine base; 11. Material conveying station; 12. Tracking station; 13. Storage station; 2. Feeding mechanism; 21. Vibratory feeder; 211. Base; 212. Vibrator; 213. Hopper; 214. Carrier tray; 215. Spring feet; 22. 3D industrial camera; 3. Suction nozzle mechanism; 31. Cylinder; 310. Air chamber; 311. Air guide end; 312. Connecting end; 3120. Mounting hole; 32. Core rod; 320. Air passage; 321. Nozzle; 3210. Sleeve cavity. 3211 Annular sealing groove, 322 movable opening, 323 sliding groove, 33 fastening bolt, 34 elastic element, 4 positioning mechanism, 41 parallel cylinder, 411 gripper, 42 positioning block, 421 groove, 420 positioning cavity, 5 drive mechanism, 50 robot arm, 51 arm seat, 6 discharge mechanism, 61 y-axis moving unit, 62 fixture, 63 x-axis moving unit, 64 CCD vision inspection unit, P part, P1 positioning part, P2 protrusion. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this application.

[0039] See appendix Figure 1 -Appendix Figure 11An automated positioning and feeding device includes a machine base 1, a feeding mechanism 2, a suction nozzle mechanism 3, a positioning mechanism 4, and a drive mechanism 5. The machine base 1 is provided with a material conveying station 11, a correction station 12, and a placement station 13. The feeding mechanism 2 is installed on the machine base 1 and is used to convey part P to the material conveying station 11. The suction nozzle mechanism 3 includes a cylinder 31, a core rod 32, and a fastening bolt 33. The cylinder 31 has an air chamber 310 inside, and air guide end 311 and connecting end 312 connected to the air chamber 310 are respectively installed at both ends of the cylinder 31. The core rod 32 has a nozzle 321 for sucking up part P at its first end, and the tail end of the core rod 32 is rotatably installed in the connecting end 312 and has rotational damping. The tail end of the core rod 32 has a movable port 322, and the core rod 32 has an air passage connecting the air chamber 310 and the nozzle 321 inside. 320; Fastening bolt 33 is installed on the connecting end 312, and the end of the fastening bolt 33 extends into the movable opening 322 to restrict the core rod 32 from rotating within a specific angle range; Positioning mechanism 4 is installed on the correction station 12 of the machine base 1, and includes a parallel cylinder 41 and two positioning blocks 42. The two positioning blocks 42 are respectively fixed to the two grippers 411 of the parallel cylinder 41, and both positioning blocks 42 are provided with grooves 421. When the parallel cylinder 41 drives the two positioning blocks 42 to move closer to each other, the two grooves 421 surround to form a positioning cavity 420. The part P away from the nozzle 321 is provided with a positioning part P1 that is adapted to the positioning cavity 420; Driving mechanism 5 is installed on the machine base 1 and drivenly connected to the cylinder 31 to drive the nozzle 321 to move between the feeding station 11, the correction station 12 and the placement station 13.

[0040] Specifically, before use, connect the air guide end 311 to the pneumatic system (not shown in the figure), and transport the part P to the material conveying station 11 through the feeding mechanism 2.

[0041] In use, the pneumatic system is activated to draw air, continuously extracting gas from the air chamber 310 and air passage 320 through the air guide end 311, giving the nozzle 321 suction force. Then, the drive mechanism 5 is activated to move the nozzle 321 to the material conveying station 11 and pick up the part P. After picking up the part P, the drive mechanism 5 moves the nozzle 321 to the correction station 12. Then, the parallel cylinder 41 is activated to control the two positioning blocks 42 to move closer to each other. During this process, the two grooves 421 gradually surround the positioning part P1 of the part P until the positioning cavity 420 is formed, and the positioning part P1 is fully adapted to the positioning part P1 to complete the correction of the part P. After the correction is completed, the parallel cylinder 41 is activated to control the two positioning blocks 42 to move away from each other. Then, the drive mechanism 5 drives the nozzle 321 to continue moving to the placement station 13. The pneumatic system is turned off, and the part P is accurately placed at the placement station 13. After the part P is placed, the drive mechanism 5 drives the nozzle 321 back to the material conveying process, and the above operation is repeated.

[0042] During the correction process, when the positioning block 42 contacts the offset part P, the core rod 32 will adaptively rotate slightly, and the rotation direction of the core rod 32 is opposite to the offset direction of part P. The rotation angle of the core rod 32 is consistent with the amount of offset of part P that has been corrected. Since there is rotational damping between the core rod 32 and the connecting end 312, when the positioning part P1 of part P is disengaged from the positioning cavity 420, the core rod 32 will stop at the current position after rotation, so that part P maintains the corrected position.

[0043] On the other hand, in actual use, the cooperation between the movable port 322 and the end of the fastening bolt 33 can effectively limit the rotation angle range of the core rod 32 and prevent the core rod 32 from rotating excessively. In addition, the user can set the size of the movable port 322 and the diameter of the end of the fastening bolt 33 according to the requirements, thereby determining the rotation angle range of the core rod 32. This utility model does not impose any restrictions on this. Under normal circumstances, limiting the rotation angle range of the core rod 32 to within 10° is sufficient to meet the usage requirements.

[0044] In summary, this utility model designs a drive mechanism 5 to drive the suction nozzle mechanism 3 to move between the material feeding station 11, the correction station 12, and the placement station 13 of the machine 1, so that the part P sucked by the nozzle 321 can be transferred to the correction station 12. By designing the core rod 32 of the suction nozzle mechanism 3 to be rotatable, the two positioning blocks 42 of the positioning mechanism 4 can drive the part P on the nozzle 321 to rotate at a suitable angle, thereby completing the correction operation. Since the core rod 32 has rotational damping, the part P stops after the correction is completed, ensuring that the drive mechanism 5 can smoothly and accurately transfer the corrected part P to the placement station 13 for placement. Therefore, compared with the prior art, this solution can position and correct the part P, so that the transferred part P is accurately aligned with the placement station 13, ensuring that the subsequent processes of part P can proceed normally.

[0045] See appendix Figure 12 -Appendix Figure 13 The feeding mechanism 2 includes a vibratory feeder 21 and a 3D industrial camera 22. The vibratory feeder 21 is used to transport part P to the feeding station 11 and break up part P. The 3D industrial camera 22 is located directly above the vibratory feeder 21 and is connected to the drive mechanism 5. The 3D industrial camera 22 can capture the distribution position of part P.

[0046] Specifically, in use, multiple parts P are stacked on the vibratory feeder 21, and the vibratory feeder 21 disperses the parts P. The 3D industrial camera 22 will capture the distribution position of the parts P on the vibratory feeder 21 and feed the relevant position information back to the robot arm 50. After receiving the signal, the robot arm 50 will precisely control the nozzle 321 to move to the position of each part P and pick them up one by one. This structure makes the picking position flexible and improves work efficiency.

[0047] The 3D industrial camera 22 is an existing product, and the technology of scanning, positioning and controlling the operation of the robot arm 50 by the 3D industrial camera 22 is also quite conventional. This utility model will not elaborate on this in detail.

[0048] See appendix Figure 12 -Appendix Figure 13 Vibratory feeders 21 come in various types. For ease of understanding, in this embodiment, the vibratory feeder 21 includes a base 211, a vibrator 212, a hopper 213, and a carrier plate 214. The vibrator 212 is installed inside the base 211, and the hopper 213 is positioned above the base 211 and connected to the vibrator 212. The carrier plate 214 is positioned above the base 211 and corresponds to the material feeding station 11. The base 211 supports the carrier plate 214 through multiple spring feet 215. The 3D industrial camera 22 is located directly above the carrier plate 214. When the vibrator 212 drives the hopper 213 to vibrate, the parts P located in the hopper 213 are transported to the carrier plate 214 and dispersed. The 3D industrial camera 22 captures the distribution position of the parts P on the carrier plate 214 and feeds the relevant information back to the drive mechanism 5, so that the drive mechanism 5 drives the nozzle 321 to move and pick up the parts P in the carrier plate 214 one by one.

[0049] See appendix Figure 5 -Appendix Figure 10 The suction mechanism 3 also includes an elastic element 34, on which the core rod 32 is sleeved. The two ends of the elastic element 34 abut against the connecting end 312 and the mouthpiece 321 respectively, and the elastic element 34 stores energy through slight deformation.

[0050] Specifically, the micro-deformation energy storage elastic element 34 can continuously apply pressure to the core rod 32. Therefore, when the two positioning blocks 42 press the positioning part P1 of part P, the pressure applied to the core rod 32 by the elastic element 34 must be overcome in order to drive the core rod 32. Similarly, when the positioning part P1 of part P is disengaged from the positioning cavity 420, the core rod 32 cannot continue to rotate under the pressure of the elastic element 34. Therefore, the design of the elastic element 34 can continuously provide rotational damping for the core rod 32, ensuring that the core rod 32 can stably stop at the current position after rotation.

[0051] It should be noted that, in addition to using the elastic element 34 to provide rotational damping, other methods can also be used, such as designing the rotational connection between the core rod 32 and the connecting end 312 as an interference fit. Since there are various related methods, this utility model does not limit them.

[0052] See appendix Figure 5 -Appendix Figure 10 The connecting end 312 has a vertical mounting hole 3120 inside that connects the air chamber 310 and the air passage 320. The first end of the core rod 32 is rotatably installed in the mounting hole 3120, and the core rod 32 can move up and down along the length of the mounting hole 3120. When the core rod 32 moves up, the elastic element 34 deforms and stores energy.

[0053] Specifically, when the suction mechanism 3 moves downward, if the nozzle 321 comes into rigid contact with part P or other objects during the process of suctioning part P, the core rod 32 will be driven to move upward along the mounting hole 3120 to avoid damage to the nozzle 321 due to rigid collision. When the core rod 32 moves upward, it will compress and store energy by squeezing the elastic element 34. After the nozzle 321 successfully suctions part P, the suction mechanism 3 moves upward. During this process, the elastic element 34 releases energy and recovers, driving the core rod 32 to move downward and reset, facilitating the next material retrieval. Therefore, the above structural design enables the nozzle 321 to have adaptive avoidance and reset functions, which can improve the stability of the suction while extending the service life of the suction.

[0054] It should be noted that the elastic element 34 can be a rubber sleeve, spring, etc., and there is no limitation in this utility model. For ease of understanding, the elastic element 34 in this embodiment is a spring.

[0055] See appendix Figure 5 -Appendix Figure 10 The outer wall of the core rod 32 has a groove 323 connected to the middle of the movable opening 322. The end of the fastening bolt 33 located in the movable opening 322 can slide and engage with the groove 323 to restrict the core rod 32 from moving up and down within a specific position range.

[0056] Specifically, the cooperation between the end of the fastening bolt 33 and the slide groove 323 allows the core rod 32 to move up and down along the axis of the mounting hole 3120 within a specific position range, preventing the core rod 32 from moving too high and causing the nozzle 321 to collide and be damaged, and preventing the core rod 32 from moving too low and detaching from the connecting end 312.

[0057] It should be noted that, in addition to the above structure, other structures can also be used to slidably restrict the core rod 32 within the mounting hole 3120. Due to the variety of related structures, this utility model does not impose any restrictions on them.

[0058] See appendix Figure 5 -Appendix Figure 10 The part P near the nozzle 321 has a protrusion P2 with an arc-shaped surface. The bottom of the nozzle 321 has a recessed cavity 3210 with an arc-shaped inner surface. The cavity 3210 is adapted to the protrusion P2 of the part P, and the air passage 320 is connected to the cavity 3210.

[0059] Specifically, after the air guide end 311 is connected to the pneumatic system, a negative pressure is formed inside the sleeve cavity 3210, which makes the nozzle 321 have an adsorption force. Under the action of the adsorption force, the protrusion P2 of the part P will gradually enter the sleeve cavity 3210 and adhere to the inner surface of the sleeve cavity 3210 until the protrusion P2 of the part P adaptively fills the sleeve cavity 3210 and blocks the air passage 320. At this point, the nozzle 321 completely adsorbs the part P, and the part P can be removed by moving the suction nozzle mechanism 3.

[0060] Among these, at least the following situations prevent the proper pickup of part P1 when nozzle 321 is working:

[0061] Firstly, if the surface of the protrusion P2 of part P is flat, it cannot fit the inner surface of the sleeve cavity 3210 and block the air passage 320, resulting in insufficient adsorption force to lift part P.

[0062] Secondly, if the protrusion P2 of part P is larger than the cavity 3210, it cannot enter the cavity 3210, resulting in the nozzle 321 being completely unable to adsorb.

[0063] Third, the protrusion P2 of part P has a large gap, which causes air leakage even when part P blocks the cavity 3210, resulting in the air passage 320 always being connected to the outside and unable to adsorb part P.

[0064] In the above cases, the parts P that cannot be properly picked up are defective and do not meet the usage requirements. This also shows that most of the parts P that can be picked up are qualified products, which fully demonstrates the targeted sorting function of this nozzle.

[0065] In summary, this utility model designs an arc-shaped inner cavity 3210 on the nozzle 321 of the core rod 32 to accommodate the protrusion P2 of part P, allowing the suction nozzle to selectively pick up parts P with arc-shaped protrusions. Simultaneously, the adaptive fit between the cavity 3210 of the nozzle 321 and the protrusion P2 of part P enables the suction nozzle to selectively sort the parts P to be picked up, eliminating defective parts P and ensuring that the picked-up parts P meet usage requirements. This facilitates the direct entry of parts P into the next processing step, further improving work efficiency.

[0066] It should be noted that the sorting nozzle in this utility model is only applicable to parts P with a specific protrusion P210 and an arc-shaped surface, such as the metal connector of earphones in 3C products, which has obvious non-standard attributes; on the other hand, the pneumatic system mentioned generally refers to an air extraction device (air pump), or a combination of an air extraction device and an air supply device (air pump). Since the technology of using a pneumatic system with a nozzle is relatively conventional in this technical field, its specific structure and working principle will not be described in detail in this utility model.

[0067] See appendix Figure 8 -Appendix Figure 10 The opening edge of the sleeve 3210 is provided with an annular sealing groove 3211 for installing a sealing ring (not shown in the figure). When the sleeve 3210 is fitted with the protrusion P2 of the part P, the part P abuts against the sealing ring, thereby ensuring the sealing between the sleeve 3210 and the part P and improving the adsorption capacity of the nozzle 321.

[0068] See appendix Figure 1 Appendix Figure 12 and attached Figure 14 In order to fully adapt to the positioning mechanism 4, the driving mechanism 5 in this utility model includes a manipulator 50. The arm seat 51 of the manipulator 50 is connected to the cylinder 31 of the suction nozzle mechanism 3. The manipulator 50 has an a-axis rotation unit (not shown in the figure) and a b-axis rotation unit (not shown in the figure) for driving the arm seat 51 to move on the horizontal plane. The arm seat 51 has a c-axis rotation unit (not shown in the figure) for controlling the rotation of the nozzle 321 and a z-axis movement unit (not shown in the figure) for controlling the up and down movement of the nozzle 321.

[0069] Specifically, the combined use of the a-axis rotation unit and the b-axis rotation unit can precisely control the stopping position of the nozzle 321, reduce the angular offset of part P after it is transferred from the feeding station 11 to the correction station 12, and ensure that the nozzle 321 can smoothly return from the placement station 13 to the feeding station 11; the combined use of the c-axis rotation unit and the z-axis movement unit can adjust the rotation angle of the nozzle 321 to adapt to the protrusion P2 of part P, and at the same time drive the nozzle 321 to move away from or towards the feeding part in the vertical direction; for details on the four driving directions of the robot arm 50, please refer to the appendix. Figure 12 Of course, in actual use, the rotation axis direction can be reduced or increased according to the needs. Since there are many types of robotic arms 50 and they are existing products, the structure of the present invention will not be described or limited in detail.

[0070] It should be noted that during the correction process, whenever the corrected part P is transferred to the placement station 13, the suction nozzle mechanism 3 can be directly reversed by the c-axis rotation unit to a suitable angle so that the core rod 32 can be reset, thereby ensuring the normal progress of subsequent correction operations. If this method is considered troublesome, after multiple correction operations, when the core rod 32 is exactly at the maximum rotation position and can no longer rotate, the core rod 32 can be reversed by the c-axis rotation unit to a suitable angle so that the core rod 32 can be reset.

[0071] See appendix Figure 1 -Appendix Figure 4The present invention also includes a discharge mechanism 6, which includes a y-axis moving unit 61 and a fixture 62. The y-axis moving unit 61 is mounted on the machine base 1 and drivenly connected to the fixture 62 to drive the fixture 62 away from or closer to the placement station 13.

[0072] Specifically, in use, the jig 62 is moved to the placement station 13 by the y-axis moving unit 61. After the drive mechanism 5 places the part P, which has been corrected by the positioning mechanism 4, onto the jig 62, the jig 62 is moved away from the placement station 13 by the y-axis moving unit 61, so that the part P can be transferred to the next process. Therefore, the design of the unloading mechanism 6 further improves the degree of automation and provides a carrier for the part P, preventing the position of the corrected part P from shifting when it is transferred to the next process.

[0073] See appendix Figure 1 -Appendix Figure 4 The unloading mechanism 6 also includes an x-axis moving unit 63 and a CCD vision inspection unit 64. The CCD vision inspection unit 64 is located above the fixture 62 and is signal-connected to the y-axis moving unit 61. The CCD vision inspection unit 64 is used to detect whether there is a part P on the fixture 62. The x-axis moving unit 63 is mounted on the machine base 1 and is drivenly connected to the CCD vision inspection unit 64 to drive the CCD vision inspection unit 64 to move and align with the fixture 62.

[0074] Specifically, according to the preset program, after the fixture 62 carries part P, the y-axis moving unit 61 will drive the fixture 62 away from the placement station 13 and move to the next process. When the fixture 62 passes the CCD vision detection unit 64, if the CCD vision detection unit 64 detects that there is part P on the fixture 62, it sends a running command to the y-axis moving unit 61, so that the fixture 62 carrying part P continues to move to the next process. If the CCD vision detection unit 64 detects that there is no part P on the fixture 62, it sends a rewind or shut-off command to the y-axis moving unit 61, so that the y-axis moving unit 61 drives the fixture 62 back to the placement station 13 to carry part P again, or makes the fixture 62 stop at the current position for the worker to check the specific situation.

[0075] In addition, the CCD vision inspection unit 64 can also be connected to the feeding mechanism 2, the suction nozzle mechanism 3, the positioning mechanism 4 and the drive mechanism 5. When the CCD vision inspection unit 64 does not detect the presence of part P in the fixture 62, it can control the entire machine to stop running. Therefore, the design of the CCD vision inspection unit 64 can prevent the fixture 62 from being transferred to the next process in an idle state.

[0076] Furthermore, when multiple fixtures 62 are set, if the position of the CCD vision inspection unit 64 is fixed, it may be impossible to inspect multiple fixtures 62. However, the design of the x-axis moving unit 63 can drive the CCD vision inspection unit 64 to move along the x-axis to inspect each fixture 62 along the path, thus avoiding omissions.

[0077] It should be noted that the y-axis moving unit 61, fixture 62, x-axis moving unit 63 and CCD vision inspection unit 64 are all existing products, therefore their specific structures will not be described in detail in this utility model.

[0078] See appendix Figure 1 -Appendix Figure 3 The feeding mechanism 2, the suction nozzle mechanism 3, and the positioning mechanism 4 can all be set in two sets. The transfer and correction of the parts P on the two feeding stations 11 can also be realized through a single set of drive mechanism 5. This design can improve space utilization.

[0079] It should also be noted that, although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application.

Claims

1. An automated positioning and feeding device, characterized in that, Include: The machine table (1), which is provided with a feeding station (11), a deviation correction station (12) and a placing station (13); Feeding mechanism (2), installed on the machine table (1), and used for conveying parts (P) to the feeding station (11); The suction nozzle mechanism (3) includes a cylinder (31), a core rod (32) and a fastening bolt (33); The inside of the cylinder (31) is provided with an air cavity (310), and the two ends of the cylinder (31) are respectively provided with a gas guide end (311) and a connection end (312) connected with the air cavity (310); The first end of the core rod (32) is provided with a nozzle head (321) for sucking parts (P), and the tail end of the core rod (32) is rotatably installed in the connection end (312) and has rotation damping, and the tail end of the core rod (32) is provided with a movable port (322), and the inside of the core rod (32) is provided with an air duct (320) connected with the air cavity (310) and the nozzle head (321); The fastening bolt (33) is installed on the connection end (312), and the end of the fastening bolt (33) extends into the movable port (322) to limit the rotation of the core rod (32) within a certain angle range; The positioning mechanism (4) is installed on the deviation correction station (12) of the machine table (1) and includes a parallel cylinder (41) and two positioning blocks (42), two said positioning blocks (42) are respectively fixed with two clamping jaws (411) of the parallel cylinder (41), and two said positioning blocks (42) are respectively provided with a type slot (421), when the parallel cylinder (41) drives two said positioning blocks (42) to approach each other, two said type slots (421) form a positioning cavity (420), and the part (P) is provided with a positioning part (P1) matched with the positioning cavity (420) away from the nozzle head (321); The driving mechanism (5) is installed on the machine table (1) and is drivingly connected with the cylinder (31) to drive the nozzle head (321) to move between the feeding station (11), the deviation correction station (12) and the placing station (13).

2. The automated positioning and feeding device according to claim 1, wherein, The feeding mechanism (2) includes a vibrating disc (21) and a 3D industrial camera (22); The vibrating disc (21) is used for conveying the parts (P) to the feeding station (11) and scattering the parts (P); The 3D industrial camera (22) is arranged above the vibrating disc (21) and is signal connected with the driving mechanism (5); Wherein, the 3D industrial camera (22) can shoot the distribution position of the parts (P), and feed the related information to the driving mechanism (5), so that the driving mechanism (5) can accurately drive the nozzle head (321) to move and suck the parts (P) one by one at the feeding station (11).

3. The automated positioning and feeding device of claim 2, wherein, The vibratory feeder (21) includes a base (211), a vibrator (212), a hopper (213), and a carrier plate (214); the vibrator (212) is installed inside the base (211), and the hopper (213) is positioned above the base (211) and connected to the vibrator (212); the carrier plate (214) is positioned above the base (211) and corresponds to the material conveying station (11); the base (211) supports the carrier plate (214) through multiple spring feet (215); the 3D industrial camera (22) Located directly above the carrier (214); wherein, when the vibrator (212) drives the hopper (213) to shake, the parts (P) located in the hopper (213) are transported to the carrier (214) and dispersed. The 3D industrial camera (22) captures the distribution position of the parts (P) on the carrier (214) and feeds back the relevant information to the drive mechanism (5), so that the drive mechanism (5) drives the nozzle (321) to move and pick up the parts (P) in the carrier (214) one by one.

4. The automated positioning and feeding device of claim 1, wherein, The suction nozzle mechanism (3) also includes an elastic element (34), which is sleeved on the core rod (32). The two ends of the elastic element (34) abut against the connecting end (312) and the nozzle (321) respectively. The elastic element (34) also slightly deforms to store energy in order to provide rotational damping.

5. The automated positioning and feeding device of claim 4, wherein, The connecting end (312) is vertically provided with a mounting hole (3120) that connects the air chamber (310) and the air passage (320). The first end of the core rod (32) is rotatably installed in the mounting hole (3120), and the core rod (32) can move up and down along the length of the mounting hole (3120). When the core rod (32) moves up, the elastic element (34) deforms and stores energy.

6. The automated positioning and feeding device of claim 5, wherein, The outer wall of the core rod (32) is connected to the middle of the movable opening (322) with a sliding groove (323). The end of the fastening bolt (33) located in the movable opening (322) can slide and cooperate with the sliding groove (323) to restrict the core rod (32) from moving up and down within a specific position range.

7. The automated positioning and feeding device of claim 1, wherein, The part (P) near the nozzle (321) has a protrusion (P2) with an arc-shaped surface. The bottom of the nozzle (321) is recessed and has an inner arc-shaped cavity (3210). The cavity (3210) is adapted to the protrusion (P2) of the part (P). The air passage (320) is connected to the cavity (3210).

8. The automated positioning and feeding device of claim 1, wherein, The drive mechanism (5) includes a manipulator (50), the arm base (51) of which is connected to the cylinder (31) of the suction mechanism (3), and the manipulator (50) has an a-axis rotation unit and a b-axis rotation unit for driving the arm base (51) to move on a horizontal plane; the arm base (51) has a c-axis rotation unit for controlling the rotation of the mouthpiece (321) and a z-axis movement unit for controlling the up and down movement of the mouthpiece (321).

9. The automated positioning and feeding device of claim 1, wherein, It also includes a discharge mechanism (6), which includes a y-axis moving unit (61) and a fixture (62). The y-axis moving unit (61) is mounted on the machine base (1) and driven to connect with the fixture (62) to drive the fixture (62) away from or towards the placement station (13). When the y-axis moving unit (61) drives the fixture (62) to move to the placement station (13), the driving mechanism (5) can place the part (P) after it has been corrected by the positioning mechanism (4) on the fixture (62). After the part (P) is placed, the y-axis moving unit (61) can drive the fixture (62) away from the placement station (13) to transfer the part (P) to the next process.

10. The automated positioning and feeding device of claim 9, wherein, The discharge mechanism (6) further includes an x-axis moving unit (63) and a CCD vision inspection unit (64). The CCD vision inspection unit (64) is located above the fixture (62) and is signal-connected to the y-axis moving unit (61). The CCD vision inspection unit (64) is used to detect whether there is a part (P) on the fixture (62). The x-axis moving unit (63) is mounted on the machine base (1) and is drivenly connected to the CCD vision inspection unit (64) to drive the CCD vision inspection unit (64) to move and align with the fixture (62).

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