Elbow feeding machine

Abstract

The utility model relates to an elbow feeding machine which comprises a machine frame, a material storing and feeding mechanism, a material distributing mechanism, a camera detecting mechanism, a material moving mechanical arm and a directional feeding mechanism. The camera detection mechanism and the material moving manipulator are arranged at the top of the rack, the material distributing mechanism is arranged at the bottom of the rack and located below the camera detection mechanism, the material storing and feeding mechanism and the directional feeding mechanism are arranged at the two ends of the material distributing mechanism respectively, and the material distributing mechanism is connected to the lower end of the material storing and feeding mechanism to transfer elbows to the position below the camera detection mechanism; the material moving mechanical arm comprises a first transmission arm, a second transmission arm and a third transmission arm which are sequentially connected from top to bottom, a magnetic attraction lifting device is arranged at the free end of the third transmission arm, and the magnetic attraction lifting device directionally moves the elbow to the directional feeding mechanism through a magnetic suction cup and a lifting lead screw which are arranged at the end of the magnetic attraction lifting device. The directional feeding mechanism pushes the elbows to the feeding chute in a directional mode through a rotating air cylinder and a pushing air cylinder, directional feeding of the elbows is achieved, the structure is reasonable, the automation degree is high, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical automation feeding field, concretely is a elbow feeding machine. BACKGROUND

[0002] Elbow is commonly used connecting pipe fitting in production and life, is used for changing the direction of pipeline in pipeline, and the use amount is extremely big, and it is usually batch production in production, and the elbow needs further processing after forming, such as burr, processing thread etc., and the elbow needs to be transported according to proper angle when further processing, and the existing elbow is usually placed by artificial feeding, and the efficiency is low, and the repetitive operation is prone to error. Chinese patent CN112850029A discloses an elbow automatic feeding device and feeding method, which sends the elbow sent by the feeding mechanism to the rotating mechanism by the cooperation of the positioning block and the push block mechanism;The elbow is adjusted to the attitude of feeding by using the rotary cylinder and the finger cylinder, so that the elbow is sent into the processing equipment of the processing device in the qualified attitude, and in use, individual elbow angle adjustment is not in place, and the phenomenon of jam occurs, therefore, aiming at the above problems, the present application provides an elbow feeding machine which can adjust the elbow in all directions and accurately position. SUMMARY

[0003] The utility model aims at providing an elbow feeding machine to solve the problems in the above background.

[0004] To achieve the above object, the utility model provides the following technical scheme:

[0005] An elbow feeding machine, comprising a rack, a storage feeding mechanism, a distribution mechanism, a camera detection mechanism, a material moving manipulator and a directional feeding mechanism;The camera detection mechanism and the material moving manipulator are arranged at the top of the rack, the distribution mechanism is arranged at the bottom of the rack and below the camera detection mechanism, the storage feeding mechanism and the directional feeding mechanism are arranged at both ends of the distribution mechanism respectively, and the distribution mechanism is connected to the lower end of the storage feeding mechanism.

[0006] The above-mentioned elbow feeding machine, the material moving manipulator includes first transmission arm, second transmission arm and third transmission arm connected in sequence from top to bottom, one end of the first transmission arm is fixedly connected to the top of the rack through a connecting barrel, the other end is movably connected with the second transmission arm through a first transmission device, the second transmission arm and the third transmission arm are fixedly connected through a plurality of connecting rods, the first transmission device can drive the second transmission arm and the third transmission arm to rotate synchronously, and a magnetic lifting device is arranged on the free end of the third transmission arm, and the upper part of the magnetic lifting device is fixed on the second transmission arm.

[0007] The magnetic lifting device comprises a magnetic suction disc, a lifting screw, a lifting drive assembly and a rotary drive assembly, the lifting screw is longitudinally arranged at the free end of the second transmission arm and the third transmission arm, the lifting drive assembly is fixed on the second transmission arm, the rotary drive assembly is fixed on the third transmission arm, and the magnetic suction disc is arranged at the lower end of the lifting screw and can be lifted and rotated with the lifting screw.

[0008] The first transmission arm is provided with a speed reduction motor assembly at the fixed end and a first transmission device at the free end, the speed reduction motor assembly is sleeved in the connecting barrel and can drive the first transmission arm to rotate around the central axis of the connecting barrel.

[0009] The first transmission device comprises a servo motor and a speed reducer, the speed reducer is arranged at the free end of the first transmission arm, and the servo motor is fixed on the upper part of the first transmission arm and connected with the speed reducer through a transmission belt.

[0010] The cloth feeding mechanism comprises a conveying belt assembly, a matrix optical fiber sensor and a backlight source, the conveying belt assembly is supported below the storage feeding mechanism, the matrix optical fiber sensor is arranged on both sides of the material dropping area of the storage feeding mechanism and fixed on the conveying belt assembly, and the backlight source is sleeved in the conveying belt assembly and located below the camera detection mechanism.

[0011] The camera detection mechanism comprises a fixed rod, an adjusting rod and an industrial camera, the fixed rod is vertically arranged below the top of the rack, the adjusting rod is horizontally arranged on the fixed rod through a connecting frame and can move up and down along the fixed rod, and the industrial camera is arranged on the adjusting rod through a connecting frame and can slide along the adjusting rod.

[0012] The directional feeding mechanism comprises a rotary air cylinder, a pushing air cylinder, a rotating support and a feeding chute, the rotary air cylinder is fixed on the end of the cloth feeding mechanism through a support, the rotating support is fixed on the rotary air cylinder, the pushing air cylinder is fixed on the rotating support and can rotate with the rotating support, and the feeding chute is supported on one side of the rotating support.

[0013] The rotating support comprises a material supporting groove, the material supporting groove is V-shaped and provided with a supporting plate on one side, the pushing air cylinder is fixed on the supporting plate, the supporting plate is provided with a through hole, and the piston rod of the pushing air cylinder can reciprocate along the through hole.

[0014] The elbow feeding machine has the advantages that the feeding mechanism comprises a material bin, a lifting chain plate assembly and a material falling chute, the bottom of the material bin is provided with a material falling port, the lifting chain plate assembly is arranged outside the material falling port, and the material falling chute is arranged outside the lifting chain plate assembly in an inclined manner and is connected with the material distribution mechanism.

[0015] The technical scheme has the beneficial effects that:

[0016] The elbow feeding machine comprises a storage feeding mechanism, a material distribution mechanism, a camera detection mechanism, a material moving manipulator and a directional feeding mechanism, the camera detection mechanism and the material moving manipulator are arranged above the material distribution mechanism, the material distribution mechanism can automatically feed the elbow to the camera detection mechanism recognition area by arranging the matrix sensor, the material moving manipulator automatically adjusts the square of the elbow according to the feedback of the camera detection mechanism, and the elbow is placed on the feeding mechanism in a directional manner; the material moving manipulator comprises a plurality of transmission arms, the free end of the terminal transmission arm is provided with a magnetic lifting device capable of lifting and rotating, the material moving manipulator can rotate in all directions and freely lift through the transmission arm and the magnetic lifting device, the elbow can be accurately placed on the directional feeding mechanism in a directional manner, the directional feeding mechanism is provided with a material supporting groove matched with the shape of the elbow, the elbow is pushed to the feeding chute in a directional manner through the rotating cylinder and the pushing cylinder, the directional feeding of the elbow is realized, the structure is reasonable, the automation degree is high, the requirement of the directional feeding of the elbow can be met, and the production efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic diagram of the three-dimensional structure of the utility model;

[0018] Figure 2 is a schematic diagram of the three-dimensional structure of the utility model from another angle;

[0019] Figure 3 is a schematic diagram of the three-dimensional partial section of the utility model;

[0020] Figure 4 is a schematic diagram of the front view structure of the utility model;

[0021] Figure 5 is a schematic diagram of the three-dimensional structure of the material moving manipulator of the utility model;

[0022] Figure 6 is a schematic diagram of the three-dimensional structure of the directional feeding mechanism of the utility model;

[0023] Figure 7 is a schematic diagram of the three-dimensional structure of the utility model Figure 6 is a schematic diagram of the three-dimensional structure of the utility model

[0024] In the drawing:

[0025] 1, rack; 1, rack;

[0026] 2. Material storage and feeding mechanism; 2-1. Material bin; 2-2. Lifting chain plate assembly; 2-3. Material discharge chute;

[0027] 3. Fabric feeding mechanism; 3-1. Conveyor belt assembly; 3-2. Matrix fiber optic sensor; 3-3. Backlight;

[0028] 4. Camera inspection mechanism; 4-1. Fixing rod; 4-2. Adjusting rod; 4-3. Industrial camera;

[0029] 5. Material handling robot; 5-1. First transmission arm; 5-1-1. Connecting cylinder; 5-1-2. Gear motor assembly; 5-2. Second transmission arm; 5-3. Third transmission arm; 5-4. First transmission device; 5-4-1. Servo motor; 5-4-2. Reducer; 5-4-3. Transmission belt; 5-5. Connecting rod; 5-6. Magnetic lifting device; 5-6-1. Magnetic chuck; 5-6-2. Lifting screw; 5-6-3. Lifting drive assembly; 5-6-4. Rotation drive assembly;

[0030] 6. Oriented feeding mechanism; 6-1. Rotary cylinder; 6-2. Pushing cylinder; 6-3. Rotating bracket; 6-3-1. Material support trough; 6-3-2. Support plate; 6-3-3. Through hole; 6-4. Feeding chute. Detailed Implementation

[0031] To make the objectives, technical solutions and advantages of this utility model clearer, the utility model will be clearly and completely described below in conjunction with specific embodiments.

[0032] like Figures 1 to 7 The elbow feeding machine shown includes a frame 1, a storage and feeding mechanism 2, a material feeding mechanism 3, a camera detection mechanism 4, a material transfer robot 5, and a directional feeding mechanism 6. The camera detection mechanism 4 and the material transfer robot 5 are located at the top of the frame 1, the material feeding mechanism 3 is located at the bottom of the frame 1 and below the camera detection mechanism 4, the storage and feeding mechanism 2 and the directional feeding mechanism 6 are respectively located at both ends of the material feeding mechanism 3, and the material feeding mechanism 3 is supported at the lower end of the storage and feeding mechanism 2. The material feeding mechanism 3 transports the elbow that slides down from the storage and feeding mechanism 2 to the recognition area below the camera detection mechanism 4, and the material transfer robot 5 picks up the elbow and places it directionally on the directional feeding mechanism 6, which then pushes it to the next process.

[0033] like Figures 2 to 4As shown, the material transfer robot 5 includes a first transmission arm 5-1, a second transmission arm 5-2 and a third transmission arm 5-3 connected in sequence from top to bottom, one end of the first transmission arm 5-1 is fixedly connected to the top of the rack 1 by a connecting cylinder 5-1-1 through bolt connection, the fixed end of the first transmission arm 5-1 is provided with a speed reducer motor assembly 5-1-2, the speed reducer motor assembly 5-1-2 is sleeved in the connecting cylinder 5-1-1 and can drive the first transmission arm 5-1 to rotate around the center axis of the connecting cylinder 5-1-1, the other free end is provided with a first transmission device 5-4, the first transmission arm 5-1 and the second transmission arm 5-2 are movably connected through the first transmission device 5-4; the first transmission device 5-4 includes a servo motor 5-4-1 and a speed reducer 5-4-2, the speed reducer 5-4-2 is arranged at the free end of the first transmission arm 5-1, the servo motor 5-4-1 is fixed on the upper part of the first transmission arm 5-1 and connected with the speed reducer 5-4-2 through a transmission belt 5-4-3, the servo motor 5-4-1 can drive the second transmission arm 5-2 to rotate around the center axis of the speed reducer 5-4-2; the second transmission arm 5-2 and the third transmission arm 5-3 are fixedly connected through a plurality of connecting rods 5-5, that is, the third transmission arm 5-3 can rotate around the center axis of the speed reducer 5-4-2 synchronously with the second transmission arm 5-2; the free end of the third transmission arm 5-3 is provided with a magnetic lifting device 5-6, the upper part of the magnetic lifting device 5-6 is fixed on the second transmission arm 5-2, the magnetic lifting device 5-6 includes a magnetic suction disc 5-6-1, a lifting lead screw 5-6-2, a lifting drive assembly 5-6-3 and a rotary drive assembly 5-6-4, the lifting lead screw 5-6-2 is longitudinally arranged at the free end of the second transmission arm 5-2 and the third transmission arm 5-3, the lifting drive assembly 5-6-3 is fixed on the second transmission arm 5-2, the servo motor of the lifting drive assembly 5-6-3 drives the speed reducer to rotate through a transmission belt, and the speed reducer drives the lifting lead screw 5-6-2 to lift; the rotary drive assembly 5-6-4 is fixed on the third transmission arm 5-3, the servo motor of the rotary drive assembly 5-6-4 drives the speed reducer to rotate through a transmission belt, and the speed reducer drives the lifting lead screw 5-6-2 to rotate around the center axis; the magnetic suction disc 5-6-1 is arranged at the lower end of the lifting lead screw 5-6-2 and can lift and rotate with it to direct the elbow from the cloth mechanism 3 to the directional feeding mechanism 6.

[0034] As Figures 1 to 4As shown, the storage and feeding mechanism 2 includes a hopper 2-1, a lifting chain plate assembly 2-2 and a feeding chute 2-3, the hopper 2-1 is provided with a feeding port at the bottom, the lifting chain plate assembly 2-2 is arranged at the feeding port, and the feeding chute 2-3 is arranged obliquely outside the lifting chain plate assembly 2-2, the lower end thereof is connected with the distributing mechanism 3, the hopper 2-1 is used for containing the elbow, the magnetic chain plates are arranged at intervals on the lifting chain plate assembly 2-2, which can successively attract and lift the elbow to the top, and the elbow is blocked by the feeding chute 2-3 and then slides along the feeding chute 2-3 to the distributing mechanism 3; the distributing mechanism 3 includes a conveying belt assembly 3-1, a matrix optical fiber sensor 3-2 and a backlight source 3-3, the conveying belt assembly 3-1 is connected below the storage and feeding mechanism 2, the matrix optical fiber sensor 3-2 is arranged on both sides of the feeding area of the storage and feeding mechanism 2 and fixed on the conveying belt assembly 3-1, the backlight source 3-3 is sleeved in the conveying belt assembly 3-1 and located below the camera detection mechanism 4, the matrix optical fiber sensor 3-2 conveys the elbow to the backlight source 3-3 after detecting the elbow in the feeding area, the camera detection mechanism 4 detects the scattering angle of the elbow, then the material moving manipulator 5 is used to lift and adjust the angle of the elbow, and the elbow is placed on the directional feeding mechanism 6 after being adjusted to an angle suitable for being placed on the directional feeding mechanism 6.

[0035] As shown in Figure 3 and Figure 4 , the camera detection mechanism 4 includes a fixed rod 4-1, an adjusting rod 4-2 and an industrial camera 4-3, the fixed rod 4-1 is arranged vertically below the top of the rack 1, the adjusting rod 4-2 is arranged horizontally on the fixed rod 4-1 through a connecting frame and can move up and down along the fixed rod 4-1 to adjust the height of the industrial camera 4-3, and the industrial camera 4-3 is arranged on the adjusting rod 4-2 through a connecting frame and can slide along the adjusting rod 4-2 to adjust the horizontal position of the industrial camera 4-3, so that it corresponds to the distributing mechanism 3 at the bottom.

[0036] As shown in Figure 2 , Figure 6 and Figure 7As shown, the directional feeding mechanism 6 includes a rotary cylinder 6-1, a pushing cylinder 6-2, a rotating support 6-3 and a feeding chute 6-4, the rotary cylinder 6-1 is fixed at the end of the distributing mechanism 3 through a support, the rotating support 6-3 is fixed on the rotary cylinder 6-1 and can rotate with the rotary cylinder 6-1, the pushing cylinder 6-2 is fixed on the rotating support 6-3 and can rotate synchronously with the rotating support 6-3, the feeding chute 6-4 is connected to one side of the rotating support 6-3, the rotating support 6-3 includes a material supporting groove 6-3-1, the material supporting groove 6-3-1 is V-shaped and provided with a supporting plate 6-3-2 on one side, the pushing cylinder 6-2 is fixed on the supporting plate 6-3-2, the supporting plate 6-3-2 is provided with a through hole 6-3-3, the piston rod of the pushing cylinder 6-2 can reciprocate along the through hole 6-3-3, the feeding chute 6-4 is provided with a V-shaped groove matched with the material supporting groove 6-3-1, the rotating support 6-3 can be rotated to the feeding chute 6-4, the pushing cylinder 6-2 pushes the elbow placed on the material supporting groove 6-3-1 into the feeding chute 6-4, enters the next process, and completes the elbow feeding work.

[0037] Work flow: the operator puts the elbow into the stock bin of the storage feeding mechanism, the lifting chain plate assembly successively lifts the elbow into the feeding chute, the elbow slides along the feeding chute to the distributing mechanism, the matrix optical fiber sensor of the distributing mechanism detects the elbow, the conveying belt assembly is started to convey the elbow to the backlight source, the camera detection mechanism detects the scattering angle of the elbow, the material moving manipulator sucks up the elbow, adjusts the angle of the elbow through the rotary driving assembly and adjusts the height through the lifting driving assembly, and then places the elbow on the rotating support of the directional feeding mechanism, the rotary cylinder drives the rotating support to rotate to the feeding chute, the pushing cylinder pushes the elbow into the feeding chute to complete the feeding work.

[0038] The principle and implementation mode of the present application are described in detail in the embodiments, and the above embodiments are only used to help understand the method and its core idea, and the skilled in the art can modify the technical solutions recorded in the above embodiments or replace some technical features with equivalent ones, and the modification or replacement does not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solutions of the embodiments.

Claims

1. An elbow loader, characterized by: The device comprises a rack (1), a storage feeding mechanism (2), a cloth feeding mechanism (3), a camera detection mechanism (4), a material moving manipulator (5) and a directional feeding mechanism (6); the camera detection mechanism (4) and the material moving manipulator (5) are arranged on the top of the rack (1), the cloth feeding mechanism (3) is arranged on the bottom of the rack (1) and below the camera detection mechanism (4), the storage feeding mechanism (2) and the directional feeding mechanism (6) are arranged at the two ends of the cloth feeding mechanism (3) respectively, and the cloth feeding mechanism (3) is connected to the lower end of the storage feeding mechanism (2).

2. The elbow loading machine of claim 1, wherein: The material moving manipulator (5) comprises a first transmission arm (5-1), a second transmission arm (5-2) and a third transmission arm (5-3) connected in sequence from top to bottom, one end of the first transmission arm (5-1) is fixedly connected to the top of the rack (1) through a connecting cylinder (5-1-1), the other end is movably connected with the second transmission arm (5-2) through a first transmission device (5-4), the second transmission arm (5-2) and the third transmission arm (5-3) are fixedly connected through a plurality of connecting rods (5-5), the first transmission device (5-4) can drive the second transmission arm (5-2) and the third transmission arm (5-3) to rotate synchronously, and a magnetic lifting device (5-6) is arranged on the free end of the third transmission arm (5-3), and the upper part of the magnetic lifting device (5-6) is fixed on the second transmission arm (5-2).

3. A bend loading machine according to claim 2, wherein: The magnetic lifting device (5-6) comprises a magnetic suction disc (5-6-1), a lifting lead screw (5-6-2), a lifting drive assembly (5-6-3) and a rotating drive assembly (5-6-4), the lifting lead screw (5-6-2) is arranged longitudinally on the free end of the second transmission arm (5-2) and the third transmission arm (5-3), the lifting drive assembly (5-6-3) is fixed on the second transmission arm (5-2), the rotating drive assembly (5-6-4) is fixed on the third transmission arm (5-3), and the magnetic suction disc (5-6-1) is arranged on the lower end of the lifting lead screw (5-6-2) and can be lifted and rotated with the lifting lead screw (5-6-2).

4. The elbow loader of claim 2, wherein: The fixed end of the first transmission arm (5-1) is provided with a speed reducer motor assembly (5-1-2), and the free end is provided with the first transmission device (5-4), the speed reducer motor assembly (5-1-2) is sleeved in the connecting cylinder (5-1-1) and can drive the first transmission arm (5-1) to rotate around the central axis of the connecting cylinder (5-1-1).

5. A bend loading machine according to claim 4, wherein: The first transmission device (5-4) comprises a servo motor (5-4-1) and a speed reducer (5-4-2), the speed reducer (5-4-2) is arranged on the free end of the first transmission arm (5-1), and the servo motor (5-4-1) is fixed on the upper part of the first transmission arm (5-1) and connected with the speed reducer (5-4-2) through a transmission belt (5-4-3).

6. The elbow loader of claim 2, wherein: The cloth mechanism (3) comprises a conveying belt assembly (3-1), a matrix optical fiber sensor (3-2) and a backlight source (3-3), the conveying belt assembly (3-1) is received below the storage feeding mechanism (2), the matrix optical fiber sensor (3-2) is arranged on both sides of the blanking area of the storage feeding mechanism (2) and fixed on the conveying belt assembly (3-1), and the backlight source (3-3) is sleeved in the conveying belt assembly (3-1) and located below the camera detection mechanism (4).

7. A bend loading machine according to claim 6, characterised in that: The camera detection mechanism (4) comprises a fixed rod (4-1), an adjusting rod (4-2) and an industrial camera (4-3), the fixed rod (4-1) is vertically arranged below the top of the rack (1), the adjusting rod (4-2) is horizontally arranged on the fixed rod (4-1) through a connecting frame and can move up and down along the fixed rod (4-1), and the industrial camera (4-3) is arranged on the adjusting rod (4-2) through a connecting frame and can slide along the adjusting rod (4-2).

8. The elbow loader of claim 1, wherein: The directional feeding mechanism (6) comprises a rotary air cylinder (6-1), a pushing air cylinder (6-2), a rotating support (6-3) and a feeding chute (6-4), the rotary air cylinder (6-1) is fixed on the end of the cloth mechanism (3) through a support, the rotating support (6-3) is fixed on the rotary air cylinder (6-1), the pushing air cylinder (6-2) is fixedly arranged on the rotating support (6-3) and can rotate with the rotating support (6-3), and the feeding chute (6-4) is received on one side of the rotating support (6-3).

9. A bend loading machine according to claim 8, characterised in that: The rotating support (6-3) comprises a material supporting groove (6-3-1), the material supporting groove (6-3-1) is V-shaped, one side is provided with a supporting plate (6-3-2), the pushing air cylinder (6-2) is fixed on the supporting plate (6-3-2), the supporting plate (6-3-2) is provided with a through hole (6-3-3), and the piston rod of the pushing air cylinder (6-2) can reciprocate along the through hole (6-3-3).

10. The elbow loader of claim 2, wherein: The storage feeding mechanism (2) comprises a stock bin (2-1), a lifting chain plate assembly (2-2) and a blanking chute (2-3), the bottom of the stock bin (2-1) is provided with a blanking port, the lifting chain plate assembly (2-2) is arranged at the blanking port, and the blanking chute (2-3) is arranged on the outer side of the lifting chain plate assembly (2-2) in an inclined manner, and the lower end thereof is connected with the cloth mechanism (3).

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