Flexible workpiece arranging device suitable for long-strip-shaped workpieces

Abstract

The utility model relates to machining equipment, in particular to a flexible piece arranging device suitable for long-strip-shaped workpieces, which comprises a flexible vibration disc, a visual spider manipulator, a four-station piece erecting device and a control system. The visual spider manipulator places workpieces meeting set requirements to the four-station workpiece arranging device through visual judgment after the flexible vibration disc vibrates, the four-station workpiece arranging device erects and arranges the workpieces, and the control system coordinates the three to act. Compared with the prior art, the device has the remarkable advantages that automatic part arranging is achieved, and the production efficiency is improved; workpiece collision damage is avoided, and product quality is guaranteed; the labor intensity of workers is reduced, and occupational health risks are reduced; the device is suitable for arranging long-strip-shaped or easily-damaged parts in multiple industries, and the universality is high; cooperative operation is achieved through accurate control, efficient and stable operation of the device is ensured, and the workpiece sorting problem in various industries is solved.

Description

Technical Field

[0001] This utility model relates to machining equipment, specifically a flexible workpiece handling device suitable for long and narrow workpieces. Background Technology

[0002] In many industries involving parts processing and assembly, the sorting and arrangement of parts has a significant impact on production efficiency and product quality. Taking the garment industry as an example, in the manufacturing process of sewing machines, especially overlock machines, the sorting and arrangement of semi-finished products from the overlock machine blades is currently mainly done manually.

[0003] The garment industry has a huge market demand, and overlock sewing machines, as important sewing equipment, have a considerable output. However, in the context of large-scale production, manually handling the semi-finished products on overlock sewing machines presents a series of problems. Firstly, manual handling requires workers to perform repetitive and monotonous operations for extended periods, significantly increasing their labor intensity. Prolonged high-intensity work not only easily leads to physical fatigue and reduced work efficiency but may also cause occupational health problems such as muscle strain, thereby affecting the overall production schedule.

[0004] Secondly, because the overlock sewing machine's upper blade is a long, narrow blade with specific shape and surface requirements, it cannot be fed using a conventional vibratory feeder. The vibratory feeder generates high-frequency vibrations during operation, causing frequent collisions between the semi-finished upper blades, easily leaving dents and scratches on the blade surface. For the garment industry, the surface quality of the upper blade directly affects the quality of the garments sewn. Damaged blade surfaces can lead to thread breakage, skipped stitches, and uneven seams during sewing, severely impacting garment quality and appearance, increasing the defect rate, and raising production costs.

[0005] Besides the apparel industry, other industries such as electronic equipment manufacturing and precision instrument production also face similar challenges in handling long, thin, or easily damaged parts. Traditional manual handling methods are inefficient and labor-intensive, while conventional vibratory feeder methods can easily damage the parts. Therefore, developing a high-efficiency and reliable handling device suitable for multiple industries is urgently needed. Utility Model Content

[0006] To address the shortcomings or one of the shortcomings of existing technologies, this utility model discloses a flexible workpiece handling device suitable for long and narrow workpieces. The technical solution adopted is as follows:

[0007] A flexible workpiece handling device suitable for long and narrow workpieces, comprising:

[0008] The flexible vibratory plate intermittently vibrates up and down with small amplitude, causing long strip-shaped workpieces on it to bounce up and disperse.

[0009] The vision spider manipulator, during the intervals when the flexible vibrating disk is not vibrating, picks up non-overlapping strip-shaped workpieces one by one through vision detection and places them on one of the workstations of the four-station workpiece arranging device respectively.

[0010] The four-station workpiece arranging device has four workstations, which respectively receive strip-shaped workpieces in four states: facing forward, facing backward, facing forward at the back, and facing backward at the back. Each workstation can independently stand up the strip-shaped workpieces on it and make them arranged side by side in an upright posture to form a neat queue.

[0011] The control system controls the coordinated actions of the three by obtaining the status information of the flexible vibrating disk, the vision spider manipulator, and the four-station workpiece arranging device.

[0012] Furthermore, the flexible vibrating disk uses a voice coil motor as the power source. By changing the magnitude and direction of the current, precise control of the vibration frequency, amplitude, and phase is achieved, and thus intermittent small-amplitude up-and-down vibration is realized.

[0013] Furthermore, the bearing platform of the flexible vibrating disk is a backlight LED light board. When the vision spider manipulator is ready to perform the grasping operation, the control system automatically lights up the LED light board to adapt to the shooting of the vision camera of the vision spider manipulator.

[0014] Furthermore, the end effector of the vision spider manipulator is a vacuum chuck. The control system controls the grasping or releasing of the strip-shaped workpiece by the end effector by controlling the on / off of the negative pressure pipeline connected to the vacuum chuck.

[0015] Furthermore, the end effector of the vision spider manipulator is an electromagnetic chuck. The control system controls the grasping or releasing of the magnetic strip-shaped workpiece by the end effector by controlling the on / off of the electromagnet circuit of the electromagnetic chuck.

[0016] Furthermore, the four workstations of the four-station workpiece arranging device are arranged in pairs and relatively. Each workstation includes a workpiece receiving groove with a width corresponding to the length of the strip-shaped workpiece. One end of the workpiece receiving groove close to the vision spider manipulator is lowered to form a workpiece placing surface parallel to the bottom surface of the workpiece receiving groove. The intersection of the workpiece placing surface and the bottom surface of the workpiece receiving groove is transitioned by an arc surface. The cylinder body of the vertical material cylinder is erected at the bottom of the workpiece receiving groove. Multiple rectangular grooves are arranged at intervals on the workpiece placing surface and the bottom surface of the workpiece receiving groove close to it. It also includes multiple "factory"-shaped shifting plates. The end of the flat plate part of the shifting plate has an upward-extending hook. The end of the inclined plate part of the shifting plate has a first hinge hole. The intersection of the flat plate part and the inclined plate part has a second hinge hole. The flat plate parts of the shifting plates are respectively located in the rectangular grooves and are hinged to the workpiece receiving groove at the arc surface through the second hinge hole. After the inclined plate parts of all the shifting plates extend downward out of the rectangular grooves, they are all hinged to the rod of the vertical material cylinder through the first hinge hole. A block that can slide under the action of an external force is placed on the workpiece receiving groove.

[0017] Further, the rectangular slot is arranged obliquely with the high proximal end and the low distal end relative to the visual spider manipulator.

[0018] Further, the rectangular slot is arranged obliquely with the high proximal end and the low distal end relative to the visual spider manipulator.

[0019] Further, the horizontal vibrator is further provided with a feeding hopper fixedly arranged thereon.

[0020] Further, the horizontal vibrator is further provided with a feeding hopper fixedly arranged thereon.

[0021] Compared with the prior art, the present application has the following beneficial technical effects:

[0022] 1. Improved production efficiency: the flexible vibration plate, the visual spider manipulator and the four-station workpiece arranging device cooperate with each other to realize the automatic workpiece arranging process of the long strip-shaped workpiece.

[0023] 2. Ensure product quality: avoid surface damage caused by frequent collision of long strip-shaped workpieces during conventional vibration plate feeding.

[0024] 3. Reduce labor intensity: liberate workers from long-term repetitive and monotonous workpiece arranging work, reduce manual operation, reduce labor intensity of workers, and avoid occupational health problems caused by long-term high-intensity work.

[0025] 4. Wide application range: not only suitable for workpiece arranging of long strip-shaped workpieces such as overlock machine knives in the garment industry, but also applicable to workpiece arranging of long strip-shaped or surface-damaged parts in electronic equipment manufacturing, precision instrument production and other industries, with strong universality.

[0026] 5. Precise control and collaborative work: the control system obtains the state information of each component and controls the collaborative action, so that the whole workpiece arranging process is carried out in an orderly manner, improving the accuracy and stability of workpiece arranging and ensuring the efficient and reliable operation of the device. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1It is a structure schematic view of the utility model.

[0028] Figure 2 It is a structure schematic view of one station of the four-station piece arranging device.

[0029] Figure 3 It is Figure 2 Another structure schematic view.

[0030] Figure 4 It is a structure schematic view of the four-station piece arranging device. Specific embodiments

[0031] In the description of the utility model, it needs to be explained that the orientation or position relation indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is the orientation or position relation based on the drawing shown, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as the limitation of the utility model.

[0032] In the description of the utility model, it needs to be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "communication" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For ordinary skilled person in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0033] The embodiments of the utility model will be described below by specific concrete examples, and the other advantages and effects of the utility model can be easily understood by the skilled person in the art according to the contents disclosed in the specification, obviously, the described examples are part of the examples of the utility model, not all the examples. Based on the examples in the utility model, all other examples obtained by the ordinary skilled person in the art without creative labor belong to the scope of protection of the utility model.

[0034] As Figures 1-4 Shown is a kind of flexible piece arranging device suitable for long strip type workpiece, including

[0035] Flexible vibration disc 100, intermittent small amplitude up and down vibration, so that the long strip type workpiece on it is bounced up and dispersed;

[0036] The visual spider manipulator 200 picks up non-overlapping strip-shaped workpieces one by one through visual inspection during the intervals when the flexible vibrating disk 100 is not vibrating, and places them on one of the workstations of the four-station workpiece arranging device 300 respectively;

[0037] The four-station workpiece arranging device 300 has four workstations, which respectively receive strip-shaped workpieces in four states: facing forward, facing backward, facing forward at the back, and facing backward at the back. Each workstation can independently stand up the strip-shaped workpieces on it and arrange them side by side in a vertical posture to form a neat queue;

[0038] The control system controls the coordinated actions of the flexible vibrating disk 100, the visual spider manipulator 200 and the four-station workpiece arranging device 300 by obtaining their status information.

[0039] In this embodiment, the four workstations of the four-station workpiece arranging device 300 are arranged in pairs relatively. Each workstation includes a workpiece receiving groove 301 whose width corresponds to the length of the strip-shaped workpiece. One end of the workpiece receiving groove 301 close to the visual spider manipulator 200 is lowered to form a workpiece placing surface 302 parallel to the bottom surface of the workpiece receiving groove 301. The intersection of the workpiece placing surface 302 and the bottom surface of the workpiece receiving groove 301 is transitioned by an arc surface 306. The cylinder body of a vertical material cylinder 304 is erected at the bottom of the workpiece receiving groove 301. Multiple spaced rectangular grooves 303 are opened on the workpiece placing surface 302 and the bottom surface of the workpiece receiving groove 301 close to it; it also includes multiple "factory"-shaped push plates 305. The end of the flat plate part 3051 of the push plate 305 has a hook 3052 extending upward. The end of the inclined plate part 3053 of the push plate 305 has a first hinge hole 3054. The intersection of the flat plate part 3051 and the inclined plate part 3053 has a second hinge hole 3055. The flat plate parts 3051 of the push plates 305 are respectively located in the rectangular grooves 303 and are hinged to the workpiece receiving groove 301 at the arc surface 306 through the second hinge holes 3055. After the inclined plate parts 3053 of all the push plates 305 extend downward out of the rectangular grooves 303, they are all hinged to the cylinder rod of the vertical material cylinder 304 through the first hinge holes 3054; a stopper 307 that can slide under the action of an external force is placed on the workpiece receiving groove 301.

[0040] The working process of this flexible workpiece arranging device suitable for strip-shaped workpieces in this embodiment is as follows:

[0041] 1. Workpiece dispersion: The flexible vibrating disk 100 vibrates intermittently and slightly up and down, causing the strip-shaped workpieces placed on it to bounce up and disperse, facilitating subsequent grasping.

[0042] 2. Workpiece grabbing and sorting transfer: In the gap when the flexible vibration disc 100 stops vibrating, the visual spider manipulator 200 identifies and selects the long-strip workpieces that do not overlap each other through visual detection, and judges the state of the workpieces (front side facing forward, back side facing forward, front side facing backward, and back side facing backward). Then, the visual spider manipulator 200 places the workpieces in corresponding positions of the four-position workpiece organizer 300 according to different states of the workpieces, i.e., the workpieces with front side facing forward are placed in corresponding positions, the workpieces with back side facing forward are placed in corresponding positions, and so on.

[0043] 3. Workpiece standing and arrangement: Each position of the four-position workpiece organizer 300 works independently. Taking one of the positions as an example, in the initial state, the upper surface of the flat plate part 3051 of the plurality of push plates 305 is below the workpiece placing surface 302. When the material standing cylinder 304 is extended, the flat plate part 3051 of the plurality of push plates 305 is flipped upward to stand the first long-strip workpiece on the workpiece placing surface 302 and make it abut against the side surface of the stop block 307; when the material standing cylinder 304 is retracted, the push plate 305 is reset. Thereafter, each extension of the material standing cylinder 304 will make a new long-strip workpiece stand and be arranged in sequence, while the stop block 307 and the standing workpiece are displaced to the distal end of the workpiece storage groove 301, until the position is full, and the four positions work in a cycle.

[0044] 4. Cooperative control: During the whole process, the control system continuously obtains the state information of the flexible vibration disc 100, the visual spider manipulator 200, and the four-position workpiece organizer 300, and controls their cooperative operation according to the information to ensure the orderly action of each component and realize efficient and accurate flexible workpiece sorting.

[0045] In another preferred embodiment, the flexible vibration disc 100 uses a voice coil motor as a power source, and by changing the current size and direction, the vibration frequency, amplitude, and phase can be accurately controlled, and then intermittent small-amplitude up-and-down vibration is realized. In this embodiment, the flexible vibration disc 100 uses a voice coil motor as a power source. By changing the current size and direction, the frequency, amplitude, and phase of the vibration can be accurately controlled to realize intermittent small-amplitude up-and-down vibration, which provides appropriate power for the dispersion of long-strip workpieces.

[0046] In another preferred embodiment, the bearing platform of the flexible vibration disc 100 is a backlit LED light plate. When the visual spider manipulator 200 is ready to perform the grabbing operation, the control system automatically lights up the LED light plate to adapt to the shooting of the visual camera of the visual spider manipulator 200. In this embodiment, the bearing platform of the flexible vibration disc 100 is a backlit LED light plate. When the visual spider manipulator 200 is ready to grab the workpiece, the control system will automatically light up the LED light plate to provide suitable light for the visual camera, so that it can clearly shoot and accurately identify the position and state of the workpiece.

[0047] In another preferred embodiment, the end effector of the visual spider manipulator 200 is a vacuum chuck, and the control system controls the end effector to pick up or put down the long-strip workpiece by controlling the on-off of the negative pressure pipeline connected to the vacuum chuck. This embodiment uses the principle of vacuum adsorption to complete workpiece carrying, and is suitable for workpieces of all materials.

[0048] In another preferred embodiment, the end effector of the visual spider manipulator 200 is an electromagnetic chuck, and the control system controls the end effector to pick up or put down the long-strip workpiece with magnetism, such as a steel workpiece, by controlling the on-off of the electromagnet circuit of the electromagnetic chuck.

[0049] In another preferred embodiment, the rectangular groove 303 is arranged in an inclined manner with the proximal end being higher and the distal end being lower relative to the visual spider manipulator 200. This design helps to reduce the friction of the long-strip workpiece in the rectangular groove, facilitates subsequent vertical operation, and improves the workpiece arranging efficiency.

[0050] In another preferred embodiment, the rectangular groove 303 is arranged with a full-material detection switch relative to the distal end of the visual spider manipulator 200. It can monitor the number of workpieces in the rectangular groove in real time, and when full material is detected, it can feed back to the control system in a timely manner, facilitating the regulation and control of the entire workpiece arranging process.

[0051] In another preferred embodiment, a horizontal vibrator 400 for feeding the flexible vibrating disc 100 is further included, and a feeding hopper 401 is fixedly arranged on the horizontal vibrator 400. When the visual camera of the visual spider manipulator 200 detects that the number of long-strip workpieces on the flexible vibrating disc 100 is less than a set value, the control system controls the horizontal vibrator 400 to start feeding the flexible vibrating disc 100, realizing automatic feeding.

[0052] In another preferred embodiment, a storage bin 500 for feeding the feeding hopper 401 is further included, and an inclined feeding chute 501 is arranged at the lower end of the storage bin 500. The feeding chute 501 is connected to the feeding hopper 401. When the horizontal vibrator 400 starts, the disordered long-strip workpieces stored in the storage bin 500 fall into the feeding chute 501 and fall along the feeding chute 501, continuously providing workpieces for the flexible vibrating disc 100.

[0053] The above only describes the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A flexible workpiece handling device suitable for long and narrow workpieces, characterized in that, include The flexible vibratory plate (100) vibrates intermittently with small amplitudes, causing long strip-shaped workpieces on it to bounce up and disperse. The visual spider robot (200) picks up long strip-shaped workpieces that do not overlap one by one through visual inspection during the gap when the flexible vibrating plate (100) is not vibrating, and places them on one of the stations of the four-station workpiece sorter (300). The four-station workpiece handler (300) has four stations, which respectively handle long strip workpieces in four states: front-facing, back-facing, front-facing and back-facing. Each station can independently stand up the long strip workpieces on it and arrange them side by side in an upright posture to form a neat queue. The control system controls the coordinated actions of the flexible vibratory feeder (100), the visual spider robot (200), and the four-station component handler (300) by acquiring their status information.

2. The flexible workpiece handling device suitable for long and narrow workpieces according to claim 1, characterized in that, The flexible vibrating plate (100) uses a voice coil motor as a power source. By changing the magnitude and direction of the current, it can achieve precise control of the vibration frequency, amplitude and phase, thereby realizing intermittent small-amplitude up-and-down vibration.

3. The flexible workpiece handling device suitable for long strip-shaped workpieces according to claim 1, characterized in that, The flexible vibrating plate (100) has a backlit LED light panel as its support platform. When the visual spider robot (200) is ready to perform a grasping operation, the control system automatically lights up the LED light panel to accommodate the visual camera of the visual spider robot (200).

4. The flexible workpiece handling device suitable for long and narrow workpieces according to claim 1, characterized in that, The end effector of the visual spider robot (200) is a vacuum suction cup. The control system controls the end effector to grab or put down long strip-shaped workpieces by controlling the opening and closing of the negative pressure pipeline connected to the vacuum suction cup.

5. A flexible workpiece handling device suitable for long and narrow workpieces according to claim 1, characterized in that, The end effector of the visual spider robot (200) is an electromagnetic chuck. The control system controls the end effector to grasp or release long, magnetically conductive workpieces by controlling the on / off state of the electromagnet circuit of the electromagnetic chuck.

6. A flexible workpiece handling device suitable for long and narrow workpieces according to claim 1, characterized in that, The four workstations of the four-station workpiece sorting device (300) are arranged in pairs and opposite to each other. Each workstation includes a workpiece storage groove (301) whose width corresponds to the length of the strip-shaped workpiece. One end of the workpiece storage groove (301) close to the vision spider manipulator (200) is lowered to form a workpiece placement surface (302) parallel to the bottom surface of the workpiece storage groove (301). The junction between the workpiece placement surface (302) and the bottom surface of the workpiece storage groove (301) is transitioned by an arc surface (306). The cylinder body of a vertical feeding cylinder (304) is erected at the bottom of the workpiece storage groove (301). Multiple spaced rectangular grooves (303) are provided on the workpiece placement surface (302) and the bottom surface of the workpiece storage groove (301) close to it; it also includes multiple "factory"-shaped dial plates (305). The end of the flat plate portion (3051) of the dial plate (305) has a hook head (3052) extending upward. The end of the inclined plate portion (3053) of the dial plate (305) has a first hinge hole (3054). The junction between the flat plate portion (3051) and the inclined plate portion (3053) has a second hinge hole (3055). The flat plate portions (3051) of the dial plates (305) are respectively located in the rectangular grooves (303) and are hinged to the workpiece storage groove (301) at the arc surface (306) through the second hinge holes (3055). After the inclined plate portions (3053) of all the dial plates (305) extend downward out of the rectangular grooves (303), they are all hinged to the cylinder rod of the vertical feeding cylinder (304) through the first hinge holes (3054); a stopper (307) that can slide under the action of an external force is placed on the workpiece storage groove (301).

7. A flexible workpiece handling device suitable for long and narrow workpieces according to claim 6, characterized in that, The rectangular grooves (303) are arranged in an inclined manner that is higher at the proximal end and lower at the distal end relative to the vision spider manipulator (200).

8. A flexible workpiece handling device suitable for long strip-shaped workpieces according to claim 6, characterized in that, A full-material detection switch is arranged at the distal end of the rectangular grooves (303) relative to the vision spider manipulator (200).

9. A flexible workpiece handling device suitable for long and narrow workpieces according to claim 1, characterized in that, It also includes a horizontal vibrator (400) for feeding the flexible vibrating disk (100), and a feeding hopper (401) is fixed on the horizontal vibrator (400).

10. A flexible workpiece handling device suitable for long strip-shaped workpieces according to claim 9, characterized in that, It also includes a storage bin (500) for feeding the feeding hopper (401). An inclined feeding chute (501) is installed under the discharge port at the lower end of the storage bin (500), and the feeding chute (501) is connected to the feeding hopper (401).

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