An automatic feeding machine for irregularly picking up automobile exhaust pipe profile sheet metal parts

Abstract

The utility model belongs to automatic feeding equipment technical field, especially relate to a kind of for the disordered pickup automatic feeding machine of automobile exhaust pipe special-shaped sheet metal part, including robot body, robot body is fixedly installed on concrete ground, the feeding position component for placing material placing assembly is arranged in the side of robot body, the visual device that can accurately detect special-shaped sheet metal part shape and position is arranged at the position close to feeding position component, picking device is installed on robot body, the utility model first through AGV trolley automatic conveying special-shaped sheet metal part in standard logistics material frame to feeding position, 3D vision camera cooperate robot body and picking device accurate positioning pickup special-shaped sheet metal part, realize special-shaped sheet metal part disordered pickup, fast transfer, accurately pick the special-shaped sheet metal part of disordered arrangement in material frame to next station, improve the working efficiency and automation rate of nut automatic projection welding station, solve the problem of artificial safety that has existed.

Description

Technical Field

[0001] This utility model belongs to the technical field of automated feeding equipment, and in particular relates to an unordered automatic feeding machine for irregularly shaped sheet metal parts for automobile exhaust pipes. Background Technology

[0002] Irregularly shaped sheet metal parts on car exhaust pipes (such as...) Figure 4 As shown, currently, the nut projection welding operation is carried out by manually feeding the sheet metal parts to the projection welding machine. This requires manual placement of the sheet metal parts at the projection welding machine station. During the production process, there are high requirements for the workers' job skills and safety awareness. The stability and efficiency have not been well improved, which is not conducive to automated production. Therefore, suitable automated feeding equipment is needed to solve the problem of feeding irregularly shaped sheet metal parts. However, irregularly shaped sheet metal parts are irregular in shape, and it is difficult to quickly pick up and transport irregularly shaped sheet metal parts to the projection welding machine station. Utility Model Content

[0003] The main technical problem to be solved by this utility model is to provide an automatic material feeding machine for disordered picking of irregular sheet metal parts for automobile exhaust pipes that has a reasonable structure, is easy and reliable to operate, and has high working efficiency.

[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution: An automated unordered picking and feeding machine for irregularly shaped sheet metal parts for automobile exhaust pipes includes a robot body, which is fixedly installed on a concrete ground. A feeding position component for placing material placement components is provided on one side of the robot body. A vision device capable of accurately detecting the shape and position of irregularly shaped sheet metal parts is provided near the feeding position component. A picking device is installed on the robot body.

[0005] The following are further optimizations of the above technical solution by this utility model: The picking device includes a connecting plate, which is fixedly mounted on the robot body. A connecting block is fixedly connected to the connecting plate, and a pneumatic suction cup is threaded to the end of the connecting block away from the connecting plate.

[0006] Further optimization: The connecting block has an elongated hole, and the pneumatic suction cup extends into the elongated hole from the end near the connecting block.

[0007] Further optimization: The cross-sectional shape of the connecting block is L-shaped.

[0008] Further optimization: The material placement component includes a material frame placement rack, and at least one material frame is provided above the material frame placement rack.

[0009] Further optimization: Each material frame placement rack has two material frames, and the position of each material frame on the material frame placement rack is limited by a limiting component.

[0010] Further optimization: The limiting component includes two symmetrically arranged material frame positioning frames, which are fixedly connected to the material frame placement frame.

[0011] Further optimization: The feeding position component includes three vertical supports, which are fixedly installed on the concrete ground. Each pair of the three vertical supports is fixedly connected to a support rod, and a position sensor is installed on each of the two support rods.

[0012] Further optimization: The vision device includes two support bases, which are located on both sides of the feeding position component and fixedly installed on the concrete ground. Each support base is fixedly connected to a side bracket, and the upper ends of the two side brackets are jointly fixedly connected to a crossbeam. A transverse moving module is installed below the crossbeam, and a 3D vision camera is installed on the moving block of the transverse moving module.

[0013] Further optimizations include AGV (Automated Guided Vehicle) carts.

[0014] Through rational design, this utility model's structure first automatically transports irregularly shaped sheet metal parts from a standard logistics basket to a designated loading position via an AGV trolley. A 3D vision camera, in conjunction with the robot body and picking device, precisely locates and picks up the irregularly shaped sheet metal parts, enabling disordered picking and rapid transfer of these parts. This accurately picks up the disordered irregularly placed parts from the basket and moves them to the next workstation, improving the efficiency and automation rate of the automatic projection welding station for nuts and solving the long-standing issue of human safety.

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model; Figure 2 This is a schematic diagram of the picking device in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the feeding position component in an embodiment of this utility model; Figure 4 This is a schematic diagram of the material placement component in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the vision device in an embodiment of this utility model.

[0017] In the diagram: 1-Base; 2-Robot body; 3-Pickup device; 301-Connecting plate; 302-Connecting block; 3021-Elongated hole; 303-Pneumatic suction cup; 4-Material placement assembly; 401-Material frame placement rack; 402-Material frame positioning rack; 403-Material frame; 5-Loading position assembly; 501-Vertical bracket; 502-Support rod; 503-Position sensor; 6-Vision device; 601-Support base; 602-Side bracket; 603-Crossbeam; 604-Transverse movement module; 605-3D vision camera; 7-AGV trolley; 8-Irregular sheet metal part; 801-Central surface. Detailed Implementation

[0018] like Figure 1-5 As shown, an automatic unordered picking and feeding machine for irregularly shaped sheet metal parts for automobile exhaust pipes includes a robot body 2. The robot body 2 is fixedly installed on a concrete ground via a base 1. The base 1 is fixedly installed on the concrete ground via chemical bolts. The robot body 2 and the base 1 are fixedly connected by bolts and internally threaded cylindrical pins. A feeding position component 5 for placing a material placement component 4 is provided on one side of the robot body 2. The irregularly shaped sheet metal parts 8 are placed on the material placement component 4. A vision device 6 capable of accurately detecting the shape and position of the irregularly shaped sheet metal parts 8 is provided near the feeding position component 5. A picking device 3 is installed on the robot body 2.

[0019] With this design, the vision device 6, together with the robot body 2 and the picking device 3, accurately positions and picks up the irregular sheet metal parts 8 on the material placement component 4, realizing the disordered picking and rapid transfer of the irregular sheet metal parts 8, improving the working efficiency and automation rate of the automatic projection welding station for nuts, and solving the long-standing problem of human safety. The feeding position component 5 provides a feeding position for the material placement component 4, making it convenient for the robot body 2 to drive the picking device 3 to pick up the irregular sheet metal parts 8 on the material placement component 4.

[0020] The picking device 3 includes a connecting plate 301, which is fixedly installed on the robot body 2. A connecting block 302 is fixedly connected to the connecting plate 301, and a pneumatic suction cup 303 is threadedly connected to the end of the connecting block 302 away from the connecting plate 301.

[0021] The connecting block 302 has an L-shaped cross-section, which facilitates its installation on the connecting plate 301.

[0022] The connecting block 302 has an elongated hole 3021, and the pneumatic suction cup 303 extends into the elongated hole 3021 from one end near the connecting block 302.

[0023] The pneumatic suction cup 303 is existing technology and can be purchased from the market.

[0024] One end of the pneumatic suction cup 303 located in the elongated hole 3021 is connected to an air pipe, which is connected to an air source. A solenoid valve is installed between the pneumatic suction cup 303 and the air source.

[0025] With this design, after the vision device 6 accurately determines the structure and position of the irregular sheet metal part 8 on the material placement component 4, the pneumatic suction cup 303 can accurately pick up the central surface 801 of the irregular sheet metal part 8 and move it to the projection welding machine station in conjunction with the robot body 2, thus solving the problem that the irregular sheet metal part 8 is difficult to grasp due to its irregular structure.

[0026] The material placement component 4 includes a material frame placement rack 401, and two material frames 403 are arranged above the material frame placement rack 401. The positions of the two material frames 403 on the material frame placement rack 401 are limited by a limiting component.

[0027] This design places the irregularly shaped sheet metal part 8 inside the material frame 403, making it convenient for the irregularly shaped sheet metal part 8 to be carried and moved.

[0028] In addition to this embodiment, the number of material frames 403 on each material frame placement rack 401 can be one or more.

[0029] Plastic turnover boxes are preferred for material frames 403. Plastic turnover boxes are existing technology and can be purchased directly from the market, thereby reducing the manufacturing cost of the equipment.

[0030] The two limit components are arranged symmetrically.

[0031] The limiting component includes two symmetrically arranged material frame positioning frames 402, which are fixedly connected to the material frame placement frame 401.

[0032] The feeding position component 5 includes three vertical supports 501, which are fixedly installed on the concrete ground by chemical bolts. Each pair of the three vertical supports 501 is fixedly connected to a support rod 502, and a position sensor 503 is installed on each of the two support rods 502.

[0033] With this design, two feeding positions are set between the three vertical supports 501. Both feeding positions can place the material placement component 4. While the material placement component 4 at one feeding position is transferring the irregular sheet metal part 8 between the projection welding machine station, the material placement component 4 at the other feeding position can be moved to the previous station to obtain the irregular sheet metal part 8. The material placement components 4 at the two feeding positions work alternately, which greatly improves the work efficiency. The position sensor 503 ensures that the material placement component 4 can be accurately placed in the corresponding feeding position.

[0034] The position sensor 503 preferably uses a proximity switch.

[0035] The vision device 6 includes two support bases 601, which are respectively located on both sides of the feeding position component 5. The support bases 601 are fixedly installed on the concrete ground by chemical bolts. Side brackets 602 are fixedly connected to both support bases 601. The two side brackets 602 are arranged in parallel at a certain distance. A crossbeam 603 is fixedly connected to the upper end of the two side brackets 602.

[0036] A transverse module 604 is installed below the crossbeam 603, and a 3D vision camera 605 is installed on the moving block of the transverse module 604.

[0037] With this design, the horizontal moving module 604 can drive the 3D vision camera 605 to move back and forth, so that the 3D vision camera 605 can be moved directly above the corresponding material frame 403, which facilitates data collection on the irregular sheet metal parts 8 in the material frame 403, thereby making the data collected by the 3D vision camera 605 more accurate.

[0038] The transverse module 604 is existing technology and is a device used to realize the transverse movement of mechanical parts.

[0039] This unordered automatic picking and feeding machine also includes an AGV trolley 7.

[0040] This design allows the AGV trolley 7 to quickly and accurately move irregularly shaped sheet metal parts 8 from the previous workstation to the corresponding loading position. The 3D vision camera 605, together with the robot body 2 and the picking device 3, precisely positions and picks up the irregularly shaped sheet metal parts 8, realizing disordered picking and rapid transfer of irregularly shaped sheet metal parts 8, which greatly improves the working efficiency of the equipment.

[0041] AGV (Automated Guided Vehicle) is also called AGV intelligent handling robot. It is an intelligent logistics device based on automatic navigation technology and is a current technology.

[0042] The robot body 2, position sensor 503, lateral movement module 604 and 3D vision camera are all electrically connected to the control system, and the AGV trolley 7 is signal connected to the control system. The control system controls the coordinated actions of the disordered picking automatic feeding machine.

[0043] For those skilled in the art, any changes, modifications, substitutions, and variations made to the implementation methods without departing from the principles and spirit of this utility model, based on the teachings of this utility model, still fall within the protection scope of this utility model.

Claims

1. An automated picking and feeding machine for irregularly shaped sheet metal parts for automotive exhaust pipes, comprising a robot body (2), characterized in that: The robot body (2) is fixedly installed on the concrete ground. A feeding position component (5) for placing the material placement component (4) is provided on one side of the robot body (2). A vision device (6) capable of accurately detecting the shape and position of the irregular sheet metal part (8) is provided near the feeding position component (5). A picking device (3) is installed on the robot body (2).

2. The automatic unordered picking and feeding machine for irregularly shaped sheet metal parts of automobile exhaust pipes according to claim 1, characterized in that: The picking device (3) includes a connecting plate (301), which is fixedly installed on the robot body (2). A connecting block (302) is fixedly connected to the connecting plate (301), and a pneumatic suction cup (303) is threaded to one end of the connecting block (302) away from the connecting plate (301).

3. The automatic unordered picking and feeding machine for irregularly shaped sheet metal parts of automobile exhaust pipes according to claim 2, characterized in that: The connecting block (302) has an elongated hole (3021), and the pneumatic suction cup (303) extends into the elongated hole (3021) at one end near the connecting block (302).

4. The automatic unordered picking and feeding machine for irregularly shaped sheet metal parts of automobile exhaust pipes according to claim 3, characterized in that: The cross-sectional shape of the connecting block (302) is L-shaped.

5. The automatic unordered picking and feeding machine for irregularly shaped sheet metal parts of automobile exhaust pipes according to claim 4, characterized in that: The material placement assembly (4) includes a material frame placement rack (401), and at least one material frame (403) is provided above the material frame placement rack (401).

6. The automatic unordered picking and feeding machine for irregularly shaped sheet metal parts of automobile exhaust pipes according to claim 5, characterized in that: Each of the aforementioned material frame placement racks (401) has two material frames (403), and the position of each material frame (403) on the material frame placement rack (401) is limited by a limiting component.

7. The automatic unordered picking and feeding machine for irregularly shaped sheet metal parts of automobile exhaust pipes according to claim 6, characterized in that: The limiting component includes two symmetrically arranged material frame positioning frames (402), which are fixedly connected to the material frame placement frame (401).

8. The automatic unordered picking and feeding machine for irregularly shaped sheet metal parts of automobile exhaust pipes according to claim 7, characterized in that: The feeding position component (5) includes three vertical supports (501), which are fixedly installed on the concrete ground. Each pair of the three vertical supports (501) is connected to a support rod (502), and each support rod (502) is equipped with a position sensor (503).

9. An automatic unordered picking and feeding machine for irregularly shaped sheet metal parts of automotive exhaust pipes according to claim 8, characterized in that: The vision device (6) includes two support bases (601), which are located on both sides of the loading position component (5) and fixedly installed on the concrete ground. Each of the two support bases (601) is fixedly connected to a side bracket (602), and the upper ends of the two side brackets (602) are jointly fixedly connected to a crossbeam (603). A transverse module (604) is installed below the crossbeam (603), and a 3D vision camera (605) is installed on the moving block of the transverse module (604).

10. An automatic unordered picking and feeding machine for irregularly shaped sheet metal parts of automotive exhaust pipes according to claim 9, characterized in that: It also includes AGV carts (7).

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