Visual guidance ziptie flexible assembly machine

Abstract

The utility model discloses a flexible assembly machine of cable tie buckle using visual guidance belongs to automatic equipment technical field. The assembly machine includes: buckle pay -off part, cable tie pay -off part, cable tie handling unit, buckle handling unit, cable tie holds tightly part, cable tie insertion part and buckle upper pull part, and buckle pay -off part includes: buckle flexible vibrator, first visual device, second visual device, buckle suction pad handling mechanism, buckle direct vibration pay -off and buckle conveying rail, and first visual device sets up above buckle flexible vibrator, and second visual device sets up in the side of flexible vibrator, and buckle suction pad handling mechanism is used for making buckle from buckle flexible vibrator through second visual device and moves to the cooperation position with buckle conveying rail. The utility model can change buckle angle before buckle moves to buckle handling unit, and when the buckle model is replaced, the structure of cable tie buckle assembly machine is adjusted conveniently, and the cable tie assembly can be flexibly adapted to buckles of different models.

Description

Technical Field

[0001] This utility model belongs to the field of automation equipment technology, specifically a flexible assembly machine using vision-guided cable ties and buckles. Background Technology

[0002] Authorization Announcement No.: CN 216264415 U, Authorization Announcement Date: 2022.04.12, Utility Model Name: A Chinese Utility Model Patent for a Cable Tie Buckle Assembly Machine discloses that "a flexible cable tie buckle assembly machine using visual guidance includes a base (1), and a buckle feeding part, a cable tie feeding part, a cable tie conveying part (8), a buckle conveying part (11), a cable tie clamping part (4), and a cable tie insertion part (5) arranged on the base (1); the buckle feeding part includes a buckle turntable (201), a buckle conveying rail (203) connected to the buckle turntable (201), and a buckle conveying rail (204) set with buckle conveying rail (205)." 03) The lower buckle direct vibration feeder (202); the cable tie feeding part includes a cable tie conveying rail (301) and a cable tie direct vibration feeder (302) set on the cable tie conveying rail (301); the cable tie transporting part (8) moves the cable tie from the cable tie conveying rail (301) to the assembly station; the buckle transporting part (11) moves the buckle from the buckle conveying rail (203) to the assembly station; the cable tie clamping part (4) limits the movement of the cable tie at the assembly station; the cable tie insertion part (5) inserts the cable tie at the assembly station into the through hole of the buckle at the assembly station. It uses a buckle turntable, a buckle direct vibration feeder, and a buckle conveyor rail to move the buckle to the position that matches the buckle transport section. However, the structure of the buckle transport section and the cable tie clamping section is relatively complex. When the two are combined together, there is a problem that the cable tie assembly cannot flexibly adapt to different buckle models when the buckle model is changed. Utility Model Content

[0003] Purpose of the utility model: To provide a flexible assembly machine for cable ties and buckles using vision guidance, which allows the buckle transport unit to transport the buckles without changing the angle of the buckles, thus simplifying the structure of the buckle transport unit. When changing the buckle model, the structure of the cable tie and buckle assembly machine can be easily adjusted, enabling the cable tie assembly to flexibly adapt to different buckle models.

[0004] The technical solution of this utility model is: a flexible assembly machine for cable ties and buckles using vision guidance, comprising: a buckle feeding part, a cable tie feeding part, a cable tie transporting part, a buckle transporting part, a cable tie clamping part, a cable tie insertion part, and a buckle pulling part.

[0005] The buckle feeding section includes: a buckle flexible vibrator, a first vision device, a second vision device, a buckle suction cup conveying mechanism, a buckle direct vibration feeder, and a buckle conveying rail.

[0006] The latching and transporting part includes a latching and transporting gripper mechanism.

[0007] The first vision device is located above the buckle flexible vibrator, the second vision device is located on the side of the flexible vibrator, the buckle conveying rail is detachably installed on the buckle direct vibration feeder, and the buckle suction cup transport mechanism is used to move the buckle from the buckle flexible vibrator through the second vision device to the position where it engages with the buckle conveying rail.

[0008] The buckle direct vibration feeder and buckle conveyor rail work together to move the buckle to the position that matches the buckle transport part.

[0009] The buckle transport gripper mechanism is used to move the buckle to a position that engages with the cable tie clamping part.

[0010] In a further embodiment, the cable tie feeding unit includes: a cable tie vibratory feeder, a cable tie direct vibration feeder, and a cable tie conveyor rail.

[0011] The cable tie conveyor rail is installed on the cable tie vibrating feeder and is located between the cable tie vibrating plate and the cable tie transport section, which can automatically transport the cable ties to the cable tie transport section.

[0012] In a further embodiment, the cable tie assembly machine also includes a detector and a finished product dispensing unit.

[0013] The detector is located on the side of the pull-up part of the buckle.

[0014] The finished product sorting section includes: a conveyor rail moving mechanism, a finished product conveyor rail, and a defective product conveyor rail, wherein the finished product conveyor rail and the defective product conveyor rail are installed on the conveyor rail moving mechanism.

[0015] The conveyor rail moving mechanism is used to drive the finished product conveyor rail and the defective product conveyor rail to move, so that the finished product conveyor rail or the defective product conveyor rail cooperates with the buckle pull part, which can automatically detect whether the product assembly is qualified and separate the finished product and the defective product for conveying.

[0016] In a further embodiment, the cable tie conveyor rail is a curved conveyor rail, such that the portion of the cable tie conveyor rail near the buckle conveyor rail is spaced at a predetermined distance from the buckle conveyor rail, facilitating the replacement of the buckle conveyor rail.

[0017] In a further embodiment, the snap-on conveying unit further includes a snap-on receiving seat and a snap-on lifting mechanism.

[0018] The snap-on receiving seat is installed on the snap-on lifting mechanism, and the snap-on receiving seat cooperates with the snap-on conveyor rail.

[0019] The snap-on receiving seat is located between the snap-on transport gripper mechanism and the cable tie clamping part. The snap-on transport gripper mechanism, the snap-on receiving seat, and the snap-on lifting mechanism work together to move the snaps on the snap-on receiving seat to a position that mates with the cable tie clamping part. In a further embodiment, the snap-fit ​​suction cup transport mechanism includes a three-axis displacement mechanism and multiple suction cup mechanisms.

[0020] Multiple suction cup mechanisms are arranged in a line and installed on the three-axis displacement mechanism.

[0021] In a further embodiment, the triaxial displacement mechanism includes multiple vertical displacement mechanisms, and the multiple suction cup mechanisms are respectively installed on the multiple vertical displacement mechanisms, which can control the lifting and lowering of each suction cup mechanism, making it convenient to obtain a suitable buckle from the flexible vibrator.

[0022] In a further embodiment, a groove is provided above the portion of the snap-on conveyor rail near the snap-on suction cup transport mechanism, and the groove communicates with the interior of the snap-on conveyor rail.

[0023] The groove works in conjunction with the snap-on suction cup transport mechanism, enabling the snap-on suction cup transport mechanism to use the linear arrangement of the suction cups to transport multiple snaps into the snap-on transport rail in one go.

[0024] In a further embodiment, the snap-on conveyor rail includes a variable-angle conveyor rail, which can further change the snap-on angle during the snap-on conveying process based on the snap-on angle being changed by the snap-on flexible vibrator, so that the snap-on angle meets the assembly requirements.

[0025] In a further embodiment, the buckle conveying rail includes a linear conveying rail, which can convey buckles at a fixed angle based on the fact that the buckle angle can be changed by the buckle flexible vibrator to meet the assembly requirements.

[0026] The cable tie buckle assembly method includes: S1, replacing the buckle conveyor rail with a conveyor rail that corresponds to the shape and angle of the buckle.

[0027] S2. The buckle flexible vibrator changes the angle of the buckle. The first vision device identifies the angle of the buckle on the buckle flexible vibrator and guides the buckle suction cup transport mechanism to pick up the buckle at a predetermined angle from the buckle flexible vibrator. Then the buckle suction cup transport mechanism moves the buckle to a position that matches the second vision device. The second vision device identifies the buckle on the buckle suction cup transport mechanism.

[0028] S3, the snap-on suction cup transport mechanism moves multiple snaps that meet the specified angles into the snap-on transport rail, and the snap-on transport rail transports the snaps to the snap-on transport unit.

[0029] During processes S2 and S3, the cable tie vibratory feeder, cable tie direct vibratory feeder, and cable tie conveyor rail transport the cable ties to the cable tie handling section.

[0030] S4. Then, the cable tie and buckle are assembled by the cooperation of the cable tie transport part, the cable tie clamping part, the cable tie insertion part and the buckle pull-up part.

[0031] The beneficial effects of this utility model are as follows: This application changes the angle of the buckle by using a flexible vibrator. The first vision device identifies the angle of the buckle on the flexible vibrator and guides the buckle suction cup transport mechanism to pick up the buckle at a predetermined angle from the flexible vibrator. Then, the second vision device identifies the angle of the buckle on the buckle suction cup transport mechanism and moves the buckle that meets the angle requirements onto the buckle conveyor rail. The buckle conveyor rail is detachably installed on the buckle direct vibration feeder, which makes it easy to replace the buckle conveyor rail that corresponds to the shape and angle of the buckle. The buckle angle can be changed before the buckle moves to the buckle transport part to meet the assembly requirements. There is no need to wait for the buckle to move to the buckle transport part and then change the angle of the buckle through the buckle transport part. This simplifies the structure of the buckle transport part and allows for easy adjustment of the structure of the cable tie buckle assembly machine when the buckle model is changed, so that the cable tie assembly can flexibly adapt to different models of buckles. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0033] Figure 2 This is a schematic diagram of the buckle feeding part of this utility model.

[0034] Figure 3 This is a schematic diagram of the structure of the buckle conveyor rail, buckle transport part, cable tie clamping part and cable tie insertion part of this utility model, as well as the finished product distribution part.

[0035] Figure 4 This is a schematic diagram of the structure of the buckle receiving seat, buckle lifting mechanism, cable tie insertion part, buckle pull-up part, detector and finished product dispensing part of this utility model.

[0036] Figure 5 This is a schematic diagram of the buckle conveyor rail of this utility model, which is a variable angle conveyor rail structure.

[0037] Figure 6 This is a schematic diagram of the structure of the snap-on conveyor rail of this utility model, which is a linear conveyor rail.

[0038] The attached figures are labeled as follows: 1. Buckle feeding section; 11. Buckle flexible vibrator; 12. First vision device; 13. Second vision device; 14. Buckle suction cup conveying mechanism; 15. Buckle direct vibration feeder; 16. Buckle conveying rail; 2. Cable tie feeding section; 21. Cable tie vibrating plate; 22. Cable tie direct vibration feeder; 23. Cable tie conveying rail; 3. Finished product bin; 4. Defective product bin; 5. Buckle conveying section; 51. Buckle conveying gripper mechanism; 52. Buckle receiving seat; 53. Buckle lifting mechanism; 6. Cable tie clamping section; 7. Finished product sorting section; 71. Conveying rail moving mechanism; 72. Finished product conveying rail; 73. Defective product conveying rail; 8. Cable tie insertion section; 9. Buckle pull-up section; 10. Detector. Detailed Implementation

[0039] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with the present invention.

[0040] This utility model discloses a flexible cable tie assembly machine using vision guidance, which includes a control device. The assembly machine's motor, cylinder, solenoid valve, sensor and other components are connected to the control device. Through the cooperation of the flexible vibrator and the suction cup conveying mechanism, the angle of the cable tie is changed before the cable tie moves to the conveying part, which simplifies the structure of the conveying part. The structure of the cable tie assembly machine can be easily adjusted when the cable tie model is changed, so that the cable tie assembly can flexibly adapt to different models of cable ties.

[0041] like Figure 1-6 The cable tie and buckle assembly machine shown includes: a buckle feeding unit 1, a cable tie feeding unit 2, a cable tie conveying unit, a buckle conveying unit 5, a cable tie clamping unit 6, a cable tie insertion unit 8, and a buckle pulling unit 9. The buckle conveying unit 5, the cable tie clamping unit 6, the cable tie insertion unit 8, and the buckle pulling unit 9 are existing technologies and will not be limited here.

[0042] The snap-fit ​​feeding unit 1 includes: a snap-fit ​​flexible vibrator 11, a first vision device 12, a second vision device 13, a snap-fit ​​suction cup conveying mechanism 14, a snap-fit ​​direct vibration feeder 15, and a snap-fit ​​conveyor rail 16.

[0043] The snap-on conveying unit 5 includes: a snap-on conveying gripper mechanism 51, a snap-on receiving seat 52, and a snap-on lifting mechanism 53. The snap-on conveying gripper mechanism 51 includes a horizontal cylinder and a gripper cylinder mounted on the horizontal cylinder. The snap-on lifting mechanism 53 includes a vertical cylinder.

[0044] The first vision device 12 is disposed above the buckle flexible vibrator 11, the second vision device 13 is disposed on the side of the flexible vibrator, the buckle conveying rail 16 is detachably mounted on the buckle direct vibration feeder 15, the buckle flexible vibrator 11, the buckle suction cup transport mechanism 14, the buckle conveying rail 16 and the buckle transport gripper mechanism 51 are arranged in sequence, the buckle suction cup transport mechanism 14 is used to move the buckle from the buckle flexible vibrator 11 through the second vision device 13 to the position that matches the buckle conveying rail 16.

[0045] The snap-on suction cup transport mechanism 14 is used to move the snaps on the snap-on flexible vibrator 11 to a position that mates with the snap-on conveyor rail 16.

[0046] The buckle vibrating feeder 15 and the buckle conveying rail 16 cooperate to move the buckle to the position that mates with the buckle transporting part 5. The buckle conveying rail 16 may include a linear conveying rail and / or a variable angle conveying rail. In a preferred embodiment, the cable tie buckle assembly machine includes at least one variable angle conveying rail. Different variable angle conveying rails are adapted to different buckles and have different angles. The cooperation between the buckle vibrating feeder 15 and the variable angle conveying rail is used to change the angle of the buckle during the buckle transport process. This is the prior art disclosed in Chinese Utility Model Patent No. CN 210392731 U, authorized announcement date: 2020.04.24, utility model name: A feeding device and its system. No further limitations will be imposed here.

[0047] The snap-on receiving seat 52 is installed on the snap-on lifting mechanism 53, and the snap-on receiving seat 52 cooperates with the snap-on conveyor rail 16.

[0048] The clip receiving seat 52 is located between the clip handling gripper mechanism 51 and the cable tie clamping part 6.

[0049] The clip handling gripper mechanism 51 is used to move the clips on the clip receiving seat 52 to the position where they engage with the cable tie clamping part 6.

[0050] like Figure 1 The cable tie feeding unit 2 shown includes: a cable tie vibratory feeder 21, a cable tie direct vibratory feeder 22, and a cable tie conveyor rail 23.

[0051] The cable tie conveyor rail 23 is installed on the cable tie direct vibratory feeder 22, and the cable tie conveyor rail 23 is located between the cable tie vibratory plate 21 and the cable tie handling part.

[0052] Among them, the cable tie conveyor rail 23 is a curved conveyor rail.

[0053] like Figure 3 and 4 The assembly machine shown also includes: detector 10 and finished product sorting section 7.

[0054] The detector 10 is located on the side of the pull-up part 9 of the latch, such as... Figure 4 The detector 10 shown is a counter-fiber sensor used to detect whether the latch pull-up part 9 has pulled the latch up into place. The detector 10 only needs to be able to detect that the latch has been pulled up into place, and the type of detector is not limited to this.

[0055] The finished product sorting section 7 includes: a conveyor rail moving mechanism 71, a finished product conveyor rail 72, and a defective product conveyor rail 73. The finished product conveyor rail 72 and the defective product conveyor rail 73 are installed on the conveyor rail moving mechanism 71. The conveyor rail moving mechanism 71 includes a transverse cylinder. The finished product conveyor rail 72 and the defective product conveyor rail 73 are installed side by side on the transverse cylinder and are located on the side of the buckle pull-up section 9. The cable tie buckle assembly machine also includes a finished product bin 3 and a defective product bin 4. The finished product bin 3 cooperates with the long finished product conveyor rail 72, and the defective product bin 4 cooperates with the short defective product conveyor rail 73.

[0056] The conveyor rail moving mechanism 71 is used to drive the finished product conveyor rail 72 and the defective product conveyor rail 73 to move, so that the finished product conveyor rail 72 or the defective product conveyor rail 73 cooperates with the buckle pull-up part 9.

[0057] like Figure 2 The shown snap-fit ​​suction cup handling mechanism 14 includes: a three-axis displacement mechanism and multiple suction cup mechanisms.

[0058] Multiple suction cup mechanisms are arranged in a row on a three-axis displacement mechanism. The three-axis displacement mechanism may include three sets of linear displacement mechanisms such as electric cylinders or lead screws in different directions.

[0059] The three-axis displacement mechanism includes multiple vertical displacement mechanisms, and multiple suction cup mechanisms are respectively installed on multiple different vertical displacement mechanisms, such as... Figure 1 and 2 The multiple vertical displacement mechanisms shown are arranged in a row.

[0060] In a preferred embodiment, a groove is provided above the part of the snap-on conveyor rail 16 near the snap-on suction cup transport mechanism 14, and the groove communicates with the interior of the snap-on conveyor rail 16.

[0061] The groove cooperates with the snap-on suction cup handling mechanism 14.

[0062] The cable tie buckle assembly method includes: S1, replacing the buckle conveyor rail 16 on the buckle linear vibrating feeder 15 with a linear conveyor rail or variable angle conveyor rail that corresponds to the buckle shape and the required change angle.

[0063] S2. In use, the buckle flexible vibrator 11 changes the angle of the buckle. The first vision device 12 identifies the angle of the buckle on the buckle flexible vibrator 11 and guides the buckle suction cup transport mechanism 14 to pick up the buckle at a predetermined angle from the buckle flexible vibrator 11. Then, the buckle suction cup transport mechanism 14 moves the buckle to a position that matches the second vision device 13. The second vision device 13 identifies the buckle on the buckle suction cup transport mechanism 14.

[0064] S3. Then the snap-on suction cup conveying mechanism 14 moves multiple snaps that meet the angle into the snap-on conveying rail 16.

[0065] S3.1.1 When the buckle angle on the buckle suction cup conveying mechanism 14 meets the final assembly requirements, the buckle can be conveyed to the buckle receiving seat 52 of the buckle conveying part 5 by the cooperation of the linear conveyor rail and the buckle direct vibration feeder 15.

[0066] S3.1.2 When the buckle angle on the buckle suction cup conveying mechanism 14 does not meet the assembly requirements, the buckle angle can be changed during the buckle conveying process by using a variable angle conveying rail and a buckle direct vibration feeder 15 to convey the buckle to the buckle receiving seat 52 of the buckle conveying part 5.

[0067] S3.2, the buckle transport gripper mechanism 51 clamps the buckle on the buckle receiving seat 52, then the buckle lifting mechanism 53 drives the buckle receiving seat 52 to separate from the buckle, and then the buckle transport gripper mechanism 51 moves the buckle to the position that cooperates with the cable tie clamping part 6.

[0068] During processes S2 and S3, during the conveying of the buckles, the cable tie vibrating plate 21, the cable tie direct vibrating feeder 22, and the cable tie conveying rail 23 convey the cable ties to the cable tie handling section.

[0069] S4. The cable tie and buckle are assembled through the cooperation of the cable tie transport part, the cable tie clamping part 6, the cable tie insertion part 8 and the buckle pull-up part 9. During this process, the detector 10 detects whether the buckle is pulled up in place.

[0070] S5.1 When the buckle is pulled up to the position, the conveyor rail moving mechanism 71 makes the finished product conveyor rail 72 cooperate with the buckle pulling part 9, so that the product is conveyed into the finished product area.

[0071] S5.2 When the buckle is not pulled up properly, the conveyor rail moving mechanism 71 makes the defective product conveyor rail 73 cooperate with the buckle pulling part 9, so that the product is conveyed to the defective product area.

[0072] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and detail may be made to the present invention without departing from the spirit and scope of the appended claims.

Claims

1. A flexible assembly machine using vision-guided cable ties and buckles, including: Buckle feeding section, cable tie feeding section, cable tie handling section, buckle handling section, cable tie clamping section, cable tie insertion section and buckle pull-up section; The feature is that the buckle feeding part includes: a buckle flexible vibrator, a first vision device, a second vision device, a buckle suction cup conveying mechanism, a buckle direct vibration feeder, and a buckle conveying rail; The buckle transport unit includes: a buckle transport gripper mechanism; The first vision device is located above the buckle flexible vibrator, the second vision device is located on the side of the flexible vibrator, the buckle conveying rail is detachably installed on the buckle direct vibration feeder, and the buckle suction cup conveying mechanism is used to move the buckle from the buckle flexible vibrator through the second vision device to the position that matches the buckle conveying rail. The buckle direct vibration feeder and buckle conveyor rail are used to move the buckle to a position that matches the buckle transport part; The buckle transport gripper mechanism is used to move the buckle to a position that engages with the cable tie clamping part.

2. The flexible assembly machine for cable ties and buckles using vision guidance according to claim 1, characterized in that, The cable tie feeding unit includes: a cable tie vibratory feeder, a cable tie direct vibratory feeder, and a cable tie conveyor rail; The cable tie conveyor rail is installed on the cable tie vibrating feeder, and the cable tie conveyor rail is located between the cable tie vibrating plate and the cable tie transport section.

3. The flexible assembly machine using vision-guided cable ties and buckles according to claim 1 or 2, characterized in that, Also includes: Detectors and finished product sorting section; The detector is located on the side of the pull-up part of the buckle; The finished product sorting section includes: a conveyor rail moving mechanism, a finished product conveyor rail and a defective product conveyor rail, wherein the finished product conveyor rail and the defective product conveyor rail are installed on the conveyor rail moving mechanism; The conveyor rail moving mechanism is used to drive the finished product conveyor rail and the defective product conveyor rail to move, so that the finished product conveyor rail or the defective product conveyor rail cooperates with the buckle pull-up part.

4. The flexible assembly machine using vision-guided cable ties and buckles according to claim 2, characterized in that, The cable tie conveyor rail is a curved conveyor rail.

5. The flexible assembly machine for cable ties and buckles using vision guidance according to claim 1, characterized in that, The buckle conveying unit also includes: a buckle receiving seat and a buckle lifting mechanism; The snap-on receiving seat is installed on the snap-on lifting mechanism, and the snap-on receiving seat cooperates with the snap-on conveyor rail; The snap-on receiving seat is located between the snap-on transport gripper mechanism and the cable tie clamping part.

6. The flexible assembly machine using vision-guided cable ties and buckles according to claim 1, characterized in that, The snap-fit ​​suction cup handling mechanism includes: a three-axis displacement mechanism and multiple suction cup mechanisms; Multiple suction cup mechanisms are arranged in a line and installed on the three-axis displacement mechanism.

7. The flexible assembly machine using vision-guided cable ties and buckles according to claim 6, characterized in that, The triaxial displacement mechanism includes multiple vertical displacement mechanisms, and the multiple suction cup mechanisms are respectively installed on the multiple vertical displacement mechanisms.

8. The flexible assembly machine using vision-guided cable ties and buckles according to claim 6, characterized in that, The snap-on conveyor rail is provided with a groove above the part of the snap-on suction cup conveying mechanism, and the groove communicates with the interior of the snap-on conveyor rail; The groove cooperates with the snap-on suction cup handling mechanism.

9. The flexible assembly machine using vision-guided cable ties and buckles according to any one of claims 1, 2, 4-8, characterized in that, The snap-fit ​​conveyor rail includes: a variable angle conveyor rail.

10. The flexible assembly machine using vision-guided cable ties and buckles according to any one of claims 1, 2, 4-8, characterized in that, The snap-fit ​​conveyor rail includes: a linear conveyor rail.

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