Flexible vibrating tray, vision and mechanical hand integrated feeding device

Abstract

The utility model relates to automatic feeding equipment technical field especially relates to flexible vibration disc, vision and manipulator integrated feeding device. Its technical scheme includes general controller, and the top of general controller is provided with flexible vibration platform, still includes: shock buffering structure, the inside of flexible vibration platform is provided with shock buffering structure, including the multiple air slots of opening in the outer wall of flexible vibration platform, the inner wall of multiple air slots all are connected with the limiting slide piece of sliding, and the top of multiple limiting slide piece all is connected with spring transmission seat fixedly. The utility model discloses flexible vibration disc, vision and manipulator integrated feeding device, it has the function of reducing the damage of part in the vibration arrangement process, especially suitable for the part of complex shape, fragile material, guarantees the quality of part function, and also has realized the automatic vibration arrangement of part, automatic identification positioning and automatic grabbing handling, has reduced the artificial cost, is applicable to the advantage of large -scale automatic production.

Description

Technical Field

[0001] This utility model relates to the field of automated feeding equipment technology, and in particular to a feeding device integrating a flexible vibratory feeder, vision, and robotic arm. Background Technology

[0002] A feeding device is a mechanical device used to automatically transport materials to a designated location. It is commonly used in industrial production and is mainly used to reduce the intensity of manual labor and improve production efficiency. In modern industrial production, rigid vibratory feeders are mostly used for feeding small parts. However, rigid vibratory feeders are not well adapted to parts with complex shapes and fragile materials, and cannot accurately identify the position and posture of the parts for timely feeding. Therefore, this application proposes a feeding device integrating a flexible vibratory feeder, vision and robotic arm. Utility Model Content

[0003] The purpose of this invention is to address the problem in the prior art that it has poor adaptability to parts with complex shapes and fragile materials, and cannot perform timely feeding. The invention proposes a feeding device that integrates a flexible vibratory feeder, vision, and a robotic arm.

[0004] The technical solution of this utility model: a flexible vibratory feeder, vision and robotic arm integrated feeding device, including a main controller, the top of which is equipped with a flexible vibratory table, and further including: A vibration buffer structure is provided inside a flexible vibration table. It includes multiple slots formed on the outer wall of the flexible vibration table. Limiting sliders are slidably connected to the inner walls of the multiple slots. Spring conduction seats are fixedly connected to the tops of the multiple limiting sliders. Conduction seats are fixedly connected to the tops of the multiple spring conduction seats. The visual structure includes a connecting base fixed to one end of the outer wall of the main controller, and a visual probe is provided at the top of the connecting base. The robotic arm structure includes a connecting base two fixed to the other side of the outer wall of the main controller, and a robotic arm connecting structure is provided at the top of the connecting base two.

[0005] Optionally, the vibration buffer structure also includes multiple voice coil motors fixed to the bottom of the flexible vibration table, the output ends of the multiple voice coil motors are connected to the top vibration head, and the outer walls of the multiple voice coil motors are electrically connected to a transmitter via connecting lines.

[0006] Optionally, the top of each of the plurality of top vibrating heads is fixedly connected to a transmission seat, and the top of the transmission seat is fixedly connected to a vibrating plate seat.

[0007] Optionally, an inner disc is slidably connected to the inner wall of the vibratory feeder, and the inner disc is located on one side of the robot arm connection structure.

[0008] Optionally, a driver is fixedly connected to the top of the second connecting base, and a motor drive base is electrically connected to the top of the driver.

[0009] Optionally, a robotic arm is mounted on the top of the motor drive base, and a robotic hand connection structure is mounted on the end of the robotic arm away from the motor drive base.

[0010] Optionally, the vision structure also includes a rotating joint fixed to the top of a connecting base. The top of the rotating joint is fixedly connected to a top rotating seat, and the top of the top rotating seat is fixedly connected to a connecting column. The top of the connecting column is rotatably connected to a vision probe, and the rear end face of the vision probe is electrically connected to an analyzer.

[0011] Optionally, both the analyzer and the driver are electrically connected to the main controller via connecting cables.

[0012] Compared with the prior art, this application includes at least one of the following beneficial technical effects: This device can effectively buffer the impact force generated by vibration by setting the spring transmission seat in the vibration buffer structure, reducing the damage to parts during the vibration arrangement process. It is especially suitable for parts with complex shapes and fragile materials, ensuring the quality of the parts. The vision structure adopts a high-definition vision probe and a high-performance analyzer, which can accurately identify the position and posture of the parts, providing accurate positioning information for the robot arm structure, ensuring that the robot arm gripper can accurately grasp the parts, improving the accuracy of feeding, meeting the needs of high-precision production. Moreover, the device coordinates and controls the vibration buffer structure, vision structure and robot arm structure through the main controller, realizing automatic vibration arrangement, automatic identification and positioning and automatic grasping and handling of parts without manual intervention, greatly improving feeding efficiency, reducing labor costs, and is suitable for large-scale automated production. Attached Figure Description

[0013] Figure 1 A three-dimensional structural diagram of a feeding device integrating a flexible vibratory feeder, vision system, and robotic arm; Figure 2 External schematic diagram of a robotic arm structure integrating a flexible vibratory feeder, vision system, and robotic arm for feeding. Figure 3 A schematic diagram of the external structure of a visual structure for an integrated feeding device combining a flexible vibratory feeder, vision system, and robotic arm. Figure 4 A schematic diagram of the internal structure of a flexible vibratory table that integrates a flexible vibratory feeder, vision system, and robotic arm for feeding.

[0014] Reference numerals: 1. Main controller; 11. Flexible vibration table; 12. Voice coil motor; 13. Transmitter; 14. Top vibration head; 15. Conductor seat; 16. Vibration plate seat; 17. Internal plate; 2. Empty slot; 21. Limiting slider; 22. Spring conductor seat; 3. Connecting base one; 31. Rotary joint; 32. Top rotating seat; 33. Connecting column; 34. Vision probe; 35. Analyzer; 4. Driver; 41. Connecting base two; 42. Motor drive seat; 43. Robotic arm; 44. Robotic arm connection structure. Detailed Implementation

[0015] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0016] The components of the present invention embodiments described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0017] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0018] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] Example like Figure 1 and Figure 4As shown, the flexible vibratory feeder, vision system, and robotic arm integrated feeding device proposed in this utility model includes a main controller 1. A flexible vibration table 11 is mounted on the top of the main controller 1. The main controller 1 uses an S7-1200 high-performance microprocessor to receive information transmitted from the vision system and control the operation of the vibration buffer structure and the robotic arm structure. It is the control core of the entire device. The flexible vibration table 11, made of lightweight and wear-resistant material, provides a stable platform for the vibration alignment of parts. It also includes a vibration buffer structure, which is located inside the flexible vibration table 11 and includes components formed within the flexible vibration table 11. Multiple slots 2 are formed on the outer wall of the flexible vibration table 11. Limiting sliders 21 are slidably connected to the inner walls of each slot 2. Spring conduction seats 22 are fixedly connected to the tops of each limiting slider 21. Conduction seats 15 are fixedly connected to the tops of each spring conduction seat 22. The vibration buffer structure is located inside the flexible vibration table 11. The slots 2 provide space for the sliding of the limiting sliders 21, which can slide up and down along the slots 2. Spring conduction seats 22 are fixedly connected to the tops of each limiting slider 21. Springs are installed inside the spring conduction seats 22, providing a buffering effect. The buffering effect of the spring conduction seats 22 reduces the impact of vibration on the parts on the conduction seat 15. The vibration buffer structure also includes components fixed to the flexible vibration table 11. Multiple voice coil motors 12 are located at the bottom of the vibration table 11. The output ends of the multiple voice coil motors 12 are connected to the top vibration heads 14, and the outer walls of the multiple voice coil motors 12 are electrically connected to the transmitters 13 via connecting wires. The top of the multiple top vibration heads 14 is fixedly connected to the transmission seats 15, and the top of the transmission seats 15 is fixedly connected to the vibration plate seat 16. The inner wall of the vibration plate seat 16 is slidably connected to the inner plate 17, which is located on one side of the robot arm connection structure 44. The voice coil motors 12 have fast response speed and adjustable vibration frequency, providing power for the vibration of the flexible vibration table 11. The output ends of the multiple voice coil motors 12 are connected to the top vibration heads 14, and the voice coil motors 12 transmit power through the top vibration heads. Vibration 14 is transmitted to the transmission seat 15. The outer walls of multiple voice coil motors 12 are electrically connected to a transmitter 13 via connecting wires. The transmitter 13 is an Advantech ADAM-4520 model, which can receive control signals from the main controller 1 and transmit the signals to the voice coil motors 12 to control the vibration frequency and amplitude of the voice coil motors 12. The transmission seat 15 transmits the vibration transmitted by the top vibrating head 14 evenly to the vibrating plate seat 16. The vibrating plate seat 16 provides an installation position for the inner plate 17. The inner plate 17 is slidably connected to the inner wall of the vibrating plate seat 16. The inner plate 17 is located on one side of the robot arm connection structure 44. The inner plate 17 is used to place the parts to be loaded and arranges the parts in an orderly manner through vibration.

[0022] In addition, such as Figure 1 and Figure 3As shown, the vision structure includes a connecting base 3 fixed to one end of the outer wall of the main controller 1. A vision probe 34 is mounted on the top of the connecting base 3. The vision structure also includes a rotating joint 31 fixed to the top of the connecting base 3. A top rotating seat 32 is fixedly connected to the top of the rotating joint 31. A connecting column 33 is fixedly connected to the top of the top rotating seat 32. The vision probe 34 is rotatably connected to the top of the connecting column 33. An analyzer 35 is electrically connected to the rear end of the vision probe 34. The connecting base 3 provides support for other components of the vision structure. The rotating joint 31 can rotate around the connecting base 3 to facilitate adjustment of the horizontal angle of the vision structure. The top rotating seat 32 is fixedly connected to the top of the rotating joint 31 and can rotate around the rotating joint 31 to adjust the vertical angle of the vision structure. The connecting column 33 is used to mount the vision probe 34, and the vision probe 34 is rotatably connected to the top of the connecting column 33. The vision probe 34 is a Basler model. The acA2500-14gm high-definition industrial camera can capture images of parts on the internal disk 17, identify the position and orientation of the parts, and the rear end of the vision probe 34 is electrically connected to an analyzer 35. The analyzer 35 adopts an embedded analysis platform of NVIDIA Jetson AGX Xavier, which can process and analyze the images captured by the vision probe 34, extract the position and orientation information of the parts, and transmit the information to the main controller 1. The analyzer 35 is electrically connected to the main controller 1 through a connecting cable to realize the information transmission.

[0023] And, as Figure 1 and Figure 2As shown, the robotic arm structure includes a connecting base 41 fixed to the other side of the outer wall of the main controller 1. A robotic arm connecting structure 44 is provided at the top of the connecting base 41. A driver 4 is fixedly connected to the top of the connecting base 41. A motor drive seat 42 is electrically connected to the top of the driver 4. A robotic arm 43 is installed at the top of the motor drive seat 42. The robotic arm connecting structure 44 is installed at the end of the robotic arm 43 away from the motor drive seat 42. The connecting base 41 provides support for other components of the robotic arm structure. A driver 4 is fixedly connected to the top of the connecting base 41. The driver 4 receives control signals from the main controller 1 and controls the operation of the motor drive base 42. The driver 4 is electrically connected to the main controller 1 through a connecting wire to realize signal transmission. The top of the driver 4 is electrically connected to the motor drive base 42, which provides power for the movement of the robotic arm 43. The top of the motor drive base 42 is equipped with the robotic arm 43. The robotic arm 43 adopts a multi-joint structure with multiple degrees of freedom, which can flexibly adjust its position and posture. A robotic arm connection structure 44 is installed at the end of the robotic arm 43 away from the motor drive base 42. The robotic arm connection structure 44 can replace different robotic grippers according to the shape and size of the parts, and is used to grasp the parts arranged in an orderly manner on the internal disk 17 and transport them to the designated position.

[0024] The working principle of this embodiment is as follows: The parts to be loaded are placed into the inner disc 17. The main controller 1 controls the voice coil motor 12 to work through the transmitter 13. The voice coil motor 12 generates vibration, which is transmitted to the transmission seat 15 through the top vibrating head 14. The transmission seat 15 transmits the vibration to the vibrating disc seat 16 and the inner disc 17. During the vibration process, the spring transmission seat 22 in the vibration buffer structure plays a buffering role, reducing the damage of vibration to the parts. The parts gradually arrange themselves in an orderly manner within the inner disc 17. The vision probe 34 of the vision structure captures images of the parts on the internal disk 17. The captured images are transmitted to the analyzer 35, which processes and analyzes the images to determine the position and orientation of the parts, and then transmits the relevant information to the main controller 1. By adjusting the rotating joint 31, the top rotating seat 32, and the connecting column 33, the vision probe 34 is ensured to clearly capture images of the parts. Based on the part position and orientation information transmitted by the analyzer 35, the main controller 1 controls the actuator 4 to operate. The actuator 4 controls the motor drive seat 42 to move the robotic arm 43. The robotic arm 43 adjusts the position and orientation of the robotic arm connecting structure 44 so that the robotic gripper accurately grasps the parts on the internal disk 17. Subsequently, the robotic arm 43, along with the robotic arm connecting structure 44, transports the parts to the designated loading position, completing one loading operation. The device then repeats the above process to achieve continuous automated loading.

[0025] The above specific embodiments are merely several optional embodiments of this utility model. Based on the technical solution of this utility model and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A flexible vibratory feeder, vision and robotic arm integrated feeding device, comprising a main controller (1), wherein a flexible vibratory table (11) is provided at the top of the main controller (1), characterized in that, Also includes: The vibration buffer structure is located inside the flexible vibration table (11) and includes multiple slots (2) formed on the outer wall of the flexible vibration table (11). The inner walls of the multiple slots (2) are slidably connected to limit sliders (21). The top ends of the multiple limit sliders (21) are fixedly connected to spring conduction seats (22). The top ends of the multiple spring conduction seats (22) are fixedly connected to conduction seats (15). The visual structure includes a connecting base (3) fixed to one end of the outer wall of the main controller (1), and a visual probe (34) is provided at the top of the connecting base (3). The robotic arm structure includes a connecting base two (41) fixed to the other side of the outer wall of the main controller (1), and a robotic arm connecting structure (44) is provided at the top of the connecting base two (41).

2. The integrated feeding device combining a flexible vibratory feeder, vision system, and robotic arm according to claim 1, characterized in that, The vibration buffer structure also includes multiple voice coil motors (12) fixed to the bottom of the flexible vibration table (11). The output ends of the multiple voice coil motors (12) are connected to the top vibration head (14), and the outer walls of the multiple voice coil motors (12) are electrically connected to the transmitter (13) via connecting lines.

3. The integrated feeding device combining a flexible vibratory feeder, vision system, and robotic arm according to claim 2, characterized in that, The top of each of the plurality of top vibrating heads (14) is fixedly connected to a transmission seat (15), and the top of the transmission seat (15) is fixedly connected to a vibrating plate seat (16).

4. The integrated feeding device combining a flexible vibratory feeder, vision system, and robotic arm according to claim 3, characterized in that, The inner wall of the vibratory plate seat (16) is slidably connected to an inner plate (17), which is located on one side of the manipulator connection structure (44).

5. The integrated feeding device combining a flexible vibratory feeder, vision system, and robotic arm according to claim 1, characterized in that, The top of the connecting base 2 (41) is fixedly connected to a driver (4), and the top of the driver (4) is electrically connected to a motor drive base (42).

6. The integrated feeding device combining a flexible vibratory feeder, vision system, and robotic arm according to claim 5, characterized in that, A robotic arm (43) is mounted on the top of the motor drive base (42), and a robotic arm connection structure (44) is mounted on the end of the robotic arm (43) away from the motor drive base (42).

7. The integrated feeding device combining a flexible vibratory feeder, vision system, and robotic arm according to claim 1, characterized in that, The vision structure also includes a rotating joint (31) fixed to the top of the connecting base (3), the top of the rotating joint (31) is fixedly connected to a top rotating seat (32), the top of the top rotating seat (32) is fixedly connected to a connecting column (33), the top of the connecting column (33) is rotatably connected to a vision probe (34), and the rear end face of the vision probe (34) is electrically connected to an analyzer (35).

8. The integrated feeding device combining a flexible vibratory feeder, vision system, and robotic arm according to claim 7, characterized in that, The analyzer (35) and driver (4) are both electrically connected to the main controller (1) via connecting lines.

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