A novel terminal automatic feeding mechanism based on a robot

Abstract

The utility model discloses a novel terminal automatic feeding mechanism based on robot relates to charger production technical field, including equipment cabinet, direct vibrator, flexible vibrating disk, robot, storage platform, storehouse, support and CCD camera, the storage platform contains the support module, weighing sensor and jig module, and the support module is installed in equipment cabinet top, and the weighing sensor is installed in the support module top, and the jig module is placed on the support module and is pasted with the weighing sensor detection end, and the rubber pad is established between the support module and the weighing sensor, and the jig module sets up the terminal placement station and the jack, and the locating column is set up in the support module tray. This mechanism can monitor the terminal weight in real time, avoid terminal accumulation, fall or broken material, improve the stability and continuity of feeding, adapt to multiple models of terminal, reduce production cost, satisfy the batch production demand.

Description

Technical Field

[0001] This utility model relates to the field of charger manufacturing technology, and in particular to a novel robot-based automatic terminal feeding mechanism. Background Technology

[0002] Previously, we applied for a robot-based automatic terminal feeding mechanism with application number CN202422735171.0. This mechanism integrates a direct vibrator, a flexible vibrating plate, a robot, and a CCD camera to achieve automated feeding of terminals for various charger models, effectively reducing equipment costs and adjustment frequency.

[0003] However, in actual production applications, it was found that the original material storage platform had significant shortcomings: it was a single fixed structure that could only serve as a temporary storage function for terminals, without considering the dynamic matching between the feeding rhythm and the subsequent process's material retrieval rhythm. When the robot's feeding speed was faster than the subsequent process's material retrieval speed, terminals tended to accumulate on the platform surface, not only occupying storage space but also potentially causing terminal deformation due to accumulation pressure, or even terminals falling off due to equipment vibration. Conversely, when the subsequent process's material retrieval speed was faster than the robot's feeding speed, the material storage platform tended to become idle, directly leading to material shortages and machine shutdowns in subsequent processes, affecting the overall utilization rate of the production line and making it difficult to meet the mass production requirements of high-precision and high-stability chargers. Utility Model Content

[0004] To address the technical problems existing in the background art, this utility model proposes a novel robot-based automatic terminal feeding mechanism.

[0005] This utility model proposes a novel robot-based automatic terminal feeding mechanism, including an equipment cabinet, a vertical vibrator, a flexible vibrating plate, a robot, a storage platform, a hopper, a support, and a CCD camera. The storage platform includes a support module installed on the top of the equipment cabinet. A weighing sensor is installed on the top of the support module, and a fixture module is placed on the top of the support module. The detection end of the weighing sensor is attached to the bottom end of the fixture module to monitor the weight of the charger terminals stored in the fixture module in real time during the feeding process.

[0006] Furthermore, a rubber pad is connected between the support module and the weighing sensor to reduce the interference of vibration on the weighing sensor.

[0007] Furthermore, the support module includes a base plate installed on the top of the equipment cabinet, a column installed on the top of the base plate, a tray installed on the top of the column, a weighing sensor installed at the bottom inside the tray, and a fixture module placed inside the tray.

[0008] Furthermore, the fixture module includes a fixture plate, and a number of terminal placement stations are installed at equal intervals on the top of the fixture plate. Each terminal placement station has a socket at its top so that the charger terminal can be inserted into the socket.

[0009] Furthermore, the tray has several symmetrically connected positioning posts inside, and the fixture plate has several positioning holes inside. The positioning posts are inserted into the positioning holes to constrain the lateral position of the fixture module inside the tray.

[0010] Furthermore, a wire hole is provided at the bottom of the tray, on one side of the load cell, to facilitate the connection of the load cell wires.

[0011] Furthermore, the top of the fixture plate is symmetrically connected with handles to facilitate the placement and removal of the fixture module.

[0012] The beneficial effects of this utility model are as follows: By optimizing the structure of the storage platform, the collaborative design of the support module, weighing sensor and fixture module solves the problem that the original single fixed storage platform cannot match the feeding and unloading rhythm, avoiding the material shortage and machine stoppage caused by terminal stacking deformation, falling or platform vacancy. It can also monitor the terminal inventory in real time through the weighing sensor, and with the positioning socket and anti-slip design of the fixture module, it ensures stable terminal storage and accurate picking and placing, which significantly improves the stability and continuity of the charger terminal feeding process, effectively ensures the production line utilization rate, and reduces terminal loss and manual intervention costs. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the disassembled structure of the material storage platform in this utility model; Figure 3 This is a schematic diagram of the supporting module in this utility model; Figure 4 This is a schematic diagram of the fixture module in this utility model; Figure 5 This is a half-sectional view of the material storage platform after assembly in this utility model.

[0014] In the diagram: 1. Equipment cabinet; 2. Straight vibrator; 3. Flexible vibratory feeder; 4. Robot; 5. Storage platform; 51. Support module; 511. Base plate; 512. Column; 513. Pallet; 514. Positioning column; 515. Wiring hole; 52. Weighing sensor; 53. Fixture module; 531. Fixture plate; 532. Terminal placement station; 533. Socket; 534. Positioning hole; 535. Handle; 54. Rubber pad; 6. Hopper; 7. Bracket; 8. CCD camera. Detailed Implementation

[0015] Reference Figure 1-5 This utility model proposes a novel robot-based automatic terminal feeding mechanism, which consists of an equipment cabinet 1, a vertical vibrator 2, a flexible vibrating plate 3, a robot 4, a storage platform 5, a hopper 6, a support 7, and a CCD camera 8. The vertical vibrator 2, flexible vibrating plate 3, robot 4, storage platform 5, and support 7 are all mounted on the top of the equipment cabinet 1. The hopper 6 is mounted on the output end of the vertical vibrator 2, and the CCD camera 8 is mounted on the top of the support 7. The outlet of the hopper 6 is located above the flexible vibrating plate 3. The vibration frequency of the vertical vibrator 2 can be adjusted by an external controller (adjustment range 50-200Hz). During operation, high-frequency vibration causes the charger terminals in the hopper 6 to be uniformly fed into the flexible vibrating plate 3 under the action of the vertical vibrator 2, preventing terminals from accumulating and clogging at the hopper outlet. The flexible vibrating plate 3 has an internal light panel (not labeled), which uses LED light source with adjustable brightness (adjustment range 100-1000cd / ㎡), providing sufficient supplementary lighting for subsequent visual recognition. The lens of CCD camera 8 is directly facing the center of the tray of flexible vibrating plate 3. The resolution is no less than 5 million pixels and the frame rate is 30fps. It can capture the arrangement of terminals in the tray in real time and transmit the image data to the control system. The control system identifies the front and back of the terminals through image algorithms. If a terminal with the back facing up is detected, it will control the flexible vibrating plate 3 to adjust the vibration parameters and drive the terminals to flip over until all terminals in the tray are facing up, providing accurate positioning for robot 4 to pick up. Robot 4 is a four-axis industrial robot with a gripper cylinder as its end effector to hold the charger terminal. The movement trajectory of Robot 4 is preset by the control system. Based on the terminal position data transmitted by CCD camera 8, it can accurately move to the top of the target terminal, pick up the charger terminal with the face up, and then transfer it to the storage platform 5 for storage. The material storage platform 5 is adapted to the movement range of the robot 4. Its structure includes a support module 51, a weighing sensor 52, and a fixture module 53. The support module 51 consists of a base plate 511, columns 512, and a tray 513. The base plate 511 is rigidly connected to the equipment cabinet 1 by bolts. Four cylindrical columns 512 are welded to the top. The tray 513 is fixedly connected to the top of the columns 512. The tray 513 has a square groove structure, which provides a stable placement space for the fixture module 53. The load cell 52 is installed at the center of the bottom of the tray 513. It is a strain gauge type sensor. Its detection end is in close contact with the bottom of the fixture module 53. In order to reduce the interference of vibration generated by the direct vibrator 2 and the flexible vibrating plate 3 on the detection accuracy of the load cell 52, a rubber pad 54 is placed between the tray 513 supporting the module 51 and the load cell 52. The rubber pad 54 can effectively absorb vibration energy, so that the fluctuation of the weighing data is controlled within ±1g, ensuring the accuracy of terminal weight monitoring. The fixture module 53 is placed inside the tray 513 and consists of a fixture plate 531 and a terminal placement station 532. The fixture plate 531 is made of ABS engineering plastic and has several terminal placement stations 532 machined at equal intervals on its surface. Each terminal placement station 532 has an insertion hole 533 at its top. After the robot 4 picks up the terminal, it can accurately insert the terminal into the insertion hole 533 to avoid the terminal from shifting or being damaged by collision during storage. To constrain the lateral position of the fixture module 53 within the tray 513 and prevent the fixture plate 531 from shifting due to equipment vibration, four positioning posts 514 are symmetrically installed inside the tray 513. Correspondingly, four positioning holes 534 are provided inside the fixture plate 531. The positioning posts 514 and the positioning holes 534 are fitted with a clearance fit. When the fixture module 53 is placed in the tray 513, the positioning posts 514 are inserted into the positioning holes 534 to achieve precise positioning of the fixture module 53, ensuring that the robot 4 can insert the terminal into the correct socket 533 each time. A wire hole 515 is provided at the bottom of the inside of the tray 513 and on one side of the load cell 52. The connecting wire of the load cell 52 can be led out through the wire hole 515 and connected to the control system inside the equipment cabinet 1. This not only avoids the exposed wires from being damaged, but also ensures the cleanliness of the appearance of the storage platform 5. In addition, two handles 535 are symmetrically installed on the top of the fixture plate 531 to easily pick up and put down the fixture module 53, improving the convenience of operation. The workflow of this organization is as follows: First, the charger terminals are poured into the hopper 6. After the equipment is started, the vibrator 2 uses high-frequency vibration to orderly transport the terminals to the tray of the flexible vibrating plate 3. The flexible vibrating plate 3 drives the terminals to flip over, while the light board provides supplementary lighting. The CCD camera 8 captures images of the terminals in real time and transmits them to the control system to identify the front and back of the terminals. Based on the identification results of the CCD camera 8, the control system controls the robot 4 to move above the terminals with the front facing up and picks up the terminals using the gripper cylinder. Then, the robot 4 transfers the terminals to the storage platform 5 and accurately inserts them into the socket 533 of the fixture module 53. The weighing sensor 52 then... The total weight of the terminals in the fixture module 53 is monitored in real time. When the weight reaches the upper limit threshold, such as 80% of the maximum load capacity of the tray (5kg), i.e., 4kg, the control system determines that the tray is about to be full of terminals and immediately sends a signal to the robot 4 to stop the loading action. As the robot in the next process continuously takes out the charger terminals from the storage platform 5, the weight of the terminals gradually decreases. When the weight drops to the lower limit threshold, such as 20% of the maximum load capacity (1kg), the control system determines that the tray has sufficient terminals and sends a signal to the robot 4 to resume the loading action, thereby solving the problem of terminals accumulating in the storage platform 5.

[0016] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A novel robot-based automatic terminal feeding mechanism, comprising an equipment cabinet (1), a vertical vibrator (2), a flexible vibrating plate (3), a robot (4), a storage platform (5), a hopper (6), a support (7), and a CCD camera (8), characterized in that, The storage platform (5) includes a support module (51) installed on the top of the equipment cabinet (1). A weighing sensor (52) is installed on the top of the support module (51), and a fixture module (53) is placed on the top of the support module (51). The detection end of the weighing sensor (52) is attached to the bottom end of the fixture module (53) to monitor the weight of the charger terminals stored in the fixture module (53) in real time during the loading process.

2. The novel robot-based automatic terminal feeding mechanism according to claim 1, characterized in that, A rubber pad (54) is connected between the support module (51) and the weighing sensor (52) to reduce the interference of vibration on the weighing sensor (52).

3. The novel robot-based automatic terminal feeding mechanism according to claim 1, characterized in that, The supporting module (51) includes a base plate (511) installed on the top of the equipment cabinet (1), a column (512) installed on the top of the base plate (511), a tray (513) installed on the top of the column (512), a weighing sensor (52) installed at the bottom inside the tray (513), and a fixture module (53) placed inside the tray (513).

4. The novel robot-based automatic terminal feeding mechanism according to claim 3, characterized in that, The fixture module (53) includes a fixture plate (531). Several terminal placement stations (532) are installed at equal intervals on the top of the fixture plate (531). Each terminal placement station (532) has a socket (533) at its top so that the charger terminal can be inserted into the socket (533).

5. The novel robot-based automatic terminal feeding mechanism according to claim 4, characterized in that, The tray (513) has several positioning posts (514) symmetrically connected inside. The fixture plate (531) has several positioning holes (534) inside. The positioning posts (514) are inserted into the positioning holes (534) to constrain the lateral position of the fixture module (53) inside the tray (513).

6. The novel robot-based automatic terminal feeding mechanism according to claim 3, characterized in that, The bottom of the tray (513) is provided with a wire hole (515) on one side of the load cell (52) to facilitate the connection of the load cell (52) with wires.

7. The novel robot-based automatic terminal feeding mechanism according to claim 4, characterized in that, The top of the fixture plate (531) is symmetrically connected with handles (535) to facilitate the placement and removal of the fixture module (53).

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