CN107322264B - Automatic feeding assembly equipment and method thereof - Google Patents
Automatic feeding assembly equipment and method thereof Download PDFInfo
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- CN107322264B CN107322264B CN201710744219.6A CN201710744219A CN107322264B CN 107322264 B CN107322264 B CN 107322264B CN 201710744219 A CN201710744219 A CN 201710744219A CN 107322264 B CN107322264 B CN 107322264B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The invention discloses automatic feeding assembly equipment and a method thereof. An automatic feeding assembly device comprises a base, a feeding device fixedly connected to the base, and a material moving device arranged on one side of the feeding device; the material moving device is used for moving the workpiece of the feeding device to the next working procedure; the material moving device comprises a manipulator and a material grabbing mechanism fixedly connected with the manipulator. The workpiece transferring mechanism automatically transfers the workpiece of the feeding device to the next working procedure and installs the workpiece on the next workpiece. The invention has high automation degree, reduces labor cost and improves production efficiency. In addition, the CCD lens is used for sampling and positioning the workpiece, so that the position is accurate, the error rate is low, and the installation accuracy is high.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to automatic feeding equipment and a method thereof.
Background
With the continuous development of intelligent control theory and the progress of modern programmable control, industrial production tends to be intelligent and automatic, so that manpower is separated from heavy physical labor.
However, the existing automatic feeding and assembling equipment for many products has the problems of huge volume, low sorting precision and the like. For example, the conventional manner of attaching the connection piece of the battery cell is manual attachment, which has the following problems: the operator can easily generate fatigue after repeating the same action for a long time, and the possibility of misplacement is caused; and the labor intensity is high, the labor consumption is low, and the efficiency is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides automatic feeding equipment and a method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an automatic feeding assembly device comprises a base, a feeding device fixedly connected to the base, and a material moving device arranged on one side of the feeding device; the material moving device is used for moving the workpiece of the feeding device to the next working procedure; the material moving device comprises a manipulator and a material grabbing mechanism fixedly connected with the manipulator.
The further technical scheme is as follows: the feeding device comprises a discharging mechanism, a feeding mechanism arranged at the discharging end of the discharging mechanism and a selecting mechanism arranged at the discharging end of the feeding mechanism; the discharging mechanism, the feeding mechanism and the selecting mechanism are all provided with conveying belts for conveying workpieces; the feeding mechanism transfers the workpiece of the discharging mechanism to the selecting mechanism.
The further technical scheme is as follows: the tail end of the material selecting mechanism is provided with a material returning mechanism connected with the material discharging mechanism, and the material returning mechanism is provided with a conveying belt; one end of the conveying belt of the feed back mechanism is arranged right below the tail end of the conveying belt of the material selecting mechanism so as to catch the workpiece which is not grabbed on the material selecting mechanism, and the other end of the conveying belt of the material returning mechanism is arranged right above the conveying belt of the material discharging mechanism so as to return the workpiece to the material discharging mechanism.
The further technical scheme is as follows: the material selecting mechanism is horizontally arranged; the discharging mechanism is positioned below the material selecting mechanism in the vertical direction; one end of a conveying belt of the feeding mechanism is arranged right below a discharging end of the discharging mechanism, and the other end of the conveying belt of the feeding mechanism is arranged right above a feeding end of the conveying belt of the selecting mechanism so as to form an inclined state; the surface of the conveying belt of the feeding mechanism is provided with a blocking protrusion.
The further technical scheme is as follows: the grabbing mechanism is fixed on a rotating shaft arranged on the manipulator; the material grabbing mechanism comprises a mounting seat fixedly connected with the rotating shaft, a material grabbing power piece fixedly connected with the mounting seat, and a material pressing assembly fixedly connected with the power output end of the material grabbing power piece; the pressing assembly is provided with a grabbing head for grabbing the workpiece.
The further technical scheme is as follows: the pressing assembly comprises a fixed frame fixedly connected with the power output end of the pressing power piece, a plurality of guide posts fixed on the fixed frame and a movable frame movably connected with the fixed frame; the grabbing head is fixed on the movable frame; the guide post is arranged on one side of the fixing frame, which is close to the mounting seat, and the mounting seat is provided with a guide post hole for sliding connection of the guide post; and one end of the guide pillar outer elastic piece is propped against the fixing frame, and the other end of the guide pillar outer elastic piece is propped against the mounting seat.
The further technical scheme is as follows: the movable frame comprises a vertical movable rod and a transverse movable rod fixed at one end of the vertical movable rod; the vertical movable rod is in sliding connection with a movable hole formed in the fixed frame; the lower end of the fixing frame is provided with a positioning block, and the positioning block is provided with a sliding groove for sliding connection with the transverse movable rod; the grabbing head is fixed at the lower end of the transverse movable rod.
The further technical scheme is as follows: the mounting seat is also provided with a second camera shooting assembly; the second camera shooting assembly comprises a fixed plate fixed on the mounting seat, a second CCD lens which is connected with the fixed plate in a sliding way, and a second light source which is connected with the fixed plate in a sliding way; the fixed plate is provided with a sliding rail; the CCD lens and the light source are both provided with a sliding seat which is in sliding connection with the sliding rail; the sliding seat is fixed with the sliding rail through a fastener.
The further technical scheme is as follows: the first camera shooting assembly is used for shooting and positioning the workpiece on the feeding device; the first camera shooting assembly is fixed on the base through a bracket arranged on the first camera shooting assembly and is positioned above the feeding device; the first camera shooting assembly is provided with a first CCD lens and a first light source; the first CCD lens is adjustably coupled to the bracket.
In the material moving method, a workpiece placed in a material discharging mechanism is conveyed to a material selecting mechanism through a material feeding mechanism; the first CCD lens of the first camera shooting assembly samples the position of the workpiece on the material selecting mechanism and transmits the position and state information of the workpiece to a control center, and when the position and state information of the workpiece meets the set requirements after comparison operation, the belt power piece of the material selecting mechanism stops moving; the control center sends a signal to the manipulator to enable the manipulator to move above the material selecting mechanism, meanwhile, the manipulator drives the material grabbing mechanism to descend, and the vacuum generating device works to enable the sucker to be close to the workpiece, so that the sucker can conveniently suck the workpiece; the control center controls the manipulator to ascend and transfers the workpiece to the next station; when the grabbing mechanism reaches the next station, the second CCD lens of the second shooting assembly samples the other workpiece and transmits the position and state information of the other workpiece to the control center, and after comparison and operation, the control center sends a signal to the manipulator and controls the rotating shaft to rotate by a preset angle; after aligning the positions, the control center controls the material pressing power piece to control the sucker to descend so as to mount the workpiece to another workpiece.
Compared with the prior art, the invention has the beneficial effects that: an automatic feeding assembly device and a method thereof.A material moving mechanism automatically moves a workpiece of a feeding device to the next process and installs the workpiece on the next workpiece. The invention has high automation degree, reduces labor cost and improves production efficiency. In addition, the CCD lens is used for sampling and positioning the workpiece, so that the position is accurate, the error rate is low, and the installation accuracy is high.
The invention is further described below with reference to the drawings and specific embodiments.
Drawings
FIG. 1 is a perspective view of an automatic feed assembly apparatus of the present invention;
FIG. 2 is a perspective view of a loading device of the automatic feed assembly equipment of the present invention;
FIG. 3 is a perspective view and a partial enlarged view of a loading device of an automatic feed assembly device of the present invention;
FIG. 4 is a side view of a transfer device of an automatic feed assembly apparatus of the present invention;
FIG. 5 is a perspective view of a grabbing mechanism of an automatic feed assembly apparatus of the present invention;
FIG. 6 is a perspective view of a gripping mechanism of an automatic feed assembly apparatus according to the present invention from another perspective;
FIG. 7 is a perspective view of a second camera assembly of the automatic feed assembly apparatus of the present invention;
fig. 8 is a perspective view and a partial enlarged view of a first camera module of an automatic feed assembly apparatus according to the present invention.
Detailed Description
In order to more fully understand the technical content of the present invention, the following technical solutions of the present invention will be further described and illustrated with reference to specific embodiments, but are not limited thereto.
Fig. 1 to 8 are drawings of the present invention.
An automatic feeding assembly device, as shown in fig. 1, comprises a base 10, a feeding device 20 fixedly connected to the base 10, and a material moving device 30 arranged on one side of the feeding device 20. The transfer device 30 is used for transferring the workpiece of the loading device 20 to the next process. The material moving device 30 comprises a manipulator 31 and a material grabbing mechanism 32 fixedly connected to the manipulator 31. The robot 31 drives the gripping mechanism 32 to reciprocate so that the gripping mechanism 32 grips and conveys the workpiece to the next process.
As shown in fig. 2 and 3, the feeding device 20 includes a discharging mechanism 21, a feeding mechanism 22 disposed at a discharging end of the discharging mechanism 21, and a selecting mechanism 23 disposed at a discharging end of the feeding mechanism 22. The discharging mechanism 21, the feeding mechanism 22 and the selecting mechanism 23 are all provided with a conveying belt 24 for conveying workpieces. The material selecting mechanism 23 is arranged horizontally near one end of the manipulator 31. The feeding mechanism 22 transfers the workpiece of the discharging mechanism 21 to the selecting mechanism 23, so that the manipulator 31 drives the grabbing mechanism 32 to grab the workpiece.
The direction indicated by the arrow in fig. 3 is the direction of movement of the workpiece.
Preferably, the tail end of the material selecting mechanism 23 is provided with a material returning mechanism 25 communicated with the material discharging mechanism 21. Similarly, the feed back mechanism 25 is also provided with a conveyor belt 24, one end of which is arranged below the end of the conveyor belt 24 of the material selecting mechanism 23 to catch the work piece which is not gripped on the material selecting mechanism 23, and the other end of which is arranged above the conveyor belt 24 of the material discharging mechanism 21 to recycle the work piece to the material discharging mechanism 21, thereby forming a circulation feeding mode.
In other embodiments, the material selecting mechanism 23 has one end higher than the material discharging mechanism 21, and the material returning mechanism 25 can be directly designed into a material returning groove without arranging a conveying belt, so that the workpiece is recovered to the material discharging mechanism 21 by utilizing gravity.
Specifically, the conveyor belt 24 of the discharging mechanism 21 conveys the workpiece to the feeding mechanism 22, the conveyor belt of the feeding mechanism 22 conveys the workpiece to the selecting mechanism 23, the conveyor belt 24 of the feeding mechanism 22 conveys the workpiece to the selecting mechanism 23, and the workpiece which is not removed on the selecting mechanism 23 is returned to the discharging mechanism 21 through the returning mechanism 25. The discharging mechanism 21, the feeding mechanism 22, the selecting mechanism 23 and the returning mechanism 25 form a square structure, so that space is saved.
The preferred material selecting mechanism 21 is horizontally arranged, so that the grabbing mechanism is convenient for grabbing the workpiece. The discharging mechanism 21 is located below the selecting mechanism 23 in the vertical direction. One end of a conveying belt 24 of the feeding mechanism 22 is arranged right below the discharging end of the discharging mechanism 21, and the other end of the conveying belt is arranged right above the feeding end of the conveying belt 24 of the selecting mechanism 23 so as to form an inclined state. The inclined state of the feeding mechanism 22, and the surface of the conveying belt 24 of the feeding mechanism 22 is provided with the blocking protrusion 241, so that the overlapped workpieces can be separated in the process of conveying the workpieces upwards, and meanwhile, the space can be saved.
The discharging mechanism 21, the feeding mechanism 22 and the selecting mechanism 23 are all provided with a belt power piece 26. The power output end of the material belt power piece 26 is in transmission connection with a material belt driving wheel 27. One end of the conveyor belt 24 is in transmission connection with a material belt driving wheel 27, and the other end is in transmission connection with a material belt driven wheel 271. The belt follower 271 is provided with a tensioning assembly 28. The tensioning assembly 28 includes a blocking plate 281 provided on both sides of the conveyor belt 24, and a tensioning bolt 282 having one end fixedly coupled to the belt follower 271 and the other end movably coupled to the blocking plate 281. The belt follower 271 is movably coupled to a chute 283 provided in the flap 281.
In other embodiments, the discharging mechanism 21, the feeding mechanism 22, the selecting mechanism 23 and the returning mechanism 25 of the feeding device 20 are two, and are designed into a returning structure.
As shown in fig. 4, the manipulator 31 of the material moving device 30 can perform lifting movement in the vertical direction and also can perform rotation movement. The manipulator 31 includes a base 311, a lifting arm 312 fixed to the base 311, a first connecting arm 313 rotatably coupled to the lifting arm 312, and a second connecting arm 314 rotatably coupled to the first connecting arm 313. Wherein, the second connecting arm 314 has a relative motion to the first connecting arm 313, and the first connecting arm 313 has a relative motion to the lifting arm 312. The second connecting arm 314 is provided with a rotation shaft 315, and the material grabbing mechanism 32 is fixed on the rotation shaft 315, so that the material grabbing mechanism 32 has relative motion with respect to the second connecting arm 314. The lifting arm 312 is lifted and lowered by a robot lifting shaft.
As shown in fig. 5 to 6, the material grabbing mechanism 32 includes a mounting base 321 fixedly coupled to the rotating shaft 315, a material pressing power member 322 fixedly coupled to the mounting base 321, and a material pressing assembly 323 fixedly coupled to a power output end of the material pressing power member 322. The press assembly 323 is provided with a gripping head 324 that grips the workpiece.
The pressing assembly 323 comprises a fixed frame 331 fixedly connected with the power output end of the pressing power piece 322, a plurality of guide posts 332 fixed on the fixed frame 331, and a movable frame 333 movably connected with the fixed frame 331. The head 324 is fixed to the movable frame 333. The guide post 332 is disposed on one side of the fixing frame 331 near the mounting base 321, and the mounting base 321 is provided with a guide post hole for sliding connection of the guide post 332. The outer elastic member 335 of the guide post 332 has one end abutting against the fixing frame 331 and the other end abutting against the mounting seat 321, so that the buffering effect is achieved when the pressing power member 322 drives the fixing frame 331 to move towards the mounting seat 321.
Specifically, the movable frame 333 includes a vertical movable rod 3331, and a horizontal movable rod 3332 fixed to one end of the vertical movable rod 3331. The vertical movable rod 3331 is slidably coupled with a movable hole provided in the fixed frame 331 so that the movable frame 333 can move in a vertical direction. The lower end of the fixed frame 331 is provided with a positioning block 3333, and the positioning block 3333 is provided with a sliding groove for sliding connection with the transverse movable rod 3332. Specifically, the lateral movable rod 3332 is slidably coupled in the sliding groove to prevent the lower end of the movable frame 333 from shaking, which affects the positioning accuracy. Wherein the gripping head 324 is fixed to the lower end of the transverse movable bar 3332. The movable frame 333 is movably coupled with the fixed frame 331, so that the buffer effect is provided during the descending process of the grabbing head 324, and the workpiece is prevented from being damaged during grabbing.
More specifically, the vertical movable rod 3331 is sleeved in the elastic member, when 333 assemblies contact the battery cell, the rotating shaft 315 continues to descend, the elastic member is compressed, the distance between the laser ranging sensor 37 and the assemblies 333 is reduced, and the rotating shaft 315 stops descending until the sensor 37 senses an output signal. Next, the pressing power piece 322 (i.e. the pressing cylinder) extends out to push the movable frame 333 assembly to move downwards, and finally the movable frame 333 presses the workpiece into the next workpiece.
Preferably, the mounting base 321 is further provided with a vacuum generating device 34 for reducing the cost and compactness of the apparatus. The air outlet end of the vacuum generating device 34 is communicated with a solenoid valve 341. The gripping head 324 is a vacuum chuck and is in communication with the vacuum generating device 34. The vacuum chuck can be one or more, is in an elliptic structure and is directly attracted to the surface of the workpiece.
In other embodiments, the gripper head 324 is also a vacuum chuck, and the vacuum chuck is in communication with a vacuum source center, i.e., the vacuum source center may be an external source of gas.
As shown in fig. 7, the mount 321 is further provided with a second imaging module 35. The second photographing assembly 35 includes a fixed plate 351 fixed to the mount 321, a second CCD lens 352 slidably coupled to the fixed plate 351, and a second light source 353 slidably coupled to the fixed plate 351. The fixed plate 351 is provided with a sliding rail 354. The second CCD lens 352 is provided with a first slider 355 slidably coupled to the slide rail 354, and the second light source 353 is provided with a second slider 356 slidably coupled to the slide rail 354. The slide 355 is fixed to the slide rail 354 by means of a fastener 356 provided. The sliding rail 354, the sliding seat 355 and the fastening piece 356 are matched with each other, so that the relative positions of the second CCD lens 352 and the second light source 353 are adjusted, and the shooting positioning is more accurate.
As shown in fig. 8, the device further includes a first camera assembly 36 for camera positioning of the workpiece on the feeding device 20. The first imaging device 36 is provided with a first light source 362 and a first CCD lens 363. The first CCD lens 363 is adjustably coupled to the bracket 361. Specifically, the bracket 361 is provided with a mounting block 364 such that an adjustment block 365 provided to the first light source 362 is slidably coupled to the mounting block 364, and at the same time, the adjustment block 365 is provided with an adjustment bolt 366 having one end fixed to the adjustment block 365 and coupled to the mounting block 364. The up-down position of the first CCD lens 363 can be adjusted by rotating the adjusting bolt 366. The first camera assembly 36 is fixed on the base 10 through a bracket 361, and is located above the feeding device 20. The holder 361 is further provided with a first light source 362 for irradiating the workpiece. Preferably, an auxiliary light source is arranged on the material selecting mechanism 23 of the feeding device 20, so that the first image capturing component 36 can capture and photograph the workpiece more accurately.
The control circuit is provided with a control center. The mechanical arm 31, the belt power piece 26, the vacuum generating device 34, the pressing power piece 322, the first shooting assembly 36 and the second shooting assembly 35 which are arranged on the material selecting mechanism 23 are all electrically connected with the control center. The mounting base 321 is provided with a distance sensor 37 electrically connected with the control center and used for controlling the manipulator 31 to lift. Other electronic components are also electrically connected to the control center, and other electrical components are not necessarily shown.
To increase the efficiency of the apparatus, a plurality of material transfer devices 10, two in this embodiment, are mounted on the base.
A material moving method is characterized in that a workpiece placed in a discharging mechanism 21 is conveyed to a material conveying mechanism 22 through the action of a conveying belt 24, and then the workpiece is conveyed to the conveying belt 24 of a material selecting mechanism 23 through the conveying belt 24. The work pieces that have not been removed or overlapped on the sorting mechanism 23 are conveyed to the return mechanism 25 by the conveyor belt 24. The workpiece falling on the feed back mechanism 25 is recovered to the discharge mechanism 21 by the conveyor belt 24. The first CCD lens 363 of the first camera assembly 36 captures the position of the workpiece on the material selecting mechanism 23 and transmits the position information to the control center; after the comparison operation, when the position and the state of the workpiece meet the requirements, the belt power piece 26 of the material selecting mechanism 23 stops moving. The control center sends an action signal to the manipulator 31 to enable the manipulator 31 to move above the material selecting mechanism 23, meanwhile, the manipulator 31 drives the material grabbing mechanism 32 to descend, and the vacuum generating device 34 works to enable the material grabbing head 324 to approach and suck a workpiece. The control center then controls the manipulator 31 to ascend and transfer the workpiece to the next station. When the material grabbing mechanism 32 reaches the next station, the control center sends a signal to the manipulator 31 to enable the manipulator to move downwards until the distance sensor 37 sends a stop signal; the second CCD lens 352 of the second camera assembly 35 captures another workpiece and transmits the position information of the other workpiece to the control center, and after comparison and operation, the control center sends a signal to the manipulator 31 and controls the rotation shaft 315 to rotate by a preset angle; after the alignment position, the control center controls the swage power 322 to control the lowering of the gripper head 324 to mount the workpiece to another workpiece.
In the present invention, the specific embodiment is that the gripping mechanism 32 grips a battery tab (i.e., the workpiece above) and then mounts the tab to the cell (i.e., the next workpiece above).
In this embodiment, the work piece is the utmost point post connection piece of battery, and the manipulator drives and grabs material mechanism and transport the connection piece to next station to install the connection piece on the utmost point post of battery, realize automatic installation, reduce the cost of labor, improve production efficiency.
In summary, according to the automatic feeding assembly equipment and the method thereof, the workpiece of the feeding device is automatically transferred to the next process by the material transferring mechanism, and the workpiece is mounted on the next workpiece. The invention has high automation degree, reduces labor cost and improves production efficiency. In addition, the CCD lens is used for sampling and positioning the workpiece, so that the position is accurate, the error rate is low, and the installation accuracy is high.
The foregoing examples are provided to further illustrate the technical contents of the present invention for the convenience of the reader, but are not intended to limit the embodiments of the present invention thereto, and any technical extension or re-creation according to the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (3)
1. An automatic feed assembly apparatus, comprising: the feeding device comprises a base, a feeding device fixedly connected to the base and a material moving device arranged on one side of the feeding device; the material moving device is used for moving the workpiece of the feeding device to the next working procedure; the material transferring device comprises: the manipulator and the grabbing mechanism is fixedly connected to the manipulator;
the grabbing mechanism is fixed on a rotating shaft arranged on the manipulator; the grabbing mechanism comprises: the device comprises a mounting seat fixedly connected with a rotating shaft, a grabbing power piece fixedly connected with the mounting seat, and a pressing assembly fixedly connected with a power output end of the grabbing power piece; the pressing assembly is provided with a grabbing head for grabbing a workpiece;
the swage assembly include: a fixed frame fixedly connected with the power output end of the pressing power piece, a plurality of guide posts fixed on the fixed frame and a movable frame movably connected with the fixed frame; the grabbing head is fixed on the movable frame; the guide post is arranged on one side of the fixing frame, which is close to the mounting seat, and the mounting seat is provided with a guide post hole for sliding connection of the guide post; an elastic piece is arranged on the outer side of the guide post, one end of the elastic piece is propped against the fixing frame, and the other end of the elastic piece is propped against the mounting seat;
the movable frame comprises: a vertical movable rod and a transverse movable rod fixed at one end of the vertical movable rod; the vertical movable rod is in sliding connection with a movable hole formed in the fixed frame; the lower end of the fixing frame is provided with a positioning block, and the positioning block is provided with a sliding groove for sliding connection with the transverse movable rod; the material grabbing head is fixed at the lower end of the transverse movable rod;
an elastic piece is also arranged on the outer side of the vertical movable rod;
the loading attachment include: the feeding mechanism is arranged at the discharge end of the feeding mechanism, and the material selecting mechanism is arranged at the discharge end of the feeding mechanism; the discharging mechanism, the feeding mechanism and the selecting mechanism are all provided with conveying belts for conveying workpieces; the feeding mechanism transfers the workpiece of the discharging mechanism to the selecting mechanism;
the tail end of the material selecting mechanism is provided with a material returning mechanism connected with the material discharging mechanism, and the material returning mechanism is provided with a conveying belt; one end of the conveying belt of the feed back mechanism is arranged right below the tail end of the conveying belt of the material selecting mechanism so as to catch a workpiece which is not grabbed on the material selecting mechanism, and the other end of the conveying belt of the feed back mechanism is arranged right above the conveying belt of the discharging mechanism so as to reflow the workpiece to the discharging mechanism;
the material selecting mechanism is horizontally arranged; the discharging mechanism is positioned below the material selecting mechanism in the vertical direction; one end of a conveying belt of the feeding mechanism is arranged right below a discharging end of the discharging mechanism, and the other end of the conveying belt of the feeding mechanism is arranged right above a feeding end of the conveying belt of the selecting mechanism so as to form an inclined state; the surface of the conveying belt of the feeding mechanism is provided with a blocking protrusion;
the automatic feed equipment also includes: the first camera shooting assembly is used for shooting and positioning a workpiece on the feeding device; the first camera shooting assembly is fixed on the base through a bracket arranged on the first camera shooting assembly and is positioned above the feeding device; the first camera shooting assembly is provided with a first CCD lens and a first light source; the first CCD lens is adjustably coupled to the bracket.
2. The automatic feed assembly equipment of claim 1, wherein the mounting base is further provided with a second camera assembly; the second camera assembly includes: the fixed plate is fixed on the mounting seat, the second CCD lens is connected to the fixed plate in a sliding way, and the second light source is connected to the fixed plate in a sliding way; the fixed plate is provided with a sliding rail; the second CCD lens and the second light source are respectively provided with a sliding seat which is in sliding connection with the sliding rail; the sliding seat is fixed with the sliding rail through a fastener.
3. A material moving method using the automatic feeding assembly equipment according to claim 2, wherein the workpiece placed in the material discharging mechanism is conveyed to the material selecting mechanism through the material feeding mechanism; the first CCD lens of the first camera shooting assembly samples the position of the workpiece on the material selecting mechanism and transmits the position and state information of the workpiece to a control center, and after comparison operation, when the position and state information of the workpiece meet the set requirements, the belt power piece of the material selecting mechanism stops moving; the control center sends a signal to the manipulator to enable the manipulator to move above the material selecting mechanism, meanwhile, the manipulator drives the material grabbing mechanism to descend, and the vacuum generating device works to enable the sucker to be close to the workpiece, so that the sucker can conveniently suck the workpiece; the control center controls the manipulator to ascend and transfers the workpiece to the next station; when the grabbing mechanism reaches the next station, the second CCD lens of the second shooting assembly samples the other workpiece and transmits the position and state information of the other workpiece to the control center, and after comparison and calculation, the control center sends a signal to the manipulator and controls the rotating shaft to rotate by a preset angle; after aligning the positions, the control center controls the material pressing power piece to control the sucker to descend so as to mount the workpiece to another workpiece.
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| CN201710744219.6A CN107322264B (en) | 2017-08-25 | 2017-08-25 | Automatic feeding assembly equipment and method thereof |
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| CN201710744219.6A CN107322264B (en) | 2017-08-25 | 2017-08-25 | Automatic feeding assembly equipment and method thereof |
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| CN107322264A CN107322264A (en) | 2017-11-07 |
| CN107322264B true CN107322264B (en) | 2023-06-20 |
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| CN109973480B (en) * | 2017-12-28 | 2024-02-27 | 惠州市赢合智能技术有限公司 | Dispensing assembly device and gluing assembly method |
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| WO2020051778A1 (en) * | 2018-09-11 | 2020-03-19 | 深圳配天智能技术研究院有限公司 | Apparatus for part insertion operation |
| CN109390837B (en) * | 2018-12-28 | 2020-05-22 | 乐清野岛机电有限公司 | Automatic assembly equipment for feeding and circulating terminal plug |
| CN109638606B (en) * | 2018-12-28 | 2020-05-26 | 乐清野岛机电有限公司 | Full-automatic assembly line of data plug |
| CN113478482B (en) * | 2021-06-30 | 2024-05-03 | 东莞市泓旭五金制品有限公司 | AI robot vision equipment for packing |
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| CN103722376B (en) * | 2014-01-07 | 2015-12-16 | 深圳雷柏科技股份有限公司 | Remote controller mounting equipment |
| CN104723071B (en) * | 2015-04-14 | 2017-05-31 | 吉林大学 | A kind of internal jump ring automatic mounting machine |
| CN205032906U (en) * | 2015-10-13 | 2016-02-17 | 苏州博众精工科技有限公司 | Full automatic alignment kludge |
| US9725256B1 (en) * | 2016-03-28 | 2017-08-08 | An-Sung Wang | Automatic staged object feeding and discharging system |
| CN106078183B (en) * | 2016-07-13 | 2018-02-06 | 苏州达力客自动化科技有限公司 | The automatic assembly line of internal combustion engine |
| CN207508608U (en) * | 2017-08-25 | 2018-06-19 | 深圳市光大激光科技股份有限公司 | A kind of Automatic-feeding assembles equipment |
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2017
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