CN108423379A - A kind of MIM full-automatic visions guided robot feeding device - Google Patents
A kind of MIM full-automatic visions guided robot feeding device Download PDFInfo
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- CN108423379A CN108423379A CN201810351442.9A CN201810351442A CN108423379A CN 108423379 A CN108423379 A CN 108423379A CN 201810351442 A CN201810351442 A CN 201810351442A CN 108423379 A CN108423379 A CN 108423379A
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- vibrating disk
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- automatic charging
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- 230000004438 eyesight Effects 0.000 title claims abstract description 58
- 238000001514 detection method Methods 0.000 claims abstract description 53
- 239000000463 material Substances 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 4
- 238000002267 linear dichroism spectroscopy Methods 0.000 claims description 3
- 238000005498 polishing Methods 0.000 claims description 3
- 239000011435 rock Substances 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 5
- 238000012545 processing Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 239000010903 husk Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 229910052718 tin Inorganic materials 0.000 description 1
- 239000011135 tin Substances 0.000 description 1
- -1 tin metals Chemical class 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G27/00—Jigging conveyors
- B65G27/10—Applications of devices for generating or transmitting jigging movements
- B65G27/16—Applications of devices for generating or transmitting jigging movements of vibrators, i.e. devices for producing movements of high frequency and small amplitude
- B65G27/24—Electromagnetic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G27/00—Jigging conveyors
- B65G27/02—Jigging conveyors comprising helical or spiral channels or conduits for elevation of materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Sorting Of Articles (AREA)
- Feeding Of Articles To Conveyors (AREA)
Abstract
A kind of MIM full-automatic visions guided robot feeding device, the present invention relates to hardware products technical field of processing equipment；Rack table plate is fixed at the top of rack, rack is internally provided with electric cabinet, and one jiao of the upper surface of rack table plate is fixed with display；Automatic charging vibrating disk is fixed on one jiao of rack table plate upper surface, it is fixed with vibration disk controller on the rack table plate of automatic charging vibrating disk side, the vibration disk controller is connect with electric cabinet and automatic charging vibrating disk, the discharge end of automatic charging vibrating disk is connect with flat belt conveying device, flat belt conveying device is fixed on rack table plate, it is equipped with vibrating disk sub-material at the charging port of automatic charging vibrating disk and detects light source, vibrating disk sub-material detection light source is fixed on the lower end of vibrating disk sub-material detection CCD.The drawbacks of prior art can be overcome, novelty reasonable in design, an operating personnel can operate more machines, improve operating efficiency and ensure that quality, practicability are stronger.
Description
Technical field
The present invention relates to hardware products technical field of processing equipment, and in particular to a kind of MIM full-automatic visions guiding machine
People's feeding device.
Background technology
Hardware:Traditional hardware, also referred to as " hardware ".Refer to five kinds of gold, silver, copper, iron, tin metals.Through artificial
The arts work such as knife, sword or metal device can be made.The hardware of modern society is more extensive, such as hardware tool, hardware zero
Part, haberdashery and hardware, architectural hardware and security protection articles for use etc..Hardware product is not mostly final consumption product.
Hardware products need to carry out quality testing after the shaping, and current detection mode is needed manually to mold
Loading and unloading, this operational method are needed to personnel requirement is high, production capacity is low, personnel demand is big, safety coefficient is low, and operation quality is unstable
A series of problems, such as, it would be highly desirable to it improves.
Invention content
In view of the defects and deficiencies of the prior art, the present invention intends to provide a kind of simple in structure, reasonable design makes
It is the drawbacks of prior art can be overcome, reasonable in design new with convenient MIM full-automatic visions guided robot feeding device
Grain husk, an operating personnel can operate more machines, improve operating efficiency and ensure that quality, practicability are stronger.
To achieve the above object, the technical solution adopted by the present invention is：It includes machine table main body, automatic feed mechanism, regards
Feel detent mechanism and crawl discharge mechanism；Wherein the machine table main body is by rack, electric cabinet, display, rack table plate structure
At；Rack table plate is fixed at the top of rack, rack is internally provided with electric cabinet, and one jiao of the upper surface of rack table plate is fixed
There is display；The automatic feed mechanism is conveyed by vibrating disk sub-material detection CCD, vibrating disk sub-material detection light source, flat belt
Device, automatic charging vibrating disk and vibration disk controller are constituted；The automatic charging vibrating disk is fixed on rack table plate
One jiao of surface is fixed with vibration disk controller on the rack table plate of automatic charging vibrating disk side, the vibration disk controller with
Electric cabinet is connected with automatic charging vibrating disk, and the discharge end of automatic charging vibrating disk is connect with flat belt conveying device, flat belt
Conveying device is fixed on rack table plate, and vibrating disk sub-material is equipped at the charging port of automatic charging vibrating disk and detects light source,
Vibrating disk sub-material detection light source is fixed on the lower end of vibrating disk sub-material detection CCD；The vision positioning mechanism is by vision guide
CCD holders, vision guide detection CCD and vision guide detection light source is detected to constitute；The vibrating disk sub-material detection CCD is fixed
The rear side of CCD holders is detected in vision guide, the front side upper end of vision guide detection CCD holders is fixed with vision guide detection
The lower end of CCD, vision guide detection CCD are fixed with vision guide detection light source, and vision guide detection light source is set to
The surface of flat belt conveying device；The crawl discharge mechanism is made of four axis robots and grasping jig；Wherein four axis
Robot is fixed on rack table plate, and diagonally positioned with automatic charging vibrating disk；The output of the four axis robots
End is connected with grasping jig.
Further, the left and right sides of the rack, which are embedded, is fixed with ventilating board.
Further, the top of the rack table plate is provide with and is fixed with safety guard.
The operation principle of the present invention：
1, the impulse mgnet below automatic charging vibrating disk hopper, can make hopper make vertical vibration, by tilting
Spring leaf drive hopper to rock vibration around its vertical axis, part in hopper, due to by this vibrate and along helical orbit
Rise, detects CCD by a series of screening of tracks or attitudes vibration, vibrating disk sub-material during rising and detect part
Posture send out signal if poor direction and part be directly blown by external air nozzle by vibrating disk, can protect in this way
Card part can Linear Dichroism Studies of The Orientation be neat as requested, is accurately transported on flat belt；
2, vision guide detection CCD uses 5,000,000 CMOS cameras and mega pixel FA camera lenses, vision guide detection light source to adopt
With the mode of two bar shaped light direct beam polishings, workpiece moves on flat belt, and vision guide detection CCD is taking pictures always, finds
Have workpiece in its visual range when send a signal to PLC in electric cabinet, PLC sends out instruction and stops flat belt movement, vision
Guiding detection CCD take pictures again obtain workpiece XY coordinates be sent to four axis robots, four axis robot motions pass through crawl
The jig workpiece that goes to take is placed.
With the above structure, the present invention has the beneficial effect that：A kind of MIM full-automatic visions of the present invention guide machine
People's feeding device, the drawbacks of capable of overcoming the prior art, novelty reasonable in design a, operating personnel can operate more machines,
It improves and operating efficiency and ensure that quality, practicability is stronger, and the present invention has simple in structure, and setting is reasonable, low manufacture cost
The advantages that.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural exploded view of the present invention.
Reference sign：
Safety guard 1, vibrating disk sub-material detection CCD 2, vibrating disk sub-material detection light source 3, flat belt conveying device 4, from
Dynamic feeding vibrating disk 5, vibration disk controller 6, vision guide detection CCD holders 7, vision guide detection CCD 8, vision guide inspection
Survey light source 9, four axis robots 10, grasping jig 11, rack 12, electric cabinet 13, display 14, rack table plate 15, ventilating board
16。
Specific implementation mode
The present invention will be further described below with reference to the drawings.
Referring to as shown in Figure 1, present embodiment the technical solution adopted is that：It includes machine table main body, self-feeding
Mechanism, vision positioning mechanism and crawl discharge mechanism；The wherein described machine table main body by rack 12, electric cabinet 13, display 14,
Rack table plate 15 is constituted；The top bolt of rack 12 is fixedly connected with rack table plate 15, and being internally provided with for rack 12 is automatically controlled
One corner bracket of upper surface of case 13, rack table plate 15 is equipped with display 14；The automatic feed mechanism is examined by vibrating disk sub-material
Survey CCD 2, vibrating disk sub-material detection light source 3, flat belt conveying device 4, automatic charging vibrating disk 5 and vibration 6 structure of disk controller
At；The automatic charging vibrating disk 5, which is bolted, is fixed on one jiao of 15 upper surface of rack table plate, automatic charging vibrating disk 5
It is bolted on the rack table plate 15 of side and is fixed with vibration disk controller 6, the vibration disk controller 6 is with electric cabinet 13 and certainly
Dynamic feeding vibrating disk 5 connects, and the discharge end of automatic charging vibrating disk 5 is connect with flat belt conveying device 4, flat belt conveying device
4 are bolted and are fixed on rack table plate 15, and vibrating disk sub-material detection light is equipped at the charging port of automatic charging vibrating disk 5
Source 3, vibrating disk sub-material detection light source 3 are bolted the lower end for being fixed on vibrating disk sub-material detection CCD 2；The vision positioning
Mechanism is made of vision guide detection CCD holders 7, vision guide detection CCD 8 and vision guide detection light source 9；Described shakes
Moving plate sub-material detection CCD 2 is bolted the rear side for being fixed on vision guide detection CCD holders 7, and vision guide detects CCD holders
7 front side upper end, which is bolted, is fixed with vision guide detection CCD 8, and the lower end of the bolt connection that vision guide detects CCD 8 is solid
There is vision guide to detect light source 9, vision guide detection light source 9 is set to the surface of flat belt conveying device 4 surely；Institute
The crawl discharge mechanism stated is made of four axis robots 10 and grasping jig 11；Wherein four axis robots 10, which are bolted, is fixed on
On rack table plate 15, and it is diagonally positioned with automatic charging vibrating disk 5；The output terminal bolt of the four axis robots 10 connects
It is connected to grasping jig 11.
Further, the left and right sides of the rack 12, which are embedded and are bolted, is fixed with ventilating board 16.
Further, the top of the rack table plate 15, which is provide with and is bolted, is fixed with safety guard 1.
Further, the four axis robots 10 use YAMAHA YK400 Series machine people, and repeatable accuracy is reachable ±
There are a variety of programmings to refer to for 0.01MM, manipulator brachium 400MM, maximum speed 6m/sec maximum load 2kg, controller RCX series
It enables, the functions such as multitask；Using the direct coupling structure of ZR axis, realize that no belt composition can be greatly decreased entirely without belt composition
Idle running can maintain high-precision for a long time, and without having to worry about the breakage, relaxation and aging of belt, can long-term non-maintaining use；By changing
Kind reduction ratio and motor maximum number of revolutions, greatly improve maximum speed, shorten pitch time；Using no electronic component and optics
The simple structure of element has the characteristics that environmental suitability is strong, failure rate is low.
The working principle of this specific embodiment:：
1, the impulse mgnet below 5 hopper of automatic charging vibrating disk, can make hopper make vertical vibration, by tilting
Spring leaf drive hopper to rock vibration around its vertical axis, part in hopper, due to by this vibrate and along helical orbit
Rise, by a series of screening of tracks or attitudes vibration during rising, vibrating disk sub-material detects the detections of CCD 2 zero
The posture of part sends out signal and part is directly blown into vibrating disk by external air nozzle if poor direction, in this way can be with
Ensure that part can Linear Dichroism Studies of The Orientation be neat as requested, is accurately transported on flat belt；
2, vision guide detection CCD 8 uses 5,000,000 CMOS cameras and mega pixel FA camera lenses, vision guide to detect light source
9 by the way of two bar shaped light direct beam polishings, and workpiece moves on flat belt, and vision guide detection CCD 8 is taking pictures always,
It was found that have workpiece in its visual range when send a signal to PLC in electric cabinet 13, PLC sends out instruction and stops flat belt fortune
Dynamic, vision guide detection CCD 8 takes pictures again to be obtained the XY coordinates of workpiece and is sent to four axis robots 10, four axis robots 10
Action is placed by the workpiece that goes to take of grasping jig 11.
With the above structure, present embodiment has the beneficial effect that：A kind of MIM described in present embodiment is complete
Automatic vision guiding robot feeding device, the drawbacks of prior art can be overcome, novelty reasonable in design, an operating personnel
More machines can be operated, operating efficiency is improved and ensure that quality, practicability is stronger, and the present invention has simple in structure, setting
Rationally, the advantages that low manufacture cost.
The above is merely illustrative of the technical solution of the present invention and unrestricted, and those of ordinary skill in the art are to this hair
The other modifications or equivalent replacement that bright technical solution is made, as long as it does not depart from the spirit and scope of the technical scheme of the present invention,
It is intended to be within the scope of the claims of the invention.
Claims (4)
1. a kind of MIM full-automatic visions guided robot feeding device, it is characterised in that：It includes machine table main body, self-feeding
Mechanism, vision positioning mechanism and crawl discharge mechanism；Wherein the machine table main body is by rack, electric cabinet, display, rack platform
Panel is constituted；Rack table plate is fixed at the top of rack, rack is internally provided with electric cabinet, the upper surface one of rack table plate
Angle is fixed with display；The automatic feed mechanism is by vibrating disk sub-material detection CCD, vibrating disk sub-material detection light source, flat skin
Band conveying device, automatic charging vibrating disk and vibration disk controller are constituted；The automatic charging vibrating disk is fixed on rack platform
One jiao of panel upper surface is fixed with vibration disk controller on the rack table plate of automatic charging vibrating disk side, the vibrating disk control
Device processed is connect with electric cabinet and automatic charging vibrating disk, and the discharge end of automatic charging vibrating disk is connect with flat belt conveying device,
Flat belt conveying device is fixed on rack table plate, and vibrating disk sub-material is equipped at the charging port of automatic charging vibrating disk and is detected
Light source, vibrating disk sub-material detection light source are fixed on the lower end of vibrating disk sub-material detection CCD；The vision positioning mechanism is by vision
Guiding detection CCD holders, vision guide detection CCD and vision guide detection light source are constituted；The vibrating disk sub-material detects CCD
It is fixed on the rear side of vision guide detection CCD holders, the front side upper end of vision guide detection CCD holders is fixed with vision guide inspection
CCD is surveyed, the lower end of vision guide detection CCD is fixed with vision guide detection light source, and the vision guide detects light source setting
In the surface of flat belt conveying device；The crawl discharge mechanism is made of four axis robots and grasping jig；Wherein four
Axis robot is fixed on rack table plate, and diagonally positioned with automatic charging vibrating disk；The four axis robots it is defeated
Outlet is connected with grasping jig.
2. a kind of MIM full-automatic visions guided robot feeding device according to claim 1, it is characterised in that：It is described
The left and right sides of rack be embedded and be fixed with ventilating board.
3. a kind of MIM full-automatic visions guided robot feeding device according to claim 1, it is characterised in that：It is described
The top of rack table plate be provide with and be fixed with safety guard.
4. a kind of MIM full-automatic visions guided robot feeding device, it is characterised in that：Its operation principle：
(1), the impulse mgnet below automatic charging vibrating disk hopper, makes hopper make vertical vibration, by inclined spring
Piece drives hopper to rock vibration around its vertical axis, part in hopper, due to by this vibration and along helical orbit rising,
By a series of screening of tracks or attitudes vibration during rising, vibrating disk sub-material detects the posture of CCD detection parts,
If poor direction, sends out signal and part is directly blown by external air nozzle by vibrating disk, can ensure part in this way
It can Linear Dichroism Studies of The Orientation be neat as requested, is accurately transported on flat belt；
(2), vision guide detection CCD uses 5,000,000 CMOS cameras and mega pixel FA camera lenses, vision guide to detect light source and use
The mode of two bar shaped light direct beam polishings, workpiece move on flat belt, and vision guide detection CCD is taking pictures always, has found
The PLC in electric cabinet is sent a signal to when workpiece is in its visual range, PLC sends out instruction and stops flat belt movement, and vision is drawn
It leads detection CCD and takes pictures again and obtain the XY coordinates of workpiece and be sent to four axis robots, four axis robot motions are controlled by crawl
Have the workpiece that goes to take to be placed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810351442.9A CN108423379A (en) | 2018-04-19 | 2018-04-19 | A kind of MIM full-automatic visions guided robot feeding device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810351442.9A CN108423379A (en) | 2018-04-19 | 2018-04-19 | A kind of MIM full-automatic visions guided robot feeding device |
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| Publication Number | Publication Date |
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| CN108423379A true CN108423379A (en) | 2018-08-21 |
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| CN201810351442.9A Pending CN108423379A (en) | 2018-04-19 | 2018-04-19 | A kind of MIM full-automatic visions guided robot feeding device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128782A (en) * | 2018-11-14 | 2019-01-04 | 四川铭利达科技有限公司 | A kind of clear security protection components Automated assembly device of superelevation |
| CN109433631A (en) * | 2018-09-06 | 2019-03-08 | 国营芜湖机械厂 | The integrated device that more sized bolt degree of injury detect and classify automatically |
| CN109533820A (en) * | 2018-12-25 | 2019-03-29 | 东莞市智汇五金有限公司 | A kind of full-automatic detection device of electrode elastic slice CCD |
| CN110181243A (en) * | 2019-03-29 | 2019-08-30 | 无锡市宝玛精密部件有限公司 | Stapler binding system |
| CN110562759A (en) * | 2019-09-10 | 2019-12-13 | 禧天龙科技发展有限公司 | flexible feeding device for replacing vibrating disk |
| CN110789917A (en) * | 2019-11-15 | 2020-02-14 | 哈尔滨理工大学 | Roller automatic feeding and size detection device based on machine vision |
| CN111115173A (en) * | 2019-12-31 | 2020-05-08 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic feeding system of water pump blade |
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Effective date of registration: 20220421 Address after: 523000 building 3, No. 5, Weifeng Road, Dongcheng Street, Dongguan City, Guangdong Province Applicant after: DONGGUAN HUAJING POWDER METALLURGY Co.,Ltd. Address before: 518000 workshop 1 and 3, zone a, xinfengze industrial plant, Shangnan East Road, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN FUTURE TECHNOLOGY Co.,Ltd. |
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