CN109132526A - A kind of workpiece feeding device and workpiece feeding method - Google Patents
A kind of workpiece feeding device and workpiece feeding method Download PDFInfo
- Publication number
- CN109132526A CN109132526A CN201811260002.9A CN201811260002A CN109132526A CN 109132526 A CN109132526 A CN 109132526A CN 201811260002 A CN201811260002 A CN 201811260002A CN 109132526 A CN109132526 A CN 109132526A
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- China
- Prior art keywords
- workpiece
- carrier
- feeding
- feeding device
- lifting
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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
- 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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
-
- 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
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention provides a kind of workpiece feeding device, including workbench, feeding machanism, transmission line mechanism, work piece carrying mechanism and sorting mechanism.Feeding machanism is equipped with for discharge position, and transmission line mechanism is equipped with installation site.Work piece carrying mechanism clamps workpiece from for discharge position, after the detection of sorting mechanism screening, by the mobile installation of qualified workpiece into the target carrier of installation site.By setting feeding machanism and work piece carrying mechanism, the workpiece feed and feeding installation, sorting mechanism for realizing automation can in the handling process be detected workpiece, it is ensured that the qualification rate of workpiece.Transmission line mechanism transports workpiece using carrier, realizes continuous-flow type processing operation.The present invention also provides a kind of workpiece feeding methods, and the automatic charging detection of workpiece, management easy to produce may be implemented.
Description
Technical field
The present invention relates to automatic assembly technique fields, and in particular to a kind of workpiece feeding device and workpiece feeding method.
Background technique
Automatic technology is widely used in industry, agricultural, military affairs, scientific research, communications and transportation, business, medical treatment, service and family
Front yard etc..It not only can be people from heavy manual labor, part mental labour and severe, dangerous using automatic technology
Working environment in free, and the organ dysfunction of people can be extended, greatly improve labor productivity, enhance human knowledge
The ability in the world and reforming world.
It in electronic equipment assembler skill, is frequently necessary on some station to workpiece holding, and carries out multiple directions
Mobile, rotation, changes its position.It realizes workpiece and assembles the cooperation between carrier.These movements need manipulator etc. to automate
Process equipment is completed.It is existing it is a kind of fastening, rotating integratedization feeding structure, including clamp block, clamping pull rod, upper bearing (metal), in
Empty rotary shaft, synchronizing wheel, lower bearing, adjustment block, idler wheel, spiral arm and bracket, the fastening, rotating integratedization feeding structure, have
It is reasonable in design, work efficiency is high, can be achieved clamp, rotate, detecting integrated feeding function, effectively saved into production
And processing cost, while the yield rate of product is also improved, there is great economic value.
But above-mentioned material fetching mechanism can not judge the position of workpiece and shape in reclaiming process again, execute folder
Can only complete each movement by step according to preset program during taking carrying, offset for installation site and
The workpiece to have deformed cannot effectively identify that therefore, which not can guarantee feeding target in automated production
Validity.
Summary of the invention
Therefore, the technical problem to be solved in the present invention is that workpiece shape can not be identified by overcoming in reclaiming process in the prior art
The defect of state, to provide a kind of workpiece feeding device and workpiece feeding method that can have automatic identification function.
The present invention provides a kind of workpiece feeding device, including workbench, and is arranged on the table
Feeding machanism has the feed zone of delivery charging tray, is equipped with lifting device, the lifting device in the feed zone
Charging tray is promoted to for discharge position, so that feeding device clamps workpiece；
Transmission line mechanism including one-way movement conveyer belt, several is placed on the conveyer belt with the load that conveyer belt is mobile
The carrier is fixed on installation position by the carrier positioning device for having and being set to by the conveyer belt, the carrier positioning device
It sets；
Work piece carrying mechanism, including feeding device and mobile device, the mobile device drive the feeding device in institute
It states and is moved on workbench, the feeding device clamps workpiece from the feeding machanism of the feeding position, in the mobile device
Driving under workpiece is transported to the installation site, and workpiece is mounted in the carrier；
Sorting mechanism, including profile measurement unit and it include profile measurement unit and waste material box, the profile measurement list
Member detects the shape of workpiece, if testing result is unqualified, clamping of the feeding device release to workpiece, by workpiece
It is thrown into waste material box.
The feeding machanism includes
First rack has parallel arrangement of feed zone and feed back area, described to be located at institute for discharge position for delivering charging tray
State the top of feed zone；
The end in the feed zone and the feed back area has the transfer area interconnected, the feed zone and the feed back
The other end in area is respectively provided with the material moving area for carrying out material up and down；
And transfer mechanism, the transfer mechanism move in the transfer area, for being fixed on charging tray for discharge position,
And charging tray is transported to the feed back area
Mutual independent lifting device and translating device, the lifting are respectively equipped in the feed zone and the feed back area
Device conveys charging tray between the transfer area and material moving area by elevating movement；The translating device by horizontal movement to
Feeding, discharge area conveys or exports the charging tray.
The feeding device includes the second rack, gripping body, testing agency
Gripping body is installed in second rack, including at least one lifting unit and at least one catching unit,
The catching unit is connected in second rack by lifting unit, and the lifting unit drives the catching unit to rise
Drop movement；The catching unit has the clamping jaw that can clamp workpiece；
Testing agency includes the position degree difference detection unit being fixedly installed in second rack, the position degree difference inspection
Unit is surveyed for detecting and obtaining installation site and the positional shift of original target position in the horizontal plane, the mobile device root
The movement routine of the feeding device is adjusted according to testing result.
The position degree difference detection unit is the upper camera being fixed in second rack, and camera shooting is set upside down
It sets, for detecting and obtaining the positional shift between the installation site being disposed below and original target position.
The mobile device includes horizontal shift structure and vertically movable structure, and the horizontal shift structure includes that setting exists
Y-axis straight line mould group on the workbench and the X-axis straight line mould group being slidably connected with it；The vertically movable structure includes sliding
The Z axis lifting mould group being connected in the X-axis straight line mould group, the feeding device are fixedly connected on the Z by the second rack
Axis is gone up and down in mould group；The horizontal shift structure adjusts movement routine according to the testing result of the alternate position spike detection unit.
The carrier positioning device includes
Lifting body, between the conveyer belt transported parallel, can the relatively described conveyer belt move up and down, for will be described
Carrier jacking is detached from the conveyer belt to the installation site；
Blocking mechanism is set to the downstream of the lifting body along direction of transfer, has liftable countercheck rod, for preventing
The carrier movement；
Positioning mechanism has a pair of of the fixing seat for being symmetrical with the two sides that direction of transfer is set to the conveyer belt, described solid
Reservation is equipped with carrier fixator and carrier tripper；The carrier fixator and the lifting body cooperate to the carrier
Apply clamping power；The carrier tripper is unlocked the installation to realize workpiece to carrier when being in the installation site.
The profile measurement unit is the lower camera of setting on the workbench, and camera shooting is head-up arranged, to warp
The shape for the workpiece crossed above it is taken pictures；The waste material box and the lower camera be set to the feeding machanism with
On workbench between the transmission line mechanism.
The present invention also provides a kind of workpiece feeding method carried out using above-mentioned workpiece feeding device the following steps are included:
S1: the feeding device clamps workpiece out of described the charging tray for from discharge position；
S2: the mobile device drives the feeding device to move to above the sorting mechanism, the profile measurement list
Member detects the shape of the workpiece, and the feeding device adjusts the clamp position to the workpiece according to testing result；
S3: the mobile device drives the feeding device to install the workpiece to the carrier of the installation site
In.
The S1 step includes
S11: the charging tray for discharge position detects in the testing agency in the feeding device, to obtain
State the position of workpiece in charging tray；
S12: the catching unit determines clamping position according to testing result.
The S3 step includes:
S31: the carrier in the installation site detects in the testing agency in the feeding device, described in obtaining
Pre-installed position on carrier；
S32: the mobile device is modified the movement routine of the feeding device, and the feeding device is driven to arrive
Up to installation site；
S33: the feeding device installs the workpiece into the carrier.
Technical solution of the present invention has the advantages that
1. workpiece feeding device provided by the invention, including feeding machanism, transmission line mechanism, work piece carrying mechanism and sieve
Mechanism is selected, feeding machanism has the feed zone of delivery charging tray, and lifting device is equipped in feed zone and is used to charging tray being promoted to feed
Position.Transmission line mechanism includes the conveyer belt and several carriers placed on conveyer belt of one-way movement, and the carrier by conveyer belt is fixed
Position device is used to carrier being fixed on installation site, and feeding device clamps workpiece from for discharge position in work piece carrying mechanism, and
The driving of mobile device is moved to installation site, and workpiece is mounted on and is berthed in the carrier of installation site.In workpiece handling
Mechanism transports in the distance of workpiece, can pass through sorting mechanism, and the profile measurement unit in sorting mechanism carries out the shape of workpiece
Detection, if testing result is unqualified, feeding device loses underproof workpiece in waste material box.It can by setting feeding machanism
To realize the uninterrupted feed of workpiece, the promotion that production efficiency obtains.Work piece carrying mechanism can automatically to workpiece and load
The position of tool is identified, is realized the movement of automatic clamping, installation, is not needed artificial intervention, ensure that work in feeding process
The accuracy of part position.Transmission line mechanism can transport multiple carriers simultaneously, can meet automation processing life with feeding in continuous material
Continuity needed for producing, convenient for the management of whole production line.And sorting mechanism can then screen workpiece, and defect is avoided to produce
The appearance of product ensure that the qualification rate of product.Pass through feeding machanism, transmission line mechanism, work piece carrying mechanism and sorting mechanism
Cooperating, realize the automation of workpiece feeding whole process, be conducive to ensure that product to process management and control is generated
Quality.
2. workpiece feeding device provided by the invention, feeding machanism includes the first rack, has in the first rack and sets parallel
The feed zone and feed back area set, for delivering charging tray.Be respectively equipped in feed zone and feed back area mutual independent lifting device and
Translating device, lifting device convey charging tray between transfer area and material moving area by elevating movement.And feed zone and feed back area end
There is the transfer area of connection in portion, and facility transfer mechanism is for fixing or translating charging tray in transfer area.It is transported by the lifting of lifting device
The dynamic elevating movement that charging tray may be implemented realizes continuous supply workpiece so that charging tray can reach for discharge position so as to
Feeding device clamps workpiece.The empty tray for having taken workpiece away at the top of feed zone can be then transferred to feed back area by transfer mechanism,
Rise the space reserved for the charging tray of feed zone lower layer, to continue the feed of workpiece.And the lifting device in feed back area exists
It collects empty tray and empty tray is dropped into material moving area later, translating device is transferred to remove feed back area to complete the recycling of charging tray, in fact
Show the feeding function of the cartridge-type of feeding machanism, so that feeding process becomes continuously, it is not in be caused whole due to feeding
The case where production line stop waits, ensure that the continuity of production process, improves production efficiency, while being also convenient for management and subtracting
Light labor workload.
3. workpiece feeding device provided by the invention, feeding device includes the second rack, gripping body, testing agency, often
A gripping body includes multiple lifting units and catching unit, and each catching unit is connected to the second rack by lifting unit
On, self-movement between every set lifting unit and catching unit, so that the clamping movement of each catching unit will not occur
Interference.Testing agency then includes the position degree difference detection unit being fixedly installed in the second rack, for detecting and being installed
Position and the positional shift of original target position in the horizontal plane, so that mobile device can adjust movement road according to testing result
Diameter enables gripping body to be directed at the workpiece installation slot in carrier when installing workpiece into carrier, avoids workpiece and carrier sheet
Body, which interferes, causes workpiece to be damaged.It can guarantee the accuracy of workpiece installation by the way that testing agency is arranged, protect workpiece
It is injured during the installation process from hardness.
4. workpiece feeding device provided by the invention, position degree difference detection unit is the upper photograph being fixed in the second rack
Machine, camera shooting is arranged upside down, for detecting and obtaining the position between the installation site being disposed below and original target position
Set offset.By the way that upper camera to be fixed in the second rack, upper camera just can follow gripping body to move synchronously,
To be detected before gripping body clamps or installs workpiece to clamping position and installation site, so that gripping body and shifting
Dynamic device can adjust clamping or motion mode in time, meet the accuracy requirements of workpiece installation.
5. chatting device on workpiece provided by the invention, mobile device includes horizontal shift structure and vertically movable structure, water
Flat moving structure includes the Y-axis straight line mould group being arranged on workbench and the X-axis straight line mould group being slidably connected with it.Since Y-axis is straight
Line mould group is being mutually perpendicular to X-axis straight line mould group, and by the movement of both combinations, feeding device may be implemented in the horizontal plane
The movement of any position accurately controls motion path convenient for control system, and workpiece may be implemented in cooperation position degree difference detection unit
Accurate installation.
6. workpiece feeding device provided by the invention, carrier positioning device includes lifting body, blocking mechanism and localization machine
Structure, carrier is lifted by lifting body so that carrier is temporarily detached from conveyer belt, and blocking mechanism is then used to temporarily stop carrier into one
Step travels forward, the fixed operation of lifting body and positioning mechanism.Positioning mechanism includes the fixing seat that conveyer belt both sides is arranged in,
Fixing seat is equipped with carrier fixator and carrier tripper, contacts when carrier is lifted to by lifting body with carrier fixator
When, lifting body and carrier fixator apply clamping power to carrier from bottom surface and top surface respectively and carrier are made to be fixed on installation position
Setting can not continue to move to, and guarantee the stability of the position in workpiece installation process.Lifting body is by carrier after workpiece is installed
Decline is returned on conveyer belt, is waited next carrier to be fixed, is realized the production process of pipeline system.
7. workpiece feeding device provided by the invention, profile measurement unit is the lower camera of setting on the table,
Camera shooting is head-up arranged, and takes pictures to the shape by the workpiece above it, feeding device then by underproof workpiece throw into
In waste material box, it ensure that workpiece to be installed meets product quality requirement.And waste material box and lower camera be set to feeding machanism with
On workbench between transmission line mechanism, so that feeding device can directly from lower camera and give up during carrying workpiece
Pass through above magazine, not will increase excessive transport path, ensure that the efficiency of production.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the perspective view of workpiece feeding device in embodiment 1；
Fig. 2 is the structural schematic diagram of feeding machanism in embodiment 1；
Fig. 3 is the structural schematic diagram of charging tray in embodiment 1；
Fig. 4 is the structural schematic diagram of transfer mechanism in embodiment 1；
Fig. 5 is the structural schematic diagram of the work piece carrying mechanism and sorting mechanism in embodiment 1；
Fig. 6 is the structural schematic diagram of feeding device in embodiment 1；
Fig. 7 is the structural schematic diagram of gripping body in embodiment 1；
Fig. 8 is the structural schematic diagram of transmission line mechanism in embodiment 1；
Fig. 9 is the structural schematic diagram of the fixed device of carrier in embodiment 1；
Figure 10 is the structural schematic diagram of positioning mechanism in embodiment 1；
Figure 11 is the top view of the carrier in embodiment 1；
Figure 12 is the top view of workpiece feeding device in embodiment 1.
Description of symbols:
1- workbench；2- feeding machanism；3- transmission line mechanism；4- work piece carrying mechanism；5- sorting mechanism；6- is for material position
It sets；7- installation site；8- workpiece；
The first rack of 21-；The feed zone 22-；23- feed back area；24- transfer area；25- lifting device；26- translating device；27-
Transfer mechanism；28- charging tray；
251- the first fork arm unit；261- the second fork arm unit；271- transfer frame；272- spacing bracket；273- transfer
Guide rail；281- workpiece placing groove；
31- conveyer belt；32- carrier positioning device；33- carrier；34- lifting body；35- blocking mechanism；36- localization machine
Structure；
341- support platform；342- jacking frame；343- telescopic mast；
331- ontology；332- workpiece installation slot；333- locking device；334- solves lockhole；
3331- locking column；3332- STATEMENT OF FEDERALLY SPONSORED；3333- driving lever；
361- fixing seat；362- carrier fixator；363- carrier tripper；364- coupling beam；
3621- spring guide pillar；3631- unlock pin；3641- first support arm；3642- second support arm；
41- feeding device；42- mobile device；The second rack of 43-；44- gripping body；45- testing agency；
Camera under 51-；52- waste material box；
421-Y axis straight line mould group；422-X axis straight line mould group；423-Z axis goes up and down mould group；441- lifting unit；442- clamping
Unit；The upper camera of 451-；
4411- lifting cylinder；4412- crane；4421- clamping cylinder；4422- clamping jaw.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As long as in addition, the non-structure each other of technical characteristic involved in invention described below different embodiments
It can be combined with each other at conflict.
Embodiment 1
The present embodiment provides a kind of workpiece feeding device, structure as shown in figs. 1 and 12, including workbench 1, feeding machine
Structure 2, transmission line mechanism 3, work piece carrying mechanism 4 and sorting mechanism 5.Feeding machanism 2 is equipped with for discharge position 6, transmission line mechanism 3
It is equipped with installation site 7.Work piece carrying mechanism 4 clamps workpiece 8 from for discharge position 6, after the detection of sorting mechanism 5 screening,
By the mobile installation of qualified workpiece 8 into the target carrier 33 of installation site 7.
As depicted in figs. 1 and 2, the feeding machanism 2 in the present embodiment is fed using the feed mode of cartridge-type, is had
There are the feed zone 22 of delivery charging tray 28, and the feed back area 23 of recycling charging tray 28.That are equipped in feed zone 22 and feed back area 23
This independent lifting device 25 can realize feed progress synchronous with recycling with Synchronous lifting charging tray 28 and decline charging tray 28, from
And feeder process is made to become continuous.It is located at the top of feed zone 22 for discharge position 6, the charging tray 28 for being mounted with workpiece 8 is parked in
The position, so that feeding device 41 clamps workpiece 8.As illustrated in figures 1 and 8, the setting of transmission line mechanism 3 is opposite in feeding machanism 2
On the workbench 1 of side, the conveyer belt disposed in parallel 31 being located in the same horizontal plane including two, transporting on conveyer belt 31 has
Carrier 33.Several workpiece 8 can be installed in carrier 33.Carrier positioning device 32 is equipped with by conveyer belt 31, carrier 33 reaches carrier
The position of positioning device 32 is temporarily separated with conveyer belt 31 and is fixed on installation site 7, so that feeding device 41 is by workpiece 8
It is installed on wherein.As shown in Figure 1 and Figure 5, work piece carrying mechanism 4 includes feeding device 41 and mobile device 42, mobile device 42
Driving feeding device 41 moves on workbench 1, and feeding device 41 clamps workpiece 8 from the feeding machanism 2 of feeding position, is moving
Workpiece 8 is transported to installation site 7 under the driving of dynamic device 42, and workpiece 8 is mounted in carrier 33.In work piece carrying mechanism
4 transport in the distance of workpiece 8, can pass through sorting mechanism 5, and the profile measurement unit in sorting mechanism 5 carries out the shape of workpiece 8
Detection, if testing result is unqualified, feeding device 41 loses underproof workpiece 8 in waste material box 52.
The uninterrupted feed of workpiece 8, the promotion that production efficiency obtains may be implemented by the way that feeding machanism 2 is arranged.Workpiece is removed
Fortune mechanism 4 can automatically to workpiece 8 and the position of carrier 33 identify, realize the movement of automatic clamping, installation, be not required to
Artificial intervention is wanted, ensure that the accuracy of 8 position of workpiece in feeding process.Transmission line mechanism 3 can transport multiple loads simultaneously
Tool 33, can be with feeding in continuous material, continuity needed for meeting automation processing, convenient for the management of whole production line.And it sieves
It selects mechanism 5 that can then screen to workpiece 8, avoids the appearance of faulty goods, ensure that the qualification rate of product.Pass through feeding machine
Structure 2, transmission line mechanism 3, work piece carrying mechanism 4 and sorting mechanism 5 cooperating, realize 8 feeding of workpiece it is whole from
Dynamicization is conducive to ensure that the quality of product to process management and control is generated.
As shown in figure 3, being equipped with workpiece placing groove 281 in the present embodiment in charging tray 28, each workpiece 8 prevents from being equipped in slot anti-
Slow-witted structure, for determining 8 placement direction of workpiece, error-proof structure is specially the fool proof slot of fool proof column and unilateral setting, in charging tray 28
In limited due to the cooperation of fool proof column and fool proof slot, workpiece 8 can only be placed in workpiece placing groove 281 with unique direction, no
It is likely to occur the inversion or dislocation of workpiece 8, otherwise workpiece 8 can not be placed in entry table 28, so that it is guaranteed that workpiece 8 is clamped when side
To correctness.
As shown in Fig. 2, the feeding machanism 2 in the present embodiment has the first rack 21, has in the first rack 21 and set parallel
The feed zone 22 and feed back area 23 set, for delivering charging tray 28.Being on the left of in Fig. 2 is feed back area 23 on the right side of feed zone 22, feed
The end in area 22 and feed back area 23 has a transfer area 24 interconnected, and the other end in feed zone 22 and feed back area 23 has respectively
There is the material moving area for carrying out material up and down.Mutual independent lifting device 25 and translation are respectively equipped in feed zone 22 and feed back area 23
Device 26, lifting device 25 convey charging tray 28 by elevating movement between transfer area 24 and material moving area.Facility in transfer area 24
Transfer mechanism 27 is for fixing or translating charging tray 28.The lifting fortune of charging tray 28 may be implemented by the elevating movement of lifting device 25
It is dynamic, continuous supply workpiece 8 is realized, charging tray 28 is reached for discharge position 6 so that feeding device 41 clamps workpiece 8.It moves
The empty tray 28 for having taken workpiece 8 away at 22 top of feed zone can be then transferred to feed back area 23 by mounted mechanism 27, be feed zone 22
The charging tray 28 of lower layer rises the space reserved, to continue the feed of workpiece 8.And the lifting device 25 in feed back area 23 is being received
Empty tray 28 is dropped into material moving area after collection empty tray 28, translating device 26 is transferred to remove feed back area 23 to complete charging tray 28
Recycling, realizes the feeding function of the cartridge-type of feeding machanism 2, so that feeding process becomes continuously, it is not in due to feeding
And whole production line is caused to shut down the case where waiting, it ensure that the continuity of production process, improve production efficiency, while also just
Labor workload is alleviated in management.
Specifically, lifting device 25 can drop at the position not higher than 26 place plane of translating device, transported by lifting
Dynamic charging tray 28 shifts between lifting device 25 and translating device 26.In feed back area 23, lifting device 25 passes through descending motion
Charging tray 28 is transferred on translating device 26, in feeding area, lifting device 25 is filled charging tray 28 from translation by ascending motion
26 are set to be transferred on lifting device 25.The translating device 26 and lifting device that will not interfere are moved independently of one another by setting
25, so that the loading and unloading of charging tray 28 and feeding, discharge work can be separated while be carried out, and then can be with while feeding, discharge
The loading and unloading for carrying out charging tray 28 in advance, the waiting time paused when reducing the entire production line because of loading and unloading, improves work
Make efficiency.
As shown in Fig. 2, the lifting device 25 in the present embodiment includes the first driving unit and horizontally disposed first fork arm
Unit 251, translating device 26 include horizontally disposed second fork arm unit 261, several fork arms of the second fork arm unit 261 and the
Several fork arms of one fork arm unit 251 are arranged in a staggered manner, and the first fork arm unit 251 may pass through the second fork arm unit 261 and be risen
Drop movement.The fork arm unit being staggered demarcates the horizontal movement of charging tray 28 and elevating movement, and again can be first
When fork arm unit 251 and the second fork arm unit 261 interlock, the handover of charging tray 28 is completed, overcomes and is held in the palm in original single delivery
Frame successively carries out under lifting and horizontal mode, and there are longer wait times for feeding area and discharging area, when production line being caused to pause
Between longer defect, realize the feed operation of non-stop-machine workpiece 8, improve production efficiency.
Specifically, the lifting device 25 in the present embodiment is lead screw transmission mechanism, screw rod is vertically arranged in rack and connects
It is connected to the first driving unit, lifting device 25 is equipped with the feed screw nut cooperated with screw rod.
As shown in figure 4, the transfer mechanism 27 in the present embodiment includes transfer frame 271, spacing bracket 272 and transfer guide rail
273.Transfer guide rail 273 is horizontally disposed in transfer area 24, connects feed zone 22 and feed back area 23.Transfer frame 271
It is slidably connected with transfer guide rail 273, and is driven moving cell driving movement.Spacing bracket 272 is set to 271 inside of transfer frame to material
28 support limit of disk, the open position that there is the stowed position not supported to charging tray 28 and charging tray 28 is supported.Utilize transfer
Mechanism 27 completes handling work of the charging tray 28 between feed zone 22 and feed back area 23, meets feeding and the blanking of multilayer charging tray 28
Demand realizes the operation of feeding and discharging of cartridge-type, so that whole work process continuity improves.
By in Fig. 2 feed zone and feed back area be respectively set as left and right side, the work of feeding machanism in the present embodiment
Process is as follows:
Feeder process: first the left device of feed zone is pulled out, to the material equipped with workpiece for placing several stackings thereon
Left device is promoted feed zone, charging tray is promoted to transfer area by left lifting device, supplied so that top layer's charging tray is located at by disk
Discharge position carries out clamping workpiece by feeding device, until the workpiece on entire charging tray is all taken light.
Transfer process: the empty tray for taking workpiece is moved to the right above the right lifting device in feed back area by transfer frame,
Spacing bracket release charging tray transfers to right lifting device to accept.Then transfer frame goes back to feed zone to left.Left lifting device after
It is continuous to promote next layered material disk to for discharge position.Process is all moved to feed back area until the charging tray of feed zone before so repeating.
Feed back process: empty tray is dropped to material moving area by the right lifting device in feed back area, transfers to right translation to fill empty tray
Undertaking is set, right translation device pulls out, and the empty tray of stacking is taken out.Right lifting device, which moves upwards, returns to transfer area, etc.
To next group charging tray.
Above step is so repeated, the feed operation of cartridge-type is carried out.
As shown in fig. 6, feeding device 41 includes the second rack 43, gripping body 44, testing agency 45, gripping body 44 is wrapped
At least one lifting unit 441 and at least one catching unit 442 are included, each catching unit 442 is connected by lifting unit 441
In the second rack 43, every set lifting unit 441 and catching unit 442 self-movement each other, so that each catching unit
442 clamping movement will not be interfered.Testing agency 45 then includes the position degree difference inspection being fixedly installed in the second rack 43
Unit is surveyed, for detecting and obtaining installation site 7 and the positional shift of original target position in the horizontal plane, thus mobile device
42 can adjust motion path according to testing result, and gripping body 44 is enabled to be directed at load when installing workpiece 8 into carrier 33
Workpiece installation slot 332 in tool 33, avoiding workpiece 8 from interfering with 33 ontology of carrier causes workpiece 8 to be damaged.Pass through setting
Testing agency 45 can guarantee the accuracy that workpiece 8 is installed, and protection workpiece 8 is injured from hardness during the installation process.
Specifically, being fixedly connected on as shown in fig. 6, alternate position spike detection unit in originally implementing is upper camera 451
In second rack 43, camera downward, due to detecting between the installation site 7 that is disposed below and original target position
Positional shift.By the way that upper camera 451 to be fixed in the second rack 43, upper camera 451 just can follow catching device
Structure 44 moves synchronously, to examine before gripping body 44 clamps or installs workpiece 8 to clamping position and installation site 7
It surveys, gripping body 44 and mobile device 42 is enabled to adjust clamping or motion mode in time, meet the accurate of the installation of workpiece 8
Degree demand.
Simultaneously in feeding device 41 before carrying out clamping workpiece 8 for discharge position 6, upper camera 451 can be to charging tray 28
On workpiece 8 take pictures, to determine the position of workpiece 8, so that it is determined that gripping body 44 decline and clamping position.
As shown in fig. 6, being additionally provided with rotating device in the second rack 43 in the present embodiment comprising rotating electric machine and output
End, gripping body 44 are connected to output end by swivel mount, and rotating device can make gripping body 44 turn an angle, with
Adjust the angle in the horizontal plane of workpiece 8.
As shown in Figure 6 and Figure 7, the gripping body 44 in the present embodiment including four lifting units 441 and is set to lifting
Four catching units 442 on unit 441 are respectively connected with a catching unit 442, lifting unit on each lifting unit 441
441 driving catching units 442 connected to it execute elevating movement, and lifting unit 441 is connected to rotary unit by swivel mount
Output end.Since each catching unit 442 is respectively arranged on lifting unit 441, the independent-lifting of catching unit 442 is realized
Clamping realizes the independent assembly between each workpiece 8.Specifically, lifting unit 441 includes lifting cylinder 4411 and crane
4412, lifting cylinder 4411 drives crane 4412 that catching unit is driven to move up and down, and catching unit 442 includes clamping cylinder
4421 and clamping jaw 4422, clamping cylinder 4421 drives clamping jaw 4422 to carry out clamping movement.
As shown in figure 5, the mobile device 42 in the present embodiment includes horizontal shift structure and vertically movable structure, level is moved
Dynamic structure includes the Y-axis straight line mould group 421 being arranged on workbench 1 and the X-axis straight line mould group 422 being slidably connected with it.Due to Y-axis
Straight line mould group 421 is being mutually perpendicular to X-axis straight line mould group 422, by the movement of both combinations, feeding device 41 may be implemented and exist
The movement of any position in horizontal plane accurately controls motion path convenient for control system, and cooperation position degree difference detection unit can
To realize the accurate installation of workpiece 8.Y-axis straight line mould group 421 and X-axis straight line mould group 422 include servo motor, straight line screw rod and
Closed slide, servo motor are electrically connected with control mechanism, the positional shift that control mechanism is detected according to alternate position spike detection unit
Adjustment instruction is issued to servo motor respectively, enables horizontal shift structure that feeding device 41 is moved to pre-installed position 7,
Complete the accurate placement of workpiece 8.Vertically movable structure includes the Z axis lifting mould group being slidably connected in X-axis straight line mould group 422
423, feeding device 41 is fixedly connected on Z axis by the first rack 21 and goes up and down in mould group 423, for controlling the whole of feeding device 41
Body lifting action.
As shown in figure 8, transmission line mechanism 3 in the present embodiment includes upper layer and lower layer conveyer belt 31, two layers conveyer belt 31
Traffic direction is on the contrary, the both ends of two layers of conveyer belt 31 are equipped with transfer lifting platform, for carrying between upper and lower level conveyer belt 31
Carrier 33, to realize shuttling movement of the carrier 33 on transmission line.Upper layer conveyer belt 31 is arranged to the station of whole production line
Carrier 33 is transported in direction, so that carrier 33, which carries workpiece 8, carries out processing installation operation by each station, lower layer's conveyer belt 31 is then
For the unloaded tool 33 for delivering workpiece 8 to be shipped back to the upstream of production line from line downstream, realize that the circulation of carrier 33 makes
With, maintain the continuity of production process, meet automation processing requirement.Every layer of conveyer belt 31 all has positioned at same water
Two conveyer belts 31 disposed in parallel in plane, during transporting carrier 33, conveyer belt 31 is always maintained at average rate straight line fortune
It is dynamic.
As shown in figure 8, there is carrier positioning device 32, for consolidating carrier 33 in transmission line mechanism 3 in the present embodiment
It is scheduled on installation site 7 comprising carrier 33 is lifted by lifting body 34, blocking mechanism 35 and positioning mechanism 36, lifting body 34
So that carrier 33 is temporarily detached from conveyer belt 31, blocking mechanism 35 is located at the downstream of lifting body 34, for temporarily stopping carrier
33 move further along, so as to the fixed operation of lifting body 34 and positioning mechanism 36, and positioning mechanism 36 and lifting body
34, which apply clamping power to carrier 33 from top and bottom respectively, which makes carrier 33 be fixed on installation site 7, to continue to move to,
Guarantee the stability of the position in 8 installation process of workpiece.The decline of carrier 33 is returned to by lifting body 34 after workpiece 8 is installed
On conveyer belt 31, next carrier 33 to be fixed is waited, the production process of pipeline system is realized.
Specifically, as shown in Figure 8 and Figure 9, the lifting body 34 in the present embodiment is set between parallel two conveyer belts 31,
Including support platform 341 and jacking frame 342, for 341 gantry of support platform between two conveyer belts 31, jacking frame 342 passes through top
It rises cylinder to be connected in support platform 34131, opposite 341 elevating movement of support platform has and carrier 33 is allowed to connect with conveyer belt 31
The transmission location of touching and the installation site 7 for being detached from conveyer belt 31.Crane 4412, which holds up carrier 33, can allow carrier 33 from transmission
It is separated on band 31, carrier 33 will no longer travel forward, and when decline, carrier 33 can contact continuation with conveyer belt 31 again and transport forward
It is dynamic to restore transmit process.It is set between support platform 341 and jacking frame 342 there are four telescopic mast 343, one end of telescopic mast 343 is sliding
Dynamic to be connected in support platform 341, the other end is connected with the bottom of jacking frame 342, can be right by four telescopic rods of setting
The movement of jacking frame 342 is oriented to, and guarantees that jacking frame 342 moves along vertical direction, it is ensured that carrier 33 is in the horizontal direction
It is in a horizontal position, meets requirement on machining accuracy.
As shown in figure 8, several blocking mechanisms 35 are arranged in the present embodiment between conveyer belt 31, blocking mechanism 35 includes stopping
Bar and stop cylinder, countercheck rod will prevent carrier 33 from continuing to move ahead after rising, so that the carrier at carrier positioning device 32
33 stop, and are convenient for positioning operation.And other blocking mechanisms 35 then can will be between the distance between each carrier 33 on conveyer belt 31
It separates, avoids the accumulation between carrier 33.
As shown in figure 9, the positioning mechanism 36 in the present embodiment includes two fixing seats for being symmetrically set in 31 two sides of conveyer belt
361,361 door frame structure of fixing seat, top has the coupling beam 364 of two seat legs of connection, and coupling beam 364 is equipped with carrier fixator
362.As shown in Figure 10, carrier fixator 362 is from coupling beam 364 to the first support arm 3641 extended among conveyer belt 31, with
And it is installed on the spring guide pillar 3621 of 3641 bottom of first support arm, spring guide pillar 3621 applies carrier 33 with the cooperation of lifting body 34
It is fixed the clamping power of carrier 33.Specifically, the first support arm 3641 in the present embodiment takes shape in the both ends of coupling beam 364, due to
Positioning mechanism 36 includes two two sides for being symmetrically disposed on transmission line, therefore carrier fixator 362 includes four spring guide pillars
3621, the four corners of carrier 33 are fixed respectively.When carrier 33 is raised to operating position by lifting body 34, carrier 33 it is upper
Surface is in contact with spring guide pillar 3621, and compressed spring guide post 3621, using contacting at the top of spring guide pillar 3621 and carrier 33
The lower pressure generated, carrier 33 can be compressed tightly against on the jacking frame 342 of lifting body 34, the upper and lower surface of carrier 33 is equal
It can be fixed, guarantee the stability of the position in 8 installation process of workpiece.Lifting body 34 is by carrier after workpiece 8 is installed
33 declines are returned on conveyer belt 31, are waited next carrier 33 to be fixed, are realized the production process of pipeline system.
It as shown in figure 11, include ontology 331 and four workpiece installation slots 332,8 edge of workpiece in the carrier 33 in the present embodiment
The length direction of workpiece installation slot 332 be inserted vertically into.The both ends of workpiece installation slot 332 are U-type groove, are set on the cell wall of U-type groove
There is the through-hole for allowing locking device 333 to pass through.Locking device 333, which has, at least to be entered in U-type groove from a direction from through-hole
Locking column 3331, locking column 3331 applies pressure to the side wall of workpiece 8, so that workpiece 8 and the close phase of workpiece installation slot 332
It supports, completes the locking to workpiece 8.Locking column 3331 is driven by STATEMENT OF FEDERALLY SPONSORED 3332, is slided in the through-hole of U-type groove, thus real
Now to the locking and unlocking of workpiece 8.STATEMENT OF FEDERALLY SPONSORED 3332 is set in the through slot of ontology 331, is equipped with and is resetted between end and through slot
Spring, so that STATEMENT OF FEDERALLY SPONSORED 3332 keeps mobile to locking direction in its natural state, to guarantee the locking to workpiece 8.Linkage
The driving lever 3333 that the middle part of part 3332 is equipped with prominent through slot stirs driving lever 3333 to compression when needing to be unlocked workpiece 8
The direction of reset spring moves, and locking column 3331 can be driven to unclamp the abutting to workpiece 8.As shown in the top Figure 11, in through slot
Top be equipped with cover board, be located at 3333 position of driving lever there are solution lockhole 334.
It needs first to make locking device 333 in the unlocked state due to installing workpiece 8 into carrier 33, positioning mechanism
It is additionally provided with carrier tripper 363 in 36 coupling beam 364, in the solution lockhole 334 including insertion 33 top surface of carrier can be corresponded to
Unlock pin 3631, unlock pin 3631 is installed on from coupling beam 364 in the second support arm 3642 extended among conveyer belt 31.Tool
Body, as shown in Figure 10, the second support arm 3642 in the present embodiment is located at 364 middle part of coupling beam, and unlock pin 3631 is one with oblique
The voussoir in face, downward, during carrier 33 rises to operating position, the tip of voussoir is introduced on carrier 33 at the tip of voussoir
Lockhole 334 is solved, is contacted with the inclined-plane of back wedge with the driving lever 3333 of the locking mechanism on carrier 33, pushes driving lever 3333 to side
Offset, driving lever 3333 drive the STATEMENT OF FEDERALLY SPONSORED 3332 to link therewith, discharge the locking to workpiece installation slot 332 on carrier 33, so that
Workpiece 8 can be smoothly inserted into placing groove.Similarly, during carrier 33 returns to transmission line, voussoir reduces gradually to driving lever
3333 pushing distance completes the locking to workpiece 8 so that the locking mechanism on carrier 33 restores to former latched position.Pass through
The carrier tripper 363 is set, so that being automatically performed the unlock of carrier 33 during jacking positioning carrier 33.
As shown in figure 5, the profile measurement unit of sorting mechanism 5 is the lower photograph being arranged on workbench 1 in the present embodiment
Machine 51, camera shooting are head-up arranged, and take pictures to the shape by the workpiece 8 above it, feeding device 41 then will be unqualified
Workpiece 8 throw into waste material box 52, ensure that workpiece 8 to be installed meet product quality requirement.And waste material box 52 and lower camera
51 are set on the workbench 1 between feeding machanism 2 and transmission line mechanism 3, so that feeding device 41 is in the process for carrying workpiece 8
In can directly pass through above lower camera 51 and waste material box 52, not will increase excessive transport path, ensure that production
Efficiency.
As the first interchangeable embodiment, the lifting device 25 in feeding machanism 2, which can change, to be driven by the cylinder.
As second of interchangeable embodiment, feed zone 22, the work on charging tray 28 can also be provided only in feeding machanism 2
Part 8 take after by manual handling.
As the third interchangeable embodiment, transmission line mechanism 3 can also only set one layer of conveyer belt 31.
Embodiment 2
This implementation provides a kind of workpiece feeding method, carries out following steps using the workpiece feeding device in embodiment 1:
The charging tray for discharge position detects in testing agency in feeding device, is clapped by upper camera workpiece
According to obtain the position of workpiece in charging tray；
Catching unit determines clamping position according to testing result；
Mobile device driving feeding device moves to above sorting mechanism, and profile measurement unit examines the shape of workpiece
It surveys, feeding device adjusts the clamp position to workpiece according to testing result, keeps clamp position if workpiece qualification, if workpiece is not
It is qualified then unclamp clamping to workpiece, workpiece is thrown into waste material box；
The carrier in installation site detects in testing agency in feeding device, to obtain the pre-installation position on carrier
It sets；
Mobile device is modified the movement routine of feeding device, and feeding device is driven to reach installation site；
Feeding device installs workpiece into carrier.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of workpiece feeding device, which is characterized in that including workbench (1), and be arranged on workbench (1)
Feeding machanism has the feed zone (22) of delivery charging tray (28), is equipped with lifting device (25) in the feed zone (22),
Charging tray (28) is promoted to for discharge position (6) by the lifting device (25), so that feeding device (41) clamp workpiece (8)；
Transmission line mechanism (3), conveyer belt (31) including at least one one-way movement several are placed on the conveyer belt (31)
With conveyer belt (31) mobile carrier (33) and it is set to the other carrier positioning device (32) of the conveyer belt (31), the load
Have positioning device (32) and the carrier (33) is fixed on installation site (7)；
Work piece carrying mechanism (4), including feeding device (41) and mobile device (42) take described in the mobile device (42) driving
Material device (41) moves on the workbench (1), and the feeding device (41) is pressed from both sides from the feeding machanism of the feeding position
Workpiece (8) are taken, are transported to workpiece (8) installation site (7) under the driving of the mobile device (42), and by workpiece
(8) it is mounted in the carrier (33)；
Sorting mechanism (5), including profile measurement unit and waste material box (52), shape of the profile measurement unit to workpiece (8)
Detected, if testing result be it is unqualified, the feeding device (41) unclamps the clamping to workpiece (8), and workpiece (8) is thrown into
In waste material box (52).
2. workpiece feeding device according to claim 1, which is characterized in that the feeding machanism includes the first rack
(21), there are parallel arrangement of feed zone (22) and feed back area (23), it is described for discharge position (6) position for delivering charging tray (28)
In the top of the feed zone (22)；
The end of the feed zone (22) and the feed back area (23) has the transfer area (24) interconnected, the feed zone
(22) and the other end in the feed back area (23) is respectively provided with the material moving area for carrying out material up and down；
And transfer mechanism (27), the transfer mechanism (27) movement in the transfer area (24), for charging tray (28) are solid
Due to being transported to the feed back area (23) for discharge position (6), and by charging tray (28)
Mutual independent lifting device (25) and translating device are respectively equipped in the feed zone (22) and the feed back area (23)
(26), the lifting device (25) conveys charging tray (28) between the transfer area (24) and material moving area by elevating movement；Institute
Translating device (26) are stated to expect area's conveying up and down by horizontal movement or export the charging tray (28).
3. workpiece feeding device according to claim 1 or 2, which is characterized in that the feeding device (41) includes second
Rack (43), gripping body (44), testing agency (45)；
Gripping body (44) is installed on second rack (43), including at least one lifting unit (441) and at least one
Catching unit (442), the catching unit (442) is connected on second rack (43) by lifting unit (441), described
Lifting unit (441) drives the catching unit (442) to move up and down；The catching unit (442) have can clamp workpiece
(8) clamping jaw (4422)；
Testing agency (45) includes the position degree difference detection unit being fixedly installed on second rack (43), the position degree
Poor detection unit is for detecting and obtaining installation site (7) and the positional shift of original target position in the horizontal plane, the shifting
Dynamic device (42) adjust the movement routine of the feeding device (41) according to testing result.
4. workpiece feeding device according to claim 3, which is characterized in that the position degree difference detection unit is to be fixed on
Upper camera (451) on second rack (43), camera shooting are arranged upside down, are disposed below for detecting and obtaining
Positional shift between installation site (7) and original target position.
5. workpiece feeding device according to any one of claims 1-4, which is characterized in that mobile device (42) packet
Horizontal shift structure and vertically movable structure are included, the horizontal shift structure includes that Y-axis of the setting on the workbench (1) is straight
Line mould group (421) and the X-axis straight line mould group (422) being slidably connected with it；The vertically movable structure includes being slidably connected to institute
Z axis lifting mould group (423) in X-axis straight line mould group (422) is stated, the feeding device (41) connects by the way that the second rack (43) are fixed
It connects in Z axis lifting mould group (423)；The horizontal shift structure is according to the testing result tune of the alternate position spike detection unit
Whole movement routine.
6. workpiece feeding device described in -5 any one according to claim 1, which is characterized in that the carrier positioning device
(32) include
Lifting body (34), between the conveyer belt (31) transported parallel, can the relatively described conveyer belt (31) move up and down, use
The conveyer belt (31) is detached to the installation site (7) in jacking the carrier (33)；
Blocking mechanism (35) is set to the downstream of the lifting body (34) along direction of transfer, has liftable countercheck rod, is used for
The carrier (33) are prevented to move；
Positioning mechanism (36) has a pair of of the fixing seat for being symmetrical with the two sides that direction of transfer is set to the conveyer belt (31)
(361), the fixing seat (361) is equipped with carrier fixator (362) and carrier tripper (363)；The carrier fixator
(362) clamping power is applied to the carrier (33) with the lifting body (34) cooperation；The carrier tripper (363) is to place
Carrier (33) is unlocked the installation to realize workpiece (8) when the installation site (7).
7. workpiece feeding device described in -6 any one according to claim 1, which is characterized in that the profile measurement unit is
The lower camera (51) being arranged on the workbench (1), camera shooting are head-up arranged, to by the workpiece above it
(8) shape is taken pictures；The waste material box (52) and the lower camera (51) are set to the feeding machanism and the biography
On workbench (1) between thread feeding mechanism (3).
8. a kind of workpiece feeding method that the workpiece feeding device as described in any one of claim 1-7 carries out, feature
Be the following steps are included:
S1: the feeding device (41) clamps workpiece (8) out of described the charging tray (28) at discharge position (6)；
S2: the mobile device (42) drives the feeding device (41) to move to above the sorting mechanism (5), the shape
Detection unit detects the shape of the workpiece (8), and the feeding device (41) is adjusted according to testing result to the work
The clamp position of part (8)；
S3: the mobile device (42) drives the feeding device (41) to install the workpiece (8) to the installation site (7)
The carrier (33) in.
9. workpiece feeding method according to claim 8, which is characterized in that include in the S1 step
S11: the testing agency (45) on the feeding device (41) examines the charging tray (28) for discharge position (6)
It surveys, to obtain the position of workpiece (8) in the charging tray (28)；
S12: the catching unit (442) determines clamping position according to testing result.
10. workpiece feeding method according to claim 9, which is characterized in that the S3 step includes:
S31: the testing agency (45) on the feeding device (41) examines the carrier (33) on the installation site (7)
It surveys, to obtain the pre-installed position (7) on the carrier (33)；
S32: the mobile device (42) is modified the movement routine of the feeding device (41), and the feeding is driven to fill
It sets (41) and reaches installation site (7)；
S33: the feeding device (41) installs the workpiece (8) into the carrier (33).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811260002.9A CN109132526B (en) | 2018-10-26 | 2018-10-26 | Workpiece feeding device and workpiece feeding method |
| PCT/CN2018/118281 WO2020082506A1 (en) | 2018-10-26 | 2018-11-29 | Workpiece feeding device and workpiece feeding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811260002.9A CN109132526B (en) | 2018-10-26 | 2018-10-26 | Workpiece feeding device and workpiece feeding method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109132526A true CN109132526A (en) | 2019-01-04 |
| CN109132526B CN109132526B (en) | 2023-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811260002.9A Active CN109132526B (en) | 2018-10-26 | 2018-10-26 | Workpiece feeding device and workpiece feeding method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109132526B (en) |
| WO (1) | WO2020082506A1 (en) |
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| CN109132526B (en) | 2023-09-08 |
| WO2020082506A1 (en) | 2020-04-30 |
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