CN110270482A - A kind of automatic material arranging machine and automatic material arranging method - Google Patents
A kind of automatic material arranging machine and automatic material arranging method Download PDFInfo
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- CN110270482A CN110270482A CN201910515389.6A CN201910515389A CN110270482A CN 110270482 A CN110270482 A CN 110270482A CN 201910515389 A CN201910515389 A CN 201910515389A CN 110270482 A CN110270482 A CN 110270482A
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- 239000000463 material Substances 0.000 title claims abstract description 330
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 238000003860 storage Methods 0.000 claims abstract description 73
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 25
- 238000012545 processing Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 238000003801 milling Methods 0.000 abstract description 19
- 241001074085 Scophthalmus aquosus Species 0.000 abstract description 18
- 238000000576 coating method Methods 0.000 abstract description 11
- 239000011248 coating agent Substances 0.000 abstract description 10
- 210000000078 claw Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012797 qualification Methods 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/025—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts the objects or work being present in bulk
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0292—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work devices for holding several workpieces to be sprayed in a spaced relationship, e.g. vehicle doors spacers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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Abstract
The present invention is suitable for tooling equipment technical field, disclose a kind of automatic material arranging machine and automatic material arranging method, the automatic material arranging machine includes rack, rack is provided with the charge component for holding workpiece, for storing the storage assembly of pendulum materials and parts, the material placing mechanism for putting materials and parts is packed into for putting the pendulum material device of materials and parts and for being fitted into the pendulum material device from taking-up pendulum materials and parts in the storage assembly and taking out workpiece from the charge component, pendulum materials and parts have multiple for storing the pendulum material hole of workpiece, the positioning module for obtaining the pendulum material hole coordinate information for putting materials and parts on the pendulum material device is provided with above pendulum material device, the material placing mechanism is electrically connected with the positioning module, the material placing mechanism is set to the charge component, the top for placing component and the pendulum material device.A kind of automatic material arranging machine provided by the present invention and automatic material arranging method, can realize the automatic material arranging operation to micro- brill or milling cutter before adhering coating, and efficient work is reliable.
Description
Technical field
The invention belongs to tooling equipment technical field more particularly to a kind of automatic material arranging machine and automatic material arranging methods.
Background technique
Coated cutting tool has become the mark of modern cutting tools, and the use ratio in cutter is more than 50%.Cutting adds
Coating process all can be used including micro- brill and milling cutter etc. to improve their service performance in various cutters used in work.To micro-
It bores and before milling cutter adhering coating, needs to carry out micro- brill and milling cutter to arrange and put in coating pendulum materials and parts, use at present
The mode of artificial pendulum material puts micro- brill/milling cutter into coating pendulum materials and parts from charging tray, uninteresting due to manually putting material, easily
Fatigue, and the blade for micro- brill/milling cutter that is easy to damage, the qualification rate decline of micro- brill/milling cutter when leading to adhering coating.
Summary of the invention
The present invention is directed at least solve one of above-mentioned technical problem, a kind of automatic material arranging machine and automatic material arranging side are provided
Method is, it can be achieved that operate the automatic material arranging of micro- brill or milling cutter before adhering coating, efficient work is reliable.
The technical scheme is that a kind of automatic material arranging machine, including rack, the rack are provided with for holding workpiece
Charge component, for storing the pendulum storage assembly of materials and parts, the pendulum material device for putting materials and parts and being used for from the storage
Taking-up pendulum materials and parts are fitted into the pendulum material device in component and the workpiece taken out from the charge component is packed into the pendulum materials and parts
Material placing mechanism, the pendulum materials and parts have multiple pendulum material holes for being used to store workpiece, are provided with and are used for above the pendulum material device
Obtain the positioning module that the pendulum material hole coordinate information of materials and parts is put on the pendulum material device, the material placing mechanism and the positioning module
Electrical connection, the material placing mechanism are set to the charge component, the top for placing component and the pendulum material device.
Optionally, the material placing mechanism includes pedestal, first mechanical arm, second mechanical arm and grasping mechanism, and described first
One end of mechanical arm is connect by the first rotating mechanism with the base rotation, and the other end of the first mechanical arm passes through second
One end of rotating mechanism and the second mechanical arm is rotatablely connected, and the other end of the second mechanical arm is provided with can be in vertical side
To mobile elevating mechanism, the grasping mechanism is rotatablely connected by third rotating mechanism and the elevating mechanism.
Optionally, the grasping mechanism includes for grabbing out pendulum materials and parts from the storage assembly and being packed into the pendulum material
First grabbing assembly of device, for putting materials and parts from grabbing out workpiece in the charge component and be packed on the pendulum material device
Second grabbing assembly and linking arm, the linking arm and the third rotating mechanism are rotatablely connected, first grabbing assembly and
Second grabbing assembly is respectively arranged in the linking arm both ends.
Optionally, the charge component includes charge pedestal and the charge part for holding workpiece, the charge part installation
In the charge pedestal, and the charge part is detachably connected with the charge pedestal.
Optionally, the storage assembly includes storing pedestal and the storage disk for storing pendulum materials and parts, the storage disk peace
Loaded on the storage pedestal, and the storage disk is detachably connected with the storage pedestal.
Optionally, the positioning module includes for the CCD camera that pendulum materials and parts pendulum material hole is taken pictures on pendulum material device
Handle with the photo for receiving the CCD camera shooting and to the photo and show that pendulum materials and parts pendulum expects hole coordinate information
Processing module.
Optionally, it is provided with around the pendulum material device for providing the light source assembly of illumination to the CCD camera.
Optionally, the charge component and the storage assembly are set to the ipsilateral of the pendulum material device, alternatively, the charge
Component and the storage assembly are set to the opposite sides of the pendulum material device, alternatively, the charge component and the storage assembly
Set on the adjacent two sides of the pendulum material device.
Optionally, pendulum materials and parts are provided with for providing the reference structure of positioning to the positioning module.
The present invention also provides a kind of automatic material arranging methods, for a kind of above-mentioned automatic material arranging machine, comprising the following steps:
It first passes through material placing mechanism and will put materials and parts and be grabbed out from storage assembly and be packed into pendulum and expect device, then pass through positioning mould
Group obtains pendulum materials and parts on the pendulum material device and respectively puts the coordinate information in material hole, and the coordinate information is transferred to the material place machine
Structure, then the material placing mechanism grabs out workpiece and workpiece is sequentially loaded into each pendulum according to the coordinate information and expects from charge component
The pendulum materials and parts for filling full workpiece are expected into device from pendulum by material placing mechanism after full workpiece is filled in the pendulum material hole of the pendulum materials and parts in hole
Storage assembly is removed and placed back, grabs out another pendulum material from the storage assembly next, continuing to control the material placing mechanism
Part is packed into the pendulum and expects device, again repeatedly aforesaid operations, until not having in charge component all in workpiece or storage assembly
Pendulum materials and parts be filled full workpiece until.
A kind of automatic material arranging machine provided by the present invention and automatic material arranging method expect to put on device by positioning module to pendulum
The pendulum material hole of materials and parts carries out coordinate setting, and workpiece is sequentially loaded into pendulum material in the information according to provided by positioning module by material placing mechanism
In the pendulum material hole of part, efficient work is reliable, saves manpower, reduces production cost.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of structural schematic diagram of automatic material arranging machine provided in an embodiment of the present invention；
Fig. 2 is a kind of rearview of automatic material arranging machine provided in an embodiment of the present invention；
Fig. 3 is that the structural schematic diagram after rack is removed in a kind of automatic material arranging machine provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of grasping mechanism in a kind of automatic material arranging machine provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram that materials and parts are put in a kind of automatic material arranging machine provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that term " setting ", " connection " shall be understood in a broad sense, for example, it may be directly setting, connection,
It can also be arranged indirectly by component placed in the middle, center configuration, be connected.
If in addition, have in the embodiment of the present invention " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper", "lower",
The orientation or positional relationships of instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside"
Term is merely for convenience of to be based on the orientation or positional relationship shown in the drawings or conventional placement status or use state
The description present invention and simplified description, rather than structure, feature, device or the element of indication or suggestion meaning must have specifically
Orientation or positional relationship nor is it necessary that and be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.
Described each particular technique feature and each embodiment in a specific embodiment, in the case of no contradiction,
It can be combined in any appropriate way, such as can be with shape by different particular technique feature/embodiment combinations
At different embodiments, in order to avoid unnecessary repetition, each the various of particular technique feature/embodiment can in the present invention
No further explanation will be given for the combination of energy.
As shown in Figures 1 to 5, a kind of automatic material arranging machine provided in an embodiment of the present invention, including rack 1, the rack 1 are set
It is equipped with the charge component 2 for holding workpiece, storage assembly 3, the pendulum for putting materials and parts 20 for storing pendulum materials and parts 20
Material device 4 and the pendulum is packed into for taking out pendulum materials and parts 20 from the storage assembly 3 expects device 4 and from the charge component 2
The middle material placing mechanism 5 taken out workpiece and be packed into the pendulum materials and parts 20 on pendulum material device 4, the pendulum materials and parts 20 have multiple for storing
The pendulum material hole 201 of workpiece, the top of the pendulum material device 4 are provided with for obtaining the pendulum for putting materials and parts 20 at the pendulum material device 4
Expect the positioning module 6 of 201 coordinate information of hole (i.e. the position coordinates in each pendulum material hole 201 on pendulum materials and parts 20), the material place machine
Structure 5 and the positioning module 6 are electrically connected, and the material placing mechanism 5 is set to the charge component 2, the placement component and described
The top of pendulum material device 4.In the embodiment of the present invention, workpiece be it is micro- brill or milling cutter class small cylinder (but be not limited to it is micro- brill or
Milling cutter), wherein it is micro- brill or milling cutter class diameter be 1-4mm, length 30-40mm, put materials and parts 20 diameter≤34mm, depth
About the 2/3 of small cylinder height before carrying out adhering coating to micro- brill or milling cutter at present, needs that micro- brill or milling cutter are first packed into pendulum
On materials and parts 20, the pendulum materials and parts 20 equipped with micro- brill or milling cutter are then put into adhesion equipment again and carry out adhering coating operation, and right
During the practical pendulum material of micro- brill or milling cutter, since pendulum material hole 201 is few, the spacing in pendulum material hole 201 is small, and artificial pendulum material is relatively more tired
Difficulty is needed by tweezers, this process is easy to damage the blade of micro- brill or milling cutter, reduces the conjunction to micro- brill or milling cutter adhering coating
Lattice rate.When automatic material arranging machine provided by the invention works, workpiece is first placed into charge component 2 and will put materials and parts 20 by operator
It is placed into storage assembly 3, secondly, control material placing mechanism 5 takes out a pendulum materials and parts 20 from storage assembly 3 and is loaded into pendulum material
Device 4 then obtains the coordinate information in pendulum materials and parts 20 pendulum material hole 201 on pendulum material device 4 by positioning module 6, and coordinate is believed
Breath is transferred to material placing mechanism 5, and then, material placing mechanism 5 takes out workpiece from charge component 2, and is filled workpiece according to coordinate information
Enter in pendulum material hole 201, until all pendulum material holes 201 of pendulum materials and parts 20 on pendulum material device 4 are equipped with workpiece, finally, pendulum
Pendulum materials and parts 20 equipped with workpiece on pendulum material device 4 are put back corresponding original in storage assembly 3 again and set by material mechanism 5, complete to one
The pendulum material work of workpiece on a pendulum materials and parts 20, subsequent material placing mechanism 5 continue to take out the other dress of pendulum materials and parts 20 from storage assembly 3
Enter pendulum material device 4, repeats above-mentioned operation, until pendulum materials and parts 20 all in storage assembly 3 are all filled by workpiece, alternatively, until
Until there is no workpiece on charge component 2.It replaces manually carrying out pendulum material to workpiece by automation equipment, will not be easy to damage micro-
Brill/milling cutter blade, efficient work is reliable, saves manpower, reduces production cost.
Specifically, as shown in figure 5, pendulum materials and parts 20 are in the form of a column structure, pendulum material hole 201 is distributed in the upper end table of pendulum materials and parts 20
Face.In the embodiment of the present invention, the quantity in pendulum material hole 201 is 15.
Optionally, as shown in figure 3, the material placing mechanism 5 includes pedestal 51, first mechanical arm 52,53 and of second mechanical arm
Grasping mechanism 54, one end of the first mechanical arm 52 are rotatablely connected by the first rotating mechanism 55 with the pedestal 51, make the
One mechanical arm 52 can be rotated relative to pedestal 51, and the other end of the first mechanical arm 52 passes through the second rotating mechanism 56 and described the
One end of two mechanical arms 53 is rotatablely connected, while second mechanical arm 53 is rotated with first mechanical arm 52, second mechanical arm 53
It can be rotated again relative to first mechanical arm 52, the other end of the second mechanical arm 53 is provided with lifting that can be mobile in vertical direction
Mechanism 57, the grasping mechanism 54 are rotatablely connected by third rotating mechanism 58 and the elevating mechanism 57, i.e. grasping mechanism 54
It can be rotated relative to third rotating mechanism 58, it can also the opposite elevating movement in the vertical direction of second mechanical arm 53.That is gripper
Structure 54 may be implemented in the movement on X, Y and Z-direction, and design is effective in this way reduces the space occupied when material placing mechanism 5 is installed,
It is advantageously implemented the miniaturization of equipment.
Optionally, as shown in figure 4, the grasping mechanism 54 includes putting materials and parts for grabbing out from the storage assembly 3
20 and be fitted into it is described pendulum material device 4 the first grabbing assembly 541, for grabbing out workpiece from the charge component 2 and being packed into
Second grabbing assembly 542 and linking arm 543 in pendulum materials and parts 20 pendulum material hole 201 on the pendulum material device 4, the linking arm 543 with
The third rotating mechanism 58 is rotatablely connected, and first grabbing assembly 541 and second grabbing assembly 542 are respectively arranged in
543 both ends of linking arm.In this way, making the movement of the first grabbing assembly 541 and the second grabbing assembly 542 can be by same set of dynamic
It is controlled, is simplified convenient for the structure to device, and between the first grabbing assembly 541 and the second grabbing assembly 542
Work will not interfere.
Specifically, as shown in figure 4, the first grabbing assembly 541 includes the first grabbing claw 5412 and grabs for driving first
The first actuator 5411 that pawl 5412 works.In the embodiment of the present invention, since workpiece is the lesser cylinder bar of diameter, and workpiece
Lighter in weight, the first grabbing claw 5412 can be made of two material folding clamping jaws, and the first actuator 5411 can be driving cylinder, pass through
The effect of driving cylinder controls two material folding clamping jaws and clamps or releases.
Specifically, as shown in figure 4, the second grabbing assembly 542 is including the first grabbing claw 5422 and for driving described second
The second actuator 5421 that grabbing claw 5422 works.In the embodiment of the present invention, the first grabbing claw 5422 expects set of jaws by three pendulum
At, it is ensured that the stability clamped when grabbing to pendulum materials and parts 20, the second actuator 5421 can be pendulum material driving cylinder, be driven by pendulum material
Take offence cylinder effect control three pendulum feed collet pawls clamp or release.
Optionally, the material placing mechanism 5 further includes identification video camera (not shown), for assisting the first grabbing assembly
541 and second grabbing assembly 542 crawl work, such as: by identification video camera obtain charge part 22 on workpiece quantity and position
Confidence breath allows the first grabbing assembly 541 accurately to grab out workpiece, and does not have when identification video camera recognizes charge part 22
When having workpiece, then machine alarm is controlled, operator is reminded to replace；Identification video camera can also obtain and put material on storage disk 32
20 status information of part, i.e., judge whether the pendulum material hole 201 for storing pendulum materials and parts 20 on disk 32 is equipped with workpiece by identification video camera,
To guide 542 pairs of pendulum materials and parts 20 of the second grabbing assembly accurately to be grabbed, and 32 institute of disk is stored when identification video camera recognizes
When some pendulum materials and parts 20 are equipped with workpiece, then machine alarm is controlled, operator is reminded to replace.
Optionally, as depicted in figs. 1 and 2, the charge component 2 includes charge pedestal 21 and the charge for holding workpiece
Part 22, the charge part 22 are installed on the charge pedestal 21, and the charge part 22 and the charge pedestal 21 are detachable
Connection only need to be by replacing another charge part 22 for being contained with workpiece when material placing mechanism 5 takes workpiece on current charge part 22
, simple to operate.
Specifically, charge part 22 can be in rectangle, and charge part 22 is provided with multiple equally distributed charge holes.The present invention is implemented
In example, the quantity in raw material hole is 500 on charge part 22.It, can be according to the straight of the size of charge part 22 and workpiece in practical application
Diameter is configured the quantity in charge hole.
Optionally, as depicted in figs. 1 and 2, the storage assembly 3 includes storage pedestal 31 and puts materials and parts 20 for storing
Disk 32 is stored, the storage disk 32 is installed on the storage pedestal 31, and the storage disk 32 and the storage pedestal 31 can
Dismantling connection only need to store pendulum material by the way that replacement is another after all pendulum materials and parts 20 all fill workpiece on current storage disk 32
The storage disk 32 of part 20, can make material placing mechanism 5 work on, and the effective time for reducing replacement storage disk 32, further mention
High working efficiency.
Specifically, storage disk 32 can be in rectangle, store and be provided with multiple equally distributed storage holes on disk 32, when beginning,
Each storage holes of storage disk 32 are respectively arranged with a pendulum materials and parts 20, and when work, material placing mechanism 5 controls first according to setting means and grabs
It takes component 541 to grab out a pendulum materials and parts 20 from storage disk 32 and is loaded into pendulum material device 4, wait and put material on pendulum material device 4
When workpiece has been filled in the pendulum material hole 201 of part 20, the pendulum materials and parts 20 for being filled with workpiece are placed back into storage again by the first grabbing assembly 541
Original position in deposit 32.I.e. storage disk 32 can be used for storing empty pendulum materials and parts 20 and the pendulum materials and parts 20 equipped with workpiece.
Optionally, as depicted in figs. 1 and 2, the positioning module 6 includes for the pendulum pendulum material of materials and parts 20 on pendulum material device 4
The CCD camera 61 that hole 201 is taken pictures and the photo for receiving the shooting of CCD camera 61 are simultaneously handled the photo
Obtain the processing module of pendulum pendulum material 201 coordinate information of hole of materials and parts 20, wherein the accuracy of identification of CCD camera 61 is high.When the first crawl
After component 541 will put the loading pendulum material device 4 of materials and parts 20, is taken pictures by 61 pairs of pendulum materials and parts 20 of CCD camera, obtain pendulum materials and parts 20
Photo is worked as in upper pendulum material 201 position of hole, and photo is transferred to processing module and is handled, and calculates pendulum materials and parts by processing module
Pendulum expects the coordinate information of the X in hole 201, Y-axis on 20, and then coordinate information is transferred to material placing mechanism 5 by processing module.Put materials and parts 20
Be packed into store disk 32 when position be it is random, institute when will put materials and parts 20 be packed into pendulum material device 4 when, pendulum materials and parts 20 be also at random
It places, the present invention passes through the effect of positioning module 6, positions without the position to pendulum materials and parts 20, so that it may accurately obtain pendulum
Expect the coordinate information in hole 201, improves the convenience using operation.In the embodiment of the present invention, CCD camera 61 is 300,000 black and white of Daheng
Camera, model are as follows: MER-032-120GM.
Optionally, the positioning module 6 further includes inductor, for whether incuding the pendulum material device 4 equipped with pendulum materials and parts
20, it takes pictures to control CCD camera 61.Specific movement is as follows: inductor expects device to pendulum according to certain time interval T
4 are incuded, and when having sensed pendulum materials and parts 20, CCD camera 61 is then taken pictures.Time interval T=t1+t2+t3, wherein t1
For the first grabbing assembly 541 from charge component 2 from grab out workpiece and by workpiece fill up pendulum materials and parts 20 time, t2It is grabbed for second
It takes component 542 to grab out pendulum materials and parts 20 from storage assembly 3 and is packed into the time that pendulum expects device 4, t to materials and parts 20 will be put3When to buffer
Between (t3Concretely 1S, 3S, 5S etc.).
Optionally, as depicted in figs. 1 and 2, it is provided with around the pendulum material device 4 for being mentioned to the CCD camera 61
For the light source assembly 7 of illumination, CCD camera 61 is allowed clearly to obtain the location drawing picture in 201, hole of pendulum material on pendulum materials and parts 20,
The precision to pendulum material 201 coordinate informations in hole on pendulum materials and parts 20 is further increased, to improve the reliability of machine operation.
Specifically, light source assembly 7 may be provided with two groups, the opposite sides of pendulum material device 4 is respectively arranged on, alternatively, light source group
Part 7 may be provided with four groups, be respectively arranged on pendulum material device 4 to surrounding, and light source assembly 7 above or flush in pendulum material device 4
The upper surface of upper pendulum materials and parts 20, when CCD camera 61 is taken pictures, there is not shade the upper surface of pendulum materials and parts 20.
Optionally, the charge component 2 and the storage assembly 3 are set to the ipsilateral of the pendulum material device 4, alternatively, described
Charge component 2 and the storage assembly 3 are set to the opposite sides of the pendulum material device 4, alternatively, the charge component 2 and described
Storage assembly 3 is set to the adjacent two sides of the pendulum material device 4.
Optionally, as shown in figure 5, pendulum materials and parts 20 are provided with for providing the reference structure of positioning to the positioning module 6
202, when processing module handles photo, reference structure 202 can be regard as origin, be put convenient for calculating pendulum materials and parts 20
Expect the coordinate information in hole 201.
Specifically, reference structure 202 can be the protrusion for protruding from pendulum 20 upper surface of materials and parts, alternatively, reference structure 202 can be
It is depressed in the aperture of pendulum 20 upper surface of materials and parts.
Specifically, display 8 is also set up in rack 1, can be used for showing 5 working condition of material placing mechanism, be convenient for operator
Operation.
The present invention also provides a kind of automatic material arranging methods, for a kind of above-mentioned automatic material arranging machine, comprising the following steps:
It first passes through material placing mechanism 5 and will put materials and parts 20 and be grabbed out from storage assembly 3 and be packed into pendulum and expect device 4, then pass through
Positioning module 6 obtains pendulum materials and parts 20 on the pendulum material device 4 and respectively puts the coordinate information in material hole 201, and the coordinate information is passed
It is defeated by the material placing mechanism 5, then the material placing mechanism 5 grabs out workpiece from charge component 2 and will according to the coordinate information
Workpiece is sequentially loaded into each pendulum material hole 201, after full workpiece is filled in the pendulum material hole 201 of the pendulum materials and parts 20, will be filled out by material placing mechanism 5
Pendulum materials and parts 20 full of workpiece remove and place back storage assembly 3 from pendulum material device 4, next, continuing to control the material place machine
Structure 5 grabs out another pendulum materials and parts 20 from the storage assembly 3 and is packed into pendulum material device 4, again repeatedly aforesaid operations, until containing
Until there is no pendulum materials and parts 20 all in workpiece or storage assembly 3 to be filled full workpiece in material component 2.
In the above method, it need to be ready work, preparation in advance can include: pacify the charge part 22 for being contained with workpiece
Storage pedestal 31 is mounted on charge pedestal 21 and by the storage disk 32 equipped with pendulum materials and parts 20.
In the above method, the second grabbing assembly 542 controlled in material placing mechanism 5 participates in work, grabs from storage assembly 3
Materials and parts 20 are put out and are loaded into pendulum material device 4, and during this, the first grabbing assembly 541 is in close state.
In the above method, after putting materials and parts 20 and being packed into pendulum material device 4, CCD camera 61 in positioning module 6 to putting below
The pendulum material hole 201 of materials and parts 20 is taken pictures, and photo is transferred to processing module and is calculated, to obtain 201, hole of pendulum material
X, the coordinate information in Y-axis, then the coordinate information is sent to material placing mechanism 5.
In the above method, the first grabbing assembly 541 controlled in material placing mechanism 5 participates in work, grabs from charge component 2
Workpiece out, and workpiece is packed into the pendulum material hole 201 of pendulum materials and parts 20 according to coordinate information, until the pendulum material hole 201 of pendulum materials and parts 20
Until being equipped with workpiece, during this, the second grabbing assembly 542 is in close state.
In the above method, after workpiece is filled in the pendulum material hole 201 for putting materials and parts 20 on pendulum material device 4, control in material placing mechanism 5
The second grabbing assembly 542 participate in work again, the original position in storage assembly 3 will be put back to equipped with the pendulum materials and parts 20 of workpiece, this
In the process, the first grabbing assembly 541 is in close state.
A kind of automatic material arranging machine and automatic material arranging method provided by the embodiment of the present invention pass through 6 pairs of pendulum material of positioning module
The pendulum material hole 201 that materials and parts 20 are put on device 4 carries out coordinate setting, and material placing mechanism 5 will in the information according to provided by positioning module 6
Workpiece is sequentially loaded into the pendulum material hole 201 of pendulum materials and parts 20, and efficient work is reliable, and it is uninteresting to solve artificial pendulum material, easily
Fatigue, and the blade for micro- brill/milling cutter that is easy to damage, save manpower, reduction is produced at the problem of causing the qualification rate of coating to decline
This.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of automatic material arranging machine, including rack, which is characterized in that the rack is provided with the charge group for holding workpiece
Part, for storing the pendulum storage assembly of materials and parts, the pendulum material device for putting materials and parts and for being taken from the storage assembly
Pendulum materials and parts are fitted into the pendulum material device out and the workpiece taken out from the charge component is packed into the material placing mechanism for putting materials and parts,
The pendulum materials and parts have multiple pendulum material holes for being used to store workpiece, are provided with above the pendulum material device for obtaining the pendulum
Expect the positioning module for the pendulum material hole coordinate information that materials and parts are put on device, the material placing mechanism is electrically connected with the positioning module, institute
Material placing mechanism is stated set on the charge component, the top for placing component and the pendulum material device.
2. a kind of automatic material arranging machine as described in claim 1, which is characterized in that the material placing mechanism includes pedestal, the first machine
One end of tool arm, second mechanical arm and grasping mechanism, the first mechanical arm passes through the first rotating mechanism and the base rotation
The other end of connection, the first mechanical arm is rotatablely connected by one end of the second rotating mechanism and the second mechanical arm, institute
The other end for stating second mechanical arm is provided with and can pass through third rotation in the elevating mechanism of vertical direction movement, the grasping mechanism
Mechanism and the elevating mechanism are rotatablely connected.
3. a kind of automatic material arranging machine as claimed in claim 2, which is characterized in that the grasping mechanism includes for from the storage
Deposit the first grabbing assembly for grabbing out pendulum materials and parts in component and being fitted into the pendulum material device, for grabbing from the charge component
Workpiece and it is packed into the second grabbing assembly and linking arm that materials and parts are put on the pendulum material device out, the linking arm and the third are revolved
Rotation mechanism rotation connection, first grabbing assembly and second grabbing assembly are respectively arranged in the linking arm both ends.
4. a kind of automatic material arranging machine as described in claim 1, which is characterized in that the charge component includes charge pedestal and use
In the charge part for holding workpiece, the charge part is installed on the charge pedestal, and the charge part and the charge pedestal can
Dismantling connection.
5. a kind of automatic material arranging machine as described in claim 1, which is characterized in that the storage assembly includes storage pedestal and use
In the storage disk of storage pendulum materials and parts, the storage disk is installed on the storage pedestal, and the storage disk and the storage pedestal
It is detachably connected.
6. a kind of automatic material arranging machine as described in claim 1, which is characterized in that the positioning module includes for pendulum material dress
Set the pendulum materials and parts pendulum material CCD camera taken pictures of hole and photo for receiving the CCD camera shooting and to the photo
Carry out the processing module that processing obtains pendulum materials and parts pendulum material hole coordinate information.
7. a kind of automatic material arranging machine as claimed in claim 6, which is characterized in that be provided with and be used for around the pendulum material device
The light source assembly of illumination is provided to the CCD camera.
8. a kind of automatic material arranging machine as described in claim 1, which is characterized in that the charge component and the storage assembly are set
In the ipsilateral of the pendulum material device, alternatively, the charge component and the storage assembly are set to opposite the two of the pendulum material device
Side, alternatively, the charge component and the storage assembly are set to the adjacent two sides of the pendulum material device.
9. a kind of automatic material arranging machine as described in claim 1, which is characterized in that pendulum materials and parts are provided with for the positioning mould
Group provides the reference structure of positioning.
10. a kind of automatic material arranging method, which is characterized in that for a kind of from movable pendulum as claimed in any one of claims 1-9 wherein
Material machine, comprising the following steps:
It first passes through material placing mechanism and will put materials and parts and be grabbed out from storage assembly and be packed into pendulum and expect device, then obtained by positioning module
It takes pendulum materials and parts on the pendulum material device respectively to put the coordinate information in material hole, and the coordinate information is transferred to the material placing mechanism,
Then the material placing mechanism grabs out workpiece and workpiece is sequentially loaded into each pendulum according to the coordinate information from charge component expects hole,
After full workpiece is filled in the pendulum material hole of the pendulum materials and parts, the pendulum materials and parts for filling full workpiece are taken out from pendulum material device by material placing mechanism
And it is placed back into storage assembly, another pendulum materials and parts dress is grabbed out from the storage assembly next, continuing to control the material placing mechanism
Enter pendulum material device, again repeatedly aforesaid operations, until there is no pendulum all in workpiece or storage assembly in charge component
Until materials and parts are filled full workpiece.
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| CN201910515389.6A CN110270482B (en) | 2019-06-14 | 2019-06-14 | Automatic material arranging machine and automatic material arranging method |
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Cited By (1)
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| CN114603638A (en) * | 2022-04-21 | 2022-06-10 | 深圳市金洲精工科技股份有限公司 | Automatic cutter distribution equipment and cutter distribution method |
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| CN114603638B (en) * | 2022-04-21 | 2024-01-30 | 深圳市金洲精工科技股份有限公司 | Automatic tool matching equipment and tool matching method |
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