CN110562675A

CN110562675A - multi-source vibration disc and part posture adjusting method

Info

Publication number: CN110562675A
Application number: CN201910933999.8A
Authority: CN
Inventors: 李淼; 张鼎; 肖晓晖
Original assignee: Wuhan University WHU
Current assignee: Wuhan Cobot Technology Co ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2019-12-13
Anticipated expiration: 2039-09-29
Also published as: CN110562675B

Abstract

A multi-source vibration disc and a part posture adjusting method relate to the technical field of object orientation. This multisource vibrations dish includes base, a plurality of vibration subassembly and the part dish that from the bottom up connected gradually, and vibration subassembly is used for driving the part dish and removes along three two liang of vertically directions. The multi-source vibration disc and the part posture adjusting method can adjust the uniform distribution state and the part orientation of the parts quickly and efficiently.

Description

Multi-source vibration disc and part posture adjusting method

Technical Field

The application relates to the field of object orientation, in particular to a multi-source vibration disc and a part posture adjusting method.

Background

With the rapid development of the traditional industrial upgrading and the automatic production in China, the demand of factory automatic production is continuously increased. The mechanical arm is used for clamping and assembling parts in an automatic production line, but in production lines of electronic components, clocks and watches and the like, tiny parts are often stacked for transportation, so that the mechanical arm is difficult to grab, and part of the parts need to be assembled according to a certain orientationThe direction of the part is difficult to adjust and the part is assembled after the mechanical arm picks the part, the part needs to be adjusted to the required direction before the part is picked, and the part is larger (larger than 3-5 mm) at present²) This requirement has been met by devices such as centrifuges, but the use of centrifuges does not allow the required adjustments to be made well for small parts due to the small mass.

Disclosure of Invention

The application aims to provide a multi-source vibration disc and a part posture adjusting method, which can be used for adjusting the uniform distribution state and the part orientation of parts quickly and efficiently.

The embodiment of the application is realized as follows:

First aspect, this application embodiment provides a multisource vibrations dish, and it includes base, a plurality of vibration subassembly and the part dish that from the bottom up connected gradually, and the vibration subassembly is used for driving the part dish and removes along three two liang of vertically directions.

In some optional embodiments, the vibration assembly includes a bellows connected to the base, a holder connected to the bellows, and first, second, and third linear motors disposed on the holder, the first, second, and third linear motors being vertically arranged two by two.

In some alternative embodiments, the parts tray is coupled to at least one of the fixture, the first linear motor, the second linear motor, and the third linear motor.

in some optional embodiments, when the number of the vibration assemblies is more than four, the vibration assemblies are arranged in a matrix.

In some alternative embodiments, the first linear motors are arranged parallel to each other, the second linear motors are arranged parallel to each other, and the third linear motors are arranged parallel to each other.

In some optional embodiments, one of the first linear motor, the second linear motor, and the third linear motor is arranged in a vertical direction.

In some alternative embodiments, the multi-source vibratory pan further comprises a camera assembly for collecting images of parts on the parts pan.

In some alternative embodiments, the multi-source vibratory pan further comprises a controller; the controller is used for receiving images of parts on the part disc and controlling the vibration assembly to drive the part disc to move along three directions which are vertical to each other.

In some alternative embodiments, the multi-source vibratory pan further comprises a light source, at least a portion of the part pan being made of a transparent material; the light source is used for providing light rays penetrating through the transparent material so that the camera assembly collects images of the parts on the part disc.

in a second aspect, an embodiment of the present application provides a part posture adjustment method, which is performed by using the multi-source vibration disk in the first aspect, and includes the following steps: and driving the part disc to move along three directions which are vertical to each other by using the vibration assembly, so that the parts on the part disc move from the dense stacking area to the sparse stacking area, and the parts are arranged towards the preset direction.

the beneficial effect of this application is: the multisource vibrations dish that this application embodiment provided includes base, a plurality of vibration subassembly and the part dish that from the bottom up connected gradually, and the vibration subassembly is used for driving the part dish and removes along three two liang of vertically directions. The multi-source vibration disc and the part posture adjusting method can adjust the uniform distribution state and the part orientation of the parts quickly and efficiently.

drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

fig. 1 is a schematic structural diagram of a multi-source vibration disk according to an embodiment of the present application;

FIG. 2 is a schematic diagram of the connection of the base and the vibratory assembly of the multi-source vibratory pan according to an embodiment of the present application;

Fig. 3 is a schematic flow chart of a method for adjusting a part posture according to an embodiment of the present disclosure;

Fig. 4 is a diagram of a position of a part on a part tray before vibration displacement adjustment in a part posture adjustment method according to an embodiment of the present application;

Fig. 5 is a diagram of a position of a part on a part tray after adjustment of vibration displacement in a part posture adjustment method according to an embodiment of the present application;

Fig. 6 is a part orientation diagram of a part on a part tray before vibration and inversion adjustment in a part posture adjustment method provided in an embodiment of the present application;

fig. 7 is an orientation diagram of a part on a part tray after vibration and inversion adjustment in a part posture adjustment method according to an embodiment of the present application.

In the figure: 100. a base; 101. a shock pad; 200. a vibrating assembly; 210. a bellows; 220. a fixed mount; 230. a first linear motor; 240. a second linear motor; 250. a third linear motor; 260. a camera; 261. a camera support; 270. an LED lamp; 300. a parts tray.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when in use, and are used only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The features and performance of the multi-source vibratory pan and part attitude adjustment method of the present application are described in further detail below with reference to the examples.

As shown in fig. 1 and 2, the present embodiment provides a multi-source vibration plate, which includes a base 100, nine vibration assemblies 200, and a rectangular part plate 300, which are connected in sequence from bottom to top, wherein a vibration pad 101 made of a rubber material is connected to the bottom of the base 100; nine vibration assemblies 200 are arranged between the base 100 and the parts disk 300 in a matrix form for driving the parts disk 300 to move in three directions perpendicular to each other; each vibration assembly 200 comprises a stainless steel corrugated pipe 210 connected with the base 100, a fixed frame 220 connected with the corrugated pipe 210, and a first linear motor 230, a second linear motor 240 and a third linear motor 250 which are arranged on the fixed frame 220, wherein the first linear motor 230 is arranged along the vertical direction, the first linear motor 230, the second linear motor 240 and the third linear motor 250 are vertically arranged in pairs, and the part disc 300 is detachably connected with a buckle arranged at the top of the fixed frame 220 of each vibration assembly 200; the first linear motors 230 of the nine vibration assemblies 200 are arranged in parallel with each other, the second linear motors 240 of the nine vibration assemblies 200 are arranged in parallel with each other, and the third linear motors 250 of the nine vibration assemblies 200 are arranged in parallel with each other. The base 100 is connected with a camera 260 positioned above the parts tray 300 through a camera bracket 261, the camera 260 is used for shooting and collecting images of the parts on the parts tray 300, the bottom wall of the parts tray 300 is made of polycarbonate transparent material, eight LED lamps 270 are arranged on the base 100, the LED lamps 270 are used for providing light rays penetrating through the bottom wall of the parts tray 300 so that the camera 260 collects the images of the parts on the parts tray 300, and the first linear motor 230, the second linear motor 240 and the third linear motor 250 are all transverse linear motors.

The multi-source vibration disc provided by the embodiment of the application can vibrate a large number of small stacked parts to be uniformly distributed, and can vibrate the small parts to face a preset direction; the multi-source vibratory pan is used by conveying parts to the parts tray 300 by a conveying device such as a conveyor belt or the like, then driving the parts tray 300 to vibrate by nine vibration assemblies 200 between the base 100 and the parts tray 300 to adjust the positions and orientation postures of the parts on the parts tray 300, wherein the parts tray 300 can be driven to move in a vertical direction by using the vertically arranged first linear motors 230 of the respective vibration assemblies 200 to drive the parts on the parts tray 300 to bounce in the vertical direction, the parts tray 300 can be driven to move in two mutually perpendicular horizontal directions by using the second linear motors 240 and the third linear motors 250 of the respective vibration assemblies 200 to drive the parts on the parts tray 300 to move in the two mutually perpendicular horizontal directions, thereby facilitating the operation of an operator by controlling the first linear motors 230, the second linear motors 240 and the third linear motors 250 of the nine vibration assemblies 200, the parts are controlled to move along the vertical direction and the two horizontal directions which are perpendicular to each other at different positions of the parts disc 300, so that the uniform distribution degree and the orientation of the parts on the parts disc 300 are adjusted, and the parts which are uniformly distributed on the parts disc 300 in a specific direction are conveniently moved to the next station by using the mechanical arm.

The vibration module 200 is connected to the base 100 through the bellows 210, and the bellows 210 can cooperate with the first linear motor 230, the second linear motor 240, and the third linear motor 250 to drive the parts tray 300 to vibrate in three directions perpendicular to each other, and can also play a role in buffering and damping vibration, so that the parts tray 300 can vibrate stably, and noise and vibration of the parts tray 300 during vibration can be reduced. The shock-absorbing pad 101 disposed at the bottom of the base 100 can reduce vibration transmitted to the outside when the first, second, and third linear motors 230, 240, and 250 vibrate, and reduce operating noise and vibration.

In some alternative embodiments, the multi-source vibratory pan further comprises a controller; the controller is used for receiving the images of the parts on the parts tray 300 collected by the camera 260 and controlling the first linear motor 230, the second linear motor 240 and the third linear motor 250 in each vibration assembly 200 to drive the parts tray 300 to move. The controller is arranged to receive the images of the parts on the parts tray 300 shot by the camera in real time, and control the first linear motor 230, the second linear motor 240 and the third linear motor 250 in each vibration assembly 200 to drive the parts tray 300 to move in real time according to image feedback, so that the vibration of the parts accumulated on the parts tray 300 is dispersed into the free space on the parts tray 300, and the parts with the wrong orientation are vibrated to the correct orientation.

in alternative embodiments, the number of vibration assemblies 200 between the base 100 and the parts tray 300 may also be one, two, three, four, five, six, seven, eight, ten, or more than ten.

As shown in fig. 3, an embodiment of the present application provides a method for adjusting a part posture, which is performed by using the above multi-source vibration disk, and includes the following steps:

After the parts are conveyed to the parts tray 300, the LED lamp 270 below the parts tray 300 is turned on to provide light, and then the camera 260 starts to work to shoot the distribution condition of the parts in the parts tray 300;

The parts tray 300 is divided into a plurality of rectangular regions in accordance with the distribution (nine in the present embodiment) of the plurality of vibration elements 200 below, and the density of parts in each region is determined by a deep learning algorithm, and a region a having a dense packing region as shown in fig. 4 and a region B having a sparse region as shown in fig. 4 are selected.

As shown in fig. 4 and 5, the dense area is used as the starting area of the part to be led out, the sparse area adjacent to the dense area is used as the target area, the path of the part moving from the dense area to the sparse area is calculated, the second linear motor 240 and the third linear motor 250 of each vibration assembly 200 below the area corresponding to the path are controlled to generate vibration along the horizontal direction, the part is moved to leave the dense area and enter the sparse area, and finally the stacked parts are uniformly distributed on the part tray 300, which is a vibration displacement process, and the process is repeated for a plurality of times until the image shot by the camera 260 is determined that the parts have reached the uniform distribution requirement. For parts with no orientation requirements, the vibratory displacement process can be stopped at this point, and the images taken by camera 260 direct the robotic arm to grab until there are insufficient parts left unstacked. When the number of the parts which are not stacked is insufficient, the vibration displacement process is circulated again.

As shown in fig. 6 and 7, for the parts with the orientation requirement, after the parts meet the requirement of uniform distribution, the camera 260 photographs the orientation of the parts in the parts tray 300, identifies the parts with the orientation not meeting the requirement and the distribution thereof, and controls the first linear motor 230 in the vibration assembly 200 corresponding to the area with the orientation accuracy not meeting the requirement to vibrate vertically to turn over the parts in the area, which is a vibration turning process. The process is repeated for a plurality of times until the correct orientation rate of the part is determined to meet the requirement after the shooting by the camera 260, then the vibration overturning process is stopped, the mechanical arm is guided to grab by the image shot by the camera 260 until the number of the residual parts with the correct orientation is insufficient, and when the number of the residual parts with the correct orientation is insufficient, the vibration overturning process is circulated again.

The embodiments described above are some, but not all embodiments of the present application. The detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Claims

1. The utility model provides a multisource vibrations dish, its characterized in that, it includes base, a plurality of vibration subassembly and the part dish that from the bottom up connected gradually, the vibration subassembly is used for the drive the part dish is followed three two liang of vertically direction and is removed.

2. The multi-source vibratory pan of claim 1 wherein the vibratory assembly comprises a bellows connected to the base, a mount connected to the bellows, and first, second and third linear motors mounted on the mount, the first, second and third linear motors being arranged vertically in pairs.

3. The multi-source rumble plate of claim 2, wherein said accessory plate is connected to at least one of said mount, said first linear motor, said second linear motor, and said third linear motor.

4. The multi-source vibratory pan of claim 2 wherein each of the vibratory assemblies is arranged in a matrix when the number of vibratory assemblies is greater than four.

5. The multi-source rumble disk of claim 2, wherein each of said first linear motors are arranged in parallel with one another, each of said second linear motors are arranged in parallel with one another, and each of said third linear motors are arranged in parallel with one another.

6. the multi-source vibratory pan of claim 2 wherein one of the first, second and third linear motors is arranged in a vertical direction.

7. The multi-source vibratory pan of claim 1 further comprising a camera assembly for collecting images of parts on the parts pan.

8. The multi-source vibratory pan of claim 7 further comprising a controller; the controller is used for receiving images of parts on the part disc and controlling the vibration assembly to drive the part disc to move along three directions which are vertical to each other.

9. The multi-source vibratory pan of claim 7 further comprising a light source, at least a portion of the part pan being made of a transparent material; the light source is used for providing light rays penetrating through the transparent material so that the camera shooting assembly collects images of the parts on the part disc.

10. A method of attitude adjustment of a part using a multi-source vibratory pan as claimed in any one of claims 1 to 9, comprising the steps of: and driving the part disc to move along three directions which are vertical to each other by using a vibration assembly, so that the parts on the part disc move from a dense stacking area to a sparse stacking area, and the parts are arranged towards a preset direction.