CN111250409B - Automatic sorting and feeding system for robot rubber plugs and working method of automatic sorting and feeding system - Google Patents
Automatic sorting and feeding system for robot rubber plugs and working method of automatic sorting and feeding system Download PDFInfo
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- CN111250409B CN111250409B CN202010060324.XA CN202010060324A CN111250409B CN 111250409 B CN111250409 B CN 111250409B CN 202010060324 A CN202010060324 A CN 202010060324A CN 111250409 B CN111250409 B CN 111250409B
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- plugs
- stacking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an automatic sorting and feeding system for a robot rubber plug and a working method thereof, wherein the automatic sorting and feeding system comprises: a conveying table; the feeding system is provided with a working area on the conveying platform, and the conveying platform is used for conveying the rubber plugs; visual system, visual system locate work area's top, and visual system is used for discerning the kind, position and the gesture of each plug: the transfer table is connected with the conveying table and is provided with an arrangement area; the stacking table is connected with the transfer table; the robot is used for picking the rubber plugs with correct types and postures from the working area, arranging the rubber plugs with correct types and postures in the arrangement area, and/or stacking the rubber plugs with correct types and postures from the arrangement area to the stacking table; and the controller is in signal connection with the vision system, the robot and the conveying table. The invention realizes the sorting of rubber plugs with various specifications and the stacking and feeding of rubber plugs with various postures, and the occupied space and the configuration cost can be greatly reduced.
Description
Technical Field
The invention relates to the technical field of rubber plug systems, in particular to a robot rubber plug automatic sorting and feeding system and a working method thereof.
Background
The existing vehicle body process hole and rubber plug are installed manually, and the rubber plug for shielding before gluing the bottom of the vehicle body and the inside of the vehicle body needs to be installed manually. The manual installation bottom of the vehicle body plug, operating personnel carry out the plug in the automobile body below and shield the operation, the inside plug of automobile body, operating personnel need to shield the operation to the inside plug that carries on of automobile body, and these two kinds of modes all have certain potential safety hazard and belong to that repetitive operation intensity of labour is big, inefficiency, for raise the efficiency, reduce the cost, consider to realize adding the automation of plug system.
If the automatic operation of rubber plug adding is to be realized, a matched automatic feeding system is needed, and the automatic sorting and feeding are realized for the rubber plug adding system.
At present, a conventional feeding system is a vibration material tray system, and the working process is as follows: become to add required work piece (plug) in batches in toward the hopper, the hopper sends into the plug vibration charging tray, the vibration charging tray makes the plug along the track spiral rising of vibration charging tray inner wall through continuous pulse vibration, have some special passageways on the track and can filter the shape and the gesture of plug, finally will same specification, the plug of same gesture neatly send out to the conveyer belt on, transport the stacking platform stack by the conveyer belt again to treat follow-up operation, but its shortcoming lies in: the occupation of land space is big, and every vibration charging tray can only correspond the plug of a specification gesture moreover, therefore the commonality is not good, if the plug of multiple work piece is needed simultaneously, then need the vibration charging tray of equivalent quantity, occupation of land space and cost all become very big, are unfavorable for implementing.
Disclosure of Invention
The robot rubber plug automatic sorting and feeding system is used for automatic sorting and feeding of rubber plugs, due to the fact that the robot is high in flexibility and adaptability, only one robot is needed, a vision recognition system is matched, sorting of rubber plugs with various specifications and stacking and feeding of rubber plugs with various postures can be achieved, and therefore occupied space and configuration cost can be greatly reduced.
The specific technical scheme is as follows:
the utility model provides a robot plug automatic sorting feeding system, includes:
the rubber plug feeding device comprises a conveying table and at least one feeding system connected with the conveying table, wherein the conveying table is provided with a working area and is used for conveying rubber plugs;
a vision system disposed above the work area, the vision system for identifying the type, location, and attitude of each plug, the vision system further for identifying whether the plug of the correct type in the work area is delivered out of the work area:
the transfer table is connected with the conveying table and is provided with an arrangement area;
the stacking table is connected with the transfer table;
a robot for picking said plugs of the correct type and attitude from said work area, arranging said plugs of the correct type and attitude in said arrangement area, and/or stacking said plugs of the correct type and attitude from said arrangement area to said stacker;
the controller is in signal connection with the vision system, controls the robot to work, and controls the conveying table to work or stop;
when the vision system identifies that the rubber plugs with correct types in the working area are conveyed out of the working area, the controller receives a signal of the vision system and controls the conveying table to stop.
Foretell robot plug automatic sorting feeding system wherein, still includes: the turnover mechanism is arranged above the transfer table and used for adjusting the posture of the rubber plug with an incorrect posture through turnover along a horizontal plane, so that the rubber plug with the correct posture is obtained.
Foretell robot plug automatic sorting feeding system wherein, still includes: the rubber plug conveying device comprises a conveying table, a first sensor, a second sensor and a controller, wherein the conveying table is arranged on the conveying table, the first sensor is located on the rear side of a working area, and the first sensor is used for monitoring whether the rubber plugs pass through the rear side of the working area.
Foretell robot plug automatic sorting feeding system wherein, still includes: the feeding back conveyor belt is arranged below the conveying table and used for receiving and conveying the rubber plugs with incorrect types on the conveying table.
Foretell robot plug automatic sorting feeding system wherein, still includes: the second sensor is arranged on the transfer table and used for detecting whether the rubber plug after being turned over on the turning mechanism is separated from the turning mechanism.
Foretell robot plug automatic sorting feeding system, wherein, tilting mechanism includes:
the swing cylinder is arranged at the rear end of the conveying table;
the turnover plate is in transmission connection with the swing cylinder, and the swing cylinder is used for turning over the turnover plate;
the sucker is arranged on the turnover plate and used for adsorbing the rubber plug on the turnover plate.
According to the automatic rubber plug sorting and feeding system of the robot, at least one stacking barrel is arranged on the stacking platform, and a plurality of rubber plugs are stacked in the stacking barrel.
According to the automatic robot rubber plug sorting and feeding system, the side wall of the stacking barrel is provided with the third sensor, and the third sensor is used for detecting whether a plurality of rubber plugs in the stacking barrel are stacked to a set height.
Foretell robot plug automatic sorting feeding system wherein, still includes: the packing driving part is arranged at the bottom of the stacking platform and is opposite to the stacking barrel, and the driving end of the packing driving part penetrates through the stacking platform and extends into the bottom of the stacking barrel.
An operating method of a robot rubber plug automatic sorting and feeding system, wherein the robot rubber plug automatic sorting and feeding system comprises any one of the robot rubber plug automatic sorting and feeding systems, and the operating method comprises the following steps:
step S1: at least one said feeding system delivering one or more said plugs onto said conveying table;
step S2: the controller controls the conveying table to operate;
step S3: the vision system identifies the type, position, and attitude of each plug within the work area;
step S4: the controller receives the signal of the vision system and controls the robot to operate;
step S5: the robot picks the rubber plugs with correct types from the working area, the robot arranges the rubber plugs with correct postures into the arrangement area, the step S8 is executed, the robot transfers the rubber plugs with incorrect postures onto the turnover mechanism, and the step S6 is executed;
step S6: the turnover mechanism turns over the rubber plug with an incorrect posture onto the transfer table, the posture of the rubber plug is correct, and the step S7 is executed;
step S7: the robot arranges the rubber plugs with the correct overturned postures into the arrangement area, and executes the step S8;
step S8: and after counting or counting in other similar ways by the controller until the arrangement area is full of rubber plugs, the robot stacks the rubber plugs in the arrangement area onto the stacking table, and the process is completed.
Compared with the prior art, the technical scheme has the positive effects that:
the automatic sorting and feeding device is used for automatically sorting and feeding rubber plugs, and due to the high flexibility and high adaptability of robot operation, sorting and stacking and feeding of rubber plugs with various specifications and various postures can be realized only by one robot and a visual system, so that the occupied space and the configuration cost can be greatly reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of a robot rubber plug automatic sorting and feeding system and a working method thereof according to the present invention;
FIG. 2 is a schematic structural view of a conveying table part in the robot rubber plug automatic sorting and feeding system and the working method thereof according to the present invention;
FIG. 3 is a schematic structural view of a transfer table portion in the robot rubber plug automatic sorting and feeding system and the working method thereof according to the present invention;
FIG. 4 is a schematic structural view of a turnover mechanism in the robot rubber plug automatic sorting and feeding system and the working method thereof of the present invention;
FIG. 5 is a schematic structural diagram of a stacking table in the robot rubber plug automatic sorting and feeding system and the working method thereof according to the present invention;
FIG. 6 is a schematic structural view of a rubber plug in the automatic rubber plug sorting and feeding system and the working method thereof according to the invention;
in the drawings: 1. a feeding system; 2. a conveying table; 3. a vision system; 4. a robot; 5. a transfer table; 6. a stacking table; 7. a working area; 8. an arrangement region; 9. a rubber plug; 10. a turnover mechanism; 11. a first sensor; 12. a feed back conveyor belt; 13. a second sensor; 14. a swing cylinder; 15. a turnover plate; 16. a suction cup; 17. a stacking cylinder; 18. a third sensor; 19. a stuffing drive.
Detailed Description
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Fig. 1 is an overall structural schematic diagram of an automatic robot rubber plug sorting and feeding system and an operating method thereof of the present invention, fig. 2 is a structural schematic diagram of a conveying table part in an automatic robot rubber plug sorting and feeding system and an operating method thereof of the present invention, fig. 3 is a structural schematic diagram of a middle turntable part in an automatic robot rubber plug sorting and feeding system and an operating method thereof of the present invention, fig. 4 is a structural schematic diagram of a turnover mechanism in an automatic robot rubber plug sorting and feeding system and an operating method thereof of the present invention, fig. 5 is a structural schematic diagram of a table in an automatic robot rubber plug stacking and feeding system and an operating method thereof of the present invention, fig. 6 is a structural schematic diagram of a rubber plug in an automatic robot rubber plug sorting and feeding system and an operating method thereof of the present invention, and as shown in fig. 1 to 6, a robot rubber plug automatic sorting and feeding system of a preferred embodiment is shown, the method comprises the following steps: a conveying platform 2 and at least a feeding system 1 connected with the conveying platform 2, a vision system 3, a transfer platform 5, a stacking platform 6, a robot 4 and a controller (not shown in the figure), wherein the conveying platform 2 is provided with a working area 7, the conveying platform 2 is used for conveying rubber plugs 9, the vision system 3 is arranged above the working area 7 and is used for identifying the type, the position and the posture of each rubber plug 9, the vision system 3 is also used for identifying whether the rubber plugs 9 with correct type in the working area 7 are conveyed out of the working area 7 or not, the transfer platform 5 is connected with the conveying platform 2, the transfer platform 5 is provided with an arrangement area 8, the stacking platform 6 is connected with the transfer platform 5, the robot 4 is used for picking the rubber plugs 9 with correct type and posture from the working area 7, arranging the rubber plugs 9 with correct type and posture in the arrangement area 8 and/or stacking the rubber plugs 9 with correct type and posture to the stacking platform 6 from the arrangement area 8, the controller is in signal connection with the vision system 3, the controller controls the robot 4 to work, and the controller controls the conveying platform 2 to work or stop.
Further, as a preferred embodiment, when the vision system 3 recognizes that the correct kind of rubber plug 9 in the working area 7 is conveyed out of the working area 7, the controller receives the signal from the vision system 3 and controls the conveying table 2 to stop.
Further, as a preferred embodiment, the robot rubber stopper automatic sorting and feeding system further comprises: the turnover mechanism 10 is arranged above the transfer table 5, and the turnover mechanism 10 is used for adjusting the posture of the rubber plug 9 with incorrect posture through turnover along the horizontal plane, so as to obtain the rubber plug 9 with correct posture. Preferably, robot 4 still is used for transferring required kind and just on positive and negative incorrect posture's a plurality of plugs 9 to tilting mechanism 10, and controller control tilting mechanism 10 overturns, and tilting mechanism 10 is used for overturning the state that positive and negative posture is incorrect of a plurality of plugs 9 to the state that positive and negative posture is correct, and the positive and negative posture is correct a plurality of plugs 9 after the upset pass through robot 4 and shift to arranging in the district 8.
Preferably, the turning mechanism 10 is used for transferring the rubber plug 9 with the right front and back posture after turning to the transfer table 5, and the robot 4 transfers the rubber plug 9 with the right front and back posture after turning to the arrangement area 8 on the transfer table 5.
Further, as a preferred embodiment, the robot rubber stopper automatic sorting and feeding system further comprises: first sensor 11, first sensor 11 are located and are carried on platform 2, and first sensor 11 is located the rear side of work area 7, and first sensor 11 is used for monitoring whether have plug 9 to pass through the rear side of work area 7.
The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The present invention also has the following embodiments in addition to the above:
in a further embodiment of the present invention, please refer to fig. 1 to fig. 6, the automatic sorting and feeding system for robot rubber plugs further comprises: the feed back conveyer belt 12, the feed back conveyer belt 12 is located the below of carrying the platform 2, and the feed back conveyer belt 12 is used for receiving and carrying the improper kind plug 9 on the carrying platform 2. Preferably, the conveyor table 2 conveys several plugs 9 of incorrect type onto the return conveyor belt 12.
In a further embodiment of the present invention, the automatic robot rubber plug sorting and feeding system further comprises: and the second sensor 13 is arranged on the transfer table 5, and the second sensor 13 is used for detecting whether the turned rubber plug 9 on the turning mechanism 10 is separated from the turning mechanism 10 or not and is positioned at a preset position. Preferably, the time between the turnover mechanism 10 turning over and the return of the turnover mechanism 10 is the detection time of the second sensor 13.
In a further embodiment of the present invention, flipping mechanism 10 comprises: the automatic rubber plug overturning device comprises a swinging cylinder 14, an overturning plate 15 and a suction cup 16, wherein the swinging cylinder 14 is arranged at the rear end of the conveying platform 2, the overturning plate 15 is in transmission connection with the swinging cylinder 14, the swinging cylinder 14 is used for overturning the overturning plate 15, the suction cup 16 is arranged on the overturning plate 15, and the suction cup 16 is used for adsorbing a rubber plug 9 on the overturning plate 15.
Preferably, one end of the turnover plate 15 is in transmission connection with the swing cylinder 14.
Preferably, the rotation angle of the turnover plate 15 is 180 degrees, and the swing air 14 can drive the turnover plate 15 to turn back and forth by 180 degrees.
In a further embodiment of the present invention, at least one stacking tube 17 is disposed on the stacking platform 6, and a plurality of rubber plugs 9 are stacked in the stacking tube 17.
In a further embodiment of the present invention, a third sensor 18 is disposed on the sidewall of the stacker drum 17, and the third sensor 18 is used to detect whether a plurality of rubber plugs 9 in the stacker drum 17 are stacked to a predetermined height.
In a further embodiment of the present invention, the automatic robot rubber plug sorting and feeding system further comprises: the packing driving part 19 is arranged at the bottom of the stacking platform 6, the packing driving part 19 is opposite to the stacking barrel 17, and the driving end of the packing driving part 19 penetrates through the stacking platform 6 and extends into the bottom of the stacking barrel 17. Preferably, the stuffing drive 19 is a stuffing cylinder.
In a further embodiment of the invention, the distance between the overturned turning plate 15 and the transfer table 5 is equal to the thickness of the rubber plug 9.
The feeding systems 1 are used for transferring a plurality of rubber plugs 9 of different types to the front end of the conveying table 2, the conveying table 2 is used for transferring a plurality of rubber plugs 9 transferred from the feeding systems 1 to the conveying table 2 to the rear end of the conveying table 2, the vision system 3 is used for identifying the types of the rubber plugs 9 in the working area 7, the positions of the rubber plugs 9 in the working area 7 and the positive and negative postures of the rubber plugs 9, the robot 4 is used for sorting a plurality of rubber plugs 9 of required types, the robot 4 is also used for regularly arranging the rubber plugs 9 with correct positive and negative postures in the arrangement area 8, the arrangement area 8 is used for transferring a plurality of rubber plugs 9 with correct types and correct positive and negative postures, the vision system 3 is also used for detecting whether the rubber plugs 9 which are required to be sorted by the robot 4 in the working area 7 are conveyed out of the working area 7 by the conveying table 2 under the condition that the rubber plugs 9 are not transferred by the robot 4, the robot 4 is also used for transferring a plurality of rubber plugs 9 in the arrangement area 8 to the stacking table 6, the vision system 3 is used for converting the information of the identified rubber plugs 9 into signals and then transmitting the signals to the controller, the controller controls the robot 4 to transfer a plurality of rubber plugs 9 with correct types and positive and negative postures, the vision system 3 detects that a plurality of rubber plugs 9 which accord with the requirement of the robot 4 to sort in the working area 7 are conveyed out of the working area 7 under the condition that the rubber plugs are not transferred, and the controller controls the conveying table 2 to stop in real time.
The conveying table 2 is used for conveying the rubber plugs 9 to a working area, the visual system is used for identifying the rubber plugs 9, different types of rubber plugs 9 and positive and negative postures of the rubber plugs 9 can be distinguished, and therefore the controller controls the robot to select the proper rubber plugs 9.
The rear end of the conveying table is provided with a first sensor 11, whether a rubber plug 9 passes through the rear side of the working area 7 of the conveying table 2 can be monitored, when one type of rubber plug 9 is conveyed on the conveying table 2, when the feeding is too much, the robot 4 is not ready to finish the conveying, when the rubber plug 9 reaches the rear end of the conveying table 2, the first sensor 11 is triggered, the conveying table 2 can be controlled by a controller to stop at the moment, and the robot 4 is temporarily waited to finish the conveying of the rubber plug 9 in the working area 7; or when the conveying table 2 conveys various types of rubber plugs 9, the visual system 3 can identify the rubber plugs 9, and when the robot 4 recognizes that a plurality of required types of rubber plugs 9 exist in the visual field, the robot is too late to convey the rubber plugs, the controller controls the conveying table 2 to stop, and the standby robot 4 conveys the rubber plugs 9 in the working area 7; or when the conveying table 2 conveys various types of rubber plugs 9, when too much feeding is performed, the robot 4 is not ready to convey the rubber plugs 9, the rubber plugs 9 reach the rear end of the conveying table 2, the first sensor 11 is triggered, signals are transmitted to the controller, the controller controls the vision system 3 to cooperate with the controller to recognize the rubber plugs 9, when the robot 4 is not ready to convey the rubber plugs 9 with a plurality of required types in the visual field, the controller controls the conveying table 2 to stop, and the standby robot 4 conveys the rubber plugs 9 in the working area 7.
The visual system 3 identifies the working area 7, and if the required rubber plugs 9 are not available in the working area 7 but other types of rubber plugs 9 are stacked, the conveying table 2 rolls the redundant rubber plugs 9 onto the feeding-back conveying belt 12 below, and the redundant rubber plugs 9 are conveyed to the feeding-back frame.
The transfer table 5 is used for transferring the sorted rubber plugs 9 to be regularly arranged in the arrangement area 8 for subsequent stacking, the robot 4 sorts the required types of rubber plugs 9 from the conveying table 2, the rubber plugs 9 with correct positive and negative postures are directly transferred to the arrangement area 8 on the transfer table 5 to be regularly arranged, the rubber plugs with incorrect postures are firstly transferred to the turnover mechanism 10, the turnover mechanism 10 turns the rubber plugs 9 into correct postures, and then the robot 4 transfers and arranges the turned rubber plugs 9 into the arrangement area 8 of the transfer table 5.
The robot 4 transfers the rubber plugs 9 in the arrangement area 8 to the stacking table 6, and stacks the required rubber plugs so as to be used for a subsequent rubber plug adding system of the robot to perform filling.
When the turnover mechanism 10 works, firstly, a rubber plug 9 with incorrect positive and negative postures is placed at a preset position on the turnover plate 15 by the robot 4, the rubber plug 9 is sucked by the suction cup 16, then the turnover plate 15 is driven by the swing air cylinder 14 to turn over for 180 degrees, the posture of the rubber plug 9 is turned over to the transfer table 5 to be straightened, then the suction cup 16 releases the rubber plug 9, the turnover plate 15 returns to the original position, the turnover correction of the positive and negative postures of the rubber plug 9 is completed, and the straightened rubber plug 9 is immediately transferred to the arrangement area 8 of the transfer table 5 by the robot 4.
The suction cup 16 of the turnover mechanism can be controlled by a vacuum pumping working mode, and can also be controlled by other methods, the turnover mechanism 10 is not limited to the use of a swing cylinder or a suction cup, and mechanisms with similar functions are protected.
The second sensor 13 of the invention is used for checking whether the front of the rubber plug 9 is in front of the rubber plug 9, namely after the turnover mechanism 10 is turned over, whether the rubber plug 9 which is turned over is in front of the second sensor 15 on the transfer table 5 is in front of the second sensor, so that the rubber plug 9 is prevented from being released normally and being unable to fall to a preset position due to the failure of the suction cup 16 and other reasons.
The stacking table 6 is a stacking area of rubber plugs 9, the rubber plugs in the arrangement area 8 of the transfer table 5 are finally transferred into stacking cylinders 17 on the stacking table 6 and stacked one by one, a third sensor 18 is arranged on the side surface of each stacking cylinder 17, when the third sensor 18 monitors that the rubber plugs 9 are stacked to a set height, the rubber plugs 9 are fully stacked, a signaling system is used, and after a gun head of the rubber plug adding system of the robot 4 is moved above the stacking cylinders 17, a cylinder of rubber plugs can be pushed into the gun head through a filling cylinder or other similar functions, so that gun head filling is completed.
The working method of the present invention is explained below:
step S1: at least one feeding system 1 conveys one or more rubber plugs 9 to the conveying table 2;
step S2: the controller controls the operation of the conveying platform 2;
step S3: the vision system 3 identifies the type, position and attitude of each plug 9 within the work area 7;
step S4: the controller receives the signal of the vision system 3 and controls the robot 4 to operate;
step S5: the robot 4 picks the rubber plugs 9 with the correct types from the working area 7, the robot 4 arranges the rubber plugs 9 with the correct postures into the arrangement area 8, the step S8 is executed, the robot 4 transfers the rubber plugs 9 with the incorrect postures onto the turnover mechanism 10, and the step S6 is executed;
step S6: the turnover mechanism 10 turns over the rubber plug 9 with the incorrect posture onto the transfer table 5, ensures that the posture of the rubber plug 9 is correct, and executes the step S7;
step S7: the robot 4 arranges the flipped rubber plugs 9 with the correct posture into the arrangement area 8, and executes the step S8;
step S8: and after the controller counts or counts in a similar way that the arrangement area 8 is full of the rubber plugs 9, the robot 4 stacks the rubber plugs 9 in the arrangement area 8 onto the stacking table 6, and the process is completed.
In a further embodiment of the present invention, in step S3, the vision system or the first sensor or the vision system cooperating with the first sensor determines whether there is a rubber plug of a correct type to be sent out in the working area, if yes, the operation of the conveying table is stopped, if not, the operation of the conveying table is maintained, and if there is an incorrect rubber plug of a correct type to be sent out of the working area, the conveying table is continuously operated to send the redundant rubber plug to the feeding back conveyor belt.
In a further embodiment of the present invention, in step S8, the robot stacks the rubber plugs in the arrangement area into the stacking cylinder, when the rubber plugs in the stacking cylinder are fully stacked, the third sensor triggers to stop stacking the rubber plugs, waits for the robot to receive the filler from the rubber plug gun, pushes the stacked rubber plugs into the rubber plug gun through the filler driving member, completes the process, and executes a new round of stacking again after the stacking table is emptied.
The overall workflow of the present invention is illustrated below:
step A1: at least one feeding system 1 conveys one or more rubber plugs 9 to the conveying table 2;
step A2: the controller controls the operation of the conveying platform 2;
step A3: the vision system 3 identifies the type, position and posture of each rubber plug 9 in the working area 7, the vision system 3 identifies whether the rubber plug 9 with the correct type in the working area 7 is conveyed out of the working area 7, if not, step a4 is executed, and if yes, step a6 is executed;
step A4: the first sensor 11 monitors whether the rubber plug 9 passes through the rear side of the working area 7, if so, the step A5 is executed, and if not, the step A7 is executed;
step A5: the vision system 3 identifies whether the type of the rubber plug 9 delivered from the work area 7 is correct, if so, step a6 is executed, and if not, step a7 is executed;
step A6: the controller receives the signal of the vision system 3, controls the conveying platform 2 to stop, and executes the step A7;
step A7: the robot 4 picks the rubber plugs 9 with correct types from the working area 7, and whether the conveying table 2 is in a stop state or not is judged, if yes, the step A8 is executed, and if not, the step A9 is executed;
step A8: the robot 4 arranges the rubber plugs 9 with the correct posture into the arrangement area 8, the robot 4 transfers the rubber plugs 9 with the incorrect posture to the turnover mechanism 10 until the rubber plugs 9 with the correct kind in the working area 7 are sorted, and the step A2 is returned;
step A9: the robot 4 arranges the rubber plugs 9 with the correct posture into the arrangement area 8, and executes the step A12, and the robot 4 transfers the rubber plugs 9 with the incorrect posture onto the turnover mechanism 10 and executes the step A10;
step A10: the turnover mechanism 10 turns over the rubber plug 9 with the incorrect posture onto the transfer table 5, ensures that the posture of the rubber plug 9 is correct, and executes the step A11;
step A11: the robot 4 arranges the turned rubber plugs 9 with the correct posture into the arrangement area 8, and executes the step a 12;
step A12: and after the controller counts or counts in a similar way that the arrangement area 8 is full of the rubber plugs 9, the robot 4 stacks the rubber plugs 9 in the arrangement area 8 onto the stacking table 6, and the process is completed.
The automatic sorting and feeding device is used for automatically sorting and feeding rubber plugs 9, and due to the high flexibility and high adaptability of the operation of the robot 4, sorting and stacking and feeding of the rubber plugs 9 in various specifications and postures can be realized only by one robot 4 and the visual system 3, so that the occupied space and the configuration cost can be greatly reduced.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a robot plug automatic sorting feeding system which characterized in that includes:
the rubber plug feeding device comprises a conveying table and at least one feeding system connected with the conveying table, wherein the conveying table is provided with a working area and is used for conveying rubber plugs;
a vision system disposed above the work area, the vision system for identifying the type, location, and attitude of each plug, the vision system further for identifying whether the plug of the correct type in the work area is delivered out of the work area:
the transfer table is connected with the conveying table and is provided with an arrangement area;
the stacking table is connected with the transfer table;
a robot for picking said plugs of the correct type and attitude from said work area, arranging said plugs of the correct type and attitude in said arrangement area, and/or stacking said plugs of the correct type and attitude from said arrangement area to said stacker;
the controller is in signal connection with the vision system, controls the robot to work, and controls the conveying table to work or stop;
when the vision system identifies that the rubber plugs with correct types in the working area are conveyed out of the working area, the controller receives a signal of the vision system and controls the conveying table to stop;
further comprising: the turnover mechanism is arranged above the transfer table and used for adjusting the posture of the rubber plug with an incorrect posture through turnover along a horizontal plane, so that the rubber plug with the correct posture is obtained.
2. The robotic plug automated sorting feeding system of claim 1, further comprising: the rubber plug conveying device comprises a conveying table, a first sensor, a second sensor and a controller, wherein the conveying table is arranged on the conveying table, the first sensor is located on the rear side of a working area, and the first sensor is used for monitoring whether the rubber plugs pass through the rear side of the working area.
3. The robotic plug automated sorting feeding system of claim 1, further comprising: the feeding back conveyor belt is arranged below the conveying table and used for receiving and conveying the rubber plugs with incorrect types on the conveying table.
4. The robotic plug automated sorting feeding system of claim 1, further comprising: the second sensor is arranged on the transfer table and used for detecting whether the rubber plug after being turned over on the turning mechanism is separated from the turning mechanism.
5. The robotic plug automated sorting and feeding system of claim 1, wherein the flipping mechanism comprises:
the swing cylinder is arranged at the rear end of the conveying table;
the turnover plate is in transmission connection with the swing cylinder, and the swing cylinder is used for turning over the turnover plate;
the sucker is arranged on the turnover plate and used for adsorbing the rubber plug on the turnover plate.
6. The automatic robot rubber plug sorting and feeding system according to claim 1, wherein at least one stacking cylinder is arranged on the stacking platform, and a plurality of rubber plugs are stacked in the stacking cylinder.
7. The robotic automatic plug sorting and feeding system of claim 6, wherein a third sensor is disposed on a sidewall of the stacking cylinder, and the third sensor is configured to detect whether a plurality of plugs in the stacking cylinder are stacked to a predetermined height.
8. The robotic plug automated sorting and feeding system of claim 7, further comprising: the packing driving part is arranged at the bottom of the stacking platform and is opposite to the stacking barrel, and the driving end of the packing driving part penetrates through the stacking platform and extends into the bottom of the stacking barrel.
9. An operating method of a robot rubber plug automatic sorting and feeding system, which is characterized by comprising the robot rubber plug automatic sorting and feeding system of any one of claims 1 to 8, wherein the operating method comprises the following steps:
step S1: at least one said feeding system delivering one or more said plugs onto said conveying table;
step S2: the controller controls the conveying table to operate;
step S3: the vision system identifies the type, position, and attitude of each plug within the work area;
step S4: the controller receives the signal of the vision system and controls the robot to operate;
step S5: the robot picks the rubber plugs with correct types from the working area, the robot arranges the rubber plugs with correct postures into the arrangement area, the step S8 is executed, the robot transfers the rubber plugs with incorrect postures onto the turnover mechanism, and the step S6 is executed;
step S6: the turnover mechanism turns over the rubber plug with an incorrect posture onto the transfer table, the posture of the rubber plug is correct, and the step S7 is executed;
step S7: the robot arranges the rubber plugs with the correct overturned postures into the arrangement area, and executes the step S8;
step S8: and the robot stacks the rubber plugs in the arrangement area onto the stacking table, and the process is completed.
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| CN112027659A (en) * | 2020-08-28 | 2020-12-04 | 苏州天准科技股份有限公司 | Blanking equipment and electronic product part detection system |
| CN114940365A (en) * | 2022-05-21 | 2022-08-26 | 浙江开浦科技有限公司 | Posture adjusting device based on hairbrush damping |
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