CN112059687A - Automatic feeding device - Google Patents

Abstract

The invention discloses an automatic feeding device which comprises a step feeding machine, a 3D recognition device and a manipulator, wherein the step feeding machine is used for conveying materials to an upper position, the 3D recognition device is used for carrying out 3D recognition on the materials conveyed in place by the step feeding machine so as to confirm the position of the materials, and the manipulator is used for automatically grabbing and moving the recognized materials. The ladder material loading machine includes: the device comprises a moving part for conveying materials in a mode that the positions of multiple rows are sequentially increased and the materials are simultaneously moved up and down, a fixed part which is inserted in the moving part and is used for connecting the materials conveyed by the adjacent moving part, and a removing mechanism for removing the materials which cannot be grabbed or are not beneficial to grabbing by a manipulator and enabling the removed materials to continuously flow back to the initial position. The automatic feeding and discharging device changes the traditional manual feeding and discharging into automatic feeding and discharging of a machine, can meet the requirements of fast and batch processing speed, is not easy to have errors or various errors and misoperation, greatly saves labor cost and improves production efficiency.

Description

Automatic feeding device

Technical Field

The invention belongs to the field of intelligent manufacturing, and particularly relates to an automatic feeding device capable of automatically feeding.

Background

At present, most of the material loading work of robot 3D intelligent machine tool feeding system project is manual material loading, and the material is manually conveyed and moved to a required station during manual material loading, so that the manual material loading speed is low, the requirement for improving the production efficiency cannot be met, and the requirement for batch production and manufacturing cannot be met.

Disclosure of Invention

In order to solve the problems, the invention provides an automatic feeding device capable of automatically feeding materials.

The technical scheme of the invention is as follows:

the utility model provides an automatic feeding device, includes that the ladder material loading machine in order to carry material to predetermined height is gone up to the ladder step by step, carries out 3D discernment in order to confirm the 3D recognition device of material position to the material after ladder material loading machine carries to target in place, snatchs the manipulator that moves automatically to the material after the discernment.

In the invention, the ladder feeding machine conveys materials, the materials conveyed by the ladder feeding machine are particularly suitable for rod-shaped materials, and of course, materials with other shapes can be conveyed.

The ladder feeder of the invention comprises: the device comprises a moving part for conveying materials in a manner that the positions of a plurality of rows are sequentially increased and the material is simultaneously moved up and down, a fixed part which is sequentially inserted into the moving part and is used for connecting the materials conveyed by the adjacent moving part, and a removing mechanism for removing the materials which cannot be grabbed or are not beneficial to grabbing by a manipulator and continuously returning the removed materials to the initial position; the moving part moves up and down under the driving of a driving device. In the invention, the multiple rows of moving parts convey materials to the multiple rows of fixing parts in a vertically moving mode, and the multiple rows of moving parts and the multiple rows of fixing parts are arranged in a crossed mode. In the invention, the positions of a plurality of rows of moving parts are sequentially increased, and the plurality of rows of moving parts are driven by a driving device to simultaneously convey materials in an up-and-down moving manner; the multiple rows of fixing parts are sequentially inserted into the multiple rows of moving parts and used for receiving materials conveyed by the adjacent moving parts, and the positions of the multiple rows of fixing parts are sequentially increased.

Furthermore, the top ends of the multiple rows of moving parts and the fixed parts are inclined planes inclined towards the material conveying direction.

Furthermore, the number of rows of the moving parts is 2-5, and the number of rows of the fixing parts is 2-5. In the present invention, the number of rows is preferably 2 to 5, and it is needless to say that the moving part fixing parts may be arranged in a plurality of rows in a staggered manner, but the larger the number of rows arranged, the larger the structure of the moving part and the fixing part becomes, and the height or length of each row of the moving part fixing part may be increased in order to improve the conveying height or conveying efficiency.

Further, the ladder material loading machine and the 3D recognition device are integrated on a frame body. In the invention, the manipulator is not arranged on the frame body.

Further, the ladder material loading machine still include, deposit the material in order to make the material by the material stock portion that the removal portion was carried aslope, material stock portion next-door neighbour remove the portion, material stock portion sets up on the support body.

In the invention, the top ends of the plurality of rows of moving parts and the fixed parts are inclined towards the material conveying direction, and the material storage part is also inclined, so that the materials can be automatically inclined towards the material conveying direction end under the action of gravity; of course, the present invention can also achieve the above object by providing the plurality of rows of moving parts and the fixed part with inclination.

Further, the ladder material loading machine still including being used for connecing the material portion of connecing of being carried the material of fixed part predetermined height department by the removal portion, and will connect material portion and fixed part predetermined height department and couple together so that the material slides the first portion of sliding of whereabouts, first portion of sliding is the slope setting, and 3D recognition device discerns the material in connecing the material portion, connect material portion and first portion of sliding all set up on the support body. According to the material receiving device, the first sliding part is obliquely arranged so that materials can automatically slide into the material receiving part, and the 3D identification device is aligned with the area of the material receiving part to identify the materials.

Further, the ladder material loading machine still including connecting material receiving portion and material stock portion to the material that is rejected by the mechanism that makes is followed the second portion of sliding that the slope that material receiving portion flows back to material stock portion sets up, the second portion of sliding sets up on the support body. In the invention, the second sliding part is also obliquely arranged and the direction of the second sliding part is oblique to the material storage part, so that the materials can conveniently slide or roll off.

Further, the rejecting mechanism comprises: the material sliding device comprises a track, a sliding piece and a push plate, wherein the track is arranged on the frame body, the lower part of a first sliding part is perpendicular to the material sliding direction of the first sliding part and is located on the horizontal direction, the sliding piece is matched with the track and slides on the track, the push plate is fixedly connected with the sliding piece, extends to one side far away from the track and is tightly attached to the upper surface of a material receiving part, and the push plate is used for pushing materials to a second sliding part. The extending direction of the push plate is vertical to the track. According to the invention, materials which cannot be grabbed or are not beneficial to grabbing by the manipulator are rejected by the rejecting mechanism and continue to participate in next feeding and conveying from the material storing part through the second sliding part.

Furthermore, the ladder feeder also comprises a guide piece for guiding the moving track of the moving part to ensure that the moving track of the moving part does not deviate and is not blocked; the guide piece comprises a groove arranged on the moving part and a raised convex rail which is fixed on the frame body in a way of being matched with the groove. In the invention, the moving part moves up and down under the driving of the driving device, and in order to ensure that the moving track of the moving part can ensure that the moving part does not incline or block, the guide piece can also be realized by arranging a convex groove on the moving part and arranging a concave track matched with the convex groove on the frame body.

Further, the identification range of the 3D identification device includes a specific position of the material and a specific structure of the material.

Furthermore, the 3D recognition device adopts a binocular stereo vision algorithm of a passive algorithm to perform visual recognition on the materials. In the passive three-dimensional vision technique of the present invention, illumination of the material is provided by the lighting conditions surrounding the material, in the present invention, the lighting is integrated on the 3D recognition device. The 3D vision recognition device adopts a binocular stereo vision algorithm in a passive ranging method, and the algorithm process is similar to the human vision perception process; the 3D vision recognition device adopts a binocular stereo vision algorithm to calculate depth information from a plurality of cameras, and by utilizing calibration information of the two cameras, the algorithm can generate a depth image and provide richer data to recognize various forms of materials so as to guide the motion and response of the manipulator. Of course, the visual algorithm used by the 3D visual recognition device may be of other various types, such as structured light emission in an active distance measurement method, a time-of-flight method, a triangulation method, and the like.

Compared with the prior art, the invention has the beneficial effects that:

the automatic feeding device of the invention; the automatic feeding and discharging device changes the traditional manual feeding and discharging into the automatic feeding and discharging of the machine, meets the machining speed requirement of quick and batch machining, is not easy to have errors or various errors and misoperation, greatly saves the labor cost, and improves the production efficiency.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the present invention without the robot;

FIG. 3 is a schematic view of the present invention without the robot;

FIG. 4 is a schematic diagram showing a detail m in FIG. 3;

FIG. 5 is a schematic structural diagram of the driving device driving the moving part to move upward in the ladder feeder according to the present invention;

FIG. 6 is a schematic structural view of the driving device driving the moving part to move down in the ladder feeder according to the present invention;

FIG. 7 is a schematic diagram of the present invention including a rejection mechanism;

FIG. 8 is a schematic view of another embodiment of the present invention including a rejection mechanism;

wherein, 1 is a ladder feeder, 11 is a moving part, 2 is a 3D recognition device, 3 is a manipulator, 4 is a rejecting mechanism, 41 is a sliding part, 411 is a push plate, 5 is a frame body, 51 is a material storage part, 52 is a material receiving part, 53 is a first sliding part, 54 is a second sliding part, 55 is a track, and 6 is a driving device.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 to 8 are schematic structural views of the automatic feeding device of the present invention.

As shown in fig. 1, the automatic feeding device of the present invention includes a ladder feeder 1, a 3D recognition device 2, and a manipulator 3 for automatically grabbing and moving recognized materials. The material of the step feeder 1 is fed step by step to convey the material to an upper position. In the invention, the stepped feeding machine 1 conveys materials, the materials conveyed by the invention are particularly suitable for rod-shaped materials, and of course, materials with other shapes can be conveyed, after the stepped feeding machine 1 conveys the materials to the feeding position, the 3D recognition device 2 recognizes the position and material shape information of the materials through visual recognition and transmits the information to the manipulator 3, and the manipulator 3 performs grabbing and moving according to the material information.

As shown in fig. 1 to 6, the step feeder 1 of the present invention includes: the device comprises a moving part 11 with a plurality of rows of sequentially heightened positions, a fixed part and a removing mechanism 4, wherein the fixed part is sequentially inserted into the moving part 11, the removing mechanism is used for removing materials which cannot be grabbed or are not beneficial to grabbing by a manipulator 3, and the removed materials continuously flow back to the initial position; the multiple rows of moving parts 11 are driven by a driving device 6 to simultaneously convey materials in an up-and-down moving mode, the fixed parts are used for receiving the materials conveyed by the adjacent moving parts 11, and the fixed parts are fixed; as shown in fig. 2 to 6, the top ends of the plurality of rows of moving parts 11 and the fixed part are inclined surfaces inclined in the feeding direction, but the present invention can also achieve the above object by arranging the plurality of rows of moving parts 11 and the fixed part so as to be inclined. The number of rows of the moving part 11 is 2 to 5 rows, the number of rows of the fixing part is 2 to 5 rows, and the number of rows in the invention is 2 to 5 rows, and certainly, the fixing parts of the moving part 11 can be arranged in a staggered manner, but the larger the number of rows are, the larger the structures of the moving part 11 and the fixing part are, and the conveying height or the conveying efficiency can be improved by increasing the height or the length of each row of the fixing part of the moving part 11.

As shown in fig. 1 to 6, in the present invention, the moving section 11 conveys the material to the fixed section while moving up and down, and the plurality of rows of moving sections 11 and the plurality of rows of fixed sections are arranged to intersect. As shown in fig. 5 to 6, fig. 5 shows that the driving device 6 drives the plurality of rows of moving parts 11 to move down as a whole, at this time, the material falls onto the moving parts 11 from the fixed parts (the non-hatched plurality of rows are the fixed parts), wherein both the moving parts 11 and the fixed parts are inclined towards the material conveying direction so as to facilitate the material to fall down, after the material on the moving parts 11 in fig. 6 is driven by the driving device 6 to move up, the material stops moving until the height of the top end of the moving part 11 is higher than the height of the adjacent fixed parts, the material on the moving part 11 falls onto the fixed parts, and the material is conveyed to the highest position of the fixed parts by. As shown in fig. 5 to 6, a material storage portion 51 for temporarily storing the material is disposed adjacent to the left side of the moving portion 11, and the material storage portion 51 is inclined so as to facilitate the material to automatically roll or slide down onto the moving portion 11. In the present invention, when the material drops halfway, the material drops into the stock section 51 to continue to participate in the next feeding.

As shown in fig. 1 to 4, the ladder feeder 1 and the 3D recognition device 2 are integrated on a frame 5. In the present invention, the robot 3 is not on the frame 5.

As shown in fig. 2 to 4, the ladder feeder 1 further includes a receiving portion 52 for receiving the material conveyed to the predetermined height of the fixing portion by the moving portion 11, and a first sliding portion 53 for connecting the receiving portion 52 and the predetermined height of the fixing portion to allow the material to slide and fall, and the 3D recognition device 2 recognizes the material in the receiving portion 52. In the invention, the first sliding part 53 is obliquely arranged to enable the material to slide down into the material receiving part 52, and the 3D identification device 2 is aligned with the area of the material receiving part 52 to identify the material.

As shown in fig. 2 to 4, the ladder feeder 1 further includes a second slide portion 54 connecting the receiving portion 52 and the stock portion 51 so that the material rejected by the rejection mechanism 4 flows back from the receiving portion 52 to the stock portion 51. In the present invention, the second sliding portion 54 is also disposed obliquely and is inclined toward the material storage portion 51, so that the material can slide or roll down automatically.

As shown in fig. 2 to 4 and 7 to 8, the removing mechanism 4 includes: the material receiving device comprises a track 55 which is arranged below the first sliding part 53 on the frame body 5 and is vertical to the material sliding direction of the first sliding part 53 and is positioned in the horizontal direction, a sliding part 41 which is matched with the track 55 and slides on the track 55, and a push plate 411 which is fixedly connected with the sliding part 41, extends to one side far away from the track 55 and is tightly attached to the upper surface of the material receiving part 52 and is used for pushing and transferring materials into the second sliding part 54. The push plate 411 of the present invention extends in a direction perpendicular to the rail 55.

As shown in fig. 2 to 4 and fig. 7 to 8, in the present invention, the material that cannot be grabbed or is not suitable for grabbing by the manipulator 3 is rejected by the rejecting mechanism 4 and is transported to the stock portion 51 via the second sliding portion 54 to continue to participate in the next feeding and transporting.

In the invention, the push plate 411 moves along the track 55, when the push plate 411 slides towards the second sliding part 54 along the track 55, the material on the material receiving part 52 is pushed to the second sliding part 54 by the push plate 411, the second sliding part 54 is inclined, and the material in the second sliding part 54 automatically rolls or slides to the material storing part 51 to participate in the next feeding cycle.

In the invention, the ladder feeder 1 further comprises a guide piece for guiding the moving track of the moving part 11 to ensure that the moving track of the moving part 11 does not deviate and is not blocked; the guide member includes a groove provided on the moving portion 11 and a protruding rail fixed to the frame body 5 in cooperation with the groove. In the present invention, the moving part 11 moves up and down under the driving of the driving device 6, and in order to ensure the moving track of the moving part 11 and prevent the moving part 11 from tilting and jamming, the guide member may be implemented by providing a convex groove on the moving part 11 and a concave rail on the frame body 5, which is matched with the convex groove. Of course, this rail or groove is not shown in this figure.

As shown in fig. 1 to 3, the identification range of the 3D identification device 2 includes a specific position of the material and a specific structure of the material.

As shown in fig. 1 to 3, the 3D recognition device 2 performs visual recognition on the material by using a binocular stereo vision algorithm which is a passive algorithm. The 3D vision recognition device adopts a binocular stereo vision algorithm, and the algorithm process is similar to the human vision perception process; the 3D vision recognition device adopts a binocular stereo vision algorithm to calculate depth information from a plurality of cameras, generates a depth image by utilizing calibration information of the two cameras, provides richer data to recognize various forms of materials, and guides the motion and response of the manipulator 3.

As shown in fig. 1 to 8, the automatic feeding device of the invention performs automatic feeding according to the following operation flows:

the ladder material loading machine 1 moves to convey materials to the position of the preset height of the fixed part, the materials roll off or slide to the material receiving part 52 along the inclined first sliding part 53 at the preset height of the fixed part, the 3D identification device 2 positioned above the material receiving part 52 carries out 3D visual identification on the materials and transmits position and state information to the mechanical arm 3, the mechanical arm 3 carries out automatic grabbing, when the materials on the material receiving part 52 are not beneficial to the mechanical arm 3 to grab, the rejecting mechanism 4 moves to push the materials into the second sliding part 54 and then continues to return to the initial position, namely returns to the material storing part 51 to continue to participate in the next automatic feeding circulation.

Claims (10)

1. The utility model provides an automatic feeding device, its characterized in that is including carrying material to ladder material loading machine (1) of predetermined height, carrying out 3D discernment with 3D recognition device (2) of confirming the material position to the material after ladder material loading machine (1) carries in place, snatchs manipulator (3) that moves by oneself to the material after the discernment.

2. The automatic feeding device according to claim 1, characterized in that said ladder feeder (1) comprises:

the device comprises a moving part for conveying materials in a mode that the positions of multiple rows are sequentially increased and the material is simultaneously moved up and down, a fixed part which is inserted in the moving part and is used for connecting the materials conveyed by the moving part and close to the moving part, and a removing mechanism for removing the materials which cannot be grabbed or are not beneficial to grabbing by a manipulator and enabling the removed materials to continuously flow back to the initial position.

3. The automatic loading device according to claim 2, wherein the top ends of the plurality of rows of moving portions and the fixed portion are inclined surfaces inclined in the feeding direction.

4. The automatic feeding device according to claim 2, wherein the number of rows of the moving part (11) is 2 to 5 rows, and the number of rows of the fixing part is 2 to 5 rows.

5. The automatic feeding device according to claim 2, characterized in that said step feeder (1) is integrated in a frame (5).

6. The automatic loading device according to claim 2, wherein the ladder feeder (1) further comprises a stock section (51) provided on the shelf (5) and obliquely storing the materials so that the materials are conveyed by the moving section (11), the stock section (51) being adjacent to the moving section (11).

7. The automatic feeding device according to claim 2, wherein the ladder feeder (1) further comprises a receiving portion (52) provided on the frame body (5) for receiving the material conveyed to the predetermined height of the fixed portion by the moving portion (11), and a first sliding portion (53) connecting the receiving portion (52) and the predetermined height of the fixed portion so that the material slides down, the first sliding portion (53) is inclined, and the 3D recognition device (2) recognizes the material in the receiving portion (52).

8. The automatic feeding device according to claim 2, characterized in that the ladder feeder (1) further comprises a second inclined sliding part (54) connecting the receiving part (52) and the stock part (51) to allow the material removed by the removing mechanism (4) to flow back from the receiving part to the stock part (51).

9. The automatic feeding device according to claim 2, characterized in that said rejecting mechanism (4) comprises: the material sliding device comprises a track (55) which is arranged below a first sliding part (53) on a frame body (5) and is vertical to the material sliding direction of the first sliding part (53) and is positioned on the horizontal direction, a sliding part (41) which is matched with the track (55) and slides on the track (55), and a push plate (411) which is fixedly connected with the sliding part (41), extends to one side far away from the track (55), is tightly attached to the upper surface of a material receiving part (52) and is used for pushing and moving materials into a second sliding part (54).

10. The automatic feeding device according to claim 1, characterized in that the recognition range of the 3D recognition device (2) comprises a specific position of the material and a specific structure of the material; the 3D recognition device (2) adopts a binocular stereoscopic vision algorithm of a passive algorithm to perform visual recognition on the materials.

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