CN114368615A

CN114368615A - Automatic matching system for zinc oxide resistance cards and using method thereof

Info

Publication number: CN114368615A
Application number: CN202111549231.4A
Authority: CN
Inventors: 杨理博; 朱斌; 高尚; 赵力群; 李建; 朱莉明
Original assignee: Xi'an Yidu Electronic Technology Co ltd
Current assignee: Xi'an Yidu Electronic Technology Co ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-04-19

Abstract

The application relates to the technical field of zinc oxide assembly, in particular to an automatic matching system of zinc oxide resistance cards and a using method thereof, comprising the following steps: the conveying system is used for conveying resistance cards to be matched; the feeding visual identification system is used for reading and recording data information of code spraying on the resistance sheets to be assembled on the conveying system, arranging and combining the recorded information, and identifying unqualified resistance sheets from the resistance sheets to be assembled on the conveying system; the sorting visual identification system is used for reading the data information of the code sprayed on the resistance sheets to be matched and transmitted from the conveying system and determining the placement position information of the resistance sheets to be matched and matched according to the read information and the matching requirement; and the automatic sorting system is used for replacing each resistance card to be matched according to the placement position information so as to realize matching of each resistance card to be matched. The automatic group matching system provided by the embodiment of the application can automatically match the resistor disc, and the group matching efficiency is improved.

Description

Automatic matching system for zinc oxide resistance cards and using method thereof

Technical Field

The invention relates to the technical field of zinc oxide assembly, in particular to an automatic assembling system of zinc oxide resistance cards and a using method thereof.

Background

The zinc oxide matching process generally comprises the steps of testing the resistance cards, measuring performance parameters of each resistance card, spraying parameter information to the surfaces of the resistance cards through a code spraying machine, manually recording and sorting information on the resistance cards, manually calculating matching information, manually finding the resistance cards with corresponding parameters from a plurality of resistance cards based on the matching information, and manually matching. Therefore, the matching work at the present stage is completed manually, and the method has the defects of low efficiency, more labor, high management difficulty and the like.

Disclosure of Invention

This application is not enough to prior art, provides an automatic system of joining in marriage of zinc oxide resistance card, can join in marriage the group to the resistance card of zinc oxide automatically, and degree of automation is high higher, has improved and has joined in marriage group efficiency, has reduced the recruitment, the more management of being convenient for. The specific scheme is as follows:

in a first aspect, the present application provides an automatic matching system for zinc oxide resistance cards, including:

the conveying system is used for conveying resistance cards to be matched;

the automatic feeding visual guide system is arranged at the front end of the conveying system, is used for lifting each resistance card to be matched to a grabbing height, and is placed at an inlet of the conveying system;

the feeding visual identification system is arranged on the conveying system, is positioned at the rear side of the automatic feeding visual guide system, and is used for reading and recording data information of codes sprayed on the resistance sheets to be matched on the conveying system, arranging and combining the recorded information, and identifying unqualified resistance sheets from the resistance sheets to be matched on the conveying system;

the feeding rejection system is positioned at the rear side of the feeding visual identification system and used for identifying and rejecting the unqualified resistance cards from the resistance cards to be matched on the conveying system;

the sorting visual identification system is arranged on the conveying system, is positioned at the rear side of the feeding rejection system, and is used for reading data information of codes sprayed on the to-be-configured resistor discs transmitted from the conveying system and determining the placement position information of each to-be-configured resistor disc according to the read information and the configuration requirements, wherein the placement position is used for indicating the placement position of each to-be-configured resistor disc, and the configuration of each to-be-configured resistor disc can be realized after being placed according to the placement position;

and the automatic sorting system is arranged on the conveying system, is positioned at the rear side of the sorting visual identification system and is used for replacing each resistance card to be matched according to the placement position information so as to realize matching of each resistance card to be matched.

Optionally, the conveying system comprises a feeding conveying line, a sorting conveying line and a rotary conveying line;

the sorting conveying line is positioned at the rear end of the feeding conveying line and is in butt joint with the feeding conveying line, and the rotary conveying line and the sorting conveying line are arranged side by side;

the sorting conveying line is used for conveying the resistance cards to be matched, and the rotary conveying line is used for conveying the resistance cards to the front end of the sorting conveying line;

the automatic sorting system is also used for grabbing the unmatched resistance cards onto the rotary conveying line so as to convey the unmatched resistance cards to the front end of the sorting conveying line again through the rotary conveying line.

Optionally, the automatic grouping system further comprises:

the automatic tray feeding system is also used for grabbing the successfully matched resistance cards to the trays of the automatic tray feeding system;

and the automatic sorting and stacking system is used for stacking the trays containing the successfully matched resistance cards.

Optionally, the automatic grouping system further comprises:

the automatic sorting system is further used for grabbing the unmatched resistance cards which are identified for the preset times to the automatic sorting and rejecting system, and the automatic sorting and rejecting system is used for rejecting the received resistance cards.

Optionally, the automatic sorting systems include two groups, and the two groups of automatic sorting systems are respectively located at two sides of the conveying system;

the automatic tray supply systems comprise two groups, and the two groups of automatic tray supply systems are respectively positioned at the front ends of the two groups of automatic sorting systems;

the automatic sorting and stacking system comprises two groups, and the two groups of automatic sorting and stacking systems are respectively positioned at the rear ends of the two groups of automatic sorting systems.

Optionally, the automatic feeding visual guidance system comprises:

the feeding lifting mechanism is used for lifting each resistance card to be matched to a grabbing height;

the SCARA feeding robot is used for grabbing resistance cards to be matched from the feeding lifting mechanism and sequentially placing the resistance cards at an inlet of the conveying system;

the visual guide camera is arranged on a vertical shaft of the SCARA feeding robot and used for collecting an environment image and sending the environment image to the SCARA feeding robot, and the SCARA feeding robot is used for determining the position of a resistance card to be assembled according to the environment image so as to grab the operation according to the determined position.

Optionally, the end part of the sorting conveying line arranged side by side with the rotary conveying line is provided with a rotary mechanism, and the rotary mechanism is used for rotary conveying the resistance cards.

Optionally, the swing mechanism comprises: a rotating bracket mounted on the conveying system;

the guide arc-shaped plate is connected with the rotary support and faces the surface of the conveying system;

the head of the rotary power-assisted cylinder is connected with a rotary power-assisted baffle plate through a hinge;

when the rotary power-assisted cylinder is retracted, the rotary power-assisted baffle is downward to push the resistor disc to rotate, and when the rotary power-assisted cylinder is pushed out, the rotary power-assisted baffle can be closed along the hinge direction to be separated from the resistor disc;

the front end of the guide arc plate is provided with a tailing detection sensor for detecting whether a resistor disc exists or not, and the tailing detection sensor is used for controlling the rotation power-assisted cylinder to operate to push the resistor disc when the resistor disc is not detected within preset time.

Optionally, the automated sorting system comprises:

the SCARA sorting robot covers the discharge end of the sorting conveying line, the feeding end of the rotary conveying line and the feeding end of the sorting automatic removing system in the movement range;

a tray conveyor belt line, the SCARA sorting robot covering the tray conveyor belt line width;

the tray is supplied to the tray conveying belt line through the automatic supply system, the tray conveying belt line conveys the tray to the coverage range of the SCARA sorting robot, and the SCARA sorting robot is used for matching and sorting the resistance cards on the tray;

the tray conveying roller line performs line changing through stepping movement of the tray conveying belt line, the tray conveying belt line is used for conveying trays containing the matched resistance cards to the tray conveying roller line, and the tray conveying roller line is used for conveying the trays to the automatic sorting and stacking system.

Optionally, the automated sortation palletization system comprises: the stacking device comprises a frame, a stacking translation assembly arranged on the frame, a stacking translation motor arranged on the frame, a stacking translation guide rail arranged on the frame and a stacking lifting mechanism;

the stacking translation assembly is fixed on the stacking translation guide rail, and the stacking translation motor is connected with the stacking translation assembly through a stacking translation synchronous belt;

the pile up neatly translation board of pile up neatly translation subassembly is fixed in on the pile up neatly translation guide rail, install pile up neatly promotion cylinder on the pile up neatly translation board, install linear bearing on the pile up neatly translation board, pile up neatly promotion cylinder is connected with the pile up neatly and snatchs the connecting plate, the pile up neatly snatchs the connecting plate top and is equipped with the guide bar, the guide bar passes linear bearing, the pile up neatly snatchs the connecting plate below and is equipped with the pile up neatly and snatchs revolving cylinder, the pile up neatly snatchs the revolving cylinder and can hook the tray of joining in marriage well after the revolving stage to snatch the pile up neatly to it.

In the embodiment of the application, the resistor sheets can be automatically matched through the cooperative operation of the conveying system, the automatic feeding vision guiding system, the feeding vision recognition system, the feeding rejection system, the sorting vision recognition system and the automatic sorting system, and the matching efficiency is improved.

In the embodiment of the application, a lifter of a feeding visual guidance system lifts a placed resistor disc to a grabbing height, a visual guidance camera guides an SCARA feeding robot to grab the resistor disc in sequence, the resistor disc is accurately placed at an inlet of a feeding conveying line of a conveying system and is enabled to sequentially pass through a feeding visual identification system, a feeding rejection system and a sorting visual identification system, a visual camera in the feeding visual identification system reads and records data information of code sprayed on the resistor disc and performs arrangement and combination on input information, and the feeding rejection system screens unqualified products identified in the feeding visual identification system and rejects the unqualified products out of the conveying system; the sorting visual recognition system reads the data information of the code sprayed on the resistance sheets again, judges where the product should be grabbed according to the read information, the automatic sorting system SCARA sorting robot grabs the resistance sheets which are successfully matched to the trays at two sides respectively, grabs the resistance sheets (also called as valve sheets) which are wrongly or temporarily not matched to the rotary conveying line in the conveying system, grabs the resistance sheets to the rotary conveying line, conveys the resistance sheets to the sorting conveying line again for secondary recognition by the rotary conveying line, the sorting visual recognition system repeatedly recognizes that the product still cannot be matched, the SCARA sorting robot grabs the resistance sheets to the automatic sorting and removing system to remove the resistance sheets, and the sorting system puts the matched valve sheets to the trays, and the resistor sheets are conveyed to a conveying roller line, and the automatic sorting and stacking system picks up the tray and the matched resistor sheets together for stacking, so that the automatic matching and sorting of the resistor sheets are realized.

As optimization, the automatic feeding vision guidance system platform is a feeding lifting mechanism, and the feeding lifting mechanism can lift the placed resistance card to a grabbing point, so that the vision guidance camera can recognize and guide, and meanwhile, the guidance grabbing of different layers can be realized.

As optimization, the vision guide camera is installed on the Z axis of the SCARA feeding robot, the camera can rotate along with the Z axis of the robot, the robot controls the camera to photograph the resistor disc before grabbing and recognizes, and the robot is convenient for the vision guide camera to recognize coordinates and the robot to grab coordinate conversion.

And as optimization, the feeding visual identification system is arranged above a feeding conveying line in the conveying system, the resistor disc is placed on the feeding conveying line and conveyed through the feeding visual identification system through the feeding conveying line, and the resistor disc is dynamically identified in the conveying process.

And as optimization, a feeding automatic removing system is arranged behind the feeding visual identification system, unqualified products which cannot be identified or identified by the feeding visual identification system are removed by the feeding automatic removing system, and the system matching efficiency is improved.

As optimization, the conveying system is provided with a plurality of feeding conveying lines, the feeding buffer amount is increased, the system matching is facilitated, meanwhile, the feeding conveying lines are arranged side by side, the resistance cards rotate on the conveying lines, and the site space is saved.

As optimization, a rotary mechanism is arranged at the reverse conveying position of the parallel conveying lines of the conveying system, the resistor disc is detected through a tailing detection sensor, the last product is judged, and the last product can smoothly pass through the rotary assisting air cylinder in an assisting mode.

The sorting system is provided with a sorting conveying line and a rotary conveying line, the sorting system is used for grabbing products on the sorting conveying line, judging where the products should be placed through a sorting visual identification system, grabbing the products to the rotary conveying line when the products are identified wrongly or temporarily failed to be matched, and transporting the products to the sorting conveying line again through the rotary conveying line to perform secondary identification and matching.

Preferably, an automatic tray supply system is arranged in front of the automatic sorting system, a tray lifting mechanism is arranged in the automatic tray supply system, and automatic tray supply can be carried out for multiple times through the tray lifting mechanism.

As optimization, the automatic sorting system is divided into the left side and the right side, and the sorting systems on the two sides can simultaneously sort, so that the systems can be simultaneously matched into two groups, and the matching efficiency of the systems is improved.

As optimization, an automatic sorting and stacking system is arranged behind the automatic sorting system, and matched products are stacked through the automatic sorting and stacking system, so that subsequent storage and transportation are facilitated.

As optimization, one side of the automatic sorting system is provided with an automatic sorting and rejecting system, for some resistor discs which can not be matched through the automatic sorting and rejecting system for multiple times, rejection commands are carried out, the resistor discs which can not be matched are grabbed to the automatic sorting and rejecting system through a sorting SCARA sorting robot, and the phenomenon that the whole system is broken down due to accumulation of a rotary conveying line is avoided.

In a second aspect, the application further provides a use method of the automatic resistance sheet matching system, which includes the following steps:

a. the well placed resistor discs are lifted to a grabbing height through a loading visual guidance system lifter, and an SCARA loading robot is guided by a visual guidance camera to grab the resistor discs in sequence and accurately place the resistor discs at an inlet of a feeding conveying line of a conveying system;

b. the resistor disc is transported through a conveying system and sequentially passes through a feeding visual identification system, a feeding rejection system and a sorting visual identification system;

c. reading and recording the data information of the code sprayed on the resistor sheet through a visual camera in the feeding visual identification system, and arranging and combining the input information;

d. screening the unqualified products identified in the feeding visual identification system through a feeding rejection system, and rejecting the unqualified products out of the conveying system;

e. reading the data information of the code sprayed on the resistor sheet again through a sorting visual recognition system, and judging where the product should be grabbed according to the read information;

f. grabbing by an automatic sorting system SCARA sorting robot, respectively grabbing successfully matched resistance sheets to trays on two sides, and grabbing valve sheets which are identified in error or are not matched temporarily to a rotary conveying line in a conveying system;

g. the resistance cards are grabbed to the rotary conveying line through an SCARA sorting robot of the automatic sorting system, and are conveyed to the sorting conveying line again through the rotary conveying line for secondary recognition;

h. identifying for many times by a sorting visual identification system, and picking the group by an SCARA robot to a sorting automatic removing system to remove the group;

i. placing the assembled valve plates to a tray through a sorting system, and conveying the valve plates to a conveying roller line;

j. and the tray and the matched resistor discs are grabbed together for stacking through the automatic sorting stacking system.

The automatic resistor disc matching system provided by the application lifts the placed resistor discs to a grabbing height through a feeding visual guidance system lifter, a visual guidance camera guides an SCARA feeding robot to grab the resistor discs in sequence, the resistor discs are accurately placed at an inlet of a feeding conveying line of a conveying system and sequentially pass through a feeding visual identification system, a feeding rejection system and a sorting visual identification system, a visual camera in the feeding visual identification system reads and records data information of code sprayed on the resistor discs and arranges and combines input information, the feeding rejection system screens unqualified products identified in the feeding visual identification system, and unqualified products are rejected out of the conveying system; the sorting visual recognition system reads the data information of the code sprayed on the resistance sheets again, and judges where the product should be grabbed according to the read information, the automatic sorting system SCARA sorting robot grabs the resistance sheets successfully matched to the trays on two sides respectively, grabs the valve sheets which are wrongly or temporarily not matched to the rotary conveying line in the conveying system, grabs the resistance sheets to the rotary conveying line, conveys the resistance sheets to the sorting conveying line again for secondary recognition by the rotary conveying line, the sorting visual recognition system recognizes for multiple times that the resistance sheets still cannot be matched, the SCARA sorting robot grabs the resistance sheets to the automatic sorting system for sorting, the sorting system puts the matched valve sheets to the trays and conveys the matched conveying roller line, the automatic sorting system picks up the trays and the matched resistance sheets together for automatic matching and sorting of the resistance sheets, the automatic matching and sorting of the resistance cards can be realized, the labor intensity of workers is greatly reduced, and the production efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of an automatic grouping system provided in the present application;

FIG. 2 is a top view of the automated pairing system shown in FIG. 1;

FIG. 3 is a side view of the automated pairing system shown in FIG. 1;

FIG. 4 is a schematic structural diagram of a feeding visual guidance system of the automatic grouping system shown in FIG. 1;

FIG. 5 is a top view of the conveyor system of the automated pairing system shown in FIG. 1;

FIG. 6 is a schematic diagram of a turning mechanism of the automatic assembling system shown in FIG. 1;

FIG. 7 is a schematic structural diagram of an automatic sorting system, an automatic tray feeding system and an automatic sorting and stacking system of the automatic grouping system shown in FIG. 1;

FIG. 8 is a schematic diagram of an automated sorting system of the automated grouping system shown in FIG. 1;

fig. 9 is a schematic structural view of a pallet translation assembly of the automatic pairing system shown in fig. 1.

The numbers in the figures are respectively:

1. an automatic feeding vision guidance system; 2. a delivery system; 3. an automatic sorting system; 4. a feeding visual identification system; 5. a sorting visual identification system; 6. a feeding rejection system; 7. an automatic tray supply system; 8. A sorting automatic stacking system; 9. a sorting automatic rejection system; 101. a feeding lifting mechanism; 102. a visual guidance camera; 103. a SCARA feeder robot; 104. a feeding frame; 105. a lifting chain; 201. a feeding conveying line; 202. sorting and conveying lines; 203. a rotary conveyor line; 204. a swing mechanism; 2041. a rotating support; 2042. a rotary boosting cylinder; 2043. a guide arc plate; 2044. a rotary power-assisted baffle; 2045. a tailings detection sensor; 2046. a hinge; 301. a SCARA sorting robot; 302. a tray conveyor belt line; 303. a pallet conveying roller line; 304. a tray; 701. a tray lifting mechanism; 702. a tray feed cylinder; 703. a tray feed pusher; 801. a frame; 802. a stacking translation assembly; 803. a stacking translation motor; 804. stacking and translating the synchronous belt; 805. a stacking translation guide rail; 806. a stacking lifting mechanism; 8021. stacking the translation plates; 8022. a stacking lifting cylinder; 8023. a linear bearing; 8024. a guide bar; 8025. stacking and grabbing connecting plates; 8026. the stacking grabbing rotary cylinder.

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. 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.

In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description of the present application, it is to be understood that the terms "inner," "outer," "upper," "bottom," "front," "back," and the like, when used in the orientation or positional relationship indicated in FIG. 1, are used solely for the purpose of facilitating a description of the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.

As shown in fig. 1 to 9, an automatic matching system for zinc oxide resistance sheets provided in an embodiment of the present application includes: the automatic feeding and sorting system comprises a conveying system 2, an automatic feeding visual guide system 1, a feeding visual recognition system 4, a feeding rejection system 6, a sorting visual recognition system 5 and an automatic sorting system 3.

The conveying system 2 is used for conveying resistance sheets to be matched.

The automatic feeding visual guide system 1 is arranged at the front end of the conveying system 2 and used for lifting each resistance card to be matched to a grabbing height and placing the resistance card at an inlet of the conveying system 2.

The feeding visual identification system 4 is arranged on the conveying system 2, is positioned at the rear side of the automatic feeding visual guide system 1, and is used for reading and recording data information of code sprayed on each resistance sheet to be matched and assembled on the conveying system 2, arranging and combining the recorded information, and identifying unqualified resistance sheets from the resistance sheets to be matched and assembled on the conveying system 2.

And the feeding and rejecting system 6 is positioned at the rear side of the feeding visual identification system 4 and is used for identifying and rejecting the unqualified resistance cards from the resistance cards to be matched on the conveying system 2.

The sorting visual recognition system 5 is arranged on the conveying system 2, is positioned at the rear side of the feeding rejection system 6, and is used for reading data information of codes sprayed on the resistance sheets to be grouped and transmitted on the conveying system 2, and determining the placement position information of the resistance sheets to be grouped according to the read information and the grouping requirement, wherein the placement position is used for indicating the placement position of the resistance sheets to be grouped, and the grouping can be realized after the resistance sheets to be grouped are placed according to the placement position.

The automatic sorting system 3 is arranged on the conveying system 2, is positioned at the rear side of the sorting visual identification system 5, and is used for rearranging each resistance card to be matched according to the placement position information so as to realize matching of each resistance card to be matched.

Alternatively, as shown in fig. 5, the conveying system 2 includes an inlet conveying line 201, a sorting conveying line 202 and a rotary conveying line 203; the sorting conveying line 202 is located at the rear end of the feeding conveying line 201 and is in butt joint with the feeding conveying line 201, and the rotary conveying line 203 and the sorting conveying line 202 are arranged side by side; the sorting conveying line 202 is used for conveying the resistance cards to be matched, and the rotary conveying line 203 is used for conveying the resistance cards to the front end of the sorting conveying line 202; the automatic sorting system 3 is further configured to grab the unmatched resistive sheets onto the rotary conveyor line 203, so as to convey the unmatched resistive sheets to the front end of the sorting conveyor line 202 again through the rotary conveyor line 203.

The conveying system 2 comprises a plurality of conveying lines, and intelligent grouping is more convenient.

Optionally, as shown in fig. 1 to 3, 7, and 8, the automatic grouping system further includes: the automatic sorting system 3 is further used for grabbing successfully matched resistance cards onto the trays 304 of the automatic tray supply system 7, and the automatic sorting stacking system 8 is used for stacking the trays 304 containing the successfully matched resistance cards.

Optionally, as shown in fig. 1 to 3, the automatic grouping system further includes:

the automatic sorting system 3 is further configured to grab the unmated resistor discs identified by the preset times to the automatic sorting and rejecting system 9, and the automatic sorting and rejecting system 9 is configured to reject the received resistor discs.

Alternatively, as shown in fig. 1 to 3, the automatic sorting systems 3 include two groups, and the two groups of automatic sorting systems 3 are respectively located at two sides of the conveying system 2;

the automatic tray supply systems 7 comprise two groups, and the two groups of automatic tray supply systems 7 are respectively positioned at the front ends of the two groups of automatic sorting systems 3;

the automatic sorting and stacking system 8 comprises two groups, and the automatic sorting and stacking system 8 is located at the rear end of the automatic sorting system 3.

Alternatively, as shown in fig. 4, the automatic feeding visual guidance system 1 includes:

the feeding lifting mechanism 101 is used for lifting each resistance card to be matched to a grabbing height;

the SCARA feeding robot 103 is used for grabbing resistance cards to be matched from the feeding lifting mechanism 101 and sequentially placing the resistance cards at an inlet of the conveying system 2;

and the visual guide camera 102 is arranged on a vertical axis of the SCARA feeding robot 103 and used for acquiring an environment image and sending the environment image to the SCARA feeding robot 103, and the SCARA feeding robot 103 is used for determining the position of the resistance card to be assembled according to the environment image so as to perform grabbing operation according to the determined position.

Optionally, as shown in fig. 5, the end of the sorting line 202, which is arranged side by side with the rotary line 203, is provided with a rotary mechanism 204, and the rotary mechanism 204 is used for rotary conveying the resistor sheets.

Alternatively, as shown in fig. 6, the swing mechanism 204 includes: a swivel support 2041 mounted on the conveying system 2;

a guide arc plate 2043 connected to the rotating support 2041 and facing the surface of the conveying system 2;

a head of the rotary power-assisted cylinder 2042 is connected with a rotary power-assisted baffle 2044 through a hinge 2046;

when the rotary power-assisted cylinder 2042 retracts, the rotary power-assisted baffle 2044 faces downwards to push the resistance card to rotate, and when the rotary power-assisted cylinder 2042 pushes out, the rotary power-assisted baffle 2044 can be closed along the hinge 2046 to be separated from the resistance card;

the front end of the guide arc plate 2043 is provided with a tailing detection sensor 2045 for detecting whether a resistance card exists, and the tailing detection sensor 2045 is used for controlling the rotary power cylinder 2042 to operate to push the resistance card when the resistance card is not detected within a preset time period.

Alternatively, as shown in fig. 7, the automatic sorting system 3 includes:

the SCARA sorting robot 301 covers the discharge end of the sorting conveying line 202, the feeding end of the rotary conveying line 203 and the feeding end of the automatic sorting and removing system 9 in the movement range;

a tray conveyor belt line 302, the SCARA sorting robot 301 covering the width of the tray conveyor belt line 302;

a tray supplied to the tray conveying belt line 302 by the automatic feeding system, the tray conveying belt line 302 conveying the tray to a coverage area of the SCARA sorting robot 301, and the SCARA sorting robot 301 performing grouping sorting on the resistance cards on the tray;

and the tray conveying roller line 303 is used for changing rows through stepping movement of the tray conveying belt line, the tray conveying belt line is used for conveying trays containing the matched resistance cards to the tray conveying roller line 303, and the tray conveying roller line 303 is used for conveying the trays to the sorting automatic stacking system 8.

Optionally, as shown in fig. 7, the sorting automated palletizing system 8 comprises: the stacking device comprises a frame 801, a stacking translation assembly 802 arranged on the frame 801, a stacking translation motor 803 arranged on the frame 801, a stacking translation guide rail 805 arranged on the frame 801 and a stacking lifting mechanism 806;

the stacking translation assembly 802 is fixed on the stacking translation guide rail 805, and the stacking translation motor 803 is connected with the stacking translation assembly 802 through a stacking translation synchronous belt 804;

the stacking translation plate 8021 of the stacking translation assembly 802 is fixed on the stacking translation guide rail 805, a stacking lifting cylinder 8022 is installed on the stacking translation plate 8021, a linear bearing 8023 is installed on the stacking translation plate 8021, the stacking lifting cylinder 8022 is connected with a stacking grabbing connecting plate 8025, a guide rod 8024 is installed above the stacking grabbing connecting plate 8025, the guide rod 8024 penetrates through the linear bearing 8023, a stacking grabbing rotary cylinder 8026 is installed below the stacking grabbing connecting plate 8025, and the stacking grabbing rotary cylinder 8026 can hook a tray of a matched group after rotating and grab the stacking.

The automatic matching system for the zinc oxide resistance cards provided by the application is described by specific examples. As shown in fig. 1 to 9, the automatic grouping system for zinc oxide resistance cards provided by the present application includes: automatic material loading vision guide system 1, material loading vision identification system 4, material loading are rejected system 6, conveying system 2, letter sorting vision identification system 5, automatic sorting system 3, tray automatic feed system 7, the automatic pile up neatly system 8 of letter sorting and letter sorting are rejected system 9 automatically, automatic material loading vision guide system 1 sets up in conveying system 2 front end, automatic sorting system 3 sets up in conveying system 2 tail end, material loading vision identification system 4 sets up on conveying system 2, is located automatic material loading vision guide system 1 back, letter sorting vision identification system 5 sets up on conveying system 2, before being located automatic sorting system 3, automatic sorting system 3 divide into both sides, and every side front end is equipped with tray automatic feed system 7, and the rear end is equipped with letter sorting automatic pile up neatly system 8.

Automatic material loading vision guidance system 1 includes material loading frame 104, and material loading frame 104 is the aluminium alloy, be equipped with material loading elevating system 101 on the material loading frame 104, material loading elevating system 101 uses servo motor as power, goes up and down through lifting chain 105 transmission, and SCARA material loading robot 103 locates material loading frame 104 next door, and on SCARA material loading robot 103Z was epaxial located to vision guide camera 102.

Conveying system 2 includes many pan feeding transfer chain 201, pan feeding transfer chain 201 arranges side by side, every two adjacent transfer chain traffic direction are opposite, subtract short conveying system 2's total length, pan feeding transfer chain 201 docks with letter sorting transfer chain 202, letter sorting transfer chain 202 direction of motion is unanimous with the pan feeding transfer chain 201 direction rather than the butt joint, gyration transfer chain 203 arranges side by side with letter sorting transfer chain 202, opposite with letter sorting transfer chain 202 direction of motion, be equipped with rotation mechanism 204 in all transfer chain departments of arranging side by side, treat the resistor disc of joining in marriage a group and move along conveying system in proper order, during transfer chain department through arranging side by side, rotation mechanism guides the operation of supplementary resistor disc, make its direction of motion change.

The resistance cards to be matched can be zinc oxide resistance cards or other resistance cards.

The swing mechanism 204 is arranged at the end of the parallel conveying line of the conveying system 2, the swing bracket 2041 is fixed on the conveying system 2, the guide arc-shaped plate 2043 is connected with the swing bracket 2041, the guide arc-shaped plate 2043 is close to the upper surface of the belt of the conveying system 2, but no friction occurs, the rotary power-assisted cylinder 2042 is connected with the rotary support 2041, the head of the rotary power-assisted cylinder 2042 is connected with the rotary power-assisted baffle 2044 through a hinge 2046, so that the rotary power-assisted baffle 2044 faces downwards vertically when the rotary power-assisted cylinder 2042 is retracted, can push the resistance card, when the rotary power-assisted cylinder 2042 pushes out, the rotary power-assisted baffle 2044 can be closed along the hinge direction to avoid driving the resistance card, the tail material detection sensor 2045 is arranged at the front end of the guide arc plate 2043, when the tail detection sensor 2045 does not detect the resistive sheet any more for a certain time, it is determined that the resistive sheet needs to be assisted by the rotation assisting cylinder 2042, and the rotation assisting cylinder 2042 operates to assist in pushing the resistive sheet.

The automatic sorting system 3 is provided with two SCARA sorting robots 301, two tray conveying belt lines 302 and two tray conveying roller lines 303, the two SCARA sorting robots 301 are arranged side by side, are arranged in the middle and have a movement range covering the discharging end of the sorting conveying line 202, covering the feeding end of the rotary conveying line 203 and covering the feeding end of the sorting automatic eliminating system, the two SCARA sorting robots 301 respectively cover the widths of the tray conveying belt lines 302 on the corresponding sides, the trays 304 are respectively supplied to the tray conveying belt lines 302 on the two sides through the tray automatic supply system 7, the tray conveying belt lines 302 convey the trays 304 to the covering range of the SCARA sorting robots 301, and the SCARA sorting robots 301 carry out grouping and sorting, the line is changed by the stepping movement of the tray conveying belt line 302, and after the tray 304 is full, the tray conveying belt line conveys the tray to the tray conveying roller line 303, and then the tray is stacked by the automatic sorting and stacking system 8.

The automatic tray supply system 7 comprises a tray lifting mechanism 701, trays 304 are stacked on the tray lifting mechanism 701 and lifted through chain transmission by taking a servo motor as power, the lower surface of the uppermost tray 304 is higher than the upper surface of a belt of the tray conveying belt line 302, a tray feeding cylinder 702 drives a tray feeding push plate 703 to move, the trays 304 are pushed onto the tray conveying belt line 302, and automatic supply of the trays 304 is realized.

The automatic sorting and stacking system 8 comprises a frame 801, a stacking translation assembly 802 arranged on the frame 801, the stacking translation motor 803 is arranged on the frame 801, the two stacking translation guide rails 805 are arranged on the frame 801, the stacking translation assembly 802 is fixed on the stacking translation guide rails 805, the stacking translation motor 803 is connected with the stacking translation assembly 802 through a stacking translation synchronous belt 804, the stacking translation motor 803 rotates forwards and backwards to realize translation, the prepared resistor disc is grabbed from the tray conveying roller line 303 through the stacking translation assembly 802 and conveyed to the stacking lifting mechanism 806 for stacking, the stacking lifting mechanism 806 is arranged on the frame 801, the servo motor is used as power, the stacking lifting mechanism 806 starts to take the matched resistance cards from the top, and the stacking lifting mechanism 806 descends one layer after each layer until the stacking lifting mechanism 806 descends to the bottom.

The stacking translation plate 8021 of the stacking translation assembly 802 is fixed on the stacking translation guide rail 805, a stacking lifting cylinder 8022 is mounted on the stacking translation plate 8021, four linear bearings 8023 are mounted on the stacking translation plate, the stacking lifting cylinder 8022 is connected with a stacking grabbing connecting plate 8025, four guide rods 8024 are mounted above the stacking grabbing connecting plate 8025, the guide rods 8024 penetrate through the linear bearings 8023, four stacking grabbing rotary cylinders 8026 are mounted below the stacking grabbing connecting plate 8025, and the stacking grabbing rotary cylinders 8026 can hook the tray 304 of a matched group after rotating to grab the tray.

Of course, the above description is not limited to the above examples, and technical features that are not described in this application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present application and not for limiting the present application, and the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present application may be made by those skilled in the art without departing from the spirit of the present application, and shall also fall within the scope of the claims of the present application.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An automatic matching system for zinc oxide resistance cards is characterized by comprising:

the conveying system is used for conveying resistance cards to be matched;

2. The automatic grouping system according to claim 1,

the conveying system comprises a feeding conveying line, a sorting conveying line and a rotary conveying line;

3. The automated banking system of claim 2 further comprising:

4. The automated banking system of claim 3 further comprising:

5. The automated grouping system of claim 3 wherein the automated sorting system comprises two groups, one on each side of the conveyor system;

6. The automated banking system of claim 3, wherein the automated feeding visual guidance system comprises:

7. The automatic grouping system as claimed in claim 2, wherein the end of the sorting conveyor line and the rotary conveyor line arranged side by side is provided with a rotary mechanism for rotary conveying the resistive sheets.

8. The automated assembly system of claim 7, wherein the turntable comprises: a rotating bracket mounted on the conveying system;

9. The automated grouping system of claim 6, wherein the automated sorting system comprises:

the tray conveying roller line performs line changing through stepping movement of the tray conveying belt line, the tray conveying belt line is used for conveying trays containing the matched resistance cards to the tray conveying roller line, and the tray conveying roller line is used for conveying the trays to the automatic sorting and stacking system;

automatic pile up neatly system of letter sorting includes: the stacking device comprises a frame, a stacking translation assembly arranged on the frame, a stacking translation motor arranged on the frame, a stacking translation guide rail arranged on the frame and a stacking lifting mechanism;

10. A use method of an automatic matching system of zinc oxide resistance cards is characterized by comprising the following steps: