CN115255889B - Automatic water cup alignment and bottom pressing production line and processing method thereof - Google Patents
Automatic water cup alignment and bottom pressing production line and processing method thereof Download PDFInfo
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- CN115255889B CN115255889B CN202210934798.1A CN202210934798A CN115255889B CN 115255889 B CN115255889 B CN 115255889B CN 202210934798 A CN202210934798 A CN 202210934798A CN 115255889 B CN115255889 B CN 115255889B
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- 238000003825 pressing Methods 0.000 title claims abstract description 55
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 38
- 238000003672 processing method Methods 0.000 title claims description 12
- 241000190070 Sarracenia purpurea Species 0.000 title claims description 11
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 195
- 239000010959 steel Substances 0.000 claims abstract description 195
- 230000007246 mechanism Effects 0.000 claims abstract description 175
- 241000239290 Araneae Species 0.000 claims abstract description 37
- 230000000007 visual effect Effects 0.000 claims description 35
- 238000002372 labelling Methods 0.000 claims description 28
- 238000004458 analytical method Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
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Abstract
The invention discloses an automatic alignment assembly of a cup body and a cup bottom, which can meet alignment requirements, and has high precision and high efficiency; the clamping jaw assembly, the pressing mechanism and the transferring mechanism are arranged on the cup conveying mechanism at intervals, the cup vision camera collects cup image information clamped by the clamping jaw and transmits the cup image information to the industrial personal computer, and the industrial personal computer controls the clamping jaw to rotate and adjust and then put back; the steel bottom vision camera is positioned below the spider manipulator, acquires steel bottom image information clamped by the spider manipulator, transmits the steel bottom image information to the industrial personal computer, and is assembled on the cup body after the rotation adjustment of the spider manipulator controlled by the industrial personal computer, and bottom pressing is completed under the action of the pressing mechanism; finally, the PPU manipulator of the transfer mechanism is transferred to the next production line for continuous processing.
Description
Technical Field
The invention relates to a vacuum cup processing production device, in particular to an automatic alignment bottom pressing production line for a cup, which is used for assembling a cup bottom on a cup body and pressing the cup bottom into a whole, and a processing method thereof.
Background
Along with the production industry entering an automation age, each procedure in the vacuum cup processing also gradually realizes automatic production. For example, patent document CN 211414239U discloses a "full-automatic assembly device for a cup body and a cup bottom of a thermos cup", which comprises a frame, a conveying device, a sucker transfer mechanism, a turntable mechanism and a pressing mechanism, wherein the cup bottom on the conveying device is transferred to a clamp assembly through the sucker transfer mechanism, the clamp assembly with the cup bottom is moved away from the sucker transfer mechanism under the drive of the turntable mechanism, the cup body is installed in the clamp assembly at the next station, whether the cup bottom is installed in the clamp assembly is detected through a first sensor, whether the cup bottom is installed in the clamp assembly is detected through a second sensor, and the assembled cup body and cup bottom are driven to the pressing mechanism through the turntable mechanism; in addition, the turntable mechanism is adopted to transport the cup body, the station is limited, and the turntable mechanism is difficult to adapt to transfer to other production lines such as a labeling device and the like, and cannot adapt to automatic production.
Disclosure of Invention
The invention aims to provide an automatic cup aligning and bottom pressing production line and a processing method thereof, which can meet the automatic alignment assembly of a cup body and a cup bottom with alignment requirements, have high accuracy and high efficiency, and can be adapted to other production lines to realize automatic production.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the automatic cup aligning and bottom pressing production line comprises a cup body conveying mechanism, a steel bottom conveying mechanism, a clamping jaw assembly, a pressing mechanism, a spider manipulator, a cup body vision camera, a steel bottom vision camera and a transferring mechanism which are connected with an industrial computer; the cup conveying mechanism is a plate chain type assembly line, the clamping jaw assembly, the pressing mechanism and the transferring mechanism are arranged on the cup conveying mechanism at intervals, and the transferring mechanism is positioned at the tail end of the cup conveying mechanism; the cup visual camera is arranged on the mounting frame of the clamping jaw assembly, acquires cup image information clamped by the clamping jaw, transmits the cup image information to the industrial personal computer, and controls the clamping jaw to rotate and adjust and then put back; the steel bottom conveying mechanism is arranged beside the cup conveying mechanism and is positioned at a station between the clamping jaw assembly and the pressing mechanism, the spider manipulator is positioned above the station, the steel bottom vision camera is positioned below the spider manipulator, steel bottom image information clamped by the spider manipulator is collected and transmitted to the industrial personal computer, and the industrial personal computer controls the spider manipulator to rotate and adjust and then is assembled on the cup; the diameter of a pressure head of the pressing mechanism is larger than the diameter of the steel bottom; the transfer mechanism is a PPU manipulator, and the clamping part of the PPU manipulator is a vacuum chuck.
Further, the cup conveying mechanism comprises a servo motor, two chains driven by the servo motor, a plurality of bottom plates fixed on the chains and a clamp assembly arranged on the bottom plates; the clamping part of the spider manipulator is a vacuum chuck.
Furthermore, empty cup detection sensors are arranged on the cup conveying mechanism at positions corresponding to the clamp assemblies; the clamp assembly comprises a clamp head, a positioning seat, a spring, a steel ball and a conical positioning pin; the positioning seat is of a hollow structure, and the bottom of the positioning seat is fixed on the bottom plate; the conical locating pin is axially movably arranged in the locating seat, the spring is arranged below the conical locating pin, the upper end of the conical locating pin penetrates out of the top end of the locating seat, and the lower end of the conical locating pin is conically limited in the locating seat; the steel balls are a plurality of conical inclined planes which are uniformly distributed on the conical locating pins around the axis; limiting holes are formed in the circumferences of the positioning seats and located at the positions of the steel balls, and the aperture of each limiting hole is smaller than the diameter of each steel ball; the inner wall of the clamp head is provided with a V-shaped annular groove, and the steel ball moves on the conical locating pin to push the lower limit hole to protrude outwards and be clamped with the V-shaped annular groove.
Further, the steel bottom conveying mechanism comprises a stepping motor and a conveying belt driven by the stepping motor; a guide inclined plane is arranged at the starting end of the steel bottom conveying mechanism; the tail end of the steel bottom conveying mechanism is provided with a baffle, and a V-shaped limit groove is formed in the contact position of the steel bottom and the baffle; and flanges are arranged on two sides of the steel bottom conveying mechanism, and laser sensors for controlling the steel bottom conveying mechanism to pause are arranged at the tail ends of the flanges.
Still further, the steel bottom visual camera is installed on a fixed seat lower than the tail end of the steel bottom conveying mechanism, and the steel bottom visual camera is embedded in the fixed seat.
Furthermore, the cup visual camera and the steel bottom visual camera are all CCD industrial cameras; the clamping jaw assembly is provided with two clamping jaws which act at the same time at two stations and two cup vision cameras, and each cup vision camera is respectively arranged at the corresponding clamping jaw; the pushing mechanism is provided with an air cylinder with two stations acting simultaneously.
Furthermore, an automatic labeling mechanism is arranged between the pressing mechanism and the transferring mechanism, and the automatic labeling mechanism is arranged on the cup conveying mechanism.
The processing method of the automatic water cup aligning and bottom pressing production line comprises the following steps of,
s1, enabling a cup opening to face downwards, enabling a cup logo to face to a cup vision camera side, and placing the cup logo on a clamp assembly of a cup conveying mechanism;
s2, arranging the steel bottom opening downwards and reversely on the steel bottom conveying mechanism;
s3, the cup body steps to a clamping jaw assembly along with the cup body conveying mechanism, the clamping jaw picks up the cup body, the cup body vision camera works to photograph logo on the cup body and transmits the logo to the industrial personal computer, the industrial personal computer compares and analyzes photographing results to the direction and angle of rotation of the cup body, the clamping jaw rotates according to analysis results to drive the cup body to rotate and align, and then the cup body is placed back to the clamp assembly, and at the moment, the logo right direction of the cup body is perpendicular to the cup body conveying mechanism;
s4, conveying the steel bottom to the tail end of a steel bottom conveying mechanism, sucking the steel bottom by a vacuum chuck of a spider manipulator, moving the steel bottom to the upper part of a steel bottom visual camera, photographing logo steel marks on the inner side of the steel bottom by the steel bottom visual camera, transmitting the logo steel marks to an industrial personal computer, analyzing the direction and the angle required to rotate by the industrial personal computer, transmitting the result to the spider manipulator to rotate so as to align the steel bottom, and then placing the steel bottom on an aligned cup body, wherein the logo of the steel bottom is parallel to the logo of the cup body;
s5, conveying the aligned cup body and steel bottom to a pressing mechanism, starting an air cylinder, mounting the steel bottom on the cup body under the pressure of a pressure head, and pressing down in place to finish assembly;
s6, continuously conveying the assembled cup bodies to a transfer mechanism, downwards moving a vacuum chuck of the PPU manipulator to suck the cup bodies, rotating the machined cup bodies by a designated angle, and transferring the cup bodies to other production lines for next machining.
Further, in the step S3, the clamping jaw assembly is provided with two groups of clamping jaws and a cup vision camera, and the double-station arrangement is operated simultaneously; the pushing mechanism in the step S5 is provided with two air cylinders, and double-station setting is simultaneously pushed down; the cup conveying mechanism operates in a double-station stepping mode.
Further, an automatic labeling mechanism is arranged between the pushing mechanism and the transferring mechanism on the cup conveying mechanism; and (5) conveying the assembled cup body to an automatic labeling mechanism for labeling.
Compared with the prior art, the invention has the beneficial effects that: firstly, the cup visual camera and the steel bottom visual camera can accurately acquire cup and steel bottom image information (such as LOGO), the cup and steel bottom image information is sent to an industrial personal computer, after the angle required to be aligned and rotated is analyzed and obtained by the industrial personal computer, the spider manipulator and the clamping jaw assembly are controlled to make corresponding rotation amount alignment assembly, the cup and the steel bottom can be automatically identified and aligned, the alignment requirement of graphics or LOGO on the cup and the steel bottom is ensured, the alignment assembly is automatic, the accuracy is high, the speed is high, and the production efficiency and the product quality are effectively improved; secondly, the spider manipulator is adopted, so that the spider manipulator is flexible, can move in multiple directions, improves the accuracy of grabbing, collecting and assembling the steel bottom and the cup body, and has high grabbing and assembling speeds; thirdly, the cup visual camera collects the cup gripped by the clamping jaw assembly, and the steel bottom visual camera collects the steel bottom gripped by the spider manipulator, namely, a mode of gripping firstly, photographing and finally rotating alignment is adopted during alignment, so that errors caused by gripping firstly and then are avoided, accuracy of a front-back rotation angle of gripping is ensured, and alignment assembly accuracy is improved; fourthly, the cup conveying mechanism adopts a plate chain type assembly line, the stations are fixed, the transportation process is very stable, the assembly error is greatly reduced, and the assembly precision is improved; fifthly, the tail end of the cup conveying mechanism is provided with a PPU manipulator as a transferring mechanism, the cup with the bottom pressed is sucked up by a vacuum chuck of the PPU manipulator, and the cup is rotated by a designated angle and transferred to other production lines for further processing, so that automatic production is realized; fifthly, the diameter of a pressure head of the pressing mechanism is larger than the diameter of the steel bottom, the force of the pressure head acting on the steel bottom is dispersed on the whole surface of the steel bottom, deformation and damage of a product in the bottom pressing process are avoided, and the assembly quality of the product is improved.
Further beneficial effects are that: firstly, a plurality of bottom plates are fixed on a chain of a cup conveying mechanism, a clamp assembly for clamping and fixing the cup is arranged on the bottom plates, so that the bottom plates can bear the pressure when the steel bottom is pressed while the positioning requirement of the cup is met, and the alignment assembly is more stable; secondly, the clamping part of the spider manipulator is a vacuum chuck, because the steel bottom is of a single-layer structure, acting force is on the outer surface of the steel bottom when the vacuum chuck sucks, the steel bottom is convenient to grab, meanwhile, the damage to the thin wall of the steel bottom during grabbing is avoided, marks are arranged on the front side and the back side of the steel bottom on the logo stamped on the steel bottom, a steel bottom visual camera is used for collecting steel marks on the inner side surface of the steel bottom, the top surface of the steel bottom is sucked by adopting the vacuum chuck, the collection of the inner side bottom surface of the steel bottom is more convenient, and the accuracy is high; thirdly, the empty cup detection sensor can detect whether the cup body exists on each clamp assembly in the assembly process, idle running is avoided, and timely adjustment is performed; fourthly, the steel bottom conveying mechanism adopts a conveyor belt assembly line driven by a stepping motor, the steel bottom is conveyed on the conveyor belt more stably, the flanges at two sides of the steel bottom conveying mechanism play a guiding role in conveying the steel bottom, and the guide inclined plane arranged at the starting end not only guides the steel bottom flow to the conveyor belt, but also can butt joint an automatic assembly line such as a vibration blanking device, and the guide steel bottom automatically flows into the conveyor belt; fifthly, the tail end of the steel bottom conveying mechanism is provided with a baffle, and a V-shaped limit groove is arranged at the contact position of the steel bottom and the baffle, so that the steel bottom is more convenient to limit and position; a laser sensor for controlling the start and stop of the assembly line is arranged at the tail end of the steel bottom conveying mechanism, when the steel bottom is contacted with the baffle, the laser sensor is triggered to stop the assembly line, and when the steel bottom is sucked away by the sucking disc of the spider manipulator, the assembly line is started again; the steel bottom visual camera is arranged on a fixed seat lower than the tail end of the steel bottom conveying mechanism, the steel bottom visual camera is embedded in the fixed seat, the spider manipulator grabs the steel bottom and then translates to the position above the steel bottom visual camera, the action of the manipulator is simplified, the error is reduced, and the steel bottom visual camera is designed in an embedded manner, so that the steel bottom visual camera is effectively protected, and the service life is prolonged; the steel bottom visual camera and the cup visual camera are all CCD industrial cameras, so that the precision and the sensitivity are higher, and the alignment assembly precision is further improved; the clamping jaw assembly is provided with two clamping jaws, namely the clamping jaws on the two stations simultaneously pick up the cup bodies, and the cup bodies are collected through two cup body vision cameras respectively, so that the alignment efficiency is further improved; the pressing mechanism also adopts a cylinder with double-station simultaneous actions, and simultaneously presses down cup bodies on two stations, so that the assembly efficiency is effectively improved; and eleven is that an automatic labeling mechanism is arranged between the pressing mechanism and the transferring mechanism and is used for automatically sticking product information labels or two-dimensional code labels on the cup bodies, and when the cup bodies after the steel bottom is pressed flow to the station, the automatic labeling mechanism automatically completes labeling work at a designated position.
Drawings
FIG. 1 is a schematic perspective view of an automatic cup bottom alignment assembly apparatus of the present invention;
FIG. 2 is an enlarged schematic view of the structure of FIG. 1 at A;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a schematic perspective view of a steel bottom transport device in the automatic cup bottom alignment assembly device of the present invention;
FIG. 5 is a schematic cross-sectional structural view of a fixture assembly in an automatic cup alignment sole pressing line of the present invention;
FIG. 6 is a schematic diagram of an embodiment of an automatic water cup aligning and bottom pressing production line.
Detailed Description
In order to make the technical scheme of the present invention clearer, the present invention will be described in detail with reference to fig. 1 to 6. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1: referring to fig. 1, 2 and 3, an automatic cup aligning and bottom pressing production line comprises a cup body conveying mechanism 1, a steel bottom conveying mechanism 2, a clamping jaw assembly 4, a spider manipulator 3, a steel bottom vision camera 6, a cup body vision camera 5, a pressing mechanism 7, an automatic labeling mechanism 8 and a transferring mechanism 9 which are all connected with an industrial computer; the industrial personal computer, the visual camera, the clamping jaw, the mechanical arm, the pressing mechanism and the automatic labeling mechanism are all in the prior art, the industrial personal computer is an industrial controller which controls the whole operation system of a production line, the visual camera shoots and collects images and then transmits the images to the industrial personal computer for comparison and analysis, the clamping jaw or the mechanical arm performs actions such as grabbing, rotating and transmitting according to a result instruction obtained by analysis of the industrial personal computer, the visual camera and the mechanical arm are also widely applied to various processing production lines, for example, patent document CN 209650748U discloses a full-automatic labeling machine based on double visual alignment, and automatic labeling of the mechanical arm is realized through the visual camera; the steel bottom visual camera and the cup visual camera of the embodiment are described by taking a CCD industrial camera as an example, but the invention is not limited to the CCD industrial camera, and a CMOS industrial camera and the like can be selected.
The cup conveying mechanism 1 adopts a plate chain type assembly line structure, and a servo motor 13 (such as an ecma-ex1315fs with a brake) drives double-station stepping, so that the cup conveying mechanism can be set to run for 3 seconds, each cup enters each appointed station, and then is stopped for 2 seconds to wait for the operation of each station to finish, and the cup conveying mechanism is circularly conveyed; the plate chain type structure of the cup conveying mechanism 1 comprises a frame 10, two chains 14 arranged in the frame 10 in parallel, a bottom plate 11 uniformly arranged on the two chains 14, and a clamp assembly 12 fixed on the bottom plate 11; the two ends of the bottom plate 11 are respectively fixed on two chains 14, namely the bottom plate 11 is spanned between the two chains 14; each base plate 11 is fixed with a clamp assembly 12, and the clamp assemblies 12 are all arranged at the same position of the base plate 11, and the clamp assemblies 12 of the embodiment are fixed at the middle part of the base plate 11; the cup body conveying mechanism 1 is provided with a cup body alignment station, an assembly station, a bottom pressing station, a labeling station and a transferring station at intervals from front to back in sequence along the movement direction.
Referring to fig. 5, the fixture assembly 12 is used for limiting and fixing a cup body to be processed, and comprises a fixture head 120, a positioning seat 121, a spring 124, a steel ball 123 and a conical positioning pin 122; the outer side of the clamp head 120 is matched with the opening of the cup body, and the cup body to be processed is inverted on the clamp head 120; the positioning seat 121 is of a hollow structure, and the bottom of the positioning seat 121 is fixed on the bottom plate 11; the conical positioning pin 122 is axially movably arranged in the positioning seat 121, the spring 124 is arranged below the conical positioning pin 122, the upper end of the conical positioning pin 122 penetrates out of the top end of the positioning seat 121, and the lower end of the conical positioning pin is conically limited in the positioning seat 121; the steel balls 123 are a plurality of and are uniformly distributed on the conical inclined surfaces of the conical positioning pins 122 around the axis; the circumference of the positioning seat 121 is provided with a through limiting hole 126 at the position of the steel ball 123, and the aperture of the limiting hole 126 is smaller than the diameter of the steel ball 123, so that the steel ball 123 is prevented from falling out; the inner wall of the fixture head 120 is provided with a V-shaped ring groove 125, and the steel ball 123 is pushed by the conical locating pin 122 to protrude outwards towards the limit hole 126 and is clamped with the V-shaped ring groove 125; when the die is replaced, the conical locating pin 122 is pressed downwards to move downwards, the extrusion spring 124 is in a compressed state, and the conical outer wall inclined surface at the lower part of the conical locating pin 122 releases the limit of the steel ball 123; then, upward force is applied to the clamp head 120, the steel ball 123 moves inwards under the action of the V-shaped ring groove 125, the restriction on the clamp head 120 is relieved, and the clamp head 120 is easily removed; at this time, only the replacement fixture head with the required specification is required to be aligned and pressed downwards, then the conical locating pin 122 is loosened, under the action of the spring 124, the conical locating pin 122 moves upwards, and then the steel ball 123 is extruded to move outwards to protrude to clamp the V-shaped ring groove 125, so that the fixture head 120 is limited and clamped, the fixture head replacement is completed, and the replacement operation is very convenient and quick; the cup to be processed is inverted on the fixture head 120 and is transported to a corresponding station along with the production line for processing.
The clamping jaw assembly 4 is arranged on a cup body alignment station of the cup body conveying mechanism 1, and the clamping jaw assembly 4 is arranged above the cup body conveying mechanism 1 in a crossing manner through the mounting frame 40; the clamping jaw assembly 4 is provided with two clamping jaws 41, the clamping jaws 41 can move up and down to grasp and rotate, and each clamping jaw 41 corresponds to the cup body 100 to be processed on the lower clamp assembly 12; the clamping jaw 41 can also be a mechanical arm; the side surface of each clamping jaw 41 is provided with a corresponding photographing cup visual camera 5, the cup visual cameras 5 are arranged on the mounting frame 40 and face the graph or LOGO of the cup, namely, the clamping jaw assembly 4 is provided with two clamping jaws 41 and two cup visual cameras 5 which act at the same time, and each cup visual camera 5 is respectively arranged at the corresponding clamping jaw 41; after the clamping jaw 41 clamps the cup body 100 to be processed, the cup body vision camera 5 shoots and collects the cup body 100, the collected image information is sent to the industrial personal computer, the industrial personal computer sends instruction information through comparison analysis, the clamping jaw 41 rotates to align the cup body according to the received instruction information and then returns to the clamp assembly 12, at the moment, the graph or LOGO opposite direction of the cup body is perpendicular to the assembly line, and the cup body is continuously transported to the next station, namely the assembly station.
The steel bottom conveying mechanism 2 is arranged beside the cup conveying mechanism 1, and the tail end of the steel bottom conveying mechanism 2 is positioned on the side surface of the assembly station in the cup conveying mechanism 1; referring to fig. 4, the steel bottom conveying mechanism 2 adopts a belt 21 (conveyor belt) assembly line driven by a stepping motor 20, and the stepping motor 20 can adopt 57 series two-phase high-performance hybrid closed loop stepping motors; the initial end of the steel bottom conveying mechanism 2 is provided with a guide inclined plane 23, and the guide inclined plane 23 is an inclined plane gradually decreasing towards the middle part of the steel bottom conveying mechanism 2, so that the steel bottom 200 can slide onto the belt 21 of the steel bottom conveying mechanism 2 by being guided by the inclined plane; the two sides of the steel bottom conveying mechanism 2 are also provided with flanges 22, the flanges 22 are used for limiting the steel bottom 200 to the left and the right, and the distance between the flanges 22 is matched with the size of the steel bottom 200; the tail end of the steel bottom conveying mechanism 2 is provided with a baffle 24, and the contact position of the steel bottom 200 and the baffle 24 is provided with a V-shaped limit groove 29 for limiting and positioning the steel bottom 200; a laser sensor 25 is also arranged on the flange 22 at the tail end of the steel bottom conveying mechanism 2; the laser sensor 25 is in circuit connection with the industrial personal computer, the industrial personal computer receives signals to control the starting and stopping of the stepping motor 20, namely, the steel bottom 200 flows along with the belt 21 to be in contact with the baffle 24, the laser sensor 25 senses that the steel bottom 200 is in place, signals are transmitted to the industrial personal computer, and the industrial personal computer controls the stepping motor 20 of the steel bottom conveying mechanism 2 to stop, so that the assembly line is suspended; the tail end of the steel bottom conveying mechanism 2 is also extended to form a fixing seat 26, and an accommodating groove 27 with an upward opening is formed in the fixing seat 26; the steel bottom vision camera 6 is embedded in the center of the accommodating groove 27; the tail end of the fixed seat 26 is also provided with a corner plate 28, and the other end of the corner plate 28 is fixed with the cup conveying mechanism 1.
The spider manipulator 3 is positioned above the junction of the tail end of the steel bottom conveying mechanism 2 and the cup conveying mechanism 1, namely above the assembly station in the cup conveying mechanism 1; the clamping part of the spider manipulator 3 is a vacuum chuck 30; the vacuum chuck 30 of the spider manipulator 3 sucks up the steel bottom 200, moves to the upper side of the steel bottom vision camera 6, shoots and collects the graph or LOGO information of the steel bottom 200, then sends the graph or LOGO information to the industrial personal computer, the industrial personal computer analyzes the direction and angle required to rotate and transmits the analysis result to the spider manipulator 3, the spider manipulator 3 adjusts and aligns the steel bottom 200 according to the received information rotation, then the steel bottom 200 is assembled on the aligned cup body, as the steel bottom 200 is of a single-layer structure, the graph or LOGO punched on the steel bottom is marked on the front and the back of the steel bottom, the spider manipulator 3 sucks up the outer surface of the steel bottom 200, and the steel bottom vision camera 6 scans the inner surface of the steel bottom 200; after the steel bottom 200 is aligned and assembled on the aligned cup body by the spider manipulator 3, the steel bottom continues to flow to the next station, namely a bottom pressing station along with the cup body conveying mechanism 1.
The pressing mechanism 7 is arranged on the cup conveying mechanism 1 and is positioned at a bottom pressing working position; the pressing mechanism 7 comprises a fixing frame 72, two air cylinders 71 and two pressure heads 70; the pressure heads 70 are respectively fixed at the telescopic ends of the air cylinders 71, the two air cylinders 71 which simultaneously act are fixed on the fixed frame 72 at intervals, and the fixed frame 72 is fixed on the frame 10 of the cup conveying mechanism 1 in a straddling manner; the cylinder 71 controls the ram 70 to vertically push down and up; the bottom surface of the pressure head 70 is flat, and the diameter of the pressure head 70 is larger than that of the steel bottom 200; the pressure heads 70 respectively correspond to the bottom cup bodies to be pressed below the pressure heads; the fixing frame 72 may further be provided with a steel bottom detection sensor at a position corresponding to the cup body to be pressed, the assembled cup body to be pressed enters the pressing mechanism 7, and after the steel bottom detection sensor detects the cup body to be pressed, the pressing head 70 is started to enable the steel bottom 200 to be mounted on the cup body under the action of pressure, and the pressing process is completed by pressing the steel bottom in place.
The automatic labeling mechanism 8 is arranged at a labeling station of the cup conveying mechanism 1, namely between the pressing mechanism 7 and the transferring mechanism 9; the automatic labeling mechanism 8 is in the prior art, this embodiment uses a pull-back labeling machine as an example, and when the cup body flow at the bottom of the pressing cylinder is completed to the labeling station, the automatic labeling mechanism 8 automatically completes the labeling work at the designated position, and automatically pastes product information labels or two-dimensional code labels on the cup body.
The transfer mechanism 9 is arranged at the tail end of the cup conveying mechanism 1 and is positioned at a transfer station; the transfer mechanism 9 comprises a transfer frame 91, a PPU manipulator 92 and a next process production line 90, and the clamping part of the PPU manipulator 92 is a vacuum chuck; the next process production line 90 is arranged at the tail end of the cup conveying mechanism 1, and the next process production line 90 is perpendicular to the cup conveying mechanism 1; the transfer frame 91 is fixed at the tail end of the cup conveying mechanism 1, the PPU manipulator 92 is arranged on the transfer frame 91, and the PPU manipulator 92 can rotate (used for transferring the direction before transferring), can move up and down (used for taking and placing the cup) and can also move horizontally; the number of the PPU manipulators 92 is two, the two PPU manipulators 92 are arranged on the transfer frame 91 in a double-station manner, a vacuum chuck is arranged below the PPU manipulators 92, the vacuum chuck is used for adsorbing the steel bottom to grasp the cup body corresponding to the lower part, namely the PPU manipulators 92 move downwards to suck the cup body with the assembled bottom pressing, and the cup body is transferred to the next process production line 90 after rotating by a designated angle.
The processing method of the automatic water cup alignment bottom pressing production line comprises the following steps:
s1, placing a cup body 100 to be processed on a clamp assembly 12 of a cup body conveying mechanism 1, wherein the opening of the cup body 100 faces downwards, and a cup body logo faces to the cup body vision camera 5 side;
s2, placing the steel bottom 200 with the opening facing downwards on a belt 21 of a steel bottom conveying mechanism 2;
s3, the cup body 100 to be processed is stepped to the lower part of the clamping jaw 41 along with the double working of the cup body conveying mechanism 1, the two groups of clamping jaw 41 simultaneously pick up the cup body, the two cup body vision cameras 5 simultaneously work to photograph logo on the cup body and transmit the logo to the industrial personal computer, the industrial personal computer compares and analyzes photographing results to the direction and angle of rotation of the cup body, and transmits instructions to the clamping jaw 41 according to analysis results, the clamping jaw 41 rotates to drive the cup body to rotate and align, and then the cup body is placed back on the clamp assembly 12, and at the moment, the logo facing direction of the cup body is perpendicular to the cup body conveying mechanism 1;
s4, conveying the steel bottom 200 to the tail end of the steel bottom conveying mechanism 2, enabling the steel bottom 200 to be in contact with a baffle 24, enabling a laser sensor 25 to sense that the steel bottom 200 is in place, transmitting signals to an industrial personal computer, enabling a stepping motor 20 of the steel bottom conveying mechanism 2 to stop to enable a production line to be suspended, enabling a vacuum chuck 30 of a spider manipulator 3 to suck the steel bottom 200, enabling the laser sensor 25 to control the steel bottom conveying mechanism 2 to be started, enabling the spider manipulator 3 to move above a steel bottom vision camera 6, enabling the steel bottom vision camera 6 to photograph logo steel marks on the inner side of the steel bottom 200 and transmit the logo steel marks to the industrial personal computer, enabling the industrial personal computer to analyze the direction and the angle required to rotate, transmitting the result to the spider manipulator 3 to rotate so as to enable the steel bottom to be aligned, and then enabling the steel bottom 200 to be placed on a cup body after alignment, and enabling a logo of the steel bottom to be parallel at the moment;
s5, conveying the aligned cup body and steel bottom to a pressing mechanism 7 along with the cup body conveying mechanism 1, starting two cylinders 71 simultaneously after a sensor of the pressing mechanism detects the cup body with the bottom to be pressed, installing the steel bottom on the cup body under the pressure of a pressure head 70, pressing the steel bottom in place, and finishing pressing the steel bottom;
s6, conveying the assembled cup bodies to an automatic labeling mechanism 8 for labeling, wherein the automatic labeling mechanism 8 is also arranged into two groups, and labeling is carried out at the same time in double positions;
and S7, continuously conveying the assembled cup bodies to a transfer mechanism 9, simultaneously downwards moving the vacuum chucks of the two PPU mechanical arms 92 to suck the cup bodies, rotating the processed cup bodies by a designated angle, and transferring the cup bodies to a next process production line 90 for next processing.
Example 2: referring to fig. 6, on the basis of embodiment 1, empty cup detecting sensors 300 are provided on the cup conveying mechanism 1 at positions corresponding to the jig assembly 12; the empty cup detection sensor 300 is connected with an industrial computer, and when the empty cup detection sensor 300 detects an empty cup state, an alarm is triggered or the cup conveying mechanism 1 is suspended.
In the description of the present technical solution, it should be noted that the terms such as "upper", "inner", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, and are merely for convenience of describing the present technical solution and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present technical solution.
Meanwhile, in the description of the present technical solution, it should be noted that, unless explicitly specified and limited otherwise, the terms "fixed", "fitting", and "fitting" should be construed broadly, and may be, for example, a fixed connection, a removable connection, or an integral connection; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present technical solution can be understood by those skilled in the art according to specific circumstances.
Although embodiments of the present technology have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the technology, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A processing method of an automatic water cup aligning and bottom pressing production line is characterized by comprising the following steps of: the automatic cup alignment and bottom pressing production line comprises a cup body conveying mechanism (1), a steel bottom conveying mechanism (2), a clamping jaw assembly (4), a pressing mechanism (7), a spider manipulator (3), a cup body vision camera (5), a steel bottom vision camera (6) and a transfer mechanism (9), which are connected with an industrial computer; the cup conveying mechanism (1) is a plate chain type assembly line, the clamping jaw assembly (4), the pushing mechanism (7) and the transferring mechanism (9) are arranged on the cup conveying mechanism (1) at intervals, and the transferring mechanism (9) is positioned at the tail end of the cup conveying mechanism (1); the cup conveying mechanism (1) comprises a servo motor (13), two chains (14) driven by the servo motor (13), a plurality of bottom plates (11) fixed on the chains (14), and a clamp assembly (12) arranged on the bottom plates (11); the cup visual camera (5) is arranged on the mounting frame (40) of the clamping jaw assembly (4), acquires cup image information clamped by the clamping jaw (41), transmits the cup image information to the industrial personal computer, and controls the clamping jaw (41) to rotate and adjust and then put back; the steel bottom conveying mechanism (2) is arranged at a station between the clamping jaw assembly (4) and the pushing mechanism (7) beside the cup conveying mechanism (1), the spider manipulator (3) is arranged above the station, the steel bottom vision camera (6) is arranged below the spider manipulator (3), steel bottom image information clamped by the spider manipulator (3) is collected and transmitted to the industrial personal computer, and the industrial personal computer controls the spider manipulator (3) to rotate and adjust and then is assembled on the cup; the diameter of a pressure head (70) of the pressing mechanism (7) is larger than the diameter of the steel bottom; the transfer mechanism (9) is a PPU manipulator, and the clamping part of the PPU manipulator is a vacuum chuck; the clamping part of the spider manipulator (3) is a vacuum chuck; comprises the steps of,
s1, enabling a cup opening to face downwards, enabling a cup logo to face to the cup vision camera (5) side, and placing the cup logo on a clamp assembly (12) of a cup conveying mechanism (1);
s2, arranging the steel bottom opening downwards and reversely on the steel bottom conveying mechanism (2);
s3, the cup body is stepped to a clamping jaw assembly (4) along with the cup body conveying mechanism (1), the clamping jaw (41) picks up the cup body, a cup body vision camera (5) is used for photographing a logo on the cup body and transmitting the logo to an industrial personal computer, the industrial personal computer compares and analyzes photographing results to the direction and the angle of rotation of the cup body, the clamping jaw (41) rotates and drives the cup body to rotate and align according to the analysis results, and then the cup body is placed back on a clamp assembly (12), and at the moment, the logo right facing direction of the cup body is perpendicular to the cup body conveying mechanism (1);
s4, conveying the steel bottom to the tail end of a steel bottom conveying mechanism (2), sucking the steel bottom by a vacuum chuck (30) of a spider manipulator (3), moving the steel bottom to the position above a steel bottom visual camera (6), photographing a logo steel seal on the inner side of the steel bottom by the steel bottom visual camera (6), transmitting the logo steel seal to an industrial personal computer, analyzing the direction and the angle required to rotate by the industrial personal computer, transmitting the result to the spider manipulator (3) to rotate so as to align the steel bottom, and then placing the steel bottom on an aligned cup body, wherein the logo of the steel bottom is parallel to the logo of the cup body;
s5, conveying the aligned cup body and steel bottom to a pushing mechanism (7), starting a cylinder (71), mounting the steel bottom on the cup body under the pressure of a pressure head (70), and pushing down the steel bottom in place to finish assembly;
s6, continuously conveying the assembled cup bodies to a transfer mechanism (9), downwards moving a vacuum chuck of the PPU manipulator to suck the cup bodies, rotating the processed cup bodies by a designated angle, and transferring the cup bodies to other production lines for next processing.
2. The processing method of the automatic water cup aligning and bottom pressing production line according to claim 1, which is characterized in that: empty cup detection sensors (300) are arranged on the cup conveying mechanism (1) at positions corresponding to the clamp assemblies (12); the clamp assembly (12) comprises a clamp head (120), a positioning seat (121), a spring (124), a steel ball (123) and a conical positioning pin (122); the positioning seat (121) is of a hollow structure, and the bottom of the positioning seat (121) is fixed on the bottom plate (11); the conical locating pin (122) is movably arranged in the locating seat (121), the spring (124) is arranged below the conical locating pin (122), the upper end of the conical locating pin (122) penetrates out of the top end of the locating seat (121), and the lower end of the conical locating pin is limited in the locating seat (121); the steel balls (123) are a plurality of and are uniformly distributed on the conical inclined surfaces of the conical positioning pins (122) around the axis; limiting holes (126) are formed in the positions of the steel balls (123) on the circumference of the positioning seat (121), and the aperture of each limiting hole (126) is smaller than the diameter of each steel ball (123); the inner wall of the fixture head (120) is provided with a V-shaped annular groove (125), and the steel ball (123) is pushed by the conical locating pin (122) to protrude downwards to the outside of the limiting hole (126) and is clamped with the V-shaped annular groove (125).
3. The processing method of the automatic water cup aligning and bottom pressing production line according to claim 1, which is characterized in that: the steel bottom conveying mechanism (2) comprises a stepping motor (20) and a conveying belt driven by the stepping motor (20); the initial end of the steel bottom conveying mechanism (2) is provided with a guide inclined plane (23); the tail end of the steel bottom conveying mechanism (2) is provided with a baffle plate (24), and a V-shaped limit groove (29) is formed in the contact position of the steel bottom and the baffle plate (24); and flanges (22) are arranged on two sides of the steel bottom conveying mechanism (2), and laser sensors (25) for controlling the steel bottom conveying mechanism (2) to pause are arranged at the tail ends of the flanges (22).
4. The processing method of the automatic water cup aligning and bottom pressing production line according to claim 1, which is characterized in that: the steel bottom conveying mechanism (2) tail end is provided with a fixing seat (26), the steel bottom visual camera (6) is installed on the fixing seat (26) lower than the steel bottom conveying mechanism (2) tail end, and the steel bottom visual camera (6) is embedded in the fixing seat (26).
5. The processing method of the automatic water cup aligning and bottom pressing production line according to claim 1, which is characterized in that: in the step S3, the clamping jaw assembly (4) is provided with two groups of clamping jaws (41) and a cup vision camera (5), and double-station arrangement is performed simultaneously; in the step S5, the pressing mechanism (7) is provided with two air cylinders (71), and double-station arrangement presses down simultaneously; the cup conveying mechanism (1) operates in a double-station stepping mode.
6. The processing method of the automatic water cup aligning and bottom pressing production line according to claim 1, which is characterized in that: an automatic labeling mechanism (8) is arranged on the cup conveying mechanism (1) and between the pushing mechanism (7) and the transferring mechanism (9); and (5) conveying the assembled cup body to an automatic labeling mechanism (8) for labeling.
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| CN115255889A (en) | 2022-11-01 |
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