CN115744091A - Automatic feeding equipment and control method thereof - Google Patents
Automatic feeding equipment and control method thereof Download PDFInfo
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- CN115744091A CN115744091A CN202211633816.9A CN202211633816A CN115744091A CN 115744091 A CN115744091 A CN 115744091A CN 202211633816 A CN202211633816 A CN 202211633816A CN 115744091 A CN115744091 A CN 115744091A
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Abstract
The invention discloses automatic feeding equipment and discloses a control method of the automatic feeding equipment, wherein the automatic feeding equipment comprises a vibrating disc device, a visual detection device, a material storage device, a material taking device and a control device, the vibrating disc device comprises a charging disc, a light source component, a first vibrating component, a first sliding motion mechanism and a second sliding motion mechanism, the first vibrating component is used for driving the charging disc to vibrate, the first sliding motion mechanism is used for driving the charging disc to slide along a first direction, the second sliding motion mechanism is used for driving the charging disc to slide along a second direction, the first direction is vertical to the second direction, the light source component is vertical to the vertical direction, the charging disc is arranged to be a transparent component and is positioned below the charging disc, the visual detection device is used for detecting light rays of the light source component, and the visual detection device is also used for detecting the position of a material in the charging disc.
Description
Technical Field
The invention relates to the technical field of vibration feeding equipment, in particular to automatic feeding equipment and a control method thereof.
Background
Many processing factories need higher work piece to some outward appearance at present, and some dysmorphism, frivolous material, because the higher work piece of outward appearance requirement needs its outward appearance of protection, and some dysmorphism, frivolous material piles up easily, difficult separately, consequently to these materials, many processing factories all adopt artifical one by one regular placing on the material tray at present, place processing equipment together with the material on the material tray again, but like this not only influences machining efficiency, and make the material loading with high costs because the cost of labor is high, and then also can increase holistic processing cost. Among the correlation technique, through manipulator centre gripping material usually, nevertheless because the material is comparatively frivolous, pile together easily, shelter from light, lead to visual detection bad, obstruct the position that visual detection device detected the material, usually vibrate through the vibration dish at present, make the material disperse, but the vibration range of the central point department of putting of current vibration dish is more weak, and is not good enough to the dispersion effect of material.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the automatic feeding equipment provided by the invention can enhance the material dispersing effect and is convenient for the visual detection device to identify the position of the material.
The invention also provides a control method of the automatic feeding equipment.
According to the automatic feeding equipment of the embodiment of the first aspect of the invention, the automatic feeding equipment comprises: the vibration disc device comprises a charging disc, a light source assembly, a first vibration assembly, a first sliding motion mechanism and a second sliding motion mechanism, wherein the first vibration assembly is arranged to be a voice coil motor, the voice coil motor is provided with a plurality of voice coil motors, the voice coil motor is used for driving the charging disc to vibrate, the first sliding motion mechanism is used for driving the charging disc to slide along a first direction, the second sliding motion mechanism is used for driving the charging disc to slide along a second direction, the first direction is perpendicular to the second direction, both the first direction and the second direction are perpendicular to the vertical direction, the charging disc is arranged to be a transparent piece, the light source assembly is located below the charging disc, and the light source assembly is used for emitting light upwards to irradiate the charging disc; the visual detection device is used for detecting the light rays of the light source assembly and is also used for detecting the position of the materials in the charging tray; the storage device comprises a second vibration assembly and a storage tray, the storage tray is used for storing materials, the storage tray is positioned above the charging tray, and the second vibration assembly is used for driving the storage tray to vibrate so that the materials in the storage tray fall into the charging tray; the material taking device is used for clamping the materials in the charging tray; and the control device is electrically connected with the visual detection device and is used for controlling the first vibrating assembly, the first sliding motion mechanism and the second sliding motion mechanism to drive the charging tray to move.
According to the automatic feeding equipment of the embodiment of the first aspect of the invention, at least the following beneficial effects are achieved: through setting up first sliding motion mechanism and second sliding motion mechanism, can make the charging tray along first, the second direction removes, make the central point of charging tray put can remove to voice coil motor directly over, voice coil motor's vibration effect is better, vibration amplitude is great, voice coil motor vibrates the displacement volume that can increase the central point department of charging tray, reinforcing dispersion effect, and the luminance of the light through visual detection device discernment light source subassembly, can learn the situation of piling up of the material in the charging tray, make the material dispersion in the charging tray even.
According to some embodiments of the present invention, the first sliding motion mechanism includes a first sliding rail and a first sliding block, the first sliding rail extends along the first direction, the first sliding block is slidably connected with the first sliding rail, the first sliding rail is fixed to a first connecting plate, the first connecting plate is located at the top of the first vibration assembly, the first sliding block is fixedly connected with the bottom of a second connecting plate, the second sliding motion mechanism includes a second sliding rail and a second sliding block, the second sliding rail extends along the second direction, the second sliding block is slidably connected with the second sliding rail, the second sliding rail is fixed at the top of the second connecting plate, and the charging tray is located at the top of the second sliding block.
According to some embodiments of the present invention, the output end of the voice coil motor is provided with a first connection portion, the first connection portion is provided with a first spherical portion, the bottom of the first connection plate is provided with a first groove, and the first spherical portion is in spherical hinge joint with the first groove.
According to some embodiments of the invention, the vibration disc device comprises a base, the voice coil motor is fixed on the top of the base, the base is connected with the first connecting plate through a spring, a first hook portion is arranged on the top of the base, a second hook portion is arranged on the bottom of the first connecting plate, the first hook portion is connected with one end of the spring, and the second hook portion is connected with the other end of the spring.
According to some embodiments of the invention, four voice coil motors are provided, and the four voice coil motors are respectively located at the corners of the charging tray.
According to some embodiments of the invention, the number of the first slide rails is two, the two first slide rails are arranged in parallel, the number of the second slide rails is two, and the two second slide rails are arranged in parallel.
According to some embodiments of the present invention, the output end of the voice coil motor is provided with a second connection portion, the top of the second connection portion is provided with an elastic portion, the elastic portion abuts against the bottom of the first connection plate, the bottom of the first connection plate is provided with a second groove, the second groove is located at a middle position of the charging tray, the vibration tray device comprises a base, the base is provided with a support rod, the top of the support rod is provided with a second spherical portion, and the second spherical portion is in spherical hinge joint with the second groove.
According to some embodiments of the invention, the bottom of the first connecting plate is provided with a third groove, and the elastic part extends into the third groove.
According to a control method of an automatic charging apparatus according to an embodiment of a second aspect of the present invention, the automatic charging apparatus includes: the vibration disc device comprises a charging disc, a light source assembly, a first vibration assembly, a first sliding motion mechanism and a second sliding motion mechanism, wherein the first vibration assembly is arranged to be a voice coil motor, the voice coil motor is provided with a plurality of voice coil motors, the voice coil motor is used for driving the charging disc to vibrate, the first sliding motion mechanism is used for driving the charging disc to slide along a first direction, the second sliding motion mechanism is used for driving the charging disc to slide along a second direction, the first direction is perpendicular to the second direction, both the first direction and the second direction are perpendicular to the vertical direction, the charging disc is arranged to be a transparent piece, the light source assembly is located below the charging disc, and the light source assembly is used for emitting light upwards to irradiate the charging disc; the visual detection device is used for detecting the light rays of the light source assembly and is also used for detecting the position of the material in the charging tray; the storage device comprises a second vibration assembly and a storage tray, the storage tray is used for storing materials, the storage tray is positioned above the charging tray, and the second vibration assembly is used for driving the storage tray to vibrate so that the materials in the storage tray fall into the charging tray; the material taking device is used for clamping the materials in the charging tray; the control device is electrically connected with the visual detection device and is used for controlling the first vibrating assembly, the first sliding motion mechanism and the second sliding motion mechanism to drive the loading tray to move;
the control method comprises the following steps:
the method comprises the following steps: controlling the second vibrating assembly to drive the storage tray to vibrate, so that the materials in the storage tray fall into the charging tray;
step two: controlling the visual detection device to detect light rays of the light source assembly, and determining a first position point of the materials stacked in the charging tray according to the condition that the brightness of the light rays is smaller than a preset value;
step three: controlling the first sliding motion mechanism and the second sliding motion mechanism to drive the loading plate to move so that the first position point moves to be right above the nearest voice coil motor;
step four: controlling the voice coil motor to drive the charging tray to vibrate so as to disperse the materials until the brightness of the light at the first position point is greater than or equal to a preset value;
step five: and controlling the visual detection device to detect the position of the material in the charging tray, and controlling the material taking device to clamp the material.
The control method of the automatic feeding equipment according to the embodiment of the second aspect of the invention has at least the following advantages: through the light and shade degree of detecting the light source subassembly, can pinpoint the position that the material overlaps, the reinforcing reduces the vibration time to the dispersion effect of material, improves production efficiency.
According to some embodiments of the invention, step three comprises: the method comprises the steps of obtaining a plurality of preset second position points of a voice coil motor, determining the second position point closest to a first position point according to the minimum distance from the first position point to the second position point, and controlling a first sliding motion mechanism and a second sliding motion mechanism to enable the first position point to move to the closest second position point.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a schematic structural diagram of a vibrating disk device of an automatic feeding apparatus according to an embodiment of the present invention;
FIG. 2 is an exploded view of a vibrating disk apparatus according to some embodiments of the present invention;
FIG. 3 is a schematic structural diagram of a vibrating disk apparatus according to some embodiments of the present invention;
FIG. 4 is an enlarged view at A shown in FIG. 3;
FIG. 5 is a schematic structural diagram of a vibrating disk apparatus according to some embodiments of the present invention;
FIG. 6 is an enlarged view at B shown in FIG. 5;
FIG. 7 is a top plan view of a charge tray of a vibrating tray apparatus in accordance with certain embodiments of the present invention;
FIG. 8 is a top plan view of a charge tray of a vibrating tray apparatus in accordance with certain embodiments of the present invention;
FIG. 9 is a flow chart of a control method of an automatic loading apparatus of some embodiments of the present invention;
FIG. 10 is a flow chart of a method of controlling an automatic loading apparatus according to some embodiments of the invention;
FIG. 11 is a flow chart of a method of controlling an automatic loading apparatus according to some embodiments of the invention.
Reference numerals:
the vibration disk device 100, the loading disk 110, the first vibration assembly 120, the first sliding motion mechanism 130, the first slide rail 131, the first slider 132, the first connecting plate 133, the second sliding motion mechanism 140, the second slide rail 141, the second slider 142, the second connecting plate 143, the second hook portion 1431, the voice coil motor 150, the first connecting portion 151, the first spherical portion 1511, the second connecting portion 152, the elastic portion 1521, the base 160, the first hook portion 161, the spring 170, the support rod 180, and the second spherical portion 181;
and (6) feeding the material 200.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Along with the development of production machine automation, more and more traditional processing trades gradually adopt automated production equipment to replace manual work, in order to cooperate the demand of automated production equipment, many automated production equipment all can cooperate the material loading dish to carry out automatic feeding, the material loading dish that uses commonly at present all is spiral material loading vibration dish, this kind of traditional vibration dish is through pulse electromagnet for the hopper does the vertical direction vibration, drive the hopper by the inclined spring leaf and do the torsional pendulum vibration around its vertical axis, make the work piece in the hopper receive the vibration and rise along the spiral orbit. Although the traditional vibration disk can realize the feeding of workpieces with low appearance requirements, the traditional vibration disk adopts rigid materials, and the vibration force is also transmitted to the workpieces through the collision of the rigid materials, so that the vibration disk is easy to damage the workpieces irreparably, and the feeding of the workpieces with high appearance requirements cannot be realized.
Many processing factories need higher work piece to some outward appearance at present, and some dysmorphism, frivolous material, because the higher work piece of outward appearance requirement needs its outward appearance of protection, and some dysmorphism, frivolous material piles up easily, difficult separately, consequently to these materials, many processing factories all adopt artifical one by one regular placing on the material tray at present, place processing equipment together with the material on the material tray again, but like this not only influences machining efficiency, and make the material loading with high costs because the cost of labor is high, and then also can increase holistic processing cost. Among the correlation technique, generally through manipulator centre gripping material, nevertheless because the material is comparatively frivolous, pile together easily, shelter from light, lead to visual detection bad, hinder the position that visual detection device detected the material, usually vibrate through the vibration dish at present, make the material disperse, but the vibration range of the central point department of putting of current vibration dish is more weak, and is not good enough to the dispersion effect of material.
Referring to fig. 1, the automatic feeding apparatus according to the embodiment of the present invention includes a vibratory tray device 100, a vision inspection device, a storage device, a material taking device, and a control device. The vibration disk device 100 includes a charging disk 110, a light source assembly, a first vibration assembly 120, a first sliding motion mechanism 130, and a second sliding motion mechanism 140, the first vibration assembly 120 is provided as a voice coil motor 150, the voice coil motor 150 is provided in plurality, specifically, the voice coil motor 150 is provided in four, and the four voice coil motors 150 are respectively located at corners of the charging disk 110. The voice coil motor 150 is used for driving the loading tray 110 to vibrate, and the output end of the voice coil motor 150 can vibrate along the vertical direction. First sliding motion mechanism 130 is used for the drive to fill the dish 110 and slide along the first direction, second sliding motion mechanism 140 is used for the drive to fill the dish 110 and slide along the second direction, first direction is perpendicular with the second direction, first direction and second direction all are perpendicular with vertical direction, first direction and second direction are parallel with the horizontal plane, first direction and second direction can be understood as X and Y direction, fill the dish 110 and set up to transparent, fill the dish 110 and can adopt transparent flexible material, preferably adopt PE, PP, the material of light-permeable such as PVC or PU, the light source subassembly is located the below of filling the dish 110, the bottom of filling the dish 110 can fretwork and form the mounting groove, the light source subassembly is installed in the mounting groove, the light source subassembly is used for upwards emitting light, in order to shine to fill the dish 110. The vision detection device is used for detecting the light of light source subassembly, and the vision detection device still is used for detecting the position of the material in the charging tray 110, and the vision detection device includes the camera, and the camera can shoot the material, and the camera can also detect the luminance of the light of light source subassembly, and the resolution ratio of camera specifically can be set for according to the size of charging tray 110. The storage device comprises a second vibration assembly and a storage tray, the storage tray is used for storing materials, the storage tray is located above the charging tray 110, the second vibration assembly is used for driving the storage tray to vibrate, and specifically, the second vibration assembly is provided with a voice coil motor 150, so that the materials in the storage tray fall into the charging tray 110. The material taking device is used for clamping materials in the charging tray 110, and is specifically a manipulator. The control device is electrically connected with the visual detection device, and the control device is used for controlling the first vibrating assembly 120, the first sliding motion mechanism 130 and the second sliding motion mechanism 140 to drive the charging tray 110 to move.
Through setting up first sliding motion mechanism 130 and second sliding motion mechanism 140, can make charging tray 110 move along first, the second direction, make charging tray 110's central point put can move to voice coil motor 150 directly over, voice coil motor 150's vibration effect is better, vibration amplitude is great, voice coil motor 150 vibrates the displacement volume that can increase charging tray 110's central point department of putting, reinforcing dispersion effect, and the luminance of the light of discernment light source subassembly through visual detection device, can learn the situation of piling up of the material in charging tray 110, make the material dispersion in charging tray 110 even.
Referring to fig. 2, according to some embodiments of the present invention, in particular, the first sliding motion mechanism 130 includes a first sliding rail 131 and a first sliding block 132, the first sliding rail 131 extends along a first direction, the first sliding block 132 is slidably connected to the first sliding rail 131, the first sliding rail 131 is fixed to a first connection plate 133, the first connection plate 133 is located on the top of the first vibration assembly 120, and the first sliding block 132 is fixedly connected to the bottom of the second connection plate 143. The second sliding mechanism 140 includes a second slide rail 141 and a second slide block 142, the second slide rail 141 extends along the second direction, the second slide block 142 is slidably connected to the second slide rail 141, the second slide rail 141 is fixed to the top of the second connecting plate 143, and the bottom of the loading tray 110 is fixedly connected to the top of the second slide block 142.
Referring to fig. 3 and 4, according to some embodiments of the present invention, the output end of the voice coil motor 150 is provided with a first connecting portion 151, the first connecting portion 151 is provided with a first spherical portion 1511, the first spherical portion 1511 is in a spherical structure, the bottom of the first connecting plate 133 is provided with a first groove, and the first spherical portion 1511 is spherically hinged with the first groove, so that the first connecting plate 133 can rotate around the first spherical portion 1511, when there are four voice coil motors 150, there are four corresponding first spherical portions 1511, and the four first spherical portions 1511 are respectively located at four corners of the loading plate 110, when one of the voice coil motors 150 vibrates, the corresponding position of the loading plate 110 will tilt, so that the loading plate 110 tilts, thereby moving the material in the loading plate 110. It should be noted that, based on the above embodiment, the voice coil motor 150 is not disposed right below the central position of the charging tray 110, because the position of the first spherical portion 1511 and the first groove structure can make the charging tray 110 be completely limited and unable to operate.
Referring to fig. 1 and 2, according to some embodiments of the present invention, the vibration plate device 100 includes a base 160, a voice coil motor 150 fixed to a top of the base 160, the base 160 connected to a first connection plate 133 through a spring 170, the top of the base 160 provided with a first hook portion 161, a bottom of the first connection plate 133 provided with a second hook portion 1431, the first hook portion 161 connected to one end of the spring 170, and the second hook portion 1431 connected to the other end of the spring 170. The spring 170 can eliminate the residual vibration of the voice coil motor 150, so that the charging tray 110 is quickly restored to a static state, and the spring 170 is convenient to assemble and disassemble.
It will be appreciated that there are four springs 170, with the four springs 170 being located at four linear positions on the charging tray 110.
Referring to fig. 5 and 6, according to some embodiments of the present invention, the output end of the voice coil motor 150 is provided with a second connection portion 152, the top of the second connection portion 152 is provided with an elastic portion 1521, the elastic portion 1521 may be made of rubber or silica gel, and has a certain elastic force to play a role in buffering and also eliminate noise, the elastic portion 1521 may be in a cylindrical structure, and the elastic portion 1521 abuts against the bottom of the first connection plate 133 to transmit vibration. The bottom of first connecting plate 133 is equipped with the second recess, when charging tray 110 is located initial position, the second recess is located charging tray 110's middle part position, vibration dish device 100 includes base 160, base 160 is equipped with bracing piece 180, the top of bracing piece 180 is equipped with second spherical portion 181, second spherical portion 181 is the spheroid structure, second spherical portion 181 is ball-hinged with the second recess, make charging tray 110 can rotate around second spherical portion 181, when voice coil motor 150 vibrates, the position that charging tray 110 corresponds can the perk, make the dispersion effect of the material of the interior corner department of charging tray 110 better. It will be appreciated that the second spherical portion 181 and the second groove cooperate to provide a certain limit. In cooperation with the spring 170 of the above-described embodiment, the first connection plate 133 is not easily separated from the support bar 180.
It should be noted that, the voice coil motor 150 performs the vertical vibration motion, the flexibility of the first sliding motion mechanism 130 and the second sliding motion mechanism 140 is weaker, and the second spherical portion 181 and the second groove are arranged, so that even if the first sliding motion mechanism 130 and the second sliding motion mechanism 140 are added, the voice coil motor 150 can have a better vibration effect on the charging tray 110, and the inclination of the charging tray 110 can enhance the dispersion effect of the materials. The tilt of the charging tray 110 is limited simply by virtue of the flexibility of the charging tray 110, and the charging tray 110 is also susceptible to breakage. This embodiment is through second spherical portion 181 and the cooperation of second recess, and the slope range of charging tray 110 is great to make the position of charging tray 110 can move, the vibration effect is better, and is more nimble.
According to some embodiments of the present invention, a third groove is formed at the bottom of the first connecting plate 133, the elastic portion 1521 extends into the third groove, and the elastic portion 1521 and the third groove cooperate to perform a certain limiting function.
Referring to fig. 9 to 11, a control method of the automatic feeding apparatus according to the above embodiment includes the following steps:
step S101: the second vibrating assembly is controlled to drive the storage tray to vibrate, so that the materials in the storage tray fall into the charging tray 110.
It should be noted that the material storage tray is located above the charging tray 110, the material storage tray has an opening, and when the material storage tray is vibrated, the material in the material storage tray will fall into the charging tray 110 through the opening.
Step S102: and controlling the visual detection device to detect the light of the light source assembly, and determining a first position point of the stacked materials in the charging tray 110 according to the fact that the brightness of the light is smaller than a preset value.
It should be noted that, referring to fig. 7, the material 200 of the present embodiment is a transparent member, but when the material 200 is stacked too much, the brightness of the transmitted light is reduced. When the materials 200 are stacked together, the brightness of the light at the overlapped position is lower, for example, the position of point C in fig. 7, and by using this characteristic, the stacked position of the materials 200 is obtained, a preset value is set first, and when the brightness of the light is lower than the preset value, it can be determined that the materials 200 are in the stacked state, and the position is recorded as the first position point.
Step S103: the first sliding motion mechanism 130 and the second sliding motion mechanism 140 are controlled to drive the loading tray 110 to move, so that the first position point moves to be right above the nearest voice coil motor 150.
Specifically, a planar coordinate system may be established when the loading tray 110 is at the initial position, for example, the X axis of the planar coordinate system is parallel to the first direction, the Y axis of the planar coordinate system is parallel to the second direction, the first position point obtained in step S101 is recorded, the position point of the voice coil motor 150 is the preset position point because the position of the voice coil motor 150 is fixed, then the first sliding motion mechanism 130 and the second sliding motion mechanism 140 are controlled to drive the loading tray 110 to move, and the position of the first position point is recorded in real time, and when the first position point moves to the position point of the voice coil motor 150, the next step is proceeded.
Step S104: and controlling the voice coil motor 150 to drive the charging tray 110 to vibrate so as to disperse the materials until the brightness of the light at the first position point is greater than or equal to a preset value.
It should be noted that, when the voice coil motor 150 vibrates, the visual detection device monitors the brightness of the light at the first position in real time until the voice coil motor 150 stops vibrating when the materials 200 are no longer overlapped, as shown in fig. 8, for example, and then the next step is performed.
Step S105: and controlling the visual detection device to detect the position of the material in the charging tray 110, and controlling the material taking device to take the material.
It should be noted that the vision detection device takes a picture of the material and transmits the picture information to the material taking device, the material taking device can automatically take the material according to the picture information, and the material is not stacked, so that the material taking device can conveniently identify the picture information of the material, the material taking device clamping accuracy is improved, and the material taking device can conveniently clamp the material.
Through the light and shade degree of detecting the light source subassembly, can pinpoint the position that the material overlaps, the reinforcing reduces the vibration time to the dispersion effect of material, improves production efficiency.
Referring to fig. 10, in some embodiments, step S201 includes the steps of:
step S202: acquiring a plurality of preset second position points of the voice coil motor 150, determining a second position point closest to the first position point according to the minimum distance from the first position point to the second position point, and controlling the first sliding motion mechanism 130 and the second sliding motion mechanism 140 to move the first position point to the closest second position point.
It should be noted that, because the position of the voice coil motor 150 is fixed, the position point of the voice coil motor 150 may be preset first and recorded as the second position point, as shown in fig. 7, the point D is the second position point, because the voice coil motor 150 is provided with a plurality of points, the second position point also has a plurality of points, the distance value from the first position point to each second position point may be calculated, and then the minimum distance value is obtained through comparison, so as to determine the voice coil motor 150 closest to the first position point, thereby reducing the movement strokes of the first sliding movement mechanism 130 and the second sliding movement mechanism 140, increasing the movement speed, and improving the production efficiency.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as up, down, front, rear, inner, outer, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if there are first and second descriptions, they are only used for distinguishing technical features, but not interpreted as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of indicated technical features.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
The embodiments of the present invention are described in detail above with reference to the accompanying drawings, and finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. Automatic feeding equipment, its characterized in that includes:
the vibration disc device comprises a charging disc, a light source assembly, a first vibration assembly, a first sliding motion mechanism and a second sliding motion mechanism, wherein the first vibration assembly is arranged to be a voice coil motor, the voice coil motor is provided with a plurality of voice coil motors, the voice coil motor is used for driving the charging disc to vibrate, the first sliding motion mechanism is used for driving the charging disc to slide along a first direction, the second sliding motion mechanism is used for driving the charging disc to slide along a second direction, the first direction is perpendicular to the second direction, both the first direction and the second direction are perpendicular to the vertical direction, the charging disc is arranged to be a transparent piece, the light source assembly is located below the charging disc, and the light source assembly is used for emitting light upwards to irradiate the charging disc;
the visual detection device is used for detecting the light rays of the light source assembly and is also used for detecting the position of the materials in the charging tray;
the storage device comprises a second vibration assembly and a storage tray, the storage tray is used for storing materials, the storage tray is positioned above the charging tray, and the second vibration assembly is used for driving the storage tray to vibrate so that the materials in the storage tray fall into the charging tray;
the material taking device is used for clamping the materials in the charging tray;
and the control device is electrically connected with the visual detection device and is used for controlling the first vibration assembly, the first sliding motion mechanism and the second sliding motion mechanism to drive the charging tray to move.
2. The automatic feeding device according to claim 1, wherein the first sliding motion mechanism comprises a first sliding rail and a first sliding block, the first sliding rail extends along the first direction, the first sliding block is slidably connected with the first sliding rail, the first sliding rail is fixed to a first connecting plate, the first connecting plate is located at the top of the first vibrating assembly, the first sliding block is fixedly connected with the bottom of a second connecting plate, the second sliding motion mechanism comprises a second sliding rail and a second sliding block, the second sliding rail extends along the second direction, the second sliding block is slidably connected with the second sliding rail, the second sliding rail is fixed to the top of the second connecting plate, and the charging tray is located at the top of the second sliding block.
3. The automatic feeding equipment of claim 2, wherein the output end of the voice coil motor is provided with a first connecting portion, the first connecting portion is provided with a first spherical portion, the bottom of the first connecting plate is provided with a first groove, and the first spherical portion is in spherical hinge joint with the first groove.
4. The automatic feeding device according to claim 2, wherein the vibrating disk device comprises a base, the voice coil motor is fixed to the top of the base, the base is connected with the first connecting plate through a spring, a first hook portion is arranged on the top of the base, a second hook portion is arranged on the bottom of the first connecting plate, the first hook portion is connected with one end of the spring, and the second hook portion is connected with the other end of the spring.
5. The automatic feeding device according to claim 1, wherein four voice coil motors are provided, and the four voice coil motors are respectively located at corners of the charging tray.
6. The automatic feeding equipment of claim 2, wherein the first slide rail is provided with two, the two first slide rails are arranged in parallel, the second slide rail is provided with two, and the two second slide rails are arranged in parallel.
7. The automatic feeding device according to claim 2, wherein the output end of the voice coil motor is provided with a second connecting portion, the top of the second connecting portion is provided with an elastic portion, the elastic portion abuts against the bottom of the first connecting portion, the bottom of the first connecting portion is provided with a second groove, the second groove is located at a middle position of the loading tray, the vibrating tray device comprises a base, the base is provided with a supporting rod, the top of the supporting rod is provided with a second spherical portion, and the second spherical portion is in spherical hinge joint with the second groove.
8. The automatic feeding device according to claim 7, wherein the bottom of the first connecting plate is provided with a third groove, and the elastic part extends into the third groove.
9. The control method of the automatic feeding equipment is characterized in that the automatic feeding equipment comprises the following steps:
the vibrating plate device comprises a charging plate, a light source assembly, a first vibrating assembly, a first sliding motion mechanism and a second sliding motion mechanism, wherein the first vibrating assembly is arranged to be a voice coil motor, the voice coil motors are arranged in multiple numbers, the voice coil motor is used for driving the charging plate to vibrate, the first sliding motion mechanism is used for driving the charging plate to slide along a first direction, the second sliding motion mechanism is used for driving the charging plate to slide along a second direction, the first direction is perpendicular to the second direction, the first direction and the second direction are both perpendicular to the vertical direction, the charging plate is arranged to be a transparent piece, the light source assembly is located below the charging plate, and the light source assembly is used for emitting light upwards to irradiate the charging plate;
the visual detection device is used for detecting the light rays of the light source assembly and is also used for detecting the position of the materials in the charging tray;
the storage device comprises a second vibration assembly and a storage tray, the storage tray is used for storing materials, the storage tray is positioned above the charging tray, and the second vibration assembly is used for driving the storage tray to vibrate so that the materials in the storage tray fall into the charging tray;
the material taking device is used for clamping the materials in the charging tray;
the control device is electrically connected with the visual detection device and is used for controlling the first vibrating assembly, the first sliding motion mechanism and the second sliding motion mechanism to drive the loading tray to move;
the control method comprises the following steps:
the method comprises the following steps: controlling the second vibrating assembly to drive the storage tray to vibrate, so that the materials in the storage tray fall into the charging tray;
step two: controlling the visual detection device to detect light rays of the light source assembly, and determining a first position point of the materials stacked in the charging tray according to the condition that the brightness of the light rays is smaller than a preset value;
step three: controlling the first sliding motion mechanism and the second sliding motion mechanism to drive the loading tray to move so that the first position point moves to be right above the nearest voice coil motor;
step four: controlling the voice coil motor to drive the charging tray to vibrate so as to disperse the materials until the brightness of the light at the first position point is greater than or equal to a preset value;
step five: and controlling the visual detection device to detect the position of the material in the charging tray, and controlling the material taking device to clamp the material.
10. The control method of an automatic loading apparatus according to claim 9, wherein the third step includes: the method comprises the steps of obtaining a plurality of preset second position points of a voice coil motor, determining the second position point closest to a first position point according to the minimum distance from the first position point to the second position point, and controlling a first sliding motion mechanism and a second sliding motion mechanism to enable the first position point to move to the closest second position point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211633816.9A CN115744091A (en) | 2022-12-19 | 2022-12-19 | Automatic feeding equipment and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211633816.9A CN115744091A (en) | 2022-12-19 | 2022-12-19 | Automatic feeding equipment and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115744091A true CN115744091A (en) | 2023-03-07 |
Family
ID=85347027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211633816.9A Withdrawn CN115744091A (en) | 2022-12-19 | 2022-12-19 | Automatic feeding equipment and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115744091A (en) |
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2022
- 2022-12-19 CN CN202211633816.9A patent/CN115744091A/en not_active Withdrawn
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