CN116532391A - Detection device and method for full-automatically detecting elastic force of elastic sheet - Google Patents
Detection device and method for full-automatically detecting elastic force of elastic sheet Download PDFInfo
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- CN116532391A CN116532391A CN202310809480.5A CN202310809480A CN116532391A CN 116532391 A CN116532391 A CN 116532391A CN 202310809480 A CN202310809480 A CN 202310809480A CN 116532391 A CN116532391 A CN 116532391A
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- elastic
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- 238000001514 detection method Methods 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 124
- 230000007306 turnover Effects 0.000 claims abstract description 44
- 238000007599 discharging Methods 0.000 claims abstract description 7
- 239000002699 waste material Substances 0.000 claims description 13
- 230000002950 deficient Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 3
- 239000012634 fragment Substances 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0041—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress
- G01M5/005—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining deflection or stress by means of external apparatus, e.g. test benches or portable test systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention discloses a detection device and a detection method for detecting elastic force of an elastic piece fully automatically, and relates to the technical field of elastic force detection of elastic pieces, comprising a workbench, wherein a turnover mechanism for turnover of the elastic piece is arranged on the table top of the workbench, and a feeding mechanism, an elastic force detection mechanism and a discharging mechanism are sequentially arranged on the table top of the workbench around the circumferential direction of the turnover mechanism; the turnover mechanism comprises a stepping motor and a hollow rotary table, the stepping motor is fixedly arranged on the top surface of the workbench, and the hollow rotary table comprises a rotary table and a fixed plate; the feeding mechanism comprises a vertical plate and a linear vibrator, wherein the vertical plate and the linear vibrator are fixedly arranged on the table surface of the workbench, the linear vibrator is positioned on the right side of the vertical plate, and a guide rail is fixedly arranged on the top surface of the vibrating end of the linear vibrator; the elastic force detection mechanism comprises a feeding cylinder and an elastic force detector which are fixedly arranged on the workbench. The beneficial effects of the invention are as follows: compact structure, greatly improve shell fragment elasticity detection efficiency, degree of automation is high.
Description
Technical Field
The invention relates to the technical field of elastic force detection of elastic sheets, in particular to a detection device and method for detecting elastic force of an elastic sheet in a full-automatic mode.
Background
The structure of the shrapnel produced and molded in a workshop is shown in fig. 1, the shrapnel is in a thin plate shape, the top of the shrapnel is in an arch shape, and the shrapnel is mainly installed in some electronic equipment. After a batch of elastic sheets are produced and molded, the elastic force of each elastic sheet is required to be detected in the process, namely whether the elastic force value of the elastic sheet meets the design requirement or not is detected. The specific operation method for detecting the elastic force of the elastic sheet in the workshop is as follows:
s1, a worker takes out an elastic sheet to be detected from a charging basket and supports the elastic sheet on a table top of a detection table; s2, a worker holds an elastic force detector by using the right hand, presses down the detection head of the elastic force detector from top to bottom to the arch part of the elastic sheet 1, as shown in FIG. 2, after the detection head flattens the elastic sheet 1, as shown in FIG. 3, the elastic force value of the elastic sheet can be displayed on the elastic force detector, the worker judges whether the elastic force value is within the design range, if the elastic force value is not within the design range, the elastic sheet 1 is judged to be a defective product, and the worker rejects the defective product into a waste basket; if the elastic force value is within the design range, judging the elastic sheet 1 as a qualified product, and placing the qualified product into a cavity of the carrying disc by a worker, so that the detection of the elastic force of the elastic sheet 1 is realized;
and S3, repeating the operation, and continuously detecting the elastic force of the plurality of elastic sheets 1.
However, although the operation method in the workshop can detect the elastic force of the elastic sheet, in actual operation, the following technical drawbacks still exist:
I. the elastic sheet 1 is required to be continuously taken from the charging basket manually, the elastic sheet 1 is placed on the detection table, then the detection head of the manual handheld elastic force detector is required to press the arch part of the elastic sheet 1, the whole operation is completed manually, and the detection of the elastic sheet is discontinuous, so that the detection efficiency of the elastic force of the elastic sheet 1 is definitely reduced.
II. After the elastic force of one elastic sheet 1 is detected, qualified products are placed in the cavity of the carrying disc manually, or unqualified products are removed from the waste basket manually, and the whole operation is finished manually, so that the detection time of the subsequent elastic sheet 1 is obviously prolonged, and the detection efficiency of the elastic force of the elastic sheet 1 is further reduced. Therefore, a detection device and a method for greatly improving the elastic force detection efficiency of the elastic sheet are needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the full-automatic detection device and method for detecting the elastic force of the elastic sheet, which have compact structure, greatly improve the elastic force detection efficiency of the elastic sheet and have high automation degree.
The aim of the invention is achieved by the following technical scheme: the utility model provides a full-automatic detection elastic force detection device, it includes the workstation, be provided with the turnover mechanism that is used for turnover shell fragment on the mesa of workstation, and on the mesa of workstation and around turnover mechanism's circumference direction have set gradually feed mechanism, elasticity detection mechanism and unloading mechanism, feed mechanism sets up in turnover mechanism's right side, elasticity detection mechanism sets up in turnover mechanism's front side, unloading mechanism sets up in turnover mechanism's rear side, unloading mechanism's rear side has set gradually robotic arm and carrier plate;
the turnover mechanism comprises a stepping motor and a hollow rotary table, wherein the stepping motor is fixedly arranged on the top surface of the workbench, the hollow rotary table comprises a rotary table and a fixed plate, the rotary table is arranged on an output shaft of the stepping motor, the fixed plate is arranged right above the rotary table, a plurality of bases are uniformly and fixedly arranged on the top surface of the rotary table along the circumferential direction of the rotary table, four fixed blocks are fixedly arranged on the top surface of each base, and arc-shaped grooves are formed in the inner side walls of two adjacent fixed blocks;
the feeding mechanism comprises a vertical plate and a linear vibrator which are fixedly arranged on the table surface of the workbench, the linear vibrator is positioned on the right side of the vertical plate, a guide rail is fixedly arranged on the top surface of the vibration end of the linear vibrator, the groove width of a guide rail groove is equal to the length of the elastic sheet, a lifting cylinder is fixedly arranged on the left end surface of the vertical plate, a lifting block is fixedly arranged on the acting end of a piston rod of the lifting cylinder, the right end surface of the lifting block is an arc surface, an arc step is arranged on the arc surface, and the arc step is oppositely arranged with the left port of the guide rail groove; the feeding mechanism further comprises a portal frame fixedly arranged on the top surface of the fixed plate, a transplanting mechanism for grabbing the elastic sheet is arranged on the top surface of the portal frame, and the transplanting mechanism is oppositely arranged left and right with the guide rail;
the elastic force detection mechanism comprises a feeding cylinder and an elastic force detector which are fixedly arranged on the workbench, a sliding plate is fixedly arranged at the acting end of a piston rod of the feeding cylinder, the elastic force detector is fixedly arranged on the top surface of the sliding plate, and the detection head of the elastic force detector is arranged backwards; the elastic force detection mechanism further comprises a longitudinal air cylinder fixedly arranged on the top surface of the fixed plate, a movable plate is fixedly arranged on the acting end of a piston rod of the longitudinal air cylinder, the movable plate is arranged opposite to the sliding plate, and two pressing blocks are fixedly arranged on the front end surface of the movable plate;
the blanking mechanism comprises a linear cylinder fixedly arranged on the workbench, a mounting seat is fixedly arranged at the moving end of the linear cylinder, a driving motor is fixedly arranged on the rear end face of the mounting seat, a turnover mechanism is arranged on an output shaft of the driving motor, a suction head I for adsorbing the elastic sheet is arranged on the turnover mechanism, and the suction head I is connected with a working port of the vacuum pump I through a hose.
The transplanting mechanism comprises a horizontal cylinder fixedly arranged on the portal frame, a vertical cylinder is fixedly arranged at the acting end of a piston rod of the horizontal cylinder, and a pneumatic clamping jaw is arranged at the acting end of the piston rod of the vertical cylinder.
The longitudinal cylinder is arranged below the portal frame.
The turnover mechanism comprises a driving shaft and a driven shaft which are rotatably arranged on the mounting seat, wherein the driving shaft and the driven shaft are respectively provided with a driving belt pulley and a driven belt pulley, a belt is arranged between the driving belt pulley and the driven belt pulley, and the driven shaft is welded with a rotating seat; the suction head I is fixedly arranged on the rotating seat, and an output shaft of the driving motor is connected with a driving shaft of the turnover mechanism.
The elastic force detection mechanism further comprises a machine table fixedly arranged on the workbench, and the feeding cylinder is fixedly arranged on the top surface of the machine table.
The left side of the blanking mechanism is provided with a waste basket placed on the table surface of the workbench.
The actuating mechanism of the mechanical arm is provided with a suction head II, and the suction head II is connected with a working port of the vacuum pump II through a hose.
The detection device further comprises a controller, wherein the controller is electrically connected with the linear vibrator, the lifting cylinder, the longitudinal cylinder, the feeding cylinder, the linear cylinder, the horizontal cylinder, the vertical cylinder, the pneumatic clamping jaw and the elastic force detector through signal wires, and the controller is also electrically connected with the vacuum pump I and the vacuum pump II through signal wires.
A detection method for fully automatically detecting elastic force of an elastic sheet comprises the following steps:
s1, a worker places a plurality of elastic pieces in a groove of a guide rail, so that the elastic pieces are matched with the groove of the guide rail;
s2, feeding of elastic sheets I, wherein the specific operation steps are as follows:
s21, controlling a linear vibrator to start, vibrating the guide rail by the linear vibrator, enabling all the elastic pieces in the guide rail to move leftwards along the length direction of the guide rail, enabling the elastic piece I at the leftmost end in the guide rail to move out from the left port of the guide rail groove, enabling the moved elastic piece I to be just supported on an arc-shaped step of the lifting block, and enabling other elastic pieces to be still in the groove of the guide rail;
s22, controlling a piston rod of a lifting cylinder to extend upwards, driving a lifting block to move upwards by the piston rod, and driving a spring plate I to move upwards by the lifting block so as to enable the spring plate I to move above a guide rail, thereby realizing the taking out of the spring plate I;
s23, controlling a piston rod of a horizontal cylinder to extend rightwards, driving a vertical cylinder and a pneumatic clamping jaw to synchronously move rightwards, when the piston rod of the horizontal cylinder extends completely, the pneumatic clamping jaw is just above the elastic sheet I, then controlling the piston rod of the vertical cylinder to extend downwards by a controller, and driving the pneumatic clamping jaw to move downwards by the vertical cylinder, and when the piston rod of the vertical cylinder extends completely, the two clamping jaws of the pneumatic clamping jaw are just outside the elastic sheet I; then controlling the pneumatic clamping jaw to start, and clamping and fixing the elastic sheet I by the two clamping jaws of the pneumatic clamping jaw; then the piston rod of the vertical cylinder is controlled to retract upwards, the piston rod drives the pneumatic clamping jaw to move upwards, and the pneumatic clamping jaw drives the clamped elastic sheet I to move upwards; finally, controlling the piston rod of the horizontal cylinder to retract, and driving the vertical cylinder and the elastic sheet I to move leftwards by the piston rod, wherein after the piston rod of the horizontal cylinder is completely retracted, the elastic sheet I just moves to the position right above the base I positioned on the right side of the rotating disc;
s24, controlling a piston rod of the vertical cylinder to extend downwards, wherein the piston rod drives the pneumatic clamping jaw to move downwards, and the pneumatic clamping jaw drives the elastic sheet I to move downwards synchronously; the pneumatic clamping jaw is controlled to be closed, the clamping jaw of the pneumatic clamping jaw is separated from the elastic sheet I, after separation, a piston rod of the vertical cylinder is controlled to retract upwards, and the piston rod drives the pneumatic clamping jaw to move upwards, so that the feeding of the elastic sheet I is finally realized, namely the elastic sheet I is filled between two arc-shaped grooves of the base I;
s3, detecting elasticity of the elastic sheet I, wherein the specific operation steps are as follows:
s31, controlling a stepping motor to start, wherein the stepping motor drives a turntable to rotate, the turntable drives a base I to synchronously rotate, the base I drives an elastic sheet I to synchronously rotate, and when the elastic sheet I rotates to a detection station of an elastic force detection mechanism, a controller controls the stepping motor to close, and the elastic sheet I is just positioned between a movable plate and a sliding plate;
s32, controlling a piston rod of the longitudinal cylinder to extend forwards, driving the movable plate to move forwards by the piston rod, and driving the two pressing blocks to move forwards synchronously by the movable plate, wherein after the piston rod of the longitudinal cylinder extends completely, the two pressing blocks respectively press the left end and the right end of the elastic sheet I on the two fixed blocks of the base I so as to fix the elastic sheet I;
s33, controlling a piston rod of a feeding cylinder to extend backwards, driving a sliding plate to move backwards by the piston rod, driving an elastic force detector and a detection head to synchronously move backwards by the sliding plate, pressing the detection head to an arch part of the elastic sheet I, detecting an elastic force value of the elastic sheet I by the elastic force detector after the elastic sheet I is flattened, and transmitting the elastic force value to a controller, so that the detection of the elastic force of the elastic sheet I is realized;
s4, the controller judges whether the elastic value is within the design range, if the controller judges that the elastic value of the elastic sheet I is not within the design range, the elastic sheet I is judged to be an unqualified product, and the operation of removing the unqualified product is as follows:
s41, the controller controls the piston rod of the feeding cylinder to retract, the piston rod drives the sliding plate to reset forwards, and the sliding plate drives the elasticity detector and the detection head to reset forwards synchronously;
s42, the controller controls the stepping motor to start, the stepping motor drives the turntable to rotate, the turntable drives the base I and the unqualified products to synchronously rotate, and when the base I and the unqualified products rotate to a blanking station of the blanking mechanism, the controller controls the stepping motor to close, and the unqualified products and the suction head I are oppositely arranged at the moment;
s43, the controller controls the moving end of the linear cylinder to move forwards, the moving end drives the mounting seat to synchronously move forwards, the mounting seat drives the turnover mechanism to move forwards, the turnover mechanism drives the suction head I to move forwards, after the suction head I contacts with the unqualified product, the vacuum pump I is controlled to start, the vacuum pump I vacuumizes the suction head I, and the unqualified product is adsorbed on the unqualified product under negative pressure; then the controller controls the driving motor to start, the driving motor drives the driving belt pulley to rotate, the driving belt pulley drives the driven belt pulley to rotate through the belt, the driven belt drives the driven shaft to rotate, the driven shaft drives the rotating seat to synchronously rotate, the rotating seat drives the suction head I to upwardly rotate, the suction head I drives the unqualified product to synchronously rotate, and when the unqualified product upwardly rotates by 90 degrees, the controller controls the driving motor to close;
s44, the controller controls the vacuum pump I to be closed, and unqualified products are not adsorbed on the suction head I any more; then controlling the mechanical arm to act, enabling a suction head II on an actuating mechanism of the mechanical arm to contact the top surface of the unqualified product, controlling a vacuum pump II to start, vacuumizing the suction head II by the vacuum pump II, and adsorbing the unqualified product by the suction head II;
s45, controlling the action of a mechanical arm, transferring unqualified products to the position right above the waste basket by the mechanical arm, and controlling the vacuum pump II to be closed after the mechanical arm moves in place, wherein the unqualified products are not adsorbed by the suction head II any more and fall into the waste basket, so that the unqualified products are removed;
if the controller judges that the elastic value of the elastic sheet I is within the design range, the controller judges that the elastic sheet I is a qualified product, and the operation of placing the qualified product in the cavity of the carrying disc is as follows: executing operations of the steps S41-S44, wherein unqualified products in the steps S41-S44 are qualified products; when the suction head II adsorbs qualified products, the mechanical arm is controlled to act, and the mechanical arm places the qualified products into one cavity of the carrying disc, so that the qualified products are placed into the carrying disc;
s5, repeating the operations of the steps S2-S4, so that the elastic force detection can be continuously carried out on all the elastic sheets in the guide rail groove.
The invention has the following advantages: the elastic force detection device is compact in structure, greatly improves elastic force detection efficiency of the elastic sheet, and is high in automation degree.
Drawings
FIG. 1 is a schematic structural view of a spring plate;
FIG. 2 is a schematic view of a detection head of the spring force detector pressed against an arch of the spring plate;
FIG. 3 is a schematic diagram of the detection head flattening the spring plate;
FIG. 4 is a schematic diagram of the structure of the present invention;
FIG. 5 is a top view of FIG. 4;
FIG. 6 is a schematic structural view of an epicyclic mechanism;
FIG. 7 is a schematic diagram of the connection of the base I and two fixed blocks;
FIG. 8 is a schematic structural view of a feeding mechanism;
FIG. 9 is a top view of FIG. 8;
FIG. 10 is a schematic diagram of the structure of the lifting block;
FIG. 11 is a schematic diagram of the structure of the spring force detection mechanism;
FIG. 12 is a schematic structural view of a blanking mechanism;
FIG. 13 is a schematic view of a robot arm;
FIG. 14 is a schematic view of the movement of the spring I onto the arcuate step;
FIG. 15 is an enlarged partial view of portion A of FIG. 14;
FIG. 16 is a schematic view of a spring I being packed between two arcuate slots on a base I;
FIG. 17 is a schematic view of the spring I being transferred to a detection station of the spring force detection mechanism;
FIG. 18 is a schematic diagram of the detecting head of the detector detecting the elastic force of the elastic sheet I;
FIG. 19 is an enlarged view of part B of FIG. 18;
in the figure:
1-elastic pieces, 2-working tables, 3-turnover mechanisms, 4-feeding mechanisms, 5-elastic force detection mechanisms, 6-blanking mechanisms, 7-mechanical arms and 8-carrying discs;
9-stepper motors, 10-turntables, 11-fixed plates, 12-bases, 13-fixed blocks, 14-arc-shaped grooves, 16-vertical plates, 17-linear vibrators, 18-guide rails, 19-lifting cylinders, 20-lifting blocks, 21-arc-shaped steps, 22-portal frames and 23-transplanting mechanisms;
24-feeding cylinder, 25-elasticity detector, 26-sliding plate, 27-detection head, 28-longitudinal cylinder, 29-movable plate, 30-pressing block, 31-straight cylinder, 32-mounting seat, 33-driving motor, 34-suction head I, 35-horizontal cylinder, 36-vertical cylinder, 37-pneumatic clamping jaw, 38-driving shaft, 39-driven shaft, 40-belt, 41-rotating seat, 42-waste basket, 43-suction head II, 44-base I and 45-spring plate I.
Detailed Description
The invention is further described below with reference to the accompanying drawings, the scope of the invention not being limited to the following:
as shown in fig. 4-13, a full-automatic detection device for detecting elastic force of an elastic piece comprises a workbench 2, wherein a turnover mechanism 3 for turnover of the elastic piece is arranged on a table surface of the workbench 2, a feeding mechanism 4, an elastic force detection mechanism 5 and a discharging mechanism 6 are sequentially arranged on the table surface of the workbench 2 around the circumferential direction of the turnover mechanism 3, the feeding mechanism 4 is arranged on the right side of the turnover mechanism 3, the elastic force detection mechanism 5 is arranged on the front side of the turnover mechanism 3, the discharging mechanism 6 is arranged on the rear side of the turnover mechanism 3, and a mechanical arm 7 and a carrying disc 8 are sequentially arranged on the rear side of the discharging mechanism 6; the turnover mechanism 3 comprises a stepping motor 9 and a hollow rotary table, wherein the stepping motor 9 is fixedly arranged on the top surface of the workbench 2, the hollow rotary table comprises a rotary table 10 and a fixed plate 11, the rotary table 10 is arranged on an output shaft of the stepping motor 9, the fixed plate 11 is arranged right above the rotary table 10, a plurality of bases 12 are uniformly and fixedly arranged on the top surface of the rotary table 10 along the circumferential direction of the rotary table, four fixed blocks 13 are fixedly arranged on the top surface of the bases 12, and arc-shaped grooves 14 are formed in the inner side walls of two adjacent fixed blocks 13.
The feeding mechanism 4 comprises a vertical plate 16 and a linear vibrator 17 which are fixedly arranged on the table surface of the workbench 2, the linear vibrator 17 is positioned on the right side of the vertical plate 16, a guide rail 18 is fixedly arranged on the top surface of the vibrating end of the linear vibrator 17, the groove width of a groove of the guide rail 18 is equal to the length of a spring piece, a lifting cylinder 19 is fixedly arranged on the left end surface of the vertical plate 16, a lifting block 20 is fixedly arranged on the acting end of a piston rod of the lifting cylinder 19, the right end surface of the lifting block 20 is an arc surface, an arc step 21 is arranged on the arc surface, and the arc step 21 is oppositely arranged with the left port of the groove of the guide rail 18; the feeding mechanism 4 further comprises a portal frame 22 fixedly arranged on the top surface of the fixed plate 11, a transplanting mechanism 23 for grabbing spring pieces is arranged on the top surface of the portal frame 22, the transplanting mechanism 23 and the guide rail 18 are oppositely arranged left and right, the transplanting mechanism 23 comprises a horizontal cylinder 35 fixedly arranged on the portal frame 22, a vertical cylinder 36 is fixedly arranged at the acting end of a piston rod of the horizontal cylinder 35, and a pneumatic clamping jaw 37 is arranged at the acting end of the piston rod of the vertical cylinder 36.
The elastic force detection mechanism 5 comprises a feeding cylinder 24 and an elastic force detector 25 which are fixedly arranged on the workbench 2, a sliding plate 26 is fixedly arranged on the acting end of a piston rod of the feeding cylinder 24, the elastic force detector 25 is fixedly arranged on the top surface of the sliding plate 26, and a detection head 27 of the elastic force detector 25 is arranged backwards; the elastic force detection mechanism 5 further comprises a longitudinal air cylinder 28 fixedly arranged on the top surface of the fixed plate 11, the longitudinal air cylinder 28 is arranged below the portal frame 22, a movable plate 29 is fixedly arranged on the acting end of a piston rod of the longitudinal air cylinder 28, the movable plate 29 is oppositely arranged with the sliding plate 26, and two pressing blocks 30 are fixedly arranged on the front end surface of the movable plate 29; the elastic force detection mechanism 5 further comprises a machine table fixedly arranged on the workbench 2, and the feeding cylinder 24 is fixedly arranged on the top surface of the machine table.
The blanking mechanism 6 comprises a linear cylinder 31 fixedly arranged on the workbench 2, an installation seat 32 is fixedly arranged at the moving end of the linear cylinder 31, a driving motor 33 is fixedly arranged on the rear end face of the installation seat 32, a turnover mechanism is arranged on an output shaft of the driving motor 33, a suction head I34 for adsorbing an elastic sheet is arranged on the turnover mechanism, the suction head I34 is connected with a working port of a vacuum pump I through a hose, the turnover mechanism comprises a driving shaft 38 and a driven shaft 39 which are rotatably arranged on the installation seat 32, a driving belt pulley and a driven belt pulley are respectively arranged on the driving shaft 38 and the driven shaft 39, a belt 40 is arranged between the driving belt pulley and the driven belt pulley, and a rotating seat 41 is welded on the driven shaft 39; the suction head I34 is fixedly arranged on the rotary seat 41, and an output shaft of the driving motor 33 is connected with a driving shaft 38 of the turnover mechanism. The left side of the blanking mechanism 6 is provided with a waste basket 42 which is placed on the surface of the workbench 2.
The actuating mechanism of the mechanical arm 7 is provided with a suction head II43, and the suction head II43 is connected with a working port of the vacuum pump II through a hose. The detection device further comprises a controller, the controller is electrically connected with the linear vibrator 17, the lifting cylinder 19, the longitudinal cylinder 28, the feeding cylinder 24, the linear cylinder 31, the horizontal cylinder 35, the vertical cylinder 36, the pneumatic clamping jaw 37 and the elastic force detector 25 through signal wires, the controller is also electrically connected with the vacuum pump I and the vacuum pump II through signal wires, the controller can control the lifting cylinder 19, the longitudinal cylinder 28, the feeding cylinder 24, the horizontal cylinder 35 and the vertical cylinder 36 to extend or retract of piston rods, the movement end of the linear cylinder 31 can be controlled, meanwhile, the starting or closing of the vacuum pump I and the vacuum pump II can be controlled, when the vacuum pump I and the vacuum pump II work, the vacuum pump I vacuumizes the suction head I34, and the vacuum pump II vacuumizes the suction head II 43.
A detection method for fully automatically detecting elastic force of an elastic sheet comprises the following steps:
s1, a worker places a plurality of elastic pieces shown in the figures 1-3 in the grooves of the guide rail 18, so that the elastic pieces are matched with the grooves of the guide rail 18;
s2, feeding of elastic sheets I, wherein the specific operation steps are as follows:
s21, controlling the linear vibrator 17 to start, vibrating the guide rail 18 by the linear vibrator 17, enabling each elastic piece in the guide rail 18 to move leftwards along the length direction of the guide rail 18, enabling the elastic piece I45 at the leftmost end in the guide rail 18 to move out from the left port of the groove of the guide rail 18, enabling the moved elastic piece I45 to be just supported on the arc-shaped step 21 of the lifting block 20, as shown in fig. 14-15, and enabling other elastic pieces to be still located in the groove of the guide rail 18;
s22, controlling a piston rod of the lifting cylinder 19 to extend upwards, driving the lifting block 20 to move upwards by the piston rod, and driving the elastic sheet I45 to move upwards by the lifting block 20 so as to enable the elastic sheet I45 to move above the guide rail 18, thereby realizing the extraction of the elastic sheet I45;
s23, controlling a piston rod of a horizontal cylinder 35 to extend rightwards, driving a vertical cylinder 36 and a pneumatic clamping jaw 37 to synchronously move rightwards by the horizontal cylinder 35, when the piston rod of the horizontal cylinder 35 extends completely, the pneumatic clamping jaw 37 is just above a spring piece I45, then controlling the piston rod of the vertical cylinder 36 to extend downwards by a controller, driving the pneumatic clamping jaw 37 to move downwards by the vertical cylinder 36, and when the piston rod of the vertical cylinder 36 extends completely, enabling two clamping jaws of the pneumatic clamping jaw 37 to be just outside the spring piece I45; then the pneumatic clamping jaw 37 is controlled to start, and the two clamping jaws of the pneumatic clamping jaw 37 clamp and fix the elastic sheet I45; then the piston rod of the vertical air cylinder 36 is controlled to retract upwards, the piston rod drives the pneumatic clamping jaw 37 to move upwards, and the pneumatic clamping jaw 37 drives the clamped elastic sheet I45 to move upwards; finally, the piston rod of the horizontal cylinder 35 is controlled to retract, the piston rod drives the vertical cylinder 36 and the elastic sheet I45 to move leftwards, and when the piston rod of the horizontal cylinder 35 is completely retracted, the elastic sheet I45 just moves to the position right above the base I44 positioned on the right side of the turntable 10;
s24, controlling a piston rod of the vertical air cylinder 36 to extend downwards, driving the pneumatic clamping jaw 37 to move downwards by the piston rod, driving the elastic sheet I45 to move downwards synchronously by the pneumatic clamping jaw 37, and enabling the elastic sheet I45 to enter between two arc-shaped grooves 14 on the base I44 and be supported on the top surface of the base I44 after the piston rod of the vertical air cylinder 36 extends completely; the pneumatic clamping jaw 37 is controlled to be closed, the clamping jaw of the pneumatic clamping jaw 37 is separated from the elastic sheet I45, after separation, a piston rod of the vertical cylinder 36 is controlled to retract upwards, and the piston rod drives the pneumatic clamping jaw 37 to move upwards, so that the feeding of the elastic sheet I45 is finally realized, namely the elastic sheet I45 is filled between two arc-shaped grooves 14 of the base I44, as shown in fig. 16;
s3, detecting elasticity of the elastic sheet I45, wherein the specific operation steps are as follows:
s31, controlling the stepping motor 9 to start, wherein the stepping motor 9 drives the turntable 10 to rotate, the turntable 10 drives the base I44 to synchronously rotate, the base I44 drives the elastic sheet I45 to synchronously rotate, and when the elastic sheet I45 rotates to a detection station of the elastic force detection mechanism 5, as shown in FIG. 17, the controller controls the stepping motor 9 to close, and at the moment, the elastic sheet I45 is just positioned between the movable plate 29 and the sliding plate 26;
s32, controlling the piston rod of the longitudinal cylinder 28 to extend forwards, driving the movable plate 29 to move forwards by the piston rod, driving the two pressing blocks 30 to move forwards synchronously by the movable plate 29, and after the piston rod of the longitudinal cylinder 28 extends completely, respectively pressing the left end and the right end of the elastic sheet I45 on the two fixed blocks 13 of the base I44 by the two pressing blocks 30 to fix the elastic sheet I45;
s33, controlling a piston rod of the feeding cylinder 24 to extend backwards, driving the sliding plate 26 to move backwards by the piston rod, driving the elastic force detector 25 and the detecting head 27 to synchronously move backwards by the sliding plate 26, pressing the detecting head 27 to an arch part of the elastic sheet I45, after the elastic sheet I45 is flattened, measuring an elastic force value of the elastic sheet I45 by the elastic force detector 25 and transmitting the elastic force value to the controller as shown in fig. 18-19, so that the detection of the elastic force of the elastic sheet I45 is realized;
s4, the controller judges whether the elastic value is within the design range, if the controller judges that the elastic value of the elastic sheet I45 is not within the design range, the controller judges that the elastic sheet I45 is a defective product, and the operation of removing the defective product is as follows:
s41, the controller controls the piston rod of the feeding cylinder 24 to retract, the piston rod drives the sliding plate 26 to reset forwards, and the sliding plate 26 drives the elasticity detector 25 and the detection head 27 to reset forwards synchronously;
s42, the controller controls the stepping motor 9 to start, the stepping motor 9 drives the turntable 10 to rotate, the turntable 10 drives the base I44 and the unqualified products to synchronously rotate, and when the base I44 and the unqualified products rotate to a blanking station of the blanking mechanism 6, the controller controls the stepping motor 9 to close, and the unqualified products and the suction head I34 are oppositely arranged at the moment;
s43, the controller controls the moving end of the linear air cylinder 31 to move forwards, the moving end drives the mounting seat 32 to synchronously move forwards, the mounting seat 32 drives the turnover mechanism to move forwards, the turnover mechanism drives the suction head I34 to move forwards, after the suction head I34 contacts with the unqualified product, the vacuum pump I is controlled to start, the vacuum pump I vacuumizes the suction head I34, and the unqualified product is adsorbed on the unqualified product under negative pressure; then the controller controls the driving motor 33 to start, the driving motor 33 drives the driving belt pulley to rotate, the driving belt pulley drives the driven belt pulley to rotate through the belt 40, the driven belt drives the driven shaft 39 to rotate, the driven shaft 39 drives the rotating seat 41 to synchronously rotate, the rotating seat 41 drives the suction head I34 to upwardly rotate, the suction head I34 drives the unqualified products to synchronously rotate, and when the unqualified products upwardly rotate for 90 degrees, the controller controls the driving motor 33 to be closed;
s44, the controller controls the vacuum pump I to be closed, and unqualified products are not adsorbed on the suction head I34 any more; then controlling the mechanical arm 7 to act, enabling the suction head II43 on an actuating mechanism of the mechanical arm 7 to contact the top surface of the unqualified product, controlling the vacuum pump II to start, vacuumizing the suction head II43 by the vacuum pump II, and adsorbing the unqualified product by the suction head II 43;
s45, controlling the mechanical arm 7 to act, transferring unqualified products to the position right above the waste basket 42 by the mechanical arm 7, and controlling the vacuum pump II to be closed after the unqualified products move in place, wherein the suction head II43 does not adsorb the unqualified products any more, and the unqualified products fall into the waste basket 42, so that the unqualified products are removed;
if the controller determines that the elastic value of the elastic piece I45 is within the design range, the controller determines that the elastic piece I45 is a qualified product, and the operation of placing the qualified product in the cavity of the carrier disc 8 is as follows: executing operations of the steps S41-S44, wherein unqualified products in the steps S41-S44 are qualified products; when the suction head II43 adsorbs qualified products, the mechanical arm 7 is controlled to act, and the mechanical arm 7 places the qualified products into one cavity of the carrying disc 8, so that the qualified products are placed into the carrying disc 8;
s5, repeating the operations of the steps S2-S4, so that the elastic force detection can be continuously carried out on all the elastic sheets in the grooves of the guide rail 18.
In steps S2 to S3, the elastic sheet I45 in the guide rail 18 is automatically transferred to the detection station of the elastic sheet detection mechanism 5 through the cooperation of the feeding mechanism 4 and the transfer mechanism 3, and the elastic force of the elastic sheet I45 is automatically detected through the elastic sheet detection mechanism 5, so that the whole operation is not required to be manually operated, the detection is more continuous, and the detection efficiency of the elastic force of the elastic sheet 1 is greatly improved.
In step S4, the detecting device transfers the unqualified product or the qualified product to the blanking station of the blanking mechanism 6 through the turnover mechanism 3, and then automatically rejects the unqualified product in the waste basket 42 or automatically places the qualified product in the cavity of the carrying disc 8 through the cooperation of the blanking mechanism 6 and the mechanical arm 7, so that compared with the operation method in a workshop, the detecting device greatly shortens the detecting time of the subsequent elastic sheet, and further improves the detecting efficiency of the elastic sheet.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a full-automatic detection spring plate elasticity's detection device which characterized in that: the automatic feeding device comprises a workbench (2), wherein a turnover mechanism (3) for turnover elastic sheets is arranged on the table top of the workbench (2), a feeding mechanism (4), an elastic force detection mechanism (5) and a discharging mechanism (6) are sequentially arranged on the table top of the workbench (2) around the circumferential direction of the turnover mechanism (3), the feeding mechanism (4) is arranged on the right side of the turnover mechanism (3), the elastic force detection mechanism (5) is arranged on the front side of the turnover mechanism (3), the discharging mechanism (6) is arranged on the rear side of the turnover mechanism (3), and a mechanical arm (7) and a carrying disc (8) are sequentially arranged on the rear side of the discharging mechanism (6);
the turnover mechanism (3) comprises a stepping motor (9) and a hollow rotary table, wherein the stepping motor (9) is fixedly arranged on the top surface of the workbench (2), the hollow rotary table comprises a rotary table (10) and a fixed plate (11), the rotary table (10) is arranged on an output shaft of the stepping motor (9), the fixed plate (11) is arranged right above the rotary table (10), a plurality of bases (12) are uniformly and fixedly arranged on the top surface of the rotary table (10) along the circumferential direction of the rotary table, four fixed blocks (13) are fixedly arranged on the top surface of the base (12), and arc-shaped grooves (14) are formed in the inner side walls of two adjacent fixed blocks (13);
the feeding mechanism (4) comprises a vertical plate (16) and a linear vibrator (17) which are fixedly arranged on the table top of the workbench (2), the linear vibrator (17) is positioned on the right side of the vertical plate (16), a guide rail (18) is fixedly arranged on the top surface of the vibrating end of the linear vibrator (17), the groove width of the groove of the guide rail (18) is equal to the length of the elastic sheet, a lifting cylinder (19) is fixedly arranged on the left end face of the vertical plate (16), a lifting block (20) is fixedly arranged on the acting end of a piston rod of the lifting cylinder (19), the right end face of the lifting block (20) is an arc-shaped face, an arc-shaped step (21) is formed in the arc-shaped face, and the arc-shaped step (21) is oppositely arranged with the left end of the groove of the guide rail (18); the feeding mechanism (4) further comprises a portal frame (22) fixedly arranged on the top surface of the fixed plate (11), a transplanting mechanism (23) for grabbing the elastic sheet is arranged on the top surface of the portal frame (22), and the transplanting mechanism (23) and the guide rail (18) are oppositely arranged left and right;
the elastic force detection mechanism (5) comprises a feeding cylinder (24) and an elastic force detector (25) which are fixedly arranged on the workbench (2), a sliding plate (26) is fixedly arranged at the acting end of a piston rod of the feeding cylinder (24), the elastic force detector (25) is fixedly arranged on the top surface of the sliding plate (26), and a detection head (27) of the elastic force detector (25) is arranged backwards; the elastic force detection mechanism (5) further comprises a longitudinal air cylinder (28) fixedly arranged on the top surface of the fixed plate (11), a movable plate (29) is fixedly arranged on the acting end of a piston rod of the longitudinal air cylinder (28), the movable plate (29) is oppositely arranged with the sliding plate (26), and two pressing blocks (30) are fixedly arranged on the front end surface of the movable plate (29);
the blanking mechanism (6) comprises a linear cylinder (31) fixedly arranged on the workbench (2), an installation seat (32) is fixedly arranged at the moving end of the linear cylinder (31), a driving motor (33) is fixedly arranged on the rear end face of the installation seat (32), a turnover mechanism is arranged on an output shaft of the driving motor (33), a suction head I (34) for adsorbing an elastic sheet is arranged on the turnover mechanism, and the suction head I (34) is connected with a work port of the vacuum pump I through a hose.
2. The device for automatically detecting elastic force of elastic sheet according to claim 1, wherein: the transplanting mechanism (23) comprises a horizontal air cylinder (35) fixedly arranged on the portal frame (22), a vertical air cylinder (36) is fixedly arranged at the acting end of a piston rod of the horizontal air cylinder (35), and a pneumatic clamping jaw (37) is arranged at the acting end of the piston rod of the vertical air cylinder (36).
3. The device for automatically detecting elastic force of elastic sheet according to claim 2, wherein: the longitudinal air cylinder (28) is arranged below the portal frame (22).
4. A fully automatic spring force detection device according to claim 3, wherein: the turnover mechanism comprises a driving shaft (38) and a driven shaft (39) which are rotatably arranged on the mounting seat (32), wherein a driving belt pulley and a driven belt pulley are respectively arranged on the driving shaft (38) and the driven shaft (39), a belt (40) is arranged between the driving belt pulley and the driven belt pulley, and a rotating seat (41) is welded on the driven shaft (39); the suction head I (34) is fixedly arranged on the rotary seat (41), and an output shaft of the driving motor (33) is connected with a driving shaft (38) of the turnover mechanism.
5. The device for automatically detecting elastic force of elastic sheet according to claim 4, wherein: the elastic force detection mechanism (5) further comprises a machine table fixedly arranged on the workbench (2), and the feeding cylinder (24) is fixedly arranged on the top surface of the machine table.
6. The device for automatically detecting elastic force of elastic sheet according to claim 5, wherein: the left side of the blanking mechanism (6) is provided with a waste basket (42) which is arranged on the table top of the workbench (2).
7. The device for automatically detecting elastic force of elastic sheet according to claim 6, wherein: the actuating mechanism of the mechanical arm (7) is provided with a suction head II (43), and the suction head II (43) is connected with a working port of the vacuum pump II through a hose.
8. The device for automatically detecting elastic force of elastic sheet according to claim 7, wherein: the detection device further comprises a controller, wherein the controller is electrically connected with the linear vibrator (17), the lifting cylinder (19), the longitudinal cylinder (28), the feeding cylinder (24), the linear cylinder (31), the horizontal cylinder (35), the vertical cylinder (36), the pneumatic clamping jaw (37) and the elastic force detector (25) through signal wires, and the controller is also electrically connected with the vacuum pump I and the vacuum pump II through signal wires.
9. A detection method for fully automatically detecting elastic force of an elastic sheet, which adopts the detection device for fully automatically detecting elastic force of an elastic sheet according to claim 8, and is characterized in that: it comprises the following steps:
s1, a worker places a plurality of elastic pieces in a groove of a guide rail (18) to enable the elastic pieces to be matched with the groove of the guide rail (18);
s2, feeding of elastic sheets I, wherein the specific operation steps are as follows:
s21, controlling a linear vibrator (17) to start, vibrating a guide rail (18) by the linear vibrator (17), enabling all the shrapnel in the guide rail (18) to move leftwards along the length direction of the guide rail (18), enabling a leftmost shrapnel I (45) in the guide rail (18) to move out from a left port of a groove of the guide rail (18), enabling the moved shrapnel I (45) to be just supported on an arc-shaped step (21) of a lifting block (20), and enabling other shrapnels to be still in the groove of the guide rail (18);
s22, controlling a piston rod of a lifting cylinder (19) to extend upwards, driving a lifting block (20) to move upwards by the piston rod, and driving a spring piece I (45) to move upwards by the lifting block (20) so as to enable the spring piece I (45) to move to the upper part of a guide rail (18), thereby realizing the taking-out of the spring piece I (45);
s23, controlling a piston rod of a horizontal cylinder (35) to extend rightwards, driving a vertical cylinder (36) and a pneumatic clamping jaw (37) to synchronously move rightwards, when the piston rod of the horizontal cylinder (35) extends completely, the pneumatic clamping jaw (37) is just above a spring piece I (45), then controlling the piston rod of the vertical cylinder (36) to extend downwards by a controller, driving the pneumatic clamping jaw (37) to move downwards by the vertical cylinder (36), and when the piston rod of the vertical cylinder (36) extends completely, the two clamping jaws of the pneumatic clamping jaw (37) are just outside the spring piece I (45); then the pneumatic clamping jaw (37) is controlled to start, and the two clamping jaws of the pneumatic clamping jaw (37) clamp and fix the elastic sheet I (45); then the piston rod of the vertical air cylinder (36) is controlled to retract upwards, the piston rod drives the pneumatic clamping jaw (37) to move upwards, and the pneumatic clamping jaw (37) drives the clamped elastic sheet I (45) to move upwards; finally, the piston rod of the horizontal cylinder (35) is controlled to retract, the piston rod drives the vertical cylinder (36) and the elastic sheet I (45) to move leftwards, and when the piston rod of the horizontal cylinder (35) is completely retracted, the elastic sheet I (45) just moves to the position right above the base I (44) positioned on the right side of the turntable (10);
s24, controlling a piston rod of a vertical air cylinder (36) to extend downwards, driving a pneumatic clamping jaw (37) to move downwards by the piston rod, driving an elastic sheet I (45) to move downwards synchronously by the pneumatic clamping jaw (37), and enabling the elastic sheet I (45) to enter between two arc-shaped grooves (14) on a base I (44) and to be supported on the top surface of the base I (44) after the piston rod of the vertical air cylinder (36) extends completely; the pneumatic clamping jaw (37) is controlled to be closed, the clamping jaw of the pneumatic clamping jaw (37) is separated from the elastic sheet I (45), after the separation, a piston rod of the vertical cylinder (36) is controlled to retract upwards, and the piston rod drives the pneumatic clamping jaw (37) to move upwards, so that the feeding of the elastic sheet I (45) is finally realized, namely the elastic sheet I (45) is filled between two arc-shaped grooves (14) of the base I (44);
s3, detecting elasticity of the elastic sheet I (45), wherein the specific operation steps are as follows:
s31, controlling a stepping motor (9) to start, enabling the stepping motor (9) to drive a rotary table (10) to rotate, enabling the rotary table (10) to drive a base I (44) to synchronously rotate, enabling a base I (44) to drive an elastic sheet I (45) to synchronously rotate, and enabling a controller to control the stepping motor (9) to be closed when the elastic sheet I (45) rotates to a detection station of an elastic force detection mechanism (5), wherein the elastic sheet I (45) is just located between a movable plate (29) and a sliding plate (26);
s32, controlling a piston rod of a longitudinal air cylinder (28) to extend forwards, driving a movable plate (29) to move forwards by the piston rod, driving two pressing blocks (30) to move forwards synchronously by the movable plate (29), and after the piston rod of the longitudinal air cylinder (28) extends completely, respectively pressing left and right end parts of a spring plate I (45) on two fixed blocks (13) of a base I (44) by the two pressing blocks (30) to fix the spring plate I (45);
s33, controlling a piston rod of a feeding cylinder (24) to extend backwards, enabling the piston rod to drive a sliding plate (26) to move backwards, enabling the sliding plate (26) to drive an elastic force detector (25) and a detection head (27) to synchronously move backwards, enabling the detection head (27) to press against an arch part of an elastic sheet I (45), enabling the elastic force detector (25) to measure an elastic force value of the elastic sheet I (45) after the elastic sheet I (45) is flattened, and transmitting the elastic force value to a controller, so that detection of the elastic force of the elastic sheet I (45) is achieved;
s4, the controller judges whether the elastic value is within the design range, if the controller judges that the elastic value of the elastic sheet I (45) is not within the design range, the controller judges that the elastic sheet I (45) is a defective product, and the operation of removing the defective product is as follows:
s41, the controller controls the piston rod of the feeding cylinder (24) to retract, the piston rod drives the sliding plate (26) to reset forwards, and the sliding plate (26) drives the elastic force detector (25) and the detection head (27) to reset forwards synchronously;
s42, the controller controls the stepping motor (9) to start, the stepping motor (9) drives the rotary table (10) to rotate, the rotary table (10) drives the base I (44) and the unqualified products to synchronously rotate, and when the base I (44) and the unqualified products rotate to a blanking station of the blanking mechanism (6), the controller controls the stepping motor (9) to be closed, and the unqualified products and the suction head I (34) are oppositely arranged at the moment;
s43, the controller controls the moving end of the linear air cylinder (31) to move forwards, the moving end drives the mounting seat (32) to move forwards synchronously, the mounting seat (32) drives the turnover mechanism to move forwards, the turnover mechanism drives the suction head I (34) to move forwards, after the suction head I (34) contacts with the unqualified product, the vacuum pump I is controlled to start, the vacuum pump I vacuumizes the suction head I (34), and the unqualified product is adsorbed on the unqualified product under negative pressure; then the controller controls the driving motor (33) to start, the driving motor (33) drives the driving belt pulley to rotate, the driving belt pulley drives the driven belt pulley to rotate through the belt (40), the driven belt pulley drives the driven shaft (39) to rotate, the driven shaft (39) drives the rotating seat (41) to synchronously rotate, the rotating seat (41) drives the suction head I (34) to upwards rotate, the suction head I (34) drives the unqualified product to synchronously rotate, and when the unqualified product upwards rotates by 90 degrees, the controller controls the driving motor (33) to close;
s44, the controller controls the vacuum pump I to be closed, and unqualified products are not adsorbed on the suction head I (34); then controlling the mechanical arm (7) to act, enabling the suction head II (43) on the actuating mechanism of the mechanical arm (7) to contact the top surface of the unqualified product, controlling the vacuum pump II to start, vacuumizing the suction head II (43), and enabling the suction head II (43) to adsorb the unqualified product;
s45, controlling the mechanical arm (7) to act, transferring unqualified products to the position right above the waste basket (42) by the mechanical arm (7), and controlling the vacuum pump II to be closed after the unqualified products move in place, wherein the suction head II (43) does not adsorb the unqualified products any more, and the unqualified products fall into the waste basket (42), so that the unqualified products are removed;
if the controller judges that the elastic value of the elastic sheet I (45) is within the design range, the controller judges that the elastic sheet I (45) is a qualified product, and the operation of placing the qualified product in the cavity of the carrying disc (8) is as follows: executing operations of the steps S41-S44, wherein unqualified products in the steps S41-S44 are qualified products; when the suction head II (43) adsorbs qualified products, the mechanical arm (7) is controlled to act, and the mechanical arm (7) places the qualified products into one cavity of the carrying disc (8), so that the qualified products are placed into the carrying disc (8);
s5, repeating the operations of the steps S2-S4, so that the elastic force detection can be continuously carried out on all the elastic sheets in the grooves of the guide rail (18).
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Application publication date: 20230804 |
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