CN117585449A - Unordered automatic feeding machine of terminal box - Google Patents

Unordered automatic feeding machine of terminal box Download PDF

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Publication number
CN117585449A
CN117585449A CN202410083668.0A CN202410083668A CN117585449A CN 117585449 A CN117585449 A CN 117585449A CN 202410083668 A CN202410083668 A CN 202410083668A CN 117585449 A CN117585449 A CN 117585449A
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CN
China
Prior art keywords
frame
output
box
lifting
bin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202410083668.0A
Other languages
Chinese (zh)
Other versions
CN117585449B (en
Inventor
黄军
颜军明
姜浪浪
贾建喜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Maihexing Intelligent Equipment Co ltd
Original Assignee
Kunshan Mainzone Automation Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kunshan Mainzone Automation Technology Co ltd filed Critical Kunshan Mainzone Automation Technology Co ltd
Priority to CN202410083668.0A priority Critical patent/CN117585449B/en
Publication of CN117585449A publication Critical patent/CN117585449A/en
Application granted granted Critical
Publication of CN117585449B publication Critical patent/CN117585449B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G27/00—Jigging conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • 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
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The utility model belongs to the technical field of the material loading machine manufacturing, specifically be a unordered automatic feeding machine of terminal box, which comprises a frame, be equipped with flexible vibration dish feeding mechanism in the frame, promote feeding mechanism, tilting mechanism, screening mechanism, the material loading clamping jaw, a visual guiding device, second visual guiding device, tilting mechanism's output is in screening mechanism's input scope, promote and be equipped with material output and workbin output on the feeding mechanism, material output and tilting mechanism's of promotion feeding mechanism's input all are in six mechanical arm's clamping jaw snatchs scope, screening mechanism's output and flexible vibration dish feeding mechanism's output all are in the stroke scope of material loading clamping jaw, a visual guiding device signal connection material loading clamping jaw, tilting mechanism, the problem that current feeding mechanism can not distinguish the positive and negative of terminal box and can't carry out the material loading with the terminal box exact state after the positive and negative of terminal box is overturned when the terminal box.

Description

Unordered automatic feeding machine of terminal box
Technical Field
The application belongs to the technical field of feeding machine manufacturing, and particularly relates to a disordered automatic feeding machine for a junction box.
Background
Currently, junction boxes are classified into junction boxes with tails and junction boxes without tails. When the product containing the junction box is assembled, the junction box with the tail wire and the junction box without the tail wire are required, so that the vibration feeding machine cannot be directly used for feeding, the tail wire on the junction box with the tail wire can be entangled with each other, and the front side and the back side of the junction box cannot be distinguished when the junction box is fed by using a feeding method such as a bucket elevator, a clip type feeding machine, a push plate elevator and the like, and the junction box cannot be fed in a correct state after being overturned when the front side and the back side of the junction box are overturned.
Disclosure of Invention
The utility model provides a purpose is mainly to prior art's shortcoming, adopt to set up flexible vibration dish feeding mechanism, promote feeding mechanism, tilting mechanism, screening mechanism, material loading clamping jaw, the mode of first visual guide device mutually supporting, the unordered automatic feeding machine of terminal box has been designed for realize the material loading of taking no tail terminal box through flexible vibration dish feeding mechanism and material loading clamping jaw cooperation, realize the material loading of taking the tail terminal box through promoting feeding mechanism and tilting mechanism cooperation screening mechanism and material loading clamping jaw, thereby solved present feeding mechanism can not distinguish the positive and negative of terminal box and can't carry out the problem of material loading with the right state of terminal box after the terminal box upset when the positive and negative of terminal box is invertd.
In order to achieve the above purpose, the technical scheme adopted in the application is as follows:
the utility model provides a unordered automatic feeding machine of terminal box, includes the frame, be equipped with flexible vibration dish feeding mechanism, promotion feeding mechanism, tilting mechanism, screening mechanism, material loading clamping jaw, first vision guiding device (2D vision, to flexible vibration dish, tilting mechanism, screening mechanism), second vision guiding device (3D vision, only to promoting feeding mechanism) tilting mechanism's output is in screening mechanism's input scope, be equipped with material output structure and workbin output structure on the promotion feeding mechanism, promotion feeding mechanism's material output structure with tilting mechanism's input all is in six mechanical arm's snatchs scope, promotion feeding mechanism's workbin output structure extends to the lateral wall of frame, screening mechanism's output with flexible vibration dish feeding mechanism's output all is in the stroke scope of material loading clamping jaw, first vision guiding device signal connection material loading clamping jaw, tilting mechanism, screening mechanism all is in first vision guiding device's vision scope.
Preferably, the lifting feeding mechanism comprises a lifting mechanism, a grabbing mechanism and a second visual guiding device, the lifting mechanism is in the visual range of the second visual guiding device, the second visual guiding device is in signal connection with the grabbing mechanism and the feed box output structure, the conveying starting end of the turnover mechanism and the lifting terminal end of the lifting mechanism are all in the stroke range of the grabbing mechanism, the second visual guiding device is arranged right above the grabbing mechanism, the lifting starting end of the lifting mechanism and the feed box output structure are opposite to one end of the lifting mechanism and all extend to the outer side wall of the frame, and the grabbing mechanism is in signal connection with the second visual guiding device.
Preferably, the lifting mechanism comprises a lifting frame, a first material box containing frame, a second material box containing frame, a material box clamping device, a material box output frame, a first telescopic hook and a second telescopic hook, wherein the lifting frame is fixedly arranged on the frame, the lifting frame is provided with the second material box containing frame through a lifter, the first material box containing frame is fixedly arranged on the frame, the first material box containing frame is positioned on one side of the lower end of the lifting frame, the output end of the first material box containing frame is in the input range of the lifter, the second material box containing frame is provided with a first telescopic hook matched with the first material box containing frame, the input end of the first material box containing frame extends to the outer side wall of the frame, the material box clamping device is positioned above the lifter, the terminal of the lifter is in the stroke range of the material box clamping device, the frame is provided with the material box output frame right above the first material box containing frame, the output end of the first material box containing frame is provided with a first telescopic hook matched with the second material box containing frame, and the second telescopic hook is arranged on the second material box containing frame, and the second telescopic hook is matched with the output end of the second material box.
Preferably, the lifter includes promotion motor, first slide rail, first sprocket, second sprocket, slider, chain, first slide rail is vertical to be located on the hoisting frame, the second workbin holds and hold and set up on the frame the slider, the slider with sliding connection between the both ends of first slide rail, the upper end and the lower extreme of hoisting frame respectively set up first sprocket and second sprocket, set up on the hoisting frame the promotion motor, the output shaft axial fixed connection of promotion motor the axis of rotation of first sprocket, the axis of first sprocket and second sprocket all is perpendicular to first slide rail, first sprocket with the second sprocket all with the same side meshing between the both ends of chain, the both ends of chain all fixed connection second workbin holds the frame, the upper end of first slide rail with first sprocket all is in the range of travel of workbin clamp, the lower extreme of first slide rail with the second sprocket all is in the below of second workbin holds the frame.
Preferably, the second bin holding frame comprises a second bin holding frame body and bin receiving rollers, two rows of bin receiving rollers are arranged on the second bin holding frame body, the axis of each bin receiving roller is parallel to the upper surface of the frame and perpendicular to a connecting line segment between the second bin holding frame and the first bin holding frame, gaps are preset between the bin receiving rollers in two rows, the first telescopic hooks are arranged between the bin receiving rollers in two rows, and the telescopic direction of the first telescopic hooks is parallel to a formation formed between the bin receiving rollers.
Preferably, the first telescopic hook comprises a first fixing seat, a first pull plate, a first torsion spring, a first guide rod, a first mounting plate and a second driving cylinder, wherein the second driving cylinder is arranged in a gap between two rows of material receiving box rollers, the outer diameter of the second driving cylinder is smaller than the diameter of the material receiving box rollers, the second driving cylinder is parallel to each row of material receiving box rollers, the free end of the second driving cylinder faces to the first material receiving box containing frame, the first fixing seat is fixedly arranged between the two rows of material receiving box rollers on the second material receiving box containing frame body, a first sliding hole with the axis parallel to the second driving cylinder is arranged on the first fixing seat, the two ends of the first guide rod are in sliding connection with the first sliding hole, the free end of the second driving air cylinder is fixedly connected with one end of the first guide rod, which faces the first feed box accommodating frame, the upper end of the first mounting plate is provided with a first U-shaped groove with an upward opening, the inner side wall of the first U-shaped groove is rotationally connected with the lower end of the first pull plate, the upper end of the first pull plate extends out of the first U-shaped groove, the rotating shaft of the first pull plate is parallel to the axis of the feed box receiving roller, one surface of the upper end of the first pull plate, which faces the first feed box accommodating frame, is a first inclined plane, the distance from the upper end of the first inclined plane to the lifting frame is smaller than the distance from the lower end of the first inclined plane to the lifting frame, the lower end of one surface of the first pull plate, which faces the second driving air cylinder, is provided with a first limiting plate, the lower end of the first limiting plate is arranged between the lower end of the first U-shaped groove and the first mounting plate, the rotary shaft of the first pull plate is coaxially sleeved with the first torsion spring, torsion arms of the first torsion spring respectively support against the first mounting plate and the first pull plate, the upper surface of one side of the first feed box containing frame facing the lifting frame is provided with a first notch matched with the first pull plate and the first mounting plate, and the distance from the upper surface of the first mounting plate to the upper surface of the second feed box containing frame body is smaller than the diameter of the feed box receiving roller.
Preferably, the first feed box holds the frame and holds the frame body, hold roller, first actuating cylinder, first opening including first feed box, be equipped with first slide in the frame, first slide is on a parallel with the upper surface of frame and perpendicular to first feed box holds the connection line segment between frame and the second feed box holds the frame, be equipped with on the lower surface of first feed box holds the frame body with first slide axial sliding's second slide rail, set up in the frame first actuating cylinder with first slide parallel, the free end fixed connection of first actuating cylinder's piston rod first feed box holds the frame body, first feed box holds to hold to set up on the frame body hold the roller, hold the axis of roller with first slide parallel, set up on the lateral wall of frame first opening, the one end of first slide with the one end of second slide rail all is in on the frame, the other end of first slide rail with the second slide rail the other end with the second slide rail's free end fixed connection of piston rod holds the axis of roller with first feed box holds the line segment of frame and the first roller parallel to hold on the frame.
Preferably, the rack is provided with a second notch right below the first bin containing rack body, the length line of the second notch is parallel to the first slideway, one end of the second notch is arranged on the rack, the other end of the second notch extends out of the rack, the lower surface of the first bin containing rack body is provided with a support leg, the lower end of the support leg penetrates through the second notch to penetrate out of the lower surface of the rack, and the lower end of the support leg is provided with a roller.
Preferably, a lifting cylinder is vertically arranged on the first feed box containing frame, a roller frame is arranged at the top end of the lifting cylinder, and containing rollers are arranged on the roller frame.
Preferably, the bin gripper comprises a gripper cylinder and gripper claws, wherein projections of the gripper claws in a plane perpendicular to the axis of the gripper claws are of an L shape, the top ends of the vertical parts of the L shape of the gripper claws are respectively connected with the frame in a rotating mode, the rotating shafts of the gripper claws are perpendicular to the plane where the L shape is located, the rotating shafts of the gripper claws are parallel to connecting line segments between the first bin holding frame and the second bin holding frame, the gripper claws are respectively arranged on two sides of the top end of the lifting frame, the connecting line segments between the gripper claws are perpendicular to the connecting line segments between the first bin holding frame and the second bin holding frame, the two opposite sides of the frame are respectively connected with the gripper cylinder in a rotating mode, the bottom ends of the gripper cylinders are respectively connected with the frame in a rotating mode, the top ends of the gripper cylinders are respectively connected with the vertical parts of the L shape of the gripper claws in a back-to mode, and the two gripper claws are respectively connected with the two vertical rotating shafts of the L shape of the gripper claws in a rotating mode, and the two gripper claws are respectively perpendicular to the two gripper claws are arranged on the two visual devices.
Preferably, a lateral jacking cylinder is arranged at one side of the top end of the lifting frame, which is opposite to the first material box containing frame, the jacking cylinder is parallel to the upper surface of the frame and parallel to the rotating shaft of the clamping claw, and the area between the two clamping claws is within the travel range of the jacking cylinder.
Preferably, the feed box output frame comprises a feed box output frame body and output rollers, wherein two rows of the output rollers are arranged on the upper surface of the feed box output frame body, the axes of the output rollers are parallel to the upper surface of the frame and perpendicular to the connecting line segments between the feed box output frame body and the feed box gripping device, each row of the formation of the output rollers is parallel to the upper surface of the frame and the connecting line segments between the feed box output frame body and the feed box gripping device, the second telescopic hooks are arranged between the two rows of the output rollers on the feed box output frame body, and the telescopic directions of the second telescopic hooks are parallel to the formation of the output rollers.
Preferably, the second telescopic hook comprises an output cylinder, a second mounting plate, a second pulling plate and a second torsion spring, the telescopic direction of the output cylinder is parallel to the formation formed by the output roller, the free end of a piston rod of the output cylinder faces the feed box gripping device, the free end of the piston rod of the output cylinder is provided with the second mounting plate, the upper end of the second mounting plate is provided with a second U-shaped groove with an upward opening, the lower end of the second pulling plate is rotationally arranged in the second U-shaped groove, the upper end of the second pulling plate extends out of the second U-shaped groove, the second torsion spring is coaxially sleeved on a rotating shaft of the second pulling plate, two torsion arms of the second torsion spring respectively prop against the second pulling plate and the side wall of the second U-shaped groove, the lower end of one side of the output cylinder is provided with a second limiting plate, the lower end of the second limiting plate is in the second U-shaped groove and the lower end of the second mounting plate is rotationally arranged in the second U-shaped groove, the upper end of the second pulling plate is connected with the second lifting frame, and the second lifting frame is connected with the second lifting frame is at a distance from the second lifting frame to the second lifting frame.
Preferably, the feed box output frame body is provided with second fixing seats on two sides of the output cylinder respectively, the two second fixing seats are located in gaps between the two rows of output rollers, the two second fixing seats are provided with second sliding holes with axes parallel to the output cylinder, each second sliding hole is in sliding connection with two ends of a second guide rod, and the second guide rod faces towards one end of the lifting frame and is fixedly connected with the second mounting plate.
Preferably, the bin output frame further comprises a bin pulling cylinder, a second slideway is arranged on one side of the frame, opposite to the lifting frame, of the bin gripping device, the second slideway is parallel to the upper surface of the frame and perpendicular to a connecting line segment between the bin gripping device and the bin output frame body, a third sliding rail axially and slidably connected with the second slideway is arranged on the lower surface of the bin output frame body, the bin pulling cylinder is fixedly arranged on the frame and is parallel to the second slideway, the free end of a piston rod of the bin pulling cylinder is fixedly connected with the bin output frame body, an output roller is arranged on the bin output frame body, and the axis of the output roller is parallel to the second slideway.
Preferably, the screening mechanism comprises a first conveying frame, a first conveying belt, a second conveying frame, a second conveying belt, a NG conveying frame and a NG conveying belt, wherein the first conveying frame and the NG conveying frame are fixedly arranged on the frame, the first conveying frame is provided with the first conveying belt, the input end of the first conveying belt is arranged in the output range of the output end of the turnover mechanism, the second conveying frame is provided with the second conveying belt, the input end of the second conveying belt is arranged in the output range of the first conveying frame, one end of the second conveying frame is rotatably connected with the frame, the second conveying frame is arranged on the lower surface of the output end of the second conveying belt and is rotatably connected with the upper end of the screening cylinder, the NG conveying frame is provided with the NG conveying belt, the second conveying frame is arranged right above the conveying start end of the NG conveying belt, the terminal end of the NG conveying belt is close to the outer side wall of the frame, one end of the second conveying frame is rotatably connected with the second conveying frame, and the NG conveying frame is provided with the second conveying frame, and the NG conveying frame is rotatably connected with the visual guide frame.
Preferably, a baffle is arranged on the frame, the lower end of the baffle is fixedly connected with the side wall of the NG conveying frame, the upper end of the baffle is higher than the conveying surface of the second conveying frame, a gap is preset between the baffle and the conveying terminal of the second conveying belt, and the baffle is positioned on one side, facing away from the conveying starting end of the second conveying belt, of the second conveying frame.
Preferably, the grabbing mechanism is a six-axis manipulator, and the conveying start end of the turnover mechanism and the lifting end of the lifting mechanism are both in the stroke range of the six-axis manipulator.
Preferably, the first visual guide device is a 2D visual camera.
Preferably, the tilting mechanism includes the frame of keeping in, keeps in board, servo motor, it is equipped with the board of keeping in to rotate on the frame of keeping in, the fixed servo motor that is equipped with on the frame of keeping in, servo motor's output shaft transmission is connected the axis of rotation of keeping in the board, servo motor's output shaft is on a parallel with the transport face of keeping in the board and perpendicular to the direction of transport of keeping in the board, the last orientation of keeping in the frame the one end of the direction of output of keeping in the board is in between the input and the output of first conveyer belt, servo motor signal connection first vision guiding device.
Preferably, the feeding gripper comprises an X-axis servo module, a Y-axis servo module, a Z-axis servo module and a finger cylinder, wherein the X-axis servo module is arranged above the screening mechanism in the frame, the Y-axis servo module is fixedly arranged at the execution end of the X-axis servo module, the Z-axis servo module is arranged at the execution end of the Y-axis servo module, the three finger cylinders are arranged at the execution end of the Z-axis servo module, the X-axis servo module, the Y-axis servo module and the Z-axis servo module are in signal connection with the first visual guiding device, and the finger cylinder is in signal connection with the first visual guiding device.
Preferably, the flexible vibration disc feeding mechanism is a vibration feeding machine and a flexible vibration disc, and the flexible vibration disc is arranged at the output end of the vibration feeding machine on the frame.
Preferably, the first visual guide device is a 2D visual camera.
Compared with the prior art, the application has the following beneficial effects:
1. the application adopts the mode that sets up flexible vibration dish feeding mechanism, promote feeding mechanism, tilting mechanism, screening mechanism, material loading clamping jaw, first vision guiding device mutually support, has designed a unordered automatic feeding machine of terminal box for realize the material loading of taking no tail terminal box through flexible vibration dish feeding mechanism and material loading clamping jaw cooperation, realize the material loading of taking the tail terminal box through promoting feeding mechanism and tilting mechanism cooperation screening mechanism and material loading clamping jaw, thereby solved present feeding mechanism can not distinguish the positive and negative of terminal box and can't carry out the problem of material loading with the right state of terminal box after the terminal box upset when the positive and negative of terminal box is invertd.
2. The power source who promotes the motor as the riser in this application, promote the motor during operation, drive first sprocket and rotate, first sprocket passes through the chain and drives the second sprocket and rotate, and then makes the both ends fixed connection's of chain second workbin hold the frame and realize reciprocating, the setting of first slide rail and slider for the second workbin holds the frame can not break away from the hoisting frame.
3. The setting of first guide arm in this application is for playing the strengthening effect for the piston rod of second actuating cylinder, prevents that the piston rod of second actuating cylinder from taking place radial movement under the exogenic action, and the setting of limiting plate for at the in-process of second actuating cylinder shrink, first arm-tie still can catch on the workbin, the setting of first limiting plate is for the in-process of second actuating cylinder shrink, namely holds the in-process first arm-tie that draws the workbin to second workbin holding frame from first workbin holding frame upward, can not take place to rotate.
Drawings
FIG. 1 is a schematic view of the structure of the exterior of the present application;
FIG. 2 is a schematic view of the structure of FIG. 1 with a portion of the side panels removed from the frame;
FIG. 3 is a schematic diagram showing the back side of FIG. 2;
FIG. 4 is a schematic view of a lifting and feeding mechanism;
FIG. 5 is a diagram of the relationship between the lift frame, the second bin holding frame, and the bin gripper;
FIG. 6 is a schematic view of the structure of a second bin holder;
FIG. 7 is a partial schematic view of the right portion of FIG. 6 with the first pulling plate removed;
FIG. 8 is a schematic view of the structure of the first bin holder;
FIG. 9 is an enlarged view of FIG. 8 at A;
FIG. 10 is a schematic view of the structure of the bin output rack;
FIG. 11 is an enlarged view at B in FIG. 10;
FIG. 12 is a partial schematic view of the bin output rack with the second pulling plate removed;
FIG. 13 is a schematic view of a six-axis manipulator;
FIG. 14 is a schematic view of the structure of the loading jaw;
FIG. 15 is a schematic view of the structure of the turnover mechanism;
FIG. 16 is a diagram of a relationship between a screening mechanism and a flipping mechanism;
fig. 17 is a schematic view of the right side of fig. 16.
Wherein, 1, the frame; 2. a lifting frame; 3. lifting the motor; 4. a first slide rail; 5. a first sprocket; 6. a second sprocket; 7. a slide block; 8. a chain; 9. the second feed box holds the frame body; 10. a second driving cylinder; 11. a material receiving box roller; 12. a first notch; 13. a first fixing seat; 14. a first pulling plate; 15. a first torsion spring; 16. a first guide bar; 17. a first mounting plate; 18. a first slide hole; 19. a first inclined surface; 20. the first feed box holds the frame body; 21. a holding roller; 22. a first driving cylinder; 23. a first opening; 24. a first slideway; 25. a second slide rail; 26. a second notch; 27. a support leg; 28. a roller; 29. a lifting cylinder; 30. a roller frame; 31. clamping an air cylinder; 32. clamping claws; 33. jacking the air cylinder; 34. a bin output rack body; 35. an output roller; 36. an output cylinder; 37. a second mounting plate; 38. a second pulling plate; 39. a second torsion spring; 40. a second inclined surface; 41. the second fixing seat; 42. a second slide hole; 43. a second guide bar; 44. a box pulling cylinder; 45. a second slideway; 46. a third slide rail; 47. a first carriage; 48. a first conveyor belt; 49. a second carriage; 50. a second conveyor belt; 51. NG a conveying frame; 52. NG a conveyer belt; 53. screening a cylinder; 54. a second opening; 55. a baffle; 56. a six-axis manipulator; 57. a 2D vision camera; 58. a temporary storage rack; 59. a temporary storage plate; 60. a servo motor; 61. an X-axis servo module; 62. a Y-axis servo module; 63. a Z-axis servo module; 64. a finger cylinder; 65. vibrating the feeding machine; 66. a flexible vibration plate; 67. a 3D vision camera; 68. and (5) a feed box.
Detailed Description
As shown in fig. 1-17, a disordered automatic feeder of terminal box, which comprises a frame 1, be equipped with flexible vibration dish feeding mechanism, promotion feeding mechanism, tilting mechanism, screening mechanism, material loading clamping jaw, first vision guiding device (2D vision, for flexible vibration dish, tilting mechanism, screening mechanism), second vision guiding device (3D vision, only for promotion feeding mechanism) tilting mechanism's output is in screening mechanism's input scope, be equipped with material output structure and workbin output structure on the promotion feeding mechanism, promotion feeding mechanism's material output structure with tilting mechanism's input all is in six-axis manipulator's snatchs scope, promotion feeding mechanism's workbin output structure extends to frame 1's lateral wall, screening mechanism's output with flexible vibration dish feeding mechanism's output all is in the stroke scope of material loading clamping jaw, tilting mechanism, screening mechanism, tilting mechanism with screening mechanism all is in first vision guiding device's vision clamping jaw scope.
In this embodiment, during use, the terminal box without a tail wire is placed in the flexible vibration disc feeding mechanism, then the terminal box without a tail wire is conveyed to the travel range of the feeding clamping jaw by the flexible vibration disc feeding mechanism, the terminal box without a tail wire is gripped by the feeding clamping jaw to be fed, the terminal box with a tail wire can be placed in the feed box first, then the feed box 68 is placed at the input end of the lifting feeding mechanism, the terminal box with a tail wire in the feed box containing the terminal box with a tail wire is conveyed to the input end of the overturning mechanism by the lifting feeding mechanism through the material output structure, and the feed box is output out of the frame 1 through the feed box output structure. After the lifting feeding mechanism conveys the terminal box with the tail wire in the feed box with the tail wire to the overturning mechanism through the material output structure, the first visual guiding device checks the terminal box with the tail wire, if the front and the back of the terminal box with the tail wire on the overturning mechanism are inverted, the overturning mechanism overturns the terminal box with the tail wire, if the front and the back of the terminal box with the tail wire on the overturning mechanism are opposite, the overturning mechanism conveys the terminal box with the tail wire, the front and the back of which are not inverted, to the screening mechanism, the screening mechanism screens the terminal box with the tail wire, then conveys the qualified terminal box with the tail wire to the travel range of the feeding clamping jaw, then the feeding clamping jaw grabs the terminal box with the tail wire for feeding, and the feed box is conveyed out of the frame 1 through the feed box output structure, wherein the screening mechanism can screen the terminal box with the tail wire which is unqualified, and the terminal box with the tail wire and the terminal box without the tail wire can be clamped simultaneously during each time of feeding. Therefore, the problem that the current feeding mechanism cannot distinguish the front side and the back side of the junction box and cannot feed the junction box in a correct state after the junction box is turned over when the front side and the back side of the junction box are inverted is solved.
As a preferred mode, the lifting feeding mechanism comprises a lifting mechanism, a grabbing mechanism and a second visual guiding device, wherein the lifting mechanism is in the visual range of the second visual guiding device, the second visual guiding device is in signal connection with the grabbing mechanism and the feed box output structure, the conveying starting end of the turnover mechanism and the lifting terminal end of the lifting mechanism are both in the stroke range of the grabbing mechanism, the second visual guiding device is arranged right above the grabbing mechanism, the lifting starting end of the lifting mechanism and the feed box output structure are opposite to one end of the lifting mechanism, and the lifting starting end and the feed box output structure are both extended to the outer side wall of the frame 1, and the grabbing mechanism is in signal connection with the second visual guiding device.
After this arrangement, in use, the terminal box with the tail is held by the bin 68, the bin 68 holding the terminal box with the tail is then placed at the conveying start end of the lifting mechanism, the lifting mechanism conveys the bin 68 holding the terminal box with the tail to the lifting end of the lifting mechanism, the second visual guiding device transmits signals to the grabbing mechanism, the grabbing mechanism starts to work, the grabbing mechanism accurately identifies each terminal box with the tail under the guidance of the second visual guiding device, meanwhile, the terminal box with the tail in the bin 68 is grabbed onto the overturning mechanism (namely, the grabbing mechanism serves as a material output structure), the second visual guiding device transmits the grabbed signals to the bin output structure, and the bin output structure outputs the empty bin 68 on the lifting mechanism to the outside of the frame 1.
As a preferred mode, hoist mechanism includes hoisting frame 2, first workbin holds the frame, second workbin holds the frame, workbin clamp gets ware, workbin output frame, first flexible couple, second flexible couple, hoisting frame 2 is fixed to be located on frame 1, hoisting frame 2 is last to be set up through the riser second workbin holds the frame, first workbin holds the frame and is fixed to be located on frame 1, first workbin holds the frame and is located one side of the lower extreme of hoisting frame, first workbin holds the output of frame is in the input scope of riser, second workbin holds be equipped with on the frame with first workbin holds frame complex first flexible couple, first workbin holds the input of frame and extends to frame 1's lateral wall, workbin clamp gets the ware to be located the top of riser, the terminal of riser is in the range of workbin clamp gets the ware, frame 1 is in first workbin holds the top frame and holds the output frame, first workbin and second output frame and second flexible couple 1 are all set up to the output frame and the equal visual couple of second visual couple device, first workbin holds the output device and the equal flexible couple of second.
So configured, during loading, after the work pieces place the bin 68 containing the junction box with the tail on the first bin holding frame, after the lifter lowers the second bin holding frame to the output range of the first bin holding frame, the first telescopic hooks on the second bin holding frame are extended onto the first bin holding frame, the bin 68 containing the junction box with the tail on the first bin holding frame is pulled onto the second bin holding frame, the second bin holding frame moves the bin 68 containing the junction box with the tail to the top end of the lifter (i.e., the lifting terminal of the lifting mechanism) under the driving of the lifter, and then, after the second vision guiding device recognizes that the bin 68 with the junction box with the tail is lifted to the top end of the lifter, signals are transmitted to the bin clamping device, the bin clamping device clamps the bin 68 with the junction box with the tail, then the second vision guiding device transmits the signals to the grabbing mechanism, the grabbing mechanism grabs the junction box with the tail in the bin 68 onto the overturning mechanism, then after the junction box with the tail in the bin 68 is grabbed, the second vision guiding device transmits the signals to the bin output frame (the bin output frame is a bin output structure arranged on the lifting feeding mechanism), and the second telescopic hook on the bin output frame picks up the empty bin 68 onto the bin output structure, and then the empty bin 68 is conveyed out of the frame 1.
As a preferred mode, the lifter includes hoisting motor 3, first slide rail 4, first sprocket 5, second sprocket 6, slider 7, chain 8, first slide rail 4 is vertical to be located on the hoisting frame 2, the second workbin holds and hold and to set up on the frame slider 7, slider 7 with sliding connection between the both ends of first slide rail 4, the upper end and the lower extreme of hoisting frame 2 respectively set up first sprocket 5 and second sprocket 6, set up on the hoisting frame 2 hoisting motor 3, the output shaft axial fixed connection of hoisting motor 3 the axis of rotation of first sprocket 5, the axis of first sprocket 5 and second sprocket 6 all is perpendicular to first slide rail 4, first sprocket 5 with second sprocket 6 all with the same side meshing between the both ends of chain 8, the both ends of chain 8 all fixed connection second workbin holds the frame, the upper end of first slide rail 4 with first sprocket 5 is in the within range of holding of workbin 4 with first sprocket 6 holds under the first sprocket 6.
After setting up like this, promote motor 3 and regard as the power supply of riser, promote motor 3 during operation, drive first sprocket 5 and rotate, first sprocket 5 drives second sprocket 6 through chain 8 and rotates, and then makes the both ends fixed connection's of chain 8 second workbin hold the frame and realize reciprocating, and first slide rail 4 and slider 7's setting for second workbin holds the frame and can not break away from hoisting frame 2.
As a preferred mode, the second bin containing frame comprises a second bin containing frame body 9 and bin receiving rollers 11, two rows of bin receiving rollers 11 are arranged on the second bin containing frame body 9, the axis of each bin receiving roller 11 is parallel to the upper surface of the frame 1 and perpendicular to a connecting line segment between the second bin containing frame and the first bin containing frame, a gap is preset between the two rows of bin receiving rollers 1, the first telescopic hooks are arranged between the two rows of bin receiving rollers 11, and the telescopic direction of each first telescopic hook is parallel to a formation formed between the bin receiving rollers 11.
After the arrangement, when the second bin accommodating frame body 9 moves to the output range of the first bin accommodating frame under the action of the lifter, the first telescopic hook extends to the first bin accommodating frame to hook the bin 68, then the second driving cylinder 10 contracts to pull the bin 68 from the first bin accommodating frame to the upper surface formed by all the bin receiving rollers 11 on the second bin accommodating frame body 9, and then the bin 68 can lift along with the second bin accommodating frame body 9 under the action of the lifter.
As a preferable mode, the first telescopic hook comprises a first fixing seat 13, a first pulling plate 14, a first torsion spring 15, a first guide rod 16, a first mounting plate 17 and a second driving air cylinder 10, wherein the second driving air cylinder 10 is arranged in a gap between two rows of material receiving box rollers 11, the outer diameter of the second driving air cylinder 10 is smaller than the diameter of the material receiving box rollers 11, the second driving air cylinder 10 is parallel to the formation of each row of material receiving box rollers 11, the free end of the second driving air cylinder 10 faces the first material receiving box accommodating frame, the first fixing seat 13 is fixedly arranged between the two rows of material receiving box rollers 11 on the second material receiving box accommodating frame body 9, a first sliding hole 18 with the axis parallel to the second driving air cylinder 10 is arranged on the first fixing seat 13, two ends of the first driving air cylinder 10 are connected with the first guide rod 18 in a sliding way, the free end of the second driving cylinder 10 and one end of the first guide rod 16 facing the first bin containing frame are fixedly connected with the first mounting plate 17, a first U-shaped groove with an upward opening is arranged at the upper end of the first mounting plate 17, the inner side wall of the first U-shaped groove is rotationally connected with the lower end of the first pull plate 14, the upper end of the first pull plate 14 extends out of the first U-shaped groove, the rotating shaft of the first pull plate 14 is parallel to the axis of the bin receiving roller 11, one surface of the upper end of the first pull plate 14 facing the first bin containing frame is a first inclined surface 19, the distance from the upper end of the first inclined surface 19 to the lifting frame 2 is smaller than the distance from the lower end of the first inclined surface 19 to the lifting frame 2, a first limiting plate is arranged at the lower end of one surface of the first pull plate 14 facing away from the second driving cylinder 10, the lower extreme of first limiting plate is in between the lower extreme of first U type groove with the lower extreme of first mounting panel 17, coaxial cover is established in the axis of rotation of first arm-tie 14 connect first torsional spring 15, the torsion arm of first torsional spring 15 supports respectively first mounting panel 17 and first arm-tie 14, first workbin holds the frame go up towards the upper surface of one side of hoisting frame 2 be equipped with first arm-tie 14 and first mounting panel 17 complex first notch 12, the upper surface of first mounting panel 17 to the distance between the upper surface of second workbin holds frame body 9 is less than connect workbin roller 11's diameter.
After the arrangement, due to the arrangement of the first inclined surface 19, when the first bin accommodating frame is provided with the bin 68, the first pull plate 14 can rotate into the first notch 12 under the driving of the second driving cylinder 10, after the first pull plate 14 moves to the outer side of the long side wall of the bin 68, the first pull plate 14 is restored to the state that the first pull plate 14 is perpendicular to the upper surface of the frame under the action of the first torsion spring 15, and then the bin 68 positioned on the first bin accommodating frame is pulled to the second bin accommodating frame body 9 in the shrinkage process of the second driving cylinder 10. The first guide rod 16 is configured to strengthen the piston rod of the second driving cylinder 10, prevent the piston rod of the second driving cylinder 10 from being radially offset under the action of external force, and the limiting plate is configured such that the first pull plate 14 can still hook the feed box 68 in the process of shrinking the second driving cylinder 10, and the first limiting plate is configured such that the first pull plate 14 cannot rotate in the process of shrinking the second driving cylinder 10, that is, in the process of pulling the feed box 68 from the first feed box accommodating frame to the second feed box accommodating frame.
As a preferred mode, the first workbin holding frame comprises a first workbin holding frame body 20, a holding roller 21, a first driving cylinder 22 and a first opening 23, a first slideway 24 is arranged on the frame 1, the first slideway 24 is parallel to the upper surface of the frame 1 and perpendicular to a connecting line segment between the first workbin holding frame and the second workbin holding frame, a second sliding rail 25 axially sliding with the first slideway 24 is arranged on the lower surface of the first workbin holding frame body 20, the first driving cylinder 22 is arranged on the frame 1, the first driving cylinder 22 is parallel to the first slideway 24, the free end of a piston rod of the first driving cylinder 22 is fixedly connected with the first workbin holding frame body 20, the first slideway 24 is arranged on the first workbin holding frame body 20, the axis of the holding roller 21 is parallel to the first slideway 24, a first opening 23 is arranged on the side wall of the frame 1, one end of the first slideway 24 is parallel to the first slideway 25, and the other end of the first slideway 24 is parallel to the first slideway 21, and the other end of the first slideway 25 is connected with the other end of the frame 1, and the other end of the first slideway 25 is parallel to the first slideway 21.
After such arrangement, the first opening 23 is arranged to enable the bin 68 to be placed on the first bin holding frame body 20 outside the frame 1, the first slide 24 and the second slide 25 are arranged to enable the first bin holding frame body 20 to be drawn out of the frame 1 like a drawer, then the bin 68 is conveniently placed, and the first driving cylinder 22 is arranged to enable the first bin holding frame body 20 to automatically enter the frame 1 and automatically extend out of the frame 1. The placement rollers 21 are arranged so that the first pull plate 14 hooks the bin 68 to pull the bin 68 into the second bin holder during retraction of the second drive cylinder 10.
As a preferable mode, a second notch 26 is arranged on the frame 1 right below the first bin containing frame body 20, a length line of the second notch 26 is parallel to the first slideway 24, one end of the second notch 26 is arranged on the frame 1, the other end of the second notch extends out of the frame 1, a supporting foot 27 is arranged on the lower surface of the first bin containing frame body 20, the lower end of the supporting foot 27 penetrates through the second notch 26 to penetrate out of the lower surface of the frame 1, and a roller 28 is arranged at the lower end of the supporting foot 27. The second notch 26 and the support leg 27 are provided to prevent the first slide 24 and the second slide rail 25 from being damaged due to the gravity applied by the bin 68 when the first bin holding frame body 20 is drawn out to the rack 1 to place the bin 68. So configured, the legs 27 can function to support the first bin holding rack body 20 regardless of whether the first bin holding rack body 20 is drawn out of the rack 1. The rollers 28 are provided so that the legs 27 can move with the movement of the first bin holding frame body 20.
As a preferable mode, a lifting cylinder 29 is vertically arranged on the first bin containing frame 20, a roller frame 30 is arranged at the top end of the lifting cylinder 29, and the containing roller 21 is arranged on the roller frame 30. So configured, the relative position between the bottom surface of the bin 68 on the containing roller 21 and the second bin containing frame can be adjusted by the lift cylinder 29.
As a preferred mode, the bin clamping device comprises a clamping cylinder 31 and clamping claws 32, the projection of the clamping claws 32 in a plane perpendicular to the axis of the clamping claws is L-shaped, the top ends of two L-shaped vertical parts 32-1 of the clamping claws 32 are rotatably connected with the frame 1, the rotation axis of the clamping claws 32 is perpendicular to the plane where the L-shaped is located, the rotation axes of the clamping claws 32 are parallel to the connecting line segments between the first bin holding frame and the second bin holding frame, the two clamping claws 32 are respectively arranged on two sides of the top end of the lifting frame 2, the connecting line segments between the two clamping claws 32 are perpendicular to the connecting line segments between the first bin holding frame and the second bin holding frame, two opposite sides of the frame 1 are rotatably connected with one clamping cylinder 31 respectively, the lower ends of the two clamping cylinders 31 are rotatably connected with the frame 1, the top ends of one clamping claw 31 are rotatably connected with the two L-shaped vertical parts 32 of the clamping claws 32, and the two opposite sides of the clamping cylinders 31 are rotatably connected with the two L-shaped vertical parts 32 of the clamping claws 32, and the two vertical parts 32 are arranged on the two clamping cylinders 32 are perpendicular to the two vertical parts 32. So configured, the clamping action of the bin 68 is achieved by the vertical portions 32-1 of the two clamping jaws 32 to clamp the side walls of the bin 68. When the two clamping cylinders 31 are simultaneously extended, the transverse parts 32-2 of the two clamping claws 32 are close to each other to form a plane, the bottom surface of the feed box 68 is supported to play a role in lifting, when the two clamping cylinders 31 are simultaneously contracted, the transverse parts 32-2 of the two clamping claws 32 are mutually far away from each other, swing a certain angle in the far away process, avoid the feed box 68 on the second feed box containing frame in the lifting process, and after the feed box 68 is lifted in place, the second feed box containing frame moves downwards, so that the clamping of the feed box 68 is realized by the two clamping claws 32.
As a preferred mode, the top end of the lifting frame 2 is provided with a transverse lifting cylinder 33 at the side facing away from the first bin containing frame, the lifting cylinder 33 is parallel to the upper surface of the frame 1 and parallel to the rotation axis of the clamping claw 32, and the area between the two clamping claws 32 is within the travel range of the lifting cylinder 33. So configured, the magazine 68 on the gripper jaw 32 can be pushed by the jacking cylinder 33 against the magazine output rack.
As a preferred mode, the bin output rack comprises a bin output rack body 34 and output rollers 35, two rows of the output rollers 35 are arranged on the upper surface of the bin output rack body 34, the axis of each output roller 35 is parallel to the upper surface of the rack 1 and perpendicular to a connecting line segment between the bin output rack body 34 and the bin gripper, each row of the formation of the output rollers 35 is parallel to the upper surface of the rack 1 and a connecting line segment between the bin output rack body 34 and the bin gripper, the second telescopic hooks are arranged on the bin output rack body 34 between the two rows of the output rollers 35, and the telescopic direction of each second telescopic hook is parallel to the formation of the output rollers 35.
So configured, when the terminal box with the tail wire in the bin 68 on the gripper is gripped, the output cylinder 36 drives the second hook to extend below the gripper to hook the bottom of the bin 68, and the bin 68 is gripped onto the bin output frame body 34.
As a preferable mode, the second telescopic hook comprises an output air cylinder 36, a second mounting plate 37, a second pull plate 38 and a second torsion spring 39, the output air cylinder 36 is parallel to the formation formed by the output roller 35 in the telescopic direction of the output air cylinder 36, the free end of the piston rod of the output air cylinder 36 faces the feed box gripper, the free end of the piston rod of the output air cylinder 36 is provided with the second mounting plate 37, the upper end of the second mounting plate 37 is provided with a second U-shaped groove with an upward opening, the lower end of the second pull plate 38 is rotatably arranged in the second U-shaped groove, the upper end of the second pull plate 38 extends out of the second U-shaped groove, the second torsion spring 39 is coaxially sleeved on the rotating shaft of the second pull plate 38, torsion arms of the second torsion spring 39 respectively support against the second mounting plate 37 and the second pull plate 38, a second limiting plate is arranged at the lower end of one face of the second pull plate 38, which faces away from the output air cylinder 36, the lower end of the second limiting plate is arranged between the lower end of the second U-shaped groove and the lower end of the second mounting plate 37, the upper end of one side, facing the lifting frame 2, of the second pull plate 38 is provided with a second inclined surface 40, the distance from the upper end of the second inclined surface 40 to the lifting frame 2 is greater than the distance from the lower end of the second inclined surface 40 to the lifting frame 2, and the output air cylinder 36 is in signal connection with the second visual guiding device.
As a preferred mode, the bin output frame body 34 is provided with second fixing seats 41 respectively on two sides of the output cylinder 36, two second fixing seats 41 are both located in gaps between two rows of output rollers 35, two second fixing seats 41 are both provided with second sliding holes 42 with axes parallel to the output cylinder 36, each second sliding hole 42 is slidably connected with two ends of a second guide rod 43, and one end of the second guide rod 43 facing the lifting frame 2 is fixedly connected with the second mounting plate 37. The second guide rod 43 is provided to prevent the output cylinder 36 from being radially bent by the gravity of the feed box 68, and to strengthen the output cylinder.
As a preferred mode, the bin output rack further comprises a bin pulling cylinder 44, a second slideway 45 is arranged on one side, facing away from the lifting rack 2, of the bin gripping device, on the rack 1, the second slideway 45 is parallel to the upper surface of the rack 1 and perpendicular to a connecting line segment between the bin gripping device and the bin output rack body, a third sliding rail 46 axially and slidably connected with the second slideway 45 is arranged on the lower surface of the bin output rack body 34, the bin pulling cylinder 44 is fixedly arranged on the rack 1, the bin pulling cylinder 44 is parallel to the second slideway 45, the free end of a piston rod of the bin pulling cylinder 44 is fixedly connected with the bin output rack body 34, the bin output rack body 34 is provided with the output roller 35, and the axis of the output roller 35 is parallel to the second slideway 45. So configured, the draw box cylinder 44 is used to transport the empty bin 68 on the bin output rack body 34 out of the rack 1.
As a preferred mode, the screening mechanism includes a first carrier 47, a first carrier 48, a second carrier 49, a second carrier 50, a NG carrier 51, and a NG carrier 52, wherein the first carrier 47 and the NG carrier 51 are both fixedly disposed on the frame 1, the first carrier 47 is provided with the first carrier 48, the input end of the first carrier 48 is within the output range of the output end of the turnover mechanism, the second carrier 49 is provided with the second carrier 50, the input end of the second carrier 50 is within the output range of the first carrier 47, one end of the second carrier 49 is rotatably connected with the frame 1, the lower surface of the second carrier 49, which is disposed on the output end of the second carrier 50, is rotatably connected with the upper end of the screening cylinder 53, the NG carrier 51 is provided with the NG carrier 52, the second carrier 50 is disposed on the frame 52, the second carrier 52 is disposed on the frame 52, and is adjacent to the first carrier 52, the second carrier 52 is disposed on the frame 52, and is adjacent to the side wall of the opening of the second carrier 52. After the arrangement, the junction box with the tail wire output by the turnover mechanism is conveyed to the first conveying belt 48, then the first visual guiding device is used for identifying whether the junction box with the tail wire is qualified or not, if so, the first visual guiding device transmits a signal to the feeding clamping jaw, the feeding clamping jaw is used for grabbing the junction box with the tail wire for feeding, if not, the feeding clamping jaw is used for grabbing the junction box with the tail wire, the first conveyor 48 then transfers the reject pigtail cassettes onto the second conveyor 50, the screening cylinder 53 is retracted, the second carriage 49 is tilted, and the reject pigtail cassettes on the second conveyor 50 are then dropped onto the NG conveyor 52, and the reject pigtail cassettes are removed from the second opening 54 by the NG conveyor 52 out of the conveyor frame 1.
As a preferable mode, a baffle 55 is provided on the frame 1, a lower end of the baffle 55 is fixedly connected with a side wall of the NG conveying frame 51, an upper end of the baffle 55 is higher than a conveying surface of the second conveying frame 49, a preset gap is provided between the baffle 55 and a conveying terminal of the second conveying belt 50, and the baffle 55 is located on a side, facing away from a conveying start end of the second conveying belt 50, of the second conveying frame 49.
By providing the baffle 55 in this way, during tilting of the second carriage 49, an unacceptable splice box without a tail on the second conveyor 50 falls completely onto the NG conveyor 52 without falling outside the NG conveyor 52.
As a preferred mode, the gripping mechanism is a six-axis manipulator 56, and the conveying start end of the turning mechanism and the lifting end of the lifting mechanism are both within the stroke range of the six-axis manipulator 56.
As a preferred way, the first visual guide means is a 2D visual camera 57.
As a preferred mode, the tilting mechanism includes temporary storage frame 58, temporary storage plate 59, servo motor 60, rotate on the temporary storage frame 58 and be equipped with temporary storage plate 59, the last servo motor 60 that is fixed to be equipped with of temporary storage frame 58, servo motor 60's output shaft transmission is connected temporary storage plate 59's axis of rotation, servo motor 60's output shaft is on a parallel with temporary storage plate 59's transport face and perpendicular to temporary storage plate 59's direction of delivery, the one end of temporary storage frame 58 orientation temporary storage plate 59's direction of delivery is in directly over between the input and the output of first conveyer belt 48, servo motor 60 signal connection first vision guiding device.
After this arrangement, if the front and back sides of the junction box with the tail are inverted, the first visual guide device transmits a signal to the servo motor 60, and the servo motor 60 drives the temporary storage plate 59 to incline by about 130 degrees (if the front and back sides are not inverted, the temporary storage plate 59 is inclined by less than 90 degrees), and the junction box with the tail is turned over after falling from the temporary storage plate 59 onto the first conveyor 48.
As a preferred mode, the feeding gripper comprises an X-axis servo module 61, a Y-axis servo module 62, a Z-axis servo module 63 and a finger cylinder 64, wherein the X-axis servo module 61 is arranged above the screening mechanism on the frame 1, the Y-axis servo module 62 is fixedly arranged at the execution end of the X-axis servo module 61, the Z-axis servo module 63 is arranged at the execution end of the Y-axis servo module 62, three finger cylinders 64 are arranged at the execution end of the Z-axis servo module 63, the X-axis servo module 61, the Y-axis servo module 62 and the Z-axis servo module 63 are all in signal connection with the first visual guiding device, and the finger cylinder 64 is in signal connection with the first visual guiding device. The X-axis servo module 61, the Y-axis servo module 62 and the Z-axis servo module 63 can be driven by a servo motor and a ball screw, the X-axis servo module 61, the Y-axis servo module 62 and the Z-axis servo module 63 together find the position and the angle of the junction box with the tail wire on the second conveyor belt 50 under the guidance of the first visual guiding device, and the finger cylinder 64 (each of which can adjust the grabbing angle according to the angle of the junction box) identifies whether the junction box with the tail wire is inverted on the front and the back under the guidance of the first visual guiding device, so as to determine whether to clamp the junction box with the tail wire, and the finger cylinder 64 sequentially grabs the junction box without the tail wire and the junction boxes with the tail wire (positive electrode and the negative electrode), and simultaneously sends the three junction boxes to the junction box automatic installation equipment.
As a preferable mode, the flexible vibration disc feeding mechanism is a vibration feeding machine 65 and a flexible vibration disc 66, and the flexible vibration disc 66 is arranged at the output end of the vibration feeding machine 65 on the frame 1. The flexible vibration disk 66 vibrates the crowded stacked no-tail junction box thereon so that the no-tail junction box is grasped by the finger cylinder 64 on the flexible vibration disk 66. The flexible vibration plate 66 is fed by the vibration feeder 65 after the upper surface of the flexible vibration plate 66 is lacked.
As a preferable mode, the second visual guiding device is a 3D visual camera 67 and a servo module driving the 3D visual camera to move left and right, and the servo module drives the 3D visual camera to move left and right, so as to snap a feed box 68 with left and right sides clamped by the clamping claws 32 on the lifting feeding mechanism.

Claims (23)

1. The utility model provides a unordered automatic feeding machine of terminal box, its characterized in that, including frame (1), be equipped with flexible vibration dish feeding mechanism, promotion feeding mechanism, tilting mechanism, screening mechanism, material loading clamping jaw, first vision guiding device on frame (1), first vision guiding device is 2D vision, to flexible vibration dish, tilting mechanism, screening mechanism, second vision guiding device is 3D vision, only to promoting feeding mechanism, tilting mechanism's output is in screening mechanism's input scope, it is equipped with material output structure and workbin output structure on the feeding mechanism to promote, material output structure of feeding mechanism with tilting mechanism's input all is in six-axis manipulator's snatch scope, it extends to promote feeding mechanism's workbin output structure the lateral wall of frame (1), screening mechanism's output with flexible vibration dish feeding mechanism's output all is in the stroke scope of material loading, tilting mechanism, screening mechanism, tilting mechanism with screening mechanism is in the first vision clamping jaw of guiding device signal connection.
2. The disordered automatic terminal box feeding machine according to claim 1, wherein the lifting and feeding mechanism comprises a lifting mechanism, a grabbing mechanism and a second visual guide device, the lifting mechanism is in the visual range of the second visual guide device, the second visual guide device is in signal connection with the grabbing mechanism and the feed box output structure, the conveying starting end of the turnover mechanism and the lifting terminal end of the lifting mechanism are both in the stroke range of the grabbing mechanism, the second visual guide device is arranged right above the grabbing mechanism, and the lifting starting end of the lifting mechanism and one end of the feed box output structure, which is opposite to the lifting mechanism, are both extended to the outer side wall of the frame (1), and the grabbing mechanism is in signal connection with the second visual guide device.
3. The disordered automatic terminal box feeding machine according to claim 2, wherein the lifting mechanism comprises a lifting frame (2), a first material box containing frame, a second material box containing frame, a material box clamping device, a material box output frame, a first telescopic hook and a second telescopic hook, wherein the lifting frame (2) is fixedly arranged on the frame (1), the lifting frame (2) is provided with the second material box containing frame through a lifter, the first material box containing frame is fixedly arranged on the frame (1), the first material box containing frame is positioned on one side of the lower end of the lifting frame, the output end of the first material box containing frame is positioned in the input range of the lifter, the second material box containing frame is provided with a first telescopic hook matched with the first material box containing frame, the input end of the first material box containing frame extends to the outer side wall of the frame (1), the material box clamping device is positioned above the lifter, the terminal end of the lifter is positioned in the range of the lifting frame, and the first material box containing frame is provided with the second telescopic hook matched with the output end of the second material box containing frame (1), and the second telescopic hook is arranged on the outer side of the frame (1).
4. The disordered automatic feeder of a junction box according to claim 3, wherein the lifter comprises a lifting motor (3), a first sliding rail (4), a first chain wheel (5), a second chain wheel (6), a sliding block (7) and a chain (8), the first sliding rail (4) is vertically arranged on the lifting frame (2), the sliding block (7) is fixedly arranged on the second material box accommodating frame, the sliding block (7) is in sliding connection with two ends of the first sliding rail (4), the upper end and the lower end of the lifting frame (2) are respectively provided with the first chain wheel (5) and the second chain wheel (6), the lifting motor (3) is arranged on the lifting frame (2), the output shaft of the lifting motor (3) is axially and fixedly connected with the rotating shaft of the first chain wheel (5), the axes of the first chain wheel (5) and the second chain wheel (6) are perpendicular to the first sliding rail (4), the first chain wheel (5) and the second chain wheel (6) are meshed with the two ends of the chain wheel (8) on the same side of the first material box accommodating frame, the two ends of the chain (8) are meshed with the first chain (4) respectively, the lower end of the first sliding rail (4) and the second chain wheel (6) are both arranged below the second feed box containing frame.
5. A disordered automatic terminal box feeding machine according to claim 3, characterized in that the second bin containing frame comprises a second bin containing frame body (9) and bin receiving rollers (11), two rows of bin receiving rollers (11) are arranged on the second bin containing frame body (9), the axis of each bin receiving roller (11) is parallel to the upper surface of the frame (1) and perpendicular to a connecting line segment between the second bin containing frame and the first bin containing frame, a preset gap is reserved between the two rows of bin receiving rollers (1), the first telescopic hooks are arranged between the two rows of bin receiving rollers (11), and the telescopic direction of the first telescopic hooks is parallel to a formation formed between the bin receiving rollers (11).
6. The disordered automatic terminal box feeding machine according to claim 5, wherein the first telescopic hook comprises a first fixing seat (13), a first pulling plate (14), a first torsion spring (15), a first guide rod (16), a first mounting plate (17) and a second driving cylinder (10), wherein the second driving cylinder (10) is arranged in a gap between two rows of material receiving box rollers (11), the outer diameter of the second driving cylinder (10) is smaller than the diameter of the material receiving box rollers (11), the second driving cylinder (10) is parallel to the formation of each row of material receiving box rollers (11), the free end of the second driving cylinder (10) faces towards a first material receiving box containing frame, the first fixing seat (13) is fixedly arranged between the two rows of material receiving box rollers (11) on the second material receiving box containing frame body (9), a first sliding hole (18) with the axis parallel to the second driving cylinder (10) is arranged on the first fixing seat (13), the free end of the guide rod (10) is connected with the first sliding hole (17) towards the first end of the first mounting plate (17), the inner side wall of the first U-shaped groove is rotationally connected with the lower end of the first pull plate (14), the upper end of the first pull plate (14) extends out of the first U-shaped groove, the rotating shaft of the first pull plate (14) is parallel to the axis of the material receiving box roller (11), one surface of the upper end of the first pull plate (14) facing the first material receiving frame is a first inclined surface (19), the distance from the upper end of the first inclined surface (19) to the lifting frame (2) is smaller than the distance from the lower end of the first inclined surface (19) to the lifting frame (2), the lower end of the first pull plate (14) facing the surface of the second driving cylinder (10) is provided with a first limiting plate, the lower end of the first limiting plate is arranged between the lower end of the first U-shaped groove and the lower end of the first mounting plate (17), the rotating shaft of the first pull plate (14) is coaxially sleeved with the first inclined surface (15), the first torsion spring (15) and the first torsion spring (17) are arranged on the first side of the first pull plate (14) and the first torsion spring (17) are respectively abutted against the surface of the first mounting plate (17), the distance between the upper surface of the first mounting plate (17) and the upper surface of the second bin containing frame body (9) is smaller than the diameter of the bin receiving roller (11).
7. A disordered automatic terminal box feeding machine according to claim 3 characterized in that the first feed box containing frame comprises a first feed box containing frame body (20), containing rollers (21), a first driving cylinder (22) and a first opening (23), a first slideway (24) is arranged on the frame (1), the first slideway (24) is parallel to the upper surface of the frame (1) and perpendicular to a connecting line section between the first feed box containing frame and a second feed box containing frame, a second sliding rail (25) axially sliding with the first slideway (24) is arranged on the lower surface of the first feed box containing frame body (20), the first driving cylinder (22) is arranged on the frame (1), the first driving cylinder (22) is parallel to the first slideway (24), the free end of a piston rod of the first driving cylinder (22) is fixedly connected with the first feed box containing frame body (20), the first feed box containing frame body (20) is provided with the second slideway (25) axially sliding with the first slideway (24), the first slideway (24) is provided with the first slideway (24) parallel to the first slideway (1), the other end of the first slideway (24) and the other end of the second slideway (25) extend to the first opening (23), the axis of the containing roller (21) is perpendicular to the connecting line segment between the first material box containing frame and the second material box containing frame, and the axis of the containing roller (21) is parallel to the upper surface of the frame (1).
8. The disordered automatic terminal box feeding machine according to claim 7, wherein a second notch (26) is formed in the frame (1) right below the first bin containing frame body (20), the length line of the second notch (26) is parallel to the first slideway (24), one end of the second notch (26) is formed in the frame (1), the other end of the second notch extends out of the frame (1), a supporting foot (27) is arranged on the lower surface of the first bin containing frame body (20), the lower end of the supporting foot (27) penetrates through the second notch (26) to the outside of the lower surface of the frame (1), and a roller (28) is arranged at the lower end of the supporting foot (27).
9. The automatic terminal box disorder feeding machine according to claim 7, wherein a lifting cylinder (29) is vertically arranged on the first material box containing frame (20), a roller frame (30) is arranged at the top end of the lifting cylinder (29), and the containing roller (21) is arranged on the roller frame (30).
10. The automatic disordered wire feeder of the junction box according to claim 3, wherein the box clamp comprises a clamp cylinder (31) and clamp claws (32), the projection of the clamp claws (32) in a plane vertical to the axis of the clamp claws (32) is L-shaped, the top ends of the L-shaped vertical parts (32-1) of the two clamp claws (32) are rotationally connected with the frame (1), the rotation axes of the clamp claws (32) are vertical to the plane where the L-shaped is located, the rotation axes of the two clamp claws (32) are parallel to the connection line segment between the first box accommodating frame and the second box accommodating frame, the two clamp claws (32) are respectively arranged at two sides of the top ends of the lifting frame (2), the connection line segment between the two clamp claws (32) is vertical to the connection line segment between the first box accommodating frame and the second box accommodating frame, the rotation axes of the two clamp claws (32) on two opposite sides of the lifting frame (2) are rotationally connected with one clamp cylinder (31) at two sides of the opposite sides of the lifting frame (1) and are rotationally connected with one clamp claw (32) at one end (31) of the vertical part (32) of the lifting frame (2), the L-shaped transverse parts (32-2) of the two clamping claws (32) are arranged in opposite directions, and the clamping cylinder (31) is in signal connection with the second visual guiding device.
11. The automatic disordered wire box feeding machine according to claim 10, characterized in that the top end of the lifting frame (2) is provided with a transverse lifting cylinder (33) at one side facing away from the first material box containing frame, the lifting cylinder (33) is parallel to the upper surface of the frame (1) and parallel to the rotating shafts of the clamping claws (32), and the area between the two clamping claws (32) is within the stroke range of the lifting cylinder (33).
12. A disordered automatic terminal box feeding machine according to claim 3, characterized in that the bin output frame comprises a bin output frame body (34) and output rollers (35), wherein two rows of the output rollers (35) are arranged on the upper surface of the bin output frame body (34), the axis of the output rollers (35) is parallel to the upper surface of the frame (1) and perpendicular to a connecting line segment between the bin output frame body (34) and the bin gripper, each row of formations of the output rollers (35) is parallel to the upper surface of the frame (1) and a connecting line segment between the bin output frame body (34) and the bin gripper, the second telescopic hooks are arranged on the bin output frame body (34) between the two rows of the output rollers (35), and the telescopic directions of the second telescopic hooks are parallel to the formations of the output rollers (35).
13. The disordered automatic terminal box feeding machine according to claim 12, wherein the second telescopic hook comprises an output air cylinder (36), a second mounting plate (37), a second pulling plate (38) and a second torsion spring (39), the telescopic direction of the output air cylinder (36) is parallel to the formation formed by the output air cylinder (35), the free end of a piston rod of the output air cylinder (36) faces the feed box gripper, the free end of the piston rod of the output air cylinder (36) is provided with the second mounting plate (37), the upper end of the second mounting plate (37) is provided with a second U-shaped groove with an upward opening, the lower end of the second pulling plate (38) is rotatably arranged in the second U-shaped groove, the upper end of the second pulling plate (38) extends out of the second U-shaped groove, the second torsion spring (39) is coaxially sleeved on a rotating shaft of the second pulling plate (38), two torsion arms of the second torsion spring (39) respectively prop against the second pulling plate (38) and the second torsion spring (38), the lower end of the second torsion spring (38) faces the lower end of the second side plate (38) towards the upper end of the second side wall (38), and the lower end of the second torsion spring (38) is provided with a lifting plate (40) at the lower end of the second side (37) which faces the upper end of the second side (37), the distance from the upper end of the second inclined plane (40) to the lifting frame (2) is larger than the distance from the lower end of the second inclined plane (40) to the lifting frame (2), and the output air cylinder (36) is in signal connection with the second visual guiding device.
14. The disordered automatic terminal box feeding machine according to claim 13, wherein second fixing seats (41) are respectively arranged on two sides of the output cylinder (36) on the bin output frame body (34), two second fixing seats (41) are respectively arranged in gaps between two rows of output rollers (35), second sliding holes (42) with axes parallel to the output cylinder (36) are respectively arranged on the two second fixing seats (41), each second sliding hole (42) is in sliding connection with two ends of one second guide rod (43), and one end of the second guide rod (43) facing the lifting frame (2) is fixedly connected with the second mounting plate (37).
15. The disordered automatic terminal box feeding machine according to claim 12, wherein the box output frame further comprises a box pulling cylinder (44), a second slide way (45) is arranged on one side, facing away from the lifting frame (2), of the frame (1) on the box clamping device, the second slide way (45) is parallel to the upper surface of the frame (1) and perpendicular to a connecting line segment between the box clamping device and the box output frame body, a third slide rail (46) which is axially and slidably connected with the second slide way (45) is arranged on the lower surface of the box output frame body (34), the box pulling cylinder (44) is fixedly arranged on the frame (1), the box pulling cylinder (44) is parallel to the second slide way (45), a free end of a piston rod of the box pulling cylinder (44) is fixedly connected with the box output frame body (34), the output roller (35) is arranged on the box output frame body (34), and the axis of the output roller (35) is parallel to the second slide way (45).
16. The disordered automatic terminal box feeder according to claim 1, characterized in that the screening mechanism includes a first carrier (47), a first carrier (48), a second carrier (49), a second carrier (50), a NG carrier (51), a NG carrier (52), the first carrier (47) and the NG carrier (51) are both fixedly provided on the frame (1), the first carrier (47) is provided with the first carrier (48), the input end of the first carrier (48) is within the output range of the output end of the turnover mechanism, the second carrier (49) is provided with the second carrier (50), the input end of the second carrier (50) is within the output range of the first carrier (47), one end of the second carrier (49) is rotatably connected with the frame (1), the second carrier (49) is provided with the first carrier (48) at the output end of the second carrier (50), the second carrier (49) is provided with the end of the NG carrier (52) at the top end of the second carrier (52) which is rotatably connected with the frame (53) at the bottom end of the second carrier (50), the top end of the carrier (52) is provided with the carrier (52) at the top of the carrier (1) which is adjacent to the top end of the carrier (52), the side wall of the frame (1) is provided with a second opening (54) corresponding to the conveying terminal of the NG conveying belt (52), the NG conveying belt (52) is arranged on the NG conveying frame (51), the rotation connection part of the screening cylinder (53) and the frame (1) is arranged between the second conveying frame (49) and the NG conveying frame (51), and the screening cylinder (53) is in signal connection with the first visual guiding device.
17. The disordered automatic terminal box feeding machine according to claim 16, wherein a baffle plate (55) is arranged on the frame (1), the lower end of the baffle plate (55) is fixedly connected with the side wall of the NG conveying frame (51), the upper end of the baffle plate (55) is higher than the conveying surface of the second conveying frame (49), a preset gap is reserved between the baffle plate (55) and the conveying terminal of the second conveying belt (50), and the baffle plate (55) is located on one side, facing away from the conveying starting end of the second conveying belt (50), of the second conveying frame (49).
18. The disordered automatic terminal box feeder of claim 2, wherein the grabbing mechanism is a six-axis manipulator (56), and a conveying start end of the turnover mechanism and a lifting end of the lifting mechanism are both in a stroke range of the six-axis manipulator (56).
19. A disordered automatic terminal box feeder in accordance with claim 2, characterized in that said first vision directing means is a 2D vision camera (57).
20. The disordered automatic terminal box feeding machine according to claim 1, wherein the turnover mechanism comprises a temporary storage frame (58), a temporary storage plate (59) and a servo motor (60), the temporary storage plate (59) is rotationally arranged on the temporary storage frame (58), the servo motor (60) is fixedly arranged on the temporary storage frame (58), an output shaft of the servo motor (60) is in transmission connection with a rotating shaft of the temporary storage plate (59), an output shaft of the servo motor (60) is parallel to a conveying surface of the temporary storage plate (59) and perpendicular to a conveying direction of the temporary storage plate (59), one end, facing the output direction of the temporary storage plate (59), of the temporary storage frame (58) is located between an input end and an output end of the first conveying belt (48), and the servo motor (60) is in signal connection with the first visual guiding device.
21. The disordered automatic feeding machine of the junction box according to claim 1, wherein the feeding clamping claw comprises an X-axis servo module (61), a Y-axis servo module (62), a Z-axis servo module (63) and a finger cylinder (64), wherein the X-axis servo module (61) is arranged above the screening mechanism on the frame (1), the Y-axis servo module (62) is fixedly arranged at the execution end of the X-axis servo module (61), the Z-axis servo module (63) is arranged at the execution end of the Y-axis servo module (62), three finger cylinders (64) are arranged at the execution end of the Z-axis servo module (63), the X-axis servo module (61), the Y-axis servo module (62) and the Z-axis servo module (63) are in signal connection with the first visual guiding device, and the finger cylinder (64) is in signal connection with the first visual guiding device.
22. The disordered automatic terminal box feeding machine according to claim 1, wherein the flexible vibration plate feeding mechanism is a vibration feeding machine (65) and a flexible vibration plate (66), and the flexible vibration plate (66) is arranged at the output end of the vibration feeding machine (65) on the frame (1).
23. A disordered automatic terminal box feeder in accordance with claim 2, characterized in that said second visual guide means is a 3D visual camera (67).
CN202410083668.0A 2024-01-19 2024-01-19 Unordered automatic feeding machine of terminal box Active CN117585449B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109230302A (en) * 2018-09-21 2019-01-18 江苏金曼科技有限责任公司 A kind of helical feeding apparatus with particle function
CN109877697A (en) * 2019-04-03 2019-06-14 天津源天晟科技发展有限公司 A kind of crystal bevelling bucket changes sand device
CN215731309U (en) * 2021-08-27 2022-02-01 阿特斯阳光电力集团股份有限公司 Winding device and junction box production line
CN116853779A (en) * 2023-09-04 2023-10-10 苏州智慧谷激光智能装备有限公司 Junction box feeding system and feeding method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109230302A (en) * 2018-09-21 2019-01-18 江苏金曼科技有限责任公司 A kind of helical feeding apparatus with particle function
CN109877697A (en) * 2019-04-03 2019-06-14 天津源天晟科技发展有限公司 A kind of crystal bevelling bucket changes sand device
CN215731309U (en) * 2021-08-27 2022-02-01 阿特斯阳光电力集团股份有限公司 Winding device and junction box production line
CN116853779A (en) * 2023-09-04 2023-10-10 苏州智慧谷激光智能装备有限公司 Junction box feeding system and feeding method

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