CN210166966U - Be applied to material loading letter sorting unit of robot teaching equipment - Google Patents

Abstract

The utility model discloses a feeding sorting unit applied to robot teaching equipment, which comprises a feeding mechanism, a vision judging device, a SCARA robot, a sorting turntable mechanism and a sorting tray mechanism; the feeding mechanism is used for conveying workpieces; the visual judgment device is arranged on the feeding mechanism and used for shooting the workpiece and judging the type of the workpiece; and the SCARA robot carries the workpiece to a sorting turntable mechanism or a sorting tray mechanism according to the judgment result of the visual judgment device. The utility model discloses a be applied to material loading letter sorting unit equipment design of robot teaching equipment is simple, and is small, makes the utility model discloses a material loading letter sorting unit installation for robot teaching equipment is simple, and the function process is simple, understandable, improves student's learning effect, and the safety in utilization is high, further impels its application at robot teaching in-process.

Description

Be applied to material loading letter sorting unit of robot teaching equipment

Technical Field

The utility model relates to an automatic technical field specifically relates to a be applied to material loading letter sorting unit of robot teaching equipment.

Background

In present robot teaching equipment, use industrial robot to teach mostly, this kind of industrial robot generally carries out material loading and letter sorting to the article through its material loading letter sorting unit, but the operation process of this material loading letter sorting unit is complicated to there is the potential safety hazard in the operation process, makes industrial robot's material loading letter sorting unit can't be used comprehensively at the teaching in-process, the effect of restriction robot teaching.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a small, simple in design, safe in utilization's material loading letter sorting unit of being applied to robot teaching equipment.

The utility model discloses a be applied to material loading letter sorting unit of robot teaching equipment, include: the device comprises a feeding mechanism, a vision judging device, an SCARA robot, a sorting turntable mechanism and a sorting tray mechanism; the feeding mechanism is used for conveying workpieces; the visual judgment device is arranged on the feeding mechanism and used for shooting the workpiece and judging the type of the workpiece; and the SCARA robot carries the workpiece to a sorting turntable mechanism or a sorting tray mechanism according to the judgment result of the visual judgment device.

According to an embodiment of the present invention, the feeding mechanism includes a feeding support, a feeding driving roller, a feeding driven roller, a feeding conveyor belt, and a feeding driving element; the feeding driving roller and the feeding driven roller are respectively arranged at two ends of the feeding support; the feeding conveying belt is wound on the feeding driving rolling shaft and the feeding driven rolling shaft at the same time; the feeding driving element is positioned on one side of the feeding support, and one end of the feeding driving element is connected with the feeding driving roller.

According to an embodiment of the utility model, material loading drive element is three-phase asynchronous machine.

According to an embodiment of the present invention, the feeding mechanism further comprises a feeding baffle and a sequencing baffle; the feeding baffle and the sequencing baffle are respectively arranged at two ends of the feeding support, wherein the feeding baffle is used for limiting the feeding area of the workpieces, and the sequencing baffle is used for stopping the workpieces from moving and sequencing the workpieces along a straight line.

According to the utility model discloses an embodiment, letter sorting carousel mechanism includes: a divider, a workpiece carousel, and a carousel drive element; the divider is provided with a box body, an output shaft positioned at the top end of the box body and a transmission shaft positioned on the box body; the workpiece turntable is connected with the output shaft; the turntable driving element is arranged on one side of the box body, and one end of the turntable driving element is connected with the transmission shaft.

According to the utility model discloses an embodiment, letter sorting charging tray mechanism includes: the pushing device comprises a first fixed seat, a second fixed seat, a pushing plate, a pushing slide rail, a pushing driving element and an accommodating baffle; the first fixed seat is adjacent to the second fixed seat; the pushing driving element and the pushing sliding rail are arranged on the first fixed seat in parallel; the pushing plate is arranged on the pushing sliding rail in a sliding mode and is connected with one end of the pushing driving element; the accommodating baffle is arranged above the second fixed seat and used for stacking and accommodating a plurality of material trays; a feeding gap is formed between the accommodating baffle and the second fixed seat; the pushing driving element drives the pushing plate to push the material tray located in the feeding gap to the second fixed seat.

According to an embodiment of the present invention, the pushing plate is disposed on the pushing slide rail through a moving slide, and the second fixing seat is provided with a clearance groove; the clearance groove is matched with the movable sliding seat; one end of the pushing sliding rail extends to the lower part of the clearance groove from the first fixing seat.

According to the utility model discloses an embodiment still is provided with a fixed dog on the second fixing base.

According to the utility model discloses an embodiment, the middle part position of push plate is equipped with a fixed recess.

According to the utility model discloses an embodiment, letter sorting carousel mechanism still includes: a tray feeding sensor; two corresponding side surfaces of the containing baffle are respectively provided with a strip-shaped groove; the charging tray feeding sensor is arranged on one side of the containing baffle and is positioned on the same straight line with the two strip-shaped grooves.

The utility model discloses be different from prior art's beneficial effect is: the utility model discloses a be applied to material loading letter sorting unit equipment design of robot teaching equipment is simple, and is small, makes the utility model discloses a material loading letter sorting unit installation for robot teaching equipment is simple, and the function process is simple, understandable, improves student's learning effect, and the safety in utilization is high, further impels its application at robot teaching in-process.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic structural diagram of a robot teaching apparatus according to an embodiment;

FIG. 2 is a schematic structural view of a workpiece according to an embodiment;

FIG. 3 is a perspective view and a bottom view of the tray in the embodiment;

FIG. 4 is a schematic structural diagram of a feeding mechanism and a visual determination device in the embodiment;

FIG. 5 is a schematic structural diagram of a SCARA robot in an embodiment;

FIG. 6 is a schematic structural diagram of a sorting turntable mechanism in an embodiment;

FIG. 7 is a schematic structural diagram of a sorting tray mechanism in the embodiment;

FIG. 8 is a schematic structural diagram of a tray transfer mechanism in an embodiment;

FIG. 9 is a schematic structural view of a tray conveying mechanism in the embodiment;

FIG. 10 is a schematic structural diagram of a tray warehousing mechanism in the embodiment; and

fig. 11 is a schematic structural view of a warehouse rack in an embodiment.

Description of reference numerals: 1. installing a machine table; 2. a feeding sorting unit; 3. a warehousing unit; 4. a workpiece; 5. a material tray; 51. a placement groove; 21. a feeding mechanism; 22. a visual determination device; 23. a SCARA robot; 24. a sorting turntable mechanism; 25. a sorting tray mechanism; 31. a tray transfer mechanism; 32. a tray conveying mechanism; 33. a material tray warehousing mechanism; 34. a warehouse rack; 211. a feeding support; 212. a feeding driving roller; 213. a feeding driven roller; 214. a feeding conveyor belt; 215. a feeding drive element; 2151. a feeding driving wheel; 218. an encoder; 2181. a synchronizing wheel; 2141. a feeding end; 2142. a discharging end; 216. A feeding baffle plate; 2161. a feeding groove; 217. a sequencing baffle; 2171. a sorting groove; 222. an image pickup element; 221. a camera bracket; 231. a manipulator; 232. a suction cup; 241. a divider; 242. a workpiece turntable; 243. a turntable driving element; 2411. a box body; 2412. an output shaft; 2413. a drive shaft; 2421. A workpiece placing groove; 2414. a divider driven wheel; 2431. the turntable drives the driving wheel; 244. a tray detection sensor; 251. a first fixed seat; 252. a second fixed seat; 253. a push plate; 254. pushing the slide rail; 255. pushing the driving element; 256. a containing baffle plate; 257. a feeding gap; 258. moving the slide; 2521. a clearance groove; 2522. fixing a stop block; 2531. fixing the groove; 259. a tray feeding sensor; 2561. a strip-shaped groove; 311. transferring the stent; 312. a first transfer drive element; 313. a first connecting plate; 314. a second transfer drive element; 315. a second connecting plate; 316. transferring the gas clamp; 317. a clamping plate; 321. a tray conveying support; 322. the material tray conveys the driving roller; 323. the material tray conveys the driven roller; 324. a material tray conveying conveyor belt; 325. a tray conveyance drive element; 3241. a material feeding end of a material tray; 3242. A material tray discharging end; 3221. the material tray conveying driving wheel; 3251. a material tray conveying synchronous wheel; 326. a positioning baffle plate; 327. a jacking driving element; 3271. a jacking plate; 52. jacking a groove; 328. an in-position sensor; 331. a rotary drive element; 332. a rotating fixed seat; 333. a lift drive element; 334. an advancing and retreating driving element; 335. a support plate; 3331. a screw rod; 3332. a movable seat; 3333. the screw rod drives the motor; 3351. a connecting end; 3352. a fixed end; 53. supporting the groove; 341. a shelf body; 342. a shelf board; 3411. a vertical plate of the goods shelf; 3412. a shelf cross plate; 343. a warehousing slot position; 344. a travel switch.

Detailed Description

In the following description, numerous implementation details are set forth in order to provide a more thorough understanding of the present invention. It should be understood, however, that these implementation details should not be used to limit the invention. That is, in some embodiments of the invention, details of these implementations are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

It should be noted that all the directional indicators in the embodiments of the present invention, such as upper, lower, left, right, front and rear … …, are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture as shown in the drawings, and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Examples

Fig. 1 to 3 are a schematic structural diagram of a robot teaching device, a schematic structural diagram of a workpiece, and a schematic perspective view and a bottom view of a tray in an embodiment, respectively.

The application relates to a design of a feeding sorting unit 2 applied to robot teaching equipment, and the feeding sorting unit 2 can be applied to the robot teaching equipment. For better understanding, the following embodiments will be brought together with the description of the robot teaching device, and the function of the feed sorting unit 2 in the robot teaching device and the advantages thereof will be further described.

The embodiment provides a robot teaching device, which comprises an installation machine table 1, and a feeding sorting unit 2 and a warehousing unit 3 which are installed on the installation machine table 1. Installation board 1 in this application adopts the aluminium alloy to form through connecting the fixed buildding of angle aluminium, and the shape of installation board 1 can change according to the in-service use condition, simultaneously because of it is the aluminum product, whole light in weight, convenient transport. The feeding sorting unit 2 is mainly used for transporting and sorting workpieces 4, separately placing the workpieces 4 made of iron and plastic, placing the workpieces made of one material into the material tray 5, and the warehousing unit 3 carries the material tray 5 and warehouses the material tray 5 for storage. The robot teaching equipment of the application needs to use the cylindrical structural design of the workpiece 4, and can also adopt other shape structural designs, wherein the workpiece 4 is made of two materials of iron and plastic, the tray 5 is of a square structure and is provided with a plurality of placing grooves 51, and of course, other shape structures can also be adopted, the tray 5 contains the workpiece through the plurality of placing grooves 51,

wherein the feeding and sorting unit 2 comprises a feeding mechanism 21, a vision judging device 22, a SCARA robot 23, a sorting turntable mechanism 24 and a sorting tray mechanism 25. The feeding mechanism 21, the SCARA robot 23, the sorting turntable mechanism 24 and the sorting tray mechanism 25 are all arranged on the installation machine table 1, wherein the feeding mechanism 21 is used for transmitting the workpieces 4, the vision judging device 22 is arranged on the feeding mechanism 21, the vision judging device 22 is used for shooting the workpieces 4 and judging the types of the workpieces 4, and the SCARA robot 23 carries the workpieces 4 to the sorting turntable mechanism 24 or the sorting tray mechanism 25 according to the judgment result of the vision judging device 22.

The warehousing unit 3 comprises a tray transfer mechanism 31, a tray conveying mechanism 32, a tray warehousing mechanism 33 and warehouse shelves 34 which are all arranged on the mounting machine table 1, the tray conveying mechanism 32 is located on one side of the sorting turntable mechanism 24, the tray conveying mechanism 32 is mainly used for conveying trays 5, the tray transfer mechanism 31 is located above the sorting tray mechanism 25 and the tray conveying mechanism 32, the tray transfer mechanism 31 is used for conveying the trays 5 on the sorting tray mechanism 25 to the tray conveying mechanism 32, the tray warehousing mechanism 33 is located between the tray conveying mechanism 32 and the warehouse shelves 34, and the tray warehousing mechanism 33 is used for conveying the trays 5 on the tray conveying mechanism 32 to the warehouse shelves 34.

Referring to fig. 4, which is a schematic structural diagram of a feeding mechanism and a visual determination device in an embodiment of the disclosure, the feeding mechanism 21 includes a feeding support 211, a feeding driving roller 212, a feeding driven roller 213, a feeding conveyor belt 214, and a feeding driving element 215, the feeding support 211 is disposed on the mounting machine 1 along an X-axis direction, the feeding driving roller 212 and the feeding driven roller 213 are respectively mounted at two ends of the feeding support 211, wherein one end of the feeding driving roller 212 extends to the outside of the feeding support 211 for being connected to the feeding driving element 215, the feeding conveyor belt 214 is simultaneously wound around the feeding driving roller 212 and the feeding driven roller 213, the feeding driving element 215 is disposed at one side of the feeding support 211, one end of the feeding driving element 215 is disposed with a feeding driving wheel 2151, the feeding driving wheel 2151 is connected to one end of the feeding driving roller 212 through a conveying belt, the feeding driving element 215 drives the feeding driving roller 212 to rotate, and then the feeding belt 214 drives the feeding driven roller 213 to rotate by using friction force, so as to achieve the purpose of conveying the workpiece 4. In this embodiment, the feeding mechanism 21 further includes an encoder 218, one end of the encoder 218 is provided with a synchronizing wheel 2181, the synchronizing wheel 2181 of the encoder 218 is connected to the feeding driving wheel 2151 of the feeding driving element 215 through a conveying belt, the synchronizing wheel 2181 rotates synchronously with the feeding driving wheel 2151, and the encoder 218 is used to monitor the operation of the feeding driving element 215, so as to monitor the transportation speed of the feeding conveying belt 214. The feeding driving element 215 in the present application employs a three-phase asynchronous motor with simple structure, convenient operation and high cost performance, and certainly, other driving elements can be employed to achieve the purpose of driving the feeding driving roller 212 to rotate.

Specifically, the feeding conveyor 214 has a feeding end 2141 and a discharging end 2142, and the feeding conveyor 214 is transported in a direction from the feeding end 2141 to the discharging end 2142. In order to ensure that the operation of the feeding mechanism 21 is not affected when the workpieces 4 are thrown into the feeding process, the feeding mechanism 21 is further provided with a feeding baffle 216, the feeding baffle 216 is arranged at one end of the feeding support 211, the feeding baffle 216 is located above the feeding end 2141 of the feeding conveyor belt 214, the feeding baffle 216 is used for limiting the feeding area of the workpieces 4, the feeding baffle 216 is provided with a feeding groove 2161 corresponding to the feeding conveyor belt 214, wherein the width of the feeding groove 2161 is smaller than the width of the feeding conveyor belt 214, so that the workpieces 4 thrown into the feeding groove 2161 can only fall onto the feeding conveyor belt 214, and the feeding area of the workpieces 4 is controlled. In addition, in order to ensure that the SCARA robot 23 can clamp the workpieces 4 more quickly during the feeding process, the feeding mechanism 21 is further provided with a sequencing baffle 217, the workpieces 4 are blocked by the sequencing baffle 217 to move and sequence the workpieces in a straight line, the sequencing baffle 217 is arranged at one end of the feeding bracket 211 opposite to the feeding baffle 216, in an embodiment, a sequencing groove 2171 is arranged on the sequencing baffle 217, and the width of the notch of the sequencing groove 2171 is larger than that of the body of the sequencing groove 2171, so that the sequencing of the workpieces 4 is facilitated.

Further, as shown in fig. 4, the visual determination device 22 includes a camera bracket 221, a camera element 222, and a camera detection sensor 223, the camera bracket 221 is disposed on the feeding bracket 211, the camera element 222 is disposed on the camera bracket 221 and above the feeding conveyor belt 214, the camera detection sensor 223 is disposed on the feeding bracket 211 and below the camera element 222, particularly, the camera area of the camera element 222 corresponds to the position of the feeding groove 2161, the front end of the feeding conveyor belt 214 performs camera analysis on the type of the workpiece 4, and more production time can be reserved for the SCARA robot 23 to respond. When the image pickup detection sensor 223 detects the workpiece 4 on the feeding conveyor 214, the image pickup device 222 picks up an image. In this embodiment, the camera support 221 is an adjustable support, which can adjust the height of the camera element 222, the camera element 222 is a small, light, magnetic field-free CCD camera with vibration and impact resistance, and the camera detection sensor 223 is one of an infrared sensor and an ultrasonic sensor.

Further, referring to fig. 5, which is a schematic structural diagram of the SCARA robot in the embodiment, the SCARA robot 23 has a manipulator 231 and a suction cup 232 disposed on the manipulator 231, the manipulator 231 is an LS3-401S epressen manipulator, which has the advantages of stable operation and accurate grasping, and can improve sorting accuracy and efficiency, and is also convenient for long-term work, the suction cup 232 is further connected to an external vacuum device, and the suction cup 232 sucks the workpiece 4 by vacuum.

Further, referring to fig. 6, which is a schematic structural diagram of the sorting turntable mechanism in the embodiment, the sorting turntable mechanism 24 includes a divider 241, a workpiece turntable 242, and a turntable driving element 243, the divider 241 is disposed on the mounting machine 1, and the feeding mechanism 21, the divider 241, and the sorting tray mechanism 25 are sequentially disposed, so as to save the working stroke of the SCARA robot 23. Specifically, the divider 241 has a box 2411, an output shaft 2412 located at the top end of the box 2411, and a transmission shaft 2413 located on the box 2411, wherein when the transmission shaft 2413 rotates, the output shaft 2412 also rotates. In the present embodiment, the divider 241 is a triple divider with model ED2.8, which has the characteristics of small vibration, low noise and smooth operation. The workpiece turntable 242 is connected with the output shaft 2412, a plurality of workpiece placing grooves 2421 for placing the workpieces 4 are arranged on the workpiece turntable 242, each workpiece placing groove 2421 is matched with the workpiece 4 in size and shape, and the plurality of workpiece placing grooves 2421 are distributed on the same circumference, so that the SCARA robot 23 can place the workpieces 4 on the workpiece turntable 242 conveniently. The turntable driving element 243 is disposed at one side of the box 2411, and one end of the turntable driving element 243 is connected to the transmission shaft 2413, so that the turntable driving element 243 drives the transmission shaft 2413 to rotate, thereby driving the workpiece turntable 242 to rotate. In one embodiment, a driven splitter wheel 2414 is disposed on the output shaft 2412, a driving turntable wheel 2431 is disposed at one end of the driving turntable element 243, the driving turntable wheel 2431 is connected to the driven splitter wheel 2414 through a transmission belt, and the transmission process is stabilized by the driving turntable wheel 2431, the driven splitter wheel 2414 and the transmission belt. In the present application, the turntable driving element 243 is also a three-phase asynchronous motor, which is not described herein.

In a specific application, the sorting turntable mechanism 24 is further provided with a tray detection sensor 244, the tray detection sensor 244 is disposed above the workpiece turntable 242 through a metal plate bracket, the tray detection sensor 244 is used for detecting whether the workpiece placing groove 2421 has the workpiece 4, if the workpiece 4 exists, the SCARA robot 23 stops to clamp the workpiece 4 onto the workpiece turntable 242, and if the workpiece 4 does not exist, the turntable driving element 243 drives the workpiece turntable 242 to rotate, so that the corresponding empty workpiece placing groove 2421 moves to a preset position to wait for the SCARA robot 23 to place the workpiece 4. In the present application, the tray detection sensor 244 is an ultrasonic sensor, but other sensors may be used to detect whether or not the corresponding workpiece 4 is present in the workpiece holding groove 2421.

Further, referring to fig. 7, which is a schematic structural diagram of the sorting tray mechanism in the embodiment, the sorting tray mechanism 25 includes a first fixing seat 251, a second fixing seat 252, a pushing plate 253, a pushing slide rail 254, a pushing driving element 255, and an accommodating baffle 256. The first fixing seat 251 and the second fixing seat 252 are adjacent to each other and both disposed on the mounting machine 1, the pushing driving element 255 and the pushing sliding rail 254 are disposed on the first fixing seat 251 in parallel, the pushing plate 253 is slidably disposed on the pushing sliding rail 254, and the pushing plate 253 is connected to one end of the pushing driving element 255, the pushing driving element 255 drives the pushing plate 253 to slide on the pushing sliding rail 254, the accommodating baffle 256 is disposed above the second fixing seat 252 through a sheet metal bracket, the accommodating baffle 256 is of a rectangular frame structure, although other structures can be adopted as long as the overall structure of the accommodating baffle 256 matches with the structure of the material tray 5, the accommodating baffle 256 is mainly used for stacking and accommodating a plurality of empty material trays 5, a feeding gap 257 is provided between the accommodating baffle 256 and the second fixing seat 252, the pushing driving element 255 drives the pushing plate 253 to push the material tray 5 located in the feeding gap 257 onto the second fixing seat 252, thereby feeding the tray 5 onto the second fixing seat 252. In the present application, the pushing driving element 255 is a cylinder, and other driving elements may be used to drive the pushing plate 253 to move.

Referring to fig. 7, in an embodiment, in order to make the loading process of the tray 5 more stable and reliable, the pushing plate 253 is disposed on the pushing slide rail 254 through a moving slide 258, and the second fixing seat 252 is provided with a clearance groove 2521, the clearance groove 2521 is matched with the moving slide 258, one end of the pushing slide rail 254 extends from the first fixing seat 251 to below the clearance groove 2521, so that the pushing plate 253 pushes the tray 5 from the feeding gap 257 to the second fixing seat 252 for a longer stroke, and the tray 5 can be pushed away from the receiving baffle 256 for a longer distance, thereby avoiding affecting the loading of the next tray 5.

Referring to fig. 7, in another embodiment, in order to ensure that the charging tray 5 is more stable after being loaded onto the second fixing seat 252, a fixing stop 2522 is disposed on the second fixing seat 252, and the charging tray 5 is stopped by the fixing stop 2522 from moving on the second fixing seat 252, so that the charging tray 5 is loaded onto the second fixing seat 252 and then positioned.

Referring to fig. 7, in another embodiment, a fixing groove 2531 is disposed at a middle position of the pushing plate 253, the fixing groove 2531 is matched with the tray 5 in shape and size, and the tray 5 is fixed by the fixing groove 2531 during the feeding process of the pushing plate 253, so as to prevent the tray 5 from shaking or separating from the pushing plate 253 during the pushing process, and further enhance the stability of the feeding process of the tray 5.

Referring to fig. 7, in another embodiment, in order to monitor the storage status of the trays 5 in the accommodating baffle 256, the sorting tray mechanism 25 further includes a tray loading sensor 259, two corresponding side surfaces of the accommodating baffle 256 are respectively provided with a strip-shaped groove 2561, and the tray loading sensor 259 is disposed at one side of the accommodating baffle 256 and is located on the same straight line with the two strip-shaped grooves 2561. When a material tray 5 is stored in the accommodating baffle 256, a detection signal of the material tray feeding sensor 259 is reflected to a receiving end of the material tray feeding sensor 259 through the material tray 5 in the accommodating baffle 256, at this time, the robot teaching equipment judges that there is still an empty material tray 5, and the equipment continues to operate; when the material tray 5 in the holding baffle 256 is accommodated, the detection signal of the tray feeding sensor 259 directly passes through the two strip-shaped grooves 2561, no detection signal is reflected, at the moment, the robot teaching equipment judges that no empty tray 5 exists, and the equipment stops operating. In this embodiment, the tray loading sensor 259 is one of an infrared sensor and an ultrasonic sensor.

Further, referring to fig. 8, which is a schematic structural diagram of the tray transfer mechanism in the embodiment, the tray transfer mechanism 31 includes a transfer bracket 311, a first transfer driving element 312, a first connecting plate 313, a second transfer driving element 314, a second connecting plate 315, a transfer air clamp 316, and two clamping plates 317, the transfer bracket 311 is disposed on the mounting machine 1 along a direction perpendicular to the mounting machine 1, in the embodiment, the transfer bracket 311 is also made of an aluminum profile, so that the mounting of the transfer bracket 311 can be more matched with the mounting machine 1, the first transfer driving element 312 is disposed at the top end of the transfer bracket 311, the first transfer driving element 312 is located above the sorting tray mechanism 25 and the tray conveying mechanism 32, the first connecting plate 313 is connected to one end of the first transfer driving element 312, the second transfer driving element 314 is disposed on the first connecting plate 313, the second connecting plate 315 is connected to one end of the second transfer driving element 314, the transfer air clamp 316 is disposed at the second connecting plate 315, and the two clamping plates 317 are respectively connected to output ends of the transfer air clamp 316. During the tray transfer mechanism 31 transferring the tray 5, the first transfer driving member 312 drives the first connecting plate 313 to move in the Y-axis direction, the second transfer driving member 314 drives the second connecting plate 315 to move in the Z-axis direction, and the transfer air clamp 316 drives the two clamping plates 317 to clamp or unclamp the tray 5. In the present application, the first transfer driving element 312 and the second transfer driving element 314 are air cylinders, but other driving elements may be used to drive the first connecting plate 313 and the second connecting plate 315 to move in the directions described above.

Further, referring to fig. 9, which is a schematic structural diagram of the tray conveying mechanism in the embodiment, the tray conveying mechanism 32 includes a tray conveying support 321, a tray conveying driving roller 322, a tray conveying driven roller 323, a tray conveying belt 324 and a tray conveying driving element 325, the tray conveying support 321 is disposed on the mounting machine 1, the tray conveying driving roller 322 and the tray conveying driven roller 323 are respectively disposed at two ends of the tray conveying support 321, the tray conveying belt 324 simultaneously winds the tray conveying driving roller 322 and the tray conveying driven roller 323, the tray conveying driving element 325 is disposed at one side of the tray conveying support 321, one end of the tray conveying driving element 325 is connected with the tray conveying driving roller 322, the tray conveying belt 324 has a tray feeding end 3241 and a tray discharging end 3242, the tray conveying driving element 325 drives the tray conveying driving roller 322 to rotate, therefore, the tray conveying and conveying belt 324 drives the tray conveying driven roller 323 to rotate, and the purpose that the tray 5 is conveyed from the tray feeding end 3241 to the tray discharging end 3242 of the tray conveying and conveying belt 324 is achieved. In this embodiment, a tray conveying driving wheel 3221 is disposed at one end of the tray conveying driving roller 322, a tray conveying synchronizing wheel 3251 is disposed at one end of the tray conveying driving element 325, the tray conveying driving wheel 3221 is connected to the tray conveying synchronizing wheel 3251 through a driving belt, and the stability of the tray 5 conveyed by the tray conveying driving wheel 3221, the tray conveying synchronizing wheel 3251 and the driving belt can be improved. In the present application, the tray conveying driving element 325 uses a dc motor, and of course, other driving elements may be used to drive the tray conveying driving roller 322 to rotate.

Referring to fig. 9, in an embodiment, the tray conveying mechanism 32 further includes two in-position baffles 326, the two in-position baffles 326 are respectively disposed at two ends of the tray conveying bracket 321, and both the two in-position baffles 326 are located above the tray conveying belts 324, and one of the in-position baffles 326 corresponds to the tray conveying driving roller 322, and the other one of the in-position baffles 326 corresponds to the tray conveying driven roller 323, so that the two in-position baffles 326 respectively block movement of the tray 5 to prevent the tray 5 from falling out of the conveying range of the tray conveying belts 324.

Referring to fig. 3 and 9, in another embodiment, the tray conveying mechanism 32 further includes a lifting driving element 327, the lifting driving element 327 is disposed on the tray conveying support 321, and the lifting driving element 327 is located below one of the in-place blocking plates 326, wherein the lifting driving element 327 corresponds to the tray blanking end 3242, a lifting plate 3271 is connected to a top end of the lifting driving element 327, and the lifting driving element 327 lifts the tray 5 to a half-empty state through the lifting plate 3271, so as to facilitate the tray 5 to be grabbed by the tray warehousing mechanism 33. In order to make the jacking process of the jacking driving element 327 on the charging tray 5 more stable, the bottom of the charging tray 5 is further provided with a jacking groove 52, the shape of the jacking groove 52 is matched with that of the jacking plate 3271, and in the jacking process, the jacking plate 3271 is clamped in the jacking groove 52, so that the charging tray 5 can be placed to move in the jacking process to cause the charging tray to fall. In this application, the jacking driving element 327 is a cylinder, but other driving elements can be used to drive the jacking plate 3271 to jack.

As shown in fig. 9, in another embodiment, the tray conveying mechanism 32 further includes an in-position sensor 328 disposed on the tray conveying bracket 321, the in-position sensor 328 is disposed on one side of the lifting driving element 327, the in-position sensor 328 is used for sensing a tray, when the in-position sensor 328 senses the tray 5, the lifting driving element 327 automatically lifts the tray 5, and if the in-position sensor 328 does not sense the tray 5, the lifting driving element 327 does not act.

Further, referring to fig. 10, which is a schematic structural diagram of the tray warehousing mechanism in the embodiment, the tray warehousing mechanism 33 includes a rotation driving element 331, a rotation fixing seat 332, a lifting driving element 333, an advance and retreat driving element 334, and a supporting plate 335, the rotation driving element 331 is disposed on the mounting machine 1, the rotation driving element 331 is located between the tray conveying mechanism 32 and the warehouse shelf 34, the rotation fixing seat 332 is disposed at a top end of the rotation driving element 331, the lifting driving element 333 is vertically disposed on the rotation fixing seat 332, the advance and retreat driving element 334 is vertically disposed on the lifting driving element 333, and the supporting plate 335 is connected to one end of the advance and retreat driving element 334. The rotary driving element 331 drives the rotary holder 332 to rotate on the XY plane, the elevation driving element 333 drives the forward/backward driving element 334 to move up and down along the Z-axis direction, and the forward/backward driving element 334 drives the support plate 335 to move along the longitudinal direction of the forward/backward driving element 334. In this application, the rotary driving element 331 is a rotary cylinder, the lifting driving element 333 is the same as the advancing and retreating driving element 334, and both of them include a screw 3331, a movable base 3332 and a screw driving motor 3333, wherein the screw driving motor 3333 is connected to the screw 3331, the movable base 3332 is disposed on the screw 3331, the screw driving motor 3333 drives the screw 3331 to rotate and then controls the movable base 3332 to move on the screw 3331, the advancing and retreating driving element 334 is disposed on the movable base 3332 of the lifting driving element 333, the supporting plate 335 is disposed on the movable base 3332 of the advancing and retreating driving element 334, and the screw driving motor 3333 is a stepping motor. During the specific application, the supporting plate 335 has link 3351 and stiff end 3352, wherein stiff end 3352 is the fork form, supporting plate 335 sets up on advancing and retreating drive element 334 through link 3351, supporting plate 335 holds up charging tray 5 through stiff end 3352, the bottom of charging tray 5 is provided with a plurality of recesses 53 that hold up with stiff end 3352 shape matching, fork form stiff end 3352 and the cooperation of holding up recess 53, can avoid holding up in-process charging tray 5 and deflect and lead to dropping, strengthen the stability of holding up the process.

Further, referring to fig. 11, which is a schematic structural diagram of the warehouse rack in the embodiment, the warehouse rack 34 includes a rack body 341 and a plurality of rack plates 342; the shelf body 341 has two shelf risers 3411 and shelf horizontal plates 3412 connected with the two shelf risers 3411 respectively, the shelf body 341 formed by the two shelf risers 3411 and the shelf horizontal plates 3412 is of a rectangular structure, the design is simple, the cost is low, a plurality of shelf boards 342 are uniformly distributed on the inner wall of each shelf riser 3411 along the direction perpendicular to the installation machine table 1, one shelf board 342 on each shelf riser 3411 corresponds to one shelf board 342 on the other shelf riser 3411, the two corresponding shelf boards 342 are positioned on the same horizontal plane and form a storage slot 343 with the inner walls of the two shelf risers 342, the storage slot 343 is used for placing the charging tray 5, the plurality of storage slot 343 are vertically distributed on the shelf body 341 and correspond to the actuation process of the charging tray storage mechanism 33.

In an embodiment, in order to monitor the storage condition of each warehousing slot 343, the warehouse rack 34 is further provided with a plurality of travel switches 344, the number of which is the same as that of the warehousing slot 343, each travel switch 344 corresponds to one warehousing slot 343, and the trigger end of each travel switch 344 is located in one warehousing slot 343. When a material tray 5 is sent into the warehousing slot 343 by the material tray warehousing mechanism 33, the material tray 5 triggers the triggering end of the travel switch 343, so that the material tray warehousing mechanism 33 is controlled to stop warehousing actions, the placing position of the material tray 5 is ensured to be at the preset position, and the accuracy of the warehousing process is improved.

In this embodiment, the robot teaching device is further provided with a control system, the control system is disposed inside the red robot teaching device and is respectively connected to the driving elements of the feeding mechanism 21, the SCARA robot 23, the sorting turntable mechanism 24, the sorting tray mechanism 25, the tray transfer mechanism 31, the tray conveying mechanism 32, and the tray warehousing mechanism 33, and the control system controls the corresponding driving elements to achieve all the actuating processes described in the above description. The control system is also connected to the encoder 218, the camera 222, the tray detection sensor 244, the tray loading sensor 259, the in-position sensor 328, and the travel switch 344 to implement all of the control processes described in the above description.

It is following right the utility model discloses a robot teaching equipment's function principle explains in detail:

before the operation of the apparatus, a plurality of trays 5 are placed in the receiving baffle 256, the apparatus is started, and then workpieces 4 made of two different materials, namely iron and plastic, are put into the feeding end 2141 of the feeding conveyor belt 214.

The feeding driving element 215 drives the feeding driving roller 212 to rotate, then the feeding conveyor belt 214 drives the feeding driven roller 213 to rotate by using friction force, so that the workpiece 4 is conveyed towards the feeding end 2142 on the feeding conveyor belt 214, when the workpiece 4 passes through the camera detection sensor 223, the camera element 222 is triggered to photograph the workpiece 4 and analyze the material of the workpiece 4, and the workpiece 4 is arranged in a straight line under the action of the sequencing baffle 217 after being conveyed to the discharging end 2142 of the feeding conveyor belt 214; meanwhile, the tray loading sensor 259 detects that the tray 5 is inside the accommodating baffle 256, and the pushing driving element 255 drives the pushing plate 253 to push the tray 5 located in the feeding gap 257 onto the second fixing seat 252, so that the tray 5 is loaded onto the second fixing seat 252.

Then, the SCARA robot 23 drives the suction cup 232 to move through the manipulator 231 and sucks the workpiece 4 by the suction cup 232 to sort the workpiece 4 into the sorting turntable mechanism 24 and the sorting tray mechanism 25, respectively.

The SCARA robot 23 sorts iron workpieces 4 into corresponding workpiece placing grooves 2421 on the workpiece turntable 242, and when an iron workpiece 4 is added on the workpiece turntable 242, the turntable driving element 243 drives the transmission shaft 2413 to rotate so as to drive the workpiece turntable 242 to rotate, so that the corresponding empty workpiece placing grooves 2421 move to a preset position, and when the tray detection sensor 244 detects that a workpiece 4 exists, the SCARA robot 23 stops clamping the workpiece 4 onto the workpiece turntable 242.

Wherein the SCARA robot 23 sorts the plastic workpieces 4 into the placing groove 51 of the tray 5 on the second fixing base 252, after a predetermined number of plastic workpieces are placed, the first transfer driving element 312 drives the first connecting plate 313 to move along the Y-axis direction so that the transfer air clamp 316 is located above the tray 5 loaded with the workpieces 4, the transfer air clamp 316 drives the two clamping plates 317 to open, then the second transfer driving element 314 drives the second connecting plate 315 to move along the Z-axis direction so that the two clamping plates 317 of the transfer air clamp 316 are respectively located at two sides of the tray 5, then the transfer air clamp 316 drives the two clamping plates 317 to clamp the tray 5, then the first transfer driving element 312, the second transfer driving element 314 and the transfer air clamp 316 place the tray 5 filled with the workpieces 4 on the tray conveying belt 324 according to the same operation principle, the tray conveying driving element 325 drives the tray conveying driving roller 322 to rotate, therefore, the tray conveying conveyor belt 324 drives the tray conveying driven roller 323 to rotate, the tray 5 is conveyed from the tray feeding end 3241 of the tray conveying conveyor belt 324 to the tray discharging end 3242, and at the moment, when the in-place sensor 328 senses the tray 5, the jacking driving element 327 jacks the tray 5 to be half-empty through the jacking plate 3271. At this time, the forward-backward driving element 334 corresponds to the tray 5, the forward-backward driving element 334 drives the supporting plate 335 to move along the length direction of the forward-backward driving element 334 until the fixed end 3352 of the supporting plate 335 is located below the tray 5, then the lifting driving element 333 drives the forward-backward driving element 334 to lift up by a preset height along the Z-axis direction so that the supporting plate 335 lifts up the tray 5 by the fixed end 3352, then the lifting driving element 327 resets, the rotating driving element 331 drives the rotating fixing base 332 to rotate by a preset angle on the XY plane so that the forward-backward driving element 334 corresponds to the warehouse shelf 34, at this time, the lifting driving element 333 drives the forward-backward driving element 334 to lift up again along the Z-axis direction so that the forward-backward driving element 334 corresponds to the warehousing slot 343 at the topmost end of the warehouse shelf 34, then the forward-backward driving element 334 drives the supporting plate 335 to move along the length direction of the forward-backward, then the tray 5 triggers the trigger end of the travel switch 343, the forward and backward driving element 334 stops working, the lifting driving element 333 resets, then the forward and backward driving element 334 resets, the rotary driving element 331 resets, and at this time, the storage of the tray 5 is completed.

The utility model discloses a robot teaching equipment repeats above-mentioned action, sorts work piece 4 and puts in storage with charging tray 5.

To sum up, the utility model discloses a 2 designs of material loading letter sorting unit are simple, and are small for this 2 installations of practical material loading letter sorting unit are simple, and the function process is simple, understandable, improves student's learning effect, and the safety in utilization is high, further impels its application at the robot teaching in-process.

The above is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. A material loading and sorting unit (2) applied to robot teaching equipment, characterized by comprising: the device comprises a feeding mechanism (21), a vision judging device (22), an SCARA robot (23), a sorting turntable mechanism (24) and a sorting tray mechanism (25); the feeding mechanism (21) is used for conveying workpieces; the visual judgment device (22) is arranged on the feeding mechanism (21), and the visual judgment device (22) is used for shooting workpieces and judging the types of the workpieces; and the SCARA robot (23) conveys the workpieces to a sorting turntable mechanism (24) or a sorting tray mechanism (25) according to the judgment result of the visual judgment device (22).

2. The feeding sorting unit (2) applied to robot teaching equipment according to claim 1, wherein the feeding mechanism (21) comprises a feeding bracket (211), a feeding driving roller (212), a feeding driven roller (213), a feeding belt (214), and a feeding driving element (215); the feeding driving roller (212) and the feeding driven roller (213) are respectively arranged at two ends of the feeding bracket (211); the feeding conveying belt (214) is wound on the feeding driving roller (212) and the feeding driven roller (213) at the same time; the feeding driving element (215) is positioned on one side of the feeding support (211), and one end of the feeding driving element (215) is connected with the feeding driving roller (212).

3. The loading sorting unit (2) for application to a robot teaching device according to claim 2, characterized in that the loading drive element (215) is a three-phase asynchronous motor.

4. The loading sorting unit (2) for application to a robot teaching device according to claim 2, characterized in that the loading mechanism (21) further comprises a loading flap (216) and a sequencing flap (217); the feeding baffle (216) and the sequencing baffle (217) are respectively arranged at two ends of the feeding support (211), wherein the feeding baffle (216) is used for limiting a feeding area of a workpiece, and the sequencing baffle (217) is used for blocking the workpiece to move and sequencing a plurality of workpieces along a straight line.

5. The feeding sorting unit (2) applied to a robot teaching device according to claim 1, wherein the sorting carousel mechanism (24) comprises: a divider (241), a workpiece carousel (242), and a carousel drive element (243); the divider (241) is provided with a box body (2411), an output shaft (2412) positioned at the top end of the box body (2411) and a transmission shaft (2413) positioned on the box body (2411); the workpiece rotating disc (242) is connected with the output shaft (2412); the turntable driving element (243) is arranged at one side of the box body (2411), and one end of the turntable driving element (243) is connected with the transmission shaft (2413).

6. The feeding sorting unit (2) applied to robot teaching equipment according to claim 1, characterized in that the sorting tray mechanism (25) comprises: the pushing device comprises a first fixed seat (251), a second fixed seat (252), a pushing plate (253), a pushing slide rail (254), a pushing driving element (255) and an accommodating baffle (256); the first fixing seat (251) is adjacent to the second fixing seat (252); the pushing driving element (255) and the pushing sliding rail (254) are arranged on the first fixing seat (251) in parallel; the pushing plate (253) is arranged on the pushing sliding rail (254) in a sliding mode, and the pushing plate (253) is connected with one end of a pushing driving element (255); the accommodating baffle (256) is arranged above the second fixed seat (252) and is used for stacking and accommodating a plurality of material trays; a feeding gap (257) is formed between the accommodating baffle plate (256) and the second fixed seat (252); the pushing driving element (255) drives the pushing plate (253) to push the material tray positioned in the feeding gap (257) to the second fixed seat (252).

7. The feeding and sorting unit (2) applied to robot teaching equipment according to claim 6, wherein the pushing plate 253 is disposed on the pushing slide rail 254 through a moving slide 258, and the second fixing seat (252) is disposed with a clearance groove (2521); the clearance groove (2521) is matched with the movable sliding seat (258); one end of the pushing slide rail (254) extends from the first fixing seat (251) to the lower part of the clearance groove (2521).

8. The feeding and sorting unit (2) applied to robot teaching equipment according to claim 6, wherein the second fixed seat (252) is further provided with a fixed stop (2522).

9. The feeding and sorting unit (2) applied to the robot teaching device according to claim 6, wherein a fixing groove (2531) is formed in the middle of the pushing plate 253.

10. The feeding sorting unit (2) for application to a robot teaching device according to claim 6, wherein the sorting carousel mechanism (24) further comprises: a tray loading sensor (259); two corresponding side surfaces of the accommodating baffle plate (256) are respectively provided with a strip-shaped groove (2561); the tray feeding sensor (259) is arranged on one side of the containing baffle plate (256) and is positioned on the same straight line with the two strip-shaped grooves (2561).

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