CN211520922U

CN211520922U - Feeding system

Info

Publication number: CN211520922U
Application number: CN201922499942.XU
Authority: CN
Inventors: 曲杰; 王洋; 熊东锋; 潘东东; 曹俊野
Original assignee: Zhejiang Qianjiang Robot Co ltd
Current assignee: Zhejiang Qianjiang Robot Co ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-09-18
Anticipated expiration: 2029-12-31

Abstract

The utility model provides a feeding system belongs to the intelligent manufacturing technology field. The feeding system solves the problem that the existing feeding system has high requirements for classification of parts under the condition that the types of parts required by large-sized workpieces are various. The utility model provides a feeding system, is in including slide rail, slip setting manipulator and setting on the slide rail are in the material loading platform of slide rail one side, the length direction of slide rail with the length direction of material loading platform is unanimous, feeding system still include with the vision integration appearance of connection can be dismantled to the manipulator, the vision integration appearance is close to the material loading platform sets up, just the bottom maximum length of vision integration appearance is greater than the width of material loading platform. The utility model discloses a length with the bottom of vision integrated appearance scanning part is greater than the width setting of material loading platform, guarantees that the part of material loading bench need not be categorised just can be by accurate scanning identification.

Description

Feeding system

Technical Field

The utility model belongs to the technical field of the intelligence is made, a feeding system is related to.

Background

The intelligent assembly is always an area with development space in intelligent production, the accurate positioning of parts is the key of the intelligent assembly, and only when the parts are accurately positioned before the assembly, an assembly robot can accurately grab the parts and accurately place the parts to a specified assembly position to realize the accurate assembly.

The existing methods for positioning parts have the following modes:

1. fix a position the part through the manual work, but can't carry multiple part, need go on with the help of the manual work, troublesome poeration and efficiency are lower.

2. The visual detection device is arranged on the manipulator of the feeding robot, when large workpieces are fed, the number of parts is large, fixed-point scanning is needed, so that time is easily wasted in the scanning process, the working efficiency is reduced, and when a large feeding table scans, the distance between the visual detection device and the feeding table needs to be increased due to the fact that the visual detection device on the manipulator recognizes the range, but the scanning signals are blurred due to the distance, pixels and the like, and the signal transmission precision is reduced.

3. Through placing the part in visual detection device's below, because visual detection device's visual range is certain, this kind of mode can not satisfy under the multiple type condition of part large quantity, quick and accurate relative part of looking for, perhaps can be with this kind of mode and artificial combination, through the mode of discernment on one side artifical material loading, but like this or reduce work efficiency, increase artificial work load.

4. Through placing the part on the conveyer belt, and set up the conveyer belt in the fixed below that sets up visual detection device, through the conveying of part, the part is discerned fast, thereby load to material loading robot with signal transmission, but because the material loading to the conveyer belt under this kind of mode needs the artifical material loading that lasts, increase work load, and in the shape of part, under the condition that the effect differs, consider that the different positions of work piece need different parts, need artifically carry out the work piece classification at the in-process of placing the part promptly, need arrange according to one set of complete part of work piece, can increase work load like this, can reduce work efficiency to a certain extent.

Disclosure of Invention

The utility model aims at having the above-mentioned problem to current technique, provided a feeding system, the utility model aims to solve the technical problem that: under the condition that the types of parts required by large-sized workpieces are various, the existing feeding system has higher requirements for classification of the parts.

The purpose of the utility model can be realized by the following technical proposal: the utility model provides a feeding system, includes the slide rail, slides and sets up manipulator on the slide rail and setting are in the material loading platform of slide rail one side, the length direction of slide rail with the length direction of material loading platform is unanimous, its characterized in that, feeding system still include with the vision integration appearance of connection can be dismantled to the manipulator, the vision integration appearance is close to the material loading platform sets up, just the bottom maximum length of vision integration appearance is greater than the width of material loading platform.

This feeding system mainly is applied to the workstation. The vision detector comprises an illumination module, a lens module, a camera module, an image acquisition card module and a vision processor module, wherein the camera converts parts placed on a loading platform into image signals, transmits the image signals to a special image processing system and converts the image signals into digital signals to realize the transmission of position information under the assistance of the illumination module; the bottom of the vision integration instrument is mainly used for collecting information and identifying and collecting position information of a workpiece. The manipulator is detachably connected with the vision integration instrument, a conductive slip ring can be arranged in the manipulator, a female chuck is arranged at one end of the manipulator, positive and negative conductors can be arranged on the female chuck, the positive and negative conductors are electrified by the conductive slip ring, the vision integration instrument is internally provided with the positive and negative conductors corresponding to the vision integration instrument in a connector with the female chuck, and when the positive and negative conductors of the female chuck and the connector are inserted and connected for conduction, the vision integration instrument can be electrified to work.

Different from the prior art, the visual detector in the feeding system is driven by the manipulator to move relative to the feeding table, so that parts placed on the feeding table are photographed and identified; because at the in-process of carrying out the material loading to the material loading platform, the part is put irregularly, bottom maximum length through with the integrated appearance of vision is greater than the width setting of material loading platform not only guarantees that the integrated appearance of vision can be with placing the whole once only discernment of shooing of the part on the material loading platform, guarantees the comprehensiveness of discernment, the promptness, can also make the manipulator drive the in-process that the integrated appearance of vision removed, need not consider the position relation between integrated appearance of vision and the material loading platform too much, only need guarantee that the both ends of the bottom of the integrated appearance of vision can stretch out the both sides of material loading platform, and combine the displacement of manipulator, just can include the visual range of material loading bench face into the integrated appearance of vision, can guarantee the definition of photo, the accuracy of signal identification when reducing the operation degree of difficulty. Because this material loading platform is fixed motionless, consequently at the in-process that carries out the material loading to the material loading platform, only need the part evenly to place just can realize the accurate discernment of vision integration appearance at the material loading bench, and the quantity of material loading once can satisfy the demand of a plurality of work pieces, forms the interval material loading, reduces workman's working strength.

In the feeding system, the length direction of the bottom of the vision integration instrument is consistent with the width direction of the feeding table, and the vision integration instrument is arranged close to the end part of the feeding table. The purpose that sets up like this, be convenient for manipulator and vision integration appearance be connected, slide, and vision integration appearance can rise to the certain height after can directly move over from the top of material loading platform under the effect of manipulator, forms smooth removal action, under the condition of the stability of guaranteeing that the material loading robot removes, need not carry out the displacement correction to vision integration appearance again, reduces the displacement error of robot, improves the efficiency that the clamp was got, was removed, discerned.

In the feeding system, a sliding plate capable of sliding along the length direction of the sliding rail is arranged between the sliding rail and the manipulator, the manipulator is arranged on the sliding plate, a plurality of clamp frames are further arranged on the sliding plate, and the clamp frames are close to the manipulator. A female chuck is fixedly arranged at one end of the manipulator, the connection between the manipulator and different objects is met by replacing a sub chuck correspondingly connected with the female chuck, and sub chucks with different models are correspondingly arranged on the clamp bracket and used for replacing sub chucks used for other purposes by the manipulator, so that the overall adaptability of the manipulator is improved; the vision integration instrument can realize signal transmission through a scanning, then the vision integration instrument just lies in the opposite side of material loading platform after a scanning, set up anchor clamps frame and manipulator jointly on can be for the gliding bottom plate of material loading platform, the manipulator puts down the vision integration instrument after, its female chuck separates with sub-chuck, through the installation that corresponds again of female chuck and the sub-chuck of setting on anchor clamps frame, carry out the work on next step of manipulator, improve the practicality of manipulator and improve work efficiency.

In the feeding system, the feeding system further comprises a ground rail with the same length direction as the slide rail and an inverted U-shaped robot integration cabinet arranged on the ground rail in a sliding manner, the slide rail is arranged in the ground rail, and the manipulator can pass through the robot integration cabinet in a sliding manner from the lower part of the robot integration cabinet. The robot integration cabinet is mainly used for installing a welding robot, the slide rail is arranged in the middle of the ground rail, the inverted-U-shaped integration cabinet is arranged on the ground rail, and a space for the mechanical arm to pass through in a reciprocating mode is arranged below the integration cabinet, so that the integration cabinet and the mechanical arm can be matched, the working space is saved, and the space utilization rate is improved; the feeding system can adopt a mode of feeding first and then welding, and can also adopt a mode of feeding and welding simultaneously; and welding robot on the robot control cabinet is in the during operation, and the manipulator can freely remove, even part is omitted and is placed on the work piece appears, still can carry out the part through setting up the manipulator and place.

In the feeding system, a plurality of position changing machines are arranged on the other side of the sliding rail, and the arrangement directions of the position changing machines are the same as the length direction of the sliding rail and are arranged close to the sliding rail. The machine of shifting is responsible for the clamping work piece, the aim at who sets up like this, this feeding system is when being applied to large-scale work piece, the length direction of work piece is unanimous with the direction of manipulator motion, then place the work range at the manipulator with the work piece, and set up material loading platform and machine of shifting in the both sides of slide rail respectively, make the manipulator pass from the centre of machine of shifting and material loading platform, both are in the working range of manipulator, the manipulator then can be the most convenient, place the part of placing on the material loading bench on the work piece fast and go, realize automaticly, and the work efficiency is improved.

In the feeding system, the maximum sliding distance of the robot integrated cabinet is greater than the maximum sliding distance of the manipulator. Because the manipulator needs scanning discernment once when discerning the part, for the smoothness nature of guaranteeing the discernment, through the maximum displacement difference that sets up integrated cabinet of robot and manipulator, make the integrated cabinet of robot move to one side after, let the manipulator carry out discernment work again, both can not influence each other.

In the feeding system, a guide support is horizontally extended at one end, close to the slide rail, of the bottom of the positioner, a plurality of pulleys are arranged at the other end of the positioner, and the extending direction of the guide support is consistent with the length direction of the slide rail. The position changing machine of the feeding system is arranged in a sliding manner, and can clamp workpieces with different types by adjusting the position relation among the position changing machines, so that the adaptability of the whole feeding system is ensured; the guide support plays the effect of direction to the displacement machine removes, makes the displacement machine can not break away from and predetermines the removal track, if the displacement machine breaks away from and predetermines the track, toward the slide rail direction striking, the guide support still plays anticollision, cushioning effect.

In foretell feeding system, the both sides limit of ground rail all upwards extends the setting, just the ground rail is close to be provided with the track on the side of machine of shifting, orbital length direction with the length direction of ground rail is unanimous, the guide bracket through set up slider on the guide bracket with track sliding connection. Through with track slidable mounting in the side of ground rail, the track plays the guide effect to the guide rail, and the ground rail plays the effect of support to the guide bracket, guarantees the holistic stationarity of machine of shifting, and the ground rail plays the dispersion to the weight of placing the work piece on the machine of shifting.

In the above feeding system, the feeding system further comprises a slideway far away from and parallel to the ground rail, and the pulley is slidably arranged on the slideway. The pulley plays the effect of supplementary machine of shifting, support, and the slide can guarantee that the pulley slides all the time and sets up on the slide, can not appear shifting, guarantees the stability that the machine of shifting removed.

Compared with the prior art, this feeding system has following advantage:

1. the maximum length of the bottom of the vision integration instrument is larger than the width of the feeding table, so that the vision integration instrument can scan the position information of the part on the feeding table for identification at one time, and the integrity and convenience of information collection are guaranteed.

2. This integrated appearance of vision cooperates with fixed material loading platform, and this integrated appearance of vision is to the shape of part, positional information discernment back, in to material loading bench material loading, then need not carry out special collocation to the part and place, only need with the part evenly place at the material loading platform can, the manipulator can seek corresponding part automatically, reduces the manual operation degree of difficulty, improves work efficiency.

3. This manipulator can just can exert different effects through changing the anchor clamps that set up in manipulator one end, makes the functional stronger of this manipulator, increases the suitability of this manipulator, and if there is the circular telegram demand, only need change the anchor clamps that can circular telegram, just can satisfy different user demands.

4. With the slide rail setting in the ground rail, through the manipulator and the cooperation of the integrated cabinet of the robot of the type of falling U, the manipulator with set up the welding robot cooperation work on the integrated cabinet of robot, guarantee work efficiency, save the work piece space.

5. Set up the machine of shifting of slidingtype, can make the machine of shifting carry out the centre gripping to the work piece of different models, guarantee whole feeding system's suitability, and the one end of machine of shifting sets up on the ground rail through sliding, and the ground rail not only plays the supporting role to the machine of shifting, can guarantee again that the machine of shifting can not break away from the track of setting on the ground rail, guarantees safety and stability.

6. The fixture frame for placing the sub-chuck slides along with the manipulator, so that the manipulator can be immediately replaced and used with the sub-chuck, the replacement time is shortened, and the manipulator is more convenient to replace.

Drawings

Fig. 1 is a schematic view of the overall structure of the feeding system.

Fig. 2 is an enlarged schematic view of the structure of a position changing machine in the feeding system.

In the figure, 1, a slide rail; 2. a manipulator; 3. a feeding table; 4. a vision integration instrument; 5. a clamp frame; 6. a position changing machine; 7. a ground rail; 8. a robot integration cabinet; 9. a guide bracket; 10. A pulley; 11. a track; 12. a slider; 13. a slideway; 14. a slide board.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

As shown in fig. 1 and 2, the feeding system comprises a slide rail 1 which can be horizontally arranged, a manipulator 2 which is slidably arranged on the slide rail 1, a rectangular feeding table 3 which is arranged on one side of the slide rail 1, and two position changing machines 6 which are arranged on the other side of the slide rail 1 and used for clamping workpieces, wherein the length direction of the feeding table 3 is consistent with the length direction of the slide rail 1, the two position changing machines 6 are longitudinally arranged, and the arrangement direction is consistent with the length direction of the slide rail 1.

A vision integration instrument 4 is arranged at one end close to the feeding table 3, the length direction of the bottom of the vision integration instrument 4 is the same as the width direction of the feeding table 3, the length of the bottom of the vision integration instrument 4 is larger than the width of the feeding table 3, and the manipulator 2 is connected with the vision integration instrument 4; move the integrated appearance 4 of vision from the top of material loading platform 3, will place the part on material loading platform 3 through the bottom of the integrated appearance 4 of vision and carry out position scanning, carry out signal transmission again, when manipulator 2 slides the integrated appearance 4 of vision from the top of material loading platform 3, only need to guarantee that the bottom of the integrated appearance 4 of vision wraps up material loading platform 3 into the scanning range of the integrated appearance 4 of vision, guarantee that the integrated appearance 4 of vision can be to material loading platform 3 once only scan successfully.

The manipulator 2 slides through slide 14 and sets up on slide rail 1, still is provided with a plurality of two anchor clamps framves 5 on slide 14, corresponds the sub-chuck of installation and 2 cooperation installations of manipulator on the anchor clamps frame 5 respectively, and anchor clamps frame 5 follows manipulator 2 and slides for slide rail 1 together, and the corresponding sub-anchor clamps of manipulator 2 in time can be changed to the manipulator of being convenient for, guarantees the promptness of work.

The feeding system also comprises a ground rail 7 and a slide way 13 which is far away from the ground rail 7 and is parallel to the ground rail 7, the slide rail 1 is arranged in the ground rail 7, the length direction of the slide rail 1 is consistent with the length direction of the ground rail 7, an inverted U-shaped robot integration cabinet 8 is also arranged on the ground rail 7 in a sliding manner, two support legs at the bottom of the robot integration cabinet 8 are arranged on the ground rail 7 in a sliding manner, a space for the mechanical arm 2 to slide through is formed between three inner side surfaces of the robot integration cabinet 8, a welding robot arranged on the robot integration cabinet 8 faces to the direction of a workpiece, the maximum sliding distance of the robot integration cabinet 8 is greater than the maximum sliding distance of the mechanical arm 2, the robot integration cabinet 8 is in sliding fit with the mechanical arm 2, when the mechanical arm 2 is connected with the vision integration instrument 4 for scanning, the robot integration cabinet 8 can not obstruct the sliding of the vision integration instrument 4, after the scanning of the mechanical arm 2 is completed, when the next procedure is carried out, the feeding and welding work can be carried out simultaneously, and the feeding and welding can be carried out firstly, so that the working efficiency can be improved; two side edges of the ground rail 7 extend on the net respectively, and a track 11 is arranged on one side surface of the ground rail 7 far away from the feeding table 3 along the length direction of the ground rail 7.

Positioner 6 is placed to the opposite side of slide rail 1, the horizontally extending's of the one end setting of positioner 6 bottom guide bracket 9, the length direction of the work piece of positioner 6 centre gripping is unanimous with the direction that manipulator 2 removed, be provided with slider 12 along its length direction interval on guide bracket 9, guide bracket 9 slides through slider 12 and sets up on above-mentioned track 11, and the other end of positioner 6 bottom slides and is provided with a plurality of pulleys 10, pulley 10 slides and sets up on above-mentioned slide 13, slide 13 sets up the one side of keeping away from material loading platform 3 at ground rail 7, pulley 10 and slide 13 cooperation, guarantee that pulley 10 can not skid, and under the combined action of pulley 10 and guide bracket 9, positioner 6 clamping face is in the horizontally straight line, anger can take place the phenomenon of slope, guarantee the stability of work piece centre gripping.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Although the terms robot cabinet, robot arm, slide rail, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.

Claims

1. The utility model provides a feeding system, includes slide rail (1), slides and sets up manipulator (2) and setting on slide rail (1) are in feeding platform (3) of slide rail (1) one side, the length direction of slide rail (1) with the length direction of feeding platform (3) is unanimous, a serial communication port, feeding system still include with visual integration appearance (4) of connection can be dismantled in manipulator (2), visual integration appearance (4) are close to feeding platform (3) set up, just the bottom maximum length of visual integration appearance (4) is greater than the width of feeding platform (3).

2. A feeding system according to claim 1, wherein the length direction of the bottom of the vision integration instrument (4) is the same as the width direction of the feeding table (3), and the vision integration instrument (4) is arranged near the end of the feeding table (3).

3. A feeding system according to claim 1 or 2, characterized in that a sliding plate (14) is arranged between the sliding rail (1) and the manipulator (2), the sliding plate (14) is slidably connected to the sliding rail (1), the manipulator (2) is arranged on the sliding plate (14), and a plurality of clamp frames (5) are further arranged on the sliding plate (14), and the clamp frames (5) are arranged near the manipulator (2).

4. A feeding system according to claim 1 or 2, further comprising a ground rail (7) having the same length direction as the slide rail (1), and an inverted U-shaped integrated robot cabinet (8) slidably disposed on the ground rail (7), wherein the slide rail (1) is disposed in the ground rail (7), and the manipulator (2) can slide through the integrated robot cabinet (8) from below.

5. A feeding system according to claim 4, characterized in that a plurality of position changing machines (6) are arranged on the other side of the slide rail (1), and the arrangement directions of the position changing machines (6) are the same as the length direction of the slide rail (1) and are arranged close to the slide rail (1).

6. A feeding system according to claim 4, wherein the maximum sliding distance of the robotically integrated cabinet (8) is larger than the maximum sliding distance of the manipulator (2).

7. A feeding system according to claim 5, characterized in that one end of the bottom of the position changing machine (6) close to the slide rail (1) is horizontally extended with a guide bracket (9), the other end is provided with a plurality of pulleys (10), and the extending direction of the guide bracket (9) is consistent with the length direction of the slide rail (1).

8. The feeding system according to claim 7, wherein two side edges of the ground rail (7) extend upwards, a track (11) is arranged on one side surface, close to the position changing machine (6), of the ground rail (7), the length direction of the track (11) is consistent with that of the ground rail (7), and the guide support (9) is in sliding connection with the track (11) through a sliding block (12) arranged on the guide support (9).

9. A feeding system according to claim 7, further comprising a chute (13) remote from and parallel to the ground rail (7), said pulley (10) being slidingly arranged on said chute (13).