CN212635135U

CN212635135U - Automatic feeding device

Info

Publication number: CN212635135U
Application number: CN202021720169.1U
Authority: CN
Inventors: 张家春
Original assignee: Wuhu Ruiguan Intelligent Equipment Co ltd
Current assignee: Wuhu Ruiguan Intelligent Equipment Co ltd
Priority date: 2020-08-17
Filing date: 2020-08-17
Publication date: 2021-03-02
Anticipated expiration: 2030-08-17

Abstract

The utility model discloses an automatic feeding device, including carry material to the ladder material loading machine of top position, carry the material after target in place to ladder material loading machine and carry out 3D discernment in order to confirm the 3D recognition device in material position, snatch the manipulator that moves by oneself to the material after the discernment. The ladder material loading machine includes: the device comprises a moving part for conveying materials in a mode that the positions of multiple rows are sequentially increased and the materials are simultaneously moved up and down, a fixed part which is inserted in the moving part and is used for connecting the materials conveyed by the adjacent moving part, and a removing mechanism for removing the materials which cannot be grabbed or are not beneficial to grabbing by a manipulator and enabling the removed materials to continuously flow back to the initial position. The utility model discloses change traditional artifical unloading into the automatic unloading of going up of machine, the automatic unloading of going up of machine can satisfy quick and batch machining speed requirement, and be difficult to have error or various errors and maloperation, has saved the human cost greatly, has improved production efficiency.

Description

Automatic feeding device

Technical Field

The utility model belongs to intelligence manufacturing field, concretely relates to automatic feeding device that can automatic feeding.

Background

At present, most of the material loading work of robot 3D intelligent machine tool feeding system project is manual material loading, and the material is manually conveyed and moved to a required station during manual material loading, so that the manual material loading speed is low, the requirement for improving the production efficiency cannot be met, and the requirement for batch production and manufacturing cannot be met.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a but automatic feeding's automatic feeding device.

The technical scheme of the utility model is that:

the utility model provides an automatic feeding device, includes that the ladder material loading machine in order to carry material to predetermined height is gone up to the ladder step by step, carries out 3D discernment in order to confirm the 3D recognition device of material position to the material after ladder material loading machine carries to target in place, snatchs the manipulator that moves automatically to the material after the discernment.

The utility model discloses in, ladder material loading machine transported substance material, the utility model discloses the material of carrying is particularly useful for rodlike material, also can carry the material of other shapes certainly, and ladder material loading machine carries material to the position back, and 3D recognition device passes through the position and the material form information that visual identification identified the material to give the manipulator with information transmission, the manipulator snatchs according to material information and moves.

Ladder material loading machine include: the device comprises a moving part for conveying materials in a manner that the positions of a plurality of rows are sequentially increased and the material is simultaneously moved up and down, a fixed part which is sequentially inserted into the moving part and is used for connecting the materials conveyed by the adjacent moving part, and a removing mechanism for removing the materials which cannot be grabbed or are not beneficial to grabbing by a manipulator and continuously returning the removed materials to the initial position; the moving part moves up and down under the driving of a driving device. The utility model discloses in, multiseriate movable part carries the material to multiseriate fixed part with reciprocating on, multiseriate movable part and multiseriate fixed part are alternately arranged. In the utility model, the positions of the multiple rows of moving parts are sequentially increased, and the multiple rows of moving parts are driven by a driving device to simultaneously convey materials in an up-and-down moving manner; the multiple rows of fixing parts are sequentially inserted into the multiple rows of moving parts and used for receiving materials conveyed by the adjacent moving parts, and the positions of the multiple rows of fixing parts are sequentially increased.

Furthermore, the top ends of the multiple rows of moving parts and the fixed parts are inclined planes inclined towards the material conveying direction.

Furthermore, the number of rows of the moving parts is 2-5, and the number of rows of the fixing parts is 2-5. The utility model discloses in, preferred row number is 2 ~ 5 rows, certainly can also be with the crisscross multiseriate of arranging of removal portion fixed part, but the row number of arranging is more, and the structure of removal portion and fixed part is bigger more, can also adopt the mode realization of the every height or the length of arranging of increase removal portion fixed part in order to make transport height or conveying efficiency improve.

Further, the ladder material loading machine and the 3D recognition device are integrated on a frame body. The utility model discloses in, the manipulator not on the support body.

Further, the ladder material loading machine still include, deposit the material in order to make the material by the material stock portion that the removal portion was carried aslope, material stock portion next-door neighbour remove the portion, material stock portion sets up on the support body.

In the utility model, the top ends of the multiple rows of moving parts and the fixed parts are inclined towards the material conveying direction, and the material storage part is also inclined, so that the materials can automatically incline towards the material conveying direction end under the action of gravity; of course, the present invention can also achieve the above object by using a method of obliquely arranging the plurality of rows of moving parts and the fixing part itself.

Further, the ladder material loading machine still including being used for connecing the material portion of connecing of being carried the material of fixed part predetermined height department by the removal portion, and will connect material portion and fixed part predetermined height department and couple together so that the material slides the first portion of sliding of whereabouts, first portion of sliding is the slope setting, and 3D recognition device discerns the material in connecing the material portion, connect material portion and first portion of sliding all set up on the support body. The utility model discloses in, the slope of first portion of sliding sets up and makes the material automatic sliding to connect the material portion in, and 3D recognition device discerns the material to the region that connects the material portion.

Further, the ladder material loading machine still including connecting material receiving portion and material stock portion to the material that is rejected by the mechanism that makes is followed the second portion of sliding that the slope that material receiving portion flows back to material stock portion sets up, the second portion of sliding sets up on the support body. The utility model discloses in, the second portion of sliding also inclines to set up, and the direction inclines to stock portion to make things convenient for the material landing or roll.

Further, the rejecting mechanism comprises: the material sliding device comprises a track, a sliding piece and a push plate, wherein the track is arranged on the frame body, the lower part of a first sliding part is perpendicular to the material sliding direction of the first sliding part and is located on the horizontal direction, the sliding piece is matched with the track and slides on the track, the push plate is fixedly connected with the sliding piece, extends to one side far away from the track and is tightly attached to the upper surface of a material receiving part, and the push plate is used for pushing materials to a second sliding part. The utility model discloses the extending direction of well push pedal is perpendicular with the track.

The utility model discloses in, the manipulator snatchs can not or be unfavorable for the material that snatchs to reject it by rejecting the mechanism and continue to participate in the defeated material of next material loading through second portion of sliding to stock portion.

Furthermore, the ladder feeder also comprises a guide piece for guiding the moving track of the moving part to ensure that the moving track of the moving part does not deviate and is not blocked; the guide piece comprises a groove arranged on the moving part and a raised convex rail which is fixed on the frame body in a way of being matched with the groove. The utility model discloses in, the removal portion reciprocates under drive arrangement's drive, does not take place to incline and block in order to make the removal orbit of removal portion guaranteed to make the removal portion hinder, the guide can also be set up the tongue in the removal portion, set up on the support body and realize with the mode of tongue matched with concave rail.

Further, the identification range of the 3D identification device includes a specific position of the material and a specific structure of the material.

Furthermore, the 3D recognition device adopts a binocular stereo vision algorithm of a passive algorithm to perform visual recognition on the materials. The utility model discloses an among the passive three-dimensional vision technique, the illumination of material is provided by the illumination condition around the material the utility model discloses in, illumination is integrated on 3D recognition device promptly. The 3D vision recognition device in the utility model adopts a binocular stereo vision algorithm in a passive distance measurement method, and the algorithm process is similar to the human vision perception process; the 3D vision recognition device adopts a binocular stereo vision algorithm to calculate depth information from a plurality of cameras, and by utilizing calibration information of the two cameras, the algorithm can generate a depth image and provide richer data to recognize various forms of materials so as to guide the motion and response of the manipulator. Of course, the visual algorithm used by the 3D visual recognition device may be of other various types, such as structured light emission in an active distance measurement method, a time-of-flight method, a triangulation method, and the like.

Compared with the prior art, the beneficial effects of the utility model are embodied in:

the utility model discloses an automatic feeding device; the automatic feeding and discharging device changes the traditional manual feeding and discharging into the automatic feeding and discharging of the machine, meets the machining speed requirement of quick and batch machining, is not easy to have errors or various errors and misoperation, greatly saves the labor cost, and improves the production efficiency.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the present invention excluding the shape and structure of the manipulator;

FIG. 3 is a schematic structural view of the present invention not including a robot;

FIG. 4 is a schematic diagram showing a detail m in FIG. 3;

fig. 5 is a schematic structural view of the driving device driving the moving part to move upwards in the ladder feeder of the present invention;

fig. 6 is a schematic structural view of the driving device driving the moving part to move downwards in the ladder feeder of the present invention;

FIG. 7 is a schematic structural view of the present invention including a rejecting mechanism;

fig. 8 is a schematic structural view of the present invention including another view angle of the rejecting mechanism;

wherein, 1 is a ladder feeder, 11 is a moving part, 2 is a 3D recognition device, 3 is a manipulator, 4 is a rejecting mechanism, 41 is a sliding part, 411 is a push plate, 5 is a frame body, 51 is a material storage part, 52 is a material receiving part, 53 is a first sliding part, 54 is a second sliding part, 55 is a track, and 6 is a driving device.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 8, the structure of the automatic feeding device of the present invention is schematically illustrated.

As shown in fig. 1, it is the utility model discloses an automatic feeding device, including ladder material loading machine 1, 3D recognition device 2 and carry out the automatic manipulator 3 that snatchs the moving to the material after the discernment. The material of the step feeder 1 is fed step by step to convey the material to an upper position. The utility model discloses in, 1 transported substance material of ladder material loading machine, the utility model discloses the material of carrying is particularly useful for rodlike material, also can carry the material of other shapes certainly, and 1 transported substance material of ladder material loading machine is to the position back, and 3D recognition device 2 discerns the position and the material form information of material through visual identification to give manipulator 3 with information transmission, manipulator 3 snatchs according to material information and moves.

As shown in fig. 1 to 6, the ladder feeder 1 of the present invention includes: the device comprises a moving part 11 with a plurality of rows of sequentially heightened positions, a fixed part and a removing mechanism 4, wherein the fixed part is sequentially inserted into the moving part 11, the removing mechanism is used for removing materials which cannot be grabbed or are not beneficial to grabbing by a manipulator 3, and the removed materials continuously flow back to the initial position; the multiple rows of moving parts 11 are driven by a driving device 6 to simultaneously convey materials in an up-and-down moving mode, the fixed parts are used for receiving the materials conveyed by the adjacent moving parts 11, and the fixed parts are fixed; as shown in fig. 2 to 6, the top ends of the plurality of rows of moving parts 11 and the fixed part are inclined planes inclined toward the feeding direction, but the present invention can also achieve the above object by arranging the plurality of rows of moving parts 11 and the fixed part in an inclined manner. Wherein, what the row number of mobile unit 11 was used commonly is 2 ~ 5 rows, what the row number of fixed part was used commonly is 2 ~ 5 rows, the utility model discloses well preferred row number is 2 ~ 5 rows, certainly also can be with mobile unit 11 fixed part staggered arrangement multiseriate, but the row number of arranging is more, and the structure of mobile unit 11 and fixed part is more huge, in order to make transport height or conveying efficiency improve can also adopt the mode realization that increases the height or the length of every row of mobile unit 11 fixed part.

As shown in fig. 1 to 6, in the present invention, the moving part 11 transports the material to the fixing part while moving up and down, and the plurality of rows of moving parts 11 and the plurality of rows of fixing parts are arranged alternately. As shown in fig. 5 to 6, fig. 5 shows that the driving device 6 drives the plurality of rows of moving parts 11 to move down as a whole, at this time, the material falls onto the moving parts 11 from the fixed parts (the non-hatched plurality of rows are the fixed parts), wherein both the moving parts 11 and the fixed parts are inclined towards the material conveying direction so as to facilitate the material to fall down, after the material on the moving parts 11 in fig. 6 is driven by the driving device 6 to move up, the material stops moving until the height of the top end of the moving part 11 is higher than the height of the adjacent fixed parts, the material on the moving part 11 falls onto the fixed parts, and the material is conveyed to the highest position of the fixed parts by. As shown in fig. 5 to 6, a material storage portion 51 for temporarily storing the material is disposed adjacent to the left side of the moving portion 11, and the material storage portion 51 is inclined so as to facilitate the material to automatically roll or slide down onto the moving portion 11. The utility model discloses in, can drop in order to continue to participate in the material loading of next time in the material storing part 51 when the material drops midway.

As shown in fig. 1 to 4, the ladder feeder 1 and the 3D recognition device 2 are integrated on a frame 5. The utility model discloses in, manipulator 3 is not on support body 5.

As shown in fig. 2 to 4, the ladder feeder 1 further includes a receiving portion 52 for receiving the material conveyed to the predetermined height of the fixing portion by the moving portion 11, and a first sliding portion 53 for connecting the receiving portion 52 and the predetermined height of the fixing portion to allow the material to slide and fall, and the 3D recognition device 2 recognizes the material in the receiving portion 52. The utility model discloses in, the slope of first portion of sliding 53 sets up makes the material slide down to connect material portion 52 in, and 3D recognition device 2 is aimed at the region that connects material portion 52 and is discerned the material.

As shown in fig. 2 to 4, the ladder feeder 1 further includes a second slide portion 54 connecting the receiving portion 52 and the stock portion 51 so that the material rejected by the rejection mechanism 4 flows back from the receiving portion 52 to the stock portion 51. The utility model discloses in, the second portion of sliding 54 also inclines to set up, and the direction inclines to stock portion 51 to make things convenient for the automatic landing of material or roll down.

As shown in fig. 2 to 4 and 7 to 8, the removing mechanism 4 includes: the material receiving device comprises a track 55 which is arranged below the first sliding part 53 on the frame body 5 and is vertical to the material sliding direction of the first sliding part 53 and is positioned in the horizontal direction, a sliding part 41 which is matched with the track 55 and slides on the track 55, and a push plate 411 which is fixedly connected with the sliding part 41, extends to one side far away from the track 55 and is tightly attached to the upper surface of the material receiving part 52 and is used for pushing and transferring materials into the second sliding part 54. The utility model discloses well push pedal 411's extending direction is perpendicular with track 55.

As shown in fig. 2-4 and fig. 7-8, in the present invention, the material that cannot be grabbed or is not beneficial to grabbing by the manipulator 3 is rejected by the rejecting mechanism 4 and continues to participate in the next feeding and conveying process from the second sliding portion 54 to the material storing portion 51.

The utility model discloses in, push pedal 411 removes along track 55, when push pedal 411 slides to being close to second portion 54 that slides along track 55, the material on the material receiving portion 52 is pushed away by push pedal 411 and is moved second portion 54 that slides, and second portion 54 that slides is the slope, and the material in second portion 54 that slides rolls automatically or participates in the material loading circulation next time in the material stock portion 51 that slides.

In the utility model, the ladder feeder 1 further comprises a guide piece for guiding the moving track of the moving part 11 to ensure that the moving track of the moving part 11 does not deviate and is not blocked; the guide member includes a groove provided on the moving portion 11 and a protruding rail fixed to the frame body 5 in cooperation with the groove. The utility model discloses in, removal portion 11 reciprocates under drive arrangement 6's drive, and in order to make the removal orbit of removal portion 11 guaranteed to make removal portion 11 not take place to incline and block, the guide of can also be on removal portion 11 set up the tongue, set up on support body 5 with the mode realization of tongue matched with concave rail. Of course, this rail or groove is not shown in this figure.

As shown in fig. 1 to 3, the identification range of the 3D identification device 2 includes a specific position of the material and a specific structure of the material.

As shown in fig. 1 to 3, the 3D recognition device 2 performs visual recognition on the material by using a binocular stereo vision algorithm which is a passive algorithm. The 3D vision recognition device in the utility model adopts a binocular stereo vision algorithm, and the algorithm process is similar to the human vision perception process; the 3D vision recognition device adopts a binocular stereo vision algorithm to calculate depth information from a plurality of cameras, generates a depth image by utilizing calibration information of the two cameras, provides richer data to recognize various forms of materials, and guides the motion and response of the manipulator 3.

As shown in fig. 1-8, the utility model discloses carry out automatic feeding according to following action flow:

the ladder material loading machine 1 moves to convey materials to the position of the preset height of the fixed part, the materials roll off or slide to the material receiving part 52 along the inclined first sliding part 53 at the preset height of the fixed part, the 3D identification device 2 positioned above the material receiving part 52 carries out 3D visual identification on the materials and transmits position and state information to the mechanical arm 3, the mechanical arm 3 carries out automatic grabbing, when the materials on the material receiving part 52 are not beneficial to the mechanical arm 3 to grab, the rejecting mechanism 4 moves to push the materials into the second sliding part 54 and then continues to return to the initial position, namely returns to the material storing part 51 to continue to participate in the next automatic feeding circulation.

Claims

1. The utility model provides an automatic feeding device, its characterized in that is including carrying material to ladder material loading machine (1) of predetermined height, carrying out 3D discernment with 3D recognition device (2) of confirming the material position to the material after ladder material loading machine (1) carries in place, snatchs manipulator (3) that moves by oneself to the material after the discernment.

2. The automatic feeding device according to claim 1, characterized in that said ladder feeder (1) comprises:

the device comprises a moving part for conveying materials in a mode that the positions of multiple rows are sequentially increased and the material is simultaneously moved up and down, a fixed part which is inserted in the moving part and is used for connecting the materials conveyed by the moving part and close to the moving part, and a removing mechanism for removing the materials which cannot be grabbed or are not beneficial to grabbing by a manipulator and enabling the removed materials to continuously flow back to the initial position.

3. The automatic loading device according to claim 2, wherein the top ends of said plurality of rows of said moving and fixing portions are inclined surfaces inclined in the feeding direction.

4. The automatic feeding device according to claim 2, wherein the number of rows of the moving part (11) is 2 to 5 rows, and the number of rows of the fixing part is 2 to 5 rows.

5. The automatic feeding device according to claim 2, characterized in that said step feeder (1) is integrated in a frame (5).

6. The automatic loading device according to claim 2, wherein the ladder feeder (1) further comprises a stock section (51) provided on the shelf (5) and obliquely storing the materials so that the materials are conveyed by the moving section (11), the stock section (51) being adjacent to the moving section (11).

7. The automatic feeding device according to claim 2, wherein the ladder feeder (1) further comprises a receiving portion (52) provided on the frame body (5) for receiving the material conveyed to the predetermined height of the fixed portion by the moving portion (11), and a first sliding portion (53) connecting the receiving portion (52) and the predetermined height of the fixed portion so that the material slides down, the first sliding portion (53) is inclined, and the 3D recognition device (2) recognizes the material in the receiving portion (52).

8. The automatic feeding device according to claim 2, characterized in that the ladder feeder (1) further comprises a second inclined sliding part (54) connecting the receiving part (52) and the stock part (51) to allow the material removed by the removing mechanism (4) to flow back from the receiving part to the stock part (51).

9. The automatic feeding device according to claim 2, characterized in that said rejecting mechanism (4) comprises: the material sliding device comprises a track (55) which is arranged below a first sliding part (53) on a frame body (5) and is vertical to the material sliding direction of the first sliding part (53) and is positioned on the horizontal direction, a sliding part (41) which is matched with the track (55) and slides on the track (55), and a push plate (411) which is fixedly connected with the sliding part (41), extends to one side far away from the track (55), is tightly attached to the upper surface of a material receiving part (52) and is used for pushing and moving materials into a second sliding part (54).

10. The automatic feeding device according to claim 1, characterized in that the recognition range of the 3D recognition device (2) comprises a specific position of the material and a specific structure of the material; the 3D recognition device (2) adopts a binocular stereoscopic vision algorithm of a passive algorithm to perform visual recognition on the materials.