CN218022458U

CN218022458U - Balance machine

Info

Publication number: CN218022458U
Application number: CN202221963681.8U
Authority: CN
Inventors: 陈海峰
Original assignee: Suzhou Zhongke Ruilong Technology Co ltd
Current assignee: Suzhou Zhongke Ruilong Technology Co ltd
Priority date: 2022-07-28
Filing date: 2022-07-28
Publication date: 2022-12-13
Anticipated expiration: 2032-07-28

Abstract

The utility model discloses a balance machine for automatic put the work piece, the work piece has the first state of placing of diapire internal surface upwards and the second state of placing of diapire external surface upwards of placing, and balance machine includes: the first conveying mechanism is used for conveying workpieces; the second conveying mechanism is used for conveying the carrier; a manipulator mechanism moving between the first conveying mechanism and the second conveying mechanism; the first detection mechanism is arranged above the first conveying mechanism and used for determining the position of the workpiece on the first conveying mechanism; the second detection mechanism is connected with the manipulator mechanism and ensures the placement state of the workpiece; the turnover mechanism is arranged above the carrier; the workpiece in the second placing state is placed on the carrier; the workpiece in the first placement state is placed on the turnover mechanism, and the turnover mechanism drives the workpiece to be switched from the first placement state to the second placement state. The utility model discloses a balance machine can put the work piece as required automatically.

Description

Balance placing machine

Technical Field

The utility model relates to an automatic mechanical equipment field, in particular to balance machine.

Background

In an automatic production line, in a large-scale production process of small workpieces, the operation of carrying out tray arrangement and storage on the produced workpieces is a necessary operation.

Some workpieces need to be placed in a unified orientation after the front and the back of the workpiece are distinguished, and some workpieces need to be placed on the side surfaces of the workpiece according to the unified orientation after the front and the back of the workpiece are distinguished. In the actual implementation process, the molded and demolded workpiece is usually manually placed into a corresponding carrier according to a certain orientation requirement. This just needs the manual work to keep on production line end always and carries out the balance work, greatly increased the cost of labor, also does not benefit to the improvement of production efficiency simultaneously.

Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a balance machine can put the work piece as required automatically.

In order to solve the technical problem, the technical scheme of the utility model is that: a balance machine for automatically placing workpieces, wherein the workpieces comprise a bottom wall and a side wall extending upwards from the free end of the bottom wall, the workpieces are provided with a first placing state that the inner surface of the bottom wall is placed upwards and a second placing state that the outer surface of the bottom wall is placed upwards, and the balance machine comprises:

the first conveying mechanism is used for conveying workpieces;

the second conveying mechanism is used for conveying the carrier;

a manipulator mechanism that moves between the first conveying mechanism and the second conveying mechanism;

the first detection mechanism is arranged above the first conveying mechanism and used for determining the position of the workpiece on the first conveying mechanism;

the second detection mechanism is connected with the mechanical hand mechanism and is used for determining the placement state of the workpiece;

the turnover mechanism is arranged above the carrier;

placing the workpiece in the second placing state on the carrier; the workpiece in the first placing state is placed on the turnover mechanism, and the turnover mechanism drives the workpiece to be switched from the first placing state to the second placing state.

Preferably, the first detection mechanism includes:

the first mounting seat is arranged above the first conveying mechanism;

the first camera is arranged on the first mounting seat, and a lens of the first camera is vertically arranged towards the first conveying mechanism;

and the first processing unit is connected with the first camera and is used for receiving the workpiece image shot by the first camera and determining the position of the workpiece on the first conveying mechanism.

Preferably, the first conveying mechanism comprises a conveying belt, and a light emitter and a light receiver which are arranged on two sides of the conveying belt, and the first camera is arranged above the light transmission path.

Preferably, the second detection mechanism includes:

the distance sensor is connected to one side of the hand of the manipulator mechanism and is vertically arranged towards the first conveying mechanism;

and the second processing unit is connected with the distance sensor and is used for receiving the distance between the distance sensor and the first conveying mechanism and judging the placement state of the workpiece.

Preferably, the hand of the manipulator mechanism is attracted with the inner surface of the bottom wall, and when the distance detected by the distance sensor is equal to a first preset value, the workpiece is in a first placing state;

and the hand part of the manipulator mechanism is attracted with the outer surface of the bottom wall, and when the detection distance of the distance sensor is equal to a second preset value, the workpiece is in a second placing state.

Preferably, the turnover mechanism comprises:

the rotating shaft is arranged above the carrier;

the turnover plate is connected with the rotating shaft and is provided with a first working position and a second working position which are positioned at two sides of the rotating shaft;

the sucking component is connected with the turnover plate, the sucking component is arranged upwards when the turnover plate is positioned at the first working position, and the sucking component is arranged towards the carrier when the turnover plate is positioned at the second working position;

and the driving component is connected with the rotating shaft so as to drive the turnover plate to move between a first working position and a second working position.

Preferably, the carrier is provided with a plurality of limiting seats arranged in an array, the suction assembly comprises a plurality of suckers arranged in an array, and each row of limiting seats is arranged corresponding to each row of suckers;

the manipulator mechanism places the workpiece in the second placing state on the limiting seat, places the workpiece in the first placing state on the sucker, and places only one workpiece on the corresponding limiting seat and the corresponding sucker.

Preferably, the side wall of the workpiece comprises a first end surface and a second end surface which are arranged oppositely, one or more through holes are formed in the first end surface, the plate swinging machine further comprises a third detection mechanism arranged above the first conveying mechanism, and the third detection mechanism determines the end surface orientation of the side wall of the workpiece.

Preferably, the third detection mechanism includes:

the second mounting seat is arranged above the first conveying mechanism;

the second camera is connected with the second mounting seat, and a lens of the second camera is arranged in parallel with the transportation direction of the first conveying mechanism;

and the third processing unit is connected with the second camera and used for receiving the end face image of the side wall of the workpiece shot by the second camera and determining the orientation of the through hole.

Preferably, when the workpiece is in a first resting state, the second end face is turned towards the second camera arrangement;

when the workpiece is in a second resting state, the first end face turns to the second camera setting.

Compared with the prior art, the utility model has the advantages of it is following:

the utility model discloses a balance machine, confirm the position of work piece on first conveying mechanism through first detection mechanism, through the state of placing of second detection mechanism actual work piece, the work piece that will be in the second state of placing through manipulator mechanism puts on the carrier, the work piece that will be in the first state of placing puts on tilting mechanism, tilting mechanism drives the work piece and switches over to the second state of placing from the first state of placing, thereby automatic put the work piece to corresponding carrier according to the requirement, manual balance has been replaced, the cost of labor has not only been reduced, still effectively improved production efficiency, be convenient for automated production and unified management.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely illustrative for helping the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. The skilled person in the art can, under the teaching of the present invention, choose various possible shapes and proportional dimensions to implement the invention according to the specific situation. In the drawings:

fig. 1 is a schematic structural diagram of a central balance machine of the present invention;

fig. 2 is a schematic structural view of a first conveying mechanism in the present invention;

fig. 3 is a schematic structural diagram of a first detection mechanism in the present invention;

fig. 4 is a schematic structural view of the turnover mechanism of the present invention;

FIG. 5 is a schematic structural view of a workpiece according to the present invention;

fig. 6 is a schematic view of the state of the robot mechanism of the present invention when the robot mechanism is engaged with the workpiece in the first placement state;

fig. 7 is a schematic view of the state of the robot mechanism of the present invention when the robot mechanism is engaged with the workpiece in the second placement state;

fig. 8 is a schematic view of the turning mechanism of the present invention in a first operating position;

fig. 9 is a schematic view of the turning mechanism in the second working position according to the present invention.

Detailed Description

In order to make the technical solutions in the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 to 9, a balance machine according to a preferred embodiment of the present invention is used for automatically placing workpieces having front and back surfaces in a uniform orientation on a carrier. In the present embodiment, in order to protrude the front and back sides of the workpiece, as shown in fig. 5, the workpiece includes a bottom wall 71, a side wall 72 extending upward from a free end of the bottom wall 71, and a flange 73 extending outward from a free end of the side wall 72. When the inner surface of the bottom wall 71 of the work 7 is placed upward, the work 7 is in the first placed state, and when the outer surface of the bottom wall 71 of the work 7 is placed upward, the work 7 is in the second placed state.

As shown in fig. 1, the disk arranging machine includes a first conveying mechanism 1, a second conveying mechanism 2, a manipulator mechanism 3, a first detection mechanism 4, a second detection mechanism 5 and a turnover mechanism 6, wherein the first detection mechanism 4 is disposed above the first conveying mechanism 1 and is used for determining a position of a workpiece 7 on the first conveying mechanism 1, the second detection mechanism 5 is connected with the manipulator mechanism 3 and is used for determining a placement state of the workpiece 7, the turnover mechanism 6 is disposed above a carrier 8, the manipulator mechanism 3 moves between the first conveying mechanism 1 and the second conveying mechanism 2, the workpiece 7 in the second placement state is placed on the carrier 8, the workpiece 7 in the first placement state is placed on the turnover mechanism 6, and the turnover mechanism 6 drives the workpiece 7 to be switched from the first placement state to the second placement state and finally placed in the carrier 8.

Specifically, as shown in fig. 2, the first conveying mechanism 1 is preferably a belt conveyor, and includes a conveyor belt 11 for carrying and conveying the workpiece 7, and a light emitter 12 and a light receiver 13 provided on both sides of the conveyor belt 11, and when the workpiece 7 is conveyed between the light emitter 12 and the light receiver 13, cuts off the optical fiber to control the conveyor belt 11 to stop moving. As shown in fig. 3, the first detection mechanism 4 includes a first mounting base 41, a first camera 42, and a first processing unit, the first mounting base 41 is preferably an XY-axis moving stage, and the position of the first camera 42 above the first conveyance mechanism 1 can be adjusted as required. The first camera 42 is mounted on the first mount 41 with a lens of the first camera 42 disposed vertically toward the first conveyance mechanism 1, and preferably, the lens of the first camera 42 is disposed directly above the light transmission path between the light emitter 12 and the light receiver 13. The first processing unit is connected to the first camera 42, and is configured to receive the workpiece image captured by the first camera 42 and determine the position of the workpiece 7 on the first conveying mechanism 1, for example, first go through pixel points on the edge of the workpiece 7 on the workpiece image to determine the position of the workpiece 7 on the workpiece image, and then determine the position of the workpiece 7 on the first conveying mechanism 1 according to the ratio of the workpiece image to the actual first conveying mechanism 1, where a specific positioning manner may adopt any existing picture positioning technology, and is not limited herein.

As shown in fig. 6 and 7, when the position of the workpiece 7 on the first conveyance mechanism 1 is determined, the robot mechanism 3 moves to just above the workpiece 7. The second detection mechanism 5 is connected to the manipulator mechanism 3, and includes a distance sensor 51 connected to the hand 31 side of the manipulator mechanism 3 and a second processing unit connected to the distance sensor 51, and the distance sensor 51 is disposed perpendicularly to the first conveying mechanism 1. The hand 31 of the robot mechanism 3 is preferably a vacuum chuck which can be attracted to the inner surface and the outer surface of the bottom wall 71 of the workpiece 7, and the placement state of the workpiece 7 is determined by the distance sensor 51. Specifically, when the hand 31 is attracted to the inner surface of the bottom wall 71, the distance sensor 51 detects a first distance d1 from the hand to the conveyor belt 11, and when the first distance d1 is equal to a first preset value, it is determined that the workpiece 7 is in a first placement state; when the hand 31 of the robot mechanism 3 is attracted to the outer surface of the bottom wall 71, the distance sensor 51 detects a second distance d2 to the conveyor belt 11, and when the second distance d2 is equal to a second preset value, the workpiece 7 is in a second placement state. It can be understood that the first distance d1 is smaller than the second distance d2, and the first preset value is smaller than the second preset value.

After determining the placement state of the workpiece 7, the manipulator mechanism 3 places the workpiece 7 in the second placement state on the carrier 8, and places the workpiece 7 in the first placement state on the turnover mechanism 6. As shown in fig. 4, the turnover mechanism 6 includes a rotating shaft 61, a turnover plate 62, a suction assembly, and a driving assembly 63. The shaft 61 is disposed above the carrier 8 and connected to a driving assembly 63, the driving assembly 63 is preferably a synchronous belt conveyor, and the driving assembly 63 can drive the shaft 61 to rotate. The turning plate 62 is connected to the rotating shaft 61 at one end, and has a first working position located at one side of the rotating shaft 61 and a second working position located at the other side of the rotating shaft 61 (as shown in fig. 8 and 9), and the rotating shaft 61 drives the turning plate 62 to switch between the first working position and the second working position. The sucking component comprises a plurality of sucking discs 64 arranged according to an array and vacuum generators connected with the sucking discs 64, the sucking discs 64 are arranged on the turnover plate 62, when the turnover plate 62 is located at a first working position, the sucking component is arranged upwards, and when the turnover plate 62 is located at a second working position, the sucking component is arranged towards the carrier 8.

Specifically, the carrier 8 is provided with a plurality of limiting seats 81 arranged in an array, the workpiece 7 in the second placement state is placed on the limiting seats 81, and the workpiece 7 in the first placement state is placed on the suction cup 64. Each row of the limiting seats 81 corresponds to each row of the suckers 64, for example, in this embodiment, the arrangement of the limiting seats 81 is 8 rows and 6 columns, the arrangement of the suckers 64 is 1 row and 6 columns, and when the flipping plate 62 is at the second working position, the suckers 64 correspond to the limiting seats 81 one by one. In order to avoid the phenomenon of overlapping the workpieces 7 after being turned over, only one workpiece 7 is placed on the corresponding limiting seat 81 and the corresponding suction cup 64, so when the manipulator mechanism 3 places the workpiece 7, each workpiece 7 is placed, and no matter the workpiece 7 is placed in the limiting seat 81 or on the suction cup 64, the manipulator mechanism 3 needs to advance by a working distance in the row direction when placing the workpiece 7 next time. After the manipulator mechanism 3 traverses the rows in the column direction, the turnover plate 62 is turned over from the first working position to the second working position, and the first placing state is switched to the second placing state, and finally the manipulator mechanism is placed in the limiting seat 81 corresponding to the carrier 8, so that the uniform orientation placement is smoothly completed.

In some practical applications, the workpiece is different from the front side and the back side, and is usually different from the side surface of the workpiece, so that the side surface of the plate arranging machine can be arranged in a unified orientation while the front side and the back side of the plate arranging machine are arranged in a unified orientation. Specifically, the side wall 72 of the workpiece 7 includes a first end surface 721 and a second end surface 722 that are oppositely disposed, wherein the difference between the first end surface 721 and the second end surface 722 is that one or more through holes 723 are formed in the first end surface 721, and when the workpiece 7 is placed in the limiting seat 81, the through holes 723 are placed in the same direction.

The tray placing machine further comprises a third detection mechanism 9 arranged above the first conveying mechanism 1, and the third detection mechanism 9 determines the end face orientation of the side wall of the workpiece 7. The third detection mechanism 9 includes a second mount 91, a second camera 92, and a third processing unit. The second mounting seat 91 is arranged above the first conveying mechanism 1, the second camera 92 is connected with the second mounting seat 91, the lens of the second camera 92 is arranged in parallel with the conveying direction of the first conveying mechanism 1, the setting height of the second camera 92 is the same as the lifting height of the workpiece 7 after the workpiece 7 is sucked by the manipulator mechanism 3, and the second camera 92 can shoot end face images of the side wall of the workpiece 7 conveniently. The third processing unit is connected to the second camera 92, and is configured to receive the end face image of the side wall of the workpiece 7 captured by the second camera 92, and determine the orientation of the through hole 723.

After the manipulator mechanism 3 sucks the workpiece 7, the workpiece rises to the shooting range of the second camera 92, and the manipulator mechanism 3 drives the workpiece 7 to horizontally rotate, so that the side wall end face of the workpiece 7 is exposed in front of the second camera 92 in all directions. In order to ensure that the through holes 723 are uniformly oriented when placed, the second end face 722 is positioned facing the second camera 92 when the workpiece 7 is in the first placement state, and the first end face 721 is positioned facing the second camera 92 when the workpiece 7 is in the second placement state. The third processing unit continuously traverses the end face image photographed by the second camera 92, and determines that the end face is the first end face after traversing all the edges of the through holes 723. When the workpiece 7 is in the second placing state, the second camera 92 shoots the first end surface 721 with the through hole 723, the manipulator mechanism 3 stops rotating, and transports the workpiece to the corresponding limiting seat 81, when the workpiece 7 is in the first placing state, the manipulator mechanism 3 continues rotating 180 degrees after the second camera 92 shoots the first end surface 721 with the through hole 723, so that the second end surface 722 is arranged towards the second camera 92, at this time, the workpiece 7 is transported to the corresponding suction cup 64, the workpiece is waited to be turned over, and after the workpiece is turned over, the first end surface 721 of the workpiece 7 is consistent with the first end surface 721 of the workpiece 7 originally placed in the limiting seat 81 in orientation.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the pending claims along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of the subject matter that is disclosed herein is not intended to forego such subject matter, nor should the applicants be construed as having contemplated such subject matter as being part of the disclosed subject matter.

Claims

1. A machine for automatically placing workpieces (7), said workpieces (7) comprising a bottom wall (71) and a side wall (72) extending upwards from a free end of said bottom wall (71), said workpieces (7) having a first placement position in which an inner surface of said bottom wall (71) is placed upwards and a second placement position in which an outer surface of said bottom wall (71) is placed upwards, said machine comprising:

a first conveying mechanism (1) for conveying workpieces (7);

a second conveying mechanism (2) for transporting the carrier (8);

a manipulator mechanism (3) which moves between the first conveying mechanism (1) and the second conveying mechanism (2);

a first detection mechanism (4) which is arranged above the first conveying mechanism (1) and determines the position of the workpiece (7) on the first conveying mechanism (1);

a second detection mechanism (5) which is connected with the manipulator mechanism (3) and ensures the placing state of the workpiece (7);

the turnover mechanism (6) is arranged above the carrier (8);

the workpiece (7) in the second placing state is placed on the carrier (8); the workpiece (7) in the first placement state is placed on the turnover mechanism (6), and the turnover mechanism (6) drives the workpiece (7) to be switched from the first placement state to the second placement state.

2. Machine according to claim 1, characterized in that said first detection means (4) comprise:

a first mounting seat (41) arranged above the first conveying mechanism (1);

a first camera (42) mounted on the first mounting base (41), and a lens of the first camera (42) is arranged vertically toward the first conveying mechanism (1);

and the first processing unit is connected with the first camera (42) and is used for receiving the workpiece image shot by the first camera (42) and determining the position of the workpiece (7) on the first conveying mechanism (1).

3. The machine according to claim 2, characterized in that said first conveying means (1) comprise a conveyor belt (11) and a light emitter (12) and a light receiver (13) arranged on either side of said conveyor belt (11), said first camera (42) being arranged above the light transmission path.

4. Machine according to claim 1, characterized in that said second detection means (5) comprise:

a distance sensor (51) connected to the hand (31) side of the manipulator mechanism (3), the distance sensor (51) being provided vertically toward the first conveying mechanism (1);

and the second processing unit is connected with the distance sensor (51) and used for receiving the distance between the distance sensor (51) and the first conveying mechanism (1) and judging the placement state of the workpiece.

5. The machine according to claim 4, characterized in that the hand (31) of the manipulator mechanism (3) is engaged with the inner surface of the bottom wall (71), and the workpiece (7) is in a first resting position when the distance detected by the distance sensor (51) is equal to a first preset value;

and a hand (31) of the manipulator mechanism (3) is attracted with the outer surface of the bottom wall (71), and when the distance detected by the distance sensor (51) is equal to a second preset value, the workpiece (7) is in a second placing state.

6. Machine according to claim 1, characterized in that said tilting mechanism (6) comprises:

a rotating shaft (61) arranged above the carrier (8);

the turnover plate (62) is connected with the rotating shaft (61) and is provided with a first working position and a second working position which are positioned at two sides of the rotating shaft (61);

the suction assembly is connected with the turnover plate (62), the suction assembly is arranged upwards when the turnover plate (62) is positioned at the first working position, and the suction assembly is arranged towards the carrier (8) when the turnover plate (62) is positioned at the second working position;

the driving assembly (63) is connected with the rotating shaft (61) to drive the turnover plate (62) to move between the first working position and the second working position.

7. The balance machine according to claim 6, wherein the carrier (8) is provided with a plurality of limiting seats (81) arranged according to an array, the suction assembly comprises a plurality of suckers (64) arranged according to an array, and each row of limiting seats (81) is arranged corresponding to each row of suckers (64);

the manipulator mechanism (3) places the workpieces (7) in the second placing state on the limiting seat (81), places the workpieces (7) in the first placing state on the suction disc (64), and places only one workpiece (7) on the corresponding limiting seat (81) and the suction disc (64).

8. The machine according to any one of claims 1 to 7, wherein the side wall (72) of the workpiece (7) comprises a first end surface (721) and a second end surface (722) which are arranged oppositely, one or more through holes (723) are formed in the first end surface (721), the machine further comprises a third detection mechanism (9) which is arranged above the first conveying mechanism (1), and the third detection mechanism (9) determines the end surface orientation of the side wall of the workpiece (7).

9. Machine according to claim 8, wherein said third detection means (9) comprise:

the second mounting seat (91) is arranged above the first conveying mechanism (1);

the second camera (92) is connected with the second mounting seat (91), and a lens of the second camera (92) is arranged in parallel with the transportation direction of the first conveying mechanism (1);

and the third processing unit is connected with the second camera (92) and used for receiving the end face image of the side wall of the workpiece (7) shot by the second camera (92) and determining the orientation of the through hole (723).

10. A disc-swinging machine according to claim 9, characterized in that when the workpiece (7) is in the first resting state, the second end face (722) is turned towards the second camera (92) setting;

the first end face (721) is turned to the second camera (92) setting when the workpiece (7) is in a second placement state.