WO2020082506A1

WO2020082506A1 - Workpiece feeding device and workpiece feeding method

Info

Publication number: WO2020082506A1
Application number: PCT/CN2018/118281
Authority: WO
Inventors: 吴加富; 缪磊
Original assignee: 苏州富强科技有限公司
Priority date: 2018-10-26
Filing date: 2018-11-29
Publication date: 2020-04-30
Also published as: CN109132526B; CN109132526A

Abstract

The present invention provides a workpiece feeding device, comprising a working platform, a supplying mechanism, a conveying line mechanism, a workpiece carrying mechanism and a screening mechanism. A supplying position is arranged on the supplying mechanism, a mounting position is arranged on the conveying line mechanism. The workpiece carrying mechanism is capable of clamping a workpiece from the supplying position, after detecting and screening by the screening mechanism, the qualified workpiece is moved into the target carrier at the mounting position. By setting the supplying mechanism and the workpiece carrying mechanism, automatic workpiece supplying and feeding and mounting are achieved, the screening mechanism is capable of detecting the workpiece in the carrying process, so that the qualification rate of the workpiece is ensured. The conveying line mechanism carries the workpiece using the carrier, achieving the flow-line type processing work. The present invention also provides a workpiece feeding method, the automatic feeding and detecting of the workpiece are achieved, which is convenient for production management.

Description

Workpiece feeding device and workpiece feeding method

Technical field

The invention relates to the technical field of automatic assembly, in particular to a workpiece feeding device and a workpiece feeding method.

Background technique

Automation technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical treatment, service and home. The use of automation technology can not only liberate people from heavy physical labor, part of the mental labor, and harsh and dangerous working environment, but also expand human organ functions, greatly improve labor productivity, and enhance human ability to understand and transform the world .

In the assembly process of electronic equipment, it is often necessary to clamp the workpiece at a certain station, and move and rotate in multiple directions to change its position. To achieve cooperation between the workpiece and the assembly carrier. These actions need to be completed by automated processing equipment such as robots. There is a fastening and rotating integrated reclaiming structure, which includes a clamping stop, a clamping rod, an upper bearing, a hollow rotating shaft, a synchronous wheel, a lower bearing, an adjusting block, a roller, a swing arm and a bracket. The rotating integrated reclaiming structure has a reasonable structure design, high working efficiency, and can realize the integrated retrieving function of clamping, rotating, and testing, which effectively saves the production and processing costs, and also improves the yield of the product. Has great economic value.

However, the above-mentioned retrieving mechanism cannot judge the position and shape of the workpiece during the retrieving process. During the gripping and conveying process, each action can only be completed in steps according to the preset program. The deformed workpiece cannot be effectively identified, therefore, the retrieving mechanism cannot guarantee the effectiveness of the retrieving target in automated production.

Summary of the invention

Therefore, the technical problem to be solved by the present invention is to overcome the defect that the state of the workpiece cannot be recognized during the retrieving process in the prior art, thereby providing a workpiece feeding device and a workpiece feeding method that can have an automatic recognition function.

The invention provides a workpiece feeding device, including a work table, and a work table provided on the work table

The feeding mechanism has a feeding area for carrying the material tray, and the feeding area is provided with a lifting device, and the lifting device lifts the material tray to the feeding position for the feeding device to grip the workpiece;

Transmission line mechanism, including a unidirectional moving conveyor belt, a number of carriers placed on the conveyor belt to move with the conveyor belt, and a carrier positioning device provided beside the conveyor belt, the carrier positioning device fixes the carrier on the installation position;

Workpiece handling mechanism, including a reclaiming device and a moving device, the moving device drives the reclaiming device to move on the worktable, the retrieving device grips the workpiece from the feeding mechanism at the retrieving position, Drive the workpiece to the installation position under the drive of the mobile device, and install the workpiece in the carrier;

The screening mechanism includes a shape detection unit and it includes a shape detection unit and a waste box. The shape detection unit detects the shape of the workpiece. If the detection result is unqualified, the reclaimer releases the clamping of the workpiece and The workpiece is thrown into the waste box.

The feeding mechanism includes

The first rack has a feeding area and a feeding area arranged in parallel for carrying a material tray, and the feeding position is located at the top of the feeding area;

The ends of the feed zone and the return zone have a transfer zone that communicates with each other, and the other ends of the feed zone and the return zone respectively have a zone for transferring materials up and down;

And a transfer mechanism, the transfer mechanism moves in the transfer area and is used to fix the material tray at the feeding position and transport the material tray to the return area

The feed zone and the return zone are provided with independent lifting devices and translation devices, respectively, and the lifting device transports the material tray between the transfer zone and the transfer zone through the lifting movement; the translation The device conveys or outputs the tray through the horizontal movement up and down the material area.

The reclaiming device includes a second frame, a gripping mechanism, and a detection mechanism

The clamping mechanism is installed on the second frame and includes at least one lifting unit and at least one clamping unit. The clamping unit is connected to the second frame through the lifting unit, and the lifting unit drives the The gripping unit does the lifting movement; the gripping unit has gripper jaws that can grip the workpiece;

The detection mechanism includes a position difference detection unit fixedly arranged on the second frame, and the position difference detection unit is used to detect and obtain the positional deviation of the installation position from the original target position in the horizontal plane, the movement The device adjusts the moving path of the reclaiming device according to the detection result.

The position difference detection unit is an upper camera fixed on the second frame, and its camera is disposed downward, and is used to detect and obtain a positional offset between the installation position located below and the original target position.

The moving device includes a horizontal moving structure and a vertical moving structure. The horizontal moving structure includes a Y-axis linear module and an X-axis linear module slidably connected thereto; the vertical moving structure Including a Z-axis lifting module slidingly connected to the X-axis linear module, the reclaiming device is fixedly connected to the Z-axis lifting module through a second frame; the horizontal movement structure is based on the position The detection result of the difference detection unit adjusts the moving path.

The vehicle positioning device includes

A jacking mechanism is provided between the conveyor belts that are transported in parallel, and can move up and down relative to the conveyor belt, for lifting the carrier off the conveyor belt to the installation position;

The blocking mechanism is provided downstream of the jacking mechanism along the conveying direction, and has a blocking rod that can be raised and lowered to block the movement of the carrier;

The positioning mechanism has a pair of fixing seats arranged symmetrically to the conveying direction on both sides of the conveyor belt, and the fixing seat is provided with a carrier holder and a carrier unlocking device; the carrier holder and the jacking The mechanism cooperates to apply a clamping force to the carrier; the carrier unlocking device unlocks the carrier when it is in the installation position to implement the installation of the workpiece.

The shape detection unit is a lower camera installed on the worktable, with a camera facing upwards, and taking a picture of the shape of the workpiece passing above it; the waste box and the lower camera are provided on the supply On the workbench between the feed mechanism and the conveyor line mechanism.

The present invention also provides a workpiece feeding method using the above workpiece feeding device, including the following steps:

S1: The reclaiming device grips the workpiece from the material tray at the feeding position;

S2: The moving device drives the reclaiming device to move above the screening mechanism, the profile detection unit detects the profile of the workpiece, and the reclaiming device adjusts the clamping of the workpiece according to the detection result status;

S3: The moving device drives the reclaiming device to install the workpiece into the carrier at the installation position.

The S1 step includes

S11: The detection mechanism on the reclaiming device detects the material tray at the feeding position to obtain the position of the workpiece in the material tray;

S12: The gripping unit determines the gripping position according to the detection result.

The S3 step includes:

S31: The detection mechanism on the reclaiming device detects the carrier at the installation position to obtain the pre-installation position on the carrier;

S32: The moving device corrects the moving path of the reclaiming device, and drives the reclaiming device to the installation position;

S33: The reclaiming device installs the workpiece into the carrier.

The technical solution of the present invention has the following advantages:

1. The workpiece feeding device provided by the present invention includes a feeding mechanism, a conveying line mechanism, a workpiece handling mechanism and a screening mechanism. The feeding mechanism has a feeding area for carrying a material tray, and a lifting device is provided in the feeding area for The tray is raised to the feeding position. The conveyor line mechanism includes a unidirectional moving conveyor belt, and a number of carriers placed on the conveyor belt. The carrier positioning device next to the conveyor belt is used to fix the carrier at the installation position. The retrieving device in the workpiece handling mechanism grips the workpiece from the feeding position , And move to the installation position under the drive of the mobile device, and install the workpiece in the vehicle parked at the installation position. During the transportation of the workpiece by the workpiece handling mechanism, it will pass through the screening mechanism. The shape detection unit in the screening mechanism detects the shape of the workpiece. If the detection result is unqualified, the retrieving device will throw the unqualified workpiece into the waste box. By setting the feeding mechanism, the workpiece can be continuously fed, and the production efficiency is improved. The workpiece handling mechanism can automatically identify the position of the workpiece and the carrier, and realize the automatic gripping and installation without manual intervention, ensuring the accuracy of the workpiece position during the feeding process. The transmission line mechanism can transport multiple carriers at the same time, and can continuously feed materials, which meets the continuity required for automated processing and production, and facilitates the management of the entire production line. The screening mechanism can screen the workpieces to avoid the appearance of defective products and ensure the qualified rate of the products. Through the cooperation of the feeding mechanism, conveyor line mechanism, workpiece handling mechanism and screening mechanism, the whole process of workpiece feeding is realized, which is beneficial to the management and control of the production process and guarantees the quality of the product.

2. The workpiece feeding device provided by the present invention, the feeding mechanism includes a first frame, and the first frame has a feeding area and a feeding area arranged in parallel for carrying the material tray. The feeding area and the returning area are respectively provided with independent lifting devices and translation devices. The lifting device transports the material tray between the loading area and the material transferring area through the lifting movement. The feeding area and the return area have a transfer area at the end, and the transfer mechanism of the facility in the transfer area is used to fix or translate the material tray. Through the lifting movement of the lifting device, the lifting movement of the material tray can be realized, and the continuous supply of workpieces is realized, so that the material tray can reach the feeding position so that the retrieving device grips the workpiece. The transfer mechanism can transfer the empty material tray at the top of the feed zone that has taken the workpiece to the return zone, leaving space for the rise of the lower tray of the feed zone to continue the feeding of the workpiece. The lifting device of the return area lowers the empty material tray to the material removal area after collecting the empty material tray, and is moved out of the material return area by the translation device to complete the recovery of the material tray, which realizes the clip-type feeding of the feeding mechanism The function makes the feeding process continuous, and the entire production line will not be stopped due to feeding, which ensures the continuity of the production process, improves the production efficiency, and at the same time facilitates management and reduces manual workload.

3. The workpiece feeding device provided by the present invention includes a second machine frame, a clamping mechanism, and a detection mechanism. Each clamping mechanism includes a plurality of lifting units and clamping units. Each clamping unit passes through the lifting unit. Connected to the second frame, each set of lifting unit and clamping unit move independently from each other, so that the clamping action of each clamping unit does not interfere. The detection mechanism includes a position difference detection unit fixed on the second frame to detect and obtain the positional deviation of the installation position from the original target position in the horizontal plane, so that the mobile device can adjust the movement path according to the detection result. The clamping mechanism can be aligned with the workpiece mounting groove in the carrier when installing the workpiece into the carrier, and the workpiece can be prevented from being damaged due to interference between the workpiece and the carrier body. By setting the detection mechanism, the accuracy of the workpiece installation can be ensured, and the workpiece can be protected from hard injury during the installation process.

4. The workpiece feeding device provided by the present invention, the position difference detection unit is an upper camera fixed on the second frame, and its camera is set downward, used to detect and obtain the installation position and the original target position located below it Position offset between. By fixing the upper camera on the second frame, the upper camera can follow the clamping mechanism to move synchronously, so that the clamping position and the installation position are detected before the clamping mechanism clamps or installs the workpiece, so that the clamping mechanism and The mobile device can adjust the gripping or movement mode in time to meet the accuracy requirements of workpiece installation.

5. The work chatting device provided by the present invention, the moving device includes a horizontal moving structure and a vertical moving structure. The horizontal moving structure includes a Y-axis linear module provided on a worktable and an X-axis linear module slidingly connected thereto. Since the Y-axis linear module and the X-axis linear module are perpendicular to each other, the movement of the two can be combined to realize the movement of the reclaiming device at any position in the horizontal plane, which is convenient for the control system to accurately control the movement path and cooperate with the position difference detection The unit can realize the precise installation of the workpiece.

6. The workpiece feeding device provided by the present invention, the carrier positioning device includes a jacking mechanism, a blocking mechanism and a positioning mechanism. The jacking mechanism lifts the carrier to temporarily disengage the carrier from the conveyor belt, and the blocking mechanism is used to temporarily block the carrier Further forward movement, the fixed operation of the jacking mechanism and positioning mechanism. The positioning mechanism includes fixed seats arranged on both sides of the conveyor belt. The fixed seat is provided with a carrier holder and a carrier unlocking device. When the jacking mechanism lifts the carrier into contact with the carrier holder, the jacking mechanism and the carrier are fixed The device applies clamping force from the bottom surface and the top surface to the carrier so that the carrier is fixed at the installation position and cannot continue to move, ensuring the stability of the position during the installation of the workpiece. After the installation of the workpiece is completed, the jacking mechanism lowers the carrier back onto the conveyor belt and waits for the next carrier to be fixed, realizing a streamlined production process.

7. The workpiece feeding device provided by the present invention, the shape detection unit is a lower camera set on the worktable, the camera head is set upward, and the shape of the workpiece passing above it is photographed, and the retrieving device takes the unqualified workpiece Throw into the waste box to ensure that the workpiece to be installed meets product quality requirements. The waste box and the lower camera are installed on the worktable between the feeding mechanism and the transmission line mechanism, so that the reclaimer can directly pass above the lower camera and the waste box during the process of transporting the workpiece, without adding too much handling The path ensures the efficiency of production.

BRIEF DESCRIPTION

In order to more clearly explain the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the specific embodiments or the description of the prior art. Obviously, the attached The drawings are some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative work, other drawings can be obtained based on these drawings.

1 is a perspective view of a workpiece feeding device in Embodiment 1;

2 is a schematic structural view of the feeding mechanism in Example 1;

3 is a schematic structural view of the material tray in Example 1;

4 is a schematic structural view of the transfer mechanism in Embodiment 1;

5 is a schematic structural diagram of a workpiece transport mechanism and a screening mechanism in Embodiment 1;

6 is a schematic structural view of the reclaiming device in Example 1;

7 is a schematic structural view of the gripping mechanism in Example 1;

8 is a schematic structural diagram of a transmission line mechanism in Embodiment 1;

9 is a schematic structural view of the carrier fixing device in Embodiment 1;

10 is a schematic structural view of the positioning mechanism in Embodiment 1;

11 is a plan view of the carrier in Example 1;

12 is a plan view of a workpiece feeding device in Embodiment 1. FIG.

Description of reference signs:

1-Workbench; 2-Feeding mechanism; 3-Conveyor mechanism; 4-Workpiece handling mechanism; 5-Screening mechanism; 6-feeding position; 7-Installation position; 8-Workpiece

21-first frame; 22-feeding area; 23-return area; 24-transfer area; 25-lifting device; 26-translation device; 27-transfer mechanism; 28-reel tray;

251-first fork lever unit; 261-second fork lever unit; 271-transfer frame; 272-limit bracket; 273-transfer rail; 281-workpiece placement slot;

31- conveyor belt; 32- carrier positioning device; 33- carrier; 34- jacking mechanism; 35- blocking mechanism; 36- positioning mechanism;

341-support platform; 342-lifting frame; 343-telescopic column;

331-body; 332-workpiece mounting groove; 333-locking device; 334-unlock hole;

3331-Lock column; 3332-linkage; 3333-dial lever;

361-fixed seat; 362-vehicle holder; 363-vehicle unlocking device; 364-coupling beam;

3621-spring guide post; 3631-unlock pin; 3641-first arm; 3642-second arm;

41-retrieving device; 42-moving device; 43-second frame; 44-grip mechanism; 45-detection mechanism;

51-down camera; 52-scrap box;

421-Y-axis linear module; 422-X-axis linear module; 423-Z-axis lifting module; 441-lifting unit; 442-grip unit; 451-up camera;

4411-elevating cylinder; 4412-elevating frame; 4421-clamping cylinder; 4422-jaw.

detailed description

The technical solutions of the present invention will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, only to facilitate the description of the present invention and simplify the description, rather than to indicate or imply that the device or element referred to must have a specific orientation, a specific orientation The construction and operation cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be fixed connection or detachable Connected, or connected integrally; either mechanically or electrically; directly connected, or indirectly connected through an intermediary, or internally connected between two components. For those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood in specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined as long as they do not conflict with each other.

Example 1

This embodiment provides a workpiece feeding device, whose structure is shown in FIGS. 1 and 12, and includes a workbench 1, a feeding mechanism 2, a conveyor line mechanism 3, a workpiece handling mechanism 4 and a screening mechanism 5. The feeding mechanism 2 is provided with a feeding position 6, and the transmission line mechanism 3 is provided with an installation position 7. The workpiece conveying mechanism 4 picks up the workpiece 8 from the feeding position 6 and passes the detection screening of the screening mechanism 5 to move and install the qualified workpiece 8 to the target carrier 33 at the installation position 7.

As shown in FIGS. 1 and 2, the feeding mechanism 2 in this embodiment adopts a clip-type feeding method for feeding, which has a feeding area 22 for carrying the feeding tray 28 and a return material for the recycling feeding tray 28 District 23. Both the feeding area 22 and the returning area 23 are provided with independent lifting devices 25, which can simultaneously lift the material tray 28 and the lower material tray 28, and realize the simultaneous feeding and recycling, so that the feeding process becomes continuous. The feeding position 6 is located at the top of the feeding area 22, and the tray 28 loaded with the workpiece 8 is stopped at this position for the feeding device 41 to grip the workpiece 8. As shown in FIGS. 1 and 8, the conveyor line mechanism 3 is provided on the workbench 1 on the opposite side of the feeding mechanism 2 and includes two parallel conveyor belts 31 located in the same horizontal plane, on which a carrier 33 is transported . Several workpieces 8 can be installed in the carrier 33. A carrier positioning device 32 is provided beside the conveyor belt 31. The position where the carrier 33 reaches the carrier positioning device 32 is temporarily separated from the conveyor belt 31 and fixed at the installation position 7 for the reclaimer 41 to install the workpiece 8 therein. As shown in FIGS. 1 and 5, the work conveying mechanism 4 includes a reclaiming device 41 and a moving device 42. The moving device 42 drives the reclaiming device 41 to move on the workbench 1, and the retrieving device 41 is a feeding mechanism from the reclaiming position 2 The workpiece 8 is gripped on the top, driven by the moving device 42, the workpiece 8 is transported to the installation position 7, and the workpiece 8 is installed in the carrier 33. During the transportation of the workpiece 8 by the workpiece conveying mechanism 4, the screening mechanism 5 is passed through, and the shape detection unit in the screening mechanism 5 detects the shape of the workpiece 8. If the detection result is unqualified, the retrieving device 41 will discard the unqualified workpiece 8 Throw into the waste box 52.

By providing the feeding mechanism 2, the workpiece 8 can be continuously fed, and the production efficiency is improved. The workpiece conveying mechanism 4 can automatically recognize the positions of the workpiece 8 and the carrier 33, and realize the actions of automatic gripping and installation without manual intervention, ensuring the accuracy of the position of the workpiece 8 during the feeding process. The conveying line mechanism 3 can transport multiple carriers 33 at the same time, and can continuously feed, which satisfies the continuity required for automated processing and production, and facilitates the management of the entire production line. The screening mechanism 5 can screen the workpiece 8 to avoid the appearance of defective products and ensure the pass rate of the products. Through the cooperation of the feeding mechanism 2, the conveyor line mechanism 3, the workpiece handling mechanism 4 and the screening mechanism 5, the whole process of feeding the workpiece 8 is automated, which is beneficial to the management and control of the production process and guarantees the quality of the product.

As shown in FIG. 3, in this embodiment, the workpiece tray 28 is provided with a workpiece placement groove 281, and each workpiece 8 is provided with a foolproof structure in the groove for determining the direction in which the workpiece 8 is placed. The foolproof structure is specifically a foolproof column And the foolproof groove provided on one side, in the tray 28, due to the restriction of the foolproof column and the foolproof groove, the workpiece 8 can only be placed in the workpiece placement groove 281 in a single direction, and it is impossible for the workpiece 8 to be inverted or Misalignment, otherwise the workpiece 8 cannot be placed in the feed tray 28, thereby ensuring the correct orientation of the workpiece 8 when it is gripped.

As shown in FIG. 2, the feeding mechanism 2 in this embodiment has a first frame 21, and the first frame 21 has a feeding area 22 and a returning area 23 arranged in parallel for carrying the material tray 28. In FIG. 2, the left side is the feed area 22 and the right side is the return area 23. The ends of the feed area 22 and the return area 23 have a transfer area 24 connected to each other, and the feed area 22 and the return area 23 are connected to each other. At one end, there are material transfer areas for up and down materials. The feeding area 22 and the returning area 23 are provided with independent lifting devices 25 and translation devices 26 respectively. The lifting device 25 conveys the material tray 28 between the transfer area 24 and the material transfer area through the lifting movement. The facility transfer mechanism 27 in the transfer area 24 is used to fix or translate the tray 28. The lifting movement of the lifting device 25 can realize the lifting movement of the tray 28, and realize the continuous supply of the workpiece 8 so that the tray 28 can reach the feeding position 6 for the picking device 41 to grip the workpiece 8. The transfer mechanism 27 can transfer the empty tray 28 at the top of the feed zone 22 to which the workpiece 8 has been removed to the return zone 23, leaving room for the rise of the tray 28 below the feed zone 22 in order to continue the workpiece 8's feed. The lifting device 25 of the return material area 23 lowers the empty material tray 28 to the material transfer area after collecting the empty material tray 28, and the transfer device 26 moves out of the material return area 23 to complete the recovery of the material tray 28, thus realizing the feeding mechanism 2. The clip-type feeding function makes the feeding process continuous, and the entire production line will not be stopped due to feeding, which ensures the continuity of the production process, improves the production efficiency, and is also convenient Management reduces the labor workload.

Specifically, the lifting device 25 can be lowered to a position no higher than the plane where the translation device 26 is located, and transferred between the lifting device 25 and the translation device 26 by the lifting movement tray 28. In the return area 23, the lifting device 25 transfers the tray 28 to the translation device 26 by a descending motion, and in the loading area, the lifting device 25 transfers the tray 28 from the translation device 26 to the lifting device 25 by an ascending motion . By providing a translation device 26 and a lifting device 25 that move independently of each other without interference, the loading and unloading work of the material tray 28 and the loading and unloading work can be performed separately and simultaneously, and the material tray 28 can be performed in advance while loading and unloading The loading and unloading work reduces the waiting time of the entire production line because of the pause during loading and unloading, and improves the work efficiency.

As shown in FIG. 2, the lifting device 25 in this embodiment includes a first drive unit and a horizontally arranged first fork lever unit 251, and the translation device 26 includes a horizontally arranged second fork lever unit 261 and a second fork lever unit 261 The plurality of fork rods are offset from the plurality of fork rods of the first fork rod unit 251, and the first fork rod unit 251 can pass through the second fork rod unit 261 to move up and down. The staggered fork lever unit divides the horizontal movement and the lifting movement of the tray 28, and can complete the handover of the tray 28 when the first fork lever unit 251 and the second fork lever unit 261 are interlaced, which overcomes the original In the mode that the single carrier is lifted and leveled sequentially, there is a long waiting time in the loading area and the unloading area, resulting in a defect that the production line is stopped for a long time, realizing the non-stop work 8 feeding operation and improving production effectiveness.

Specifically, the lifting device 25 in this embodiment is a screw drive mechanism. The screw is vertically arranged on the frame and connected to the first driving unit. The lifting device 25 is provided with a screw nut cooperating with the screw.

As shown in FIG. 4, the transfer mechanism 27 in this embodiment includes a transfer frame 271, a limit bracket 272 and a transfer guide 273. The transfer rail 273 is disposed in the transfer area 24 in the horizontal direction, and connects the supply area 22 and the return area 23. The transfer frame 271 is slidingly connected with the transfer guide rail 273, and is driven and moved by the drive unit. The limit bracket 272 is provided inside the transfer frame 271 to support the limit position of the tray 28, and has a stowed position that does not support the tray 28 and an open position that supports the tray 28. The transfer mechanism 27 is used to complete the transfer work of the material tray 28 between the feeding area 22 and the return area 23, to meet the loading and unloading requirements of the multi-layer material tray 28, and to realize the loading and unloading operation of the clip type, so that The continuity of the whole working process is improved.

The feeding area and the returning area in FIG. 2 are set to the left and right sides, respectively. The working process of the feeding mechanism in this embodiment is as follows:

Feeding process: first pull out the left translation device of the feeding area, place a number of stacked trays with workpieces on it, push the left translation device into the feeding area, and lift the tray to the load by the left lifting device Area, so that the uppermost material tray is located at the feeding position, and the workpiece is gripped by the retrieving device until all the workpieces on the entire tray are taken out.

Transfer process: The transfer frame translates the empty material tray that has taken the workpiece to the right above the right lifting device in the return area. The release tray of the limit bracket is handed over by the right lifting device. Then transfer the frame to the left and move it back to the feed area. The left lifting device continues to raise the next material tray to the feeding position. Repeat the previous process in this way until all the trays in the feed area are moved to the return area.

Material return process: The right lifting device in the material return area lowers the empty material tray to the material transfer area, and the empty material tray is handed over to the right translation device. The right translation device is pulled out to take out the stacked empty material tray. The right lifting device moves up and returns to the transfer area, waiting for the next batch of trays.

Repeat the above steps in this way to carry out the magazine-type feeding operation.

As shown in FIG. 6, the reclaiming device 41 includes a second frame 43, a gripping mechanism 44, and a detection mechanism 45. The gripping mechanism 44 includes at least one lifting unit 441 and at least one gripping unit 442, each gripping unit 442 By connecting the lifting unit 441 to the second frame 43, each set of lifting unit 441 and the gripping unit 442 move independently from each other, so that the gripping action of each gripping unit 442 does not interfere. The detection mechanism 45 includes a position difference detection unit fixed on the second frame 43 to detect and obtain the positional deviation of the installation position 7 from the original target position in the horizontal plane, so that the mobile device 42 can detect the result The movement path is adjusted so that the clamping mechanism 44 can align with the workpiece mounting groove 332 in the carrier 33 when installing the workpiece 8 into the carrier 33, so as to avoid interference between the workpiece 8 and the body of the carrier 33 resulting in damage to the workpiece 8. By installing the detection mechanism 45, the accuracy of the installation of the workpiece 8 can be ensured, and the workpiece 8 can be protected from hard damage during the installation process.

Specifically, as shown in FIG. 6, the position difference detection unit in this embodiment is an upper camera 451, which is fixedly connected to the second frame 43 with the camera facing downwards. Since the detection of the installation position 7 located below it and the original Position offset between target positions. By fixing the upper camera 451 on the second frame 43, the upper camera 451 can follow the gripping mechanism 44 to move synchronously, so that the gripping position and the mounting position 7 are performed before the gripping mechanism 44 grips or installs the work 8 The detection enables the gripping mechanism 44 and the moving device 42 to adjust the gripping or movement mode in a timely manner, which satisfies the accuracy requirements for the installation of the workpiece 8.

At the same time, before the picking device 41 is located at the feeding position 6 to grip the workpiece 8, the upper camera 451 will take a picture of the workpiece 8 on the tray 28 to determine the position of the workpiece 8 and thus determine the lowering and gripping of the gripping mechanism 44 s position.

As shown in FIG. 6, the second frame 43 in this embodiment is also provided with a rotating device, which includes a rotating electrical machine and an output end, and the clamping mechanism 44 is connected to the output end through the rotating frame. The rotating device can make the clamping mechanism 44 Turn a certain angle to adjust the angle of the workpiece 8 in the horizontal plane.

As shown in FIGS. 6 and 7, the gripping mechanism 44 in this embodiment includes four lifting units 441 and four gripping units 442 provided on the lifting unit 441, and each lifting unit 441 is connected with a clip The picking unit 442, the lifting unit 441 drives the gripping unit 442 connected thereto to perform lifting movement, and the lifting unit 441 is connected to the output end of the rotating unit through a rotating frame. Since each gripping unit 442 is separately provided on the lifting unit 441, independent lifting and gripping of the gripping unit 442 is realized, and independent assembly between the work pieces 8 is realized. Specifically, the lifting unit 441 includes a lifting cylinder 4411 and a lifting frame 4412. The lifting cylinder 4411 drives the lifting frame 4412 to drive the gripping unit to move up and down. The gripping unit 442 includes a gripping cylinder 4421 and a gripper claw 4422. The gripping cylinder 4421 drives the gripper The claw 4422 performs a gripping operation.

As shown in FIG. 5, the moving device 42 in this embodiment includes a horizontal moving structure and a vertical moving structure. The horizontal moving structure includes a Y-axis linear module 421 provided on the workbench 1 and an X-axis linear module slidingly connected thereto 422. Since the Y-axis linear module 421 and the X-axis linear module 422 are perpendicular to each other, the movement of the two can be combined to realize the movement of the reclaiming device 41 at any position in the horizontal plane, which is convenient for the control system to accurately control the movement path and coordinate the position The degree difference detection unit can realize the precise installation of the workpiece 8. The Y-axis linear module 421 and the X-axis linear module 422 both include a servo motor, a linear screw, and a parallel guide rail. The servo motor is electrically connected to the control mechanism. The control mechanism controls the servo motor according to the position deviation detected by the position difference detection unit. The adjustment instruction is issued so that the horizontal movement structure can move the reclaiming device 41 to the pre-installation position 7 to complete the accurate placement of the workpiece 8. The vertical moving structure includes a Z-axis lifting module 423 slidingly connected to the X-axis linear module 422, and the reclaiming device 41 is fixedly connected to the Z-axis lifting module 423 through the first frame 21, and is used to control the reclaiming device 41's overall lifting movement.

As shown in FIG. 8, the conveyor line mechanism 3 in this embodiment includes an upper and lower two-layer conveyor belt 31. The two-layer conveyor belt 31 runs in opposite directions. Both ends of the two-layer conveyor belt 31 are provided with a transfer lifting table for The carrier 33 is transported between the layer conveyors 31, so that the carrier 33 circulates on the conveyor line. The upper conveyor 31 transports the carrier 33 in the direction of the station arrangement of the entire production line, so that the carrier 33 carries the workpiece 8 through each station for processing and installation operations, and the lower conveyor 31 is used to empty the carrier 8 from the downstream of the production line. The tool 33 is transported back to the upstream of the production line to realize the recycling of the carrier 33, maintain the continuity of the production process, and meet the requirements of automated processing. Each layer of the conveyor belt 31 has two conveyor belts 31 arranged in parallel in the same horizontal plane. During the process of transporting the carrier 33, the conveyor belt 31 keeps moving at a uniform speed and linear motion.

As shown in FIG. 8, the transmission line mechanism 3 in this embodiment has a carrier positioning device 32 for fixing the carrier 33 at the installation position 7, which includes a jacking mechanism 34, a blocking mechanism 35 and a positioning mechanism 36, The jacking mechanism 34 lifts the carrier 33 so that the carrier 33 is temporarily separated from the conveyor belt 31, and the blocking mechanism 35 is located downstream of the jacking mechanism 34, and is used to temporarily block the carrier 33 from moving further forward so that the jacking mechanism 34 and the positioning mechanism 36 is fixed, and the positioning mechanism 36 and the lifting mechanism 34 apply clamping force to the carrier 33 from the top and bottom respectively, so that the carrier 33 is fixed at the installation position 7 and cannot continue to move, ensuring the position of the workpiece 8 during installation Stability. After the installation of the workpiece 8 is completed, the lifting mechanism 34 lowers the carrier 33 back onto the conveyor belt 31 and waits for the next carrier 33 to be fixed, thereby realizing a streamlined production process.

Specifically, as shown in FIGS. 8 and 9, the jacking mechanism 34 in this embodiment is provided between two parallel conveyor belts 31, including a supporting platform 341 and a jacking frame 342, and the supporting platform 341 is bridged between the two conveyor belts 31 Between them, the jacking frame 342 is connected to the supporting platform 34131 through a jacking cylinder, and moves up and down relative to the supporting platform 341, and has a transmission position for contacting the carrier 33 with the conveyor belt 31 and an installation position 7 for disengaging the conveyor belt 31. The lifting frame 4412 lifts the carrier 33 to separate the carrier 33 from the conveyor belt 31. The carrier 33 will no longer move forward. When descending, the carrier 33 may contact the conveyor belt 31 to continue the forward movement to resume the conveying process. There are four telescopic columns 343 between the supporting platform 341 and the jacking frame 342. One end of the telescopic column 343 is slidingly connected to the supporting platform 341, and the other end is connected to the bottom of the jacking frame 342. The movement of the jack 342 can be guided to ensure that the jack 342 moves in the vertical direction, and the carrier 33 is in a horizontal position in the horizontal direction to meet the processing accuracy requirements.

As shown in FIG. 8, a number of blocking mechanisms 35 are provided between the conveyor belt 31 in this embodiment. The blocking mechanism 35 includes a blocking rod and a blocking cylinder. After the blocking rod rises, it will prevent the carrier 33 from continuing to move forward, thereby making the carrier positioning device 32 The carrier 33 at the position stays, which is convenient for positioning operation. On the other hand, other blocking mechanisms 35 on the conveyor belt 31 can separate the distance between the carriers 33 to avoid accumulation between the carriers 33.

As shown in FIG. 9, the positioning mechanism 36 in this embodiment includes two fixed seats 361 that are symmetrically provided on both sides of the conveyor belt 31. The fixed seat 361 has a gate-shaped structure, and the top has a connecting beam 364 connecting two seat legs. A carrier 362 is provided on the beam 364. As shown in FIG. 10, the carrier holder 362 is a first arm 3641 extending from the connecting beam 364 to the middle of the conveyor belt 31, and a spring guide post 3621 installed at the bottom of the first arm 3641. The spring guide post 3621 and the top The lifting mechanism 34 cooperates to apply a clamping force that fixes the carrier 33 to the carrier 33. Specifically, the first support arm 3641 in this embodiment is formed at both ends of the connecting beam 364. Since the positioning mechanism 36 includes two symmetrically disposed on both sides of the transmission line, the carrier holder 362 includes four spring guide posts 3621, respectively fixing the four corners of the carrier 33. When the carrier 33 is lifted to the working position by the lifting mechanism 34, the upper surface of the carrier 33 is in contact with the spring guide post 3621, and the spring guide post 3621 is compressed, using the spring guide post 3621 to contact the top of the carrier 33 With pressure, the carrier 33 can be pressed tightly against the lifting frame 342 of the lifting mechanism 34, and both the upper and lower surfaces of the carrier 33 can be fixed, ensuring the stability of the position during the installation of the workpiece 8. After the installation of the workpiece 8 is completed, the lifting mechanism 34 lowers the carrier 33 back onto the conveyor belt 31 and waits for the next carrier 33 to be fixed, thereby realizing a streamlined production process.

As shown in FIG. 11, the carrier 33 in this embodiment includes a body 331 and four workpiece mounting grooves 332, and the workpiece 8 is inserted vertically along the length direction of the workpiece mounting groove 332. Both ends of the workpiece mounting groove 332 are U-shaped grooves, and the groove wall of the U-shaped groove is provided with a through hole allowing the locking device 333 to pass through. The locking device 333 has a locking post 3331 that enters the U-shaped groove from the through hole in at least one direction. The locking post 3331 exerts pressure on the side wall of the workpiece 8 so that the workpiece 8 closely abuts the workpiece mounting groove 332 to complete the work 8 locking. The locking post 3331 is driven by the linkage 3332 and slides in the through hole of the U-shaped groove, thereby locking and unlocking the workpiece 8. The link 3332 is disposed in the through slot of the body 331, and a return spring is provided between the end and the through slot, so that the link 3332 keeps moving in the locking direction in a natural state, thereby ensuring the locking of the workpiece 8. The middle part of the linkage 3332 is provided with a lever 3333 protruding through the groove. When the workpiece 8 needs to be unlocked, the lever 3333 is moved in the direction of the compression return spring, which can drive the locking post 3331 to release the resistance to the workpiece 8 Pick up. As shown in the upper part of FIG. 11, a cover plate is provided above the through slot, and an unlocking hole 334 is left at the position of the lever 3333.

Since the installation of the workpiece 8 into the carrier 33 requires that the locking device 333 be unlocked, the connecting beam 364 of the positioning mechanism 36 is also provided with a carrier unlocking device 363, including an unlocking hole 334 that can be inserted into the top surface of the carrier 33 The inner unlocking pin 3631 is installed on the second arm 3642 extending from the connecting beam 364 toward the middle of the conveyor belt 31. Specifically, as shown in FIG. 10, the second support arm 3642 in this embodiment is located in the middle of the connecting beam 364, and the unlocking pin 3631 is a wedge with a slope, and the tip of the wedge faces downward when the carrier 33 rises to work During the positioning process, the tip of the wedge first enters the unlocking hole 334 on the carrier 33, and then the slope of the wedge comes into contact with the lever 3333 of the locking mechanism on the carrier 33, pushing the lever 3333 to shift to the side, the lever 3333 The interlocking member 3332 which is linked with it is driven to release the locking of the workpiece mounting groove 332 on the carrier 33, so that the workpiece 8 can be smoothly inserted into the placement groove. Similarly, when the carrier 33 returns to the conveying line, the wedge gradually reduces the pushing distance of the shift lever 3333, so that the locking mechanism on the carrier 33 is restored to the original locking position, and the workpiece 8 is locked. By setting the carrier unlocking device 363, the unlocking of the carrier 33 is automatically completed during the process of lifting and positioning the carrier 33.

As shown in FIG. 5, the shape detection unit of the screening mechanism 5 in this embodiment is a lower camera 51 provided on the workbench 1 with its camera facing upward, and takes a picture of the shape of the workpiece 8 passing above it, and a reclaimer 41 throws the unqualified workpiece 8 into the waste box 52 to ensure that the workpiece 8 to be installed meets product quality requirements. The waste box 52 and the lower camera 51 are provided on the workbench 1 between the feeding mechanism 2 and the conveyor line mechanism 3, so that the reclaimer 41 can directly move from above the lower camera 51 and the waste box 52 during the process of transporting the workpiece 8 After passing, there will not be too many transportation paths, which ensures the efficiency of production.

As a first alternative embodiment, the lifting device 25 in the feeding mechanism 2 can be driven by an air cylinder instead.

As a second alternative embodiment, the feeding mechanism 2 may also only be provided with a feeding area 22, and the workpiece 8 on the feeding tray 28 is manually transported after being taken out.

As a third alternative embodiment, the conveyor line mechanism 3 may also be provided with only one layer of conveyor belt 31.

Example 2

This embodiment provides a workpiece feeding method, using the workpiece feeding device in Embodiment 1 to perform the following steps:

The detection mechanism on the reclaiming device detects the material tray at the feeding position, and photographs the workpiece through the upper camera to obtain the position of the workpiece in the material tray;

The clamping unit determines the clamping position according to the detection result;

The mobile device drives the picking device to move above the screening mechanism. The shape detection unit detects the shape of the workpiece. The picking device adjusts the clamping state of the workpiece according to the detection result. If the workpiece is qualified, the clamping state is maintained. If the workpiece is unqualified, Loosen the clamping of the workpiece and throw the workpiece into the waste box;

The detection mechanism on the reclaiming device detects the carrier at the installation position to obtain the pre-installation position on the carrier;

The moving device corrects the moving path of the reclaiming device, and drives the retrieving device to the installation position;

The reclaiming device installs the workpiece into the carrier.

Obviously, the above examples are only examples for clear explanation, and are not limitations to the implementation. For those of ordinary skill in the art, other different forms of changes or changes can be made based on the above description. There is no need to exhaustively list all implementations. The obvious changes or changes derived from this are still within the protection scope created by the present invention.

Claims

A workpiece feeding device, characterized in that it includes a worktable (1) and a worktable (1)

The feeding mechanism has a feeding area (22) carrying a material tray (28), and a lifting device (25) is arranged in the feeding area (22), and the lifting device (25) moves the material tray (28) Raise to the feeding position (6) for the picking device (41) to grip the workpiece (8);

The conveyor line mechanism (3) includes at least one unidirectional moving conveyor belt (31), a plurality of carriers (33) placed on the conveyor belt (31) to move with the conveyor belt (31), and provided on the conveyor belt (31) A carrier positioning device (32) beside the carrier positioning device (32) to fix the carrier (33) at the installation position (7);

Workpiece conveying mechanism (4) includes a reclaiming device (41) and a moving device (42), the moving device (42) drives the reclaiming device (41) to move on the table (1), the The retrieving device (41) grips the workpiece (8) from the feeding mechanism at the retrieving position, and drives the workpiece (8) to the installation position (7) under the drive of the moving device (42), And install the workpiece (8) in the carrier (33);

The screening mechanism (5) includes a shape detection unit and a waste box (52). The shape detection unit detects the shape of the workpiece (8). If the detection result is unqualified, the reclaiming device (41) releases the pair The clamping of the workpiece (8) throws the workpiece (8) into the waste box (52).
The workpiece feeding device according to claim 1, wherein the feeding mechanism comprises

The first frame (21) has a feeding area (22) and a returning area (23) arranged in parallel for carrying a material tray (28), and the feeding position (6) is located in the feeding area ( 22) the top;

The feeding area (22) and the end of the return area (23) have a transfer area (24) connected to each other, the feed area (22) and the return area (23) One end has a material transfer area for up and down materials;

And a transfer mechanism (27), the transfer mechanism (27) moves in the transfer area (24), is used to fix the tray (28) at the feeding position (6), and the tray ( 28) Delivery to the return area (23)

The feeding area (22) and the returning area (23) are provided with independent lifting devices (25) and translation devices (26), respectively, and the lifting device (25) moves through the lifting A material tray (28) is transported between the loading area (24) and the material shifting area; the translation device (26) transports or outputs the material tray (28) upwardly and downwardly through the horizontal movement.
The workpiece feeding device according to claim 1 or 2, characterized in that the reclaiming device (41) includes a second frame (43), a clamping mechanism (44), and a detection mechanism (45);

The clamping mechanism (44) is installed on the second frame (43) and includes at least one lifting unit (441) and at least one clamping unit (442). The clamping unit (442) passes through the lifting unit (441) ) Is connected to the second frame (43), and the lifting unit (441) drives the gripping unit (442) to move up and down; the gripping unit (442) has a workable gripper (8) Gripper (4422);

The detection mechanism (45) includes a position difference detection unit fixedly arranged on the second frame (43), the position difference detection unit is used to detect and obtain the installation position (7) and the original target position on the horizontal plane If the position inside is shifted, the moving device (42) adjusts the moving path of the reclaiming device (41) according to the detection result.
The workpiece feeding device according to claim 3, characterized in that the position difference detection unit is an upper camera (451) fixed on the second frame (43), the camera of which is installed downward, used In order to detect and obtain the position offset between the installation position (7) located below and the original target position.
The workpiece feeding device according to any one of claims 1 to 4, characterized in that the moving device (42) includes a horizontal moving structure and a vertical moving structure, and the horizontal moving structure includes a table provided on the worktable (1) the Y-axis linear module (421) and the X-axis linear module (422) slidingly connected thereto; the vertical movement structure includes a Z slidingly connected to the X-axis linear module (422) An axis lifting module (423), the reclaiming device (41) is fixedly connected to the Z axis lifting module (423) through a second frame (43); the horizontal movement structure is detected according to the position difference The detection result of the unit adjusts the movement path.
The workpiece feeding device according to any one of claims 1 to 5, characterized in that the carrier positioning device (32) includes

A jacking mechanism (34) is provided between the conveyor belts (31) transported in parallel, and can move up and down relative to the conveyor belt (31) for lifting the carrier (33) away from the conveyor belt (31) to The installation position (7);

A blocking mechanism (35) is provided downstream of the lifting mechanism (34) in the conveying direction, and has a blocking rod that can be raised and lowered, for blocking the movement of the carrier (33);

The positioning mechanism (36) has a pair of fixing seats (361) arranged symmetrically to the conveying direction on both sides of the conveyor belt (31), and the fixing seat (361) is provided with a carrier holder (362) and a carrier An unlocking device (363); the carrier holder (362) cooperates with the lifting mechanism (34) to apply a clamping force to the carrier (33); the carrier unlocking device (363) is in In the installation position (7), the carrier (33) unlocks to realize the installation of the workpiece (8).
The work piece feeding device according to any one of claims 1-6, characterized in that the shape detection unit is a lower camera (51) provided on the worktable (1), with a camera facing upward, Take a picture of the shape of the workpiece (8) passing above it; the waste box (52) and the lower camera (51) are arranged between the feeding mechanism and the conveyor line mechanism (3) On the workbench (1).
A workpiece feeding method performed by a workpiece feeding device according to any one of claims 1-7, characterized in that it includes the following steps:

S1: The reclaiming device (41) grips the workpiece (8) from the material tray (28) at the feeding position (6);

S2: The moving device (42) drives the reclaiming device (41) to move above the screening mechanism (5), the profile detection unit detects the profile of the workpiece (8), and the reclaiming The device (41) adjusts the clamping state of the workpiece (8) according to the detection result;

S3: The moving device (42) drives the reclaiming device (41) to install the workpiece (8) into the carrier (33) of the installation position (7).
The workpiece feeding method according to claim 8, wherein the step S1 includes

S11: The detection mechanism (45) on the reclaiming device (41) detects the material tray (28) of the feeding position (6) to obtain the workpiece (8) in the material tray (28) )s position;

S12: The gripping unit (442) determines the gripping position according to the detection result.
The workpiece feeding method according to claim 9, wherein the step S3 comprises:

S31: The detection mechanism (45) on the reclaiming device (41) detects the carrier (33) on the installation location (7) to obtain the pre-installation location on the carrier (33) ( 7);

S32: The moving device (42) corrects the moving path of the reclaiming device (41), and drives the reclaiming device (41) to the installation position (7);

S33: The reclaiming device (41) installs the workpiece (8) into the carrier (33).