CN105197584A - Automatic feeding device with robots - Google Patents
Automatic feeding device with robots Download PDFInfo
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- CN105197584A CN105197584A CN201510404535.XA CN201510404535A CN105197584A CN 105197584 A CN105197584 A CN 105197584A CN 201510404535 A CN201510404535 A CN 201510404535A CN 105197584 A CN105197584 A CN 105197584A
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Abstract
The invention relates to an automatic feeding device with robots. The automatic feeding device is used for carrying workpieces to a specified station. The automatic feeding device comprises a frame table, a PLC system arranged on the frame table and a feeding system arranged on the frame table and connected with the PLC system. The feeding system comprises five parts including a feeding mechanism, a positioning conveying mechanism, a vision mechanism, a vacuum conveying mechanism and an empty-tray discharging mechanism. A tray fully loading the workpieces is conveyed to the positioning conveying mechanism to be fixed and locked through the feeding mechanism, the workpieces in the tray are all carried to the specified station through the vacuum conveying mechanism under the assisting of the vision mechanism, then the tray is conveyed to the empty-tray discharging mechanism through the positioning conveying mechanism, and the tray is conveyed out through the empty-tray discharging mechanism. Compared with the prior art, the automatic feeding device has the advantages of being high in adaptability, wide in universality, high in feeding speed, low in workpiece damaging risk and the like.
Description
Technical field
The present invention relates to a kind of charging equipment, especially relate to a kind of automatic charging equipment using robot.
Background technology
In the automatic production lines of electronic devices and components, small car part, often can use automatic charging equipment by device and parts from scattered state or be placed into from pallet on the appointment station of manufacturing line.This equipment generally should be noted that following problem: one is will avoid in feeding process scratching dirty parts; Two is dock with detection station high fix; Three is parts that charging equipment wants the corresponding many dimensionss of energy, will produce operation in enormous quantities uninterruptedly under the operating mode of high speed high acceleration.Market mainly contains transfer machine and mechanical hand for the equipment of loading and unloading.
As Chinese patent ZL201210202880.1 discloses a kind of loading and unloading manipulator, comprise rotational workpieces module, feeding module, clamp module, cutting module and kinetic control system module, this loading and unloading machine hand getting use gas pawl grabbing workpiece, require that workpiece is rigid objects, the action that can complete is single, is applicable to the occasion required without the need to high precision etc.Chinese patent 200820126417.2 discloses a kind of transfer mechanism, comprises three groups of component suction nozzles, and described three groups of component suction nozzles are separately positioned on respective clutch matrix, and one of them clutch matrix is connected with the first actuator axial stretching bar end; Clutch matrix connects with guide rod each other, and the mutual distance of clutch matrix is controlled by a control mechanism.This patent replace artificial from three fool proof entrances to battery of mobile phone material loading, reduce the working strength of people, achieve the automation that battery of mobile phone detects.
But transfer machine requires strict to workpiece pose, to need to set up other mechanisms corresponding to the various pose that may occur of workpiece, these mechanisms not only difficult design, and machinery and equipment volume is increased, improve productive costs, greatly have impact on work efficiency and the market competitiveness of transfer machine.Above-mentioned transfer machine and Simple robot arm have following inevitable shortcoming:
(1) ability that each kinematic mechanism does not possess at a high speed, high acceleration runs, production efficiency is low, affects production capacity;
(2) workpiece stiffness and pose be there are certain requirements, the mechanisms such as rectification need be set up, add productive costs;
(3) accuracy requirement is not only applicable to high or without the occasion of accuracy requirement;
(4) do not have Intelligent Recognition and arbitration functions, industrial applicability is restricted.
Summary of the invention
Object of the present invention be exactly in order to overcome above-mentioned prior art exist defect and a kind of automatic charging equipment using robot is provided.
Object of the present invention can be achieved through the following technical solutions:
A kind of automatic charging equipment using robot, for work transporting is extremely specified station, described automatic charging equipment comprises pallet, and be arranged on the PLC control system on pallet and be arranged on the feeding system be connected on pallet and with PLC control system, this feeding system comprises:
Feed mechanism: be made up of to conveyer with along the z that z-axis moves up and down to conveyer the y moved forward and backward along y-axis;
Location connecting gear: comprise the bracket tray positioning apparatus be arranged on pallet, holding tray separating device and pallet conveyer;
Vacuum feeding unit: comprise the robot be arranged on pallet, and be arranged on the vacuum absorption device on robot;
Visual mechanisms: comprise detection CCD camera, location CCD camera and knowledge mark CCD camera, described detection CCD camera is arranged on directly over the connecting gear of location, described location CCD camera is arranged on robot, described knowledge mark CCD camera is arranged on pallet, identify the gauge point of workpiece in pallet, and feedback signal is to robot, it is made accurately to draw workpiece, detect CCD camera and detect in pallet whether have workpiece, if have, then vacuum feeding unit starts, conveyance workpiece is to specifying on station, if nothing, then locate connecting gear to start, pallet is sent to blank panel cutting agency, by detection CCD camera, the high fix of location CCD camera and knowledge mark CCD camera composition and recognition visible sensation system, coordinate the robot of high-speed mobile, composition negative feedback closed loop control system, can 360 ° of comprehensive picking up work piece, visual recognition workpiece, no matter workpiece is in which kind of attitude and position,
Blank panel cutting agency: be made up of to conveyer with along the 2nd y of y-axis sway to conveyer the 2nd z moved up and down along z-axis;
During work, the pallet of fully loaded workpiece is sent to location connecting gear through feed mechanism, pallet is fixing by bracket tray positioning apparatus locking, then, under location CCD camera and knowledge mark the auxiliary positioning of CCD camera, vacuum absorption device random device people moves on the workpiece in pallet, open vacuum, workpiece is drawn by vacuum absorption device, and be sent on appointment station, when detection CCD camera detects that, in pallet after work piece delivery, bracket tray positioning apparatus unclamps, pallet is sent to blank panel cutting agency through pallet conveyer, then moves to bottom pallet.
A described y comprises the first fixed mount to conveyer, and the first tray platform, the first ball-screw and the servomotor that are arranged on the first fixed mount, the first described fixed mount is provided with the first line slide rail along the y-axis direction, the first described tray platform is arranged on the first line slide rail, and be connected with the first ball-screw, described first sensor contacts with the first tray platform, the first described ball-screw connects servomotor, first sensor is limit switch, play fender guard effect, make device not exceed its movement travel;
A described z is made up of to conveyer the first single axis robot and the first supporting seat, and the first described supporting seat is arranged on the first single axis robot, and moves up and down along the z-axis direction;
During work, start servomotor, drive the first ball-screw, the first tray platform is driven to move along the first line slide rail, the pallet be placed on the first tray platform is sent on the first supporting seat, then start the first single axis robot, drive the first supporting seat to move along the z-axis direction, pallet is sent to location connecting gear.
Described bracket tray positioning apparatus comprises the first permanent seat be arranged on pallet, and is arranged on the positioning cylinder on the first permanent seat, and this positioning cylinder connects locating piece;
Described holding tray separating device comprises the second permanent seat be arranged on pallet, and is arranged on the separation cylinder on the second permanent seat;
Described pallet conveyer comprises the first transmission cylinder and the second line slideway be arranged on pallet;
Pallet is sent to location connecting gear through feed mechanism, now, bracket tray positioning apparatus works, and starts positioning cylinder, locating piece and pallet are fitted, locking positioning is carried out to pallet, treat that, in pallet after workpiece conveying, startup positioning cylinder, makes locating piece separate with pallet, start first and transmit cylinder, driving tray moves to blank panel cutting agency along the second line slideway.
Described positioning cylinder is provided with two.
Described vacuum absorption device is made up of vacuum shaft and the vacuum cup being arranged on vacuum shaft bottom, and described vacuum shaft is arranged on robot, and moves up and down along robot, and described vacuum shaft connects vacuum generating device.
Described visual mechanisms is also provided with the first light source and the secondary light source of auxiliary detection location, the first described light source and secondary light source are separately positioned on the two ends of location connecting gear.
Described pallet top is provided with Safety hood, and described detection CCD camera is arranged on Safety hood, and is positioned at directly over the connecting gear of location.
The 2nd described z is made up of to conveyer the second single axis robot and the second supporting seat, and the second described single axis robot is arranged on the second supporting seat, and moves up and down along the z-axis direction;
The 2nd described y comprises the second fixed mount to conveyer, second transmits cylinder, first buffer positioner and the second buffer positioner, the second described fixed mount is provided with the 3rd line slide rail along the y-axis direction, 3rd line slide rail is provided with the second tray platform transmitting cylinders with second and connect, the first described buffer positioner and the second buffer positioner are separately positioned on the rear and front end of the 3rd line slide rail, described second transmits cylinder is connected with PLC control system, first buffer positioner and the second buffer positioner are to the effect of the second tray platform along the buffering location of having moved of the 3rd line slide rail,
During work, the pallet of empty material is sent to the 2nd z on the second supporting seat of conveyer through pallet conveyer, start the second single axis robot, the second supporting seat is driven to move down along the z-axis direction, pallet is sent to the 2nd y on the second tray platform of conveyer, restart the second transmission cylinder, drive the second tray platform to move along the y-axis direction, thus the pallet of sky material is transported pallet.
Compared with prior art, the present invention has the following advantages:
(1) robot that the present invention uses has high degree of freedom, is equipped with high-resolution visual mechanisms, and Intelligent Recognition and seizure product feature, positioning precision is high, fast response time, drastically increases production efficiency.
(2) adopt vacuum absorption device conveyance product, can not fragment and scratch product external surfaces, reduce product impaired risk in feeding process, stopped the rising of product fraction defective to a great extent.
(3) automatic charging equipment comformability of the present invention is high, commonality is wide, can the product of corresponding different specification size, only need change pallet, manufacture simple, cost is low, thus the product of the many specifications of many sizes large-scale productive costs in enormous quantities significantly reduces.
Accompanying drawing explanation
Fig. 1 is complete machine schematic appearance of the present invention;
Fig. 2 is main TV structure schematic diagram of the present invention;
Fig. 3 is the structural representation of feed mechanism of the present invention;
Fig. 4 is the structural representation of location of the present invention connecting gear;
Fig. 5 is the structural representation of vacuum feeding unit of the present invention;
Fig. 6 is the structural representation of visual mechanisms of the present invention;
Fig. 7 is the structural representation of blank panel cutting agency of the present invention;
In figure, 1-feed mechanism, 2-locates connecting gear, 3-visual mechanisms, 4-vacuum feeding unit, 5-blank panel cutting agency, 6-pallet, 7-pallet, 8-Safety hood, 11-the one y is to conveyer, 12-the one z is to conveyer, 21-bracket tray positioning apparatus, 22-holding tray separating device, 23-pallet conveyer, 31-detects CCD camera, 32-first light source, 33-locates CCD camera, 34-secondary light source, 35-knows mark CCD camera, 41-robot, 42-vacuum shaft, 43-vacuum cup, 51-the 2nd z is to conveyer, 52-the 2nd y is to conveyer, 111-first fixed mount, 112-first tray platform, 113-first line slide rail, 114-first sensor, 115-first ball-screw, 116-servomotor, 121-first single axis robot, 122-first supporting seat, 211-first permanent seat, 212-positioning cylinder, 213-locating piece, 221-second permanent seat, 222-separation cylinder, 231-second line slideway, 232-first transmits cylinder, 511-second supporting seat, 512-second single axis robot, 521-second fixed mount, 522-the 3rd line slide rail, 523-first buffer positioner, 524-second transmits cylinder, 525-second buffer positioner, 526-second tray platform.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.The present embodiment is implemented premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As depicted in figs. 1 and 2, use an automatic charging equipment for robot 41, comprise pallet 6, be arranged on the PLC control system on pallet 6 and be arranged on the feeding system be connected on pallet 6 and with PLC control system, pallet 6 is provided with Safety hood 8, and feeding system comprises:
Feed mechanism 1, its structure as shown in Figure 3: be made up of to conveyer 12 to conveyer 11 with along the z that z-axis moves up and down the y moved forward and backward along y-axis; One y comprises the first fixed mount 111 to conveyer 11, and the first tray platform 112, first sensor 114, first ball-screw 115 and the servomotor 116 that are arranged on the first fixed mount 111, first fixed mount 111 is provided with the first line slide rail 113 along the y-axis direction, first tray platform 112 is arranged on the first line slide rail 113, and be connected with the first ball-screw 115, first sensor 114 is connected with the first tray platform 112, and the first ball-screw 115 connects servomotor 116; One z is made up of to conveyer 12 the first single axis robot 121 and the first supporting seat 122, and the first supporting seat 122 is arranged on the first single axis robot 121, and moves up and down along the z-axis direction;
Location connecting gear 2, its structure as shown in Figure 4: comprise the bracket tray positioning apparatus 21 be arranged on pallet 6, holding tray separating device 22 and pallet conveyer 23; Bracket tray positioning apparatus 21 comprises the first permanent seat 211 be arranged on pallet 6, and is arranged on two positioning cylinders 212 on the first permanent seat 211, and this positioning cylinder 212 connects locating piece 213; Holding tray separating device 22 comprises the second permanent seat 221 be arranged on pallet 6, and is arranged on the separation cylinder 222 on the second permanent seat 221, and bracket tray positioning apparatus 21 acts on the 1st layer of TRAY dish (the superiors), locates the 1st layer of TRAY dish; While the TRAY dish of the 1st layer, location, holding tray separating device 22 acts on the 2nd layer of TRAY dish (sublevel), and the 2nd layer of TRAY dish is separated completely with the 1st layer of TRAY dish.
Bracket tray positioning apparatus 21 is arranged in the central authorities of the TRAY dish left and right sides, totally 2, the first from left right side, action simultaneously; Holding tray separating device 22 is arranged in the end end of the TRAY dish left and right sides, totally 2, the first from left right side, action simultaneously; Pallet conveyer 23 comprises the first transmission cylinder 232 and the second line slideway 231 be arranged on pallet 6;
Vacuum feeding unit 4, its structure as shown in Figure 5: comprise the robot 41 be arranged on pallet 6, and be arranged on the vacuum shaft 42 on robot 41, this vacuum shaft 42 bottom is provided with vacuum cup 43, and vacuum shaft 42 connects vacuum generator;
Visual mechanisms 3, its structure is as shown in Figure 6: comprise and detect CCD camera 31, location CCD camera 33, know mark CCD camera 35, and auxiliary detection location the first light source 32 and secondary light source 34, detecting CCD camera 31 is arranged on Safety hood 8, and be positioned at directly over the connecting gear 2 of location, location CCD camera 33 is arranged on robot 41, knows mark CCD camera 35 and is arranged on pallet 6, the workpiece together with the CCD camera 33 of location in auxiliary robot 41 location tray 6;
Blank panel cutting agency 5, its structure as shown in Figure 7: be made up of to conveyer 52 to conveyer 51 with along the 2nd y of y-axis sway the 2nd z moved up and down along z-axis; 2nd z is made up of to conveyer 51 the second single axis robot 512 and the second supporting seat 511, and the second single axis robot 512 is arranged on the second supporting seat 511, and moves up and down along the z-axis direction, and the second single axis robot 512 connects PLC control system; 2nd y comprises the second fixed mount 521 to conveyer 52, second transmits cylinder 524, first buffer positioner 523 and the second buffer positioner 525, second fixed mount 521 is provided with the 3rd line slide rail 522 along the y-axis direction, 3rd line slide rail 522 is provided with the second tray platform 526 transmitting cylinder 524 with second and be connected, first buffer positioner 523 and the second buffer positioner 525 are separately positioned on the rear and front end of the 3rd line slide rail 522, and second transmits cylinder 524 is connected with PLC control system.
During work, the pallet 7 of fully loaded workpiece is placed on the first tray platform 112, start servomotor 116, the first tray platform 112 is driven to move along the first line slideway, pallet 7 is sent to the first supporting seat 122, then the first single axis robot 121 is started, the first supporting seat 122 is driven to move along the z-axis direction, pallet 7 is sent to location connecting gear 2, start positioning cylinder 212, drive locating piece 213 pairs of pallet locking positionings, detection CCD camera 31 detects in pallet 7 workpiece, start the machine people 41, under location CCD camera 33 and knowledge mark the positioning action of CCD camera 35, vacuum cup 43 is moved to the location of workpiece in pallet 7, open vacuum, workpiece picks up by vacuum cup 43, then work transporting is extremely specified on station by drive machines people 41, robot 41 repeats to adsorb workpiece action until the workpiece in pallet 7 is all complete by conveyance, now, detect CCD camera 31 to detect in pallet 7 without workpiece, start positioning cylinder 212 pallet 7 is unclamped, and move on the second supporting seat 511 of blank panel cutting agency 5 by the first transmission cylinder 232 driving tray along the second line slideway 231, start the second single axis robot 512, the second supporting seat 511 is driven to move down along the z-axis direction, pallet 7 is sent to the 2nd y on the second tray platform 526 of conveyer 52, restart the second transmission cylinder 524, the second tray platform 526 is driven to move along the y-axis direction, thus the pallet 7 of sky material is transported pallet 6.
Claims (8)
1. one kind uses the automatic charging equipment of robot, for work transporting is extremely specified station, described automatic charging equipment comprises pallet (6), be arranged on the PLC control system on pallet (6) and be arranged on pallet (6) and go up and the feeding system be connected with PLC control system, it is characterized in that, this feeding system comprises:
Feed mechanism (1): be made up of to conveyer (11) with along the z that z-axis moves up and down to conveyer (12) the y moved forward and backward along y-axis;
Location connecting gear (2): comprise the bracket tray positioning apparatus (21) be arranged on pallet (6), holding tray separating device (22) and pallet conveyer (23);
Vacuum feeding unit (4): comprise the robot (41) be arranged on pallet (6), and be arranged on the vacuum absorption device on robot (41);
Visual mechanisms (3): comprise and detect CCD camera (31), location CCD camera (33) and know mark CCD camera (35), described detection CCD camera (31) is arranged on directly over location connecting gear (2), described location CCD camera (33) is arranged on robot (41), and described knowledge mark CCD camera (35) is arranged on pallet (6);
Blank panel cutting agency (5): be made up of to conveyer (51) with along the 2nd y of y-axis sway to conveyer (52) the 2nd z moved up and down along z-axis;
During work, the pallet (7) of fully loaded workpiece is sent to location connecting gear (2) through feed mechanism (1), pallet (7) is fixing by bracket tray positioning apparatus (21) locking, then, under the auxiliary positioning of location CCD camera (32), vacuum absorption device random device people (41) moves on the workpiece in pallet (7), open vacuum, workpiece is drawn by vacuum absorption device, and be sent on appointment station, when detection CCD camera (31) to detect in pallet (7) after work piece delivery, bracket tray positioning apparatus (21) unclamps, pallet (7) is sent to blank panel cutting agency (5) through pallet conveyer (23), move to pallet (6) bottom again.
2. a kind of automatic charging equipment using robot according to claim 1, it is characterized in that, a described y comprises the first fixed mount (111) to conveyer (11), and the first tray platform (112) be arranged on the first fixed mount (111), first sensor (114), first ball-screw (115) and servomotor (116), described the first fixed mount (111) is provided with the first line slide rail (113) along the y-axis direction, described the first tray platform (112) is arranged on the first line slide rail (113), and be connected with the first ball-screw (115), described first sensor (114) contacts with the first tray platform (112), described the first ball-screw (115) connects servomotor (116),
A described z is made up of to conveyer (12) the first single axis robot (121) and the first supporting seat (122), described the first supporting seat (122) is arranged on the first single axis robot (121), and moves up and down along the z-axis direction;
During work, start servomotor (116), drive the first ball-screw (115), drive the first tray platform (112) mobile along the first line slide rail (113), the pallet (7) be placed on the first tray platform (112) is sent on the first supporting seat (122), then the first single axis robot (121) is started, drive the first supporting seat (122) to move along the z-axis direction, pallet (7) is sent to location connecting gear (2).
3. a kind of automatic charging equipment using robot according to claim 1, it is characterized in that, described bracket tray positioning apparatus (21) comprises the first permanent seat (211) be arranged on pallet (6), and the positioning cylinder (212) be arranged on the first permanent seat (211), this positioning cylinder (212) connects locating piece (213);
Described holding tray separating device (22) comprises the second permanent seat (221) be arranged on pallet (6), and is arranged on the separation cylinder (222) on the second permanent seat (221);
Described pallet conveyer (23) comprises the first transmission cylinder (232) and the second line slideway (231) be arranged on pallet (6);
Pallet (7) is sent to location connecting gear (2) through feed mechanism (1), now, bracket tray positioning apparatus (21) works, start positioning cylinder (212), locating piece (213) and pallet (7) are fitted, locking positioning is carried out to pallet (6), after treating that in pallet (6), workpiece is carried, start positioning cylinder (212), locating piece (213) is separated with pallet (7), start first and transmit cylinder (232), driving tray (7) moves to blank panel cutting agency (5) along the second line slideway (231).
4. a kind of automatic charging equipment using robot according to claim 3, is characterized in that, described positioning cylinder (212) is provided with two.
5. a kind of automatic charging equipment using robot according to claim 1, it is characterized in that, described vacuum absorption device is made up of vacuum shaft (42) and the vacuum cup (43) that is arranged on vacuum shaft (42) bottom, described vacuum shaft (42) is arranged on robot (41), and move up and down along robot (41), described vacuum shaft (42) connects vacuum generating device.
6. a kind of automatic charging equipment using robot according to claim 1, it is characterized in that, described visual mechanisms (3) is also provided with the first light source (32) and the secondary light source (34) of auxiliary detection location, described the first light source (32) and secondary light source (34) are separately positioned on the two ends of location connecting gear (2).
7. a kind of automatic charging equipment using robot according to claim 1, it is characterized in that, described pallet (6) top is provided with Safety hood (8), described detection CCD camera (31) is arranged on Safety hood (8), and is positioned at directly over location connecting gear (2).
8. a kind of automatic charging equipment using robot according to claim 1, it is characterized in that, the 2nd described z is made up of to conveyer (51) the second single axis robot (512) and the second supporting seat (511), described the second single axis robot (512) is arranged on the second supporting seat (511), and moves up and down along the z-axis direction;
The 2nd described y comprises the second fixed mount (521) to conveyer (52), second transmits cylinder (524), first buffer positioner (523) and the second buffer positioner (525), described the second fixed mount (521) is provided with the 3rd line slide rail (522) along the y-axis direction, 3rd line slide rail (522) is provided with the second tray platform (526) transmitting cylinder (524) with second and be connected, described the first buffer positioner (523) and the second buffer positioner (525) are separately positioned on the rear and front end of the 3rd line slide rail (522),
During work, the pallet (7) of empty material is sent to the 2nd z on second supporting seat (511) of conveyer (51) through pallet conveyer (23), start the second single axis robot (512), the second supporting seat (511) is driven to move down along the z-axis direction, pallet (7) is sent to the 2nd y on second tray platform (526) of conveyer (52), restart the second transmission cylinder (524), drive the second tray platform (526) to move along the y-axis direction, thus the pallet (7) of sky material is transported pallet (6).
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| CN201510404535.XA CN105197584B (en) | 2015-07-10 | 2015-07-10 | Automatic feeding device with robots |
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| CN201510404535.XA CN105197584B (en) | 2015-07-10 | 2015-07-10 | Automatic feeding device with robots |
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| CN105197584B CN105197584B (en) | 2017-04-12 |
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