CN109954822A - A kind of view-based access control model robot electronic component automatically cuts foot molding equipment - Google Patents
A kind of view-based access control model robot electronic component automatically cuts foot molding equipment Download PDFInfo
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- CN109954822A CN109954822A CN201910333618.2A CN201910333618A CN109954822A CN 109954822 A CN109954822 A CN 109954822A CN 201910333618 A CN201910333618 A CN 201910333618A CN 109954822 A CN109954822 A CN 109954822A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F1/00—Bending wire other than coiling; Straightening wire
- B21F1/004—Bending wire other than coiling; Straightening wire by means of press-type tooling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F11/00—Cutting wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F23/00—Feeding wire in wire-working machines or apparatus
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of view-based access control model robot electronic components automatically to cut foot molding equipment, including board, industrial personal computer, four axis robots, feeding machanism and multiple for cut foot to a variety of different electronic components and molding cutting foot shaping mechanism, manipulator is equipped with the first vacuum slot, the second camera that board upper end is equipped with the first camera for taking pictures downward and takes pictures upward, first camera takes pictures detection to the electronic component within the scope of the absorption of the first vacuum slot, the position of determining specified electronic component and type model are simultaneously fed back to industrial personal computer, then control manipulator is drawn with the position that the first vacuum slot is moved to specified electronic component, and it is moved to detection above second camera, electronic component is adjusted to the angles and positions of setting by the angles and positions information for the electronic component that manipulator is fed back according to second camera, and It is moved in the machining position for cutting foot shaping mechanism corresponding with the electronic component and carries out cutting foot and molding.
Description
[technical field]
The present invention relates to a kind of view-based access control model robot electronic components automatically to cut foot molding equipment.
[background technique]
Factory is related to capacitor at present, and the electronic components forming shape different sizes such as rectifier, many kinds of, single paragraph amount is few,
Existing shaping equipment on the market, substantially single paragraph material single paragraph feed and single paragraph molding, do not accomplish at all it is general, such as
The electronic component in bulk of whole heap is first sent in rectification road using vibrating disc by feed, then the screening knot by designing in rectification road
Structure is screened, and finally completes final positioning by mechanisms such as the clamping jaws of whole flow field end again, and this method is applicable in single shape
The element of style, it is efficient high stable the features such as, but due to rectification road and clamping jaw be in most cases it is dedicated, work as needs
When positioning Various Components and frequent switching shape style simultaneously, said mechanism will generate compatibling problem, therefore all be a confession
Expect the corresponding molding equipment of structure.It is formed relative to thousands of kinds of electronic component of factory, and the use of many materials
It measures and little, measures small material and be not suitable for purchase special equipment at all, equipment cost is too big, is carried out by the way of artificial mostly
Production, production efficiency are low.
The present invention is namely based on what such case was made.
[summary of the invention]
The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a kind of simple view-based access control model robot electronics of structure
Element automatically cuts foot molding equipment, and the equipment interoperability is strong, and the electronic component of multiple types small lot is suitble to realize that automation is cut
Foot operations for forming.
The present invention is achieved by the following technical solutions:
A kind of view-based access control model robot electronic component automatically cuts foot molding equipment, it is characterised in that: including board 1 and work
Control machine 2, the board 1 are equipped with multiple for cut foot to a variety of different specified electronic components and molding cutting foot molding
Mechanism 3, the board 1 are equipped with four axis robots 6, and the manipulator 6 is equipped with the first vacuum for sucking up electronic components
Suction nozzle 61, the board 1 are equipped with the 200 to the first vacuum slot of electronic component 61 that energy random rotation supplies a variety of stochastic regimes
Absorption within the scope of feeding machanism 5,1 upper end of board be equipped with for take pictures downward detect on feeding machanism 5 electronics member
The position of part and the first camera 4 of type model, the board 1 are equipped with for the first vacuum slot of detection of taking pictures from the bottom up
The second camera 7 of the angles and positions of 61 electronic components drawn, absorption model of the first camera 4 to the first vacuum slot 61
Electronic component in enclosing is taken pictures detection, is determined the position of specified electronic component and type model and is fed back information to industrial personal computer
2, manipulator 6 is controlled by industrial personal computer 2 and is drawn with the position that the first vacuum slot 61 is moved to specified electronic component, and will be inhaled
The electronic component that takes is mobile to detecting above second camera 7, the electronic component that the manipulator 6 is fed back according to second camera 7
Electronic component is adjusted to the angles and positions of setting by angles and positions information, and is moved to cut corresponding with the electronic component
It carries out cutting foot and molding in the machining position of foot shaping mechanism 3.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
Stating feeding machanism 5 includes the belt positioned at 6 lower section of manipulator and horizontal positioned 51 intermittent movement of belt 51 and drive belt
Driving device 52, the inflow end of the belt 51 are equipped with the shake for conveying a variety of different electronic components at random on belt 51
Moving plate 53, the outflow end of the belt 51 are equipped with the steering slideway 54 for flowing into for the electronic component on belt 51, and described turn
It is arranged obliquely to slideway 54 and electronic component is turned to and flowed out from the side-lower of belt 51, the outflux for turning to slideway 54
It is equipped with to catch and carry for the electronic component that falls of slideway 54 will to be turned between vibrating disc 53 and returns to removing in vibrating disc 53
Shipping unit 55.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
The climbing bracket 551 that handling device 55 includes tilted upward is stated, described 551 one end of climbing bracket is located above vibrating disc 53, is another
One end is located at below the outflux for turning to slideway 54, and the climbing bracket 551 is equipped with climbing conveyer belt 552 and driving climbing passes
The climbing motor 553 for sending band 552 to move is provided with striker plate 554 along climbing direction interval on the climbing conveyer belt 552,
The lower end of the climbing bracket 551, which is located at, to be equipped with for accessing the electronics for turning to slideway 54 and flowing out at the outflux for turning to slideway 54
Hopper 555 on element to climbing conveyer belt 552 is equipped with only between the lower end and climbing bracket 551 of the hopper 555 for climbing
Conveyer belt 552 and striker plate 554 creep by crawlway 556.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
Climbing 551 upper end bottom of bracket is stated to be equipped with for guiding the electronic component fallen when climbing conveyer belt 552 is overturn to vibrating disc 53
In stock guide 557.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
State the general runner 531 for being provided on vibrating disc 53 and capable of sending out a variety of different electronic components at random in vibration.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
It states first camera 4 and second camera 7 is CCD camera.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
Stating and cutting foot shaping mechanism 3 includes for forming the shaping mould up and down 38 of electronic component leg and cutting off the upper and lower of electronic component leg
Mould 39 is cut, and drives the cylinder of punching up and down 34 of shaping mould 38 up and down and upper incision mould 39 difference or more relative motion, it is described
Cut the inside that mould 39 is located at shaping mould 38, the opposite side of the shaping mould 38 is equipped with feeding rack 301, in water in the feeding rack 301
Square to slidably connect can it is close and far from shaping mould 38 sliding seat 302 and driving sliding seat 302 sliding feeding cylinder
303, positioning seat 304 is removably connected on the sliding seat 302, the positioning seat 304 is equipped with electronic component and puts from above
Enter and the locating slot 305 of positioning electronic element from horizontal direction, is equipped with the second vacuum slot 306, institute above the locating slot 305
Sliding seat 302 is stated equipped with rodless cylinder 307, is fixedly connected on the rodless cylinder 307 second true for connecting and driving
The positioning cylinder 308 that suction mouth 306 moves up and down, the rodless cylinder 307 is for driving the second vacuum slot 306 to move on to positioning
305 top of slot moves on to the second vacuum slot 306 except 305 top of locating slot.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
It states 305 bottom of locating slot and is equipped with the air inlet 3051 being used to connect with external devices.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
It states and is equipped with drawer slot 3011 below feeding rack 301, being equipped in the drawer slot 3011 can pull out and upper end opening outward
Rewinding box 309 is equipped with the bell mouth 3012 for being connected to drawer slot 3011 from top to bottom, the bell mouth above the feeding rack 301
3012, which are located at rodless cylinder 307, drives within the stroke of the second vacuum slot 306 movement.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
Stating and cutting foot shaping mechanism 3 further includes X-axis pedestal 311, Y-axis pedestal 312 and Z axis pedestal 313, and the Y-axis pedestal 312 is slidably connected
On X-axis pedestal 311, the Z axis pedestal 313 is slidably connected on Y-axis pedestal 312, is rotatablely connected on the X-axis pedestal 311
There is the X-axis screw rod 321 for being threadedly coupled transmission with Y-axis pedestal 312, is rotatably connected to and Z axis pedestal 313 on the Y-axis pedestal 312
It is threadedly coupled the Y-axis screw rod 322 of transmission, slidably connects die setting base 33, the Z axis pedestal on the Z axis pedestal 313
The Z axis screw rod 323 that transmission is threadedly coupled with die setting base 33 is rotatably connected on 313, the die setting base 33 is equipped with
Upper plate 331 and lower plate 332, the upper and lower punching cylinder 34 are separately fixed on upper plate 331 and lower plate 332, up and down
Upper and lower driver plates 35 are respectively fixed on the piston rod of the punching cylinder 34, are set between the upper plate 331 and lower plate 332
There is the guide post 36 that guiding is slided up and down for driver plate 35, the outside of the upper and lower driver plate 35 is respectively fixed with mould bases 37, institute
It states shaping mould 38 and Qie Mo 39 is detachably connected on respectively on mould bases 37.
A kind of view-based access control model robot as described above electronic component automatically cuts foot molding equipment, it is characterised in that: institute
Stating belt drive 52 includes stop motion motor 521.
Compared with prior art, the present invention has the following advantages:
1, the electronic component 200 to the first that the present invention supplies one or more stochastic regimes by feeding machanism 5 at random is true
Within the scope of the absorption of suction mouth 61, then by first camera 4 to the electronic component within the scope of the absorption of the first vacuum slot 61
Detection, the position of determining specified electronic component and the type model of taking pictures simultaneously feed back information to industrial personal computer 2, pass through industrial personal computer 2
Control manipulator 6 is drawn with the position that the first vacuum slot 61 is moved to specified electronic component, and by the electronic component of absorption
It is moved to above second camera 7 and detects the posture of the electronic component of stochastic regime, the manipulator 6 is fed back according to second camera 7
Electronic component angles and positions information by electronic component be adjusted to setting angles and positions, and be moved to and the electronics member
Part corresponding cut carries out cutting foot and molding on foot shaping mechanism 3, grabs demand so as to adapt to the multi-angle of multiple product,
And multiple product cuts foot processing and forming, greatly improves processing efficiency, realizes and automates the automated production simultaneously of more categories, it is full
The automation processing of multiple small demand kind electronic components of amount, reduces equipment cost and production cost in sufficient factory.
2, the electronic component of stochastic regime is identified and is determined by the double camera vision system of the first, second camera
Position, and four axis robots is cooperated to carry out pose adjustment to the electronic component of stochastic regime, structure is simple, and flexibility is high, accomplishes to lead to
With change, the crawl respectively and positioning of several hundred or even thousands of kinds of electronic component materials can adapt to, and by cutting foot molding multiple
The shaping mould 38 and Qie Mo 39 being detachably connected in mechanism 3 quickly switch shaping mould 38 and Qie Mo 39 on demand, that is, are suitable for more
The automatic shearing foot of more electronic components forms, and meets the processing of several hundred or even thousands of kinds of electronic components in factory, the equipment
Generalization degree is high, and structure is simple, solves multiple types, the molding of small lot electronic component needs manually automate
Problem is saved artificial.
3, it is combined by belt, vibrating disc 53, steering slideway 54 and handling device 55, realizes that circulation supplies one kind at random
Or on a variety of different electronic components to plane belt, one or more different electronics members need to be only poured into vibrating disc 53
Part, the shooting crawl and positioning of cooperation camera vision system, can be realized the sorting of specified electronic component, and structure is simple, leads to
For the feed of a variety of electronic components, and turns to slideway 54 and be arranged obliquely, then it can be to electronic component progress turning over spatially
It is backflowed again after turning to vibrating disc 53, prevents specified electronic component after the identified reflux of discharging for the first time, second of discharging
It also keeps material angle constant and leads to not vision sorting, therefore, by the reflux of space nonplanar structure, improve point
Efficiency is picked, meanwhile, the return-flow structure in space occupies little space.
4, shaping mould up and down and the opposite movement that liquidates of upper incision mould are driven by the cylinder up and down, passes through upper and lower shaping mould
It liquidates and electronic component leg is washed into corresponding shape, electronic component leg is being cut by cutting at mould by upper incision mould, once
It realizes molding and cuts foot, and by way of liquidating up and down, improve the molding of electronic component leg and cut the efficiency of foot.
5, the present invention then can be adjusted to pattern from tri- direction XYZ respectively by X-axis screw rod, Y-axis screw rod and Z axis screw rod, make
Subtle adjustment is corresponded to after must changing the mold quickly to be produced, and reduced mold changing and die trial time, improved efficiency, and defective products is reduced.
[Detailed description of the invention]
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing, in which:
Fig. 1 is one of structural schematic diagram of the invention；
Fig. 2 is second structural representation of the invention；
Fig. 3 is one of the structural schematic diagram of feeding cycle mechanism of the invention；
Fig. 4 is the second structural representation of feeding cycle mechanism of the invention；
Fig. 5 is the cross-sectional view of feeding cycle mechanism of the invention；
Fig. 6 is the structural schematic diagram of four axis robots of the invention；
Fig. 7 is the structural schematic diagram for cutting foot shaping mechanism of the invention；
Fig. 8 is the structural schematic diagram of feeding rack and dependency structure thereon of the invention；
Fig. 9 is the structural schematic diagram that electronic component is put into locating slot of the invention；
Figure 10 is the structural schematic diagram of shaping mould and Qie Mo and its driving structure of the invention；
Figure 11 is the structural schematic diagram of waste channel and inclined flow passage in the present invention.
[specific embodiment]
The invention will be further described below in conjunction with the accompanying drawings:
A kind of view-based access control model robot electronic component as shown in Figure 1 to 11 automatically cuts foot molding equipment, including machine
Platform 1 and industrial personal computer 2, the board 1 are equipped with multiple for cut foot and molding to a variety of different specified electronic components
Foot shaping mechanism 3 is cut, the board 1 is equipped with four axis robots 6, and the manipulator 6 is equipped with for sucking up electronic components
First vacuum slot 61, the board 1 are equipped with energy random rotation and supply the electronic component 200 to the first of a variety of stochastic regimes very
Feeding machanism 5 within the scope of the absorption of suction mouth 61,1 upper end of board, which is equipped with, detects feeding machanism 5 for taking pictures downward
Electronic component position and type model first camera 4, the board 1 is equipped with for taking pictures from the bottom up detection first
The second camera 7 of the angles and positions for the electronic component that vacuum slot 61 is drawn.Preferably, the first camera 4 and the second phase
Machine 7 is CCD camera.
The feature that a variety of different electronic components are stored in industrial control system, according to production requirement, specify it is one or more with
It cuts molding electronic component corresponding to foot shaping mechanism 3, when work, is supplied at random by feeding machanism 5 one or more random
Within the scope of the absorption of the 200 to the first vacuum slot of electronic component 61 of state, the first camera 4 is to the first vacuum slot 61
The electronic component drawn in range is taken pictures detection, determines that the position of specified electronic component and type model and feed back information are arrived
Industrial personal computer 2 controls manipulator 6 by industrial personal computer 2 and draws with the position that the first vacuum slot 61 is moved to specified electronic component,
And it will be detected above the movement to second camera 7 of the electronic component of absorption, the electronics that the manipulator 6 is fed back according to second camera 7
Electronic component is adjusted to the angles and positions of setting by the angles and positions information of element, and is moved to opposite with the electronic component
Cutting for answering carries out cutting foot and molding on foot shaping mechanism 3.
It being identified and positioned by electronic component of the camera vision system to stochastic regime, structure is simple, and flexibility is high,
And combine four axis robots to control the first vacuum slot 61 and positioning is carried and adjusted to electronic component, it moves again to and forms the electronics
It is cut corresponding to element and carries out cutting foot and molding on foot shaping mechanism 3, which accomplishes generalization, can adapt to a variety of electronics members
The crawl respectively of part material, and corresponding foot of cutting form, and an equipment can be formed with general various materials, and equipment solves a variety of
Class, the molding of small lot electronic component need the problem of can not manually automating, and save artificial.
Since electronic component 200 has several hundred or even thousands of kinds, in order to enable to cut foot shaping mechanism 3 to these electronic components
200 are formed and are cut foot, and the foot shaping mechanism 3 of cutting includes for forming the shaping mould up and down 38 of electronic component leg and cutting
The upper incision mould 39 of subcomponent leg is powered off, and drives shaping mould 38 up and down and upper incision mould 39 difference or more relative motion
Punching cylinder 34 up and down, the inside cut mould 39 and be located at shaping mould 38, the shaping mould 38 and Qie Mo 39 are detachably connected.Cause
This replaces corresponding shaping mould 38 and Qie Mo 39 for the electronic component 200 to be produced and processed on cutting foot shaping mechanism 3,
And the electronic component 200 is switched in industrial control system, it specifies first camera 4 to identify these electronic components 200, realizes fast
Speed switching, structure are simple.
The opposite side of the shaping mould 38 is equipped with feeding rack 301, slidably connects energy in the horizontal direction in the feeding rack 301
Close to and far from shaping mould 38 sliding seat 302 and the feeding cylinder 303 that slides of driving sliding seat 302, on the sliding seat 302
It is removably connected with positioning seat 304, the positioning seat 304 is equipped with electronic component and is put into from above and positions electricity from horizontal direction
The locating slot 305 of subcomponent, the second vacuum slot 306 is equipped with above the locating slot 305, and the sliding seat 302 is equipped with nothing
Bar cylinder 307 is fixedly connected on the rodless cylinder 307 for connecting and driving the second vacuum slot 306 to move up and down
Positioning cylinder 308, the rodless cylinder 307 is for driving the second vacuum slot 306 to move on to above locating slot 305 or by second very
Suction mouth 306 moves on to except 305 top of locating slot.
Drawer slot 3011 is equipped with below the feeding rack 301, be equipped in the drawer slot 3011 can pull out to come outward and
The rewinding box 309 of upper end opening is equipped with the bell mouth 3012 for being connected to drawer slot 3011 from top to bottom above the feeding rack 301,
The bell mouth 3012 is located at rodless cylinder 307 and drives within the stroke of the second vacuum slot 306 movement.
When cutting foot molding, the electronic component that first vacuum slot 61 is drawn is detected and is adjusted above second camera 7
To after the angles and positions of setting, electronic component movement is put into the corresponding locating slot 305 cut on foot shaping mechanism 3, institute
Stating rodless cylinder 307 drives positioning cylinder 308 to make the second vacuum slot 306 toward moving above locating slot 305, the positioning cylinder
Electronic component is fixed on the electronic component that 308 the second vacuum slots 306 of driving are downwardly against in locating slot 305, the feeding
Cylinder 303 drives sliding seat 302 with the mobile progress leg molding into shaping mould 38 and Qie Mo 39 of electronic component and cuts foot, complete
It is exited after with the electronic component completed the process, second vacuum slot 306 inhales the electronic component in locating slot 305
It rises, the rodless cylinder 307 drives positioning cylinder 308 to remove 305 top of locating slot with the second vacuum slot 306, and second is true
Electronic component is unclamped when suction mouth 306 is moved to 3012 top of bell mouth makes electronic component fall into rewinding box from bell mouth 3012
In 309, the electronic component that storage completes the process is collected by rewinding box 309.Realize the object for connecing down the first vacuum slot 61 automatically
Material, automatic material containing cut foot molding, automatic material containing is exited, the full-automatic words process of automatic transporting storage.Moreover, in locating slot 305
After the material for connecing down the first vacuum slot 61, the removable absorption work for driving row next round into of manipulator makes to cut foot molding and machinery
Hand carries the synchronous progress of material, high production efficiency.
Rewinding box 309 is placed by drawer slot 3011, it is compact-sized, 309 occupied space of rewinding box is avoided, and knock over and incline
Material.
305 bottom of locating slot is equipped with the air inlet 3051 being used to connect with external devices, will by air inlet 3051
The electronic component being placed in locating slot 305 is sucked, and keeps electronic units fix more accurate, and place it is reliable, when cut foot molding
After, the air draught effect of air inlet 3051 is turned off, so that the second vacuum slot 306 is by the electronic component in locating slot 305
It siphons away.
The foot shaping mechanism 3 of cutting further includes X-axis pedestal 311, Y-axis pedestal 312 and Z axis pedestal 313, the Y-axis pedestal
312 are slidably connected on X-axis pedestal 311, and the Z axis pedestal 313 is slidably connected on Y-axis pedestal 312, the X-axis pedestal 311
On be rotatably connected to the X-axis screw rod 321 that transmission is threadedly coupled with Y-axis pedestal 312, be rotatably connected on the Y-axis pedestal 312 with
Z axis pedestal 313 is threadedly coupled the Y-axis screw rod 322 of transmission, slidably connects die setting base 33, institute on the Z axis pedestal 313
State the Z axis screw rod 323 for being rotatably connected on Z axis pedestal 313 and being threadedly coupled transmission with die setting base 33, the die setting base
33 are equipped with upper plate 331 and lower plate 332, and the upper and lower punching cylinder 34 is separately fixed at upper plate 331 and lower plate 332
On, upper and lower driver plates 35, the upper plate 331 and lower plate are respectively fixed on the piston rod of the punching cylinder 34 up and down
The guide post 36 that guiding is slided up and down for driver plate 35 is equipped between 332, the outside of the upper and lower driver plate 35 is respectively fixed with
Mould bases 37, the shaping mould 38 and Qie Mo 39 are detachably connected on respectively on mould bases 37.
When cutting foot molding to electronic component, electronic component 200 is placed between upper and lower shaping mould, the upper and lower punching gas
Cylinder respectively drives shaping mould up and down and the opposite movement that liquidates of upper incision mould by upper and lower driver plates and mould bases, passes through upper and lower shaping mould
It liquidates and electronic component leg is washed into corresponding shape, electronic component leg is being cut by cutting at mould by upper incision mould, is being passed through
The mode to liquidate up and down improves the molding of electronic component leg and cuts the efficiency of foot.
And pattern then can be adjusted to from tri- direction XYZ respectively by X-axis screw rod, Y-axis screw rod and Z axis screw rod so that mold changing
Applicable production quickly can be adjusted to the position of shaping mould afterwards, avoid repeated disassembled and assembled adjust shaping mould, reduce mold changing and
It the die trial time, improves efficiency, reduces defective products.
The waste material baffle 310 of domes, the waste material baffle are fixed between the upper plate 331 and lower plate 332
310 are cutting 39 back side of mould from three directions of X-axis two sides and Y-axis side gear, and form the useless of cutting waste material discharge with mould bases 37
Expect channel 370, prevents from cutting the disconnected waste material of cross cutting by waste material baffle and be splashed to and block relevant motion structure, it is described to cut in mould 39
Side is equipped with the inclined flow passage 390 of downward oblique waste channel 370, cuts the disconnected waste material of cross cutting by inclined flow passage and falls waste material under gravity
It in channel and is discharged, keeps the cleaning in place.
323 upper end of Z axis screw rod is equipped with wind 324, convenient for rotating upwardly and downwardly the height of Z axis screw rod adjustment die setting base
Degree.
The guide post 36 there are four and be located at the two sides of punching cylinder 34, by four guide pillar structures make driver plate,
The integral rigidity structural strengthening of the up and down motion of mould bases, shaping mould and Qie Mo composition, mould bases overall deformation is smaller, cuts foot molding
Burr and compact dimensions allowance control are more preferable.
Preferably, the feeding machanism 5 includes positioned at 6 lower section of manipulator and horizontal positioned belt 51, and driving skin
Belt drive 52 with 51 intermittent movements, it is preferable that the belt drive 52 includes stop motion motor 521, electricity
Subcomponent is placed on horizontal belt, so that first camera 4 grabs shooting and the absorption of the first vacuum slot 61, the belt
51 inflow end is equipped with the vibrating disc 53 for conveying a variety of different electronic components at random on belt 51, the belt 51
Outflow end is equipped with the steering slideway 54 for flowing into for the electronic component on belt 51, and the steering slideway 54 is arranged simultaneously obliquely
Electronic component is turned to flow out from the side-lower of belt 51, is equipped with and uses between the outflux and vibrating disc 53 for turning to slideway 54
It catches in the electronic component that falls of slideway 54 will be turned to and carries the handling device 55 returned in vibrating disc 53.
One or more kinds of different electronic components are put into vibrating disc 53, by vibrating disc 53 automatically little by little to
Electronic component is shaken off on belt 51 at random, the electronic component of stochastic regime moves to the first vacuum slot 61 under the transport of belt
Absorption within the scope of, wherein there is the specified electronic component of correct identification angle to be identified on belt 51 by first camera 4
It is siphoned away out with the first vacuum slot 61, other unspecified electronic components, which skip over and are moved along inflow, turns to slideway 54, leads to
It crosses steering slideway 54 and handling device 55 transports vibrating disc 53 back again.
And turn to slideway 54 and be arranged obliquely, then it is backflowed again after capable of carrying out overturning spatially to electronic component to vibration
Disk 53 prevents specified electronic component after the not identified reflux of first time discharging, and second of discharging also keeps material angle not
Become and leads to not vision sorting.Therefore, by the reflux of space nonplanar structure, sorting efficiency is improved, meanwhile, space
Return-flow structure, occupy little space.
The handling device 55 includes the climbing bracket 551 of tilted upward, and described 551 one end of climbing bracket is located at vibrating disc
53 tops, the other end are located at below the outflux for turning to slideway 54, and the climbing bracket 551 is equipped with climbing 552 He of conveyer belt
Drive the climbing motor 553 of the climbing movement of conveyer belt 552, being provided with along direction interval of climbing on the climbing conveyer belt 552
Striker plate 554 is slided after preventing electronic component, and the lower end of the climbing bracket 551, which is located at the outflux for turning to slideway 54, to be equipped with
For accessing the hopper 555 turned on the electronic component to climbing conveyer belt 552 that slideway 54 flows out, the lower end of the hopper 555
Climbing bracket 551 between be equipped with only for climbing conveyer belt 552 and striker plate 554 creep by crawlway 556, make electronics
Element is fallen between climbing conveyer belt 552 and striker plate 554, avoids dropping out.The diverted slideway 54 of electronic component flows into hopper 555
In, it is caught and is fallen on climbing conveyer belt 552 by hopper 555, and as climbing conveyer belt 552 moves obliquely, passed in climbing
552 upper end of band is sent to fall into vibrating disc 53 when turning to, structure is simple, and occupied area is small.
It is described to climb in order to enable the electronic component fallen from climbing 552 upper end of conveyer belt is smooth to fall into vibrating disc 53
Bracket 551 upper end bottom in slope is equipped with for guiding the electronic component fallen when climbing conveyer belt 552 is overturn into vibrating disc 53
Stock guide 557.
The identification and crawl of the electronic component of stochastic regime are positioned in conjunction with the first, second two cameras, four shaft machine hands
The carrying for completing electronic component is cooperated to position work with computer vision, being provided on the vibrating disc 53 can send in vibration at random
The general runner 531 of a variety of different electronic components, versatility are good out.
Claims (10)
1. a kind of view-based access control model robot electronic component automatically cuts foot molding equipment, it is characterised in that: including board (1) and work
Control machine (2), the board (1) are equipped with multiple for cut foot to a variety of different specified electronic components and molding cutting foot
Shaping mechanism (3), the board (1) are equipped with four axis robots (6), and the manipulator (6) is equipped with for drawing electronics member
The first vacuum slot (61) of part, the board (1) are equipped with the electronic component that energy random rotation supplies a variety of stochastic regimes
(200) to the feeding machanism (5) within the scope of the absorption of the first vacuum slot (61), board (1) upper end is equipped with for downward
It takes pictures and detects position and the first camera (4) of type model of the electronic component on feeding machanism (5), set on the board (1)
There is the second camera of the angles and positions of the electronic component for detection the first vacuum slot (61) absorption of taking pictures from the bottom up
(7), the first camera (4) takes pictures detection to the electronic component within the scope of the absorption of the first vacuum slot (61), determines specified
Electronic component position and type model and by information feedback to industrial personal computer (2), pass through industrial personal computer (2) control manipulator (6)
It is drawn with the position that the first vacuum slot (61) is moved to specified electronic component, and the electronic component of absorption is mobile to second
The angles and positions information of detection above camera (7), the electronic component that the manipulator (6) is fed back according to second camera (7) will
Electronic component is adjusted to the angles and positions of setting, and is moved to cut foot shaping mechanism (3) on corresponding with the electronic component
It carries out cutting foot and molding.
2. a kind of view-based access control model robot electronic component according to claim 1 automatically cuts foot molding equipment, feature
Be: the feeding machanism (5) includes below manipulator (6) and horizontal positioned belt (51) and drive belt
(51) belt drive (52) of intermittent movement, the inflow end of the belt (51) are equipped with for random defeated on belt (51)
The vibrating disc (53) of a variety of different electronic components is sent, the outflow end of the belt (51) is equipped with for for the electricity on belt (51)
The steering slideway (54) that subcomponent flows into, the steering slideway (54) is arranged obliquely and electronic component is turned to from belt (51)
Side-lower outflow, be equipped between the outflux and vibrating disc (53) for turning to slideway (54) and fall for slideway (54) will to be turned to
Under electronic component catch and carry return vibrating disc (53) in handling device (55).
3. a kind of view-based access control model robot electronic component according to claim 2 automatically cuts foot molding equipment, feature
Be: the handling device (55) includes the climbing bracket (551) of tilted upward, and the climbing bracket (551) one end is located at shake
Moving plate (53) top, the other end are located at below the outflux for turning to slideway (54), and the climbing bracket (551) is equipped with to climb and pass
The climbing motor (553) of band (552) and driving climbing conveyer belt (552) movement is sent, edge climbing on the climbing conveyer belt (552)
Direction interval is provided with striker plate (554), and the lower end of climbing bracket (551) is located at the outflux for turning to slideway (54)
Equipped with the hopper (555) for accessing on the electronic component to climbing conveyer belt (552) for turning to slideway (54) outflow, the hopper
(555) be equipped between lower end and climbing bracket (551) only for climbing conveyer belt (552) and striker plate (554) creep by
Crawlway (556).
4. a kind of view-based access control model robot electronic component according to claim 3 automatically cuts foot molding equipment, feature
Be: climbing bracket (551) the upper end bottom is equipped with for guiding the electronic component fallen when climbing conveyer belt (552) overturning
To the stock guide (557) in vibrating disc (53).
5. a kind of view-based access control model robot electronic component according to claim 3 automatically cuts foot molding equipment, feature
It is: is provided with the general runner that can send out a variety of different electronic components at random in vibration on the vibrating disc (53)
(531)。
6. a kind of view-based access control model robot electronic component according to claim 1 automatically cuts foot molding equipment, feature
Be: the first camera (4) and second camera (7) are CCD camera.
7. a kind of view-based access control model robot electronic component according to claim 1 automatically cuts foot molding equipment, feature
Be: the foot shaping mechanism (3) of cutting includes the shaping mould up and down (38) and cutting electronics member for forming electronic component leg
The upper incision mould (39) of part leg, and drive the upper of shaping mould (38) up and down and upper incision mould (39) difference or more relative motion
Lower punching cylinder (34), the inside cut mould (39) and be located at shaping mould (38), the opposite side of the shaping mould (38), which is equipped with, sets material
Frame (301), slidably connected on the feeding rack (301) in the horizontal direction can close to and far from shaping mould (38) sliding seat
(302) and the feeding cylinder (303) of driving sliding seat (302) sliding, positioning seat is removably connected on the sliding seat (302)
(304), the positioning seat (304) is equipped with electronic component and is put into from above and the locating slot of positioning electronic element from horizontal direction
(305), the second vacuum slot (306) are equipped with above the locating slot (305), the sliding seat (302) is equipped with rodless cylinder
(307), it is fixedly connected on the rodless cylinder (307) for connecting and driving the second vacuum slot (306) to move up and down
Positioning cylinder (308), the rodless cylinder (307) for drive the second vacuum slot (306) move on to above locating slot (305) or
Except second vacuum slot (306) is moved on to above locating slot (305).
8. a kind of view-based access control model robot electronic component according to claim 7 automatically cuts foot molding equipment, feature
Be: locating slot (305) bottom is equipped with the air inlet (3051) being used to connect with external devices.
9. a kind of view-based access control model robot electronic component according to claim 7 automatically cuts foot molding equipment, feature
It is: is equipped with drawer slot (3011) below the feeding rack (301), is equipped with to pull out outward in the drawer slot (3011) and
And the rewinding box (309) of upper end opening, feeding rack (301) top are equipped with the funnel for being connected to drawer slot (3011) from top to bottom
Mouthful (3012), the bell mouth (3012) be located at stroke that rodless cylinder (307) driving the second vacuum slot (306) moves it
It is interior.
10. a kind of view-based access control model robot electronic component according to claim 7 automatically cuts foot molding equipment, feature
Be: the foot shaping mechanism (3) of cutting further includes X-axis pedestal (311), Y-axis pedestal (312) and Z axis pedestal (313), the Y-axis
Pedestal (312) is slidably connected on X-axis pedestal (311), and the Z axis pedestal (313) is slidably connected on Y-axis pedestal (312), institute
State the X-axis screw rod (321) for being rotatably connected on X-axis pedestal (311) and being threadedly coupled transmission with Y-axis pedestal (312), the Y-axis bottom
The Y-axis screw rod (322) that transmission is threadedly coupled with Z axis pedestal (313), the Z axis pedestal (313) are rotatably connected on seat (312)
On slidably connect die setting base (33), be rotatably connected on the Z axis pedestal (313) with die setting base (33) screw thread connect
The Z axis screw rod (323) of transmission is connect, the die setting base (33) is equipped with upper plate (331) and lower plate (332), upper and lower institute
It states punching cylinder (34) to be separately fixed on upper plate (331) and lower plate (332), up and down the piston of punching cylinder (34)
It is respectively fixed on bar upper and lower driver plates (35), is equipped between the upper plate (331) and lower plate (332) for driver plate (35)
The guide post (36) of guiding is slided up and down, is respectively fixed with mould bases (37), the molding on the outside of the upper and lower driver plate (35)
It mould (38) and cuts mould (39) and is detachably connected on mould bases (37) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910333618.2A CN109954822B (en) | 2019-04-24 | 2019-04-24 | Full-automatic foot-cutting forming equipment based on vision robot electronic component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910333618.2A CN109954822B (en) | 2019-04-24 | 2019-04-24 | Full-automatic foot-cutting forming equipment based on vision robot electronic component |
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| Publication Number | Publication Date |
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| CN109954822A true CN109954822A (en) | 2019-07-02 |
| CN109954822B CN109954822B (en) | 2023-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910333618.2A Active CN109954822B (en) | 2019-04-24 | 2019-04-24 | Full-automatic foot-cutting forming equipment based on vision robot electronic component |
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| CN110540053A (en) * | 2019-10-12 | 2019-12-06 | 成都市普瑞昇科技有限公司 | Automatic material collecting machine |
| CN110967530A (en) * | 2019-10-15 | 2020-04-07 | 国网山东省电力公司电力科学研究院 | Full-automatic wire plugging device with depth probe |
| CN111618573A (en) * | 2020-06-08 | 2020-09-04 | 江苏羿骏自动化科技有限公司 | Full-automatic automobile joint cover O type circle equipment |
| CN116504711A (en) * | 2023-06-28 | 2023-07-28 | 江苏国芯智能装备有限公司 | Cut muscle shaping separation proof press |
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| CN116504711B (en) * | 2023-06-28 | 2023-08-29 | 江苏国芯智能装备有限公司 | Cut muscle shaping separation proof press |
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|---|---|
| CN109954822B (en) | 2023-07-18 |
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