CN110386458A - Automatical feeding system - Google Patents
Automatical feeding system Download PDFInfo
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- CN110386458A CN110386458A CN201810368027.4A CN201810368027A CN110386458A CN 110386458 A CN110386458 A CN 110386458A CN 201810368027 A CN201810368027 A CN 201810368027A CN 110386458 A CN110386458 A CN 110386458A
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- workpiece
- machined
- feeding system
- location information
- automatical feeding
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- 238000012545 processing Methods 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000013519 translation Methods 0.000 claims description 7
- 230000008450 motivation Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 3
- 239000011521 glass Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 238000007650 screen-printing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011176 pooling Methods 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/14—Details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of automatical feeding system provided by the invention comprising pipeline, grabbing device, the first image collecting device and the second image collecting device and processing platform；The first image acquisition device is for acquiring first location information of the workpiece to be machined on the pipeline；The grabbing device grabs workpiece to be machined from pipeline according to the first location information, and workpiece to be machined is transported on the processing platform；Second image collecting device is arranged in face of the transhipment path of workpiece to be machined, for acquiring second location information of the workpiece to be machined on transhipment path；Workpiece to be machined is placed on the processing platform by the grabbing device after compensating the location error of workpiece to be machined automatically according to the second location information.The configuration of the present invention is simple substantially increases position precision when workpiece to be machined is laid, design accuracy of the precision and repeatability that workpiece is laid during repeating to grab and lay workpiece up to 0.005mm, well below 0.02mm.
Description
Technical field
The present invention relates to mobile phone manufacturing technology fields, more particularly, to a kind of automatical feeding system.
Background technique
The digital camera functionality of mobile phone refers to whether mobile phone can be clapped by built-in or external digital camera
Static images or short-movie shooting are taken the photograph, as a new additional function of mobile phone, the digital camera functionality of mobile phone has been obtained rapidly
Development.With the raising of camera pixel, shooting effect also becomes closer to traditional card camera even low side single-lens reflex camera phase
Machine.
Optical element on mobile phone camera directly affects the quality of cell-phone camera, wherein the glass mirror on mobile phone camera
The quality of piece directly affects taking pictures for whole mobile phone and images performance, our the present requirements to glass lens are higher and higher, wherein
When processing this kind of mobile phone camera glass lens, one of them technique is exactly to carry out silk-screen to glass, this can effectively be improved
The optical properties such as the translucency of glass.
Existing camera glass silk screen printing process is to need artificial loading, inconvenient for operation, large labor intensity.And it is taken the photograph after feeding
As head glass physical location need to reach conjunction after just can guarantee camera glass silk screen printing within 0.02mm at a distance from theoretical position
The standard of lattice, and current feeding device needs are manually corrected, low efficiency, and practical placement position and angle precision are low.
Summary of the invention
It is an object of the present invention to provide a kind of automatical feeding systems, practical to solve existing feeding device workpiece
Placement position and the low technical problem of angle precision.
In order to solve the above technical problems, the invention adopts the following technical scheme；Automatical feeding system provided by the invention,
Comprising: pipeline, grabbing device, the first image collecting device and the second image collecting device and processing platform；
The pipeline is for conveying workpiece to be machined；
The first image acquisition device is for acquiring first location information of the workpiece to be machined on the pipeline；
The grabbing device grabs workpiece to be machined from pipeline according to the first location information, and by workpiece to be machined
It is transported on the processing platform；
Second image collecting device is arranged in face of the transhipment path of workpiece to be machined, exists for acquiring workpiece to be machined
Transport the second location information on path；
The grabbing device will be added after compensating the location error of workpiece to be machined automatically according to the second location information
Work workpiece is placed on the processing platform.
Wherein, the second location information is workpiece to be machined one or several fixation on the transhipment path
The image information of point.The image information reflects physical location of the workpiece to be machined on the fixed point, by with fixed point
After the ideal or setting position parameter at place are compared, (it includes X-axis and Y to the location error of available workpiece to be machined
The in-plane displancement error of axis etc., while the deviation including workpiece to be machined self-view), grabbing device is automatic according to location error
Workpiece to be machined is placed on processing platform after adjustment and compensation, to substantially increase the position precision of workpiece to be machined.
Further, the grabbing device is provided with crawl station, the first image acquisition on the pipeline
The top of the crawl station is arranged in device.
And second image collecting device is fixed at below the transhipment path, described the on the transhipment path
Position corresponding to two image collecting devices forms a calibration bits.
Further, the first image acquisition device and second image collector are set to camera or image passes
Sensor.
Wherein it is further preferable that the first image acquisition device and second image collector are set to CCD component.
Further, further include processor and controller, the processor respectively with the first image acquisition device and
The second image collecting device connection；The processor include for the first location information and second location information into
The image processing unit of row parsing；
The processor is connect by controller with the grabbing device, and respectively according to the first location information and the
The parsing result of two location informations controls the movement of the grabbing device.
Further, the grabbing device includes robot, and robot is arranged close to the processing platform, is used
Workpiece to be machined is placed on the processing platform after grabbing or connecting the workpiece to be machined.
Further, the robot includes translation joint, rotary joint and jig.
Wherein it is preferred to which the robot is SCARA manipulator.
Further, the translation joint includes track and translational drive mechanism, and the jig passes through the rotary joint
It is slidably disposed on track, translational drive mechanism is for driving jig to move along the track.
Further, the rotary joint quantity be one or several, rotary joint include: swing arm and rotation driving
Mechanism.
Wherein translational drive mechanism and rotation driving mechanism are preferably motor.Certainly in the case where required precision is not high
Also the power parts such as hydraulic or air pressure motor be can choose.
Further, the robot further includes the angle adjusting mechanism for adjusting the jig rotation angle.
Wherein preferably, the angle adjusting mechanism is servo motor, and the power that servo motor is arranged in the jig is defeated
On shaft.
And jig is the prior art, can be electronic, the pneumatic or hydraulic operated fixture with clamping workpiece of diversified forms, or
Person is suction grips.
Further, second image collecting device is arranged in below the movement routine of the jig and face moves road
Diameter.
Further, the quantity of the grabbing device is several, and the processing platform is rotatable rotating platform, rotation
Turn to be evenly arranged with several on platform and lay station, several described grabbing devices, which respectively correspond several and lay station, to be set
It sets.
Further, the grabbing device further includes feeding transmission mechanism, and feeding transmission mechanism is arranged in the pipeline
Between the robot, for grabbing the workpiece to be machined from the pipeline, work piece is passed after mobile
Pass the robot.
Further, the feeding transmission mechanism is XYZ feeding mould group comprising fixture, the fixture can be respectively along X-axis
Track, Y-axis track and the sliding setting of Z axis track.
Further, the grabbing device further includes connecting platform, and the connecting platform setting transmits machine in the feeding
Between structure and the robot, the workpiece to be machined passed over for accepting the feeding transmission mechanism, the machinery
Human arm grabs workpiece to be machined from platform is connected.
Further, the connecting platform is rotatable setting, connects and is evenly arranged with several on platform for placing
The placement position of workpiece to be machined.
By adopting the above technical scheme, the invention has the following beneficial effects:
A kind of automatical feeding system disclosed by the invention, structure is simple, substantially increases position when workpiece to be machined is laid
Precision is set, the reachable 0.005mm of precision and repeatability that workpiece is laid during repeating to grab and lay workpiece, well below
The design accuracy of 0.02mm.
Detailed description of the invention
It below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram at the first visual angle of automatic charging device provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram at the second visual angle of automatic charging device provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram at automatic charging device third provided in an embodiment of the present invention visual angle；
Fig. 4 is the structural schematic diagram of manipulator in automatic charging device provided in an embodiment of the present invention.
Appended drawing reference:
10- pipeline；20- grabbing device；21- robot；22- feeding transmission mechanism；23- connects platform；30- adds
Work platform；The first image collecting device of 41-；The second image collecting device of 42-；211- track；212- rotation motor；213- counterweight
Block；214- first servo motor；215- screw rod transmission pair；216- guide rail；The second servo motor of 217-；218- spline；219- is controlled
Tool.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiments herein and embodiment can be combined with each other.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Explanation is further explained to the present invention below with reference to specific embodiment.
As shown in Figure 1 to Figure 3, automatical feeding system provided in an embodiment of the present invention comprising: pipeline 10, crawl dress
Set the 20, first image collecting device 41 and the second image collecting device 42 and processing platform 30.
The pipeline 10 is for conveying workpiece to be machined.
The first image acquisition device 41 is used to acquire first position letter of the workpiece to be machined on the pipeline 10
Breath, more precisely, first location information are the location drawing picture information that is crawled station on of the workpiece to be machined in pipeline.
The grabbing device 20 grabs workpiece to be machined from pipeline 10 according to the first location information, and will be processed
Workpiece is transported on the processing platform 30.
Second image collecting device 42 is arranged in face of the transhipment path of workpiece to be machined, for acquiring workpiece to be machined
Second location information on transhipment path.
The grabbing device 20 is compensated according to the second location information automatically after the location error of workpiece to be machined will be by
Workpieces processing is placed on the processing platform 30.
Wherein, the second location information is workpiece to be machined one or several fixation on the transhipment path
The image information of point.The image information reflects physical location of the workpiece to be machined on the fixed point, by with fixed point
After the ideal or setting position parameter at place are compared, (it includes X-axis and Y to the location error of available workpiece to be machined
The in-plane displancement error of axis etc., while the deviation including workpiece to be machined self-view), grabbing device 20 according to location error from
Workpiece to be machined is placed on processing platform 30 after dynamic adjustment and compensation, to substantially increase the position essence of workpiece to be machined
Degree.
Wherein, the grabbing device 20 is provided with crawl station, the first image acquisition on the pipeline 10
The top of the crawl station is arranged in device 41.
And second image collecting device 42 is fixed at below the transhipment path, it is described on the transhipment path
Position corresponding to second image collecting device 42 forms a calibration bits.
In the present embodiment, the first image acquisition device 41 and second image collecting device 42 are CCD component.
In addition, the present embodiment further includes processor (not shown) and controller (not shown), the processor respectively with institute
State the first image collecting device 41 and second image collecting device 42 connection；The processor includes for described first
The image processing unit that location information and second location information are parsed；The processor is filled by controller and the crawl
20 connections are set, and the grabbing device 20 is controlled according to the parsing result of the first location information and second location information respectively
Movement.
The grabbing device 20 includes robot 21.Robot 21 is arranged close to the processing platform 30, uses
Workpiece to be machined is placed on the processing platform 30 after grabbing or connecting the workpiece to be machined.
Wherein preferably, the robot 21 is SCARA manipulator.The robot generally includes translation and closes
Section, rotary joint and jig.Rotary joint includes: swing arm and rotation driving mechanism.And the translation joint include track (or
Guide rail) and translational drive mechanism.The jig is slidably disposed on track by the rotary joint, translational drive mechanism
For driving jig to move along the track.Wherein translational drive mechanism and rotation driving mechanism are preferably motor.And it is mechanical
Human arm further includes the angle adjusting mechanism for adjusting the jig rotation angle.Angle adjusting mechanism is servo motor, institute
Jig is stated to be arranged on the power output shaft of servo motor.
Specifically, the robot 21 includes track 211, rotation motor 212 and jig referring to shown in Fig. 4
219, the track 211 is arranged corresponding to the pipeline 10, and the rotation motor 212 can be along the axis of the track 211
It is mobile, and the jig 219 is driven to rotate relative to track 211.Track 211 is equipped with linear motor (not shown), the straight line
Motor drives rotation motor 212 along X to moving, and rotation motor 212 uses DD motor.
Axis by rotation motor 212 along track 211 moves, and the axis for being able to drive jig 219 along track 211 moves
It is dynamic.Jig 219 is that common adsorbed by cylinder generates negative pressure, to adsorb the suction clip of material.
Be mounted on rotation motor 212 on linear motor can 360 ° of rotations, to realize jig in the movement of Y-direction,
Linear motor and rotation motor 212 combine movement, can be realized jig in the positioning of the direction XY (in horizontal plane), positioning accuracy
± 0.0010mm can be arrived.Rotation motor 212 is provided with clump weight 213, provides motor dynamic balancing, realizes the height of rotation motor 212
Speed rotation and positioning.
The robot 21 further includes the first servo motor 214 being set on 212 shell of rotation motor, institute
It states first servo motor 214 and drives the jig 219 mobile along guide rail 216 (i.e. Z-direction) by screw rod transmission pair 215.First watches
Take the Z-direction positioning that motor 214 cooperates screw rod transmission pair 215 to realize robot 21.219 bottom of jig is provided with spline
218, the cooperation spring of spline 218 can be realized the buffer function of jig 219.
In order to realize that jig rotates, the robot 21 further includes the second servo motor 217, the first servo electricity
Machine 214 drives the second servo motor 217 to move up and down by screw rod transmission pair 215, the output shaft of second servo motor 217
The jig 219 is driven to rotate, jig 219 is rotated around the axis of 217 output shaft of the second servo motor.Second servo motor 217
Realize 21 spinning movement of robot.
By cooperating the movement that jig XYZ may be implemented and rotate 4 directions, precision ± 0.005mm, individual part above
0.4S, and jig 219 carries pooling feature, prevent product because pressure it is excessive caused by it is bad.The robot 21 realizes
At present since the product that precision is too high to automated production realizes automated production, Improving The Quality of Products, controllability and competing
Power is striven, labor intensity is reduced.
Wherein preferably, second image collecting device 42 is arranged in below the movement routine of the jig and face is moved
Dynamic path.
In the present embodiment, the quantity of the grabbing device 20 is two, and the processing platform 30 is rotatable rotation
Platform is evenly arranged with several on rotating platform and lays station, several described grabbing devices 20 respectively correspond several cloth
Put station setting.
Station wherein is laid apart from pipeline is closer, it is only necessary to which a robot 21, which is arranged, both may be implemented to be added
Transmission of the work workpiece from pipeline to processing platform.
As shown in Figures 2 and 3, when laying station and pipeline distance farther out, the grabbing device 20 can also include
Feeding transmission mechanism 22, feeding transmission mechanism 22 be arranged between the pipeline 10 and the robot 21, for from
The workpiece to be machined is grabbed on the pipeline 10, and work piece is passed into the robot 21 after movement.
Wherein, feeding transmission mechanism 22 is XYZ feeding mould group comprising fixture, the fixture can be respectively along X-axis tracks, Y
Axis track and the sliding setting of Z axis track.
In addition, grabbing device 20 further includes connecting platform 23, the connecting platform 23 is arranged in the feeding transmission mechanism
Between 22 and the robot 21, the workpiece to be machined passed over for accepting the feeding transmission mechanism 22 is described
Robot 21 grabs workpiece to be machined from platform is connected.
Wherein, the connecting platform 22 is rotatable setting, and connecting setting on platform 22, there are two processed for placing
The placement position of workpiece.It places positions for two and is separately positioned on the both ends for connecting platform 22, feeding transmission mechanism 22 is by workpiece to be machined
It is placed on after placing on position, is grabbed after connecting platform rotation 180 degree by robot 21 and is finally transported on processing platform.
A kind of automatical feeding system disclosed by the invention, structure is simple, substantially increases position when workpiece to be machined is laid
Precision is set, the reachable 0.005mm of precision and repeatability that workpiece is laid during repeating to grab and lay workpiece, well below
The design accuracy of 0.02mm.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other implementations
Certain features rather than other feature included by example, but the combination of the feature of different embodiments means in the present invention
Within the scope of and form different embodiments.For example, in claims above, embodiment claimed
It is one of any can in any combination mode come using.The information disclosed in the background technology section is intended only to deepen pair
The understanding of general background technology of the invention, and be not construed as recognizing or implying in any form that information composition has been this
The prior art well known to the technical staff of field.
Claims (16)
1. a kind of automatical feeding system, characterized in that it comprises: pipeline, grabbing device, the first image collecting device and
Two image collecting devices and processing platform；
The pipeline is for conveying workpiece to be machined；
The first image acquisition device is for acquiring first location information of the workpiece to be machined on the pipeline；
The grabbing device grabs workpiece to be machined from pipeline according to the first location information, and workpiece to be machined is transported
Onto the processing platform；
Second image collecting device is arranged in face of the transhipment path of workpiece to be machined, is transporting for acquiring workpiece to be machined
Second location information on path；
The grabbing device compensates after the location error of workpiece to be machined according to the second location information automatically by processed work
Part is placed on the processing platform.
2. automatical feeding system according to claim 1, which is characterized in that the second location information is workpiece to be machined
It is described transhipment path on one or several fixed point image information.
3. automatical feeding system according to claim 1, which is characterized in that close to the grabbing device on the pipeline
It is provided with crawl station, the top of the crawl station is arranged in the first image acquisition device.
4. automatical feeding system according to claim 1, which is characterized in that the first image acquisition device and described
Two image collectors are set to CCD component.
5. automatical feeding system according to claim 1, which is characterized in that further include processor and controller, the place
Reason device is connect with the first image acquisition device and second image collecting device respectively；The processor include for pair
The image processing unit that the first location information and second location information are parsed；
The processor is connect by controller with the grabbing device, and respectively according to the first location information and second
The parsing result of confidence breath controls the movement of the grabbing device.
6. automatical feeding system according to claim 1, which is characterized in that the grabbing device includes robot,
Robot is arranged close to the processing platform, puts workpiece to be machined after the workpiece to be machined for grabbing or connecting
It sets on the processing platform.
7. automatical feeding system according to claim 6, which is characterized in that the robot include translation joint,
Rotary joint and jig.
8. automatical feeding system according to claim 7, which is characterized in that the translation joint includes that track and translation are driven
Motivation structure, the jig are slidably disposed on track by the rotary joint, and translational drive mechanism is for driving jig
It is moved along the track.
9. automatical feeding system according to claim 7, which is characterized in that if the rotary joint quantity be one or
Dry, rotary joint includes: swing arm and rotation driving mechanism.
10. automatical feeding system according to claim 7, which is characterized in that the robot further includes for adjusting
Save the angle adjusting mechanism of the jig rotation angle.
11. automatical feeding system according to claim 7, which is characterized in that the second image collecting device setting exists
Below the movement routine of the jig and face movement routine.
12. automatical feeding system according to claim 1, which is characterized in that the quantity of the grabbing device is several,
The processing platform is rotatable rotating platform, is evenly arranged with several on rotating platform and lays station, described in several
Grabbing device respectively corresponds several and lays station setting.
13. automatical feeding system according to claim 6, which is characterized in that the grabbing device further includes feeding transmitting
Mechanism, feeding transmission mechanism is arranged between the pipeline and the robot, for grabbing from the pipeline
Work piece is passed to the robot after movement by the workpiece to be machined.
14. automatical feeding system according to claim 13, which is characterized in that the feeding transmission mechanism is XYZ feeding
Mould group comprising fixture, the fixture can be slided along X-axis track, Y-axis track and Z axis track respectively to be arranged.
15. automatical feeding system according to claim 13, which is characterized in that the grabbing device further includes connecting to put down
Platform, the connecting platform are arranged between the feeding transmission mechanism and the robot, pass for accepting the feeding
The workpiece to be machined that mechanism passes over is passed, the robot grabs workpiece to be machined from platform is connected.
16. automatical feeding system according to claim 15, which is characterized in that the connecting platform is rotatable setting,
It connects and is evenly arranged with several on platform for placing the placement position of workpiece to be machined.
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| CN201810368027.4A CN110386458A (en) | 2018-04-23 | 2018-04-23 | Automatical feeding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810368027.4A CN110386458A (en) | 2018-04-23 | 2018-04-23 | Automatical feeding system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111332785A (en) * | 2020-03-05 | 2020-06-26 | 江苏仁康蛋业有限公司 | Egg feeding system |
| CN117140072A (en) * | 2023-10-25 | 2023-12-01 | 苏州鼎纳自动化技术有限公司 | Vehicle-mounted wireless charging module assembling equipment |
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