CN111301951A - Flexible feeding method - Google Patents
Flexible feeding method Download PDFInfo
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- CN111301951A CN111301951A CN202010152162.2A CN202010152162A CN111301951A CN 111301951 A CN111301951 A CN 111301951A CN 202010152162 A CN202010152162 A CN 202010152162A CN 111301951 A CN111301951 A CN 111301951A
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- 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
- B65G27/00—Jigging conveyors
- B65G27/10—Applications of devices for generating or transmitting jigging movements
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- Mechanical Engineering (AREA)
- Feeding Of Articles To Conveyors (AREA)
Abstract
The invention relates to a flexible feeding method, which mainly solves the problems of low feeding efficiency and small application range in the prior art and comprises an electric control system, a camera device, a flexible vibration device and at least one pickup device, wherein the electric control system is respectively electrically connected with the camera device, the flexible vibration device and the pickup device; a. a blanking device or a manual work places the parts on the flexible vibration device; b. triggering a camera device to shoot and image parts on the flexible vibration device, transmitting data to an electric control system for processing, and analyzing the positions and the placing postures of the parts; c. when the number of the parts meeting the requirements is larger than that of the picking devices or smaller than the comparison number input in advance, the electric control system analyzes the positions of the parts meeting the requirements and transmits the positions to the picking devices respectively to be grabbed.
Description
Technical Field
The invention relates to a flexible feeding method.
Background
The application of the feeding device is the first link for realizing industrial automatic production; at present, the automatic feeding mode mainly adopts a vibrating disk or various special material arranging machines to realize the ordered arrangement and conveying of workpieces, such as the Chinese patent application number: 201920450438.8A automatic flexible feeding device for door plank staple bolt sets pulse electromagnet under the vibrating tray hopper, which makes the hopper vibrate vertically, the inclined spring plate drives the hopper to do torsional vibration around its vertical axis, the staple bolt in the hopper rises along the spiral track because of the vibration, the part can enter into the assembling or processing position automatically in uniform state according to the requirement of assembling or processing through the screening or posture change of a series of tracks in the rising process.
However, the feeding mode of the feeding device can only be applied to feeding of the door panel staple. The feeding modes of all the existing feeding devices cannot realize or are difficult to realize large-scale compatibility and interchangeability, and only can be special for a special machine; even some special-shaped workpieces or small workpieces are basically difficult to realize automatic feeding; the product is light and thin, and the product with the easily scratched surface is easy to cause secondary damage; and the feeding efficiency is low by the feeding mode one by one, and for the miniaturization and the precision of the current manufacturing industry, the traditional feeding mode falls into the bottleneck.
Therefore, it is necessary to develop a feeding method which is suitable for various products and can improve feeding efficiency.
Disclosure of Invention
Therefore, aiming at the problems, the invention provides a flexible feeding method which mainly solves the problems of low feeding efficiency and small application range in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flexible feeding method comprises an electric control system, a camera device, a flexible vibration device and at least one pickup device, wherein the electric control system is electrically connected with the camera device, the flexible vibration device and the pickup device respectively;
a. a blanking device or a manual work places the parts on the flexible vibration device;
b. triggering a camera device to shoot and image parts on a flexible vibration device, transmitting data to an electric control system for processing, analyzing the position and the placing posture of each part, comparing the parts with correct postures input in advance, counting the number of parts meeting requirements and the total number of the parts, comparing the total number of the parts with the number of pickup devices, comparing the number of the parts meeting the requirements with the number of the pickup devices when the total number of the parts is greater than the number of the pickup devices, triggering the flexible vibration device to vibrate by the electric control system when the number of the parts meeting the requirements is less than the number of the pickup devices or the comparison number input in advance, enabling the parts on the flexible vibration device to carry out material arranging action, and triggering the camera device to shoot by the electric control system;
c. when the number of the parts meeting the requirements is larger than that of the picking devices or smaller than the comparison number input in advance, the electric control system analyzes the positions of the parts meeting the requirements and respectively transmits the positions to the picking devices to be grabbed;
d. counting by the electric control system in the grabbing process, when the number of parts meeting the requirements is smaller than the number of the picking devices or smaller than the comparison number input in advance, analyzing the positions of the parts meeting the requirements by the electric control system, and sequentially transmitting the positions to the picking devices to grab one by one respectively until grabbing is finished;
e. the electric control system triggers the flexible vibration device to vibrate again, and the actions of the step b, the step c and the step d are repeated in sequence;
f. when the total number of the parts is smaller than the number of the picking devices, the electric control system triggers the flexible vibration device to vibrate again, triggers the camera device to shoot and image the parts on the flexible vibration device, transmits the data to the electric control system to process, and sequentially transmits the positions of the parts, which are analyzed by the electric control system and meet the requirements, to the picking devices to respectively grab one by one until the grabbing is finished.
Further, when the number of the parts needing to be fed is larger than the number of the parts needing to be fed which vibrate on the single flexible vibration device, in the step e and the step f, the actions of the step a, the step b, the step c, the step d and the step e are sequentially repeated.
Further, flexible vibrating device is including locating the vibrator in the frame, locating the vibration board of vibrator output and locating the load-bearing platform on the vibration board, and the vibrator includes voice coil motor, supporting rail, spring board and universal support column, voice coil motor has stator and active cell, voice coil motor's stator is fixed to be located in the frame, supporting rail locates voice coil motor's week side, voice coil motor's active cell is located on the supporting rail and is slided along the supporting rail, spring board and voice coil motor's active cell and frame fixed connection, universal support column is located on voice coil motor's active cell, the vibration board is located on the universal support column.
Furthermore, the bottom surface of the bearing platform is of a quadrilateral structure.
Furthermore, the peripheral side of the bearing platform extends upwards to be provided with a side wall.
Furthermore, the number of the vibrators is four, and the vibrators are respectively distributed at four corners of the bearing platform.
Further, an LED backlight lamp is arranged on the lower side of the bearing platform.
By adopting the technical scheme, the invention has the beneficial effects that: according to the flexible feeding method, the parts are placed in the flexible vibration device to vibrate, the posture and the position of each part are analyzed and recognized by combining shooting of the camera device, action grabbing is performed by the flexible feeding method, and a plurality of pickup devices are arranged to grab simultaneously, so that compared with the conventional mode of forming special machine feeding by feeding the parts with different specifications and shapes, the flexible feeding method has the advantages that the feeding efficiency is high, the flexible feeding method can be suitable for the parts with different shapes and specification sizes, the application range is wide, the damage to the parts in the feeding process is reduced, and the using effect is good; furthermore, the steps are repeated under the condition that parts are also stored on the flexible vibration device, so that more parts are kept on the flexible vibration device, and more parts meeting the specified requirements can be kept on the parts on the flexible vibration device in the vibration process, so that the picking device can be favorably grabbed, the working time of the flexible vibration device is reduced, and the feeding efficiency is effectively improved; furthermore, four vibrators are distributed at four corners of the bearing platform, the voice coil motors are connected with the vibrating plate through universal support columns, and the four voice coil motors are mounted at the four corners of the vibrating plate to form a four-vibration-source three-axis vibrating platform, so that overturning and horizontal displacement actions of parts on the bearing platform are realized, overturning and moving of the parts can be better realized, and the vibrating effect is good; furthermore, the bottom surface of the bearing platform is of a quadrilateral structure, and the number of the vibrators is four, so that the vibration effect of the bearing platform is good, the overturning and horizontal moving effects of the parts on the bearing platform are good, and the posture change of the parts can be realized quickly; furthermore, the bottom surface of the bearing platform is made of a light-permeable material, and the LED backlight lamps are arranged on the lower side of the bearing platform, so that the shooting definition of the camera device is high, and the recognition and pickup efficiency is high.
Drawings
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a flexible vibration device according to an embodiment of the present invention;
FIG. 3 is a front view schematically showing the structure of a flexible vibration device in an embodiment of the present invention;
fig. 4 is a schematic perspective view of the flexible vibration device without a carrying platform according to the embodiment of the present invention.
Detailed Description
The invention will now be further described with reference to the accompanying drawings and detailed description.
The embodiment of the invention is as follows:
referring to fig. 1 to 4, a flexible feeding method includes a flexible feeding device, where the flexible feeding device includes a frame, an electric control system 1, a camera 2, a flexible vibration device 3 and three pick-up devices, the electric control system 1 is a single chip microcomputer or a controller such as a PLC that can be programmed, the camera 2 is a CCD camera, the pick-up devices are three-axis manipulators, the electric control system 1 is respectively electrically connected with the camera 2, the flexible vibration device 3 and the pick-up devices, the camera 2 is arranged around the flexible vibration device 3 for obtaining real-time postures of components on the flexible vibration device 3, the pick-up devices are arranged at an output end of the flexible vibration device 3 for clamping the components that are qualified in posture on the flexible vibration device 3, the flexible vibration device 3 includes a bottom plate 31, a clamp, and a cover plate arranged on the frame, Locate vibrator 32 on bottom plate 31, locate the vibration board 33 of vibrator 32 output and locate bearing platform 34 on vibration board 33, bearing platform 34's bottom surface is quadrilateral, bearing platform 34's week side upwards extends and is equipped with lateral wall 35, the number of vibrator 32 is four, and distributes respectively in four angle departments of bearing platform 34 for bearing platform 34's vibration is effectual, and the upset and the horizontal migration of spare part on bearing platform 34 do effectually, can be very fast realize the gesture change of spare part, bearing platform 34's bottom surface is the light-permeable bottom surface of being made by the PP material, bearing platform 34's downside is equipped with LED backlight 4, makes camera device 2's the shooting definition high, and discernment and pick up efficiently, vibrator 32 includes voice coil motor 11, support rail 12, connecting seat 13, 14 supporting seat, Spring plate 15 and universal support column 16, voice coil motor 11 has active cell and stator, voice coil motor 11's stator is fixed to be located on bottom plate 31, support rail 12 locates voice coil motor 11's week side, on support rail 12 is located to connecting seat 13 slidable, and is used for the drive through voice coil motor 11's active cell and connecting seat 13 fixed connection, voice coil motor 11 week side is located to supporting seat 14, spring plate 15 and supporting seat 14 and connecting seat 13 fixed connection, universal support column 16 is located on connecting seat 13, vibration board 33 is located on universal support column 16.
In this embodiment, the bottom surface of the supporting platform 34 may also be made of light-permeable materials such as glass, PE, PP, PVC, or PU.
The method comprises the following steps:
a. a blanking device or a manual work places the parts on the flexible vibration device 3;
b. triggering the camera device 2 to shoot and image the parts on the flexible vibration device 3, transmitting data to the electronic control system 1 for processing, analyzing the position and placing posture of each part, comparing the part with the parts with correct posture input in advance, counting the number of parts and the total number of parts meeting the requirements, comparing the total number of parts with the number of the pickup devices, comparing the number of parts meeting the requirements with the number of the pickup devices when the total number of parts is greater than the number of the pickup devices, triggering the flexible vibration device 3 to vibrate by the electronic control system 1 when the number of parts meeting the requirements is less than the number of the pickup devices or less than the comparison number input in advance, enabling the parts on the flexible vibration device 3 to perform material arranging action, and triggering the camera device 2 to shoot by the electronic control system 1;
c. when the number of the parts meeting the requirements is larger than that of the picking devices or smaller than the comparison number input in advance, the electric control system 1 analyzes the positions of the parts meeting the requirements and respectively transmits the positions to the picking devices to be grabbed;
d. counting is carried out by the electric control system 1 in the grabbing process, when the number of parts meeting the requirements is smaller than the number of the picking devices or smaller than the comparison number input in advance, the electric control system 1 analyzes the positions of the parts meeting the requirements and sequentially transmits the parts to the picking devices to grab one by one respectively until the grabbing is finished;
e. the electric control system 1 triggers the flexible vibration device 3 to vibrate again, and repeats the actions of the step b, the step c and the step d in sequence;
f. when the total number of the parts is smaller than the number of the pick-up devices, the electric control system 1 triggers the flexible vibration device 3 to vibrate again, triggers the camera device 2 to shoot and image the parts on the flexible vibration device 3, transmits the data to the electric control system 1 to process, and sequentially transmits the positions of the parts which are analyzed by the electric control system 1 and meet the requirements to the pick-up devices to grab one by one until the grabbing is finished.
In the embodiment, when the number of the parts needing to be fed is larger than the number of the parts vibrating on the single flexible vibration device, the steps a, b, c, d and e are sequentially repeated in the step e and the step f, and the steps are repeated under the condition that the parts are still arranged on the flexible vibration device 3, so that compared with the situation that the parts are fed after being grabbed, the vibration time of fewer parts on the flexible vibration device 3 and the processing time of triggering the shooting of the camera device 2 and the electric control system 1 can be reduced, the running time of the electric control system 1 is reduced, the used running storage space is reduced, the investment cost is reduced, more parts are kept on the flexible vibration device 3, more parts meeting the specified requirements can be kept on the parts on the flexible vibration device 3 in the vibration process, and the grabbing of the pickup device is facilitated, the working time of the flexible vibration device is reduced, and therefore the feeding efficiency is effectively improved.
The working mode of the invention is as follows: according to the flexible feeding method, the parts are placed in the flexible vibration device 3 to vibrate, the posture and the position of each part shot by the camera device 2 are analyzed and recognized, the parts are grabbed by the flexible feeding method, and the plurality of pickup devices are arranged to grab simultaneously, so that compared with the conventional mode of forming special machine feeding by feeding the parts with different specifications and shapes, the flexible feeding method has the advantages that the feeding efficiency is high, the flexible feeding method can be suitable for the parts with different shapes and specification sizes, the application range is wide, the damage of the parts is reduced in the feeding process, and the using effect is good; after receiving the material sorting signal, the electric control system 1 drives the four voice coil motors 11 to operate according to parameters preset by the system; the voice coil motor 11 is connected with the vibration plate 33 through the universal support columns 16, four voice coil motors 11 are installed at four corner positions of the vibration plate 33 to form a four-vibration-source three-axis vibration platform, namely, a single voice coil motor 11 drives one corner of the vibration plate 33 to vibrate, the vibration plates 33 on the rest corners vibrate along with the universal support columns 16, the vibration amplitude and the vibration frequency of the vibration plates are smaller than the position of the voice coil motor 11 in the operation process, the bearing platform 34 is combined to be of a quadrilateral structure, parts distributed on two sides of a diagonal line of a vibration source form a swinging state, the parts on the bearing platform 34 can turn over and move conveniently, the vibration effect is good, a stator of the voice coil motor 11 is fixed on a frame, a rotor of the voice coil motor 11 is installed on the connecting seat 13 and connected with the support guide rail 12, one end of the, the supporting and the stroke constraint of the rotor of the voice coil motor 11 are realized, the electric control system 1 outputs SPWM waves with equal phases or different phases to drive the voice coil motor according to a preset material arranging action sequence, the overturning and the horizontal displacement action of a product on the bearing platform 34 are realized, after the material arranging action is finished, the flexible feeding device triggers the camera device 2 again to carry out photographing identification, the electric control system 1 sends the XY coordinates and the angle coordinates of the required target product to the pickup device after identification, the pickup device grabs the target part on the bearing platform 34 according to the coordinates and the angle sent by the electric control system 1 to realize the purpose of feeding, the flexible feeding device identifies the posture of the part through vibration and grabs, the application range is wide, the part is prevented from generating in a mode of extruding a track to be in a positive posture, and the phenomena of scratching and material blocking of the part are reduced, the feeding effect is good.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A flexible feeding method is characterized in that: the electronic control system is electrically connected with the camera device, the flexible vibration device and the pickup device respectively, the camera device is arranged on the periphery of the flexible vibration device, and the pickup device is arranged at the output end of the flexible vibration device;
a. a blanking device or a manual work places the parts on the flexible vibration device;
b. triggering a camera device to shoot and image parts on a flexible vibration device, transmitting data to an electric control system for processing, analyzing the position and the placing posture of each part, comparing the parts with correct postures input in advance, counting the number of parts meeting requirements and the total number of the parts, comparing the total number of the parts with the number of pickup devices, comparing the number of the parts meeting the requirements with the number of the pickup devices when the total number of the parts is greater than the number of the pickup devices, triggering the flexible vibration device to vibrate by the electric control system when the number of the parts meeting the requirements is less than the number of the pickup devices or the comparison number input in advance, enabling the parts on the flexible vibration device to carry out material arranging action, and triggering the camera device to shoot by the electric control system;
c. when the number of the parts meeting the requirements is larger than that of the picking devices or smaller than the comparison number input in advance, the electric control system analyzes the positions of the parts meeting the requirements and respectively transmits the positions to the picking devices to be grabbed;
d. counting by the electric control system in the grabbing process, when the number of parts meeting the requirements is smaller than the number of the picking devices or smaller than the comparison number input in advance, analyzing the positions of the parts meeting the requirements by the electric control system, and sequentially transmitting the positions to the picking devices to grab one by one respectively until grabbing is finished;
e. the electric control system triggers the flexible vibration device to vibrate again, and the actions of the step b, the step c and the step d are repeated in sequence;
f. when the total number of the parts is smaller than the number of the picking devices, the electric control system triggers the flexible vibration device to vibrate again, triggers the camera device to shoot and image the parts on the flexible vibration device, transmits the data to the electric control system to process, and sequentially transmits the positions of the parts, which are analyzed by the electric control system and meet the requirements, to the picking devices to respectively grab one by one until the grabbing is finished.
2. A flexible loading method according to claim 1, characterized in that: and e, when the number of the parts needing to be fed is larger than that of the parts needing to be fed on the single flexible vibration device, in the step e and the step f, the actions of the step a, the step b, the step c, the step d and the step e are sequentially repeated.
3. A flexible feeding method according to claim 1 or 2, characterized in that: flexible vibrating device is including locating the vibrator in the frame, locating the vibration board of vibrator output and locating the load-bearing platform on the vibration board, and the vibrator includes voice coil motor, supporting guide, spring plate and universal support column, voice coil motor has stator and active cell, voice coil motor's stator is fixed to be located in the frame, supporting guide locates voice coil motor's week side, voice coil motor's active cell is located on the supporting guide and is slided along the supporting guide, spring plate and voice coil motor's active cell and frame fixed connection, universal support column is located on voice coil motor's the active cell, the vibration board is located on the universal support column.
4. A flexible loading method according to claim 3, characterized in that: the bottom surface of the bearing platform is of a quadrilateral structure.
5. A flexible loading method according to claim 4, characterized in that: the periphery of the bearing platform extends upwards to form a side wall.
6. The flexible feeding method according to claim 5, characterized in that: the number of the vibrators is four, and the vibrators are distributed at four corners of the bearing platform respectively.
7. A flexible loading method according to claim 6, characterized in that: and an LED backlight lamp is arranged on the lower side of the bearing platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152162.2A CN111301951A (en) | 2020-03-06 | 2020-03-06 | Flexible feeding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152162.2A CN111301951A (en) | 2020-03-06 | 2020-03-06 | Flexible feeding method |
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| CN111301951A true CN111301951A (en) | 2020-06-19 |
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| CN202010152162.2A Pending CN111301951A (en) | 2020-03-06 | 2020-03-06 | Flexible feeding method |
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Citations (8)
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|---|---|---|---|---|
| WO2003104116A1 (en) * | 2002-06-06 | 2003-12-18 | Flexfactory Ag | Transport of bulk material items |
| CN107378600A (en) * | 2017-08-01 | 2017-11-24 | 成都尊华荣域科技有限公司 | A kind of framework automatic charging machine based on NI Vision Builder for Automated Inspection |
| CN108994829A (en) * | 2017-06-06 | 2018-12-14 | 精工爱普生株式会社 | control device and robot system |
| CN109051660A (en) * | 2018-09-04 | 2018-12-21 | 深圳市三同自动化技术有限公司 | Three axis flexibility sorting machines |
| CN110480294A (en) * | 2019-07-25 | 2019-11-22 | 无锡丹尼克尔自动化科技有限公司 | A kind of batch components separator, feeding system and charging method in bulk |
| EP3194310B1 (en) * | 2014-09-02 | 2019-11-27 | Expertise Vision | Device for separating small loose objects |
| CN209754452U (en) * | 2019-04-04 | 2019-12-10 | 延锋汽车饰件模具技术有限公司 | automatic flexible feeding device for door plate staple bolt |
| CN110697354A (en) * | 2019-11-20 | 2020-01-17 | 东莞芝麻工业技术有限公司 | Flexible feeding method and device for triaxial planar matrix |
-
2020
- 2020-03-06 CN CN202010152162.2A patent/CN111301951A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003104116A1 (en) * | 2002-06-06 | 2003-12-18 | Flexfactory Ag | Transport of bulk material items |
| EP3194310B1 (en) * | 2014-09-02 | 2019-11-27 | Expertise Vision | Device for separating small loose objects |
| CN108994829A (en) * | 2017-06-06 | 2018-12-14 | 精工爱普生株式会社 | control device and robot system |
| CN107378600A (en) * | 2017-08-01 | 2017-11-24 | 成都尊华荣域科技有限公司 | A kind of framework automatic charging machine based on NI Vision Builder for Automated Inspection |
| CN109051660A (en) * | 2018-09-04 | 2018-12-21 | 深圳市三同自动化技术有限公司 | Three axis flexibility sorting machines |
| CN209754452U (en) * | 2019-04-04 | 2019-12-10 | 延锋汽车饰件模具技术有限公司 | automatic flexible feeding device for door plate staple bolt |
| CN110480294A (en) * | 2019-07-25 | 2019-11-22 | 无锡丹尼克尔自动化科技有限公司 | A kind of batch components separator, feeding system and charging method in bulk |
| CN110697354A (en) * | 2019-11-20 | 2020-01-17 | 东莞芝麻工业技术有限公司 | Flexible feeding method and device for triaxial planar matrix |
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Application publication date: 20200619 |
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| RJ01 | Rejection of invention patent application after publication |