WO2021169118A1 - 一种汽车饰条端盖自动筛选导正装置及其控制方法 - Google Patents

一种汽车饰条端盖自动筛选导正装置及其控制方法 Download PDF

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Publication number
WO2021169118A1
WO2021169118A1 PCT/CN2020/099116 CN2020099116W WO2021169118A1 WO 2021169118 A1 WO2021169118 A1 WO 2021169118A1 CN 2020099116 W CN2020099116 W CN 2020099116W WO 2021169118 A1 WO2021169118 A1 WO 2021169118A1
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WIPO (PCT)
Prior art keywords
cylinder
end cover
end caps
rotation mechanism
base
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PCT/CN2020/099116
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English (en)
French (fr)
Inventor
洪杰
鲁国超
张志亭
许雷坤
季春耀
杨永
刘鹏
龚文哲
Original Assignee
宁波信泰机械有限公司
宁波敏实汽车零部件技术研发有限公司
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Application filed by 宁波信泰机械有限公司, 宁波敏实汽车零部件技术研发有限公司 filed Critical 宁波信泰机械有限公司
Publication of WO2021169118A1 publication Critical patent/WO2021169118A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Definitions

  • the invention belongs to the technical field of automotive trim end cover screening equipment, and relates to an automatic screening and correcting device for automotive trim end caps and a control method thereof.
  • the purpose of the present invention is to solve the above-mentioned problems in the prior art, and propose an automatic screening and correcting device for automobile trim end caps with high grasping efficiency and a control method thereof.
  • an automatic screening and correcting device for automobile trim end caps including:
  • a base the base is provided with a separation mechanism for outputting multiple end caps one by one;
  • the horizontal rotation mechanism is installed on the base, and the horizontal rotation mechanism receives the end cover output from the separation mechanism and adjusts the angle of the end cover horizontally;
  • a vertical rotation mechanism movably mounted on the base, the vertical rotation mechanism receives the end cover output from the horizontal rotation mechanism, and flips the end cover;
  • the grasping mechanism is installed on the base, and the grasping mechanism receives the end cover pushed out on the vertical rotating mechanism; the upper part of the base is movably installed with an end cover for monitoring the horizontal rotating mechanism and the end cover for monitoring the grasping mechanism
  • the vision system of the end cover; the separation mechanism includes a mounting plate movably installed on the base, the base is installed with a drive assembly for driving the mounting plate to move, the mounting plate is provided with a front partition block and a rear partition block A pair of front baffles are provided on the front partition block, and at least one back baffle is provided on the rear partition block.
  • the vertical rotation mechanism, the horizontal rotation mechanism and the grasping mechanism are all electrically connected to the vision system.
  • the horizontal rotation mechanism includes a front bracket arranged on the base, and the front bracket is movably provided with a rotating disk, and the front bracket is also provided with a drive for driving A horizontal cylinder in which the rotating disc moves horizontally.
  • the vertical rotation mechanism includes a clamping cylinder for storing the end caps and a rear bracket installed on the base, and the rear bracket is provided with a switching cylinder
  • the switching cylinder is movably provided with a vertical cylinder for driving the clamping cylinder.
  • a switching plate is movably installed on the switching cylinder, and the switching plate is provided with a connecting plate for connecting the vertical cylinder, and the switching plate
  • a collection box is detachably connected to one end of the battery.
  • the connecting plate is detachably connected with a pushing cylinder that pushes the end caps out of the clamping barrel.
  • the base is provided with a discarding mechanism that pushes the unqualified end caps in the grabbing frame to the collecting box, and the discarding mechanism includes A discarding cylinder set on the base, the grasping mechanism includes an avoiding cylinder, a grasping frame is movably installed on the avoiding cylinder, and a movably mounted on the discarding cylinder is located in the grasping frame. The end cover pushes the discarded block in the collection box.
  • the grabbing frame is provided with a second detection optical fiber for detecting whether the end cap is stored inside.
  • an output rail is provided on the base, and the front baffle and the rear baffle can be embedded in the output rail.
  • a control method of an automatic screening and correcting device for automobile trim end caps includes:
  • the separating mechanism outputs multiple end caps one by one to the rotating disc of the horizontal rotating mechanism, and the separating mechanism is reset;
  • the vision system moves to the top of the rotating disk, detects the end cover located in the rotating disk, and feeds back to the horizontal rotation mechanism and the vertical rotation mechanism;
  • the horizontal rotating mechanism controls the rotating disk to rotate horizontally according to the information fed back by the vision system, and adjusts the horizontal angle of the inner end cover of the rotating disk accordingly;
  • the vertical rotation mechanism controls the clamping cylinder to rotate circumferentially along the center axis of the clamping cylinder according to the information fed back by the vision system, and adjusts the vertical angle of the inner end cover of the clamping cylinder accordingly;
  • the vision system moves to the top of the grab frame, detects the end cover in the grab frame, and feeds back to the discarding cylinder and the switching cylinder;
  • the present invention has the following beneficial effects:
  • the horizontal rotation mechanism, the vertical rotation mechanism, the grasping mechanism and the visual system cooperate to effectively improve the grasping efficiency of the end caps.
  • the automatic screening and correcting device for automotive trim end caps adopts fully automatic control, which reduces manual control, effectively improves the efficiency of grabbing the end caps, and is also convenient for people to operate.
  • the auto trim end cover automatic screening and correcting device can quickly correct the direction of the end cover, so that people can accurately screen the end cover, thereby improving people's work efficiency and improving The gripping efficiency of the end cap.
  • Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.
  • Fig. 2 is a schematic diagram of the structure of Fig. 1 with the vision system removed.
  • FIG. 3 is a schematic view of the structure of FIG. 2 from another perspective.
  • Fig. 4 is a schematic diagram of the structure of the separation mechanism.
  • an automatic screening and guiding device for automotive trim end caps of the present invention includes a base 100, a separating mechanism 200, a horizontal rotation mechanism 300, a vertical rotation mechanism 400, a grasping mechanism 500 and a vision system 700.
  • the base 100 is provided with a separating mechanism 200 that outputs multiple end caps one by one; the horizontal rotating mechanism 300 is installed on the base 100, and the horizontal rotating mechanism 300 receives the end caps output from the separating mechanism 200, and adjusts the angle of the end caps horizontally,
  • the vertical rotation mechanism 400 is movably mounted on the base 100, and the vertical rotation mechanism 400 receives the end cap output from the horizontal rotation mechanism 300 and flips the end cover;
  • the grasping mechanism 500 is mounted on the base 100, and the grasping mechanism 500 receives the vertical rotation
  • the upper part of the base 100 is movably installed with the end cap for monitoring the end cap in the horizontal rotation mechanism 300 and the vision system 700 for monitoring the end cap in the grasping mechanism 500, the vertical rotation mechanism 400, the horizontal rotation mechanism 300 and the grasping mechanism 500 are electrically connected to the vision system 700.
  • the vertical rotation mechanism 400, the horizontal rotation mechanism 300, the discarding mechanism 600, the vision system 700, and the grasping mechanism 500 are all automatically screened with the car trim end cover The control
  • the vision system 700 includes a vision stand 720, and a camera 710 is installed on the vision stand 720.
  • a mobile device (not marked in the figure) suitable for the vision system 700 with the vision system 700.
  • the vision support 720 is screwed together.
  • the camera 710 also moves.
  • the mobile device may be a manipulator or a robot.
  • the separating mechanism 200 When the separating mechanism 200 outputs a plurality of end caps to the horizontal rotating mechanism 300 one by one, the separating mechanism 200 is reset; after that, the vision system 700 moves to directly above the horizontal rotating mechanism 300 to align the end caps located in the rotating disk 320 For detection, specifically, the vision system 700 takes a picture of the end cap located in the horizontal rotation mechanism 300 and feeds it back to the control system (not marked in the figure), and the control system determines whether the front and back direction and the up and down direction of the end cap conform to the control The setting of the system generates corresponding electrical signals. The control system converts and transmits the electrical signals to the horizontal rotation mechanism 300 and the vertical rotation mechanism 400. After that, the horizontal rotation mechanism 300 adjusts the horizontal rotation mechanism 300 according to the feedback information from the control system.
  • the horizontal angle of the end cap of the horizontal rotation mechanism 300 makes the front and back orientation of the end cap in the horizontal rotation mechanism 300 meet the setting requirements of the control system. After that, the horizontal rotation mechanism 300 stops operating, and when the front and back orientation of the end cap of the horizontal rotation mechanism 300 is located After meeting the setting requirements of the control system, the horizontal rotation mechanism 300 is still; then, the separating mechanism 200 pushes the subsequent end caps into the horizontal rotation mechanism 300 again, thereby pushing the end caps located in the horizontal rotation mechanism 300 toward The vertical rotation mechanism 400 is internally transported.
  • the vertical rotation mechanism 400 adjusts the vertical angle of the end cover in the vertical rotation mechanism 400 according to the information fed back by the control system, so that the up and down orientation of the end cover in the vertical rotation mechanism 400 conforms to the control System setting requirements, after that, the vertical rotation mechanism 400 stops operating, and when the up and down orientation of the end cap located on the vertical rotation mechanism 400 has met the setting requirements of the control system, the vertical rotation mechanism 400 stands still; then, the vertical rotation mechanism 400 The rotating mechanism 400 moves relative to the base 100, and at the same time, the grasping mechanism 500 rises relative to the base 100, so that the vertical rotating mechanism 400 can push the end caps stored in it into the grasping mechanism 500. After that, the vertical rotating mechanism 400 is reset.
  • the system 700 moves directly above the grab frame 520 to detect the end cap located in the grab frame 520.
  • the vision system 700 takes a picture of the end cap located in the grab mechanism 500 and feeds it back to the control system.
  • the control system judges whether the front and back direction and the up and down direction of the end cap are in line with the settings of the control system.
  • the grasping mechanism 500 is reset; when the end cap detected by the vision system 700 is not When qualified, the end cap located in the grasping mechanism 500 is directly discarded, and the above process is repeated again, thus effectively improving the grasping efficiency of the end cap.
  • the horizontal rotation mechanism 300 includes a front bracket 310 arranged on the base 100.
  • the front bracket 310 is movably provided with a rotating disk 320, and the front bracket 310 is also provided with a device for driving the rotating disk 320 to move horizontally.
  • people need to place the notch (not marked in the figure) on the rotating disk 320 for receiving the end cover directly against the output end of the separating mechanism 200. After that, the separating mechanism 200 pushes the end cover into When inside the rotating disc 320, afterwards, the vision system 700 takes pictures and monitors the end cap located in the rotating disc 320, and transmits it to the control system.
  • the control system holes control the horizontal cylinder 330 and the vertical rotation mechanism 400 to perform corresponding operations.
  • the horizontal cylinder 330 is stationary.
  • the horizontal cylinder 330 drives the rotating disk 320 to rotate.
  • the end cover on the rotating disc 320 also rotates.
  • the horizontal cylinder 330 stops running, thereby changing the direction of the end cover so that the direction of the end cover conforms to the control.
  • the separating mechanism 200 continues to push the subsequent end caps toward the rotating disk 320, so that the subsequent end caps push the end caps located in the rotating disk 320 to move into the vertical rotating mechanism 400 until the two end caps Complete the replacement.
  • the vertical rotation mechanism 400 includes a clamping cylinder 410 for storing the end cover and a rear bracket 420 installed on the base 100.
  • the rear bracket 420 is provided with a switching cylinder 430, and the switching cylinder 430 is movably provided with a clamping cylinder for driving
  • the vertical cylinder 440 of the 410 is provided with a material hole (not marked in the figure) for storing the end cover in the clamping cylinder 410.
  • the vertical cylinder 440 drives the clamping cylinder 410 to rotate, so that the end cover on the clamping cylinder 410 also rotates.
  • the vertical cylinder The body 440 stops running, thereby changing the up and down orientation of the end cover so that the orientation of the end cover conforms to the setting of the control system.
  • the switching cylinder 430 drives the vertical cylinder 440 to move, and at the same time, the grasping mechanism 500 rises until it is clamped.
  • the central axis of the barrel 410 coincides with the central axis of the grasping mechanism 500.
  • the vertical rotation mechanism 400 pushes out the end cap stored in the clamping barrel 410, so that the end cap can be smoothly dropped onto the grasping mechanism 500 Afterwards, the switching cylinder 430 drives the vertical cylinder 440 to reset until the central axis of the clamping cylinder 410 coincides with the central axis of the notch (not marked in the figure) of the rotating disk 320 so as to be located in the notch (not marked in the figure)
  • the inner end cap can smoothly enter into the clamping barrel 410; and in this process, the vision system 700 moves to just above the grasping mechanism 500, and takes pictures and inspects the end caps in the grasping mechanism 500, and The detected information is fed back to the control system (not marked in the figure) to complete the detection of the end cover of the auto-screening and correcting device of the automobile trim end cover.
  • a switching plate 431 is movably installed on the switching cylinder 430, a connecting plate 432 for connecting the vertical cylinder 440 is provided on the switching plate 431, and one end of the switching plate 431 is detachably connected to the collecting box 433, the connecting plate 432 The upper part is detachably connected with a pusher cylinder 432a that pushes the end cover out of the clamping barrel 410.
  • a pusher rod (not marked in the figure) is movably inserted on the pusher cylinder 432a, and the pusher rod movably passes through the clamp
  • the control system will control the switching cylinder 430 so that the switching cylinder 430 drives the switching plate 431 to move.
  • the collecting box 433 is installed on the switching plate 431, and the switching cylinder 430 is installed on the connecting plate 432, so that the collecting box 433 and the vertical cylinder 440 move synchronously, thereby realizing the vertical cylinder 440, the clamping cylinder 410 and The collecting box 433 synchronously moves relative to the base 100.
  • the collecting box 433 is directly facing the grasping mechanism 500, so that the end cover on the grasping mechanism 500 It can be smoothly pushed into the collection box 433;
  • the pushing cylinder 432a pushes the pushing rod out, so that the pushing rod will be located in the clamping barrel
  • the end cap in 410 is pushed into the grasping mechanism 500.
  • the switching cylinder 430 drives the switching plate 431, the vertical cylinder 440 and the clamping cylinder 410 to reset.
  • the collecting box 433 is just right. It is facing the grasping mechanism 500.
  • the base 100 is provided with a discarding mechanism 600 that pushes the unqualified end caps in the grabbing frame 520 to the collecting box 433.
  • the discarding mechanism 600 includes a discarding cylinder 610 provided on the base 100.
  • the grabbing mechanism 500 includes an avoiding cylinder 510.
  • a grabbing frame 520 is movably installed on the avoiding cylinder 510.
  • the grab frame 520 is provided with a second detection fiber 530 for detecting whether the end cap is stored inside. During the operation of the automatic screening and guiding device, the second detection fiber 530 always detects whether the grab frame 520 is There is an end cap.
  • the second detection optical fiber 530 detects the end cap. At this time, the second detection optical fiber 530 feeds back the information to The vision system 700 enables the vision system 700 to move directly above the grab frame 520, take pictures and inspect the end caps in the grab frame 520, and feed it back to the control system.
  • the avoidance cylinder 510 drives the grabbing frame 520 to move downwards until the grabbing frame 520 is completely reset; when the end cap detected by the vision system 700 is unqualified, that is, when the end cap on the grabbing frame 520 faces the unqualified, The discarding cylinder 610 pushes the discarding block 620 to move, and directly pushes the end cover located in the grab frame 520 into the collecting box 433. After that, the switching cylinder 430 drives the clamping cylinder 410 and the vertical cylinder 440 to move again. , Push the end cap located in the clamping barrel 410 to the grab frame 520 again, and repeat the above operation again until the direction of the end cap detected by the vision system 700 meets the setting requirements of the control system.
  • the separating mechanism 200 includes a mounting plate 210 movably mounted on the base 100.
  • the base 100 is equipped with a drive assembly 220 for driving the mounting plate 210 to move.
  • the base 100 is provided with an output rail 230.
  • the plate 210 is provided with a front partition block 211 and a rear partition block 212.
  • the front partition block 211 is provided with a pair of front baffles 211a
  • the rear partition block 212 is provided with at least one rear baffle 212a, a front baffle 211a and a rear baffle. 212a can be embedded in the output rail 230.
  • One side of the output rail 230 is provided with a first detection optical fiber 231 for detecting end caps.
  • the first detection optical fiber 231 detects the end cap and transmits the electrical signal to the drive assembly 220.
  • the drive assembly 220 pushes the mounting plate 210 up.
  • the mounting plate 210 rises to a certain height, the drive assembly 220 Then, the mounting plate 210 is driven to move away from the horizontal rotation mechanism 300 to a certain distance, and the end cover is located just below the two front baffles 211a.
  • the driving assembly 220 drives the mounting plate 210 to descend, so that the end The cover is located exactly between the two front baffles 211a.
  • the drive assembly 220 moves toward the horizontal rotation mechanism 300, so that the two front baffles 211a move the end cover to the next station, and repeat the above steps again.
  • one end cover can be dropped between the rear baffle 212a and a front baffle 211a, the other end cover can be dropped between the two front baffles 211a, and the above steps can be repeated once again.
  • the end cover is pushed from the output rail 230 to the notch (not marked in the figure) of the rotating disk 320, and the above operations are repeated several times to achieve a single output of the conveying device, so as to improve the output of the separating mechanism 200 to a single end cover efficient.
  • the driving assembly 220 includes a lifting cylinder 221 arranged on the base 100, a lifting push rod 221a is installed on the lifting cylinder 221, a translation cylinder 222 is installed on the lifting push rod 221a, and a mounting plate for connecting to the translation cylinder 222 is installed
  • the translation plate 222a of 210 when the lifting cylinder 221 pushes out the lifting push rod 221a or the lifting cylinder 221 retracts the lifting push rod 221a, the translation cylinder 222 is installed on the lifting push rod during the working process of the separation mechanism 200. 221a, and the mounting plate 210 is mounted on the translation plate 222a, so that the mounting plate 210, the front baffle 211a and the rear baffle 212a rise or fall synchronously.
  • the mounting plate 210 210 is screwed on the translation plate 222a, so that the translation plate 222a drives the installation plate 210, the front baffle 211a, and the rear baffle 212a to move synchronously.
  • the bottom of the output rail 230 is provided with a direct vibrator 232.
  • the direct vibrator 232 is activated, because the direct vibrator 232 is located at the bottom of the output rail 230 and is connected to the output rail 230, and the output rail 230 It is connected with the transmission rail, so that during the shaking process of the direct vibrator 232, the output rail 230 also synchronously shakes, so that the end cover of the separating mechanism 200 continues to move in the direction of the forward baffle 211a.
  • the separating mechanism 200 outputs the multiple end caps one by one to the rotating disk 320 of the horizontal rotating mechanism 300. After that, the separating mechanism 200 is reset and the operation is repeated to achieve a single output of the multiple end caps;
  • the vision system 700 moves to directly above the horizontal rotation mechanism 300 to detect the end cover located in the rotating disk 320. Specifically, the vision system 700 takes pictures, detects, and gives feedback to the end cover located in the rotating disk 320 To the control system, the control system judges whether the front and back direction and the up and down direction of the end cap are consistent with the setting of the control system, and generates corresponding electrical signals. The control system converts and transmits the electrical signals to the horizontal rotation mechanism 300 and the vertical rotation mechanism 400 ;
  • the horizontal rotation mechanism 300 adjusts the horizontal angle of the end cover in the horizontal rotation mechanism 300 according to the information fed back by the control system, so that the front and back orientation of the end cover in the horizontal rotation mechanism 300 meets the setting requirements of the control system. Thereafter, The horizontal rotation mechanism 300 stops operating, and when the front and back orientation of the end cover of the horizontal rotation mechanism 300 has met the setting requirements of the control system, the horizontal rotation mechanism 300 is stationary;
  • the vertical rotation mechanism 400 correspondingly adjusts the vertical angle of the end cover in the vertical rotation mechanism 400 according to the information fed back by the control system, so that the up and down orientation of the end cover in the vertical rotation mechanism 400 meets the setting requirements of the control system, and thereafter , The vertical rotation mechanism 400 stops operating, and when the up and down orientation of the end cover of the vertical rotation mechanism 400 has met the setting requirements of the control system, the vertical rotation mechanism 400 is stationary;
  • the switching cylinder 430 pushes the switching plate 431, the vertical cylinder 440, and the collecting box 433 to move synchronously, and at the same time, avoids the cylinder 510 to push the grab frame 520 up until the central axis of the clamping cylinder 410 and the grab frame 520 The center axes of the s are coincident, and then, the pushing cylinder 432a pushes the end cover located in the clamping barrel 410 into the grab frame 520, and the switching cylinder 430 drives the vertical cylinder 440 to reset;
  • the vision system 700 moves directly above the grab frame 520 to detect the end cover located in the grab frame 520. Specifically, the vision system 700 takes a picture of the end cover located in the grab mechanism 500 and feeds it back to A control system, which determines whether the front and back direction and the up and down direction of the end cover conform to the setting of the control system, and feeds back the detected information to the discarding cylinder 610 and the switching cylinder 430 accordingly;
  • step S8 When the direction of the end cover detected by the vision system 700 is qualified, avoid the cylinder 510 to drive the grab frame 520 to reset; when the end cover detected by the vision system 700 is unqualified, the discarding cylinder 610 pushes the discarding block 620 to move , The end cap located in the grabbing frame 520 is pushed into the collecting box 433, and then step S6 is repeated.
  • the auto trim end cover automatic screening and guiding device can quickly correct the direction of the end cover, so that people can accurately screen the end cover, thereby improving people's work efficiency and improving the grasping of the end cover efficient.

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Abstract

一种汽车饰条端盖自动筛选导正装置，具有：底座(100)、分隔机构(200)、水平旋转机构(300)、垂直旋转机构(400)、抓取机构(500)以及视觉***(700)。当分隔机构将多个端盖逐个输出后，通过水平旋转机构、垂直旋转机构、抓取机构以及视觉***的配合作用，有效提高对端盖的抓取效率；其次，通过抓取机构与视觉***的配合作用，可进一步检测经过该汽车饰条端盖自动筛选导正装置的端盖是否满足该装置的控制***的设定，以保证经过筛选以及导正后的端盖符合要求。

Description

一种汽车饰条端盖自动筛选导正装置及其控制方法 技术领域
本发明属于汽车饰条端盖筛选设备技术领域，涉及一种汽车饰条端盖自动筛选导正装置及其控制方法。
背景技术
汽车水切上饰条是汽车外饰件的重要组成部分，一般来说，每根产品的两侧都需要安装上相应的端盖。由于产品两端角度各异，一个项目水切饰条项目往往有多种结构各异的端盖，振动盘无法实现所有端盖的有序振出，很难实现通用化；现在自动化组立***中一般采用一种端盖使用一个振动盘的方式，使得端盖有序振出并在固定的地方抓取，这种情况下使用的振动盘数量较多，需要频繁换模或者设备需要有较大的尺寸来摆放这些振动盘；另一种方式是直接振出许多端盖，通过视觉告知机器人适合抓取的产品，但是这种情况下用到的视觉精度要求高，成本较大，而且端盖需要在一平面上散开，产品放置随机性而且没有合适的抓取点，导致抓取效率低。
发明内容
本发明的目的是针对现有的技术存在上述问题，提出了一种抓取效率高的汽车饰条端盖自动筛选导正装置及其控制方法。
本发明的目的可通过下列技术方案来实现：一种汽车饰条端盖自动筛选导正装置，包括：
底座，所述底座上设有将多个端盖逐个输出的分隔机构；
水平旋转机构，安装于底座上，所述水平旋转机构盛接分隔机构上输出的端盖，并水平调整端盖的角度；
垂直旋转机构，活动安装于底座上，所述垂直旋转机构盛接水平旋转机构上输出的端盖，并翻转端盖；
抓取机构，安装于底座上，所述抓取机构盛接垂直旋转机构上推出的端盖；所述底座的上方活动安装有用于监控水平旋转机构内的端盖以及用于监控抓取机构内的端盖的视觉***；所述分隔机构包括活动安装于底座上的安装板，所述底座上安装有用于带动安装板运动的驱动组件，所述安装板上设有前分隔块以及后分隔块，所述前分隔块上设有一对前挡板，所述后分隔块上设有至少一个后挡板。
在上述的一种汽车饰条端盖自动筛选导正装置中，所述垂直旋转机构、水平旋转机构以及抓取机构均与所述视觉***电连接。
在上述的一种汽车饰条端盖自动筛选导正装置中，所述水平旋转机构包括设于底座上的前支架，前支架上活动设有旋转盘，所述前支架上还设有用于驱动旋转盘水平运动的水平缸体。
在上述的一种汽车饰条端盖自动筛选导正装置中，所述垂直旋转机构包括用于储存端盖的夹料筒以及安装于底座上的后支架，所述后支架上设有切换缸体，切换缸体上活动设有用于驱动夹料筒的竖直缸体。
在上述的一种汽车饰条端盖自动筛选导正装置中，所述切换缸体上活动安装有切换板，所述切换板上设有用于连接竖直缸体的连接板，所述切换板的一端可拆卸连接有集料盒。
在上述的一种汽车饰条端盖自动筛选导正装置中，所述连接板上可拆卸连接有将端盖从夹料筒中推出的推料缸体。
在上述的一种汽车饰条端盖自动筛选导正装置中，所述底座上设有将抓取架内不合格的端盖推送至集料盒内的弃料机构，所述弃料机构包括设于底座上的弃料缸体，所述抓取机构包括避让缸体，所述避让缸体上活动安装有抓取架，所述弃料缸体上活动安装有将位于抓取架内的端盖推进集料盒内的弃料块。
在上述的一种汽车饰条端盖自动筛选导正装置中，所述抓取架上设有用于检测其内部是否储存端盖的第二检测光纤。
在上述的一种汽车饰条端盖自动筛选导正装置中，所述底座上设有输出轨，所述前挡板以及后挡板均可嵌设于输出轨内。
一种汽车饰条端盖自动筛选导正装置的控制方法，包括：
S1：分隔机构将多个端盖逐个输出至水平旋转机构的旋转盘内，分隔机构复位；
S2：视觉***移动至旋转盘的正上方，对位于旋转盘内的端盖进行检测，并反馈给该水平旋转机构以及垂直旋转机构；
S3：水平旋转机构根据视觉***反馈的信息，相应的控制旋转盘水平旋转，相应调整旋转盘内端盖的水平角度；
S4：分隔机构再次将后续的端盖推送至旋转盘内，而位于旋转盘内的端盖输送至夹料筒内；
S5：垂直旋转机构根据视觉***反馈的信息，相应的控制夹料筒沿夹料筒的中心轴线周向转动，相应调整夹料筒内端盖的竖直角度；
S6：切换缸体推动切换板以及竖直缸体以及集料盒同步运动，同时，避免缸体推动抓取架上升，直至夹料筒的中心轴线与抓取架的中心轴线重合，之后，推料缸体将位于夹料筒内的端盖推送至抓取架内，切换缸体带动竖直缸体复位；
S7：视觉***移动至抓取架的正上方，对位于抓取架内的端盖进行检测，并反馈给弃料缸体以及切换缸体；
S8：当视觉***检测出的端盖方向合格时，避让缸体带动抓取架复位；当视觉***检测出的端盖不合格时，弃料缸体推动弃料块运动，将位于抓取架内的端盖推送至集料盒内，之后，重复步骤S6。
与现有技术相比，本发明具有以下有益效果：
1、通过分隔机构的作用，便可将多个端盖逐个输出。
2、在本发明中，当分隔机构将多个端盖逐个输出后，通过水平旋转机构、垂直旋转机构、抓取机构以及视觉***的配合作用，有效提高对端盖的抓取效率。
3、该汽车饰条端盖自动筛选导正装置采用全自动操控，降低人工操控，有效提升对端盖的抓取效率，也方便人们操作。
4、通过本发明的控制方法，使得该汽车饰条端盖自动筛选导正装置能够快速导正端盖的朝向，以使人们能够精确的筛选端盖，从而提高人们的工作效率，并提高对端盖的抓取效率。
5、通过抓取机构与视觉***的配合作用，便可进一步检测经过该汽车饰条端盖自动筛选导正装置的端盖是否满足该汽车饰条端盖自动筛选导正装置的控制***的设定，以保证经过筛选以及导正后的端盖能够符合要求。
附图说明
图1是本发明一较佳实施例的结构示意图。
图2是图1去除视觉***后的结构示意图。
图3是图2另一视角的结构示意图。
图4是分隔机构的结构示意图。
具体实施方式
以下是本发明的具体实施例并结合附图，对本发明的技术方案作进一步的描述，但本发明并不限于这些实施例。
如图1—图4所示，本发明一种汽车饰条端盖自动筛选导正装置包括底座100、分隔机构200、水平旋转机构300、垂直旋转机构400、抓取机构500以及视觉***700。
底座100上设有将多个端盖逐个输出的分隔机构200；水平旋转机构300安装于底座100上，水平旋转机构300盛接分隔机构200上输出的端盖，并水平调整端盖的角度，垂直旋转机构400 活动安装于底座100上，垂直旋转机构400盛接水平旋转机构300上输出的端盖，并翻转端盖；抓取机构500安装于底座100上，抓取机构500盛接垂直旋转机构400上推出的端盖；底座100的上方活动安装有用于监控水平旋转机构300内的端盖以及用于监控抓取机构500内的端盖的视觉***700，垂直旋转机构400、水平旋转机构300以及抓取机构500均与视觉***700电连接，具体的，垂直旋转机构400、水平旋转机构300、弃料机构600、视觉***700以及抓取机构500均与该汽车饰条端盖自动筛选导正装置的控制***(图中未标注)电连接。
在本发明中，视觉***700包括视觉支架720，在视觉支架720上安装有摄像器710，在视觉***700移动之前，人们需要将适用于视觉***700的移动设备(图中未标注)与该视觉支架720螺纹连接，当移动设备带视觉支架720移动时，摄像器710也随之移动，具体的，该移动设备可以是机械手或者机器人。
当分隔机构200将多个端盖逐个输出至水平旋转机构300内，之后，分隔机构200复位；此后，视觉***700移动至水平旋转机构300的正上方，从而对位于旋转盘320内的端盖进行检测，具体的，视觉***700对位于水平旋转机构300内的端盖进行拍照，并反馈给控制***(图中未标注)，该控制***判断该端盖的前后方向以及上下方向是否符合控制***的设定，产生相应的电信号，控制***将电信号转化并传递给水平旋转机构300以及垂直旋转机构400，此后，水平旋转机构300根据控制***反馈的信息，相应调整水平旋转机构300内的端盖的水平角度，使得水平旋转机构300内的端盖的前后朝向符合该控制***的设定要求，此后，水平旋转机构300停止运转，且当位于水平旋转机构300的端盖的前后朝向已经符合该控制***的设定要求后，水平旋转机构300静止不动；然后，分隔机构200再次将后续的端盖推送至水平旋转机构300内，从而推动位于水平旋转机构300内 的端盖向垂直旋转机构400内部输送，之后，垂直旋转机构400根据控制***反馈的信息，相应调整垂直旋转机构400内的端盖的竖直角度，使得垂直旋转机构400内的端盖的上下朝向符合该控制***的设定要求，此后，垂直旋转机构400停止运转，且当位于垂直旋转机构400的端盖的上下朝向已经符合该控制***的设定要求后，垂直旋转机构400静止不动；然后，垂直旋转机构400相对底座100移动，同时，抓取机构500相对底座100上升，使得垂直旋转机构400能够将存放于其内部的端盖推送至抓取机构500内，之后，垂直旋转机构400复位，视觉***700移动至抓取架520的正上方，对位于抓取架520内的端盖进行检测，具体的，视觉***700对位于抓取机构500内的端盖进行拍照，并反馈给控制***，该控制***判断该端盖的前后方向以及上下方向是否符合控制***的设定，当视觉***700检测出的端盖方向合格时，抓取机构500复位；当视觉***700检测出的端盖不合格时，位于抓取机构500内的端盖直接被丢弃掉，并再次重复上述过程，如此，有效提高了对端盖的抓取效率。
如图1—图3所示，水平旋转机构300包括设于底座100上的前支架310，前支架310上活动设有旋转盘320，前支架310上还设有用于驱动旋转盘320水平运动的水平缸体330，在工作之前，人们需要将旋转盘320上用于盛接端盖的缺口(图中未标注)正对着分隔机构200的输出端，此后，分隔机构200将端盖推送进旋转盘320内时，之后，视觉***700对位于旋转盘320内的端盖进行拍照、监控，并传递给控制***，控制***孔控制水平缸体330以及垂直旋转机构400进行相应的运转，具体的，当位于旋转盘320内的端盖的前后朝向正确时，水平缸体330静止不动，当位于旋转盘320的端盖的前后朝向不合格时，水平缸体330驱动旋转盘320转动，使得位于旋转盘320上的端盖也随之转动，当旋转盘320以其自身的中心旋转180°后，水平缸体 330停止运转，从而改变端盖的朝向，使得该端盖的朝向符合控制***的设定，之后，分隔机构200继续将后续的端盖向旋转盘320方向推动，使得后续的端盖推动位于旋转盘320内的端盖向垂直旋转机构400内运动，直至两个端盖完成替换。
垂直旋转机构400包括用于储存端盖的夹料筒410以及安装于底座100上的后支架420，后支架420上设有切换缸体430，切换缸体430上活动设有用于驱动夹料筒410的竖直缸体440，在夹料筒410内开设有用于存放端盖的料孔(图中未标注)，当端盖从旋转盘320的缺口(图中未标注)进入到夹料筒410的料孔(图中未标注)内后，当位于夹料筒410内的端盖的上下朝向正确时，竖直缸体440静止不动，当位于夹料筒410的端盖的上下朝向不合格时，竖直缸体440驱动夹料筒410转动，使得位于夹料筒410上的端盖也随之转动，当夹料筒410以其自身的中心轴线旋转180°后，竖直缸体440停止运转，从而改变端盖的上下朝向，使得该端盖的朝向符合控制***的设定，之后，切换缸体430驱动竖直缸体440运动，同时，抓取机构500上升，直至夹料筒410的中心轴线与抓取机构500的中心轴线重合，此后，垂直旋转机构400将存放在夹料筒410内的端盖推送出去，使得该端盖能够顺利掉落至抓取机构500上，之后，切换缸体430带动竖直缸体440复位，直至夹料筒410的中心轴线与旋转盘320的缺口(图中未标注)的中心轴线重合，以使得位于缺口(图中未标注)内的端盖能够顺利进入到夹料筒410内；而在此过程中，视觉***700移动至抓取机构500的正上方，并对抓取机构500内的端盖进行拍照、检测，并将检测出的信息反馈给控制***(图中未标注)，以完成通过该汽车饰条端盖自动筛选导正装置的端盖的检测。
进一步的，切换缸体430上活动安装有切换板431，切换板431上设有用于连接竖直缸体440的连接板432，切换板431的一 端可拆卸连接有集料盒433，连接板432上可拆卸连接有将端盖从夹料筒410中推出的推料缸体432a，推料缸体432a上活动插设有推料杆(图中未标注)，该推料杆活动穿过夹料筒410以及竖直缸体440，当需要移动竖直缸体440以及连接板432时，控制***便会控制切换缸体430，使得切换缸体430驱动切换板431移动，因连接板432以及集料盒433均安装于切换板431上，切换缸体430安装于连接板432上，使得集料盒433以及竖直缸体440同步运动，从而实现竖直缸体440、夹料筒410以及集料盒433同步相对底座100运动，当夹料筒410的中心轴线复位至与缺口的中心轴线时，集料盒433正好正对抓取机构500，以使得位于抓取机构500上的端盖能够顺利被推入集料盒433内；当夹料筒410的中心轴线与抓取机构500的中心轴线重合时，推料缸体432a将推料杆推出，使得推料杆将位于夹料筒410内的端盖推送至抓取机构500内，之后，切换缸体430带动切换板431、竖直缸体440以及夹料筒410复位，当夹料筒410复位完成时，集料盒433恰好正对抓取机构500。
底座100上设有将抓取架520内不合格的端盖推送至集料盒433内的弃料机构600，所述弃料机构600包括设于底座100上的弃料缸体610，所述抓取机构500包括避让缸体510，避让缸体510上活动安装有抓取架520，弃料缸体610上活动安装有将位于抓取架520内的端盖推进集料盒433内的弃料块620，抓取架520上设有用于检测其内部是否储存端盖的第二检测光纤530，在自动筛选导正装置运转的过程中，第二检测光纤530时刻检测抓取架520内是否存在端盖，当夹料筒410内的端盖被推料杆推送至抓取架520上时，第二检测光纤530检测到端盖，此时，第二检测光纤530便将该信息反馈给视觉***700，使得视觉***700移动抓取架520的正上方，对抓取架520内的端盖进行拍照、检测，并反馈给控制***，当视觉***700检测出的端盖方向合格 时，避让缸体510带动抓取架520向下移动，直至抓取架520完全复位；当视觉***700检测出的端盖不合格时，即，位于抓取架520上的端盖朝向不合格时，弃料缸体610推动弃料块620运动，将位于抓取架520内的端盖直接推送至集料盒433内，之后，切换缸体430再次带动夹料筒410以及竖直缸体440运动，再次将位于夹料筒410内的端盖推送至抓取架520上，再一次重复上述操作，直至视觉***700检测出的端盖方向符合控制***的设定要求。
如图1和图4所示，分隔机构200包括活动安装于底座100上的安装板210，底座100上安装有用于带动安装板210运动的驱动组件220，底座100上设有输出轨230，安装板210上设有前分隔块211以及后分隔块212，前分隔块211上设有一对前挡板211a，后分隔块212上设有至少一个后挡板212a，前挡板211a以及后挡板212a均可嵌设于输出轨230内，输出轨230的一侧设有用于检测端盖的第一检测光纤231，在分隔机构200工作的过程中，首先，当其中一个端盖抵住其中一个前挡板211a时，第一检测光纤231检测到该端盖，并将该电信号传递给驱动组件220，驱动组件220推动安装板210上升，当安装板210上升至一定高度后，驱动组件220才带动安装板210向远离水平旋转机构300方向运动至一定距离，并使得该端盖恰好位于两个前挡板211a之间的正下方，之后，驱动组件220带动安装板210下降，使得该端盖恰好位于两个前挡板211a之间，此后，驱动组件220向靠近水平旋转机构300方向运动，使得两个前挡板211a将该端盖移送到下一个工位上，再次重复上述的步骤一次，便可将一个端盖落入到后挡板212a与一个前挡板211a之间，另一个端盖落入到两个前挡板211a之间，再次重复上述的步骤一次，便能将端盖从输出轨230上推送至旋转盘320的缺口(图中未标注)上，多次重复上述操作，便可实现该输送装置的单个输出，以提高该分隔 机构200对单个端盖的输出效率。
驱动组件220包括设于底座100上的升降缸体221，升降缸体221上安装有升降推杆221a，升降推杆221a上设有平移缸体222，平移缸体222上安装有用于连接安装板210的平移板222a，在分隔机构200工作的过程中，当升降缸体221将升降推杆221a推出或者升降缸体221将升降推杆221a缩回时，因平移缸体222安装于升降推杆221a的一端，且安装板210安装于平移板222a上，实现安装板210、前挡板211a以及后挡板212a同步上升或者同步下降，当平移缸体222带动平移板222a运动时，因安装板210螺纹安装于平移板222a上，使得平移板222a带动安装板210、前挡板211a以及后挡板212a同步移动。
输出轨230的底部设有直振器232，在该输送装置工作的过程中，直振器232启动，因直振器232位于输出轨230的底部，且与输出轨230连接，并输出轨230与传输轨连接，使得直振器232在抖动的过程中，输出轨230也同步抖动，使得经过分隔机构200的端盖，继续向前挡板211a方向移动。
以下是本发明一种汽车饰条端盖自动筛选导正装置的控制方法，包括：
S1：分隔机构200将多个端盖逐个输出至水平旋转机构300的旋转盘320上，之后，分隔机构200复位，重复操作，便可实现多个端盖的单个输出；
S2：视觉***700移动至水平旋转机构300的正上方，从而对位于旋转盘320内的端盖进行检测，具体的，视觉***700对位于旋转盘320内的端盖进行拍照、检测，并反馈给控制***，该控制***判断该端盖的前后方向以及上下方向是否符合控制***的设定，并产生相应的电信号，控制***将电信号转化并传递给水平旋转机构300以及垂直旋转机构400；
S3：水平旋转机构300根据控制***反馈的信息，相应调整 水平旋转机构300内的端盖的水平角度，使得水平旋转机构300内的端盖的前后朝向符合该控制***的设定要求，此后，水平旋转机构300停止运转，且当位于水平旋转机构300的端盖的前后朝向已经符合该控制***的设定要求后，水平旋转机构300静止不动；
S4：分隔机构200再次将后续的端盖推送至水平旋转机构300的旋转盘320上，从而推动位于水平旋转机构300内的端盖向垂直旋转机构400的夹料筒410内输送；
S5：垂直旋转机构400根据控制***反馈的信息，相应调整垂直旋转机构400内的端盖的竖直角度，使得垂直旋转机构400内的端盖的上下朝向符合该控制***的设定要求，此后，垂直旋转机构400停止运转，且当位于垂直旋转机构400的端盖的上下朝向已经符合该控制***的设定要求后，垂直旋转机构400静止不动；
S6：切换缸体430推动切换板431以及竖直缸体440以及集料盒433同步运动，同时，避让缸体510推动抓取架520上升，直至夹料筒410的中心轴线与抓取架520的中心轴线重合，之后，推料缸体432a将位于夹料筒410内的端盖推送至抓取架520内，切换缸体430带动竖直缸体440复位；
S7：视觉***700移动至抓取架520的正上方，对位于抓取架520内的端盖进行检测，具体的，视觉***700对位于抓取机构500内的端盖进行拍照，并反馈给控制***，该控制***判断该端盖的前后方向以及上下方向是否符合控制***的设定，并将检测的信息相应的反馈给弃料缸体610以及切换缸体430；
S8：当视觉***700检测出的端盖方向合格时，避让缸体510带动抓取架520复位；当视觉***700检测出的端盖不合格时，弃料缸体610推动弃料块620运动，将位于抓取架520内的端盖推送至集料盒433内，之后，重复步骤S6。
通过上述方法，使得该汽车饰条端盖自动筛选导正装置能够快速导正端盖的朝向，以使人们能够精确的筛选端盖，从而提高人们的工作效率，并提高对端盖的抓取效率。
本文中所描述的具体实施例仅仅是对本发明精神作举例说明。本发明所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代，但并不会偏离本发明的精神或者超越所附权利要求书所定义的范围。

Claims (10)

  1. 一种汽车饰条端盖自动筛选导正装置，其特征在于，包括：
    底座，所述底座上设有将多个端盖逐个输出的分隔机构；
    水平旋转机构，安装于底座上，所述水平旋转机构盛接分隔机构上输出的端盖，并水平调整端盖的角度；
    垂直旋转机构，活动安装于底座上，所述垂直旋转机构盛接水平旋转机构上输出的端盖，并翻转端盖；
    抓取机构，安装于底座上，所述抓取机构盛接垂直旋转机构上推出的端盖；所述底座的上方活动安装有用于监控水平旋转机构内的端盖以及用于监控抓取机构内的端盖的视觉***；所述分隔机构包括活动安装于底座上的安装板，所述底座上安装有用于带动安装板运动的驱动组件，所述安装板上设有前分隔块以及后分隔块，所述前分隔块上设有一对前挡板，所述后分隔块上设有至少一个后挡板。
  2. 根据权利要求1所述的一种汽车饰条端盖自动筛选导正装置，其特征在于，所述垂直旋转机构、水平旋转机构以及抓取机构均与所述视觉***电连接。
  3. 根据权利要求1所述的一种汽车饰条端盖自动筛选导正装置，其特征在于，所述水平旋转机构包括设于底座上的前支架，前支架上活动设有旋转盘，所述前支架上还设有用于驱动旋转盘水平运动的水平缸体。
  4. 根据权利要求1所述的一种汽车饰条端盖自动筛选导正装置，其特征在于，所述垂直旋转机构包括用于储存端盖的夹料筒以及安装于底座上的后支架，所述后支架上设有切换缸体，切换缸体上活动设有用于驱动夹料筒的竖直缸体。
  5. 根据权利要求4所述的一种汽车饰条端盖自动筛选导正装置，其特征在于，所述切换缸体上活动安装有切换板，所述切换板上设有用于连接竖直缸体的连接板，所述切换板的一端可拆卸连接有集料盒。
  6. 根据权利要求5所述的一种汽车饰条端盖自动筛选导正装置，其特征在于，所述连接板上可拆卸连接有将端盖从夹料筒中推出的推料缸体。
  7. 根据权利要求1所述的一种汽车饰条端盖自动筛选导正装置，其特征在于，所述底座上设有将抓取架内不合格的端盖推送至集料盒内的弃料机构，所述弃料机构包括设于底座上的弃料缸体，所述抓取机构包括避让缸体，所述避让缸体上活动安装有抓取架，所述弃料缸体上活动安装有将位于抓取架内的端盖推进集料盒内的弃料块。
  8. 根据权利要求7所述的一种汽车饰条端盖自动筛选导正装置，其特征在于，所述抓取架上设有用于检测其内部是否储存端盖的第二检测光纤。
  9. 根据权利要求1所述的一种汽车饰条端盖自动筛选导正装置，其特征在于，所述底座上设有输出轨，所述前挡板以及后挡板均可嵌设于输出轨内。
  10. 根据权利要求1所述的一种汽车饰条端盖自动筛选导正装置的控制方法，其特征在于，包括：
    S1：分隔机构将多个端盖逐个输出至水平旋转机构的旋转盘内，分隔机构复位；
    S2：视觉***移动至旋转盘的正上方，对位于旋转盘内的端盖进行检测，并反馈给该水平旋转机构以及垂直旋转机构；
    S3：水平旋转机构根据视觉***反馈的信息，相应的控制旋转盘水平旋转，相应调整旋转盘内端盖的水平角度；
    S4：分隔机构再次将后续的端盖推送至旋转盘内，而位于旋转盘内的端盖输送至夹料筒内；
    S5：垂直旋转机构根据视觉***反馈的信息，相应的控制夹料筒沿夹料筒的中心轴线周向转动，相应调整夹料筒内端盖的竖直角度；
    S6：切换缸体推动切换板以及竖直缸体以及集料盒同步运动，同时，避免缸体推动抓取架上升，直至夹料筒的中心轴线与抓取架的中心轴线重合，之后，推料缸体将位于夹料筒内的端盖推送至抓取架内，切换缸体带动竖直缸体复位；
    S7：视觉***移动至抓取架的正上方，对位于抓取架内的端盖进行检测，并反馈给弃料缸体以及切换缸体；
    S8：当视觉***检测出的端盖方向合格时，避让缸体带动抓取架复位；当视觉***检测出的端盖不合格时，弃料缸体推动弃料块运动，将位于抓取架内的端盖推送至集料盒内，之后，重复步骤S6。
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