阅读说明：本技术 一种物料自动输送加工的设备 (Automatic equipment of processing of carrying of material ) 是由 陈力 熊洞庭 张春生 于 2019-09-03 设计创作，主要内容包括：本发明实施例公开了一种物料自动输送加工的设备,包括机器视觉取料自动供料装置、移料装置、加工送料装置；所述机器视觉取料自动供料装置包括储料斗、升料输出机构、第一输送带、抓取机械手,所述抓取机械手设置于所述第一输送带末端部侧边,所述第一输送带的头端与所述储料斗依次设置；所述加工送料装置包括第一治具、横向移动机构,所述第一治具滑动设置于所述横向移动机构上；所述移料装置包括滑动机构、滑动设置于所述滑动机构上的第一、第二升降机构,所述第一、第二升降机构上分别设置有翻转机构以及夹手。采用本发明,实现了自动供料、取料、移送加工、物料取出等工序,本发明整体具有适用性强、输送加工效率高等优点。(The embodiment of the invention discloses equipment for automatically conveying and processing materials, which comprises a machine vision material taking automatic feeding device, a material moving device and a processing and feeding device, wherein the machine vision material taking automatic feeding device comprises a machine vision material taking automatic feeding device, a material moving device and a processing and feeding device; the machine vision material taking automatic feeding device comprises a storage hopper, a material lifting output mechanism, a first conveying belt and a grabbing manipulator, wherein the grabbing manipulator is arranged on the side edge of the tail end of the first conveying belt, and the head end of the first conveying belt and the storage hopper are sequentially arranged; the processing and feeding device comprises a first jig and a transverse moving mechanism, wherein the first jig is arranged on the transverse moving mechanism in a sliding manner; the material moving device comprises a sliding mechanism, a first lifting mechanism and a second lifting mechanism which are arranged on the sliding mechanism in a sliding mode, and a turnover mechanism and a clamping hand are arranged on the first lifting mechanism and the second lifting mechanism respectively. By adopting the invention, the procedures of automatic feeding, material taking, transferring processing, material taking and the like are realized, and the invention has the advantages of strong applicability, high conveying processing efficiency and the like.)

1. The equipment for automatically conveying and processing the materials is characterized by comprising a machine vision material taking automatic feeding device, a material moving device and a processing and feeding device;

the machine vision material taking automatic feeding device comprises a storage hopper, a material lifting output mechanism, a first conveying belt and a grabbing manipulator, wherein the material lifting output mechanism, the first conveying belt and the grabbing manipulator are arranged in the storage hopper;

the processing and feeding device comprises a first jig and a transverse moving mechanism, wherein the first jig is arranged on the transverse moving mechanism in a sliding manner;

the material moving device comprises a sliding mechanism, a first lifting mechanism and a second lifting mechanism which are arranged on the sliding mechanism in a sliding mode, a turnover mechanism and a clamping hand are arranged on the first lifting mechanism and the second lifting mechanism respectively, and the turnover mechanism is provided with a second jig and a turnover mechanism driving the second jig;

the grabbing manipulator is used for conveying the materials on the first conveying belt to the first jig or the second jig, the second jig is used for overturning and feeding the first jig, and the clamping hand is used for picking up and outputting the materials of the first jig.

2. The automatic material conveying and processing equipment as claimed in claim 1, wherein the material lifting and outputting mechanism comprises a first lifting plate and a second lifting plate which are vertically arranged in the storage hopper, and a first lifting driving device and a second lifting driving device which drive the first lifting plate and the second lifting plate to lift and feed materials, and the top of the first lifting plate is provided with an inclined surface facing the first conveying belt.

3. The automatic material conveying and processing device according to claim 2, wherein the material lifting and outputting mechanism further comprises a fixedly arranged buffer board, the buffer board is arranged between the first lifting board and the second lifting board, the top of the buffer board is provided with an inclined surface facing the first lifting board, and the second lifting board is used for providing materials to the top of the buffer board.

4. The automatic material conveying and processing equipment according to claim 3, wherein the machine vision material taking automatic feeding device further comprises a second conveying belt, the second conveying belt is arranged above the head of the first conveying belt, and the length of the second conveying belt is smaller than that of the first conveying belt.

5. The automatic material conveying and processing equipment according to claim 4, wherein a material returning hopper is arranged at the tail end of the first conveying belt, a material returning opening is formed in the material storage hopper, and a material returning conveying belt is connected between the material returning opening and the material returning hopper.

6. The automatic material conveying and processing equipment according to claim 5, wherein a material return lifting plate is arranged in the storage hopper, the material return lifting plate and the second lifting plate are arranged side by side from left to right, an inclined surface facing the second lifting plate is arranged at the top of the material return lifting plate, and the material return lifting plate is driven to lift by a material return lifting driving device.

7. The automatic material conveying and processing equipment according to any one of claims 1 to 6, wherein the sliding mechanism comprises a first slide rail and a material moving driving mechanism, the first lifting mechanism and the second lifting mechanism are fixedly arranged on a fixed plate, the fixed plate is slidably connected with the first slide rail through a slider, the material moving driving mechanism is used for driving the slider to slide, the first lifting mechanism and the second lifting mechanism respectively comprise a first lifting cylinder and a second lifting cylinder, the turnover mechanism comprises a rotating cylinder fixedly arranged at an output end of the first lifting cylinder, the second jig is fixedly connected with an output end of the rotating cylinder, and the clamping hand is fixedly arranged at an output end of the second lifting cylinder.

8. The automatic material conveying and processing equipment according to claim 7, wherein a fixed seat is slidably arranged on the transverse moving mechanism, a first motor is arranged on the fixed seat, a second motor is fixedly connected to an output end of the first motor, and the first jig is fixedly connected to an output end of the second motor.

9. The automatic material conveying and processing equipment according to claim 8, wherein a first induction sheet is arranged at the output end of the first motor in the circumferential direction, a first inductor for detecting the rotation position is arranged on the fixing seat corresponding to the first induction sheet, a second induction sheet is arranged at the first jig in the circumferential direction, and a second inductor for detecting the rotation position is arranged at the output end of the first motor corresponding to the second induction sheet.

10. The automatic material conveying and processing equipment as claimed in claim 9, wherein the processing and feeding device further comprises a longitudinal moving mechanism, and the transverse moving mechanism is slidably disposed on the longitudinal moving mechanism.

Technical Field

The invention relates to intelligent automatic processing auxiliary equipment, in particular to equipment for automatically conveying and processing materials.

Background

In the field of intelligent manufacturing, a proper surface of a material needs to be automatically selected and input into a processing device for processing, and a matching relation among different stations is involved, wherein the matching relation comprises the matching of links of material pickup, movement, pose adjustment, processing output and the like, and mechanisms of automatic feeding, processing feeding and material moving output are needed in the matching relation.

Disclosure of Invention

The technical problem to be solved by the embodiment of the invention is to provide equipment for automatically conveying and processing materials. The material can be automatically input and output according to the processing requirement, and the pose of the material can be adjusted to meet the processing requirement.

In order to solve the technical problem, the embodiment of the invention provides equipment for automatically conveying and processing materials, which comprises a machine vision material taking automatic feeding device, a material moving device and a processing and feeding device, wherein the machine vision material taking automatic feeding device comprises a machine vision material taking automatic feeding device, a material moving device and a processing and feeding device;

the machine vision material taking automatic feeding device comprises a storage hopper, a material lifting output mechanism, a first conveying belt and a grabbing manipulator, wherein the material lifting output mechanism, the first conveying belt and the grabbing manipulator are arranged in the storage hopper;

the processing and feeding device comprises a first jig and a transverse moving mechanism, wherein the first jig is arranged on the transverse moving mechanism in a sliding manner;

the material moving device comprises a sliding mechanism, a first lifting mechanism and a second lifting mechanism which are arranged on the sliding mechanism in a sliding mode, a turnover mechanism and a clamping hand are arranged on the first lifting mechanism and the second lifting mechanism respectively, and the turnover mechanism is provided with a second jig and a turnover mechanism driving the second jig;

the grabbing manipulator is used for conveying the materials on the first conveying belt to the first jig or the second jig, the second jig is used for overturning and feeding the first jig, and the clamping hand is used for picking up and outputting the materials of the first jig.

Furthermore, the material lifting output mechanism comprises a first lifting plate and a second lifting plate which are arranged in the storage hopper in the vertical direction, and a first lifting driving device and a second lifting driving device which drive the first lifting plate and the second lifting plate to lift and feed, wherein the top of the first lifting plate is provided with an inclined plane facing the first conveying belt.

Furthermore, it still includes the buffer board of fixed setting to rise material output mechanism, the buffer board is arranged in between first lifter plate, the second lifter plate, the top of buffer board has the orientation the inclined plane of first lifter plate, the second lifter plate is used for to the buffer board top provides the material.

Furthermore, the machine vision material taking automatic feeding device further comprises a second conveying belt, wherein the second conveying belt is arranged above the head part of the first conveying belt, and the length of the second conveying belt is smaller than that of the first conveying belt.

Furthermore, the tail end of the first conveying belt is provided with a material returning hopper, a material returning opening is formed in the storage hopper, and a material returning conveying belt is connected between the material returning opening and the material returning hopper.

Furthermore, a feed back lifting plate is arranged in the storage hopper, the feed back lifting plate and the second lifting plate are arranged side by side from left to right, an inclined plane facing the second lifting plate is arranged at the top of the feed back lifting plate, and the feed back lifting plate is driven to lift by a feed back lifting driving device.

Furthermore, the sliding mechanism comprises a first slide rail and a material moving driving mechanism, the first lifting mechanism and the second lifting mechanism are fixedly arranged on a fixed plate, the fixed plate is connected with the first slide rail in a sliding mode through a slide block, the material moving driving mechanism is used for driving the slide block to slide, the first lifting mechanism and the second lifting mechanism respectively comprise a first lifting cylinder and a second lifting cylinder, the turnover mechanism comprises a rotary cylinder fixedly arranged at the output end of the first lifting cylinder, the second jig is fixedly connected with the output end of the rotary cylinder, and the clamping hand is fixedly arranged at the output end of the second lifting cylinder.

Furthermore, a fixed seat is slidably arranged on the transverse moving mechanism, a first motor is arranged on the fixed seat, a second motor is fixedly connected with the output end of the first motor, and the first jig is fixedly connected with the output end of the second motor.

Furthermore, a first induction sheet is arranged in the circumferential direction of the output end of the first motor, a first inductor used for detecting the rotating position is arranged on the fixing seat corresponding to the first induction sheet, a second induction sheet is arranged in the circumferential direction of the first jig, and a second inductor used for detecting the rotating position is arranged on the output end of the first motor corresponding to the second induction sheet.

Furthermore, the processing and feeding device further comprises a longitudinal moving mechanism, and the transverse moving mechanism is arranged on the longitudinal moving mechanism in a sliding mode.

The embodiment of the invention has the following beneficial effects: the invention realizes that materials with proper quantity are automatically provided for the grabbing of the grabbing manipulator, the materials which are suitable for being processed are adjusted according to the requirement of the processing position and are processed and transferred, and the materials are automatically output and synchronously loaded after the processing is finished.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of another aspect of the present invention;

FIG. 3 is a schematic diagram of a machine vision material taking automatic feeding device;

FIG. 4 is a schematic diagram of a machine vision material taking automatic feeding device;

fig. 5 is a partially enlarged schematic view illustrating a portion a of fig. 3;

FIG. 6 is a schematic view of the overall structure of the material moving device and the processing and feeding device;

fig. 7 is a partially enlarged schematic view illustrating a portion a of fig. 6;

FIG. 8 is a schematic structural diagram of a material moving device;

fig. 9 is a partial enlarged structural view illustrating a portion B in fig. 8;

FIG. 10 is a schematic view of the feed apparatus;

fig. 11 is a partially enlarged schematic view illustrating a portion C in fig. 10.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.

The automatic material conveying and processing equipment provided by the embodiment of the invention is characterized by comprising a machine vision material taking automatic feeding device 100, a material moving device 200 and a processing feeding device 300, as shown in fig. 1.

As shown in fig. 2, the machine vision material taking automatic feeding device includes a storage hopper 1, a material lifting output mechanism 2 arranged in the storage hopper 1, a first conveyor belt 3, a grabbing manipulator 4, and a second conveyor belt 5.

Snatch manipulator 4 and set up in 3 terminal portion sides of first conveyer belt, the material of cooperation camera on to first conveyer belt 3 through visual detection discerns, snatchs manipulator 4 through controller control and snatchs the material and suitably be used for the material of next process processing towards.

In the embodiment, in order to enable the materials on the first conveying belt 3 to be sufficiently suitable for grabbing by the grabbing manipulator 4, the second conveying belt 5 is arranged above the head of the first conveying belt, so that the materials fall onto the first conveying belt 3 through the second conveying belt 5, stacking between the materials is not easy to generate, and the differential speed between the first conveying belt 3 and the second conveying belt 5 can be controlled, so that the materials are not stacked and are properly spaced.

The length of the second conveyor belt 5 is smaller than the length of the first conveyor belt 3.

Preferably, the speed of first conveyer belt 3 is faster than the speed of second conveyer belt 5, and there is the difference in height, falls simultaneously and breaks up the material that has the nested pile up to and pull open the interval of material, conveniently snatch picking up of manipulator.

Of course, as another embodiment, the second conveyor belt 5 may not be optionally included.

Refer to the schematic structural diagrams shown in fig. 3 and 4.

The material lifting output mechanism 2 comprises a first lifting plate 21, a buffer plate 22 and a second lifting plate 23 which are arranged in the storage hopper 1 in the vertical direction, the first lifting plate 21, the buffer plate 22 and the second lifting plate 23 are arranged in a front-back side-by-side close manner, and inclined planes 211, 221 and 231 facing the first lifting plate 21 are arranged at the top of the first lifting plate.

The first lifting plate 21, the buffer plate 22 and the second lifting plate 23 have the same width.

The lower part of the buffer board 22 is fixedly connected with the frame.

A first lifting driving device 24 and a first lifting driving device 25 are arranged on an outer frame of the storage hopper 1 and are respectively used for driving the first lifting plate 21 and the second lifting plate 23 to lift, in order to continuously push the materials in the storage hopper 1 upwards, the first lifting plate 21 is lifted and lowered within the height range between the buffer plate 22 and the second conveyor belt 5, the second lifting plate 23 is lifted and lowered within the height range between the bottom of the storage hopper 1 and the buffer plate 22, so that the material is pushed to the inclined plane 221 of the top of the buffer board 22 through the inclined plane 231 of the top of the second lifting board 23, and when the first lifting board 21 descends to the inclined plane 221 of the top of the buffer board 22, the material enters the inclined plane 211 of the top of the first lifting board 21, thereby upwards propelling movement to the second conveyer belt 5 that the top set up step by step with the material, export, this process still is favorable to avoiding piling up of material simultaneously.

The first elevation driving means 24 and the first elevation driving means 25 are preferably air cylinders.

In other preferred embodiments, the second lifting plate 23 is fixedly connected to the first lifting plate 21 and is synchronously transferred by a single lifting device.

In another preferred embodiment, the buffer plate 22 may be omitted in addition to the above-mentioned embodiment, so that the second lifting plate 23 and the first lifting plate 21 are disposed in front and back close proximity to each other, and the two lifting plates alternately lift to transfer and lift the material, although the invention is not limited thereto.

In order to make the material smoothly enter the second conveyor belt 5, a material guiding sloping plate 51 is arranged between the head end of the second conveyor belt 5 and the first lifting plate 21.

In order to enable the materials which are not grabbed by the mechanical arm 4 on the first conveying belt 3 to be recycled, the end 3 of the first conveying belt is provided with a material returning hopper 6, a material returning opening 11 is arranged in the storage hopper 1, and a material returning conveying belt 61 is connected between the material returning opening 11 and the material returning hopper 6.

Be provided with feed back lifter plate 62 in the storage hopper 1, feed back lifter plate 62 sets up side by side with the second lifter plate 23 about, and feed back lifter plate 62 top has the inclined plane 63 towards second lifter plate 23, makes the leading-in top surface of second lifter plate 23 of material, and feed back lifter plate 62 is driven by feed back lift drive 64 and is gone up and down, preferably cylinder drive.

More preferably, a material guiding sloping plate 12 is arranged between the material returning opening 11 and the material returning lifting plate 62, the bottom of the storage hopper 1 is an inclined plane 13, and the tail end of the storage hopper is arranged in front of the second lifting plate 23 and the material returning lifting plate 62, so that the material is guided to the top inclined plane of the second lifting plate 23 and the material returning lifting plate 62.

In order to detect the transportation condition of the material in real time, a detection hole 14 is formed in the lower portion of the side edge of the storage hopper 1, a first material detection sensor 15 is arranged at the position of the detection hole 14, as shown in fig. 5, second and third material detection sensors 16 and 17 are respectively arranged on the side edges of the first conveyor belt 3 and the second conveyor belt 5, as shown in fig. 3 and 4.

The first material detection sensor 15, the second material detection sensor 16 and the third material detection sensor 17 are all correlation optical fibers, so that materials in a picking surface and a waiting area of the grabbing manipulator can be guaranteed, and the feeding and supplementing time is shortened.

More preferably, when the camera on the grabbing manipulator 4 recognizes that the quantity of the materials which can be additionally grabbed on the first conveying belt is less than the set value, the control center controls the material lifting output mechanism 2, the first conveying belt 3 and the second conveying belt 5 to supply the materials to replace the first material detection sensor 15, the second material detection sensor 16 and the third material detection sensor 17.

As shown in fig. 6, 7, and 8, the material moving mechanism 200 includes a sliding mechanism 221, a first lifting mechanism 222 and a second lifting mechanism 223 slidably disposed on the sliding mechanism 221, the sliding mechanism 221 includes a first slide rail 2211 and a material moving driving mechanism 2212, the first lifting mechanism 222 and the second lifting mechanism 223 are fixedly disposed on a fixing plate 224, the fixing plate 224 is slidably connected to the first slide rail 2211 through a slider 225, and the material moving driving mechanism 2212 is used for driving the slider 225 to slide.

The material-moving driving mechanism 2212 is preferably a cylinder.

The first lifting mechanism 222 and the second lifting mechanism 223 are provided with a turning mechanism 226 and a gripper 227, respectively.

The first lifting mechanism 222 and the second lifting mechanism 223 respectively include a first lifting cylinder 2221 and a second lifting cylinder 2231.

The turnover mechanism 226 includes a rotary cylinder 2261 and a second fixture 2262, the rotary cylinder 2261 is fixedly disposed at an output end of the first lifting cylinder 2221, and the second fixture 2262 is disposed at an output end of the rotary cylinder 2261.

The surface of the second fixture 2262 has protrusions 2263 for positioning and clamping the material, and a suction head 2264 is further disposed at the center of the second fixture 2262 for further fixing the material to the second fixture 2262.

The clamping hand 227 is disposed at the output end of the second lifting cylinder 2231.

As shown in fig. 9 and 10, the processing and feeding mechanism 300 includes a first jig 331, a transverse moving mechanism 332, and a longitudinal moving mechanism 333.

The transverse moving mechanism 332 is provided with a fixing seat 334 in a sliding manner, the fixing seat 334 is of an L-shaped structure, the fixing seat 334 is fixedly provided with a first motor 335, the output end of the first motor 335 is fixedly connected with a second motor 336 through a flange, and the first jig 331 is fixedly connected with the output end of the second motor 336.

The second motor 336 is a stepper motor or a servo motor.

The transverse moving mechanism 332 is slidably disposed on the longitudinal moving mechanism 333 and keeps the sliding state stable, the longitudinal moving mechanism 333 is disposed at one end of the transverse moving mechanism 332, and the other end of the transverse moving mechanism 332 is slidably connected to the rack via a sliding rail 3331.

The transverse moving mechanism 332 and the longitudinal moving mechanism 333 are preferably electric cylinders.

As shown in fig. 11, in order to position the rotation angles of the first motor 335 and the second motor 336, a first sensing piece 3351 is disposed at the circumference of the output end of the first motor 335, the fixing base 334 is provided with a first sensor 3352 for detecting the rotation position corresponding to the first sensing piece 3351, when the first sensing piece 3351 is rotatably disposed at the position of the first sensor 3352, the rotation angle of the first motor can be obtained, and further the working status of the first motor can be controlled, a second sensing piece 331 is disposed at the circumference of the first fixture 331, and a second sensor 3312 for detecting the rotation position is disposed at the output end of the first motor 335 corresponding to the second sensing piece 3311.

The material moving driving mechanism 3212 is located between the output conveyer belt 400 and the processing and feeding mechanism 300.

In the working process of the invention, the grabbing manipulator 4 grabs and places the materials which can be grabbed on the first conveying belt 3 and are identified by vision into the first jig 331, by the positioning movement of the transverse moving mechanism 332 and the longitudinal moving mechanism 333, the material on the first jig 331 is accurately sent to the position capable of being processed in the pad printing machine or the assembling device for corresponding processing, after the material is processed, the transverse moving mechanism 332 and the longitudinal moving mechanism 333 are reset, the second lifting mechanism 223 drives the clamping hand 227 to descend to clamp the material on the first jig 331, and is driven to move by the material moving driving mechanism 2212, so that the clamping hands 227 are positioned above the output conveyer belt 400 for blanking output, in the action process of the gripper 227, the grabbing manipulator 4 synchronously grabs and places the next processing material on the first conveyor belt 3 on the first jig 331. When the material grabbed by the grabbing manipulator 4 is the reverse side, the material is placed on the second jig 2262, rotated by the rotating cylinder 2261 and rotated on the first jig 331, so that the material is turned over to meet the processing requirement. When the transverse moving mechanism 332 and the longitudinal moving mechanism 333 control the movement of the first fixture 331 and cannot meet the requirement of the processing angle, the first fixture 331 can rotate at any spatial angle by the cooperation of the first motor 335 and the second motor 336.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.