WO2021169118A1 - Automobile trim strip end cap automatic screening and guiding device and control method therefor - Google Patents

Abstract

An automobile trim strip end cap automatic screening and guiding device, comprising: a base (100), a separating mechanism (200), a horizontal rotating mechanism (300), a vertical rotating mechanism (400), a grabbing mechanism (500), and a visual system (700). After the separating mechanism outputs a plurality of end caps one by one, grabbing efficiency of the end caps is effectively improved by means of a coordination effect of the horizontal rotating mechanism, the vertical rotating mechanism, the grabbing mechanism, and the visual system; and secondly, by means of a coordination effect of the grabbing mechanism and the visual system, whether the end caps through the automobile trim strip end cap automatic screening and guiding device satisfy setting of a control system of the device can be further detected so as to ensure that the screened and guided end caps can satisfy the requirements.

Description

Automatic screening and correcting device for automobile trim end cover and control method thereof Technical field

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.

Background technique

Automobile water-cut upper trim is an important part of automobile exterior parts. Generally speaking, corresponding end caps need to be installed on both sides of each product. Due to the different angles at the two ends of the product, a project of water-cut decorative strips often has a variety of end caps with different structures. The vibrating plate cannot achieve orderly vibration of all end caps, and it is difficult to achieve generalization; nowadays, it is common in automated assembly systems. The end cover uses a vibrating plate to make the end cover vibrate in an orderly manner and grab it in a fixed place. In this case, the number of vibrating plates used is large, and the mold needs to be changed frequently or the equipment needs to have a larger size. To place these vibrating discs; another way is to directly vibrate many end caps to inform the robot which products are suitable for grasping through vision. However, in this case, the vision accuracy required is high, the cost is high, and the end caps need to be Spread out on a plane, the product placement is random and there is no suitable grab point, resulting in low grabbing efficiency.

Summary of the invention

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.

The purpose of the present invention can be achieved by the following technical solutions: 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.

In the above-mentioned automatic screening and correcting device for automobile trim end caps, the vertical rotation mechanism, the horizontal rotation mechanism and the grasping mechanism are all electrically connected to the vision system.

In the above-mentioned automatic screening and correcting device for automobile trim end caps, 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.

In the above-mentioned automatic screening and correcting device for automobile trim end caps, 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.

In the above-mentioned automatic screening and correcting device for automobile trim end caps, 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.

In the above-mentioned automatic screening and correcting device for automobile trim end caps, the connecting plate is detachably connected with a pushing cylinder that pushes the end caps out of the clamping barrel.

In the above-mentioned automatic screening and correcting device for automobile trim end caps, 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.

In the above-mentioned automatic screening and correcting device for automobile trim end caps, the grabbing frame is provided with a second detection optical fiber for detecting whether the end cap is stored inside.

In the above-mentioned automatic screening and correcting device for automobile trim end caps, 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:

S1: 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;

S2: 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;

S3: 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;

S4: The separating mechanism pushes the subsequent end caps into the rotating disc again, and the end caps located in the rotating disc are transported to the clamping cylinder;

S5: 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;

S6: The switching cylinder pushes the switching plate, the vertical cylinder and the collection box to move synchronously. At the same time, avoid the cylinder body to push the grab rack up until the center axis of the grab tube coincides with the center axis of the grab rack, and then push The material cylinder body pushes the end cover located in the clamping barrel into the grabbing frame, and the switching cylinder body drives the vertical cylinder body to reset;

S7: 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;

S8: When the direction of the end cover detected by the vision system is qualified, avoid the cylinder body to drive the grabbing frame to reset; when the end cover detected by the vision system is unqualified, the discarding cylinder will push the discarding block to move and it will be located on the grabbing rack. Push the inner end cap into the collection box, and then repeat step S6.

Compared with the prior art, the present invention has the following beneficial effects:

1. Through the function of the separating mechanism, multiple end caps can be output one by one.

2. In the present invention, when the separating mechanism outputs multiple end caps one by one, 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.

3. 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.

4. Through the control method of the present invention, 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.

5. Through the cooperation of the grasping mechanism and the vision system, it is possible to further detect whether the end cover passing the auto trim end cover automatic screening and correcting device meets the setting of the control system of the auto trim end cover automatic screening and correcting device. To ensure that the end caps after screening and correction can meet the requirements.

Description of the drawings

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.

Detailed ways

The following are specific embodiments of the present invention combined with the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

As shown in FIGS. 1-4, 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 end cap pushed out on the mechanism 400; 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. Specifically, 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 system (not marked in the figure) of the guiding device is electrically connected.

In the present invention, the vision system 700 includes a vision stand 720, and a camera 710 is installed on the vision stand 720. Before the vision system 700 moves, people need to connect 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. When the mobile device with the vision support 720 moves, the camera 710 also moves. Specifically, the mobile device may be a manipulator or a robot.

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. After that, 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. Specifically, 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. When the end cap direction detected by the vision system 700 is qualified, 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.

As shown in Figures 1 to 3, 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. For the horizontal cylinder 330, before working, 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. Yes, when the front-to-back orientation of the end cover located in the rotating disk 320 is correct, the horizontal cylinder 330 is stationary. When the front-to-back orientation of the end cover located in the rotating disk 320 is unqualified, the horizontal cylinder 330 drives the rotating disk 320 to rotate. As a result, the end cover on the rotating disc 320 also rotates. When the rotating disc 320 rotates 180° with its own center, 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. After the system is set, 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. When the end cover enters the clamping cylinder from the gap of the rotating disk 320 (not marked in the figure) 410 inside the material hole (not marked in the figure), when the up and down direction of the end cover located in the clamping barrel 410 is correct, the vertical cylinder 440 is stationary, and when the up and down direction of the end cover located in the clamping barrel 410 is When it fails, the vertical cylinder 440 drives the clamping cylinder 410 to rotate, so that the end cover on the clamping cylinder 410 also rotates. When the clamping cylinder 410 rotates 180° with its own central axis, 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. After that, 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. After that, 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.

Further, 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 For the barrel 410 and the vertical cylinder 440, when the vertical cylinder 440 and the connecting plate 432 need to be moved, 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. When the central axis of the clamping cylinder 410 is reset to the central axis of the notch, 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; when the central axis of the clamping barrel 410 coincides with the central axis of the grasping mechanism 500, 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. After that, the switching cylinder 430 drives the switching plate 431, the vertical cylinder 440 and the clamping cylinder 410 to reset. When the clamping cylinder 410 is 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. For the material block 620, 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. When the end cap in the clamping barrel 410 is pushed onto the grab frame 520 by the push rod, 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. When the direction of the end cap detected by the vision system 700 is qualified, 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.

As shown in Figures 1 and 4, 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, and 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. When the front baffle 211a, 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. When 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. After that, 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. After that, 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. Once, 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. When the translation cylinder 222 drives the translation plate 222a to move, 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. During the operation of the conveying device, 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 following is a control method of an automatic screening and correcting device for automobile trim end caps of the present invention, which includes:

S1: 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;

S2: 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 ；

S3: 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;

S4: The separating mechanism 200 pushes the subsequent end caps onto the rotating disk 320 of the horizontal rotating mechanism 300 again, thereby pushing the end caps located in the horizontal rotating mechanism 300 to the clamping barrel 410 of the vertical rotating mechanism 400;

S5: 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;

S6: 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;

S7: 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;

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.

Through the above method, 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.

The specific embodiments described herein are merely examples to illustrate the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the specific embodiments described or use similar alternatives, but they will not deviate from the spirit of the present invention or exceed the definition of the appended claims. Range.

Claims (10)

An automatic screening and correcting device for automobile trim end caps, which is characterized in that it comprises: 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 automatic screening and correcting device for automobile trim end caps according to claim 1, wherein the vertical rotation mechanism, the horizontal rotation mechanism and the grasping mechanism are all electrically connected to the vision system. The automatic screening and correcting device for automobile trim end caps according to claim 1, wherein the horizontal rotation mechanism includes a front bracket arranged on the base, and a rotating disk is movably provided on the front bracket, and the front The bracket is also provided with a horizontal cylinder for driving the rotating disk to move horizontally. The automatic screening and correcting device for automobile trim end caps according to claim 1, wherein the vertical rotation mechanism includes a clamping cylinder for storing the end caps and a rear bracket installed on the base. The rear bracket is provided with a switching cylinder, and the switching cylinder is movably provided with a vertical cylinder for driving the clamping cylinder. The automatic screening and correcting device for automobile trim end caps according to claim 4, wherein a switching plate is movably installed on the switching cylinder, and the switching plate is provided with a switch for connecting the vertical cylinder. A connecting plate, one end of the switching plate is detachably connected with a collecting box. The automatic screening and correcting device for automobile trim end caps according to claim 5, wherein the connecting plate is detachably connected with a pushing cylinder that pushes the end cap out of the clamping barrel. The automatic screening and correcting device for automobile trim end caps according to claim 1, wherein the base is provided with a discarding mechanism that pushes the unqualified end caps in the grabbing frame to the collection box , The discarding mechanism includes a discarding cylinder provided on a base, the grabbing mechanism includes an avoiding cylinder, a grabbing frame is movably mounted on the avoiding cylinder, and the discarding cylinder is movably mounted with Push the end cap located in the grab frame into the discard block in the collection box. 7. The automatic screening and correcting device for automobile trim end caps according to claim 7, wherein the grabbing frame is provided with a second detection optical fiber for detecting whether the end cap is stored in the grab frame. The automatic screening and correcting device for automobile trim end caps according to claim 1, wherein the base is provided with an output rail, and the front baffle and the rear baffle can be embedded in the output rail . The control method of an automatic screening and correcting device for automobile trim end caps according to claim 1, characterized in that it comprises: S1: 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; S2: 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; S3: 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; S4: The separating mechanism pushes the subsequent end caps into the rotating disc again, and the end caps located in the rotating disc are transported to the clamping cylinder; S5: 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; S6: The switching cylinder pushes the switching plate, the vertical cylinder and the collection box to move synchronously. At the same time, avoid the cylinder body to push the grab rack up until the center axis of the grab tube coincides with the center axis of the grab rack, and then push The material cylinder body pushes the end cover located in the clamping barrel into the grabbing frame, and the switching cylinder body drives the vertical cylinder body to reset; S7: 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; S8: When the direction of the end cover detected by the vision system is qualified, avoid the cylinder body to drive the grabbing frame to reset; when the end cover detected by the vision system is unqualified, the discarding cylinder will push the discarding block to move and it will be located on the grabbing rack. Push the inner end cap into the collection box, and then repeat step S6.

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