Tray grabbing structure and method for new energy motor production line

Abstract

The invention relates to the technical field of new energy motor production, in particular to a new energy motor production line tray grabbing structure and method. Comprising a supporting beam, a plurality of station bases, an adsorption structure and a visual module, and the supporting beam is a suspended beam body which is supported by a supporting column and arranged in the first horizontal direction; the station bases are bearing bases located below the supporting beams and used for bearing trays. The multiple station bases comprise at least one serving as a grabbing station and used for storing the trays loaded with parts and at least one serving as a storage station and used for storing empty trays. The adsorption structure can move in the first direction, the second direction and the vertical direction, is connected to the supporting beam and is used for adsorbing the empty trays on the grabbing station. The visual module is installed on the adsorption structure and used for obtaining the storage condition of the parts in the tray on the grabbing station. The grabbing structure is simple, empty trays can be automatically transferred, the motor assembling efficiency is greatly improved, and a large amount of manpower and material resources are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy motor production, and in particular to a pallet grabbing structure and a grabbing method for a new energy motor production line. Background Art

[0002] With the rapid popularization of new energy electric vehicles, the demand for new energy motors has diversified. At present, conventional new energy motors include the following parts: stator, rotor, left housing, right housing, large gear ring and reduction box housing. When assembling new energy motors on the production line, an effective loading and unloading system is required to efficiently transfer the required parts to the production line for assembly.

[0003] At present, due to the large number of components (six parts) of new energy motors, the assembly process has many steps and the difficulty of operation, the traditional manual loading and unloading method is no longer applicable. When designing the loading and unloading system, it is necessary to continuously transport the parts to the designated location. In the actual operation process, the number of parts that need to be loaded is large, and the transportation time is long. Collisions between parts, failures of the conveying system, fluctuations in the conveying speed, etc. often occur, making it impossible for parts to be accurately delivered to the designated location, resulting in congestion or stagnation of the production line, affecting the continuity and efficiency of assembly. In order to avoid collisions between parts, parts are usually placed in a pallet, and then the pallet and adjacent parts are transported at the same time. The parts on the pallet are isolated from each other, and there will be no collisions with each other, avoiding collision damage to the parts.

[0004] As a carrying tool, pallets can effectively prevent collisions between parts, but the use of pallets has brought some new problems. When the parts on the pallet are taken away, how to recycle the empty pallet for secondary use is not specified in the current motor production line. For example, the prior art proposes a cyclic loading method for an automated motor assembly production line, which performs loading according to the following steps: S1, building a three-dimensional storage warehouse LA and a three-dimensional storage warehouse LB that are arranged in parallel on the support beam, and the three-dimensional storage warehouse LA is arranged behind the three-dimensional storage warehouse LB; LA is provided with N layers of storage units, which are recorded as LA1, LA2, LAi..., LAN from top to bottom, and the height of each layer of storage units is h; LB is provided with N layers of storage units, which are recorded as LB1, LB2, LBi..., LBN from top to bottom, and the height of each layer of storage units is h; N≥2; the three-dimensional storage warehouse LA and the three-dimensional storage warehouse LB are both provided with a lifting mechanism; a tray mounted on the lifting mechanism is provided at the bottom of each storage unit, and the upper and lower adjacent storage units are separated by the tray; S2, loading loading components onto the trays of the storage units LA2, LAi..., LAN, withdrawing the tray of the storage unit LA1, and using the storage unit LA1 as a transfer station;

[0005] S3. An upper transverse mechanism is provided between storage units LA1 and LB1, and the pallets of storage unit LB1 are transversely moved to storage unit LA1 through the top transverse mechanism; S4. The lifting mechanism of the three-dimensional storage library LB drives the pallets of LB2, LBi..., LBN to rise to a height h of a storage unit. At this time, there are no pallets in storage unit LBN; S5. A lower transverse mechanism is provided between storage units LAN and LBN, and the pallets of storage unit LAN are transversely moved to storage unit LBN through the lower transverse mechanism; S6. The lifting mechanism of the three-dimensional storage library LA drives the pallets of LA1, LA2, LAi..., LB(N-1) to descend to a height h of a storage unit; S7. Load the feeding components in the tray of storage unit LA2; S8, repeat steps S3-S7 until LB1, LB2, LBi..., LBN are all loaded with feeding components, LA2, LAi..., LAN are all loaded with feeding components, LA1 has no tray and serves as a transfer station. At this time, the feeding preparation work is completed; S9, storage unit LB1 is a material taking station. When all the feeding components loaded in LB1 are taken out, choose to execute step S91 or step S92: S91, repeat steps S3-S7 to realize circular feeding; S92, repeat steps S3-S6, and load feeding components into LA2, LAi..., LAN in time to ensure uninterrupted feeding of storage unit LB1.

[0006] This feeding method constructs a three-dimensional storage unit, equipped with a lifting mechanism and a tray, adopts a cyclic feeding method, realizes multi-layer automatic storage and feeding, ensures the continuous operation of the production line, reduces production stagnation caused by untimely feeding, and greatly improves feeding efficiency and accuracy. It improves the convenience of manual feeding. Through the two feeding strategies of S91 and S92, it realizes the flexible loading of feeding components according to actual production conditions, reduces the number of operations of personnel on the production line, reduces the safety risks in the workplace, and saves manual operation costs.

[0007] However, this method does not explain how to deal with empty pallets, but only explains how to remove empty pallets. According to the description of the technology, the solution is to use the pallet as a reusable carrier and set up a dedicated workstation as a parts placement station. After the pallet is moved to this position, the parts are placed on the pallet through other means. The pallet then moves vertically and horizontally into the loading station and is grabbed. The empty pallet is always in this loading structure and will not separate from the entire loading structure.

[0008] However, in actual applications, there is a certain distance between the storage location of parts and the loading location of parts. Usually, it is necessary to transport the empty pallet to the storage location of parts, and then load the parts onto the empty pallet one by one, and then transport the whole to the loading location to be grabbed and assembled. How to collect the pallets at the loading station after the parts they carry are taken away is a difficult problem that needs to be solved urgently. If it is completely dependent on manual operation, workers need to enter the dangerous area to collect the empty pallets, which poses a great safety hazard. In addition, the efficiency of manual collection and transportation is extremely low, which seriously affects the production efficiency of the entire new energy motor production line. Summary of the invention

[0009] The purpose of this application is to solve the deficiencies of the above-mentioned background technology and to provide a pallet grabbing structure and grabbing method for a new energy motor production line.

[0010] The technical solution of this application is: a pallet grabbing structure for a new energy motor production line, comprising:

[0011] A support beam, wherein the support beam is a suspended beam body arranged along a first horizontal direction by supporting a support column;

[0012] A plurality of station bases, wherein the station base is a bearing base located below the support beam for bearing a pallet, and the plurality of station bases include at least one as a grabbing station for storing a pallet loaded with parts and at least one as a storage station for storing an empty pallet;

[0013] A suction structure, wherein the suction structure is connected to the support beam and can move in a first direction, a second direction and a vertical direction to suction the empty pallet on the grabbing station;

[0014] A visual module, which is installed on the adsorption structure and is used to obtain the storage status of parts in the tray on the grabbing station;

[0015] The first direction, the second direction and the vertical direction are perpendicular to each other.

[0016] According to a new energy motor production line pallet grabbing structure provided in the present application, the adsorption structure includes:

[0017] A first grabbing plate, wherein the first grabbing plate is a horizontal plate-shaped structure connected to the support beam and movable in a first direction, a second direction and vertically, and a plurality of first adsorption heads for adsorbing a pallet are arranged on a lower end surface of the first grabbing plate;

[0018] The second grabbing plate is a horizontal plate structure vertically adjustable connected to the first grabbing plate through a lifting cylinder, the second grabbing plate is located below the first grabbing plate, and a plurality of second adsorption heads for adsorbing another type of pallet are provided on the lower end surface of the second grabbing plate.

[0019] According to a pallet grabbing structure for a new energy motor production line provided in the present application, the first adsorption head is a vacuum adsorption structure or a magnetic adsorption structure located around the first grabbing plate; the second adsorption head is a vacuum adsorption structure or a magnetic adsorption structure located around the second grabbing plate.

[0020] According to the present application, a pallet grabbing structure for a new energy motor production line also includes:

[0021] A first guide rail, wherein the first guide rail is installed on the support beam and arranged along a first direction;

[0022] A second guide rail, wherein one end of the second guide rail is connected to the first guide rail and can be moved in the first direction by being driven by a first-direction motor, and the other end of the second guide rail extends along a horizontal second direction;

[0023] A vertical guide rail, wherein the vertical guide rail is connected to the second guide rail so as to be movable in a second direction via a second direction motor;

[0024] The adsorption structure is connected to the vertical guide rail in a vertically movable manner via a vertical motor.

[0025] According to a pallet grabbing structure for a new energy motor production line provided in the present application, the first grabbing plate is connected to the lower end of a vertical guide rail so as to be rotatable around a vertical axis through a rotating motor.

[0026] According to a pallet grabbing structure for a new energy motor production line provided in the present application, the pallet is provided with a plurality of storage holes for accommodating motor components, and the plurality of storage holes are evenly distributed on the pallet in an array pattern; the upper end surface of the pallet is arranged with a plurality of adsorption surfaces that are higher than the upper ends of the components placed in the storage holes.

[0027] According to the present application, a pallet grabbing structure for a new energy motor production line also includes:

[0028] A trolley, which is a load-bearing base for storing a plurality of pallets stacked vertically;

[0029] A limiting structure for fixing the trolley is arranged on the workstation base.

[0030] According to a pallet grabbing structure for a new energy motor production line provided in the present application, the workstation base includes a plurality of columns, two side panels fixed on the columns and disposed on both sides of a first direction, and a limit rod extending along the first direction; the limit rod is fixed to the ends of the two side panels along the second direction and forms a square frame structure with one side open with the two side panels; the side panels are arranged along the second direction and abut against the side of the trolley when the trolley enters the workstation base to limit the movement of the trolley in the first direction; the

[0031] According to a pallet grabbing structure for a new energy motor production line provided in the present application, a support rod extending along the second direction is provided on the inner side of the side plate; the support rod is supported on the lower end surface of the trolley after the trolley completely enters the workstation base.

[0032] According to a pallet grabbing structure for a new energy motor production line provided in the present application, the limiting structure includes a plurality of limiting seats arranged on a limiting rod; a limiting pull rod and a limiting cylinder driving the limiting pull rod to rotate around a first axis are arranged on the limiting seat; the lower end of the limiting pull rod is hingedly connected to the limiting seat and can rotate around the first axis, and the upper end is driven by the limiting cylinder to hook on the bottom beam of the trolley to limit the second-direction movement of the trolley after the trolley completely falls on the support rod.

[0033] According to the pallet grabbing structure of a new energy motor production line provided in this application, the limit seat is provided with an in-place sensor for sensing whether the trolley is fully in place.

[0034] According to a pallet grabbing structure for a new energy motor production line provided in the present application, the trolley includes a base plate, four legs, and a plurality of cross beams and longitudinal beams located on the lower end surface of the base plate; the four legs are disposed at the four corners of the base plate to make the base plate suspended in the air, and pulleys are installed on the legs.

[0035] According to a pallet grabbing structure for a new energy motor production line provided in the present application, a limit plate is provided at the edge of the bottom plate, which extends beyond the upper end surface of the bottom plate and is used to limit the movement of the pallet.

[0036] The present application also provides a method for grabbing a pallet of a new energy motor production line, wherein the method utilizes any of the above-mentioned pallet grabbing structures of a new energy motor production line to grab the pallet, and comprises:

[0037] Based on the visual module, the placement of components in the top tray of the current grabbing station is obtained;

[0038] After determining that the topmost pallet at the current grabbing station is an empty pallet, the adsorption structure is moved so that the adsorption structure adsorbs the empty pallet and transports the empty pallet to the storage station, and the empty pallet is placed on the storage station.

[0039] According to a pallet grabbing method for a new energy motor production line provided in the present application, the method of moving the adsorption structure so that the adsorption structure adsorbs an empty pallet and transports the empty pallet to a storage station includes: adjusting the horizontal position of the first grabbing plate in the adsorption structure so that the first grabbing plate is translated to directly above the empty pallet to be grabbed, and based on the model of the current empty pallet, selecting to use the first adsorption head on the first grabbing plate or the second adsorption head on the second grabbing plate below the first grabbing plate to adsorb and fix the empty pallet; adjusting the horizontal position of the first grabbing plate so that the first grabbing plate is translated to above the storage station, and lowering the adsorbed empty pallet to the storage station.

[0040] The advantages of this application are as follows: 1. By constructing multiple station bases, adsorption structures and visual modules, this application can automatically identify the pallet on the station base to determine whether it is an empty pallet. When it is an empty pallet, the adsorption structure can accurately move to the empty pallet to adsorb and transport the empty pallet to the storage station. The overall operation is very simple and can be fully automated without the need for personnel on duty, which greatly improves the efficiency of pallet transfer and greatly improves the assembly efficiency of new energy motors;

[0041] 2. The adsorption structure of the present application has two adsorption heads, which correspond to the adsorption of two different pallets respectively. Pallets of different specifications can carry different parts. The adsorption structure of the present application has a wide range of applications and excellent versatility, and can conveniently transport various pallets;

[0042] 3. The adsorption head used in this application can be a vacuum adsorption or a magnetic adsorption structure. You can choose a suitable adsorption head to adsorb and transport the pallet according to actual needs. The entire adsorption head has a simple structure and is easy to operate;

[0043] 4. The adsorption structure of the present application can realize three-way movement in the first direction, the second direction and the vertical direction. The adsorption structure covers a wide range and can conveniently grab and transfer the pallet. It is simple to operate and easy to control.

[0044] 5. The first grab plate of the present application can rotate around the vertical axis, so that the adsorption structure can completely fit the tray structure below, and the tray can be stably grabbed, and the grabbing and carrying of the tray become extremely convenient and efficient;

[0045] 6. The present application sets up a special tray structure, using the tray to carry parts, and can construct corresponding storage holes according to the structure of the parts, which is convenient for the storage of parts and the subsequent grabbing operation. The adsorption surface is set to facilitate the grabbing and carrying of the tray, and also avoids scratches on the parts when the trays are stacked together;

[0046] 7. This application designs a special trolley for the transportation of pallets and parts. The trolley can carry the pallets and parts to move. The trolley is fixed to the workstation base, so that the pallets and parts on the trolley can be stably placed on the workstation base, which improves the safety of grabbing pallets and parts;

[0047] 8. The station base of the present application has a simple structure. The station base is a frame structure with one side open, which is convenient for the trolley to enter and exit the station base. The AGV transfer trolley is extremely simple. The side panels on both sides of the station base can play a good limiting role and can also form a guide structure to facilitate the trolley to be accurately transferred into the station base;

[0048] 9. The present application sets a support rod at the lower end of the side plate, which can facilitate the placement of the trolley and facilitate the trolley to be stably supported in the workstation base. The support rods on both sides support the trolley respectively, and the support stability is good, and there will be no overturning problem;

[0049] 10. The present application provides an movable limit pull rod on the limit rod, which can hook the trolley when the trolley completely enters the station base and rests on the support rod, limiting the second direction movement of the trolley, that is, the cooperation of the side plate, the support rod and the limit pull rod can well stabilize the trolley in the station base;

[0050] 11. This application sets an in-place sensor on the limit seat. The in-place sensor can well sense whether the trolley is in place. Only when it is in place will the limit pull rod be driven. The limit fixing operation can be fully automated and precise, which greatly reduces the difficulty of fixing the trolley;

[0051] 12. The trolley of the present application has a simple structure. The bottom plate is supported by four legs, and there is space for the AGV to enter below, which is convenient for the AGV to enter under the trolley to transport and move the trolley, making the movement of the trolley more efficient and simple;

[0052] 13. The present application sets a limit plate at a right angle to the bottom plate, which can be used to limit the pallet, making the pallet more stable on the trolley and preventing the overturning problem caused by the movement of the trolley;

[0053] 14. The present application also provides a method for grabbing a pallet. The pallet of the present application can be switched between at least two workstations. An empty pallet is automatically identified and quickly transported to a storage station through an adsorption structure. The empty pallet is transported in a very simple manner and does not require any personnel on duty, which greatly improves the efficiency of grabbing parts.

[0054] 15. The method of transporting empty pallets by the adsorption structure of the present application is very simple. Through the adjustment in the first direction, the second direction and the vertical direction, the empty pallet can be conveniently transported from the grabbing station to the storage station. The whole operation is convenient and fast, with good safety, and at the same time improves the efficiency of pallet transportation.

[0055] The grabbing structure of the present application is simple and can automatically transfer empty pallets without interfering with the robot's grabbing operation of parts, which greatly improves the efficiency of motor assembly and saves a lot of manpower and material resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 : Axis view of the grabbing structure of this application;

[0057] Figure 2 : A top view of the grabbing structure of the present application;

[0058] Figure 3 : Schematic diagram of the arrangement structure of the first grabbing plate and the second grabbing plate of the present application;

[0059] Figure 4 : Schematic diagram of the connection structure between the trolley and the workstation base of the present application;

[0060] Figure 5 : Schematic diagram of the trolley of the present application being placed on the workstation base;

[0061] Figure 6 : Schematic diagram of the relative arrangement of the trolley and the workstation base of the present application;

[0062] Figure 7 : Schematic diagram of the workstation base structure of this application;

[0063] Figure 8 : Schematic diagram of the connection structure between the trolley and the workstation base of the present application (looking up);

[0064] Among them: 1-station base; 1.1-column; 1.2-side plate; 1.3-limit rod; 1.4-support rod; 1.5-limit seat; 1.6-limit pull rod;

[0065] 2—trolley; 2.1—bottom plate; 2.2—outriggers; 2.3—crossbeam; 2.4—longitudinal beam; 2.5—pulley; 2.6—limiting plate;

[0066] 3—AGV;

[0067] 4—Pallet;

[0068] 5—support beam; 6—support column; 7—visual module;

[0069] 8—adsorption structure; 8.1—first grab plate; 8.2—second grab plate; 8.3—first adsorption head; 8.4—second adsorption head; 8.5—first guide rail; 8.6—second guide rail; 8.7—vertical guide rail. DETAILED DESCRIPTION

[0070] The embodiments of the present application are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0071] In the description of the present application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0073] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0074] The present application relates to a pallet grabbing structure for a new energy motor production line. The grabbing structure of the present application is used to grab the pallet carrying parts. The parts used for the assembly of new energy motors are placed in the pallet, and then the parts and the pallet are moved as a whole to a position convenient for the robot to grab. The robot grabs the parts on the pallet to assemble the motor. After the parts in the pallet are completely grabbed and removed, the empty pallet needs to be grabbed to a station specifically for storing pallets to avoid the empty pallet from blocking the parts on the pallet below. The grabbing structure of the present application is to move the empty pallet from the grabbing station to the storage station. The grabbing structure of the present application is fully automated, and can automatically identify the pallet on the grabbing station, determine whether the currently identified pallet is an empty pallet, and if it is an empty pallet, control the grabbing structure to adsorb the empty pallet and transfer it to the storage station. No human operation is required, and the degree of automation and intelligence is high, which can effectively improve the efficiency of parts grabbing, and the turnover efficiency of the pallet has also been greatly improved.

[0075] Specifically, Figures 1 to 8As shown, a pallet grabbing structure for a new energy motor production line of the present application includes a support beam 5, a plurality of workstation bases 1, an adsorption structure 8 and a visual module 7. The support beam 5 is a suspended beam body arranged along a first horizontal direction supported by a support column 6. The support beam 5 is the bearing foundation of the entire grabbing structure. The support beam 5 of the present application is arranged along the first direction and is a suspended structure. It is convenient to construct a plurality of workstations below the support beam 5. The support beam 5 itself can be used as a guide rail foundation for the movement and adjustment of the adsorption structure; the workstation base 1 is a bearing base for carrying a pallet 4 located below the support beam 5. The plurality of workstation bases 1 include at least one as a grabbing station for storing a pallet 4 loaded with parts and at least one as a storage station for storing an empty pallet 4, such as Figures 1-2 As shown, the present application is provided with four station bases 1 under the support beam 5, and three of the four station bases 1 are gripping stations (such as Figures 1-2 B), one is a storage station (such as Figures 1-2 A) and an NG station (as shown Figures 1-2 As shown in C), multiple layers of pallets are stacked on the station base 1 of the grabbing station, and multiple parts of the same specification are stored in the pallets. The station base 1 of the storage station is used to store empty pallets, and the station base 1 of the NG station is used to store unqualified parts; the adsorption structure 8 can be connected to the support beam 5 and can be moved in the first direction, the second direction and the vertical direction to adsorb the empty pallet 4 on the grabbing station. The adsorption structure 8 is the main component for grabbing and moving the empty pallet, and can be moved to the storage station for placement by adsorption, and the empty pallets can be stacked together vertically for convenience in subsequent The whole is transferred and removed; the visual module 7 is installed on the adsorption structure 8.7 to obtain the storage status of the parts in the tray 4 on the grasping station. The visual module 7 of the present application includes a camera, which obtains the top view image information of the tray below, and then compares the obtained image information with the standard empty tray information. If the obtained image information corresponds to the standard image information, that is, the similarity meets the set requirements, it can be judged that the current tray below is an empty tray, which can be transported to the storage station through the adsorption structure. Otherwise, it is not an empty tray, and there are still parts, which need to wait for the robot to grasp it.

[0076] During actual operation, the placement of components in the top tray 4 on the current grabbing station is obtained based on the visual module 7; after determining that the top tray 4 at the current grabbing station is an empty tray 4, the adsorption structure 8 is moved so that the adsorption structure 8 adsorbs the empty tray 4 and transports the empty tray 4 to the storage station, and places the empty tray 4 on the storage station; after the stacking of empty trays on the storage station reaches a set number (the number of empty trays currently stacked can be determined by collecting the stacking height of the empty trays on the current storage station, or the number of empty trays can be determined by recording the number of times the adsorption structure transports the empty trays to the storage station), all the empty trays on the storage station can be transported and removed as a whole; other methods can also be used, such as after all the trays on the station base 1 that was originally used as a grabbing station have been grabbed and removed, the station base 1 can be switched to a storage station.

[0077] The first direction of this application is Figure 2 The left and right directions in the Figure 2 The up and down directions in the Figure 2 Perpendicular to the paper surface, the first direction, the second direction and the vertical direction are perpendicular to each other.

[0078] In some embodiments of the present application, the above-mentioned adsorption structure 8 is optimized. Specifically, Figure 3 As shown, the adsorption structure 8 of this embodiment includes a first grabbing plate 8.1 and a second grabbing plate 8.2. The first grabbing plate 8.1 is a horizontal plate structure connected to the support beam 5 and can move in the first direction, the second direction and the vertical direction. The lower end surface of the first grabbing plate 8.1 is provided with a plurality of first adsorption heads 8.3 for adsorbing a type of pallet 4; the second grabbing plate 8.2 is a horizontal plate structure connected to the first grabbing plate 8.1 and can be adjusted vertically by a lifting cylinder. The second grabbing plate 8.2 is below the first grabbing plate 8.1, and the lower end surface of the second grabbing plate 8.2 is provided with a plurality of second adsorption heads 8.4 for adsorbing another type of pallet 4.

[0079] The first adsorption head 8.3 and the second adsorption head 8.4 correspond to the grabbing of different types of pallets, respectively. The assembly of the new energy motor of this embodiment involves six parts, namely: stator, rotor, left housing, right housing, large ring gear and reduction gear housing. Each component corresponds to a pallet, that is to say, theoretically this embodiment involves six types of pallets. According to the structure of the six components, this embodiment designs the pallet into two adsorption forms, which correspond to the first adsorption head 8.3 and the second adsorption head 8.4, respectively. There are differences in the adsorption methods corresponding to each adsorption form. Among them, the first adsorption head 8.3 is a vacuum adsorption structure or a magnetic adsorption structure located around the first grabbing plate 8.1, and the second adsorption head 8.4 is a vacuum adsorption structure or a magnetic adsorption structure located around the second grabbing plate 8.2.

[0080] In this embodiment, the first adsorption head 8.3 of this embodiment is a vacuum adsorption structure located around the first grab plate 8.1, and the second adsorption head 8.4 is a magnetic adsorption structure located around the second grab plate 8.2. The adsorption ranges corresponding to the two adsorption heads are different. When the tray below is obtained to be of the first type of structure, the first adsorption head 8.3 is used for adsorption, and the vertical position of the entire first grab plate 8.1 is adjusted to move the first grab plate 8.1 downward until the first adsorption head 8.3 is attached to the adsorption surface of the tray to be grabbed below, and then, under the action of the vacuum generator, the first adsorption head 8.3 vacuum adsorbs the tray;

[0081] When it is detected that the tray below is of the second type of structure, the second adsorption head 8.4 is used for adsorption, the vertical height of the first grabbing plate 8.1 is adjusted for coarse adjustment, and then the vertical height of the second grabbing plate 8.2 is adjusted for fine adjustment, so that the second adsorption head 8.4 is accurately adsorbed on the adsorption surface of the tray, completing the adsorption operation of the tray by the second adsorption head 8.4.

[0082] In addition, the structure of the present embodiment to realize multi-directional movement of the adsorption structure is as follows Figures 1-2 As shown, it includes a first guide rail 8.5, a second guide rail 8.6 and a vertical guide rail 8.7. The first guide rail 8.5 is installed on the support beam 5 and arranged along the first direction. One end of the second guide rail 8.6 is connected to the first guide rail 8.5 and can be moved in the first direction by a first-direction motor, and the other end extends horizontally along the second direction. The vertical guide rail 8.7 is connected to the second guide rail 8.6 and can be moved in the second direction by a second-direction motor. The adsorption structure 8 is connected to the vertical guide rail 8.7 and can be moved vertically by a vertical motor. The first grab plate 8.1 is connected to the lower end of the vertical guide rail 8.7 and can be rotated around a vertical axis by a rotating motor.

[0083] The first direction motor on the first guide rail 8.5 can drive the second guide rail 8.6 to move in the first direction, the second direction motor on the second guide rail 8.6 can drive the vertical guide rail to move in the second direction, the vertical motor on the vertical guide rail can drive the support seat at the lower end of the vertical guide rail to move vertically, and a rotating motor is installed on the support seat, which can drive the first grab plate 8.1 to rotate around the vertical axis.

[0084] The rotation of the first grabbing plate 8.1 around the vertical axis in this embodiment is a small-range adjustment, the purpose of which is to align the first grabbing plate 8.1 with the tray below in the vertical direction, so that the adsorption head on the first grabbing plate 8.1 can be aligned with the adsorption surface on the tray below, facilitating subsequent adsorption operations.

[0085] In other embodiments of the present application, the present embodiment optimizes the structure of the tray 4, specifically, Figure 4As shown, the tray 4 is provided with a plurality of storage holes for accommodating motor components, and the plurality of storage holes are evenly distributed on the tray 4 in an array pattern, and the upper end surface of the tray 4 is arranged with a plurality of adsorption surfaces that are higher than the upper ends of the components placed in the storage holes.

[0086] The storage hole is a hole-shaped structure corresponding to the motor parts, and its upper end is open to facilitate the entry and exit of the parts. The setting of the adsorption surface is convenient for stacking the trays 4 together. The parts in the upper tray 4 and the lower tray 4 are completely isolated, and the upper tray 4 will not cause damage to the parts in the lower tray 4. At the same time, the adsorption surface is a flat end surface structure, which is convenient for the stacking arrangement of the adjacent trays 4 on both sides, and the stacking of the trays 4 is more stable; on the other hand, the setting of the adsorption surface is convenient for the subsequent adsorption, grabbing and handling operations of the empty trays through the grabbing structure.

[0087] In the preferred embodiment of the present application, the storage and transportation method of the tray 4 is optimized. Figure 4 As shown, the pallets 4 of this embodiment are stacked together in layers after being loaded with parts, and the stacked pallets 4 are placed on a trolley 2. The trolley 2 is a supporting base for storing multiple pallets 4 stacked vertically. Then the trolley 2 and the carried pallets 4 are transported to the work station base 1, and a limiting structure for fixing the trolley 2 is provided on the work station base 1.

[0088] like Figures 5 to 7 As shown, the workstation base 1 includes a plurality of columns 1.1, two side panels 1.2 fixed on the columns 1.1 and disposed on both sides of a first direction, and a limiting rod 1.3 extending along the first direction. The limiting rod 1.3 is fixed to the ends of the two side panels 1.2 along the second direction to form a square frame structure with one side open with the two side panels 1.2. The limiting rod 1.3 and the side panels 1.2 on both sides form a U-shaped structure. Four columns 1.1 are arranged on the workstation base 1. The four columns 1.1 support the U-shaped frame structure formed by the limiting plates 1.3 and the side panels 1.2. The U-shaped frame structure forms a suspended structure. The space below the side panels 1.2 and the limiting plates 1.3 facilitates the entry and exit of AGV3.

[0089] The side panel 1.2 is arranged along the second direction and abuts against the side of the trolley 2 to limit the movement of the trolley 2 in the first direction when the trolley 2 enters the workstation base 1. The side panel 1.2 can serve as a first-direction limiting structure for the trolley 2 to enter the workstation base 1, and can also serve as a guiding structure for the trolley 2 to enter the workstation base 1.

[0090] In this embodiment, a support rod 1.4 extending along the second direction is provided on the inner side of the side plate 1.2. The above-mentioned side plate 1.2 is used to limit the first direction of the trolley 2 entering the workstation base 1. The support rod 1.4 is a structure for vertically supporting the trolley 2, which is equivalent to limiting the vertical direction of the trolley 2, limiting the vertical downward movement of the trolley 2, but not limiting the vertical upward movement of the trolley 2. When the trolley 2 enters the workstation base 1, the first two sides of the trolley 2 are higher than the support rod 1.4, and the support rod 1.4 and the trolley 2 are arranged overlapping in the vertical direction (the support rod 1.4 is provided with a pillar, the pillar passes through the support rod 1.4 vertically, and the trolley 2 is lowered to the top of the pillar). After the trolley 2 is driven to move into place, the trolley 2 is lowered onto the support rod 1.4, and the operation of the trolley 2 to the workstation base 1 can be completed.

[0091] like Figures 6-7 As shown, the limiting structure includes a plurality of limiting seats 1.5 arranged on the limiting rod 1.3, a limiting pull rod 1.6 and a limiting cylinder driving the limiting pull rod 1.6 to rotate around a first axis line are arranged on the limiting seat 1.5, the lower end of the limiting pull rod 1.6 is hingedly connected to the limiting seat 1.5 and can rotate around the first axis line, and the upper end is driven by the limiting cylinder to hook on the bottom beam 2.3 of the trolley 2 to limit the second movement of the trolley 2 after the trolley 2 completely falls on the support rod 1.4.

[0092] The limit seat 1.5 and the limit rod 1.3 form a clamping structure. When the trolley 2 moves into place, the limit cylinder in the limit seat 1.5 will drive the limit rod 1.3 to rotate around the first axis, and the upper end of the limit rod 1.3 will flip from bottom to top and along the second direction from the direction away from the limit rod 1.3 to the direction close to the limit rod 1.3, until the crossbeam 2.3 on the side of the bottom of the trolley 2 close to the limit rod 1.3 is clamped and fixed between the limit seat 1.5 and the limit rod 1.3, limiting the movement of the trolley 2 along the second direction, thereby completing the positioning and fixation of the trolley 2.

[0093] When the trolley 2 needs to be moved out of the work station base 1, the limit cylinder drives the limit rod 1.3 to rotate around the first axis, and the upper end of the limit rod 1.3 flips from top to bottom and along the second direction from the direction close to the limit rod 1.3 to the direction away from the limit rod 1.3 until the upper end of the limit rod 1.3 is lower than the cross beam 2.3, and then under the action of the driving device, the trolley 2 is lifted vertically so that the bottom of the trolley 2 is separated from the support rods 1.4 on both sides, and the trolley 2 is driven to move out of the work station base 1 along the second direction.

[0094] In addition, in order to improve the degree of automatic control, the present embodiment is provided with an in-position sensor on the limit seat 1.5 for sensing whether the trolley 2 is completely in position. When the in-position sensor detects that the trolley 2 has moved into position, it will automatically control the operation of the limit cylinder, thereby automatically controlling the movement of the limit pull rod 1.6 to achieve the limit clamping and fixing of the trolley 2.

[0095] In actual application, when the trolley 2 needs to be moved to the workstation base 1, the driving device carries the trolley 2 and the tray 4 and parts placed on the trolley 2 to move to the opening side of the workstation base 1, and then moves along the second direction to the side of the limit rod 1.3. The trolley 2 is limited between the side plates 1.2 on both sides under the guidance of the side plates 1.2 on both sides until the second end of the trolley 2 close to the limit rod 1.3 is detected by the in-place sensor, and the trolley 2 is lowered to the support rods 1.4 on both sides, and the limit seat 1.5 is in The limit cylinder will drive the limit rod 1.3 to rotate around the axis of the first direction, and the upper end of the limit rod 1.3 will flip from bottom to top and from the direction away from the limit rod 1.3 to the direction close to the limit rod 1.3 along the second direction, until the crossbeam 2.3 on the side of the bottom of the trolley 2 close to the limit rod 1.3 is clamped and fixed between the limit seat 1.5 and the limit rod 1.3, limiting the movement of the trolley 2 along the second direction, thereby completing the positioning and fixing of the trolley 2; the driving device continues to move downward until it is completely separated from the trolley 2, and then moves out from the bottom of the trolley 2;

[0096] When the trolley 2 needs to be moved out of the work station base 1, the driving device moves to the opening side of the work station base 1, and then moves along the second direction to the side of the limit rod 1.3, and the driving device moves to the bottom of the trolley 2 on the work station base 1. After moving into place, the limit cylinder drives the limit pull rod 1.3 to rotate around the first axis, and the upper end of the limit pull rod 1.3 flips from top to bottom and from the direction close to the limit rod 1.3 to the direction away from the limit rod 1.3 along the second direction until the upper end of the limit pull rod 1.3 is lower than the cross beam 2.3; the driving device is lifted vertically until it contacts the bottom of the trolley 2, and continues to lift until the trolley 2 is completely separated from the support rods 1.4 on both sides, and the trolley 2 is completely seated on the driving device, and under the action of the driving device, it is moved out of the work station base 1 along the second direction.

[0097] The driving device of this embodiment may be AGV3, which has the functions of translation and vertical lifting.

[0098] In other embodiments of the present application, the present embodiment optimizes the structure of the above-mentioned trolley 2. Specifically, Figure 8 As shown, the trolley 2 includes a bottom plate 2.1, four legs 2.2, and a plurality of cross beams 2.3 and longitudinal beams 2.4 located at the lower end surface of the bottom plate 2.1. The four legs 2.2 are disposed at four corners of the bottom plate 2.1 to suspend the bottom plate 2.1. Pulleys 2.5 are installed on the legs 2.2.

[0099] The trolley 2 is a load-bearing foundation. Multiple crossbeams 2.3 and longitudinal beams 2.4 form the skeleton of the trolley 2. Four legs 2.2 and pulleys 2.5 are provided to facilitate the movement of the trolley 2, mainly the movement of an empty trolley 2. The trolley 2 fully loaded with pallets 4 and parts is very heavy and is driven by a driving device. The two crossbeams 2.3 of the trolley 2 along the second direction serve as the clamping components of the limit pull rod 1.6 on the station base 1.

[0100] In addition, in order to facilitate the placement of the tray 4, the present embodiment is provided with a limit plate 2.6 on the edge of the bottom plate 2.1 that extends beyond the upper end surface of the bottom plate 2.1 and is used to limit the movement of the tray 4. The limit plates 2.6 at the four corners of the bottom plate 2.1 form a groove structure with the bottom plate 2.1. After the tray 4 is placed on the bottom plate 2.1, the four corners of the tray 4 are restricted by the limit plates 2.6 and the bottom plate 2.1, thereby preventing the tray 4 from shaking and making the tray 4 and the parts more stable on the trolley 2.

[0101] The actual operation of the present application involves two levels, one is that the tray 4 enters the station base 1, and the other is the conversion of the tray 4 on the station base 1; when the tray 4 loaded with parts is stacked on the trolley 2, and the trolley 2 needs to enter the station base 1, the driving device carries the trolley 2 and the tray 4 and parts placed on the trolley 2 to move to the opening side of the station base 1, and then moves along the second direction to the side of the limit rod 1.3. The trolley 2 is restricted between the side plates 1.2 on both sides under the guiding action of the side plates 1.2 on both sides until the trolley 2 is close to the second end of the limit rod 1.3 and is in place by the sensor The device detects that the trolley 2 is lowered to the support rods 1.4 on both sides, and the limit cylinder in the limit seat 1.5 drives the limit pull rod 1.3 to rotate around the first axis, and the upper end of the limit pull rod 1.3 flips from bottom to top and along the second direction from the direction away from the limit rod 1.3 to the direction close to the limit rod 1.3, until the crossbeam 2.3 on the side of the bottom of the trolley 2 close to the limit rod 1.3 is clamped and fixed between the limit seat 1.5 and the limit pull rod 1.3, limiting the movement of the trolley 2 along the second direction, thereby completing the positioning and fixing of the trolley 2; the driving device continues to move downward until it is completely separated from the trolley 2, and then moves out from the bottom of the trolley 2;

[0102] The trolley 2 and the tray 4 loaded with parts are in the grabbing station, and the robot grabs the parts from the top tray 4 of the grabbing station one by one. After all the parts in the top tray 4 are grabbed and removed, the visual module 7 collects the image information of the top tray 4, and after judging that the tray 4 is an empty tray, the first direction motor on the first guide rail 8.5 drives the second guide rail 8.6 to move in the first direction, the second direction motor on the second guide rail 8.6 drives the vertical guide rail to move in the second direction, the vertical motor on the vertical guide rail drives the support seat at the lower end of the vertical guide rail to move vertically, and the rotary motor drives the first grab plate 8.1 to rotate around the vertical axis until the first grab plate 8.1 is aligned with the empty tray below, and the corresponding adsorption head is selected for adsorption and grabbing according to the model of the empty tray;

[0103] When the tray below is found to be of the first type of structure, the first suction head 8.3 is used for suction, and the vertical position of the entire first grabbing plate 8.1 is adjusted to move the first grabbing plate 8.1 downward until the first suction head 8.3 is attached to the suction surface of the tray to be grabbed below, and then the first suction head 8.3 vacuum-suctions the tray under the action of the vacuum generator;

[0104] When it is found that the tray below is of the second type structure, the second adsorption head 8.4 is used for adsorption, the vertical height of the first grab plate 8.1 is adjusted for rough adjustment, and then the vertical height of the second grab plate 8.2 is adjusted for fine adjustment, so that the second adsorption head 8.4 is accurately adsorbed on the adsorption surface of the tray, and the adsorption operation of the second adsorption head 8.4 on the tray is completed;

[0105] The grabbed empty pallet is moved along the first direction to the storage station, the empty pallet is placed on the storage station, and the handling operation of the empty pallet is completed, and the operation is performed in sequence until the empty pallets on the storage station reach the set number;

[0106] When the empty pallets on the storage station reach the set number, when the trolley 2 on the storage station needs to be moved out from the station base 1, the driving device moves to the opening side of the station base 1, and then moves along the second direction to the side of the limit rod 1.3, and the driving device moves to the bottom of the trolley 2 on the station base 1. After moving into place, the limit cylinder drives the limit pull rod 1.3 to rotate around the first axis, and the upper end of the limit pull rod 1.3 flips from top to bottom and along the second direction from the direction close to the limit rod 1.3 to the direction away from the limit rod 1.3 until the upper end of the limit pull rod 1.3 is lower than the cross beam 2.3; the driving device is lifted vertically until it contacts the bottom of the trolley 2, and continues to lift until the trolley 2 is completely separated from the support rods 1.4 on both sides, and the trolley 2 is completely seated on the driving device. Under the action of the driving device, it is moved out of the station base 1 along the second direction, completing the removal operation of the empty pallet from the station base 1.

[0107] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present application. The present application may have various changes and improvements without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application to be protected. The scope of protection claimed in the present application is defined by the attached claims and their equivalents.

Claims

1. A pallet grabbing structure for a new energy motor production line, characterized by: include, A support beam (5), wherein the support beam (5) is a suspended beam body arranged along a first horizontal direction and supported by a support column (6); A plurality of workstation bases (1), wherein the workstation bases (1) are support bases located below a support beam (5) and used to support a pallet (4), wherein the plurality of workstation bases (1) include at least one gripping station for storing a pallet (4) loaded with parts and at least one storage station for storing an empty pallet (4); A suction structure (8), wherein the suction structure (8) is connected to the support beam (5) and is movable in a first direction, a second direction and vertically, and is used to suction the empty pallet (4) on the grabbing station; A visual module (7), the visual module (7) being installed on the adsorption structure and used for obtaining the storage status of components in the tray (4) on the grasping station; The first direction, the second direction and the vertical direction are perpendicular to each other.

2. A pallet grabbing structure for a new energy motor production line as claimed in claim 1, characterized in that: The adsorption structure (8) comprises: A first grabbing plate (8.1), the first grabbing plate (8.1) being a horizontal plate-shaped structure connected to the support beam (5) and movable in a first direction, a second direction and vertically, and a plurality of first adsorption heads (8.3) for adsorbing a tray (4) are arranged on the lower end surface of the first grabbing plate (8.1); The second grabbing plate (8.2) is a horizontal plate structure vertically adjustable and connected to the first grabbing plate (8.1) via a lifting cylinder. The second grabbing plate (8.2) is located below the first grabbing plate (8.1), and a plurality of second adsorption heads (8.4) for adsorbing another type of tray (4) are arranged on the lower end surface of the second grabbing plate (8.2).

3. A pallet grabbing structure for a new energy motor production line as claimed in claim 2, characterized in that: The first adsorption head (8.3) is a vacuum adsorption structure or a magnetic adsorption structure located around the first grabbing plate (8.1); the second adsorption head (8.4) is a vacuum adsorption structure or a magnetic adsorption structure located around the second grabbing plate (8.2).

4. A pallet grabbing structure for a new energy motor production line as claimed in claim 2, characterized in that: Also includes A first guide rail (8.5), the first guide rail (8.5) being installed on the support beam (5) and arranged along a first direction; A second guide rail (8.6), one end of which is connected to the first guide rail (8.5) and can be moved in the first direction by being driven by a first-direction motor, and the other end of which extends in a horizontal second direction; A vertical guide rail (8.7), wherein the vertical guide rail (8.7) is connected to the second guide rail (8.6) in a second-direction movable manner via a second-direction motor; The adsorption structure (8) is connected to the vertical guide rail (8.7) in a vertically movable manner via a vertical motor.

5. A pallet grabbing structure for a new energy motor production line as claimed in claim 4, characterized in that: The first grab plate (8.1) is connected to the lower end of the vertical guide rail (8.7) via a rotary motor so as to be rotatable around a vertical axis.

6. A pallet grabbing structure for a new energy motor production line as claimed in claim 1, characterized in that: The tray (4) is provided with a plurality of storage holes for accommodating motor components, and the plurality of storage holes are evenly distributed on the tray (4) in an array pattern; the upper end surface of the tray (4) is provided with a plurality of adsorption surfaces that are higher than the upper ends of the components placed in the storage holes.

7. A pallet grabbing structure for a new energy motor production line as claimed in claim 1, characterized in that: Also includes, A trolley (2), the trolley (2) being a load-bearing base for storing a plurality of pallets (4) stacked vertically; The workstation base (1) is provided with a limiting structure for fixing the trolley (2).

8. A pallet grabbing structure for a new energy motor production line as claimed in claim 7, characterized in that: The workstation base (1) comprises a plurality of columns (1.1), two side panels (1.2) fixed on the columns (1.1) and arranged on both sides of a first direction, and a limit rod (1.3) extending along the first direction; the limit rod (1.3) is fixed to the ends of the two side panels (1.2) along the second direction and forms a square frame structure with one side open with the two side panels (1.2); the side panels (1.2) are arranged along the second direction and abut against the side of the trolley (2) when the trolley (2) enters the workstation base (1) to limit the movement of the trolley (2) in the first direction; a support rod (1.4) extending along the second direction is arranged on the inner side of the side panel (1.2); the support rod (1.4) is supported on the lower end surface of the trolley (2) after the trolley (2) completely enters the workstation base (1).

9. A pallet grabbing structure for a new energy motor production line as claimed in claim 8, characterized in that: The limiting structure comprises a plurality of limiting seats (1.5) arranged on the limiting rod (1.3); a limiting pull rod (1.6) and a limiting cylinder driving the limiting pull rod (1.6) to rotate around a first axis are arranged on the limiting seat (1.5); the lower end of the limiting pull rod (1.6) is hingedly connected to the limiting seat (1.5) so as to be rotatable around the first axis, and the upper end is driven by the limiting cylinder to hook on the bottom cross beam (2.3) of the trolley (2) after the trolley (2) completely falls on the support rod (1.4) to limit the second-direction movement of the trolley (2).

10. A pallet grabbing method for a new energy motor production line, characterized in that: The grabbing method uses any one of the new energy motor production line pallet grabbing structures as described in claims 1 to 9 to grab, including: Acquiring the placement of components in the top tray (4) at the current grabbing station based on the visual module (7); After determining that the topmost pallet (4) at the current grabbing station is an empty pallet (4), the adsorption structure (8) is moved so that the adsorption structure (8) adsorbs the empty pallet (4) and transports the empty pallet (4) to the storage station, and places the empty pallet (4) on the storage station.

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