Picking and repairing equipment and picking and repairing method

Abstract

The invention relates to the technical field of automatic equipment, in particular to picking and repairing equipment and a picking and repairing method, and the picking and repairing equipment comprises a conveying assembly for conveying a material tray in the X-axis direction; the jacking assembly is used for jacking the trays on the conveying assembly and comprises a first jacking module and a second jacking module which are sequentially arranged in the X-axis direction and are the same in structure, and the second jacking module is located at the front end of the conveying assembly in the conveying direction; the second jacking module comprises a jig plate group and a jacking driving module for driving the jig plate group to lift; when the jig plate set of the second jacking module is jacked to be located at the highest point of the lifting stroke of the jig plate set, the material disc can still be conveyed by the conveying assembly from the position below the jig plate set of the second jacking module. Three-dimensional logistics space utilization is achieved, the conveying efficiency is improved, removal of unqualified products and filling of qualified products are synchronously completed during picking and filling, and the material changing efficiency is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a patching device and patching method. Background Technology

[0002] In the prior art, flexible printed circuit boards (FPCs) are placed in a tray. Defective products need to be picked out of the tray, and qualified products need to be placed in the empty spaces left by the defective products to ensure that all FPCs in the tray are qualified. In the prior art, the picking and replacement work is usually done manually, which is inefficient and has a high rate of missed inspections, affecting the reliability of the end product. A picking and replacement device and method are proposed.

[0003] TRAY disk, barcode scanner, Apple's flexible printed circuit board (FPC), MES serial connection, internal memory, barcode scanner. Summary of the Invention

[0004] The purpose of this invention is to provide a patching device and patching method to solve the problems in the prior art where patching of flexible printed circuit boards (FPCs) is done manually, resulting in low work efficiency, high missed detection rate, and impact on the reliability of end products.

[0005] The technical solution of the present invention is: a patching device and a patching method, comprising: Conveying assembly for conveying the tray along the X-axis; A lifting assembly is used to lift the tray on the conveying assembly. It includes a first lifting module and a second lifting module with identical structures arranged sequentially along the X-axis direction. The second lifting module is located at the front end of the conveying assembly in the conveying direction. The second lifting module includes a jig plate assembly and a lifting drive module for driving the jig plate assembly to rise and fall. When the jig plate assembly of the second lifting module is lifted to the highest point of its lifting stroke, the tray can still be conveyed by the conveying assembly from below the jig plate assembly of the second lifting module. The blocking components, namely the first blocking module and the second blocking module, are positioned corresponding to the positions of the first lifting module and the second lifting module, and are used to block the material tray on the conveyor group from moving forward when it reaches the first lifting module and the second lifting module. The robotic arm includes a detachable suction module at the end of the robotic arm and a barcode scanner mounted on the robotic arm. The suction module is provided with multiple suction units. The robotic arm picks up qualified products from the lifting tray on the second lifting module and transfers them to the multiple suction units. After picking up unqualified products from the lifting tray on the first lifting module and transferring them to the suction units, the robotic arm places the qualified products from the suction units into the empty spaces left after the unqualified products have been removed. The defective product bin is located on the side of the conveyor assembly and is used to store defective products. The buffer tray, located on the side of the conveyor assembly, is used to hold qualified products on the robotic arm.

[0006] Preferably, the conveying assembly includes a first conveying line, a second conveying line, and a Y-axis translation drive module that drives the second conveying line to move closer to or further away from the first conveying line along the Y-axis direction. The first conveyor line is mounted on a fixed vertical plate, the second conveyor line is mounted on an adjusting vertical plate, and the adjusting vertical plate is mounted on a slider of a linear guide rail; both the fixed vertical plate and the linear guide rail are mounted on a mounting horizontal plate.

[0007] Preferably, the first conveyor line is a first belt conveyor line, and the second conveyor line is a second belt conveyor line; The fixture plate assembly is fixed on a plurality of first guide rods arranged in a vertical direction. The plurality of first guide rods are fixed on a lifting plate, which is located below the mounting horizontal plate. The plurality of first guide rods are all located outside the space formed by the fixed vertical plate and the adjusting vertical plate. The robotic arm is equipped with a quick-change cylinder at its end, and the suction module is mounted on the quick-change cylinder. The number of the plurality of suction units is eight, and the eight suction units are arranged in two columns in an array; each suction unit includes a plurality of suction nozzles arranged according to the shape of the product and a lifting drive component for driving the plurality of suction nozzles to rise and fall; The buffer tray has eight slots corresponding to the eight suction units on the suction module, used to hold qualified products on the robotic arm. It should be noted that the qualified products in the buffer tray are manually removed to empty the tray and make room for the qualified products on the robotic arm.

[0008] Preferably, the fixture plate assembly is symmetrically provided with a first U-shaped portion and a second U-shaped portion on both sides along the Y-axis direction. The notch formed by the enclosing of the first U-shaped portion covers the belt of the first belt conveyor line in the vertical direction, and the notch formed by the enclosing of the second U-shaped portion covers the belt of the second belt conveyor line in the vertical direction. The first U-shaped portion includes a first fixing portion parallel to the X-axis direction for fixing a plurality of first guide rods, and a first connecting portion and a second connecting portion parallel to the Y-axis direction and connected to both ends of the first fixing portion; The second U-shaped portion includes a second fixing portion parallel to the X-axis direction for fixing multiple first guide rods, a third connecting portion parallel to the Y-axis direction and connected to both ends of the second fixing portion; The top surface of the fixed vertical plate has a first notch facing downward to allow the first connecting part and the second connecting part to move up and down; the top surface of the adjustable vertical plate has a second notch facing downward to allow the third connecting part and the fourth connecting part to move up and down.

[0009] Preferably, the first belt conveyor line includes a first driving synchronous pulley, a plurality of first driven synchronous pulleys, a plurality of first rollers, a first single-sided toothed synchronous belt sleeved on the first driving synchronous pulley, the plurality of first driven synchronous pulleys, and the plurality of first rollers, and a first driving member for driving the first driving synchronous pulley to rotate. The first driving synchronous pulley and the plurality of first driven synchronous pulleys are all engaged with the tooth surface of the first single-sided toothed synchronous belt, and the plurality of first rollers are in contact with the smooth back surface of the first single-sided toothed synchronous belt. The belt of the first belt conveyor line is a first single-sided toothed synchronous belt. The first belt conveyor has multiple discontinuous first synchronous belt conveying functional sections formed by a first single-sided toothed synchronous belt and on the same horizontal straight line, the lowest point of the first gap is lower than the first synchronous belt conveying functional section; the first single-sided toothed synchronous belt is conveyed from below the first gap; The second belt conveyor includes a second driving synchronous pulley, multiple second driven synchronous pulleys, multiple second rollers, a second single-sided toothed synchronous belt sleeved on the second driving synchronous pulley, multiple second driven synchronous pulleys, and multiple second rollers, and a second driving member that drives the second driving synchronous pulley to rotate. The second driving synchronous pulley and multiple second driven synchronous pulleys all mesh with the tooth surface of the second single-sided toothed synchronous belt, and the multiple second rollers contact the smooth back surface of the second single-sided toothed synchronous belt. The belt of the second belt conveyor is a second single-sided toothed synchronous belt. The second belt conveyor has multiple discontinuous second synchronous belt conveying functional sections formed by second single-sided toothed synchronous belts and on the same horizontal straight line, the lowest point of the second gap is lower than the second synchronous belt conveying functional section; the second single-sided toothed synchronous belt is conveyed from below the second gap; The suction module has a pair of side ears on opposite sides, and each side ear has a positioning hole through it; The pick-and-place device also includes a frame assembly for assisting in the replacement of the suction module. The frame assembly includes a first frame and a second frame with identical structures arranged along the X-axis. The top of the first frame is a square frame that accommodates the suction module in the middle. A pair of positioning posts are provided on the square frame corresponding to a pair of positioning holes.

[0010] Preferably, the first blocking module includes a first blocking plate and a third driving member for driving the first blocking plate to rise and fall, and the second blocking module includes a second blocking plate and a fourth driving member for driving the second blocking plate to rise and fall. Below the first synchronous belt conveying function unit, there is a first support rod that supports the first single-sided toothed synchronous belt; A second support rod supporting the second single-sided toothed synchronous belt is provided below the second synchronous belt conveying function section.

[0011] Preferably, the jig plate assembly includes a jig plate with a flat top surface, a first clamping module and a second clamping module disposed on both sides of the jig plate parallel to the X-axis direction; The first U-shaped part and the second U-shaped part are integrally mounted on the fixture plate.

[0012] Preferably, the first clamping module includes a first clamping rod and a fifth driving member for driving the first clamping rod away from or near the material tray on the fixture plate; the fifth driving member is installed on the bottom surface of the fixture plate; the material tray is provided with a first slot that matches the head of the first clamping rod; The second clamping module includes a first fixed plate, a first linear bearing mounted on the first fixed plate, a second guide rod sleeved in the first linear bearing, a second fixed plate fixedly mounted on one end of the second guide rod, a limiting head fixed on the other end of the second guide rod, a second clamping rod detachably mounted on the second fixed plate, an elastic element sleeved on the second guide rod and compressed between the limiting head and the first linear bearing, and a sixth driving element that drives the first fixed plate away from or towards the material tray on the fixture plate. The second fixed plate is located on the side of the first fixed plate away from the material tray on the fixture plate. The material tray is provided with a second slot that matches the head of the second clamping rod.

[0013] Preferably, the Y-axis translation drive module is a first lead screw module, and the mounting horizontal plate is fixedly installed on the side of the adjusting vertical plate away from the fixed vertical plate; the first lead screw module includes a first lead screw rotatably installed on the fixed vertical plate and the mounting vertical plate, and a first nut fixedly installed on the adjusting vertical plate, the first nut being sleeved on the first lead screw; a handwheel is fixedly installed at one end of the first lead screw; The patching device further includes a first X-axis translation module and a second X-axis translation module that have the same structure and drive the first lifting module and the second lifting module to reciprocate along the X-axis direction, respectively. The first X-axis translation module is a seventh driving component installed on the lower end surface of the mounting plate. The lifting drive module includes a first fixed horizontal plate fixed to the movable part of the seventh drive component, a second fixed horizontal plate fixed to the first fixed horizontal plate by multiple vertical rods, an eighth drive component mounted on the second fixed horizontal plate, a second lead screw module, and multiple second linear bearings fixed to the first fixed horizontal plate; the second lead screw module includes a second lead screw and a second nut sleeved on the second lead screw; the second lead screw is rotatably connected to the first fixed horizontal plate and the second fixed horizontal plate, and one end of the second lead screw is connected to the eighth drive component; the lifting plate is fixedly mounted on the second nut, and multiple first guide rods are respectively inserted into multiple second linear bearings.

[0014] The present invention also provides a patching method, employing the above-mentioned patching device, comprising: S1. The conveying assembly conveys multiple trays in sequence. The first tray is lifted by the first lifting module. The barcode scanner scans the barcode on the first tray in the lifted state. At this time, the eight suction units on the robot arm have not picked up any products. ① If the first tray contains only qualified products, the first lifting module places it on the conveying assembly and transports it backward, directly flowing to the next station from above the fixture plate of the second lifting module. The next tray is transported by the conveying assembly and lifted by the first lifting module. If the next tray contains only qualified products, it flows directly to the next station. If the next tray contains defective products, the robot removes the defective products from the tray and places them in the defective product bin. The first lifting module places the tray containing the defective products on the conveying assembly and transports it backward, then it is lifted by the second lifting module. This tray serves as the first replenishment tray. ② If the first tray contains defective products, the robot removes the defective products from the first tray and places them in the defective product bin. The first lifting module places the tray containing the defective products on the conveying assembly and transports it backward, then it is lifted by the second lifting module. This tray serves as the first replenishment tray. At this time, the first replenishment tray contains only qualified products. The first replenishing tray lifted on the second lifting module serves as a replenishing tray for qualified products to be added to the subsequent trays; the eight suction units on the robotic arm are responsible for picking up seven qualified products from the first replenishing tray, with one suction unit not picking up any products. S2. The material trays after the first replenishment tray continue to be conveyed by the conveying component; the first material tray that arrives afterward is denoted as tray A. Tray A is lifted by the first lifting module, and the barcode scanner scans the code on tray A which is in the lifted state. ① If tray A contains only qualified products, the first lifting module places tray A on the conveying assembly and transports it backward, directly flowing to the next station from below the fixture plate group of the second lifting module; ② If tray A contains only one defective product, the suction unit on the robot arm that has not yet picked up a qualified product picks up one defective product from tray A. Then, the seven suction units on the robot arm that pick up qualified products place one of the qualified products into the empty space in tray A after the defective product was removed. Finally, the first lifting module places the tray A, after the replacement process, on the conveying assembly and transports it backward. The product flows directly from below the fixture plate of the second lifting module to the next station; ③ If there are two or more defective products in tray A, the robot will alternately execute the suction unit that has not been suctioned to suction the defective products in tray A, and place a qualified product sucked by the robot in the empty space after the defective product to be removed in tray A, until all the defective products in tray A are removed. Then the first lifting module will place the tray A after the removal and replacement on the conveying assembly and convey it backward, flowing directly from below the fixture plate of the second lifting module to the next station; S3. Following the method in step S2, the robot arm uses the first replenishment tray to pick up and replenish the subsequent feed trays. When the robot arm has picked up seven defective products on its eight suction units and one suction unit has not picked up any products, the robot arm puts the seven defective products into the defective product bin. Then the robot arm picks up seven qualified products from the first replenishment tray again, with one suction unit not picking up any products. Then the robot arm continues to pick up and replenish the feed trays. S4.① If the defective products on tray B of the first lifting module have not been completely removed, and the robot has placed seven defective products into the defective product bin, and the robot has no products, and the first replenishment tray contains fewer than seven qualified products; then the robot picks up fewer than seven qualified products from the first replenishment tray, the second lifting module places the empty first replenishment tray on the conveying assembly and conveys it backwards, and the robot continues to remove defective products from tray B of the first lifting module; the first lifting module places the replenished tray B on the conveying assembly and conveys it backwards, directly flowing from above the fixture plate group of the second lifting module to the next station; the robot places the removed defective products into the defective product bin, and the removed qualified products into the buffer tray, and then... Continue with the picking and replenishing process according to steps S1-S4; ② If the defective products on the tray B of the first lifting module have been picked and replenished, and the robot has placed seven defective products into the defective product hopper, and there are no products on the robot, and there are fewer than seven qualified products in the first replenishment tray; then the first lifting module places the tray B after picking and replenishing on the conveying assembly and conveys it backward, directly flowing to the next station from below the fixture plate group of the second lifting module; the robot picks up fewer than seven qualified products from the first replenishment tray, and the second lifting module places the empty first replenishment tray on the conveying assembly and conveys it backward; the robot puts the picked-up qualified products into the buffer tray, and then continues with the picking and replenishing process according to steps S1-S4.

[0015] Compared with the prior art, the advantages of the present invention are: (1) A picking and replacing device in this invention includes: a conveying component, a lifting component, a blocking component, a first X-axis translation module, a second X-axis translation module, a robot, a defective product bin, and a buffer tray. When the jig plate of the second lifting module is lifted to the highest point of its lifting stroke, the tray can still be conveyed by the conveying component from below the jig plate of the second lifting module. When the jig plate of the second lifting module is at its highest position, the lower tray is still allowed to pass through, thereby realizing three-dimensional logistics space utilization and improving conveying efficiency.

[0016] (2) In a method for picking and replacing defective products in this invention, the eight suction units on the robot arm are used to pick up seven qualified products from the replenishment tray, and one suction unit does not pick up any products. When picking and replacing defective products in the tray, the defective products in the tray that is in the lifting state on the first lifting module are picked up and transferred to the suction unit. Then, the qualified products on the suction unit are placed in the empty space after the defective products are removed. During the picking and replacing process, the removal of defective products and the filling of qualified products are completed simultaneously, which significantly improves the material changing efficiency and avoids the robot arm moving back and forth between the replenishment tray on the second lifting module and the tray on the first lifting module. In this invention, the complexity of the program control of the picking and replacing method is simplified by setting up a buffer tray.

[0017] (3) The picking and patching device and picking and patching method of the present invention can be adapted to different sizes of material trays by setting a Y-axis translation drive module and a first clamping rod and a second clamping rod of different lengths. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of a patching device according to the present invention; Figure 2 This is a schematic diagram of the structure of the conveying assembly and the lifting assembly described in this invention; Figure 3 This is a schematic diagram of the structure of the first lifting module of the present invention; Figure 4 This is a first-view structural schematic diagram of the conveying assembly described in this invention; Figure 5 This is a second-view structural schematic diagram of the conveying assembly described in this invention; Figure 6 This is a schematic diagram of the fixture plate assembly described in this invention; Figure 7 for Figure 1 Enlarged structural diagram at point A Figure 8 This is a schematic diagram of the absorption module described in this invention; Figure 9 This is a schematic diagram of the absorption module from an elevation perspective according to the present invention; Figure 10 This is a schematic diagram of the structure of the barcode scanner and quick-change cylinder described in this invention.

[0019] The components include: 1. Material tray; 2. First belt conveyor; 3. Second belt conveyor; 4. First lifting module; 5. Second lifting module; 6. First X-axis translation module; 7. Second X-axis translation module; 8. Fixed vertical plate; 9. Adjustable vertical plate; 10. Linear guide rail; 11. Mounting horizontal plate; 12. First electric cylinder; 13. Second electric cylinder; 14. Mounting vertical plate; 15. First lead screw; 16. First nut; 17. Handwheel; 18. First driving synchronous belt pulley; 19. First driven synchronous belt. 20. First roller, 21. First single-sided toothed synchronous belt, 22. First motor, 23. First synchronous belt conveyor unit, 24. First notch, 25. Second driving synchronous belt pulley, 26. Second driven synchronous belt pulley, 27. Second roller, 28. Second single-sided toothed synchronous belt, 29. Second motor, 30. Second synchronous belt conveyor unit, 31. Second notch, 32. First support rod, 33. Second support rod, 34. First guide rod, 35. Lifting plate, 36. Fixture plate. 37. First fixing part; 38. First connecting part; 39. Second connecting part; 40. Second fixing part; 41. Third connecting part; 42. Fourth connecting part; 43. First clamping rod; 44. First cylinder; 45. First slot; 46. First fixing plate; 47. First linear bearing; 48. Second guide rod; 49. Second fixing plate; 50. Limiting head; 51. Second clamping rod; 52. Spring; 53. Second cylinder; 54. First fixing horizontal plate; 55. Vertical rod; 56. Second fixing... 57. Fixed horizontal plate, 58. Second lead screw, 59. Second nut, 60. Second linear bearing, 61. Third motor, 62. First blocking plate, 63. Third cylinder, 64. Second blocking plate, 65. Fourth cylinder, 66. Robotic arm, 67. Barcode scanner, 68. Non-conforming product bin, 69. Buffer plate, 70. Quick-change cylinder, 71. Suction nozzle, 72. Lifting cylinder, 73. Material trough, 74. Side lug, 75. Positioning hole, 76. First frame, 77. Second frame, 78. Positioning post. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to specific embodiments: In the description of the invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0021] like Figure 1 , Figure 2 As shown, a sorting and repairing device and method include: a conveying component, a lifting component, a blocking component, a first X-axis translation module 6, a second X-axis translation module 7, a robotic arm 65, a defective product bin 67, a buffer disk 68, and a frame assembly.

[0022] like Figure 4 , Figure 5 As shown, the conveying assembly is used to convey the material tray 1 along the X-axis direction. The conveying assembly includes a first conveyor line, a second conveyor line, and a Y-axis translation drive module that drives the second conveyor line to move closer to or away from the first conveyor line along the Y-axis direction. In this embodiment, the Y-axis translation drive module drives the second conveyor line to move closer to or away from the first conveyor line along the Y-axis direction so that a picking and patching device and method can match material trays 1 of different sizes. The first conveyor line is mounted on a fixed vertical plate 8, and the second conveyor line is mounted on an adjusting vertical plate 9. The adjusting vertical plate 9 is mounted on a slider of a linear guide rail 10. The fixed vertical plate 8 and the linear guide rail 10 are both mounted on a mounting horizontal plate 11. The first conveyor line is a first belt conveyor line 2, and the second conveyor line is a second belt conveyor line 3. The Y-axis translation drive module is a first lead screw module. A mounting plate 14 is fixedly mounted on the side of the adjusting vertical plate 9 away from the fixed vertical plate 8, located on the mounting horizontal plate 11. The first lead screw module includes a first lead screw 15 rotatably mounted on the fixed vertical plate 8 and the mounting vertical plate 14, and a first nut 16 fixedly mounted on the adjusting vertical plate 9. The first nut 16 is sleeved on the first lead screw 15. A handwheel 17 is fixedly mounted on one end of the first lead screw 15. Specifically, when changing to a different sized tray 1, and adjusting the distance between the first belt conveyor line 2 and the second belt conveyor line 3 is required, the handwheel 17 is rotated, thereby driving the first lead screw 15 to rotate. The rotation of the first lead screw 15 drives the first nut 16 fixed on the adjusting vertical plate 9 to move axially along the first lead screw 15, thereby driving the adjusting vertical plate 9 to move the first belt conveyor closer to or away from the first belt conveyor line 2 along the Y-axis direction.

[0023] like Figure 5As shown, the first belt conveyor line 2 includes a first active synchronous pulley 18, multiple first driven synchronous pulleys 19, multiple first rollers 20, a first single-sided toothed synchronous belt 21 sleeved on the first active synchronous pulley 18, multiple first driven synchronous pulleys 19, and multiple first rollers 20, and a first driving member that drives the first active synchronous pulley 18 to rotate. In this embodiment, the first driving member is a first motor 22. The first active synchronous pulley 18 and multiple first driven synchronous pulleys 19 are all engaged with the tooth surface of the first single-sided toothed synchronous belt 21, and the multiple first rollers 20 are in contact with the smooth back surface of the first single-sided toothed synchronous belt 21. The belt of the first belt conveyor line 2 is the first single-sided toothed synchronous belt 21. The first belt conveyor line 2 has multiple discontinuous first synchronous belt conveying functional parts 23 formed by the first single-sided toothed synchronous belt 21 and on the same horizontal straight line, that is, the part used to convey the material tray 1. The lowest point of the first notch 24 is lower than the first synchronous belt conveying functional parts 23. The first single-sided toothed synchronous belt 21 is conveyed from below the first notch 24.

[0024] like Figure 4 As shown, the second belt conveyor line 3 includes a second active synchronous pulley 25, a plurality of second driven synchronous pulleys 26, a plurality of second rollers 27, a second single-sided toothed synchronous belt 28 sleeved on the second active synchronous pulley 25, the plurality of second driven synchronous pulleys 26, and the plurality of second rollers 27, and a second driving member that drives the second active synchronous pulley 25 to rotate. In this embodiment, the second driving member is a second motor 29. The second active synchronous pulley 25 and the plurality of second driven synchronous pulleys 26 are all engaged with the tooth surface of the second single-sided toothed synchronous belt 28, and the plurality of second rollers 27 are in contact with the smooth back surface of the second single-sided toothed synchronous belt 28. The belt of the second belt conveyor line 3 is the second single-sided toothed synchronous belt 28. The second belt conveyor line 3 has a plurality of discontinuous second synchronous belt conveying functional parts 30 formed by the second single-sided toothed synchronous belt 28 and on the same horizontal straight line, that is, the part used to convey the material tray 1. The lowest point of the second notch 31 is lower than the second synchronous belt conveying functional parts 30. The second single-sided toothed synchronous belt 28 is conveyed from below the second notch 31. A first support rod 32 supporting the first single-sided toothed synchronous belt 21 is provided below the first synchronous belt conveying function unit 23; a second support rod 33 supporting the second single-sided toothed synchronous belt 28 is provided below the second synchronous belt conveying function unit 30; the first support rod 32 and the second support rod 33 effectively prevent the single-sided toothed synchronous belt from sagging and deforming when conveying the material tray 1 by physically supporting the non-working surface of the single-sided toothed synchronous belt.

[0025] like Figures 1-3 As shown, the lifting assembly, used to lift the tray 1 on the conveying assembly, includes a first lifting module 4 and a second lifting module 5 arranged sequentially along the X-axis direction, wherein the second lifting module 5 is located at the front end of the conveying assembly in the conveying direction, i.e., as shown... Figure 1As shown, the second lifting module 5 is located to the right of the first lifting module 4; the second lifting module 5 includes a jig plate assembly and a lifting drive module for driving the jig plate assembly to rise and fall; when the jig plate assembly of the second lifting module 5 is lifted to the highest point of its lifting stroke, the material tray 1 can still be conveyed by the conveying component from below the jig plate assembly of the second lifting module 5. The first lifting module 4 and the second lifting module 5 have the same structure; the jig plate assembly is fixed on a plurality of first guide rods 34 arranged in a vertical direction, the plurality of first guide rods 34 are fixed on the lifting plate 35, and the lifting plate 35 is located below the mounting horizontal plate 11; the plurality of first guide rods 34 are all located outside the space enclosed by the fixed vertical plate 8 and the adjusting vertical plate 9. The fixture plate assembly has a first U-shaped portion and a second U-shaped portion symmetrically arranged on both sides along the Y-axis. The notch formed by the enclosed portion of the first U-shaped portion covers the belt of the first belt conveyor 2 in the vertical direction, and the notch formed by the enclosed portion of the second U-shaped portion covers the belt of the second belt conveyor 3 in the vertical direction. This arrangement enables the first lifting module 4 and the second lifting module 5 to lift the material tray 1 on the conveying assembly. The first U-shaped portion includes a first fixing part 37 parallel to the X-axis direction for fixing multiple first guide rods 34, and a first fixing part 37 parallel to the Y-axis direction and connected to the first fixing part 37. The fixed part 37 has a first connecting part 38 and a second connecting part 39 at both ends; the second U-shaped part includes a second fixing part 40 parallel to the X-axis direction for fixing multiple first guide rods 34, a third connecting part 41 parallel to the Y-axis direction and connected to both ends of the second fixing part 40; the top surface of the fixed vertical plate 8 has a first notch 24 that allows the first connecting part 38 and the second connecting part 39 to be raised and lowered; the top surface of the adjusting vertical plate 9 has a second notch 31 that allows the third connecting part 41 and the fourth connecting part 42 to be raised and lowered. In this embodiment, by setting multiple first guide rods 34 all located outside the space formed by the fixed vertical plate 8 and the adjusting vertical plate 9, and by setting the first notch 24, the second notch 31, the lowest point of the first notch 24 being lower than the first synchronous belt conveying function part 23, and the lowest point of the second notch 31 being lower than the second synchronous belt conveying function part 30, the first lifting module 4 and the second lifting module 5 can lift the material tray 1 on the conveying component. At the same time, when the fixture plate group of the second lifting module 5 is lifted to the highest point of its lifting stroke, the material tray 1 can still be conveyed by the conveying component from below the fixture plate group of the second lifting module 5.

[0026] like Figure 6As shown, the jig plate assembly includes a jig plate 36 with a flat top surface, a first clamping module and a second clamping module disposed on both sides of the jig plate 36 parallel to the X-axis direction; the first U-shaped part and the second U-shaped part are integrally disposed on the jig plate 36. The first clamping module includes a first clamping rod 43 and a fifth driving member that drives the first clamping rod 43 away from or towards the material tray 1 on the jig plate 36. In this embodiment, the fifth driving member is a first cylinder 44. The first clamping rod 43 is detachably mounted on a mounting plate, and the mounting plate is fixed on the piston rod of the first cylinder 44; the fifth driving member is mounted on the bottom surface of the jig plate 36; the material tray 1 is provided with a first slot 45 that matches the head of the first clamping rod 43 (e.g., ...). Figure 7 (As shown in the diagram) The second clamping module includes a first fixing plate 46, a first linear bearing 47 mounted on the first fixing plate 46, a second guide rod 48 sleeved in the first linear bearing 47, a second fixing plate 49 fixedly mounted on one end of the second guide rod 48, a limiting head 50 fixedly mounted on the other end of the second guide rod 48, a second clamping rod 51 detachably mounted on the second fixing plate 49, an elastic element sleeved on the second guide rod 48 and compressed between the limiting head 50 and the first linear bearing 47, and a sixth driving element that drives the first fixing plate 46 away from or towards the loading tray 1 of the fixture plate 36. In this embodiment, the elastic element is a spring 52, and the sixth driving element is a second cylinder 53. The second fixing plate 49 is located on the side of the first fixing plate 46 away from the loading tray 1 of the fixture plate 36. The loading tray 1 is provided with a second slot that matches the head of the second clamping rod 51. In this embodiment, when a loading tray 1 of a different size is replaced, the first clamping rod 43 and the second clamping rod 51 of different lengths are replaced accordingly to match the size of the loading tray 1. It should be noted that, due to the spring 52, when the first clamping module and the second clamping module clamp different material trays 1, the second clamping rod 51 can overcome the dimensional tolerances or wear of the material tray 1 and has a certain amount of movement in the X-axis direction (i.e., the axial direction of the second clamping rod 51), maintaining stable clamping of the material tray 1. In this embodiment, the working principle of the first clamping module and the second clamping module is as follows: when the material tray 1 is lifted and placed on the fixture plate 36, the piston rods of the first cylinder 44 and the second cylinder 53 extend, clamping the first clamping rod 43 at the first slot 45 of the material tray 1 and the second clamping rod 51 at the second slot of the material tray 1, thereby fixing the material tray 1 on the fixture plate 36.

[0027] In this embodiment, the first lifting module 4 and the second lifting module 5 have the same structure and the same working principle. Here, the first lifting module 4 is used as an example for explanation. The working principle of the first lifting module 4 is as follows: the output shaft of the third motor 60 rotates to drive the second lead screw 57 to rotate. The rotation of the second lead screw 57 drives the second nut 58 fixed on the lifting plate 35 to rise and fall. The rise and fall of the second nut 58 drives the lifting plate 35 to rise and fall. The rise and fall of the lifting plate 35 drives the jig plate assembly fixed on the lifting plate 35 through multiple first guide rods 34 to rise and fall. The second linear bearing 59 guides the rise and fall of the jig plate assembly.

[0028] like Figure 2 As shown, a patching device also includes a first X-axis translation module 6 and a second X-axis translation module 7 that have the same structure and drive the first lifting module 4 and the second lifting module 5 to reciprocate along the X-axis direction. The first X-axis translation module 6 is a seventh driving component mounted on the lower end face of the mounting plate 11, and the second X-axis translation module 7 is a ninth driving component mounted on the lower end face of the mounting plate 11. In this embodiment, the seventh driving component is a first electric cylinder 12, and the ninth driving component is a second electric cylinder 13. The lifting driving module includes a first fixed horizontal plate 54 fixed on the movable part of the seventh driving component, and multiple vertical rods 55. The system comprises a second fixed horizontal plate 56 fixed to the first fixed horizontal plate 54, an eighth drive component mounted on the second fixed horizontal plate 56, a second lead screw module, and multiple second linear bearings 59 fixed to the first fixed horizontal plate 54. The second lead screw module includes a second lead screw 57 and a second nut 58 sleeved on the second lead screw 57. The second lead screw 57 is rotatably connected to the first fixed horizontal plate 54 and the second fixed horizontal plate 56, and one end of the second lead screw 57 is connected to the eighth drive component. A lifting plate 35 is fixedly mounted on the second nut 58, and multiple first guide rods are respectively inserted into the multiple second linear bearings 59. In this embodiment, the eighth drive component is a third motor 60, and the output shaft of the third motor 60 is connected to the second lead screw 57 via a synchronous pulley and a synchronous belt. In this embodiment, the function of the first X-axis translation module 6 and the second X-axis translation module 7 is to move the positions of the first lifting module 4 and the second lifting module 5 when the arm span of the robot 65 is insufficient to pick up or place products in the trays 1 on the fixture plate groups of the first lifting module 4 and the second lifting module 5, so that the products in the trays 1 on the fixture plate groups of the first lifting module 4 and the second lifting module 5 are within the working range of the robot 65.

[0029] The blocking components, corresponding to the positions of the first lifting module 4 and the second lifting module 5, are used to block the material tray 1 on the conveyor group from moving forward when it reaches the positions of the first lifting module 4 and the second lifting module 5. The first blocking module includes a first blocking plate 61 and a third driving component that drives the first blocking plate 61 to rise and fall. The second blocking module includes a second blocking plate 63 and a fourth driving component that drives the second blocking plate 63 to rise and fall. In this embodiment, the third driving component is a third cylinder 62 and the fourth driving component is a fourth cylinder 64. In this embodiment, two sets of the first lifting module 4 and the second lifting module 5 are provided to enable the picking and patching device and method in this embodiment to match material in two directions, that is, the material tray 1 can flow from the first lifting module 4 to the second lifting module 5, or the material tray 1 can flow from the second lifting module 5 to the first lifting module 4. In actual applications, one set of the first lifting module 4 and the second lifting module 5 is sufficient according to the flow direction of the material tray 1.

[0030] Specifically, taking the first lifting module 4 as an example, the working principle of the first lifting module 4 and the second lifting module 5 in lifting the material tray 1 and placing the material tray 1 on the conveying assembly is as follows: When the material tray 1 is about to be conveyed to the first lifting module 4, the third cylinder 62 drives the first blocking plate 61 to rise, stopping the material tray 1 on the first belt conveyor line 2 and the second belt conveyor line 3 and directly above the first lifting module 4; the lifting drive module of the first lifting module 4 drives the fixture plate assembly to rise, and after the fixture plate assembly lifts the material tray 1, the first lifting module... The first clamping module and the second clamping module of group 4 clamp and fix the material tray 1; after lifting the material tray 1 to a predetermined height, they stop, and at the same time the first blocking plate 61 descends and resets; when it is necessary to place the material tray 1 on the conveying assembly, the lifting drive module of the first lifting module 4 drives the fixture plate group to descend, the first clamping module and the second clamping module of the first lifting module 4 release the first material tray 1, and the first lifting module 4 places the material tray 1 on the first belt conveyor line 2 and the second belt conveyor line 3 to continue to flow backward.

[0031] like Figures 8-10As shown, the robotic arm 65 includes a suction module detachably mounted at the end of its arm and a barcode scanner 66 mounted on the arm of the robotic arm 65. The suction module is equipped with multiple suction units; in this embodiment, the barcode scanner 66 is a barcode scanner. The robotic arm 65 suctions qualified products from the lifting tray 1 on the second lifting module to the multiple suction units, and suctions unqualified products from the lifting tray 1 on the first lifting module to the suction units, then places the qualified products on the suction units into the empty spaces left after the unqualified products have been removed; the end of the robotic arm 65 is equipped with... A quick-change cylinder 69 is provided, and the suction module is installed on the quick-change cylinder 69. In this embodiment, the quick-change cylinder 69 is an existing structure. The quick-change cylinder 69 has retractable steel balls to complete the picking and placing of the suction module. There are eight suction units, which are arranged in two columns in an array. Each suction unit includes multiple suction nozzles 70 arranged according to the shape of the product and a lifting drive for driving the multiple suction nozzles 70 to rise and fall. In this embodiment, the lifting drive is a lifting cylinder 71. A pair of side ears 73 are provided on opposite sides of the suction module, and a positioning hole 74 is provided through each side ear 73.

[0032] The frame assembly is used to assist in replacing the suction module. The frame assembly includes a first frame 75 and a second frame 76 with identical structures arranged along the X-axis. The top of the first frame is a square frame in the middle that accommodates the suction module. A pair of positioning posts are provided on the square frame corresponding to a pair of positioning holes 74. In this embodiment, when it is necessary to replace the suction module, the new suction module is placed in the first frame 75, and the positioning holes 74 of the new suction module are inserted into the positioning posts on the first frame 75. The robotic arm 65 places the suction module at its arm end on the second frame 76, inserts the positioning holes 74 of the suction module into the positioning posts on the second frame 76, and then the steel ball of the quick-change cylinder 69 retracts, causing the suction module to detach from the arm of the robotic arm 65. Subsequently, the robotic arm 65 moves above the new suction module, and the barcode scanner 66 scans the code on the new suction module to determine if it is the one to be replaced. The quick-change cylinder 69 of the robotic arm 65 is inserted into the mounting hole in the new suction module, and the steel ball of the quick-change cylinder 69 extends, completing the replacement of the suction module.

[0033] A non-conforming product bin 67, located on the side of the conveying assembly, is used to store non-conforming products. A buffer tray 68, also located on the side of the conveying assembly, is used to hold conforming products from the robotic arm 65. The buffer tray 68 has eight feed slots 72 corresponding to the eight suction units on the suction module, used to hold conforming products from the robotic arm 65. It should be noted that the conforming products in the buffer tray 68 are manually removed to empty the buffer tray 68, making room for the conforming products picked up by the robotic arm 65.

[0034] The present invention also provides a patching method, comprising: In this embodiment, the material tray 11 flows from the first lifting module 4 to the second lifting module 5. In the initial state, the first belt conveyor line 2 and the second belt conveyor line 3 continue to operate. The fixture plate group of the first lifting module 4 is located at the lowest point of its lifting stroke, and the fixture plate group of the second lifting module 5 is located at the lowest point of its lifting stroke. That is, the fixture plate group of the first lifting module 4 and the fixture plate group of the second lifting module 5 are both located below the first synchronous belt conveyor function unit 23 and the second synchronous belt conveyor function unit 30. S1. The conveying assembly conveys multiple trays 1 in sequence. The first tray 1 is lifted by the first lifting module. The barcode scanner 66 scans the barcode on the first tray 1 which is in the lifted state. At this time, the eight suction units on the robot arm 65 have not picked up any products. ① If the first tray 1 contains only qualified products, the first lifting module places the first tray 1 on the conveying assembly and conveys it backward, directly flowing to the next station from above the fixture plate group of the second lifting module; the next tray 1 is conveyed by the conveying assembly and lifted by the first lifting module. If the next tray 1 contains only qualified products, the first lifting module places the next tray 1 on the conveying assembly and conveys it backward, directly flowing to the next station from above the fixture plate group of the second lifting module; if the next tray 1 contains defective products, the robot arm 65 removes the defective products from the tray 1 and places them in… In the non-conforming product bin 67, the first lifting module places the tray 1, after removing non-conforming products, onto the conveying assembly and conveys it backward. It is then lifted by the second lifting module, and this tray 1 serves as the first replenishment tray 1. ② If there are non-conforming products in the first tray 1, the robot arm 65 removes the non-conforming products from the first tray 1 and places them into the non-conforming product bin 67. The first lifting module places the first tray 1, after removing non-conforming products, onto the conveying assembly and conveys it backward. It is then lifted by the second lifting module, and the first tray 1 serves as the first replenishment tray 1. At this time, the first replenishment tray 1 contains only conforming products. The first replenishing tray 1 lifted on the second lifting module serves as the qualified product replenishing tray 1 for the subsequent tray 1; the eight suction units on the robot arm 65 are responsible for suctioning seven qualified products from the first replenishing tray 1, with one suction unit not suctioning any products. S2. The material tray 1 after the first replenishment tray 1 continues to be conveyed by the conveying component; the first material tray 1 that comes in afterward is called material tray A. Material tray A is lifted by the first lifting module, and the barcode scanner 66 scans the barcode on the material tray A in the lifted state. ① If tray A contains only qualified products, the first lifting module places tray A on the conveying assembly and transports it backward, directly flowing to the next station from below the fixture plate group of the second lifting module; ② If tray A contains only one defective product, the suction unit in robot 65 that has not yet picked up qualified products picks up one defective product from tray A. Subsequently, the seven suction units on robot 65 that pick up qualified products place one of the qualified products into the empty space in tray A after the defective product was removed. Then, the first lifting module places the tray A, after the replacement process, on the conveying assembly and transports it backward. The product flows directly from below the fixture plate of the second lifting module to the next station; ③ If there are two or more defective products in the tray A, the robot 65 alternately executes the suction unit that has not been suctioned to suction the defective products in the tray A, and places a qualified product suctioned by the robot 65 in the empty space after the defective product to be removed in the tray A, until all the defective products in the tray A are removed and replaced. Then the first lifting module places the tray A after the replacement is completed on the conveying component and conveys it backward, flowing directly from below the fixture plate of the second lifting module to the next station; S3. Following the method in step S2, the robot arm 65 replenishes the feed trays 1 that are subsequently delivered through the first replenishment tray 1. When the eight suction units of the robot arm 65 have picked up seven defective products and one suction unit has not picked up any products, the robot arm 65 puts the seven defective products into the defective product bin 67. Then the robot arm 65 picks up seven qualified products from the first replenishment tray 1 again, while one suction unit does not pick up any products. Then the replenishment process continues in the feed tray 1. S4. ① If the defective products on tray B of the first lifting module have not been completely removed, and the robot 65 has placed seven defective products into the defective product bin 67, and there are no products on the robot 65, and the first replenishment tray 1 contains fewer than seven qualified products; then the robot 65 picks up fewer than seven qualified products from the first replenishment tray 1, the second lifting module places the empty first replenishment tray 1 on the conveying assembly and conveys it backward, and the robot 65 continues to remove defective products from tray B of the first lifting module; the first lifting module places the replenished tray B on the conveying assembly and conveys it backward, directly flowing from above the fixture plate group of the second lifting module to the next workstation; the robot 65 places the removed defective products into the defective product bin 67, and the removed qualified products into the buffer tray 68, and then continues according to steps S1-S4. The following steps are performed: ① If the defective products on the tray B of the first lifting module have been replaced, and the robot 65 has placed seven defective products into the defective product bin 67, and there are no products on the robot 65, and there are fewer than seven qualified products in the first replenishment tray 1; then the first lifting module places the replaced tray B on the conveying assembly and conveys it backward, directly flowing from below the fixture plate group of the second lifting module to the next station; the robot 65 places the seven defective products into the defective product bin 67, and then the robot 65 picks up fewer than seven qualified products from the first replenishment tray 1, and the second lifting module places the empty first replenishment tray 1 on the conveying assembly and conveys it backward; the robot 65 places the picked-up qualified products into the buffer tray 68, and then continues to perform replacement according to the replacement method in steps S1-S4.

[0035] In this embodiment, the complexity of the program control for the picking and replenishing method in this invention is simplified by setting a buffer disk 68. When there are fewer than seven qualified products in the replenishing disk 1 in the second lifting module under lifting condition, a new replenishing disk 1 needs to be formed. After the robot arm 65 picks up all the fewer than seven qualified products in the replenishing disk 1, the second lifting module places the empty replenishing disk 1 on the conveying component and conveys it backward. If the picking and replenishing of the disk 1 on the first lifting module is not completed, after the robot arm 65 picks up fewer than seven qualified products in the replenishing disk 1, it continues to pick and replenish the disk 1 on the first lifting module. Then, the robot arm 65 puts the picked up unqualified products into the unqualified product bin 67 and puts the picked up qualified products into the buffer disk 68. If the picking and replenishing of the disk 1 on the first lifting module has been completed, the robot arm 65 directly puts the fewer than seven qualified products picked up from the replenishing disk 1 into the buffer disk 68.

[0036] If the buffer disk 68 is not set, when there are fewer than seven qualified products in the replenishment disk 1 of the second lifting module in the lifting state, several situations need to be considered, such as (it should be noted that the following situations one to four are only reasonable analyses of various situations, indirectly illustrating the advantages of setting the buffer disk in this invention, and are not applied in this invention): Situation one, if at this time the defective products on the material disk C on the first lifting module have been picked up and replenished, the robot 65 has put seven defective products into the defective product hopper 67, there are no products on the robot 65, and there are seven qualified products in the first replenishment disk 1; then the first lifting module places the material disk C on the conveying assembly and conveys it backward, directly flowing from below the fixture plate group of the second lifting module to the next station; the eight suction units on the robot 65 suck up seven qualified products from the first replenishment disk 1. For qualified products, if one of the suction units does not pick up any products, the second lifting module places the empty first replenishment tray 1 on the conveying assembly and conveys it backward. The next tray D is conveyed by the conveying assembly, and the tray D is lifted by the first lifting module. The barcode scanner 66 scans the barcode on the tray D. If the tray D contains only qualified products, the first lifting module places the tray D on the conveying assembly and conveys it backward, flowing directly from above the fixture plate of the second lifting module to the next workstation. If the tray D contains defective products, one of the suction units in the robot 65 that has not picked up any products picks up the defective products in the tray D and places them sequentially into the defective product bin 67. The first lifting module places the tray D, which has been empty of defective products, on the conveying assembly and conveys it backward. It is then lifted by the second lifting module, and the tray D serves as a replenishment tray 1 for qualified products in the subsequent tray 1.Scenario 2: If the defective products on tray C of the first lifting module have been removed and replaced, and the robot 65 has placed seven defective products into the defective product bin 67, and there are no products on the robot 65, and the first replenishment tray 1 contains fewer than seven qualified products; then the first lifting module places tray C on the conveying assembly and conveys it backward, directly from below the fixture plate group of the second lifting module to the next workstation; the eight suction units on the robot 65 pick up the remaining a qualified products from the first replenishment tray 1, and a < 7, meaning 8 - a suction units have not picked up any products; the second lifting module places the empty first replenishment tray 1 on the conveying assembly and conveys it backward; the next tray D is conveyed by the conveying assembly, and tray D is lifted by the first lifting module, and the barcode scanner 66 scans the barcode on tray D; if tray D contains only qualified products, the first lifting module places tray D on the conveying assembly and conveys it backward, directly from below the fixture plate group of the second lifting module. The jig plate group flows to the next station above; if there are defective products in tray D, the 8-a uncollected products in the robot 65 will pick up the defective products in tray D and place them in the defective product bin 67. The first lifting module will place the tray D, which has been filled with defective products, on the conveying assembly and transport it backward. Then it will be lifted by the second lifting module. The tray D will be used as a qualified product replenishment tray 1 for the subsequent tray 1. At this time, it is necessary to decide whether to first use the a qualified products on the robot 65 to replenish the subsequent tray 1, or to first use the robot 65 to pick up 7-a qualified products from tray D, so that the robot 65 returns to the state where eight collection units pick up seven qualified products and one collection unit does not pick up any products. It may also be necessary to prioritize using the a qualified products picked up from the first replenishment tray 1 by the robot 65 to replenish the tray 1, so as to avoid the collection units picking up qualified products for a long time, which would leave suction marks on the qualified products.Scenario 3: If, at this point, the defective products on tray C of the first lifting module have not been completely replaced, and the robot arm 65 has placed seven defective products into the defective product bin 67, with no products on the robot arm 65 and seven qualified products in the first replenishment tray 1, then the eight suction units on the robot arm 65 will pick up the seven qualified products from the first replenishment tray 1, with one suction unit not picking up any products. The second lifting module will place the empty first replenishment tray 1 on the conveying assembly and convey it backward. The seven qualified products on the robot arm 65 will continue to replace the defective products on tray C of the first lifting module. After replacement, the first lifting module will place tray C on the conveying assembly and convey it backward, flowing directly from above the fixture plate group of the second lifting module to the next workstation. The next tray D will be conveyed by the conveying assembly, and tray D will be lifted by the first lifting module. The barcode scanner 66 scans the barcode on the tray D. If the tray D contains only qualified products, the first lifting module places the tray D on the conveying assembly and conveys it backward, allowing it to flow directly to the next workstation from above the fixture plate of the second lifting module. If the tray D contains defective products, the uncollected product collection unit in the robot 65 sequentially collects the defective products from the tray D and places them into the defective product hopper 67. The first lifting module places the tray D, after collecting the defective products, on the conveying assembly and conveys it backward. Subsequently, it is lifted by the second lifting module, and the tray D serves as a qualified product replenishment tray 1 for the subsequent tray 1. At this time, the robot 65 has qualified products, defective products, and an uncollected product collection unit. After the subsequent tray 1 is conveyed by the conveying assembly, the qualified products collected from the first replenishment tray 1 by the robot 65 are used to replenish the subsequent tray 1.

[0037] Scenario 4: If the defective products on tray C of the first lifting module have not been completely replaced, and the robot 65 has placed seven defective products into the defective product bin 67, and there are no products on the robot 65, and the first replenishment tray 1 has fewer than seven qualified products; then the eight suction units on the robot 65 will pick up a qualified products, and a < 7, meaning 8 - a suction units have not picked up any products. The second lifting module will place the empty first replenishment tray 1 on the conveying assembly and convey it backward; the a qualified products on the robot 65 will continue to replace the defective products on tray C of the first lifting module (it is possible that there are two defective products on tray C, but only one qualified product on the robot 65); after the replacement is completed, the first lifting module will place tray C on the conveying assembly and convey it backward, flowing directly from above the fixture plate group of the second lifting module to the next workstation; the next tray D will be conveyed by the conveying assembly, and tray D will be lifted by the first lifting module. The barcode scanner 66 will scan the barcode on tray D. If the tray D contains only qualified products, the first lifting module places the tray D on the conveying assembly and conveys it backward, allowing it to flow directly to the next workstation from above the fixture plate group of the second lifting module. If the tray D contains defective products, the uncollected product collection unit in the robot 65 sequentially collects the defective products from the tray D and places them into the defective product hopper 67. The first lifting module then places the tray D, after removing the defective products, on the conveying assembly and conveys it backward, where it is subsequently lifted by the second lifting module. The tray D then serves as a supplementary tray 1 for qualified products. At this point, the robot 65 has both qualified and defective products and an uncollected product collection unit. This raises the question of whether to first use the qualified products on the robot 65 to replenish the subsequent tray 1, or whether the robot 65 should first collect qualified products from the tray D. It also involves prioritizing the use of qualified products collected from the second tray 1 by the robot 65 to replenish the tray 1, avoiding prolonged collection of qualified products by the collection unit, which could leave suction marks on the qualified products.

[0038] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A patching device, characterized in that, include: Conveying assembly for conveying the tray along the X-axis; A lifting assembly is used to lift the tray on the conveying assembly. It includes a first lifting module and a second lifting module with the same structure arranged sequentially along the X-axis direction. The second lifting module is located at the front end of the conveying assembly in the conveying direction. The second lifting module includes a jig plate group and a lifting drive module for driving the jig plate group to rise and fall. When the jig plate group of the second lifting module is lifted to the highest point of its lifting stroke, the tray can still be conveyed by the conveying component from below the jig plate group of the second lifting module. The blocking components, namely the first blocking module and the second blocking module, are positioned corresponding to the positions of the first lifting module and the second lifting module, and are used to block the material tray on the conveyor group from moving forward when it reaches the first lifting module and the second lifting module. The robotic arm includes a detachable suction module at the end of the robotic arm and a barcode scanner mounted on the robotic arm. The suction module is provided with multiple suction units. The robotic arm picks up qualified products from the lifting tray on the second lifting module and transfers them to the multiple suction units. After picking up unqualified products from the lifting tray on the first lifting module and transferring them to the suction units, the robotic arm places the qualified products from the suction units into the empty spaces left after the unqualified products have been removed. The defective product bin is located on the side of the conveyor assembly and is used to store defective products. The buffer tray, located on the side of the conveyor assembly, is used to hold qualified products on the robotic arm.

2. The patching device according to claim 1, characterized in that: The conveying assembly includes a first conveying line, a second conveying line, and a Y-axis translation drive module that drives the second conveying line to move closer to or away from the first conveying line along the Y-axis direction. The first conveyor line is mounted on a fixed vertical plate, the second conveyor line is mounted on an adjusting vertical plate, and the adjusting vertical plate is mounted on a slider of a linear guide rail; both the fixed vertical plate and the linear guide rail are mounted on a mounting horizontal plate.

3. The patching device according to claim 2, characterized in that: The first conveyor line is a first belt conveyor line, and the second conveyor line is a second belt conveyor line; The fixture plate assembly is fixed on a plurality of first guide rods arranged in a vertical direction. The plurality of first guide rods are fixed on a lifting plate, which is located below the mounting horizontal plate. The plurality of first guide rods are all located outside the space formed by the fixed vertical plate and the adjusting vertical plate. The robotic arm is equipped with a quick-change cylinder at its end, and the suction module is mounted on the quick-change cylinder. The number of the plurality of suction units is eight, and the eight suction units are arranged in two columns in an array; each suction unit includes a plurality of suction nozzles arranged according to the shape of the product and a lifting drive component for driving the plurality of suction nozzles to rise and fall; The buffer disk is equipped with eight feed troughs corresponding to the eight suction units on the suction module, used to place qualified products on the robotic arm.

4. A patching device according to claim 3, characterized in that: The fixture plate assembly is symmetrically provided with a first U-shaped part and a second U-shaped part on both sides along the Y-axis direction. The notch formed by the enclosing of the first U-shaped part covers the belt of the first belt conveyor line in the vertical direction, and the notch formed by the enclosing of the second U-shaped part covers the belt of the second belt conveyor line in the vertical direction. The first U-shaped portion includes a first fixing portion parallel to the X-axis direction for fixing a plurality of first guide rods, and a first connecting portion and a second connecting portion parallel to the Y-axis direction and connected to both ends of the first fixing portion; The second U-shaped portion includes a second fixing portion parallel to the X-axis direction for fixing multiple first guide rods, a third connecting portion parallel to the Y-axis direction and connected to both ends of the second fixing portion; The top surface of the fixed vertical plate has a first notch facing downward to allow the first connecting part and the second connecting part to move up and down; the top surface of the adjustable vertical plate has a second notch facing downward to allow the third connecting part and the fourth connecting part to move up and down.

5. A patching device according to claim 4, characterized in that: The first belt conveyor line includes a first driving synchronous pulley, multiple first driven synchronous pulleys, multiple first rollers, a first single-sided toothed synchronous belt sleeved on the first driving synchronous pulley, multiple first driven synchronous pulleys, and multiple first rollers, and a first driving member that drives the first driving synchronous pulley to rotate. The first driving synchronous pulley and multiple first driven synchronous pulleys are all engaged with the tooth surface of the first single-sided toothed synchronous belt, and the multiple first rollers are in contact with the smooth back surface of the first single-sided toothed synchronous belt. The belt of the first belt conveyor line is a first single-sided toothed synchronous belt. The first belt conveyor has multiple discontinuous first synchronous belt conveying functional sections formed by a first single-sided toothed synchronous belt and on the same horizontal straight line, the lowest point of the first gap is lower than the first synchronous belt conveying functional section; the first single-sided toothed synchronous belt is conveyed from below the first gap; The second belt conveyor includes a second driving synchronous pulley, multiple second driven synchronous pulleys, multiple second rollers, a second single-sided toothed synchronous belt sleeved on the second driving synchronous pulley, multiple second driven synchronous pulleys, and multiple second rollers, and a second driving member that drives the second driving synchronous pulley to rotate. The second driving synchronous pulley and multiple second driven synchronous pulleys all mesh with the tooth surface of the second single-sided toothed synchronous belt, and the multiple second rollers contact the smooth back surface of the second single-sided toothed synchronous belt. The belt of the second belt conveyor is a second single-sided toothed synchronous belt. The second belt conveyor has multiple discontinuous second synchronous belt conveying functional sections formed by second single-sided toothed synchronous belts and on the same horizontal straight line, the lowest point of the second gap is lower than the second synchronous belt conveying functional section; the second single-sided toothed synchronous belt is conveyed from below the second gap; The suction module has a pair of side ears on opposite sides, and each side ear has a positioning hole through it; The pick-and-place device also includes a frame assembly for assisting in the replacement of the suction module. The frame assembly includes a first frame and a second frame with identical structures arranged along the X-axis. The top of the first frame is a square frame that accommodates the suction module in the middle. A pair of positioning posts are provided on the square frame corresponding to a pair of positioning holes.

6. A patching device according to claim 5, characterized in that: The first blocking module includes a first blocking plate and a third driving component for driving the first blocking plate to rise and fall; the second blocking module includes a second blocking plate and a fourth driving component for driving the second blocking plate to rise and fall. Below the first synchronous belt conveying function unit, there is a first support rod that supports the first single-sided toothed synchronous belt; A second support rod supporting the second single-sided toothed synchronous belt is provided below the second synchronous belt conveying function section.

7. A patching device according to claim 4, characterized in that: The fixture plate assembly includes a fixture plate with a flat top surface, a first clamping module and a second clamping module disposed on both sides of the fixture plate parallel to the X-axis direction; The first U-shaped part and the second U-shaped part are integrally mounted on the fixture plate.

8. A patching device according to claim 7, characterized in that: The first clamping module includes a first clamping rod and a fifth driving component that drives the first clamping rod away from or near the material tray on the fixture plate; the fifth driving component is installed on the bottom surface of the fixture plate; the material tray is provided with a first slot that matches the head of the first clamping rod; The second clamping module includes a first fixed plate, a first linear bearing mounted on the first fixed plate, a second guide rod sleeved in the first linear bearing, a second fixed plate fixedly mounted on one end of the second guide rod, a limiting head fixed on the other end of the second guide rod, a second clamping rod detachably mounted on the second fixed plate, an elastic element sleeved on the second guide rod and compressed between the limiting head and the first linear bearing, and a sixth driving element that drives the first fixed plate away from or towards the material tray on the fixture plate. The second fixed plate is located on the side of the first fixed plate away from the material tray on the fixture plate. The material tray is provided with a second slot that matches the head of the second clamping rod.

9. A patching device according to claim 2, characterized in that: The Y-axis translation drive module is a first lead screw module. The mounting horizontal plate is located on the side of the adjusting vertical plate away from the fixed vertical plate and the mounting vertical plate is fixedly installed on the mounting vertical plate. The first lead screw module includes a first lead screw rotatably installed on the fixed vertical plate and the mounting vertical plate, and a first nut fixedly installed on the adjusting vertical plate. The first nut is sleeved on the first lead screw. A handwheel is fixedly installed at one end of the first lead screw. The patching device further includes a first X-axis translation module and a second X-axis translation module that have the same structure and drive the first lifting module and the second lifting module to reciprocate along the X-axis direction, respectively. The first X-axis translation module is a seventh driving component installed on the lower end surface of the mounting plate. The lifting drive module includes a first fixed horizontal plate fixed to the movable part of the seventh drive component, a second fixed horizontal plate fixed to the first fixed horizontal plate by multiple vertical rods, an eighth drive component mounted on the second fixed horizontal plate, a second lead screw module, and multiple second linear bearings fixed to the first fixed horizontal plate; the second lead screw module includes a second lead screw and a second nut sleeved on the second lead screw; the second lead screw is rotatably connected to the first fixed horizontal plate and the second fixed horizontal plate, and one end of the second lead screw is connected to the eighth drive component; the lifting plate is fixedly mounted on the second nut, and multiple first guide rods are respectively inserted into multiple second linear bearings.

10. A patching method, employing a patching device according to any one of claims 1-9, characterized in that, include: S1. The conveying assembly conveys multiple trays in sequence. The first tray is lifted by the first lifting module. The barcode scanner scans the barcode on the first tray in the lifted state. At this time, the eight suction units on the robot arm have not picked up any products. ① If the first tray contains only qualified products, the first lifting module places it on the conveying assembly and transports it backward, directly flowing to the next station from above the fixture plate of the second lifting module. The next tray is transported by the conveying assembly and lifted by the first lifting module. If the next tray contains only qualified products, it flows directly to the next station. If the next tray contains defective products, the robot removes the defective products from the tray and places them in the defective product bin. The first lifting module places the tray containing the defective products on the conveying assembly and transports it backward, then it is lifted by the second lifting module. This tray serves as the first replenishment tray. ② If the first tray contains defective products, the robot removes the defective products from the first tray and places them in the defective product bin. The first lifting module places the tray containing the defective products on the conveying assembly and transports it backward, then it is lifted by the second lifting module. This tray serves as the first replenishment tray. At this time, the first replenishment tray contains only qualified products. The first replenishing tray lifted on the second lifting module serves as a replenishing tray for qualified products to be added to the subsequent trays; the eight suction units on the robotic arm are responsible for picking up seven qualified products from the first replenishing tray, with one suction unit not picking up any products. S2. The material trays after the first replenishment tray continue to be conveyed by the conveying component; the first material tray that arrives afterward is denoted as tray A. Tray A is lifted by the first lifting module, and the barcode scanner scans the code on tray A which is in the lifted state. ① If tray A contains only qualified products, the first lifting module places tray A on the conveying assembly and transports it backward, directly flowing to the next station from below the fixture plate group of the second lifting module; ② If tray A contains only one defective product, the suction unit on the robot arm that has not yet picked up a qualified product picks up one defective product from tray A. Then, the seven suction units on the robot arm that pick up qualified products place one of the qualified products into the empty space in tray A after the defective product was removed. Finally, the first lifting module places the tray A, after the replacement process, on the conveying assembly and transports it backward. The product flows directly from below the fixture plate of the second lifting module to the next station; ③ If there are two or more defective products in tray A, the robot will alternately execute the suction unit that has not been suctioned to suction the defective products in tray A, and place a qualified product sucked by the robot in the empty space after the defective product to be removed in tray A, until all the defective products in tray A are removed. Then the first lifting module will place the tray A after the removal and replacement on the conveying assembly and convey it backward, flowing directly from below the fixture plate of the second lifting module to the next station; S3. Following the method in step S2, the robot arm uses the first replenishment tray to pick up and replenish the subsequent feed trays. When the robot arm has picked up seven defective products on its eight suction units and one suction unit has not picked up any products, the robot arm puts the seven defective products into the defective product bin. Then the robot arm picks up seven qualified products from the first replenishment tray again, with one suction unit not picking up any products. Then the robot arm continues to pick up and replenish the feed trays. S4.① If the defective products on tray B of the first lifting module have not been completely removed, and the robot has placed seven defective products into the defective product bin, and the robot has no products, and the first replenishment tray contains fewer than seven qualified products; then the robot picks up fewer than seven qualified products from the first replenishment tray, the second lifting module places the empty first replenishment tray on the conveying assembly and conveys it backwards, and the robot continues to remove defective products from tray B of the first lifting module; the first lifting module places the replenished tray B on the conveying assembly and conveys it backwards, directly flowing from above the fixture plate group of the second lifting module to the next station; the robot places the removed defective products into the defective product bin, and the removed qualified products into the buffer tray, and then... Continue with the picking and replenishing process according to steps S1-S4; ② If the defective products on the tray B of the first lifting module have been picked and replenished, and the robot has placed seven defective products into the defective product hopper, and there are no products on the robot, and there are fewer than seven qualified products in the first replenishment tray; then the first lifting module places the tray B after picking and replenishing on the conveying assembly and conveys it backward, directly flowing to the next station from below the fixture plate group of the second lifting module; the robot picks up fewer than seven qualified products from the first replenishment tray, and the second lifting module places the empty first replenishment tray on the conveying assembly and conveys it backward; the robot puts the picked-up qualified products into the buffer tray, and then continues with the picking and replenishing process according to steps S1-S4.

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