A sheet product rapid feeding and discharging device and method

Abstract

The present application relates to a kind of sheet product quick feeding and discharging equipment and method, the equipment includes: processing tool, including tool tray, multiple product placement slots are opened around the center of tool tray and are uniformly distributed, center identification mark is arranged in the center of tool tray, angle identification mark is arranged on tool tray;Pre-positioning device, including pre-positioning disc, multiple pre-positioning placement slots are opened around the center of pre-positioning disc and are uniformly distributed;Mechanical arm, gripping device is arranged at the end of mechanical arm;Gripping device includes rotating mechanism, gripping disc, suction disc mechanism, rotating mechanism is arranged at the end of mechanical arm, the center of gripping disc is connected with the rotating shaft of rotating mechanism, multiple suction disc mechanisms are uniformly distributed around the center of gripping disc;Positioning device, including controller and image acquisition device.The present application can realize the high efficiency and high-precision feeding and discharging operation of sheet material, especially suitable for the case where processing tool position and angle are not determined.

Description

Technical Field

[0001] This invention relates to a loading and unloading device, specifically a rapid loading and unloading device and method for sheet products. Background Technology

[0002] In the processing of thin-film products, the wafers need to be removed from the production line and loaded into the processing equipment. After processing, they are removed from the fixtures on the processing equipment and placed back into the production line or unloading box. The processing equipment itself has product fixtures, and the equipment requires the products to be accurately placed into these fixtures to facilitate subsequent processing. In some cases, the position of the product fixtures is not fixed; that is, the position and angle of the fixtures on the processing equipment are uncertain before and after processing. For example, in wafer grinding, the wafers need to be removed from the production line and precisely placed into the planetary wheel of the grinding equipment. However, due to the rotation and revolution of the planetary wheel, its position and rotation angle are uncertain each time it stops, which poses a challenge to the accurate placement and removal of the products.

[0003] At the same time, for sheet products, they are prone to sticking together when stacked. When picking them up, multiple sticky products can easily be removed, which can cause damage to both the products and the processing equipment when they are put into processing equipment.

[0004] Due to the uncertainty of tooling position and angle, the existing traditional method is to manually determine the tooling position and perform pick-and-place operations. However, manual pick-and-place increases labor intensity, is inefficient, and has low accuracy. It is difficult to accurately align the product with the tooling slot, and the product edge is prone to friction with the slot during placement, causing scratches. Existing technologies also use robotic arms for loading and unloading, but existing robotic arms can only pick and place one piece at a time, which is inefficient. Furthermore, robotic arms are mostly used for loading and unloading at two fixed points. When the position and angle of the tooling are uncertain, robotic arms cannot quickly and accurately determine the loading and unloading position and perform accurate pick-and-place operations.

[0005] Therefore, there is an urgent need for a sheet product loading and unloading equipment that can achieve rapid loading and unloading with high precision. Summary of the Invention

[0006] The purpose of this invention is to provide a rapid loading and unloading device and method for sheet products, so as to solve the problems of low efficiency and poor accuracy of traditional manual loading and unloading.

[0007] This invention is implemented as follows: a rapid loading and unloading device for sheet-like products, comprising...

[0008] The processing fixture, located on the processing equipment, includes a fixture tray with multiple product placement slots evenly distributed around the center of the fixture tray. A center identification mark is provided at the center of the fixture tray, and an angle identification mark is provided on the fixture tray.

[0009] A pre-positioning device includes a pre-positioning disk, on which a plurality of pre-positioning placement slots are provided. The number of pre-positioning placement slots is the same as the number of product placement slots, and the plurality of pre-positioning placement slots are evenly distributed around the center of the pre-positioning disk.

[0010] A robotic arm is positioned next to the prepositioning device and the processing equipment, and a gripping device is provided at the end of the robotic arm.

[0011] The gripping device includes a rotating mechanism, a gripping disk, and suction cup mechanisms. The rotating mechanism is located at the end of the robotic arm. The center of the gripping disk is connected to the rotation axis of the rotating mechanism. The number of suction cup mechanisms matches the number of product placement slots, and multiple suction cup mechanisms are evenly distributed around the center of the gripping disk.

[0012] The positioning device includes a controller and an image acquisition device. The image acquisition device is located on one side of the gripping disk. When the robotic arm moves the gripping device above the processing fixture, the image acquisition device acquires an image of the processing fixture. The controller determines the position difference between the center of the fixture disk and the center of the gripping device based on the image recognition center mark and angle recognition mark. The controller then controls the robotic arm to adjust the position of the gripping device so that the center of the gripping device is directly opposite the center of the fixture disk. The controller also determines the angle difference between the product placement slot and the suction cup mechanism and controls the rotating mechanism to rotate so that the suction cup mechanism is directly opposite the product placement slot.

[0013] Furthermore, there are multiple angle identification marks that are evenly distributed around the center of the tooling tray, and the number of angle identification marks is consistent with the number of product placement slots.

[0014] Furthermore, a plurality of air inlet slots and air outlet slots are provided on the upper surface of the prepositioning plate. Each prepositioning placement slot is connected to one air inlet slot and one air outlet slot. A base plate is provided at the bottom of the prepositioning placement slot. The depths of the air inlet slots and the air outlet slots are the same and are both less than or equal to the distance from the upper surface of the base plate to the upper surface of the prepositioning plate. The depths of the air inlet slots and the air outlet slots are greater than the thickness of the sheet product. An air blowing pipe connected to an air source is provided in each air inlet slot.

[0015] Furthermore, positioning marks are provided on the pre-positioning disk.

[0016] Furthermore, the angle between the line connecting the center of the air inlet groove and the center of the prepositioning groove and the line connecting the air outlet groove and the center of the prepositioning groove is greater than or equal to 90°.

[0017] Furthermore, the suction cup mechanism includes a mounting frame disposed on the gripping plate, a connecting frame disposed below the mounting frame, the connecting frame being connected to the mounting frame via a plurality of adjusting screws, the adjusting screws being at least three and evenly distributed around the center of the connecting frame, a support plate disposed below the connecting frame, and a suction cup disposed at the center of the support plate.

[0018] The present invention also discloses a method for rapid loading and unloading of sheet products, which is implemented based on a rapid loading and unloading device for sheet products, and includes the following steps:

[0019] a. The robotic arm carries the gripping device and moves it. One of the suction cup mechanisms is used to place several sheet-like products into several product placement slots of the prepositioning device in sequence. At least one sheet-like product is placed in each product placement slot.

[0020] b. The robotic arm carries the gripping device to directly above the pre-positioning device, and the gripping device simultaneously grips several sheet-like products;

[0021] c. The gripping device moves to a predetermined position above the processing equipment;

[0022] d. Images of the machining fixture are captured by an image acquisition device, and the center and angle identification marks of the machining fixture are identified through image recognition;

[0023] e. Calculate the coordinate difference between the center of the gripping device and the center identification mark of the machining fixture, and adjust the position of the gripping device so that the center of the gripping device is directly aligned with the center identification mark of the fixture; when moving, move the gripping device by translation;

[0024] f. Calculate the angle difference between the product placement slot and the suction cup mechanism by using the angle recognition mark, and control the rotation mechanism to rotate so that the suction cup mechanism on the gripping device is facing the product placement slot.

[0025] g. The gripping device moves vertically downwards to place the sheet-like product into the product placement slot;

[0026] h. The gripping device moves away from the processing equipment to perform step a, while the processing equipment processes the sheet product;

[0027] i. After the processing equipment completes the processing, steps c~f are executed again. Then, the gripping device moves vertically downward to remove the sheet-like product placed in the slot and transfer it to the next process.

[0028] Furthermore, a certain direction is selected as the reference direction in the coordinate system of the robotic arm. When the gripping device moves to a predetermined position above the processing equipment, the reference direction is the direction of the line connecting one of the angle identification marks and the center identification mark when the processing fixture is in the ideal position and ideal angle. In step f, the angle value between the line connecting the angle identification mark and the center identification mark and the reference direction is calculated as the angle difference between the product placement slot and the suction cup mechanism.

[0029] Furthermore, there are multiple angle identification marks that are evenly distributed around the center of the tooling tray, and the number of angle identification marks is consistent with the number of product placement slots; when the center identification mark cannot be identified, a fitted circle is obtained by fitting any three angle identification marks, and the center of the fitted circle is used as the center identification mark.

[0030] Furthermore, when the gripping device moves between the prepositioning device and the processing equipment, the angle of the gripping device remains unchanged before and after the movement.

[0031] Furthermore, a positioning mark is provided on the pre-positioning disk;

[0032] In step b, after the grasping device moves directly above the pre-positioning device, the image acquisition device captures an image, identifies the coordinates of the positioning mark in the image, and calculates the positional deviation between the grasping device and the pre-positioning device.

[0033] In step e, when adjusting the position of the gripping device, the positional deviation value between the gripping device and the pre-positioning device is added.

[0034] Furthermore, in step b, after the gripping device grips the sheet product, the gripping device first raises the height h1 so that the lower surface of the sheet product is higher than the bottom of the air inlet groove. Airflow is output through the air blowing pipe for a duration t1. The gripping device then raises the height h2, and the air blowing pipe stops blowing air. After a duration t2, the gripping device carries the sheet product away from the pre-positioning device.

[0035] This invention uses a pre-positioning device to pre-position and temporarily store sheet-like products. During the processing operation, a robotic arm uses this time to stack the sheet-like products into multiple pre-positioning slots of the pre-positioning device. During loading, the gripping device can directly grab multiple sheet-like products from the pre-positioning device, enabling simultaneous loading and unloading of multiple products. When placing or removing sheet-like products from the processing fixture, an image acquisition device captures an image of the fixture. Center and angle identification marks are identified from the image. The position and angle differences between the gripping device and the processing fixture are calculated based on these marks. The position and rotation angle of the gripping device are adjusted accordingly to ensure the gripped sheet-like products are aligned with the product placement slots, allowing for precise placement or retrieval.

[0036] Meanwhile, when the gripping device picks up the sheet product from the pre-positioning device, it blows air onto the sheet product from one side through the air inlet slot. Under the action of the airflow, the two sheet products that are stuck together are separated. The upper sheet product moves upward, while the lower sheet material remains in the pre-positioning slot under its own weight. This enables the sheet product to be picked up quickly and avoids excess sheet products from entering the processing equipment along with the sheet product to be processed. This prevents damage to the product and the processing equipment and ensures efficient loading and unloading of sheet products.

[0037] This invention enables efficient and precise loading and unloading of sheet materials, and is especially suitable for situations where the position and angle of the processing tooling are uncertain. Attached Figure Description

[0038] Figure 1 This is a structural diagram of the rapid loading and unloading equipment for sheet products according to the present invention.

[0039] Figure 2 This is a schematic diagram of the rapid loading and unloading equipment for sheet products according to the present invention.

[0040] Figure 3 This is a structural diagram of the processing tooling of the present invention.

[0041] Figure 4 This is a structural diagram of the prepositioning device of the present invention.

[0042] Figure 5 This is a structural diagram of the gripping device of the present invention.

[0043] In the diagram: 1. Processing equipment; 2. Processing tooling; 3. Pre-positioning device; 4. Robotic arm; 5. Gripping device; 6. Production line; 7. Image acquisition device; 8. Sheet product; 9. Reference direction; 10. Pre-position; 2-1. Tooling tray; 2-2. Product placement slot; 2-3. Center identification mark; 2-4. Angle identification mark; 3-1. Pre-positioning tray; 3-2. Pre-positioning placement slot; 3-3. Air inlet slot; 3-4. Air outlet slot; 3-5. Air blowing pipe; 3-6. Base plate; 3-7. Positioning mark; 5-1. Rotating mechanism; 5-2. Gripping tray; 5-3. Suction cup mechanism; 5-3-1. Mounting frame; 5-3-2. Adjusting screw; 5-3-3. Support tray; 5-3-4. Suction cup; 7-1. Fixing frame. Detailed Implementation

[0044] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] Example 1

[0047] like Figure 1 , Figure 2 As shown, this embodiment is a rapid loading and unloading device for sheet products 8. Its structure mainly includes a processing fixture 2, a pre-positioning device 3, a robotic arm 4, a gripping device 5, and a positioning device.

[0048] Multiple processing fixtures 2 are arranged around the center of the processing equipment 1. During processing, the sheet product 8 is placed in the processing fixture 2. While the processing fixture 2 revolves around the center of the processing equipment 1, the fixture disk 2-1 rotates around its own center. After completing one processing cycle, the processing fixture 2 will roughly stop in a certain area. However, the position and rotation angle of the processing fixture 2 are uncertain each time. The position and angle of the gripping device 5 need to be precisely adjusted to accurately pick up or place the sheet product 8.

[0049] The machining fixture 2 is installed on the machining equipment 1, such as Figure 3 As shown, the processing fixture 2 includes a fixture tray 2-1, which is a circular, thin-plate structure. Multiple product placement slots 2-2 are formed on the fixture tray 2-1. The product placement slots 2-2 are generally circular and are used to place circular, sheet-like products. The number of product placement slots 2-2 is generally greater than two; in this embodiment, there are five product placement slots 2-2 on one fixture tray 2-1. All the product placement slots 2-2 on one fixture tray 2-1 are evenly distributed around the center of the fixture tray 2-1.

[0050] To facilitate the identification of the position and angle of the tooling tray 2-1, a center identification mark 2-3 is provided at the center of the upper surface of the tooling tray 2-1, and an angle identification mark 2-4 is provided on the upper surface of the tooling tray 2-1.

[0051] The number of angle identification marks 2-4 on a tooling tray 2-1 is generally the same as the number of product placement slots 2-2. In this embodiment, there are specifically 5 angle identification marks 2-4, which are evenly distributed around the center of the tooling tray 2-1. Each angle identification mark 2-4 corresponds to one product placement slot 2-2. Specifically, the angle identification mark 2-4 can be located in the same radial direction as the center of the corresponding product placement slot 2-2, or it can be located in the gap between two adjacent product placement slots 2-2.

[0052] In this embodiment, the processing equipment 1 can be a grinding equipment, and the processing fixture 2 can be a planetary wheel on the grinding equipment.

[0053] The pre-positioning device 3 is located next to the processing equipment 1, and the pre-positioning device 3 is fixedly installed. For example... Figure 4 As shown, the prepositioning device 3 includes a prepositioning disk 3-1, which is horizontally fixed on a frame with a certain height. Multiple prepositioning placement slots 3-2 are provided on the prepositioning disk 3-1. The number of prepositioning placement slots 3-2 is the same as the number of product placement slots 2-2. In this embodiment, there are 5 slots. The 5 prepositioning placement slots 3-2 are evenly distributed around the center of the prepositioning disk 3-1, and the size of the circle where the center of the prepositioning placement slot 3-2 is located is the same as the size of the circle where the center of the product placement slot 2-2 is located.

[0054] The pre-positioning slot 3-2 has a certain depth, which allows multiple sheet products 8 to be stacked within one pre-positioning slot 3-2.

[0055] The robotic arm 4 is positioned next to the pre-positioning device 3 and the processing equipment 1. A gripping device 5 is provided at the end of the robotic arm 4. The robotic arm 4 can carry the gripping device 5 and move as needed. With the gripping device 5, the pre-positioning and feeding of sheet products 8 and the loading and unloading of multiple sheet products 8 can be realized.

[0056] The robotic arm 4 can specifically be a six-axis robotic arm 4. The robotic arm 4 is an existing technology, and different brands and models of robotic arms 4 can be selected from the market according to needs.

[0057] like Figure 5As shown, the gripping device 5 specifically includes a rotating mechanism 5-1, a gripping disk 5-2, and a suction cup mechanism 5-3. The rotating mechanism 5-1 is located at the end of the robotic arm 4. The center of the gripping disk 5-2 is connected to the rotating shaft of the rotating mechanism 5-1, and the rotating mechanism 5-1 can drive the gripping disk 5-2 to rotate around the rotating shaft. The number of suction cup mechanisms 5-3 is the same as the number of product placement slots 2-2, specifically five in this embodiment. The five suction cup mechanisms 5-3 are evenly distributed around the center of the gripping disk 5-2, and the size of the circle containing the center of the suction cup mechanism 5-3 is the same as the size of the circle containing the center of the product placement slot 2-2. By adjusting the position of the gripping disk 5-2 and the angle of rotation of the gripping disk 5-2 around the rotating shaft, the five suction cup mechanisms 5-3 can be positioned directly opposite the five product placement slots 2-2 of the processing fixture 2.

[0058] The positioning device includes a controller and an image acquisition device 7, which is located on one side of the gripping disk 5-2. Specifically, the image acquisition device 7 is mounted on the upper surface of the gripping disk 5-2 via a mounting bracket 7-1, and the image acquisition device 7 is located outside the contour of the gripping disk 5-2. Ideally, the image acquisition device 7 is located at the gap between two adjacent suction cup mechanisms 5-3.

[0059] The image acquisition device 7 can specifically be a high-precision industrial camera.

[0060] The image acquisition device 7 is electrically connected to the controller. The controller controls the image acquisition device 7 to acquire images. The images acquired by the image acquisition device 7 are transmitted to the controller for image recognition and processing. The controller controls the robotic arm 4 and the rotating mechanism 5-1 to work according to the recognition and processing results.

[0061] When the robotic arm 4 moves the gripping device 5 above the processing fixture 2, the image acquisition device 7 acquires an image of the processing fixture 2. The controller determines the position difference between the center of the fixture 2-1 and the center of the gripping device 5 based on the image recognition center identification mark 2-3 and the angle identification mark 2-4. The controller then controls the robotic arm 4 to adjust the position of the gripping device 5 so that the center of the gripping device 5 is directly opposite the center of the fixture 2-1. Then, the controller determines the angle difference between the product placement slot 2-2 and the suction cup mechanism 5-3 and controls the rotating mechanism 5-1 to rotate so that the suction cup mechanism 5-3 is directly opposite the product placement slot 2-2.

[0062] The suction cup mechanism 5-3 specifically includes a mounting frame 5-3-1, adjusting screws 5-3-2, a support plate 5-3-3, and a suction cup 5-3-4. The mounting frame 5-3-1 is fixedly mounted below the gripping plate 5-2. A connecting frame is located below the mounting frame 5-3-1 and is connected to it via several adjusting screws 5-3-2. There are at least three adjusting screws 5-3-2, evenly distributed around the center of the connecting frame. The support plate 5-3-3 is located below and fixedly connected to the connecting frame. The suction cup 5-3-4 is located at the center of the support plate 5-3-3 and is connected to a negative pressure device. The level of the connecting frame can be adjusted by adjusting the adjusting screws 5-3-2, thereby adjusting the level of the support plate 5-3-3. The suction cup 5-3-4 adsorbs the sheet-like product 8, maintaining a close fit between the sheet-like product 8 and the support plate 5-3-3, thus ensuring the relative positional relationship between the adsorbed sheet-like product 8 and the gripping plate 5-2.

[0063] Since the sheet products 8 are stacked in the prepositioning slot 3-2 of the prepositioning tray 3-1, the sheet products 8 may have undergone cleaning or other treatments in the pre-processing process. The liquid residue on the surface of the sheet products 8 causes the stacked sheet products 8 to stick together. When the gripping device 5 takes the sheet products 8 from the prepositioning tray 3-1, a suction cup mechanism 5-3 may take out two or more sheet products 8 that are stuck together at the same time. When the stuck sheet products 8 are placed into the processing fixture 2 for processing by the processing equipment 1, it may cause damage to the product or even damage to the processing equipment 1.

[0064] A base plate 3-6 is provided at the bottom of the pre-positioning placement slot 3-2. An air inlet slot 3-3 and an air outlet slot 3-4 are provided on the upper surface of the pre-positioning plate 3-1. Each pre-positioning placement slot 3-2 is connected to an air inlet slot 3-3 and an air outlet slot 3-4. An air blowing pipe 3-5 connected to an air source is provided in each air inlet slot 3-3. When picking up the sheet product 8, airflow is blown in through the air inlet slot 3-3. Under the action of the airflow, the sheet product 8 that is stuck below is separated from the sheet product 8 that is attracted by the suction cup mechanism 5-3 above.

[0065] Specifically, the base plate 3-6 is a ring structure set along the inner wall of the prepositioning groove 3-2. The base plate 3-6 has evenly distributed through holes. The base plate 3-6 ensures the levelness of the sheet product 8 by supporting the edge of the sheet product 8. The through holes on the base plate 3-6 facilitate the sheet product 8 to detach from the surface of the base plate 3-6.

[0066] The inlet groove 3-3 and outlet groove 3-4 have the same depth and are both less than or equal to the distance from the upper surface of the base plate 3-6 to the upper surface of the prepositioning plate 3-1. The depth of the inlet groove 3-3 and outlet groove 3-4 is greater than the thickness of the sheet product 8. This design allows the sheet product 8 to be moved upward by the gripping device 5 to the depth range corresponding to the inlet groove 3-3 and outlet groove 3-4. The lower surface of the sheet product 8 gripped by the gripping device 5 is higher than the bottom of the inlet groove 3-3 and outlet groove 3-4. When airflow enters the inlet groove 3-3, the airflow can enter the gap between the sheet product 8 gripped by the gripping device 5 and the adjacent sheet product 8 below it. Then the airflow is discharged from the outlet groove 3-4, thereby effectively separating the two sheet products 8 from each other.

[0067] Furthermore, the angle between the line connecting the center of the air inlet groove 3-3 and the center of the prepositioning groove 3-2 and the line connecting the air outlet groove 3-4 and the center of the prepositioning groove 3-2 is greater than or equal to 90°, so that the airflow can effectively separate the two sheet products 8 from each other before discharge.

[0068] During the reciprocating movement of the robotic arm 4, slight errors may occur. To avoid the accumulation of errors and their impact on positioning accuracy, adjustments need to be made to address these errors during the movement of the robotic arm 4. The specific solution is as follows: A positioning mark 3-7 is set on the pre-positioning disk 3-1. Specifically, the positioning mark 3-7 can be positioned on the edge of the pre-positioning disk 3-1 at a position corresponding to the image acquisition device 7. Before the gripping device 5 moves to the predetermined position 10 above the pre-positioning disk 3-1 to retrieve the sheet product 8, the image acquisition device 7 acquires an image of the positioning mark 3-7. The coordinates of the positioning mark 3-7 in the image are compared with the coordinates of the positioning mark 3-7 under ideal conditions to determine the relative deviation value of the positioning mark 3-7. During the process of placing the sheet product 8 into the processing fixture 2, when adjusting the position and angle of the gripping device 5 according to the center identification mark 2-3 and the angle identification mark 2-4, the deviation value is superimposed as compensation, thereby eliminating the slight errors generated by the robotic arm 4 during movement and ensuring positioning accuracy.

[0069] Example 2

[0070] This embodiment is a method for rapid loading and unloading of sheet products 8, based on the rapid loading and unloading equipment for sheet products 8 in Embodiment 1, such as... Figure 2 As shown, it includes the following steps.

[0071] a. The robotic arm 4 carries the gripping device 5 and moves it. Using one of the suction cup mechanisms 5-3, several sheet products 8 are placed sequentially into several product placement slots 2-2 of the prepositioning device 3. At least one sheet product 8 is placed in each product placement slot 2-2.

[0072] Sheet products 8 are conveyed to this process via production line 6. The gripping device 5 is used to place the sheet products 8 conveyed by production line 6 into the product placement slots 2-2 of the prepositioning device 3 in sequence. At least one sheet product 8 is placed in each product placement slot 2-2. In order to make full use of the processing time of the processing equipment 1 and improve the subsequent feeding efficiency, multiple sheet products 8 are generally placed in each product placement slot 2-2. Multiple sheet products 8 are stacked in the product placement slot 2-2.

[0073] b. The robotic arm 4 carries the gripping device 5 to directly above the prepositioning device 3, and the gripping device 5 simultaneously grips several sheet-like products 8.

[0074] Since the position of the pre-positioning device 3 is fixed, the robotic arm 4 can quickly determine the position of the pre-positioning device 3 according to its own coordinate system, and move the gripping device 5 to directly above the pre-positioning device 3, so that all the suction cup mechanisms 5-3 are respectively facing the pre-positioning placement slot 3-2. The robotic arm 4 can move the gripping device 5 vertically downward to cooperate with the suction cup mechanism 5-3 to pick up multiple sheet products 8 at one time.

[0075] c. The gripping device 5 moves to a predetermined position 10 above the processing equipment 1.

[0076] The robotic arm 4 drives the gripping device 5 to move to a predetermined position 10 above the processing equipment 1, and positions each suction cup mechanism 5-3 on the gripping device 5 at a predetermined angle. This position and angle are fixed. The predetermined position 10 is a fixed position near the robotic arm 4, predetermined by the method of the processing equipment 1, and is also the position where the processing equipment 1 is used for loading and unloading. Although the position of the processing fixture 2 is uncertain when it stops, it is basically located within a certain area below the predetermined position 10. At the predetermined position 10, the image acquisition device 7 can easily acquire images of the center identification mark 2-3 and the angle identification mark 2-4 on the processing fixture 2.

[0077] d. The image acquisition device 7 captures an image of the processing fixture 2, and the center identification mark 2-3 and angle identification mark 2-4 of the processing fixture 2 are identified by image recognition.

[0078] The image acquisition device 7 captures an image of the processing fixture 2 at a predetermined location 10, and the center identification mark 2-3 and angle identification mark 2-4 of the processing fixture 2 in the image are identified by image recognition technology.

[0079] e. Calculate the coordinate difference between the center of the gripping device 5 and the center identification mark 2-3 of the machining fixture 2, and adjust the position of the gripping device 5 so that the center of the gripping device 5 is directly aligned with the center identification mark 2-3 of the fixture disk 2-1.

[0080] Since the predetermined position 10 is fixed, its coordinates are known. The coordinates of the predetermined position 10 are also the coordinates of the center of the gripping device 5. An image is acquired by the image acquisition device 7 at a specific position. The pixel coordinates of the center identification mark 2-3 in the image can be converted into world coordinates through calibration transformation. The coordinate difference between the center of the gripping device 5 and the center identification mark 2-3 of the processing fixture 2 can be calculated. Based on this coordinate difference, the robotic arm 4 drives the gripping device 5 to translate and move it directly above the fixture plate 2-1, so that the center of the gripping device 5 is directly facing the center identification mark 2-3 of the fixture plate 2-1.

[0081] f. Calculate the angle difference between the product placement slot 2-2 and the suction cup mechanism 5-3 by using the angle recognition mark 2-4, and control the rotation mechanism 5-1 to rotate so that the suction cup mechanism 5-3 on the gripping device 5 is directly facing the product placement slot 2-2.

[0082] The image recognition angle identification mark 2-4 is identified and its pixel coordinates are determined. The world coordinates of the angle identification mark 2-4 are calculated through calibration transformation. Combined with the world coordinates of the center identification mark 2-3, the angle difference between the product placement slot 2-2 and the corresponding suction cup mechanism 5-3 is calculated. Based on this angle difference, the rotation mechanism 5-1 is controlled to rotate so that the suction cup mechanism 5-3 on the gripping device 5 is facing the product placement slot 2-2.

[0083] g. The gripping device 5 moves vertically downward to place the sheet product 8 into the product placement slot 2-2.

[0084] Because of the adjustments made in steps e and f, the gripping device 5 is positioned directly above the processing fixture 2 and all the suction cup mechanisms 5-3 are facing the product placement slot 2-2. That is, the sheet products 8 picked up by the gripping device 5 are all positioned directly above the product placement slot 2-2. The sheet products 8 can be accurately placed into the product placement slot 2-2 simply by moving vertically downwards.

[0085] h. The gripping device 5 moves away from the processing equipment 1 to perform the operation of step a, while the processing equipment 1 processes the sheet product 8.

[0086] After the sheet product 8 is placed into the processing fixture 2 of the processing equipment 1, the processing equipment 1 can start processing. During the waiting period while the processing equipment 1 is waiting to finish processing, the robotic arm 4, in conjunction with the gripping device 5, performs the operation in step a, and continues to place the sheet product 8 conveyed from the production line 6 into the pre-positioning device 3. This makes full use of the processing time of the processing equipment and can improve the efficiency of the entire loading and unloading process.

[0087] i. After the processing equipment 1 completes the processing, steps c to f are executed again. Then, the gripping device 5 moves vertically downward to take out the sheet product 8 in the product placement slot 2-2 and transfer it to the next process.

[0088] After processing is completed, the gripping device 5 moves again to the predetermined position 10 above the processing equipment 1, identifies the center identification mark 2-3 and the angle identification mark 2-4, calculates the position difference and angle difference, adjusts the position and angle of the gripping device 5 so that it can accurately grip the sheet product 8 in the processing fixture 2, and transfers the processed sheet product 8 to the next process.

[0089] The processing equipment 1 has multiple processing fixtures 2. During the loading operation of sheet products 8, the multiple processing fixtures 2 move sequentially to the loading / unloading positions, and the robotic arm 4, in conjunction with the gripping device 5, sequentially picks up the sheet materials from the pre-positioning device 3 for loading. During the unloading operation of sheet materials, the multiple processing fixtures 2 move sequentially to the loading / unloading positions, and the robotic arm 4, in conjunction with the gripping device 5, sequentially picks up the sheet products 8 from the processing fixtures 2 for unloading and sends the sheet products 8 to the next process. Accordingly, when the processing equipment 1 is performing processing operations, the robotic arm 4, in conjunction with the gripping device 5, places multiple layers of sheet products 8 from the production line 6 into the pre-positioning device 3 for subsequent continuous loading operations, thereby improving the efficiency of the entire processing process.

[0090] In the coordinate system of the robotic arm 4, a certain direction is selected as the reference direction 9. When the gripping device 5 moves to the predetermined position 10 above the processing equipment 1, the reference direction 9 is the direction of the line connecting one of the angle identification marks 2-4 and the center identification mark 2-3 when the processing fixture 2 is in the ideal position and ideal angle. When the processing fixture 2 is in the ideal position and ideal angle, there is no need to adjust the position and angle of the gripping device 5, and all the suction cup mechanisms 5-3 are directly facing the product placement slot 2-2 of the processing fixture 2. Thus, in step f, the angle difference between the product placement slot 2-2 and the corresponding suction cup mechanism 5-3 can be obtained by calculating the angle value between the line connecting the angle identification mark 2-4 and the center identification mark 2-3 in the actual situation and the reference direction 9.

[0091] Furthermore, when the gripping device 5 moves between the prepositioning device 3 and the processing equipment 1 via the robotic arm 4, the angle of the gripping device 5 relative to the reference direction 9 remains unchanged before and after the movement, which is equivalent to the sheet product 8 being translated from the prepositioning device 3 to the prepositioned position 10 of the processing equipment 1.

[0092] Furthermore, for ease of implementation, the X-axis direction of the robotic arm 4 is selected as the reference direction 9. When calculating the angle difference, it is only necessary to calculate the angle between the line connecting the angle identification mark 2-4 and the center identification mark 2-3 and the X-axis direction of the robotic arm 4.

[0093] Under normal circumstances, only the angle identification mark 2-4 closest to the reference direction 9 is selected for calculation, which can obtain the minimum angle difference, so as to reduce the angle of rotation of the rotating mechanism 5-1 driving the gripping device 5 to rotate.

[0094] There are multiple angle identification marks 2-4, which are evenly distributed around the center of the tooling tray 2-1. The number of angle identification marks 2-4 is the same as the number of product placement slots 2-2. When the center identification mark 2-3 cannot be identified, a fitted circle is obtained by fitting any three angle identification marks 2-4, and the center of the fitted circle is used as the center identification mark 2-3.

[0095] During the movement of the robotic arm 4, mechanical errors may occur. To eliminate these errors, a positioning mark 3-7 is provided on the pre-positioning disk 3-1. The positioning mark 3-7 is located on the upper surface of the pre-positioning disk 3-1, and when the gripping device 5 moves directly above the pre-positioning device 3, the positioning mark 3-7 is located below the position of the image acquisition device 7.

[0096] The process of eliminating errors using positioning markers 3-7 is as follows:

[0097] In step b, after the gripping device 5 moves directly above the prepositioning device 3, the image acquisition device 7 captures an image, identifies the pixel coordinates of the positioning marks 3-7 in the image, obtains the corresponding world coordinates through calibration transformation, and calculates the deviation value of the positioning marks 3-7 by combining the actual world coordinates of the positioning marks 3-7, thereby obtaining the position deviation value between the gripping device 5 and the prepositioning device 3.

[0098] In step e, when adjusting the position of the gripping device 5, the positional deviation between the gripping device 5 and the prepositioning device 3 is added as a compensation value. After compensation, the mechanical error generated during the operation of the robotic arm 4 can be eliminated.

[0099] When handling sheet materials in step b, stacking the sheet materials together can easily cause them to stick together. To prevent multiple sheet materials from being picked up simultaneously by a single suction cup mechanism 5-3 due to adhesion, after the gripping device 5 picks up the sheet product 8, the gripping device 5 first raises the height h1 so that the lower surface of the uppermost sheet product 8 picked up by the suction cup mechanism 5-3 is higher than the bottom of the air inlet groove 3-3. Airflow is output through the air blowing pipe 3-5 for a duration t1, which can be 1 to 5 seconds. The high-pressure airflow enters the gap between the two sheet products 8 through the air inlet groove 3-3, thereby separating the two sheet products 8 from each other. Then, the gripping device 5 continues to raise the height h2 so that the lower surface of the uppermost sheet product 8 picked up by the suction cup mechanism 5-3 is not higher than the upper surface of the prepositioning plate 3-1. The air blowing pipe 3-5 stops blowing and waits for a duration t2, which can be 0.5 to 3 seconds, so that the lower sheet product 8 has sufficient time to fall back to its original position under its own weight. Then, the gripping device 5 carries the sheet product 8 away from the prepositioning device 3.

[0100] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rapid loading and unloading device for sheet products, characterized in that, include The processing fixture, located on the processing equipment, includes a fixture tray with multiple product placement slots evenly distributed around the center of the fixture tray. A center identification mark is provided at the center of the fixture tray, and an angle identification mark is provided on the fixture tray. A pre-positioning device includes a pre-positioning disk, on which a plurality of pre-positioning placement slots are provided. The number of pre-positioning placement slots is the same as the number of product placement slots, and the plurality of pre-positioning placement slots are evenly distributed around the center of the pre-positioning disk. A robotic arm is positioned next to the prepositioning device and the processing equipment, and a gripping device is provided at the end of the robotic arm. The gripping device includes a rotating mechanism, a gripping disk, and a suction cup mechanism. The rotating mechanism is located at the end of the robotic arm. The center of the gripping disk is connected to the rotating shaft of the rotating mechanism. The number of suction cup mechanisms is the same as the number of product placement slots. Multiple suction cup mechanisms are evenly distributed around the center of the gripping disk. as well as The positioning device includes a controller and an image acquisition device. The image acquisition device is located on one side of the gripping disk. When the robotic arm moves the gripping device above the processing fixture, the image acquisition device acquires an image of the processing fixture. The controller determines the position difference between the center of the fixture disk and the center of the gripping device based on the image recognition center mark and angle recognition mark. The controller then controls the robotic arm to adjust the position of the gripping device so that the center of the gripping device is directly opposite the center of the fixture disk. The controller also determines the angle difference between the product placement slot and the suction cup mechanism and controls the rotating mechanism to rotate so that the suction cup mechanism is directly opposite the product placement slot.

2. The rapid loading and unloading equipment for sheet products according to claim 1, characterized in that, The angle identification marks are multiple and evenly distributed around the center of the tooling tray, and the number of the angle identification marks is the same as the number of the product placement slots.

3. The rapid loading and unloading equipment for sheet products according to claim 1, characterized in that, A plurality of air inlet slots and air outlet slots are provided on the upper surface of the prepositioning plate. Each prepositioning slot is connected to one air inlet slot and one air outlet slot. A base plate is provided at the bottom of the prepositioning slot. The depth of the air inlet slot and the air outlet slot are the same and both are less than or equal to the distance from the upper surface of the base plate to the upper surface of the prepositioning plate. The depth of the air inlet slot and the air outlet slot is greater than the thickness of the sheet product. An air blowing pipe connected to an air source is provided in each air inlet slot.

4. The rapid loading and unloading equipment for sheet products according to claim 1, characterized in that, Positioning marks are provided on the pre-positioning disk.

5. The rapid loading and unloading equipment for sheet products according to claim 1, characterized in that, The suction cup mechanism includes a mounting frame disposed on the gripping plate, a connecting frame disposed below the mounting frame, the connecting frame being connected to the mounting frame via a plurality of adjusting screws, the adjusting screws being at least three and evenly distributed around the center of the connecting frame, a support plate disposed below the connecting frame, and a suction cup disposed at the center of the support plate.

6. A method for rapid loading and unloading of sheet products, implemented based on the rapid loading and unloading equipment for sheet products according to any one of claims 1 to 5, characterized in that, Includes the following steps: a. The robotic arm carries the gripping device and moves it. One of the suction cup mechanisms is used to place several sheet-like products into several product placement slots of the prepositioning device in sequence. At least one sheet-like product is placed in each product placement slot. b. The robotic arm carries the gripping device to directly above the pre-positioning device, and the gripping device simultaneously grips several sheet-like products; c. The gripping device moves to a predetermined position above the processing equipment; d. Images of the machining fixture are captured by an image acquisition device, and the center and angle identification marks of the machining fixture are identified through image recognition; e. Calculate the coordinate difference between the center of the gripping device and the center identification mark of the machining fixture, and adjust the position of the gripping device so that the center of the gripping device is directly aligned with the center identification mark of the fixture plate; f. Calculate the angle difference between the product placement slot and the suction cup mechanism by using the angle recognition mark, and control the rotation mechanism to rotate so that the suction cup mechanism on the gripping device is facing the product placement slot. g. The gripping device moves vertically downwards to place the sheet-like product into the product placement slot; h. The gripping device moves away from the processing equipment to perform step a, while the processing equipment processes the sheet product; i. After the processing equipment completes the processing, steps c~f are executed again. Then, the gripping device moves vertically downward to remove the sheet-like product placed in the slot and transfer it to the next process.

7. The rapid loading and unloading method for sheet products according to claim 6, characterized in that, In the coordinate system of the robotic arm, a certain direction is selected as the reference direction. When the gripping device moves to a predetermined position above the processing equipment, the reference direction is the direction of the line connecting one of the angle identification marks and the center identification mark when the processing fixture is in the ideal position and the ideal angle. In step f, the angle value between the line connecting the angle identification mark and the center identification mark and the reference direction is calculated as the angle difference between the product placement slot and the suction cup mechanism.

8. The rapid loading and unloading method for sheet products according to claim 6, characterized in that, The angle identification marks are multiple and evenly distributed around the center of the tooling tray, and the number of angle identification marks is the same as the number of product placement slots; when the center identification mark cannot be identified, a fitted circle is obtained by fitting any three angle identification marks, and the center of the fitted circle is used as the center identification mark.

9. The rapid loading and unloading method for sheet products according to claim 6, characterized in that, A positioning mark is provided on the pre-positioning disk; In step b, after the grasping device moves directly above the pre-positioning device, the image acquisition device captures an image, identifies the coordinates of the positioning mark in the image, and calculates the positional deviation between the grasping device and the pre-positioning device. In step e, when adjusting the position of the gripping device, the positional deviation value between the gripping device and the pre-positioning device is added.

10. The rapid loading and unloading method for sheet products according to claim 6, characterized in that, In step b, after the gripping device grips the sheet product, it first raises the height h1 so that the lower surface of the sheet product is higher than the bottom of the air inlet groove. Airflow is output through the air blowing pipe for a duration t1. The gripping device then raises the height h2, and the air blowing pipe stops blowing. After a duration t2, the gripping device carries the sheet product away from the pre-positioning device.

Images