A robot automatic palletizer

Abstract

The invention discloses a robot automatic palletizer, which is used for palletizing electronic devices in a tray. The palletizer is installed in a chassis and comprises a control box arranged in the chassis, a tray feeding device arranged on the left side of the chassis and with the left end arranged outside a tray feeding port of the chassis, a tray positioning device arranged at the top of an inner side of the chassis corresponding to the tray feeding device and used for positioning the tray, a tray discharging lifting device arranged corresponding to the tray positioning device and arranged below the tray positioning device, a tray discharging conveyor belt arranged corresponding to the tray discharging lifting device and with the rear end arranged outside the tray discharging port of the chassis, a feed conveyor belt arranged corresponding to the tray positioning device and with one end arranged outside the electronic device feeding port of the chassis, a material turning device arranged corresponding to the end of the feed conveyor belt arranged at the inner side of the chassis, and a mechanical arm fixed on the top of the chassis and placed above the tray positioning device and the tray feeding device.

Description

Technical Field

[0001] The invention relates to the technical field of palletizers, in particular to a robot automatic palletizer. Background Art

[0002] With the rapid development of electronic technology, electronic products can be seen everywhere in people's lives. At the same time, the demand for electronic product assemblies is also increasing day by day. Automated production has become an inevitable trend. The electronic assemblies of 3C electronics, semiconductors, medical equipment and other equipment are small and precise. The equipment needs to be accurately transported during transmission and palletizing, otherwise the devices are easily damaged. In addition, the existing equipment has poor compatibility, loud noise, large vibration, and low efficiency in palletizing electronic devices after loading.

[0003] Therefore, there is an urgent need for a robotic automatic palletizer with strong compatibility, low noise, low vibration, accurate palletizing and high efficiency. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide a robot automatic palletizer. The technical solution adopted by the present invention is as follows:

[0005] A robot automatic palletizer is used to palletize electronic devices in a tray. The palletizer is installed in a chassis. A tray feed port and a tray discharge port are provided on the left side of the chassis, and an electronic device feed port is provided on the right side. The palletizer comprises a control box arranged in the chassis, a tray feeding device arranged on the left side of the chassis, and the left end of which is placed outside the tray feed port of the chassis, a tray positioning device arranged at the top of the inner part of the chassis corresponding to the tray feeding device and used for positioning the tray, a tray discharge lifting device arranged corresponding to the tray positioning device and arranged below the tray positioning device, a tray discharge conveyor belt arranged corresponding to the tray discharge lifting device and the rear end of which is placed outside the tray discharge port of the chassis, a feed conveyor belt arranged corresponding to the tray positioning device and one end of which is placed outside the electronic device feed port of the chassis, a material turning device arranged corresponding to the end of the feed conveyor belt arranged at the inner part of the chassis, and a mechanical arm fixed on the top of the chassis and placed above the tray positioning device and the tray feeding device;

[0006] The tray feeding device includes a tray collecting vehicle frame that penetrates front and back and is in a columnar shape, a clip device arranged on either side of the inside of the tray collecting vehicle frame, a tray feeding conveyor belt whose front end is sleeved on the inside and below of the tray collecting vehicle frame, and a tray feeding lifting device arranged at the rear end of the tray feeding conveyor belt for lifting the tray;

[0007] The tray positioning device includes a tray working platform in the shape of a square when viewed from above, infrared sensors for discharging trays arranged on the left and right sides below the tray working platform, a plurality of tray straightening and positioning devices corresponding to each other arranged around the rectangular opening inside the tray working platform, a first infrared sensor arranged at the upper left corner of the rectangular opening inside the tray working platform, and a second infrared sensor arranged on the upper part of the tray working platform and located on the left and right sides of the rear side of the tray straightening and positioning device;

[0008] The tray discharging lifting device includes a slide rail frame that is in the shape of a square when viewed from the left, a slide rail arranged on each of the left and right sides of the left end surface of the slide rail frame, a linear slide module arranged at the center position of the axis of the slide rail frame, a slider sleeved on any slide rail of the slide rail frame, a tray frame whose right ends are respectively fixed to the slider and the screw nut of the linear slide module and is arranged corresponding to the tray discharging conveyor belt, a discharging motor fixed to the right bottom of the slide rail frame and arranged corresponding to the linear slide module, and a transmission module arranged at the bottom of the slide rail frame, and whose left and right ends are respectively connected to the bottom of the linear slide module and the rotor of the discharging motor;

[0009] The feed conveyor belt comprises a conveyor belt body, a first feed conveyor belt sensor arranged at the front end of the conveyor belt body, and a second feed conveyor belt sensor obliquely arranged at the middle end of the conveyor belt body;

[0010] The material turning device comprises a turning device and a horizontal pushing device which are respectively arranged on both sides of the end of the feeding conveyor belt;

[0011] The mechanical arm comprises a six-degree-of-freedom mechanical arm whose bottom is fixed to the top of the chassis, and a mechanical claw connected to the bottom of the six-degree-of-freedom mechanical arm;

[0012] The clip device comprises a frame in the shape of a square when viewed from the left, a first rotating shaft and a second rotating shaft respectively arranged at the upper and lower ends of the frame and having gears fixed on the left and right sides of the axis surface, a chain corresponding to any pair of gears arranged on the left and right sides of the axis surface of the first rotating shaft and the second rotating shaft, a plurality of tray clamping strips fixed to the outside of the chain and arranged at equal distances, and a clip device motor fixed to the bottom of the frame and having a rotor connected to the second rotating shaft;

[0013] The tray feeding lifting device comprises a feeding lifting device frame which is in the shape of a square when viewed from the left, a feeding infrared sensor arranged on the top right side of the feeding lifting device frame, a feeding lifting slide rail arranged on either side of the inside of the feeding lifting device frame, a synchronous pulley module arranged in the feeding lifting device frame and located between the two feeding lifting slide rails, a feeding lifting device motor whose rotor is connected to the synchronous wheel at the bottom of the synchronous pulley module and is fixed at the bottom of the feeding lifting device frame, a tray support frame which is fixed on the synchronous belt of the synchronous pulley module, the left and right sides of the rear are respectively sleeved on the feeding lifting slide rails and is arranged corresponding to the tray feeding conveyor belt, and a tray support plate which is arranged on the tray support frame and is arranged corresponding to the tray feeding conveyor belt;

[0014] The tray straightening and positioning device comprises a pneumatic slider seat fixed on the tray working platform, a pneumatic slider slidably sleeved on the top of the pneumatic slider seat, and a straightening plate fixed on the right side of the pneumatic slider;

[0015] The turning device includes a material turning device mounting platform that is flush with the material tray working platform and fixed to the right side of the chassis, a U-shaped frame fixed to the material turning device mounting platform, which is U-shaped and has slide grooves on the inner sides of two vertical plates, a pneumatic push rod frame fixed to the center position of the U-shaped frame, a first pneumatic push rod module arranged in the pneumatic push rod frame and fixed on the U-shaped frame at the bottom, a second pneumatic push rod module connected to the push rod of the first pneumatic push rod module at the bottom and sleeved in the pneumatic push rod frame, an H-shaped, middle horizontal plate connected to the push rod of the second pneumatic push rod module, and vertical plates on both sides slidably sleeved on the U-shaped frame An H-shaped frame in the inner slide groove and with coaxial through holes opened on the upper part of the vertical plates on both sides, a flip shaft with an elliptical cross-section and nested in the through holes of the H-shaped frame at both ends, a flip device motor with a rotor connected to the flip shaft and fixed on the left side of the H-shaped frame, a semicircular baffle fixed on the right end of the flip shaft, a slot-shaped photoelectric sensor corresponding to the baffle and fixed on the right side of the H-shaped frame, a pneumatic flip clamp seat fixed on any plane in the axial direction of the flip shaft and with a slide groove opened, and two pneumatic flip clamp legs symmetrically sleeved in the slide groove of the pneumatic flip clamp seat and forming a U shape with the pneumatic flip clamp seat when viewed from above;

[0016] The horizontal push device includes a T-shaped horizontal push frame fixed on the material turning device mounting table, a horizontal push pneumatic slider seat fixed on the top of the horizontal push frame, a slide rod sleeved in the horizontal push pneumatic slider seat, and a push block fixed on the outer end of the slide rod;

[0017] The mechanical claw comprises a mechanical claw frame fixed at the bottom of the six-degree-of-freedom mechanical arm, which is in the form of a frame structure and has slide rails on both sides of the bottom; a mechanical claw motor fixed in the hollow of the mechanical claw frame and having a gear installed on the rotor; two horizontal sliders symmetrically arranged with the top sleeved on the slide rail at the bottom of the mechanical claw frame, the top rack meshing with the gear of the mechanical claw motor; a pneumatic longitudinal slider seat slidably sleeved on the left and right sides of the inner side of any horizontal slider; and a gripper fixed on any pneumatic longitudinal slider seat;

[0018] The pneumatic slider seat, the first pneumatic push rod module, the second pneumatic push rod module, the pneumatic flip clamp seat, the horizontal push pneumatic slider seat and the pneumatic longitudinal slider seat are connected to the air pump;

[0019] The control box is electrically connected with the tray feeding device, the tray positioning device, the tray discharging lifting device, the feeding conveyor belt, the material turning device, the mechanical arm and the tray discharging conveyor belt.

[0020] Furthermore, the material tray feed lifting device also includes three enclosures that are combined with the feed lifting device frame to form a trumpet shape, a feed lifting device workbench that is flush with the material tray working platform, is U-shaped, fixed in the chassis, and is used to fix the enclosures.

[0021] Furthermore, a safety grating is installed on the outer side of the frame of the tray collecting vehicle.

[0022] Furthermore, the four bottom corners of the frame of the tray collecting vehicle are equipped with Fuma wheels.

[0023] Furthermore, the upper portion of the outer peripheral surface of the chassis is a transparent acrylic plate.

[0024] Furthermore, the pneumatic slider seat, the first pneumatic push rod module, the second pneumatic push rod module, the pneumatic flip clamp seat, the transverse push pneumatic slider seat and the pneumatic longitudinal slider seat are all equipped with air inlet quick connectors and air outlet quick connectors.

[0025] Furthermore, the outer surface of the chassis is provided with a display electrically connected to the control box.

[0026] Furthermore, a tray feed inlet and a tray discharge outlet are provided on the left side of the chassis and a safety grating is provided at the tray feed inlet and the tray discharge outlet.

[0027] Furthermore, couplings are provided at the rotors of the discharging motor, the feeding lifting device motor and the turning device motor.

[0028] Furthermore, the upper left corner of the outer edge of the tray is rounded.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) The present invention ingeniously sets a clip device to realize the automation of tray transmission and increase the efficiency of tray feeding;

[0031] (2) The present invention cleverly sets a tray positioning device, which corrects the tray through the tray straightening and positioning device, and detects whether the tray is placed correctly through the first infrared sensor, thereby improving work efficiency and reducing damage to electronic devices during palletizing;

[0032] (3) The present invention cleverly sets up a material turning device to solve the problem of the misalignment of the electronic components when they are stacked;

[0033] (4) The present invention cleverly provides a horizontal push device to facilitate the flip device to clamp the electronic device;

[0034] (5) The present invention ingeniously arranges a baffle and a slot-type photoelectric sensor to achieve precise control of the rotation angle of the flip device;

[0035] (6) The present invention ingeniously arranges the first pneumatic push rod module and the second pneumatic push rod module, which facilitates the adjustment of the height of the H-shaped frame and has higher applicability to different electronic devices;

[0036] (7) The present invention ingeniously sets up a six-degree-of-freedom robotic arm, which improves the flexibility of electronic device palletizing;

[0037] (8) The present invention cleverly installs a safety grating to improve the safety of the factory;

[0038] (9) The present invention ingeniously sets a material tray discharging lifting device to achieve multiple material tray output and improve production efficiency;

[0039] (10) The present invention cleverly sets up a mechanical claw, adjusts the lateral width of the mechanical claw by a gear rack, and adjusts the longitudinal length by a pneumatic longitudinal slider seat, thereby improving the adaptability and flexibility of the mechanical claw;

[0040] (11) The present invention cleverly sets a first feed conveyor belt sensor and a second feed conveyor belt sensor to facilitate monitoring of electronic devices on the feed conveyor belt;

[0041] (12) The present invention cleverly arranges a panel, and by combining the panel and the feed lifting device frame into a trumpet shape, a preliminary position correction of the feed tray during feeding is achieved;

[0042] (13) The present invention cleverly sets up a feeding infrared sensor to achieve accurate palletizing of the material trays during discharge;

[0043] (14) The present invention ingeniously sets up a linear slide module and a synchronous pulley module, which improves the stability and accuracy of the tray lifting;

[0044] (15) The present invention ingeniously arranges the Fuma wheel, which improves the stability of the tray collection vehicle frame during operation, while ensuring the convenience of movement of the tray collection vehicle;

[0045] (16) The present invention cleverly sets a second infrared sensor to facilitate accurate control of the downward movement position of the material tray to ensure that there is enough space for subsequent material trays;

[0046] (17) The present invention ingeniously sets the cross section of the flip shaft to an elliptical shape, which is convenient for the installation and fixation of the pneumatic flip clamp;

[0047] (18) The present invention ingeniously arranges couplings at the rotors of the discharge motor, the feed lifting device motor and the flip device motor to ensure the stability of power transmission;

[0048] (19) The present invention ingeniously sets the upper part of the outer peripheral surface of the chassis as a transparent acrylic plate, which is convenient for observing the internal operating conditions of the palletizer;

[0049] (20) The present invention ingeniously arranges air inlet quick connectors and air outlet quick connectors on the pneumatic slider seat, the first pneumatic push rod module, the second pneumatic push rod module, the pneumatic flip clamp seat, the horizontal push pneumatic slider seat and the pneumatic longitudinal slider seat, so as to facilitate the connection between the above-mentioned devices and the air pump;

[0050] (21) The present invention ingeniously provides a display on the outer surface of the chassis that is electrically connected to the control box, so as to facilitate monitoring of the operation status of the palletizer;

[0051] (22) The present invention cleverly sets the upper left corner of the outer edge of the material tray as a rounded transition, which makes it easier for the first infrared sensor to detect whether the material tray is placed correctly, thereby ensuring the correctness of the placement of the material tray.

[0052] The invention has the advantages of simple structure, safety, reliability and convenience in use, and has high practical value and promotion value in the technical field of palletizers. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope of protection. For those skilled in the art, other related drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 It is a schematic diagram of the structure of the present invention.

[0055] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0056] Figure 3 It is a schematic structural diagram of the tray feeding device of the present invention.

[0057] Figure 4 It is a schematic structural diagram of the clip device of the present invention.

[0058] Figure 5 It is a partial view of the clip device of the present invention.

[0059] Figure 6 It is a schematic structural diagram of the tray feeding lifting device of the present invention.

[0060] Figure 7 It is a partial view of the material tray feeding lifting device of the present invention.

[0061] Figure 8 It is a schematic diagram of the structure of the tray positioning and discharging module of the present invention.

[0062] Fig. 9 It is a schematic structural diagram of the tray positioning device of the present invention.

[0063] Fig.10 It is a partial view of the tray positioning device of the present invention.

[0064] Fig.11 It is a schematic structural diagram of the material tray discharging lifting device of the present invention.

[0065] Fig.12 It is a schematic structural diagram of the material turning device of the present invention.

[0066] Fig.13 It is a schematic diagram of the structure of the turning device of the present invention.

[0067] Fig.14 It is a schematic diagram of the structure of the mechanical arm of the present invention.

[0068] Fig.15 It is a schematic diagram of the structure of the mechanical claw of the present invention.

[0069] In the above drawings, the component names corresponding to the reference numerals are as follows:

[0070] 1-chassis, 2-tray feeding device, 3-tray, 4-tray positioning device, 5-tray discharging lifting device, 6-feeding conveyor belt, 7-material turning device, 8-mechanical arm, 9-tray discharging conveyor belt, 10-control box, 20-tray collection vehicle, 21-tray collection vehicle frame, 22-Foma wheel, 23-safety grating, 24-clip device, 25-tray feeding lifting device, 26-tray feeding conveyor belt, 41-tray working platform, 42-first infrared sensor, 43-tray straightening and positioning device, 4 4-second infrared sensor, 45-discharging tray infrared sensor, 51-discharging tray frame, 52-slide rail frame, 53-slider, 54-discharging motor, 55-transmission module, 56-linear slide module, 57-slide rail, 61-first feeding conveyor belt sensor, 62-second feeding conveyor belt sensor, 63-conveyor belt body, 71-turning device, 72-transverse pushing device, 81-six-degree-of-freedom mechanical arm, 82-mechanical claw, 241-clip device motor, 242-frame, 243-first rotating shaft, 244-chain , 245- tray card strip, 246- second rotating shaft, 251- feed lifting device workbench, 252- enclosure, 253- tray support plate, 254- feed lifting device motor, 255- feed infrared sensor, 256- synchronous pulley module, 257- feed lifting rail, 258- tray support frame, 259- feed lifting device frame, 431- pneumatic slider seat, 432- pneumatic slider, 433- straightening plate, 711- material turning device installation table, 712- U-shaped frame, 713- H-shaped frame, 71 4-pneumatic push rod frame, 715-flipping device motor, 716-first pneumatic push rod module, 717-second pneumatic push rod module, 718-slot type photoelectric sensor, 719-baffle, 7110-flipping axis, 7111-pneumatic flip clamp seat, 7112-pneumatic flip clamp support foot, 721-transverse push frame, 722-transverse push pneumatic slider seat, 723-slide rod, 724-push block, 821-mechanical claw frame, 822-mechanical claw motor, 823-transverse slider, 824-pneumatic longitudinal slider seat, 825-gripper. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical scheme and advantages of this application clearer, the present invention is further described below in conjunction with the accompanying drawings and embodiments, and the embodiments of the present invention include but are not limited to the following embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0072] Example

[0073] like Figures 1 to 15As shown, this embodiment provides a robot automatic palletizer. It should be noted that the serial numbers such as "first" and "second" in this embodiment are only used to distinguish similar components and cannot be understood as specific limitations on the protection scope. In addition, the directional terms such as "bottom", "top", "edges around", "center" in this embodiment are explained based on the drawings. In this embodiment, the six-degree-of-freedom robot arm 81, the camera wheel 22, the first infrared sensor 42, the second infrared sensor 44, etc. used are purchased.

[0074] Among them, Figures 1-2 As shown, a robot automatic palletizer is used to palletize electronic devices in a tray 3. The palletizer is installed in a chassis 1. The left side of the chassis 1 is provided with a tray feed port and a tray discharge port, and the right side is provided with an electronic device feed port. The palletizer is characterized in that it includes a control box 10 arranged in the chassis 1, a tray feeding device 2 arranged on the left side of the chassis 1 and with its left end placed outside the tray feed port of the chassis 1, a tray positioning device 4 arranged at the top of the inner side of the chassis 1 corresponding to the tray feeding device 2 and used to position the tray 3, and a tray positioning device 4 corresponding to the tray feeding device 2 and used to position the tray 3. A tray discharging lifting device 5 provided with the tray positioning device 4 and provided below the tray positioning device 4, a tray discharging conveyor belt 9 provided corresponding to the tray discharging lifting device 5 and having its rear end placed outside the tray discharging port of the chassis 1, a feeding conveyor belt 6 provided corresponding to the tray positioning device 4 and having one end placed outside the electronic device feeding port of the chassis 1, a material turning device 7 provided corresponding to the end of the feeding conveyor belt 6 provided at the inner side of the chassis 1, and a mechanical arm 8 fixed on the top of the chassis 1 and placed above the tray positioning device 4 and the tray feeding device 2;

[0075] like Figure 3 As shown, the tray feeding device 2 includes a tray collecting vehicle frame 21 that penetrates front and back and is in a columnar shape, a clip device 24 arranged on either side of the inside of the tray collecting vehicle frame 21, a tray feeding conveyor belt 26 whose front end is sleeved on the inside and below of the tray collecting vehicle frame 21, and a tray feeding lifting device 25 corresponding to the rear end of the tray feeding conveyor belt 26 for lifting the tray 3;

[0076] like Figures 8 to 10 As shown, the tray positioning device 4 includes a tray working platform 41 in the shape of a square when viewed from above, a discharging tray infrared sensor 45 arranged on the left and right sides below the tray working platform 41, a plurality of tray straightening and positioning devices 43 corresponding to each other arranged around the rectangular opening inside the tray working platform 41, a first infrared sensor 42 arranged at the upper left corner of the rectangular opening inside the tray working platform 41, and a second infrared sensor 44 arranged on the upper part of the tray working platform 41 and located on the left and right sides of the rear side of the tray straightening and positioning device 43;

[0077] like Fig.11As shown, the tray discharging lifting device 5 includes a slide rail frame 52 which is in the shape of a square as viewed from the left, a slide rail 57 arranged on each of the left and right sides of the left end surface of the slide rail frame 52, a linear slide module 56 arranged at the center position of the axis of the slide rail frame 52, a slider 53 sleeved on any slide rail 57 of the slide rail frame 52, a tray frame 51 whose right ends are respectively fixed to the slider 53 and the screw nut of the linear slide module 56 and is arranged corresponding to the tray discharging conveyor belt 9, a discharging motor 54 fixed to the right bottom of the slide rail frame 52 and arranged corresponding to the linear slide module 56, and a transmission module 55 arranged at the bottom of the slide rail frame 52, and whose left and right ends are respectively connected to the bottom of the linear slide module 56 and the rotor of the discharging motor 54;

[0078] like Fig.12 As shown, the feed conveyor belt 6 includes a conveyor belt body 63, a first feed conveyor belt sensor 61 disposed at the front end of the conveyor belt body 63, and a second feed conveyor belt sensor 62 obliquely disposed at the middle end of the conveyor belt body 63;

[0079] like Fig.12 As shown, the material turning device 7 includes a turning device 71 and a horizontal pushing device 72 which are respectively arranged on both sides of the end of the feed conveyor belt 6;

[0080] like Fig.14 As shown, the mechanical arm 8 includes a six-degree-of-freedom mechanical arm 81 whose bottom is fixed to the top of the chassis 1, and a mechanical claw 82 connected to the bottom of the six-degree-of-freedom mechanical arm 81;

[0081] like Figures 4-5 As shown, the clip device 24 includes a frame 242 in a square shape when viewed from the left, a first rotating shaft 243 and a second rotating shaft 246 respectively arranged at the upper and lower ends of the frame 242 and having gears fixed on the left and right sides of the axis, a chain 244 corresponding to any pair of gears on the left and right sides of the axis of the first rotating shaft 243 and the second rotating shaft 246, a plurality of tray clamping strips 245 fixed to the outside of the chain 244 and arranged at equal distances, and a clip device motor 241 fixed to the bottom of the frame 242 and having a rotor connected to the second rotating shaft 246;

[0082] like Figures 6-7As shown, the tray feeding lifting device 25 includes a feeding lifting device frame 259 which is in the shape of a square when viewed from the left, a feeding infrared sensor 255 arranged on the top right side of the feeding lifting device frame 259, a feeding lifting slide rail 257 arranged on either side of the inside of the feeding lifting device frame 259, a synchronous pulley module 256 arranged in the feeding lifting device frame 259 and located between the two feeding lifting slide rails 257, a feeding lifting device motor 254 whose rotor is connected to the synchronous wheel at the bottom of the synchronous pulley module 256 and is fixed at the bottom of the feeding lifting device frame 259, a tray supporting frame 258 which is fixed on the synchronous belt of the synchronous pulley module 256, the rear left and right sides are respectively sleeved on the feeding lifting slide rail 257 and is arranged corresponding to the tray feeding conveyor belt 26, and a tray supporting plate 253 which is arranged on the tray supporting frame 258 and is arranged corresponding to the tray feeding conveyor belt 26;

[0083] like Fig.10 As shown, the tray straightening and positioning device 43 includes a pneumatic slider seat 431 fixed on the tray working platform 41, a pneumatic slider 432 slidably sleeved on the top of the pneumatic slider seat 431, and a straightening plate 433 fixed on the right side of the pneumatic slider 432;

[0084] like Fig.11 As shown, the flipping device 71 includes a material flipping device mounting platform 711 flush with the material tray working platform 41 and fixed to the right side of the chassis 1, a U-shaped frame 712 fixed on the material flipping device mounting platform 711, which is U-shaped and has sliding grooves on the inner sides of two vertical plates, a pneumatic push rod frame 714 fixed at the center position inside the U-shaped frame 712, a first pneumatic push rod module 716 arranged in the pneumatic push rod frame 714 and fixed on the U-shaped frame 712 at the bottom, a second pneumatic push rod module 717 connected to the push rod of the first pneumatic push rod module 716 at the bottom and sleeved in the pneumatic push rod frame 714, an H-shaped, middle horizontal plate connected to the push rod of the second pneumatic push rod module 717, and the vertical plates on both sides are slidably sleeved in the inner slide grooves of the U-shaped frame 712. , an H-shaped frame 713 with coaxial through holes on the upper part of the vertical plates on both sides, a flip shaft 7110 with an elliptical cross-section and nested in the through holes of the H-shaped frame 713 at both ends, a flip device motor 715 with a rotor connected to the flip shaft 7110 and fixed on the left side of the H-shaped frame 713, a semicircular baffle 719 fixed on the right end of the flip shaft 7110, a slot-type photoelectric sensor 718 with a notch corresponding to the baffle 719 and fixed on the right side of the H-shaped frame 713, a pneumatic flip clamp seat 7111 fixed on any axial plane of the flip shaft 7110 and with a sliding groove, and two pneumatic flip clamp legs 7112 symmetrically sleeved in the sliding groove of the pneumatic flip clamp seat 7111 and forming a U-shape with the pneumatic flip clamp seat 7111 from above;

[0085] like Fig.12As shown, the horizontal push device 72 includes a T-shaped horizontal push frame 721 fixed on the material turning device mounting platform 711, a horizontal push pneumatic slider seat 722 fixed on the top of the horizontal push frame 721, a slide bar 723 sleeved in the horizontal push pneumatic slider seat 722, and a push block 724 fixed on the outer end of the slide bar 723;

[0086] like Fig.15 As shown, the mechanical claw 82 includes a mechanical claw frame 821 fixed at the bottom of the six-degree-of-freedom mechanical arm 81, which is a frame structure and has slide rails on both sides of the bottom, a mechanical claw motor 822 fixed in the hollow of the mechanical claw frame 821 and having a gear installed on the rotor, two horizontal sliders 823 symmetrically arranged on the top of the mechanical claw frame 821 bottom slide rail, the top rack meshing with the gear of the mechanical claw motor 822, a pneumatic longitudinal slider seat 824 slidably sleeved on the inner side of any one of the horizontal sliders 823, and a gripper 825 fixed on any one of the pneumatic longitudinal slider seats 824;

[0087] The pneumatic slider seat 431, the first pneumatic push rod module 716, the second pneumatic push rod module 717, the pneumatic flip clamp seat 7111, the horizontal push pneumatic slider seat 722 and the pneumatic longitudinal slider seat 824 are connected to the air pump;

[0088] The control box 10 is electrically connected to the tray feeding device 2, the tray positioning device 4, the tray discharging lifting device 5, the feeding conveyor belt 6, the material turning device 7, the mechanical arm 8 and the tray discharging conveyor belt 9.

[0089] Specifically, the material tray feed lifting device 25 also includes three enclosures 252 that are enclosed together with the feed lifting device frame 259 to form a trumpet shape, and a feed lifting device workbench 251 that is flush with the material tray working platform 41, is U-shaped, is fixed in the chassis 1, and is used to fix the enclosures 252.

[0090] A safety grating 23 is installed on the outer side of the frame 21 of the tray collecting vehicle.

[0091] The four bottom corners of the tray collecting vehicle frame 21 are provided with Foma wheels 22 .

[0092] The upper portion of the outer peripheral surface of the chassis 1 is a transparent acrylic plate.

[0093] The pneumatic slider seat 431, the first pneumatic push rod module 716, the second pneumatic push rod module 717, the pneumatic flip clamp seat 7111, the horizontal push pneumatic slider seat 722 and the pneumatic longitudinal slider seat 824 are all installed with air inlet quick connectors and air outlet quick connectors.

[0094] The outer surface of the chassis 1 is provided with a display electrically connected to the control box 10 .

[0095] The left side of the chassis 1 is provided with a tray feed inlet and a tray discharge outlet, and a safety grating 23 is arranged at the tray feed inlet and the tray discharge outlet.

[0096] The rotors of the discharging motor 54, the feeding lifting device motor 254 and the turning device motor 715 are all provided with couplings.

[0097] The upper left corner of the outer edge of the material tray 3 is rounded.

[0098] When using the equipment, follow the following process:

[0099] The first step is to load the tray 3 into the tray clamping strip 245 of the clip device 24 in sequence, start the tray feeding device 2, start the clip device motor 241, and the chain 244 moves downward under the drive of the clip device motor 241 until the tray 3 closest to the tray feeding conveyor belt 26 is placed on the tray feeding conveyor belt 26, and the clip device 24 stops moving. The tray feeding conveyor belt 26 starts to convey the tray 3 inward to the tray feeding lifting device 25 and stops. The tray feeding lifting device 25 starts, and the power is output through the feeding lifting device motor 254 to lift the tray to the feeding lifting device workbench 251. At this time, the feeding infrared sensor 255 detects that the tray 3 has arrived at the working position, and the tray feeding lifting device 25 stops moving. The mechanical arm 8 moves to the top of the tray 3, and the mechanical claw 82 grabs the tray 3 and places it on the tray positioning device 4, and the tray feeding lifting device 25 is reset;

[0100] Step 2: The tray straightening and positioning device 43 on the tray positioning device 4 is started to correct the tray 3. The first infrared sensor 42 detects whether the tray 3 is straightened. When the infrared ray is tangent to the outer edge of the tray 3, it is determined that the tray is straightened. Otherwise, the mechanical arm 8 picks up the tray 3, rotates it, and puts it back into the tray positioning device 4, and repeats the above detection process until the tray 3 is straightened.

[0101] Step 3: The feed conveyor belt 6 is started to transport the electronic device to the material turning device 7. At this time, the second feed conveyor belt sensor 62 detects that the electronic device enters between the turning device 71 and the horizontal pushing device 72. The horizontal pushing device 72 is started to push the electronic device to the turning device 71. The pneumatic turning clamp support leg 7112 of the turning device 71 tightens and clamps the electronic device inward. At this time, the first pneumatic push rod module 716 and the second pneumatic push rod module 717 are started to push the H-shaped frame 713 upward until the pneumatic turning clamp support leg 7112 can rotate and then stop. The turning device motor 715 is started, and the electronic device rotates. When the slot-type photoelectric sensor 718 is not blocked by the baffle 719, the rotation stops. At this time, the electronic device rotates to the stacking position, and the robot arm 8 clamps and moves the electronic device to the tray 3, and the material turning device 7 is reset at the same time.

[0102] Step 4: Repeat step 3 until the tray 3 is fully stacked, and the tray straightening and positioning device 43 is reset. At this time, the tray frame 51 on the tray discharge lifting device 5 moves downward until the second infrared sensor 44 is not blocked by the tray 3. At this time, the tray frame 51 moves downward to the position of one tray 3 and stops moving downward;

[0103] Step 5, repeat the first step to the fourth step until the tray rack 51 descends to the tray discharge conveyor belt 9. At this time, the discharge tray infrared sensor 45 is not blocked by the tray 3. The equipment stops feeding the tray 3 and stacking the electronic devices. The tray discharge conveyor belt 9 is started. The trays 3 with stacked electronic devices are stacked up and down and sent to the tray discharge port of the palletizer through the tray discharge conveyor belt 9. At this time, the safety grating 23 is blocked, the tray 3 is detected, and an alarm is issued to prompt the handling;

[0104] Step 6: After the palletized tray 3 is transported out of the palletizer, the safety grating 23 at the tray outlet is reset, the equipment is restarted, and steps 1 to 5 are repeated until the palletizing is completed.

[0105] The above embodiments are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any changes that adopt the design principles of the present invention and are made through non-creative labor on this basis should fall within the protection scope of the present invention.

Claims

1. A robot automatic palletizer for palletizing electronic devices in a tray (3), the palletizer being installed in a chassis (1), the chassis (1) being provided with a tray feed inlet and a tray discharge inlet on the left side, and an electronic device feed inlet on the right side, characterized in that: The invention comprises a control box (10) arranged in a chassis (1), a tray feeding device (2) arranged on the left side of the chassis (1) and with the left end placed outside the tray feeding port of the chassis (1), a tray positioning device (4) arranged at the top of the inner side of the chassis (1) corresponding to the tray feeding device (2) and used to position the tray (3), a tray discharge lifting device (5) arranged corresponding to the tray positioning device (4) and arranged below the tray positioning device (4), and a tray discharge lifting device (5) arranged corresponding to the tray discharge lifting device (5). A tray discharging conveyor belt (9) is provided with a lowering device (5) and the rear end of which is placed outside the tray discharging port of the chassis (1); a feeding conveyor belt (6) is provided corresponding to the tray positioning device (4) and one end of which is placed outside the electronic device feeding port of the chassis (1); a material turning device (7) is provided corresponding to the end of the feeding conveyor belt (6) at the inner side of the chassis (1); and a mechanical arm (8) is fixed on the top of the chassis (1) and placed above the tray positioning device (4) and the tray feeding device (2); The tray feeding device (2) comprises a tray collecting vehicle frame (21) which penetrates from front to back and is in a columnar shape, a clip device (24) arranged on either side of the inside of the tray collecting vehicle frame (21), a tray feeding conveyor belt (26) whose front end is sleeved on the inside and below of the tray collecting vehicle frame (21), and a tray feeding lifting device (25) arranged corresponding to the rear end of the tray feeding conveyor belt (26) and used to lift the tray (3); The tray positioning device (4) comprises a tray working platform (41) in the shape of a square in a bird's-eye view, a tray discharging infrared sensor (45) arranged on the left and right sides below the tray working platform (41), a plurality of tray straightening and positioning devices (43) arranged one by one corresponding to the rectangular opening inside the tray working platform (41), a first infrared sensor (42) arranged at the upper left corner of the rectangular opening inside the tray working platform (41), and a second infrared sensor (44) arranged on the upper part of the tray working platform (41) and located on the left and right sides of the rear side of the tray straightening and positioning devices (43); The tray discharging lifting device (5) comprises a slide rail frame (52) which is in the shape of a square when viewed from the left, a slide rail (57) arranged on each of the left and right sides of the left end surface of the slide rail frame (52), a linear slide module (56) arranged at the center position of the axis of the slide rail frame (52), a slider (53) sleeved on any slide rail (57) of the slide rail frame (52), a tray frame (51) whose right ends are respectively fixed to the slider (53) and the screw nut of the linear slide module (56) and is arranged corresponding to the tray discharging conveyor belt (9), a discharging motor (54) fixed to the right bottom of the slide rail frame (52) and arranged corresponding to the linear slide module (56), and a transmission module (55) arranged at the bottom of the slide rail frame (52) and whose left and right ends are respectively connected to the bottom of the linear slide module (56) and the rotor of the discharging motor (54); The feed conveyor belt (6) comprises a conveyor belt body (63), a first feed conveyor belt sensor (61) arranged at the front end of the conveyor belt body (63), and a second feed conveyor belt sensor (62) obliquely arranged at the middle end of the conveyor belt body (63); The material turning device (7) comprises a turning device (71) and a horizontal pushing device (72) which are respectively arranged on two sides of the end of the feed conveyor belt (6); The mechanical arm (8) comprises a six-degree-of-freedom mechanical arm (81) whose bottom is fixed to the top of the chassis (1), and a mechanical claw (82) connected to the bottom of the six-degree-of-freedom mechanical arm (81); The clip device (24) comprises a frame (242) in the shape of a square when viewed from the left, a first rotating shaft (243) and a second rotating shaft (246) respectively arranged at the upper and lower ends inside the frame (242) and having gears fixed on the left and right sides of the axis surface, a chain (244) arranged corresponding to any pair of gears on the left and right sides of the axis surface of the first rotating shaft (243) and the second rotating shaft (246), a plurality of tray clamping strips (245) fixed on the outside of the chain (244) and arranged at equal distances, and a clip device motor (241) fixed at the bottom of the frame (242) and having a rotor connected to the second rotating shaft (246); The tray feeding lifting device (25) comprises a feeding lifting device frame (259) in the shape of a square in left view, a feeding infrared sensor (255) arranged at the top right side of the feeding lifting device frame (259), a feeding lifting slide rail (257) arranged at either side of the inside of the feeding lifting device frame (259), a synchronous pulley module (256) arranged in the feeding lifting device frame (259) and located between the two feeding lifting slide rails (257), and a rotor and a synchronous pulley module (256). 56) a feed lifting device motor (254) connected to the bottom synchronous wheel and fixed to the bottom of the feed lifting device frame (259), a material tray support frame (258) fixed to the synchronous belt of the synchronous pulley module (256), the rear left and right sides are respectively sleeved on the feed lifting slide rail (257) and corresponding to the material tray feed conveyor belt (26), and a material tray support plate (253) arranged on the material tray support frame (258) and corresponding to the material tray feed conveyor belt (26); The tray straightening and positioning device (43) comprises a pneumatic slider seat (431) fixed on the tray working platform (41), a pneumatic slider (432) slidably sleeved on the top of the pneumatic slider seat (431), and a straightening plate (433) fixed on the right side of the pneumatic slider (432); The turning device (71) comprises a material turning device mounting platform (711) flush with the material tray working platform (41) and fixed on the right side of the chassis (1), a U-shaped frame (712) fixed on the material turning device mounting platform (711) and having a U-shape and having slide grooves on the inner sides of two vertical plates, a pneumatic push rod frame (714) fixed at the center position inside the U-shaped frame (712), a first pneumatic push rod module (716) arranged in the pneumatic push rod frame (714) and fixed on the U-shaped frame (712) at the bottom, a second pneumatic push rod module (717) connected to the push rod of the first pneumatic push rod module (716) at the bottom and sleeved in the pneumatic push rod frame (714), the second pneumatic push rod module (717) being H-shaped, the middle horizontal plate being connected to the push rod of the second pneumatic push rod module (717), the vertical plates on both sides being slidably sleeved in the slide grooves on the inner side of the U-shaped frame (712), An H-shaped frame (713) with coaxial through holes is provided at the upper part of the vertical plates on both sides, a turning shaft (7110) with an elliptical cross section and nested in the through holes of the H-shaped frame (713) at both ends, a turning device motor (715) with a rotor connected to the turning shaft (7110) and fixed on the left side of the H-shaped frame (713), a semicircular baffle (719) fixed on the right end of the turning shaft (7110), a slot-shaped photoelectric sensor (718) with a notch corresponding to the baffle (719) and fixed on the right side of the H-shaped frame (713), a pneumatic turning clamp seat (7111) fixed on any axial plane of the turning shaft (7110) and provided with a sliding groove, and two pneumatic turning clamp legs (7112) symmetrically arranged in the sliding groove of the pneumatic turning clamp seat (7111) and forming a U shape with the pneumatic turning clamp seat (7111) when viewed from above; The horizontal push device (72) comprises a T-shaped horizontal push frame (721) fixed on the material turning device mounting platform (711), a horizontal push pneumatic slider seat (722) fixed on the top of the horizontal push frame (721), a slide bar (723) sleeved in the horizontal push pneumatic slider seat (722), and a push block (724) fixed on the outer end of the slide bar (723); The mechanical claw (82) comprises a mechanical claw frame (821) fixed at the bottom of the six-degree-of-freedom mechanical arm (81) in the form of a frame structure with slide rails arranged on both sides of the bottom, a mechanical claw motor (822) fixed at the hollow of the mechanical claw frame (821) with a gear installed on the rotor, two transverse sliders (823) symmetrically arranged and sleeved on the top of the slide rail at the bottom of the mechanical claw frame (821), the top rack meshing with the gear of the mechanical claw motor (822), a pneumatic longitudinal slider seat (824) slidably sleeved on the inner side of any one of the transverse sliders (823), one on each side, and a gripper (825) fixed on any one of the pneumatic longitudinal slider seats (824); The pneumatic slider seat (431), the first pneumatic push rod module (716), the second pneumatic push rod module (717), the pneumatic flip clamp seat (7111), the horizontal push pneumatic slider seat (722) and the pneumatic longitudinal slider seat (824) are connected to the air pump; The control box (10) is electrically connected to the tray feeding device (2), the tray positioning device (4), the tray discharging lifting device (5), the feeding conveyor belt (6), the material turning device (7), the mechanical arm (8) and the tray discharging conveyor belt (9).

2. The robot automatic palletizer according to claim 1, characterized in that: The material tray feeding lifting device (25) further comprises three enclosures (252) which are enclosed together with the feeding lifting device frame (259) to form a trumpet shape, and a feeding lifting device workbench (251) which is flush with the material tray working platform (41), is in a U shape, is fixed in the chassis (1), and is used to fix the enclosures (252).

3. The robot automatic palletizer according to claim 1, characterized in that: A safety grating (23) is installed on the outer side of the material tray collection vehicle frame (21).

4. The robot automatic palletizer according to claim 1, characterized in that: Four corners of the bottom of the tray collecting vehicle frame (21) are provided with Fuma wheels (22).

5. The robot automatic palletizer according to claim 1, characterized in that: The upper portion of the outer peripheral surface of the chassis (1) is a transparent acrylic plate.

6. The robot automatic palletizer according to claim 1, characterized in that: The pneumatic slider seat (431), the first pneumatic push rod module (716), the second pneumatic push rod module (717), the pneumatic flip clamp seat (7111), the horizontal push pneumatic slider seat (722) and the pneumatic longitudinal slider seat (824) are all equipped with an air inlet quick connector and an air outlet quick connector.

7. The robot automatic palletizer according to claim 1, characterized in that: The outer surface of the chassis (1) is provided with a display which is electrically connected to the control box (10).

8. The robot automatic palletizer according to claim 1, characterized in that: The left side of the machine case (1) is provided with a material tray inlet and a material tray outlet, and a safety grating (23) is arranged at the outlet.

9. The robot automatic palletizer according to claim 1, characterized in that: The rotors of the discharge motor (54), the feed lifting device motor (254) and the turning device motor (715) are all provided with couplings.

10. The robot automatic palletizer according to claim 1, characterized in that: The upper left corner of the outer edge of the material tray (3) is rounded.

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