A fully automatic picking and placing machine

Abstract

The present invention relates to the technical field of machine for picking up and placing pieces, and discloses a fully automatic machine for picking up and placing pieces, including a transmission device, a first grasping device, a detection device, a second grasping device and a third grasping device. The first grasping device grasps the product and places it on the transmission device. The transmission device transmits the product from the production end to the detection end. The second grasping device grasps the product on the transmission device and places it on the detection device. After the detection is completed, if the detection device detects that the product is qualified, the product is placed on a tray and placed on a plate; if the detection device detects that the product is unqualified, the product is placed on a waste box. The entire process from grasping and detecting to placing the plate is fully automated, which improves production efficiency and saves labor. In addition, through automatic placing the plate, the plate is placed neatly and the product will not be damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of object picking and displaying machines, and in particular to a fully automatic object picking and displaying machine. Background Art

[0002] In an actual production workshop, after the production equipment produces the products, they are usually taken out manually, quality checked, and then manually arranged on a plate before entering the next step, such as packaging or further processing. Manual arrangement of the plates is time-consuming, resulting in low production efficiency. In addition, manual arrangement of the plates will cause the ornaments to be arranged unevenly, which may easily damage the ornaments. Summary of the invention

[0003] Based on the above, the object of the present invention is to provide a fully automatic object picking and displaying machine, which can automatically realize the picking, detection and displaying of objects, improve production efficiency, and display objects neatly.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention discloses a fully automatic object taking and placing machine, comprising:

[0006] A transmission device, used to transmit the product from the production end to the detection end;

[0007] A first grabbing device, which is disposed above the front end of the transmission device and is used to grab the product and then place the grabbed product on the transmission device;

[0008] A second grabbing device, which is disposed above the end of the transmission device and is used to grab the product and then place the grabbed product on a detection device, wherein the detection device is used to detect the product;

[0009] A third grabbing device, used to grab the product on the detection device;

[0010] If the product is found to be qualified by the detection device, the product is placed on a tray;

[0011] If the detection device detects that the product is unqualified, the product is placed on a waste box.

[0012] Further, the first grabbing device is configured to move along a first direction to grab a product, and then place the grabbed product on the transmission device along a second direction.

[0013] Furthermore, the first gripping device is configured to be able to rotate 180° forward or 180° reverse.

[0014] Furthermore, the transmission device includes a conveyor belt arranged along a first direction, and a guide plate capable of changing an inclination angle is arranged above the front end of the conveyor belt, and the guide plate is inclined toward the direction in which the conveyor belt moves.

[0015] Furthermore, a plurality of filter holes are arranged on the guide plate.

[0016] Furthermore, a brush is provided below the front end of the conveyor belt, and the brush is configured to be in close contact with the conveyor belt.

[0017] Furthermore, a debris box is arranged below the brush.

[0018] Furthermore, a guide path for guiding the movement of products is provided in the middle portion above the conveyor belt, a positioning plate is provided at the end above the conveyor belt, a positioning opening is provided on the positioning plate, and the guide path can guide the product to the positioning opening.

[0019] Furthermore, the second grabbing device is configured to move along the second direction to grab the product located at the positioning port, and then move along the first direction to place the product on the detection device.

[0020] Further, the third grabbing device is configured to move along the second direction to grab the product on the detection device, and then move along the first direction;

[0021] If the detection device detects that the product is qualified, the product is placed on the tray, and the tray is configured to be movable along a third direction;

[0022] If the detection device detects that the product is unqualified, the product is placed on a waste box, which is arranged between the tray and the detection device.

[0023] The beneficial effects of the present invention are:

[0024] 1. The principle of the present invention is that the first grabbing device grabs the product and places it on the transmission device. The transmission device transfers the product from the production end to the detection end. The second grabbing device grabs the product on the transmission device and places it on the detection device. After the detection is completed, if the detection device detects that the product is qualified, the product is placed on the tray; if the detection device detects that the product is unqualified, the product is placed on the waste box. The whole process from grabbing, detection to plating is fully automated, which improves production efficiency and saves labor. In addition, through automatic plating, the plating is neat and the product will not be damaged.

[0025] 2. The first gripping device is configured to be able to rotate 180° forward or 180° reverse to remove dust or other debris on the product;

[0026] 3. The guide plate can guide the product to fall onto the conveyor belt along the inclined angle of the guide plate. The guide plate increases the height of the product falling into the conveyor belt to prevent the bottom of the first grabbing device from touching the conveyor belt;

[0027] 4. There are filter holes on the guide plate. When the product rotates 180° forward or 180° reverse, the debris can pass through the filter holes to filter out dust or debris.

[0028] 5. A brush is provided at the bottom of the front end of the conveyor belt, which can scrape off the dust or other debris sticking on the conveyor belt;

[0029] 6. The guide path and the positioning port enable the movement of the product to be positioned, and the second grabbing device can grab the product with more precise positioning and higher efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0031] Figure 1 The present invention provides a structural schematic diagram of a fully automatic piece picking and placing machine;

[0032] Figure 2 The present invention provides a structural schematic diagram of a first grabbing device of a fully automatic picking and placing machine;

[0033] Figure 3 The present invention provides a structural schematic diagram of a transmission device of a fully automatic piece picking and placing machine;

[0034] Figure 4 Another visual structural schematic diagram of a transmission device of a fully automatic object picking and displaying machine is provided for the present invention;

[0035] Figure 5 The present invention provides a structural schematic diagram of a second grasping device and a detection device of a fully automatic object picking and placing machine;

[0036] Figure 6 The present invention provides a schematic structural diagram of a third grabbing device of a fully automatic object picking and displaying machine;

[0037] Figure 7 The present invention provides a structural schematic diagram of a support plate of a fully automatic object picking and displaying machine.

[0038] In the figure:

[0039] X, first direction; Y, second direction; Z, third direction;

[0040] 1. Frame;

[0041] 2. Carrier;

[0042] 3. First grabbing device; 31. First transverse slide rail; 32. First transverse driving mechanism; 33. First transverse slider; 34. First vertical slide rail; 35. First vertical driving mechanism; 36. First vertical slider; 37. Forward and reverse assembly; 371. Forward and reverse motor; 372. Forward and reverse driving wheel; 373. Forward and reverse belt; 374. Forward and reverse driven wheel; 38. Rotating rod; 39. First clamping jaw cylinder; 391. First clamping jaw;

[0043] 4. Transmission device; 41. First mounting frame; 42. Conveyor belt; 43. Transmission drive mechanism; 431. Transmission motor; 432. Transmission driving wheel; 433. Transmission belt; 434. Transmission driven wheel; 44. Guide way; 45. Guide plate; 46. Positioning plate; 47. Positioning port; 48. Guide plate; 481. Filter hole; 482. Second mounting frame; 483. Tilt cylinder; 484. Third mounting frame; 49. Brush; 491. Brush holder;

[0044] 5. Second gripping device; 511. Second lateral sliding bar; 512. Second lateral sliding block; 52. Second lateral driving mechanism; 53. Second vertical driving mechanism; 54. Second vertical mounting plate; 55. Second clamping claw cylinder; 56. Second clamping claw;

[0045] 6. Third gripping device; 61. Third transverse slide rail; 62. Third transverse drive mechanism; 63. Third transverse slider; 64. Third vertical slide rail; 65. Third vertical drive mechanism; 66. Third vertical slider; 67. Third vertical mounting plate; 68. Third gripper cylinder; 69. Third gripper;

[0046] 7. pallet; 71. pallet slide bar; 72. pallet slide rail; 73. pallet drive mechanism;

[0047] 8. Detection device;

[0048] 91. Waste box; 92. Miscellaneous box. DETAILED DESCRIPTION

[0049] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0052] In the description of this embodiment, the terms "upper", "lower", "left", "right", etc., and the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplified operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0053] For better explanation, in the embodiment of the present invention, X is the first direction, Y is the second direction, and Z is the third direction, and the first direction X, the second direction Y, and the third direction Z are perpendicular to each other;

[0054] like Figure 1As shown, an embodiment of the present invention provides a fully automatic piece picking and placing machine, which includes a frame 1 and a platform 2, and the fully automatic piece picking and placing machine also includes a transmission device 4, which is arranged on the frame 1 and is used to transmit the product from the production end to the detection end; a first grasping device 3 is arranged on the frame 1, and is arranged above the front end of the transmission device 4, for grasping the product, and then placing the grasped product on the transmission device 4; a second grasping device 5 is arranged on the frame 1, and is arranged above the end of the transmission device 4, for grasping the product, and then placing the grasped product on the detection device 8, and the detection device 8 is used to detect the product; a third grasping device 6 is arranged on the platform 2, for grasping the product on the detection device 8; if the detection device 8 detects that the product is qualified, the product is placed on a tray (not shown) for display; if the detection device 8 detects that the product is unqualified, the product is placed on a waste box 91.

[0055] The principle of the embodiment of the present invention is that the first grasping device 3 grasps the product and places it on the transmission device 4, the transmission device 4 transmits the product from the production end to the detection end, the second grasping device 5 grasps the product on the transmission device 4 and places it on the detection device 8, after the detection is completed, if the detection device 8 detects that the product is qualified, the product is placed on the tray and plated; if the detection device 8 detects that the product is unqualified, the product is placed on the waste box 91. The whole process from grasping, detection to plate placing is fully automated, which improves production efficiency and saves labor, and through automatic plate placing, the plate placing is neat and the product will not be damaged.

[0056] As a preferred embodiment of the present invention, Figure 2As shown, the first grabbing device 3 is used to grab the product and then place the grabbed product on the transmission device 4. The first grabbing device 3 is configured to move along a first direction X to grab the product and then place the grabbed product on the transmission device 4 along a second direction Y. Preferably, the first grabbing device 3 is configured to be able to rotate 180° forward or 180° reverse. Specifically, the frame 1 is provided with a first transverse slide rail 31 extending along the first direction X, the first transverse slide rail 31 is provided with a first transverse driving mechanism 32, the first transverse slide rail 31 is slidably provided with a first transverse slider 33, the output end of the first transverse driving mechanism 32 is connected to the first transverse slider 33 to drive the first transverse slider 33 to reciprocate along the first direction X, in the embodiment of the present invention, the first transverse driving mechanism 32 is a linear motor; the first transverse slider 33 is provided with a first vertical slide rail 34 extending along the second direction Y, the first vertical slide rail 34 is provided with a first vertical driving mechanism 35, the first vertical slide rail 34 is slidably provided with a first vertical slider 36, the output end of the first vertical driving mechanism 35 is connected to the first vertical slider 36 to drive the first vertical slider 36 to reciprocate along the second direction Y, in the embodiment of the present invention, the first vertical driving mechanism 35 is Linear motor; A forward and reverse assembly 37 is provided on the first vertical sliding block 36, and the forward and reverse assembly 37 includes a forward and reverse motor 371, a forward and reverse driving wheel 372, a forward and reverse driven wheel 374 and a forward and reverse belt 373. The output end of the forward and reverse motor 371 is connected to the forward and reverse driving wheel 372, and the forward and reverse belt 373 is sleeved between the forward and reverse driving wheel 372 and the forward and reverse driven wheel 374. The forward and reverse driving wheel 372 is driven by the forward and reverse motor 371 to rotate 180° forward or 180° reverse, and then the forward and reverse driven wheel 374 is driven to rotate. A rotating rod 38 is sleeved on the forward and reverse driven wheel 374, and the end of the rotating rod 38 is sleeved on the forward and reverse driven wheel 374. A first clamping cylinder 39 is provided at the front end of the rotating rod 38, and a first clamping claw 391 is provided at the output end of the first clamping claw cylinder 39. In order to make the rotating rod 38 rotate in a balanced manner and stabilize the center of gravity, a supporting bearing is sleeved at the end of the rotating rod 38. In an embodiment of the present invention, the first clamp 391 is used to grab the product, grab the product from the production end, and then place it on the transmission device 4; and often at the production end, there will be dust or other debris on the product, and the first grabbing device 3 is configured to be able to rotate 180° forward or 180° reverse, so as to shake off the dust or other debris on the product; a blowing mechanism (not shown) can be set at the same time as the forward and reverse rotation to blow air on the product, thereby further playing a cleaning role, and the blowing mechanism is set on the first clamp cylinder 39, and an air outlet is set on the blowing mechanism, and the air outlet faces the first clamp 391.

[0057] As a preferred embodiment of the present invention, Figure 3 and 4 As shown, the transmission device 4 is used to transmit the product from the production end to the detection end along the first direction X. The transmission device 4 includes a conveyor belt 42 arranged along the first direction X. A guide plate 48 capable of changing the inclination angle is arranged above the front end of the conveyor belt 42. The guide plate 48 is inclined toward the direction of movement of the conveyor belt 42. Specifically, the transmission device 4 includes two first mounting frames 41 extending along the first direction X, the two first mounting frames 41 are arranged on the frame 1 and arranged side by side, and the two first mounting frames 41 are provided with transmission rollers (not shown) rotating on both sides of the first direction X, and the conveyor belt 42 is sleeved on the transmission roller; the transmission device 4 also includes a transmission driving mechanism 43, the output end of the transmission driving mechanism 43 is connected to any one of the two transmission rollers, and the transmission driving mechanism 43 drives the transmission roller to rotate, thereby driving the conveyor belt 42 to move, and the conveyor belt 42 drives the product to move; in this embodiment, the transmission driving mechanism 43 is a transmission motor 431, and the output end of the transmission motor 431 is provided with a transmission driving wheel 432, and the transmission roller is coaxially provided with a transmission driven wheel 434, and a transmission belt 433 is sleeved between the transmission driving wheel 432 and the transmission driven wheel 434. The machine 431 drives the transmission driven wheel 434 to rotate by driving the transmission active wheel 432, thereby driving the transmission roller to rotate, and then driving the conveyor belt 42 to move. In this embodiment, the transmission drive mechanism 43 is arranged at the end of the conveyor belt 42; at the front end of the conveyor belt 42, the two first mounting frames 41 are each provided with a second mounting frame 482, and the two first mounting frames 41 are both extended along the second direction Y, and the guide plate 48 is rotatably arranged between the two second mounting frames 482, specifically, the two sides of the front end of the guide plate 48 are rotatably connected to the second mounting frames 482, and under the action of its own gravity, the end of the guide plate 48 is downward, thereby forming an inclined angle of the guide plate 48 with the front end being higher and the end being lower, and the second mounting frame 482 is provided with a third mounting frame 484, and the third mounting frame 484 is provided with a tilting cylinder 483, and the output end of the tilting cylinder 483 is hinged to the bottom end surface of the guide plate 48. Specifically, the first grabbing device 3 grabs the product and places it on the guide plate 48. Under the action of gravity, the guide plate 48 can guide the product to fall onto the conveyor belt 42 along the inclined angle of the guide plate 48. The guide plate 48 increases the height at which the product falls into the conveyor belt 42, thereby preventing the bottom of the first grabbing device 3 from touching the conveyor belt 42. At the same time, due to the different weights of the products, when the product weight is very light, if the inclination angle of the guide plate 48 is very small, under the action of friction, the product cannot slide along the guide plate 48 into the conveyor belt 42. At this time, it is necessary to tilt the cylinder 483 to give the guide plate 48 a larger inclination angle so that the product can smoothly slide along the guide plate 48 into the conveyor belt 42. Similarly, when the product weight is too large, the inclination angle can be reduced.

[0058] As a preferred embodiment of the present invention, Figure 3 and 4 As shown, the guide plate 48 is provided with a plurality of filter holes 481. The guide plate 48 is provided with the filter holes 481, and dust or other debris when the product is rotated 180° forward or turned 180° on the first grabbing device 3 can pass through the filter holes 481 to filter the dust or debris, and the clean product slides along the guide plate 48 to the conveyor belt 42, and the tilting cylinder 483 can also continuously vibrate back and forth to vibrate the dust or other debris, so that the dust or other debris falls into the filter holes 481.

[0059] As a preferred embodiment of the present invention, Figure 4 As shown, a brush 49 is provided below the front end of the conveyor belt 42, and the brush 49 is configured to be close to the conveyor belt 42. Specifically, a brush holder 491 is provided below the first mounting frame 41, and the brush 49 is provided on the brush holder 491, and the brush 49 is close to the conveyor belt 42. As the conveyor belt 42 continues to move, the brush 49 can scrape off the sticky dust or other debris on the conveyor belt 42; preferably, in order to conveniently store dust or other debris, a debris box 92 is provided below the brush 49, and the sticky dust or other debris will fall into the debris box 92 when it is scraped off. The debris box 92 is provided on the frame 1, and adopts a pull-out type, which can conveniently pour out the dust or other debris.

[0060] As a preferred embodiment of the present invention, Figure 3 As shown, a guide path 44 for guiding the movement of products is also provided in the middle portion above the conveyor belt 42 , and a positioning plate 46 is also provided at the end above the conveyor belt 42 , and a positioning opening 47 is provided on the positioning plate 46 . The guide path 44 can guide the products to the positioning opening 47 . Specifically, guide plates 45 are symmetrically arranged on the two first mounting frames 41, and the front end of the guide plates 45 is arranged to be arc-shaped, and a guide path 44 is formed between the two guide plates 45. In this embodiment, the guide path 44 is located in the middle of the conveyor belt 42. At the end of the conveyor belt 42, positioning plates 46 are arranged on the two first mounting frames 41, and a positioning opening 47 is arranged in the middle of the positioning plates 46 toward the guide path 44. The positioning opening 47 and the guide path 44 are on the same straight line. When the product slides from the guide plate 48 to the conveyor belt 42, the arc at the front end of the guide plate 45 will guide the product to the guide path 44. When the product reaches the end of the conveyor belt 42, it just reaches the positioning opening 47, so that the second grasping device 5 can grasp the product more accurately and efficiently.

[0061] As a preferred embodiment of the present invention, Figure 5As shown, the second grabbing device 5 is configured to move along the second direction Y to grab the product located at the positioning port 47 , and then move along the first direction X to place the product on the detection device 8 . Specifically, the second grasping device 5 includes a second transverse sliding bar 511 arranged along the first direction X, the second transverse sliding bar 511 is arranged on the frame 1, and the second transverse sliding bar 511 can be adjusted along the second direction Y, the second transverse sliding bar 511 is provided with a second transverse driving mechanism 52, and the second transverse sliding bar 511 is also slidably provided with a second transverse sliding block 512, the output end of the second transverse driving mechanism 52 is connected to the second transverse sliding block 512, in this embodiment, the second transverse driving mechanism 52 is a cylinder, and the second transverse sliding block 512 is provided with a second vertical driving mechanism 53, and the output end of the second vertical driving mechanism 53 is provided with a second vertical mounting plate 54, and the bottom of the second vertical mounting plate 54 is provided with a second clamping claw cylinder 55, and the output end of the second clamping claw cylinder 55 is provided with a second clamping claw 56, in this embodiment, the second vertical driving mechanism 53 is a cylinder, and the output end of the cylinder can reciprocate along the second direction Y. Specifically, when the product on the conveyor belt 42 reaches the positioning port 47, the second transverse driving mechanism 52 drives the second transverse sliding block 512 to slide along the first direction X, driving the second clamping cylinder 55 to be located directly above the positioning port 47, and then the second vertical driving mechanism 53 drives the second clamping cylinder 55 to move along the second direction Y, and then the second clamping cylinder 55 drives the second clamping claw 56 to grab the product on the positioning port 47, and then place the product on the detection device 8. In the embodiment of the present invention, the detection device 8 is an electronic scale, which is used to detect whether the weight of the product is qualified. It should be noted that the detection device 8 can also be other detection devices, which can be adjusted according to actual quality inspection.

[0062] As a preferred embodiment of the present invention, Figure 5 and 6As shown, the third grasping device 6 is configured to move along the second direction Y to grasp the product on the detection device 8, and then move along the first direction X; if the detection device 8 detects that the product is qualified, the product is placed on the tray, and the tray is configured to be movable along the third direction Z; if the detection device 8 detects that the product is unqualified, the product is placed on a waste box 91, and the waste box 91 is arranged between the tray and the detection device 8. Specifically, the third grasping device 6 includes a gantry, which is arranged on the carrier 2, and the gantry is provided with a third transverse slide rail 61 extending along the first direction X, and the third transverse drive mechanism 62 is provided on the third transverse slide rail 61, and a third transverse slider 63 is slidably arranged on the third transverse slide rail 61, and the output end of the third transverse drive mechanism 62 is connected to the third transverse slider 63 to drive the third transverse slider 63 to reciprocate along the first direction X. In the embodiment of the present invention, the third transverse drive mechanism 62 is a linear motor; the third transverse slider 63 is provided with a third transverse drive mechanism 62 extending along the second direction Y. A third vertical slide rail 64 is provided with a third vertical driving mechanism 65, a third vertical slider 66 is slidably provided on the third vertical slide rail 64, an output end of the third vertical driving mechanism 65 is connected to the third vertical slider 66 to drive the third vertical slider 66 to reciprocate along the second direction Y. In the embodiment of the present invention, the first vertical driving mechanism 35 is a linear motor; a third vertical mounting plate 67 is provided on the third vertical slider 66, a third clamping cylinder 68 is provided at the bottom of the third vertical mounting plate 67, and a third clamping claw 69 is provided at the output end of the third clamping claw cylinder 68.Specifically, when the detection device 8 completes product detection, the third transverse driving mechanism 62 drives the third clamping cylinder 68 to move to the top of the detection device 8 along the first direction X, and then the third vertical driving mechanism 65 drives the third clamping cylinder 68 to move along the second direction Y, and then the third clamping cylinder 68 drives the third clamping claw 69 to grab the product after the detection, if the product is unqualified, the product is placed in the waste box 91, in this embodiment, the waste box 91 is arranged between the carrier 2 and the detection device 8, and is located directly below the third transverse slide rail 61, so that if the product is unqualified, before the third grabbing device 6 grabs the product to put it on the plate, the unqualified product is placed in the waste box 91, so that the plate is placed more quickly and efficiently; if the product is qualified, the third clamping claw 69 grabs the product and places it on the tray for plate placement; specifically, the plate is placed on the pallet 7, and the pallet 7 is configured to move back and forth along the third direction Z. More specifically, two groups of The pallet slide bar 71, the pallet 7 is slidably arranged on two groups of the pallet slide bars 71, and a pallet slide rail 72 extending along the third direction Z is also arranged between the two groups of the pallet slide bars 71, and a pallet drive mechanism 73 is arranged on the pallet slide rail 72, and a pallet slider (not shown) is arranged on the pallet slide rail 72, and the pallet slider is connected to the bottom of the pallet 7, and the output end of the pallet drive mechanism 73 is connected to the pallet slider. In this embodiment, the pallet drive mechanism 73 is a linear motor, which drives the pallet slider to reciprocate along the third direction Z through the pallet drive mechanism 73, so that the pallet 7 can reciprocate along the third direction Z, so that the tray can reciprocate along the third direction Z; the third gripping device 6 can move along the first direction X and the second direction Y, and the pallet 7 can move along the third direction Z, so that when the product is placed on the plate, the placement is more efficient and the placement is neat. When the placement is completed, the pallet is taken out and replaced with a new pallet. Furthermore, the carrier 2 is also provided with a parameter setting module (not shown). When arranging the products on the plate, the sizes of different types of products and the sizes of the pallets are different. The parameter setting module is provided with product size input and pallet size input. The parameter setting module automatically calculates the number of products placed on the pallet and the center position of each product according to the product size and the pallet size, so that the products can be placed more neatly.

[0063] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A fully automatic picking and placing machine, characterized in that: include: A transmission device (4) for transmitting the product from the production end to the detection end; A first grabbing device (3), which is arranged above the front end of the transmission device (4) and is used to grab products and then place the grabbed products on the transmission device (4); A second grabbing device (5), which is arranged above the end of the transmission device (4) and is used to grab the product and then place the grabbed product on a detection device (8), wherein the detection device (8) is used to detect the product; A third grabbing device (6), used for grabbing the product on the detection device (8); If the product is found to be qualified by the detection device (8), the product is placed on a tray; If the detection device (8) detects that the product is unqualified, the product is placed on a waste box (91); The first grabbing device (3) is configured to move along a first direction (X) to grab a product, and then place the grabbed product on the transmission device (4) along a second direction (Y); The first grasping device (3) is configured to be able to rotate forward 180° or reverse 180°. The first grasping device (3) has a first transverse sliding rail (31) extending along a first direction (X). A first transverse driving mechanism (32) is provided on the first transverse sliding rail (31). A first transverse sliding block (33) is slidably provided on the first transverse sliding rail (31). The output end of the first transverse driving mechanism (32) is connected to the first transverse sliding block (33) to drive the first transverse sliding block (33) to reciprocate along the first direction (X). The first transverse sliding block (33) is provided with a first vertical sliding rail (34) extending along a second direction (Y). A first vertical driving mechanism (35) is provided on the first vertical sliding rail (34). A first vertical sliding block (36) is slidably provided on the first vertical sliding rail (34). The output end of the first vertical driving mechanism (35) is connected to the first vertical sliding rail (34). The first vertical sliding block (36) is used to drive the first vertical sliding block (36) to reciprocate along the second direction (Y); the first vertical sliding block (36) is provided with a forward and reverse assembly (37), the forward and reverse assembly (37) comprising a forward and reverse motor (371), a forward and reverse driving wheel (372), a forward and reverse driven wheel (374) and a forward and reverse belt (373); the output end of the forward and reverse motor (371) is connected to the forward and reverse driving wheel (372); the forward and reverse belt (373) is sleeved between the forward and reverse driving wheel (372) and the forward and reverse driven wheel (374); a rotating rod (38) is sleeved on the forward and reverse driven wheel (374); the end of the rotating rod (38) is sleeved on the forward and reverse driven wheel (374); a first clamping claw cylinder (39) is provided at the front end of the rotating rod (38); and a first clamping claw (391) is provided at the output end of the first clamping claw cylinder (39); The transmission device (4) comprises a conveyor belt (42) arranged along a first direction (X); a guide plate (48) capable of changing its inclination angle is arranged above the front end of the conveyor belt (42); the guide plate (48) is inclined toward the direction in which the conveyor belt (42) moves; a plurality of filter holes (481) are arranged on the guide plate (48); a brush (49) is arranged below the front end of the conveyor belt (42); the brush (49) is configured to be in close contact with the conveyor belt (42); a debris box (92) is arranged below the brush (49); a guide path (44) for guiding the movement of products is also arranged in the middle of the upper part of the conveyor belt (42); a positioning plate (46) is also arranged at the upper end of the conveyor belt (42); a positioning opening (47) is arranged on the positioning plate (46); the guide path (44) is capable of guiding the product to the positioning opening (47); A second mounting frame (482) is arranged at the front end of the conveyor belt (42); the guide plate (48) is rotatably arranged between the two second mounting frames (482); both sides of the front end of the guide plate (48) are rotatably connected to the second mounting frames (482); under the action of its own gravity, the end of the guide plate (48) is downwardly pointed, thereby forming an inclined angle in which the front end of the guide plate (48) is higher and the end is lower; a third mounting frame (484) is arranged on the second mounting frame (482); a tilting cylinder (483) is arranged on the third mounting frame (484); and an output end of the tilting cylinder (483) is hinged to the bottom end surface of the guide plate (48); The tilting cylinder (483) can adjust the tilting angle of the guide plate (48), and the tilting cylinder (483) can vibrate the guide plate (48) back and forth.

2. The fully automatic object picking and displaying machine according to claim 1 is characterized in that: The second grabbing device (5) is configured to move along the second direction (Y) to grab the product located at the positioning port (47), and then move along the first direction (X) to place the product on the detection device (8); The second grasping device (5) comprises a second transverse sliding bar (511) arranged along the first direction (X), the second transverse sliding bar (511) is arranged on the frame (1), and the second transverse sliding bar (511) can be adjusted along the second direction (Y), a second transverse driving mechanism (52) is arranged on the second transverse sliding bar (511), a second transverse sliding block (512) is also slidably arranged on the second transverse sliding bar (511), the output end of the second transverse driving mechanism (52) is connected to the second transverse sliding block (512), a second vertical driving mechanism (53) is arranged on the second transverse sliding block (512), a second vertical driving mechanism (53) is arranged at the output end of the second vertical driving mechanism (53), a second vertical mounting plate (54) is arranged at the bottom of the second vertical mounting plate (54), and a second clamping claw cylinder (55) is arranged at the output end of the second clamping claw cylinder (55), and a second clamping claw (56) is arranged at the output end of the second clamping claw cylinder (55), and the detection device (8) is an electronic scale.

3. The fully automatic object picking and displaying machine according to claim 2 is characterized in that: The third gripping device (6) is configured to move along the second direction (Y) to grip the product on the detection device (8), and then move along the first direction (X); If the detection device (8) detects that the product is qualified, the product is placed on the tray, the tray is configured to be movable along a third direction (Z), and the tray is placed on the support plate (7); A carrier (2), wherein two groups of pallet slide bars (71) extending along a third direction (Z) are arranged side by side on the carrier (2), the pallet (7) is slidably arranged on the two groups of pallet slide bars (71), a pallet slide rail (72) extending along the third direction (Z) is also arranged between the two groups of pallet slide bars (71), a pallet drive mechanism (73) is arranged on the pallet slide rail (72), a pallet slide block is arranged on the pallet slide rail (72), the pallet slide block is connected to the bottom of the pallet (7), and the output end of the pallet drive mechanism (73) is connected to the pallet slide block; If the detection device (8) detects that the product is unqualified, the product is placed on a waste box (91), and the waste box (91) is arranged between the tray and the detection device (8).

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