Jig workpiece dismounting and feeding method and device thereof

Abstract

The present application relates to material processing technical field, specifically to a kind of jig workpiece disassembly feeding and discharging method, first material taking manipulator is extracted from first feeding and discharging device to be processed workpiece, and to be processed workpiece is moved to first material transfer device, and to be processed workpiece is transported to first to be extracted area by first material transfer device;Transfer robot is extracted from first to be extracted area to be processed workpiece and is transferred to a processing area for processing;Transfer robot extracts processed workpiece from a processing area, and processed workpiece is transferred to second material transfer device, and is transported to second to be extracted area by second material transfer device;Second manipulator moves processed workpiece from second to be extracted area to second feeding and discharging device for discharging;Such cycle can ensure the continuity of feeding and discharging, reduce the time of feeding and discharging, and thus improve production efficiency;Also provide a kind of jig workpiece disassembly feeding and discharging equipment, so that the whole device structure is compact, layout is reasonable, thereby facilitating the use of automated production line.

Description

Technical Field

[0001] This invention relates to the field of material processing technology, specifically to a method and equipment for disassembling and loading / unloading workpieces using a jig. Background Technology

[0002] In production, hanger machines frequently use fixtures to place products on them for processing, such as anodizing. When products need to be fixed in the fixture for processing, the fixture must be assembled and locked before processing to ensure that the products are securely held within it.

[0003] In actual production, fixtures and products are simultaneously placed on the rack of the hanging machine for unified processing. After processing, the fixture is transferred to the fixture assembly / disassembly station for unlocking to remove the finished product. This transfer process is very cumbersome. Furthermore, traditional processes often require manual loading and unloading of fixtures and products, resulting in low production efficiency. Moreover, in some cases involving chemical substances, this can easily affect human health. Therefore, this fixture workpiece assembly / disassembly method and its equipment can better solve this problem. Summary of the Invention

[0004] The purpose of this invention is to provide a method for disassembling and loading / unloading workpieces in a fixture, so as to solve at least one of the above-mentioned defects in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a method for disassembling, assembling, loading, and unloading workpieces in a fixture, the method comprising: a first picking robot extracting a workpiece to be processed from a first loading and unloading device, moving the workpiece to be processed to a first transfer device, and conveying the workpiece to be processed to a first extraction area through the first transfer device; a transfer robot transferring the workpiece to be processed from the first extraction area to a processing area for processing; a transfer robot extracting a processed workpiece from the processing area, transferring the processed workpiece to a second transfer device, and conveying it to a second extraction area through the second transfer device; and a second robot moving the processed workpiece from the second extraction area to a second loading and unloading device for unloading.

[0006] A further improvement of the present invention provides that the workpiece loading and unloading method of the fixture also provides an NG (Not a Work) unloading mechanism and an NG detection area arranged in a processing area. Before the step of the transfer robot extracting the processed workpiece from the processing area and transferring the processed workpiece to the second transfer device, the method further includes the step of: the transfer robot extracting the processed workpiece from the processing area and transferring the processed workpiece to the NG detection area for detection, and transferring the workpiece detected as NG to the NG unloading mechanism for unloading.

[0007] A further improvement of the present invention is that the workpiece loading and unloading method of the fixture also includes another processing area on one side of the loading and unloading device. After the step of the second robot moving the processed workpiece from the second pick-up area to the second loading and unloading device for unloading, the method further includes the step of placing the unloaded processed workpiece in another processing area for reprocessing; and then placing the reprocessed workpiece in the first loading and unloading device.

[0008] A further improvement of the present invention is that the workpiece loading and unloading method of the fixture also provides a loading mechanism, which is arranged on one side of the transfer robot; the method further includes: the transfer robot extracts the workpiece to be processed from the loading mechanism and transfers the workpiece to be processed to a processing area for processing.

[0009] Another object of the present invention is to provide a jig workpiece loading and unloading device, comprising: a base platform, on which at least two sets of loading and unloading devices are provided, the first loading and unloading device and the second loading and unloading device being arranged at intervals on the base platform for loading and unloading workpieces; at least two sets of transfer devices, the first transfer device and the second transfer device being respectively arranged on one side of each loading and unloading device for conveying workpieces; at least two sets of picking robots, the first picking robot and the second picking robot being respectively arranged between each loading and unloading device and each transfer device for picking up workpieces; and a transfer robot, the transfer robot being arranged on one side of the transfer device and away from the picking device for transferring workpieces.

[0010] A further improvement of the present invention is that the loading and unloading device includes: a first station and a second station disposed on a base; a material rack placed on the first station for carrying workpieces; a transfer mechanism for transferring the material rack from the first station to the second station; and a rotating structure arranged on the first station for rotating the placement angle of the material rack so that the transfer mechanism can transfer the material rack to the corresponding position of the second station.

[0011] A further improvement of the present invention is that the material handling robot further includes: a material handling mechanism and a moving module connected to the material handling mechanism to drive the material handling mechanism to move toward the material rack; the material handling mechanism includes: a clamping structure for clamping a workpiece and a material supporting structure correspondingly arranged below the clamping structure and capable of longitudinal movement; the material supporting structure includes a material supporting member and a power module connected to the material supporting member to drive its longitudinal linear movement; the clamping structure of the material handling mechanism can move above the workpiece under the drive of the moving module and the workpiece corresponds to the clamping groove of the clamping structure; the material supporting member corresponds to the clamping groove, and the material supporting member can move upward under the drive of the power module to lift the workpiece into the clamping groove of the clamping structure.

[0012] A further improvement of the present invention is a material transfer device, which includes a first material transfer mechanism and a second material transfer mechanism arranged in parallel on a base platform; the first material transfer mechanism and the second material transfer mechanism each have a material carrying structure and a moving component for driving the material carrying structure to move horizontally; the material carrying structure includes a first material carrying part and a second material carrying part for loading workpieces; wherein, the bottom of the second material carrying part is provided with a flipping structure connected thereto and used to drive it to rotate horizontally.

[0013] A further improvement of the present invention includes a transfer robot comprising: a swing mechanism, the swing mechanism including a rotating base, a robotic arm rotatably connected to the rotating base, and a power unit connected to the robotic arm and located at an end away from the rotating base; a gripper structure, the gripper structure including: a base for connecting to the power unit of the gripper structure; at least two clamping structures, each clamping structure being arranged on both sides of the base; a drive structure, the drive structure being arranged between the clamping structures and the base, and being used to drive the clamping structures to clamp the workpiece; wherein, the clamping structure includes a first clamping member and a second clamping member arranged corresponding to the first clamping member, and a clamping area for clamping the workpiece is formed between the first clamping member and the second clamping member; the drive structure includes a first drive assembly and a second drive assembly, the first drive assembly and the second drive assembly respectively driving the first clamping member and the second clamping member to move linearly toward the clamping area to clamp the workpiece.

[0014] A further improvement of the present invention is an NG product unloading mechanism, comprising: a first conveying mechanism and a second conveying mechanism arranged horizontally in corresponding upper and lower layers, the first conveying mechanism and the second conveying mechanism each having: a support frame, and a first rotating shaft and a second rotating shaft arranged horizontally at both ends of the support frame; a conveyor belt sleeved on the first rotating shaft and the second rotating shaft, the conveyor belt being rotatable around the first rotating shaft and the second rotating shaft; and a drive assembly connected to the first rotating shaft and used to drive the first rotating shaft to rotate, thereby driving the rotation of the conveyor belt.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: This method for disassembling, assembling, and loading / unloading workpieces involves a first picking robot extracting the workpiece to be processed from a first loading / unloading device, moving the workpiece to a first transfer device, and then conveying it to a first extraction area via the first transfer device; a transfer robot then transfers the workpiece from the first extraction area to a processing area for processing; the transfer robot extracts the processed workpiece from the processing area and transfers it to a second transfer device, which then conveys it to a second extraction area; a second robot moves the processed workpiece from the second extraction area to a second loading / unloading device for unloading; this cycle ensures continuous loading and unloading, reduces loading / unloading time, and thus improves production efficiency.

[0016] In addition, the workpiece loading and unloading equipment for this fixture includes: a base platform with at least two sets of loading and unloading devices, the first loading and unloading device and the second loading and unloading device being arranged at intervals on the base platform for loading and unloading workpieces; at least two sets of transfer devices, the first transfer device and the second transfer device being arranged on one side of each loading and unloading device for conveying workpieces; at least two sets of picking robots, the first picking robot and the second picking robot being arranged between each loading and unloading device and each transfer device for picking up workpieces; and a transfer robot, the transfer robot being arranged on one side of the transfer device and away from the picking device for transferring workpieces. Through the above ingenious combination, the entire device has a compact structure and reasonable layout, which is conducive to the use of automated production lines.

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0018] Figure 1-4 This is a flowchart illustrating the workpiece assembly and disassembly method of the fixture of the present invention.

[0019] Figure 5 This is a flowchart illustrating the overall structure of the workpiece disassembly and loading / unloading method of the present invention.

[0020] Figure 6-7 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 8 This is a three-dimensional structural diagram of the loading and unloading device of the present invention;

[0022] Figure 9 The loading and unloading device of the present invention Figure 8 A magnified structural diagram of part A;

[0023] Figure 10 The loading and unloading device of the present invention Figure 8 A schematic diagram of the enlarged structure of part B;

[0024] Figure 11 This is a side view of the loading and unloading device of the present invention.

[0025] Figure 12 This is a three-dimensional structural diagram of the loading and unloading device of the present invention.

[0026] Figure 13 and 15 This is a three-dimensional structural diagram of the material handling robot of the present invention;

[0027] Figure 14 The material handling robot of the present invention Figure 13 A partial enlarged structural diagram of A;

[0028] Figure 16 This is a schematic diagram of the material handling robot of the present invention in use.

[0029] Figure 17-18 This is a three-dimensional structural diagram of the material transfer device of the present invention;

[0030] Figures 19-20 This is a partial structural schematic diagram of the material transfer device of the present invention;

[0031] Figure 21 The material transfer device of the present invention Figure 17 A magnified structural diagram of part A;

[0032] Figure 22 This is a top view of the material transfer device of the present invention.

[0033] Figure 23 This is a schematic diagram of the overall structure of the transfer robot of the present invention;

[0034] Figure 24 This is a schematic diagram of the overall structure of the gripper structure of the transfer robot of the present invention;

[0035] Figure 25 The present invention is a transfer robot. Figure 24 A schematic diagram of a partial structure of A;

[0036] Figure 26 The present invention is a transfer robot. Figure 23 A schematic diagram of the local structure of B;

[0037] Figure 27 This is a schematic diagram of the overall structure of the swing mechanism of the transfer robot of the present invention;

[0038] Figure 28 This is a three-dimensional structural diagram of the NG product feeding mechanism of the present invention;

[0039] Figure 29 This is a schematic diagram of the main structure of the NG product feeding mechanism of the present invention;

[0040] Figure 30 This is a side view of the NG product feeding mechanism of the present invention.

[0041] Reference numerals: a. Loading / unloading device; b. Picking robot; c. Transfer device; d. Transfer robot; e. Non-compliant product unloading mechanism; f. First processing station; g. Second processing station; h. Base; i. Workpiece; k. Material rack; a2. First station; a3. Second station; a4. Transfer mechanism; a41. Gripping structure; a411. Connecting part; a412. Gripping part; a42. Horizontal shaft transmission module; a421. Transmission track; a422, Transmission seat; a423, First driving component; a43, Vertical shaft transmission module; a431, Second driving component; a44, Positioning structure; a441, Positioning block; a5, Rotating structure; a51, Rotating table; a52, Power unit; a61, Hook structure; b2, Placement structure; b21, First placement component; b22, Second placement component; b23, Placement area; b3, Material handling mechanism; b31, Clamping structure; b311, Clamping groove; b32, Material support structure; b321, Material support component; b322, Power module; b4, Moving module; b41, Slide rail; b42, Slider; b43, Drive device; b5, Positioning structure; b51, First positioning component; b52, Second positioning component; b6, Power device; b7, Bearing structure; b8, Lifting assembly; c2, First material transfer mechanism; c3, Second material transfer mechanism; c4, Loading structure; c41, First loading section; c42, Second loading section; c5, Moving assembly; c51, Moving component; c52, Slide rail assembly; c53, Drive assembly; c6, Tilting structure; c61, Second transmission component; c62, Drive component; c7, Support assembly; d1, Swinging mechanism; d11, Rotary seat; d12, Robotic arm; d13, Power unit; d121, First connecting arm; d122, Second connecting arm; d123, Third connecting arm; d2, Grip structure; d21, Base; d22, Clamping structure; d221, First clamping element; d222, Second clamping element; d223, Clamping area; d224, Clamping body; d2 25. Gripper part; d226. Slot; d23. Drive structure; d231. First drive assembly; d232. Second drive assembly; d233. Slide rail; d234. Slider; d235. Power component; e1. First conveying mechanism; e2. Second conveying mechanism; e3. Base; e4. First rotating shaft; e5. Second rotating shaft; e6. Conveyor belt; e7. Drive assembly; e71. Drive component; e72. First linkage wheel; e73. Second linkage wheel; e74. Linkage belt; e8. Notch; e9. Support frame; e10. Connector; e11. Feed end; e12. Discharge end; e13. Support structure. Detailed Implementation

[0042] The present invention will now be described in more detail with reference to specific embodiments. However, the implementation of the present invention is not limited thereto. The embodiments are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. For process parameters or conditions not specifically specified, conventional techniques can be referred to.

[0043] Please see Figures 1-26 As shown, the technical solution adopted in this specific embodiment is: a method for disassembling, assembling, loading, and unloading workpiece i in a fixture, the method including the following steps: S6: A first picking robot b picks up the workpiece i to be processed from a first loading / unloading device a, and moves the workpiece i to a first transfer device c, and transports the workpiece i to a first extraction area through the first transfer device c; S7: A transfer robot d transfers the workpiece i to a processing area from the first extraction area for processing; S3: The transfer robot d picks up the processed workpiece i from the processing area, and transfers the processed workpiece i to a second transfer device c, and transports it to a second extraction area through the second transfer device c; S4: A second robot moves the processed workpiece i from the second extraction area to a second loading / unloading device a for unloading.

[0044] The above steps, S6, S7, S3, and S4, are executed sequentially as one of the working methods of the present invention. Specifically, the first loading / unloading device a and the second loading / unloading device a are respectively positioned at loading / unloading stations on one side. The loading / unloading stations can be manually operated or operated by a robotic arm, thereby ensuring continuous loading / unloading.

[0045] In a second mode of operation of the present invention, the method for disassembling and loading / unloading workpiece i of the fixture also provides an NG (Not Good) unloading mechanism e and an NG detection area arranged in a processing area. Before the step of the transfer robot d extracting the processed workpiece i from a processing area and transferring the processed workpiece i to the second transfer device c, the method further includes the following step: S2: The transfer robot d extracts the processed workpiece i from a processing area and transfers the processed workpiece i to the NG detection area for detection. The workpiece i detected as NG is transferred to the NG unloading mechanism e for unloading. If the workpiece i is detected as non-NG, steps S3-S4 will be executed.

[0046] The third working method of the present invention further includes another processing area on one side of the loading and unloading device a. After the second robot moves the processed workpiece i from the second extraction area to the second loading and unloading device a for unloading, the method further includes the following steps: S5: Place the unloaded processed workpiece i in another processing area for reprocessing, and then place the processed workpiece i back into the first loading and unloading device a. Then, steps S6, S7, S2, S3, and S4 are executed in sequence, and so on. The reprocessing can be understood as processing the raw material with the fixture into the finished material with the fixture.

[0047] In the fourth working method of the present invention, the method for disassembling and loading / unloading workpiece i of the fixture also provides a loading mechanism, which is arranged on one side of the transfer robot d; the method further includes the step: S1: the transfer robot d picks up the workpiece i to be processed from the loading mechanism and transfers the workpiece i to a processing area for processing. The loading mechanism stores the workpiece i to be processed, which is a fixture.

[0048] The specific implementation of this method is as follows: First, step S1 is executed: the transfer robot d extracts the workpiece i to be processed from the loading mechanism and transfers the workpiece i to a processing area for processing, that is, the fixture placed in the loading mechanism is transferred to a processing area to assemble the raw material and the fixture into the raw material workpiece i.

[0049] Then, steps S3-S5 are executed, that is, the transfer robot d transfers the raw material workpiece i to the second transfer device c for unloading, and the raw material workpiece i is processed through another processing area, which is an oxidation mechanism, to perform anodizing treatment on the raw material workpiece i to form a clinker workpiece i, and the clinker workpiece i is placed in the first loading and unloading device a.

[0050] Then, step S7 is executed sequentially: the transfer robot d transfers the workpiece i to be processed from the first extraction area to a processing area for processing; the processing area is used to unlock the raw workpiece i to remove the processed product from the fixture; then the raw material is assembled with the fixture to form the raw workpiece i; then the process returns to steps S3-S6, and so on.

[0051] Specifically, after unlocking the clinker workpiece i to remove the processed product from the fixture, that is, after executing step S7, step S2 is executed.

[0052] In summary, this method of disassembling and loading / unloading workpieces ensures continuous loading and unloading, thus reducing loading and unloading time and improving production efficiency.

[0053] A jig workpiece loading and unloading device includes: a base h; at least two sets of loading and unloading devices a, symmetrically arranged at intervals on the base h, for loading and unloading workpieces i; at least two sets of transfer devices c, each transfer device c being arranged on one side of each loading and unloading device a, for conveying workpieces i; at least two sets of picking robots b, each picking robot b being arranged between each loading and unloading device a and each transfer device c, for picking up workpieces i; a transfer robot d, arranged on one side of the transfer device c and away from the picking device, for transferring workpieces i; and an NG (Not Tolerant) product unloading mechanism e, arranged on one side of the transfer robot d, for unloading NG products; wherein, the transfer device c is used to move workpieces i between the loading and unloading devices a and the transfer robot d.

[0054] The loading and unloading device a includes: a base h; and a first station a2 and a second station a3 disposed on the base h; the first station a2 and the second station a3 are two adjacent stations and are arranged in a row; a rack k is placed on the first station a2 for loading workpiece i, the rack k is used to place several workpiece i, however, there is a placement area for placing workpiece i on the inner side of the rack k, and several placement structures for placing workpiece i are evenly arranged in the placement area, and there is a connecting member on the top of the rack k for gripping by the gripping structure a41 of the transfer mechanism a4.

[0055] A transfer mechanism a4 is used to transfer the rack k from the first station a2 to the second station a3. The transfer mechanism a4 is located above the base h. The transfer mechanism a4 includes a gripping structure a41 for picking up and placing the rack k, a vertical shaft transmission module a43 connected to the gripping structure a41 to drive its vertical linear movement, and a horizontal shaft transmission module a42 connected to the vertical shaft transmission module a43 to drive its horizontal movement. However, when the rack k is placed in the first station a2, the gripping structure a41 is driven to move downward linearly and reciprocally by the vertical shaft transmission module a43 to grip the rack k, and the gripping structure a41 is driven to move horizontally by the horizontal shaft transmission module a42 to transfer the gripped rack k to the second station a3. Then, the rack k is placed on the second station a3 by the linear reciprocating movement of the vertical shaft transmission module a43. However, in the above operation steps, the turnover of the material rack k is replaced by the turnover relying on manual labor through the cooperation of the moving mechanism, which improves the turnover efficiency and greatly reduces the labor force of workers, thus having the characteristics of simple and reasonable structure and convenient use.

[0056] A rotating structure a5 arranged on the first workstation a2 is used to rotate the placement angle of the material rack k so that the transfer mechanism a4 can transfer the material rack k to the corresponding position of the second workstation a3. The rotating structure a5 includes a rotating table a51 arranged on the first workstation a2 and a power device a52 located at the bottom of the rotating table a51 to drive the rotating table a51 to rotate horizontally. The power device a52 can be a motor. However, the rotating structure a5 can rotate the material rack k so that the orientation of the material rack k is the same as the orientation of the corresponding position of the second workstation, so as to facilitate the accurate transfer of the material rack k from the first workstation a2 to the corresponding position of the second workstation a3, thereby facilitating the robot arm to pick up the material rack k on the second workstation a3.

[0057] The first workstation a2 and the second workstation a3 are arranged coaxially. However, the horizontal axis transmission module a42 moves horizontally along the axial direction of the first workstation a2 and the second workstation a3. The horizontal axis transmission module a42 includes a transmission rail a421, a transmission seat a422 slidably connected to the transmission rail a421, and a first driving member a423 connected to the transmission seat a422 and used to drive the transmission seat a422 to move horizontally. The vertical axis transmission module a43 includes a second driving member a431 fixed to the bottom of the transmission seat a422 and used to drive the gripping structure a41 to move vertically. However, the first driving member a423 and the second driving member a431 can both be cylinders, but obviously not limited to this, other driving members are also applicable to this embodiment.

[0058] One end of the gripping structure a41 has a connecting part a411 that connects to the power unit of the second driving member a431, and the other end has a gripping part a412 for picking up and placing the material rack k. Specifically, the material rack k has a hook structure a61, which is a strip-shaped structure. The gripping part a412 of the gripping structure a41 is rectangular, but the gripping part a412 can be locked in the hook structure a61. Through the above design, it is convenient for the gripping part a412 of the gripping structure a41 to grip the hook structure a61 on the material rack k. It should be noted that, in addition to the above structure, any other structure that enables the gripping part a412 to grip the connecting member is applicable to this embodiment.

[0059] The rotating structure a5 is provided with a positioning structure a44 for positioning the material rack k on its periphery; the positioning structure a44 includes at least two positioning blocks a441 symmetrically arranged on the edge of the rotating structure a5; however, the design of the positioning structure a44 improves the stability of the material rack k and avoids the material rack k from shaking.

[0060] The present invention also provides a production line with a hanging rack loading and unloading device a, including at least one loading and unloading station, each loading and unloading station having one hanging rack loading and unloading device a; thereby facilitating the use of automated production lines.

[0061] The material handling robot b also includes: a material handling mechanism b3 and a moving module b4 connected to the material handling mechanism b3 to drive the material handling mechanism b3 to move toward the material rack k; the material rack k, the material handling mechanism b3 and the moving module b4 are all arranged on the base h; the material handling mechanism b3 includes: a clamping structure b31 for clamping workpiece i and a material support structure b32 correspondingly arranged below the clamping structure b31 and capable of longitudinal movement; the material support structure b32 includes a material support component b321 and a power module b322 connected to the material support component b321 to drive its longitudinal linear movement.

[0062] In actual operation, the clamping structure b31 of the material handling mechanism b3 can move above the workpiece i under the drive of the moving module b4, and the workpiece i corresponds to the clamping groove b311 of the clamping structure b31; the supporting component b321 corresponds to the clamping groove b311, and the supporting component b321 can move upward under the drive of the power module b322 to lift the workpiece i into the clamping groove b311 of the clamping structure b31; thus completing the clamping operation of the workpiece i, which has the characteristics of simple and reasonable structure and convenient operation. Among them, the supporting component b321 can move longitudinally in a linear direction towards or away from the clamping structure b31.

[0063] The moving module b4 includes a slide rail b41, a slider b42 slidably connected to the slide rail b41, and a driving device b43 for driving the slider b42 to move horizontally. The slider b42 is fixed to the picking mechanism b3, so that when the driving device b43 drives the slider b42 to slide linearly along the slide rail b41, it drives the picking mechanism b3 to slide linearly.

[0064] The placement structure b2 includes a first placement member b21 and a second placement member b22 arranged symmetrically inside the material rack k. A placement area b23 for placing workpiece i is formed between the first placement member b21 and the second placement member b22. The bottom of the first placement member b21 and the second placement member b22 each has a first locking position. The picking robot b also includes a positioning structure b5 arranged below the clamping structure b31 and a power device b6 for driving the positioning structure b5 to move longitudinally. The positioning structure b5 is used to position the placement structure b2 on the material rack k to prevent the placement structure b2 from shaking. The two ends of the positioning structure b5 have correspondingly arranged first positioning members b51 and second positioning members b52. The first positioning members b51 and the second positioning members b52 are respectively used to engage with the first placement member b21 and the second placement member b22 for positioning. The first positioning member b51 and the second positioning member b52 each have a second locking part, that is, the first locking part of the placement structure b2 engages with the second locking part of the positioning structure b5 for positioning.

[0065] The material handling mechanism b3 includes a sensor mounted on the clamping structure b31, which is electrically connected to the power unit b66. When the clamping structure b31 moves towards the material rack k and approaches the material handling mechanism b3, the sensor emits a sensing signal. The power unit b6 receives the sensing signal and performs corresponding actions. Specifically, when the sensor on the material handling mechanism b3 reaches a preset distance and can detect the material handling mechanism b3, it sends a signal to the power unit b66.

[0066] The material handling robot b also includes a support structure b7 connected to the material handling mechanism b3 and a lifting assembly b8 mounted on the support structure b7 to drive the material handling mechanism b3 in longitudinal linear motion. Specifically, one end of the support structure b7 is connected to the material handling mechanism b3, and the other end is connected to the lifting assembly b8. This connection can be fixed or detachable. The lifting assembly b8 allows the material handling mechanism b3 to grip workpieces i placed vertically, improving flexibility. The lifting assembly b8 can be a cylinder, with its power shaft driving the lifting movement of the material handling mechanism b3. However, it is not limited to this; other lifting assemblies b8 besides the aforementioned cylinder are also suitable for this embodiment.

[0067] The transfer device c includes a first transfer mechanism c2 and a second transfer mechanism c3 arranged in parallel on the base h. Since the current transfer device c usually has multiple sets of conveying mechanisms to carry multiple workpieces i, and the multiple sets of conveying mechanisms are basically arranged horizontally, it occupies too much space. However, through the above ingenious combination, the whole device has a compact structure and reasonable layout, which is conducive to the use of automated production lines.

[0068] Specifically, the first material transfer mechanism c2 is located above the second material transfer mechanism c3, and the two are arranged correspondingly; and the first material transfer mechanism c2 is fixed to the base through the support component c7, that is, the first material transfer mechanism c2 is supported above the second material transfer mechanism c3 through the support component c7; wherein, the support component c7 is composed of multiple bases.

[0069] The first material transfer mechanism c2 and the second material transfer mechanism c3 each have a material carrying structure c4 and a moving component c5 that drives the material carrying structure c4 to move horizontally. The moving component c5 includes a moving part c51 for mounting the material carrying structure c4, a slide rail group c52 for sliding connection of the moving part c51, and a driving component c53 connected to the moving part c51 and used to drive the moving part c51 to move horizontally.

[0070] Specifically, the stator component is a sliding block, and the slide rail assembly c52 consists of at least two spaced slide rail assemblies c52. The bottom of the sliding block has at least two sliding grooves, which are mounted on and slidably connected to the slide rails. This design of the slide rail assembly c52 enhances the stability of the sliding block. The drive assembly c53 can be a motor driven by a transmission belt, which is fixed to the sliding block to drive its horizontal movement. In some embodiments, the drive assembly c53 can also be a cylinder, with its power unit fixed to the sliding block to drive its horizontal movement. It should be noted that other drive assemblies c53 besides the one described above are also applicable to this embodiment.

[0071] The loading structure c4 includes a first loading section c41 and a second loading section c42 for loading workpiece i, meaning that workpiece i can be loaded on both the first loading section c41 and the second loading section c42. The second loading section c42 has a flipping structure c6 connected to its bottom for driving its horizontal rotation. The horizontal rotation angle is 180 degrees. The flipping structure c6 includes: a sliding groove arranged on the moving part c51; a first transmission member slidably connected to the sliding groove; a second transmission member c61 driven by the first transmission member; and a driving member c62 connected to the first transmission member for driving the first transmission member to move linearly within the sliding groove, thereby driving the second transmission member c61 to rotate. The second transmission member c61 is connected to the second loading section c42 for driving the second loading section c42 to rotate.

[0072] Specifically, the first transmission component can be a rack and pinion structure, and the second transmission component c61 can be a gear structure. The rack and pinion structure are meshed together. The gear structure has a rotating disk, and the second material-carrying part c42 is fixed on the rotating disk. The driving component c62 is a cylinder. However, under the drive of the driving component c62, the first transmission component moves linearly in the sliding groove to drive the second transmission component c61 to rotate, thereby driving the second transmission component c61 to perform a return rotation within a certain angle range, which in turn drives the second material-carrying part c42 to perform a reciprocating rotation.

[0073] The second material loading part c42 is detachably connected to the second transmission component c61, which facilitates installation and disassembly, and thus facilitates repair and replacement. The detachable connection can be achieved by bolt connection, but it is obviously not limited to this. Other detachable connection methods are also applicable to this embodiment.

[0074] In summary, the material transfer device c solves the transfer requirement of loading two workpieces i with different orientations in the material carrying structure c4.

[0075] The transfer robot d includes: a swing mechanism d1, which includes a rotating base d11 that can be mounted on a frame, a robotic arm d12 that is rotatably connected to the rotating base and located at the upper end of the rotating base d11, and a power unit d13 that is connected to the robotic arm d12 and located at the end away from the rotating base d11.

[0076] The gripper structure d2 includes a base d21, which is connected to the power unit d13 of the gripper structure d2. This connection can be detachable, and there are various detachable installation methods, such as plug-in and snap-fit ​​connections, or bolt connections; however, it is not limited to these methods and can also be an integrated structure. At least two clamping structures d22 are arranged on both sides of the base d21. These sides can be front and rear, or left and right, depending on the user's needs. Each clamping structure d22 includes a first clamping member d221 and a second clamping member d222 corresponding to the first clamping member d221. A clamping area d223 for clamping workpiece i is formed between the first and second clamping members.

[0077] The driving structure d23 is arranged between the clamping structure d22 and the base d21, and is used to drive the clamping structure d22 to clamp the workpiece i. The driving structure d23 includes a first driving component d231 and a second driving component d232. The first driving component d231 and the second driving component d232 respectively drive the first clamping member and the second clamping member to move linearly in the direction of the clamping area d223 to clamp the workpiece i. That is, under the action of the first driving component d231 and the second driving component d232, the first clamping member and the second clamping member are brought closer to each other or moved away from each other. The first drive assembly d231 and the second drive assembly d232 each have a slide rail d233, a slider d234 slidably connected to the slide rail d233, and a power component d235 for driving the slider d234 to move linearly. The slider d234 of the first drive assembly d231 and the slider d234 of the second drive assembly d232 are respectively fixed to the first clamping member and the second clamping member. Thus, when the drive assembly drives the slider d234 to move on the slide rail d233, it in turn drives the clamping member to move.

[0078] The slide rail d233 is fixed to the side end of the base d21; that is, the slide rail d233 can also be fixed to the base d21 by fasteners, or it can be an integral structure; wherein, the first clamping member d221 and the second clamping member d222 both include: a clamping body d224 and clamping jaws d225 arranged at both ends of the clamping body d224. The clamping jaws d225 of the first clamping member d221 and the clamping jaws d225 of the second clamping member d222 are arranged opposite to each other, and the clamping jaws d225 are L-shaped, but obviously not limited to this. In addition to the L-shape, other shapes are also applicable to this embodiment, such as the C-shape, etc. Furthermore, one end of the clamping jaws d225 has a connecting part that connects to the clamping body d224, and the other end has a slot d226, so as to clamp the workpiece i to improve stability.

[0079] The robotic arm d12 includes a first connecting arm d121, a second connecting arm d122, and a third connecting arm d123 connected in sequence. The first connecting arm d121 rotates horizontally relative to the rotating seat d11, the second connecting arm d122 rotates longitudinally relative to the first connecting arm d121, and one end of the third connecting arm d123 rotates longitudinally relative to the second connecting arm d122, while the other end rotates horizontally relative to the power unit d13, thus possessing flexible characteristics.

[0080] The NG product unloading mechanism e includes: a first conveying mechanism e1 and a second conveying mechanism e2 arranged horizontally and corresponding to each other in the upper and lower layers. One end of the first conveying mechanism e1 and the second conveying mechanism e2 are both feeding ends e11 and the other end are both discharging ends e12. The side corresponding to the feeding end e11 is a robot, so that the robot can convey the workpiece i to the feeding end e11. The side corresponding to the discharging end e12 is a manual unloading station, so that manual unloading can be carried out.

[0081] The first conveying mechanism e1 and the second conveying mechanism e2 each have: a base e3, and a first rotating shaft e4 and a second rotating shaft arranged horizontally at both ends of the base e3; a conveyor belt e6 sleeved on the first rotating shaft e4 and the second rotating shaft, the conveyor belt e6 being able to rotate around the first rotating shaft e4 and the second rotating shaft; and a drive assembly e7 connected to the first rotating shaft e4 and used to drive the first rotating shaft e4 to rotate, thereby driving the rotation of the conveyor belt e6, which in turn drives the workpiece i placed on the conveyor belt e6 to move horizontally. The first conveyor mechanism e1 has a notch e8 on one side of its conveyor belt e6, and this notch e8 is located above the conveyor belt e6 of the second conveyor mechanism e2. The notch e8 is located on one side of the feed end e11 of the first conveyor mechanism e1, so that the feed ends e11 of the first and second conveyor mechanisms e1 and e2 are longitudinally staggered, thereby facilitating the robot to place the workpiece i on the feed end e11 of the conveyor belts e6 of the first and second conveyor mechanisms e1 and e2. The length of the conveyor belt e6 of the first conveyor mechanism e1 is less than the length of the conveyor belt e6 of the second conveyor mechanism e2. The first and second conveyor mechanisms e1 and e2 are respectively supported on the base h by a support frame e9, which consists of multiple support members, specifically four members evenly spaced around each conveyor mechanism. Each drive member e71 is located at the bottom of each conveyor mechanism and is fixed to the support frame e9 by a connector e10.

[0082] The drive assembly e7 includes: a drive element e71, a first linkage wheel e72, which is rotatably connected to the power shaft of the drive element e71; a second linkage wheel e73, which is rotatably connected to the first rotating shaft e4; and a linkage belt e74, which is sleeved with the first linkage wheel e72 and the second linkage wheel e73 to drive the first linkage wheel e72 and the second linkage wheel e73 to rotate synchronously. The drive element e71 is a synchronous motor, but it is obviously not limited to this. In addition to the synchronous motor mentioned above, other drive elements e71 are also applicable to this embodiment.

[0083] The conveyor belt e6 is loop-shaped and can be made of rubber. The base e3 has a support structure e13 for supporting the conveyor belt e6. This support structure e13 is plate-shaped and located inside the conveyor belt e6. Because the conveyor belt e6 uses flexible rubber material, the support structure e13 can provide support when too many workpieces i are placed on the conveyor belt e6 for conveying. The inner side of the conveyor belt e6 has toothed grooves, and each rotating shaft surface has raised tooth blocks, with the toothed grooves and tooth blocks meshing together; this enhances the stability of the conveyor belt e6.

[0084] In summary, this type of jig workpiece disassembly and loading / unloading equipment, through the ingenious combination described above, results in a compact and rationally laid-out structure, which is conducive to the use of automated production lines and improves production efficiency.

[0085] In the specific implementation process, firstly, the material rack k is placed on the first station of the loading / unloading device a on the base h. Then, the material rack k can be rotated by a rotating structure so that the orientation of the material rack k is the same as the orientation of the corresponding position of the second station. Next, the vertical shaft transmission module of the loading / unloading device a drives the gripping structure to move downward linearly and reciprocally to grip the material rack k. Then, the horizontal shaft transmission module drives the gripping structure to move horizontally, transferring the gripped material rack k to above the second station. Finally, the linear reciprocating motion of the vertical shaft transmission module moves the material rack k to the second station. The workpiece is placed on the second workstation. Then, through the gripping structure of the material handling mechanism, driven by the moving module, the workpiece i on the material rack k of the second workstation is moved above the workpiece i, aligning it with the clamping slot of the gripping structure. The supporting component also aligns with the clamping slot and moves upward under the drive of the power module to lift the workpiece i into the clamping slot of the gripping structure, thus completing the gripping operation of workpiece i. Next, the material handling mechanism transfers workpiece i to the transfer mechanism on the transfer device c. The transfer mechanism's loading structure carries workpiece i and moves it. The component drives the material-carrying structure to move horizontally and between a corresponding loading / unloading device a and a transfer robot d, thereby moving the workpiece i from the loading / unloading device a to the end near the transfer robot d for easy gripping by the transfer robot d. Subsequently, the transfer robot d transfers the gripped workpiece i to the processing station for processing. After processing, it is inspected by an NG inspection device. If an NG workpiece i is found, the transfer robot d transfers the NG workpiece i to the conveying mechanism of the NG unloading mechanism e for unloading.

[0086] The foregoing, in conjunction with embodiments and accompanying drawings, has clearly and completely described the concept, specific structure, and resulting technical effects of the present invention, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages mentioned herein do not simply refer to direct contact between components, but rather to the possibility of forming a better connection structure by adding or reducing connecting accessories, depending on the specific implementation.

[0087] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. A method for disassembling, assembling, and loading / unloading workpieces using a fixture, characterized in that, The method includes: The first material handling robot arm picks up the workpiece to be processed from the first loading and unloading device, moves the workpiece to be processed to the first transfer mechanism of the transfer device, and transports the workpiece to be processed to the first extraction area through the first transfer mechanism; The transfer robot transfers the workpiece to be processed from the first waiting area to a processing area for processing. The transfer robot extracts the processed workpiece from a processing area and transfers it to the second transfer mechanism of the transfer device, and then transports it to the second extraction area through the second transfer mechanism. The second robotic arm moves the processed workpiece from the second extraction area to the second loading and unloading device for unloading; The material handling robot also includes: A material handling mechanism and a moving module connected to the material handling mechanism to drive the material handling mechanism to move toward the material rack; The material handling mechanism includes: a clamping structure for clamping the workpiece and a material support structure arranged below the clamping structure and capable of longitudinal movement; the material support structure includes a material support component and a power module connected to the material support component to drive its longitudinal linear movement. The clamping structure of the material handling mechanism can be moved to above the workpiece under the drive of the moving module, and the workpiece corresponds to the clamping groove of the clamping structure. The material support component corresponds to the clamping groove, and the material support component can move upward under the drive of the power module to lift the workpiece into the clamping groove of the clamping structure; The material handling robot also includes a positioning structure arranged below the gripping structure and a power device that drives the positioning structure to move longitudinally. The material handling mechanism includes a sensor mounted on the clamping structure, and the sensor is electrically connected to the power unit. When the clamping structure moves toward the material rack and approaches the material handling mechanism, the sensor emits a sensing signal, which is received by the power unit and executed accordingly. The material transfer device includes a first material transfer mechanism and a second material transfer mechanism arranged in parallel on the base platform; The first material transfer mechanism and the second material transfer mechanism each have a material carrying structure and a moving component that drives the material carrying structure to move horizontally; The material-carrying structure includes a first material-carrying section and a second material-carrying section for loading the workpiece; The bottom of the second material-carrying part is provided with a flipping structure that is connected to it and used to drive it to rotate horizontally.

2. The method for disassembling and assembling workpieces using a jig according to claim 1, characterized in that: The fixture workpiece loading and unloading method also provides an NG (Not From Good) unloading mechanism and an NG detection area arranged in a processing area. Before the step of the transfer robot extracting the processed workpiece from the processing area and transferring the processed workpiece to the second transfer device, the method further includes the following step: The transfer robot extracts the processed workpiece from a processing area and transfers it to the NG (Not Good) inspection area for inspection. Workpieces that are detected as NG are then transferred to the NG unloading mechanism for unloading.

3. The method for disassembling and assembling workpieces using a jig according to claim 1, characterized in that: The workpiece loading and unloading method of this fixture also includes another processing area on one side of the loading and unloading device. After the step of the second robotic arm moving the processed workpiece from the second extraction area to the second loading / unloading device for unloading, the following steps are also included: The processed workpieces after cutting are placed in another processing area for further processing; The workpiece to be processed is then placed in the first loading and unloading device.

4. The method for disassembling and assembling workpieces in a jig according to claim 1, characterized in that: The workpiece loading and unloading method of the fixture also provides a loading mechanism, which is arranged on one side of the transfer robot. The method further includes: The transfer robot extracts the workpiece to be processed from the loading mechanism and transfers it to a processing area for processing.

5. A jig workpiece disassembly and loading / unloading device, characterized in that, include: A base is provided, on which at least two sets of loading and unloading devices are provided, the two sets of loading and unloading devices are arranged at intervals on the base for loading and unloading workpieces; as well as At least two sets of material transfer devices are respectively arranged on one side of each loading and unloading device for conveying workpieces; as well as At least two sets of material handling robots are respectively arranged between each loading / unloading device and each transfer device for extracting workpieces; as well as A transfer robot is arranged on one side of the transfer device and away from the picking device for transferring workpieces; The material handling robot also includes: A material handling mechanism and a moving module connected to the material handling mechanism to drive the material handling mechanism to move toward the material rack; The material handling mechanism includes: a clamping structure for clamping the workpiece and a material support structure arranged below the clamping structure and capable of longitudinal movement; the material support structure includes a material support component and a power module connected to the material support component to drive its longitudinal linear movement. The clamping structure of the material handling mechanism can be moved to above the workpiece under the drive of the moving module, and the workpiece corresponds to the clamping groove of the clamping structure. The material support component corresponds to the clamping groove, and the material support component can move upward under the drive of the power module to lift the workpiece into the clamping groove of the clamping structure; The material handling robot also includes a positioning structure arranged below the gripping structure and a power device that drives the positioning structure to move longitudinally. The material handling mechanism includes a sensor mounted on the clamping structure, and the sensor is electrically connected to the power unit. When the clamping structure moves toward the material rack and approaches the material handling mechanism, the sensor emits a sensing signal, which is received by the power unit and executed accordingly. The material transfer device includes a first material transfer mechanism and a second material transfer mechanism arranged in parallel on the base platform; The first material transfer mechanism and the second material transfer mechanism each have a material carrying structure and a moving component that drives the material carrying structure to move horizontally; The material-carrying structure includes a first material-carrying section and a second material-carrying section for loading the workpiece; The bottom of the second material-carrying part is provided with a flipping structure that is connected to it and used to drive it to rotate horizontally.

6. The jig workpiece disassembly and loading / unloading equipment according to claim 5, characterized in that, The loading and unloading device includes: The first and second workstations are located on the base platform; A rack for holding workpieces is placed at the first workstation; A transfer mechanism for transferring the material rack from the first workstation to the second workstation; A rotating structure arranged on the first workstation is used to rotate the placement angle of the material rack so that the transfer mechanism can transfer the material rack to the corresponding position of the second workstation.

7. The jig workpiece disassembly and loading / unloading equipment according to claim 5, characterized in that, The transfer robot includes: A swing mechanism, the swing mechanism including a rotating base, a mechanical arm rotatably connected to the rotating base, and a power unit connected to the mechanical arm and located at one end away from the rotating base; The gripper structure includes: Base, the base being used to connect to the power unit of the gripper structure; At least two clamping structures are provided, each of which is arranged on both sides of the base. A driving structure is arranged between the clamping structure and the base, and is used to drive the clamping structure to clamp the workpiece; The clamping structure includes a first clamping member and a second clamping member arranged corresponding to the first clamping member, and a clamping area for clamping the workpiece is formed between the first clamping member and the second clamping member. The driving structure includes a first driving component and a second driving component. The first driving component and the second driving component respectively drive the first clamping member and the second clamping member to move linearly in the direction of the clamping area to clamp the workpiece.

8. A jig workpiece disassembly and loading / unloading device according to claim 5, characterized in that, It also includes an NG (Not From Good) unloading mechanism and an NG inspection area arranged in a processing area. Before the step of the transfer robot extracting the processed workpiece from the processing area and transferring the processed workpiece to the second transfer device, the following step is also included: The transfer robot extracts the processed workpiece from a processing area and transfers it to the NG (Not Good) inspection area for inspection. Workpieces that are detected as NG are then transferred to the NG unloading mechanism for unloading. The NG product unloading mechanism includes: A first conveying mechanism and a second conveying mechanism, arranged horizontally and corresponding to each other on upper and lower levels, each having: The bracket, and a first rotating shaft and a second rotating shaft arranged horizontally at both ends of the bracket; and A conveyor belt fitted onto the first rotating shaft and the second rotating shaft, the conveyor belt being rotatable around the first rotating shaft and the second rotating shaft; and A drive assembly connected to the first rotating shaft and used to drive the first rotating shaft to rotate, thereby driving the conveyor belt to rotate.

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