Workpiece transfer device

Abstract

The present application relates to a kind of workpiece transfer equipment, which includes tooling disc storage device, disc taking manipulator, cleaning disc storage device, empty disc storage device, cleaning disc taking and placing device, workpiece taking manipulator and controller, machine table is provided with transfer station;Tooling disc storage device is arranged in machine table and is used to store tooling disc;Disc taking manipulator is used to bidirectional take and place tooling disc between tooling disc storage device and transfer station;Cleaning disc storage device is used to store cleaning disc loaded with workpiece;Empty disc storage device is used to store empty cleaning disc;Cleaning disc taking and placing device is used to take cleaning disc loaded with workpiece from cleaning disc storage device, and cleaning disc taking and placing device is also used to transport empty cleaning disc to empty disc storage device for storage;Workpiece taking manipulator is used to grab workpiece on cleaning disc taken by taking and placing device and assemble to tooling disc at transfer station.Such arrangement realizes the intelligent transfer of workpiece from cleaning disc to tooling disc, and improves the transfer efficiency of workpiece.

Description

Technical Field

[0001] This invention relates to the field of workpiece transfer technology, and in particular to workpiece transfer equipment. Background Technology

[0002] In machining, many workpieces (such as milling cutters and other machining tools) need to be placed in a cleaning tray and cleaned by a cleaning device before use. After cleaning, the workpieces are manually transferred from the cleaning tray to a tooling tray for storage, ready for use. However, this manual transfer method is time-consuming, resulting in low workpiece transfer efficiency, and therefore urgently needs improvement. Summary of the Invention

[0003] To address the aforementioned issues, a workpiece transfer device is provided, which aims to improve workpiece transfer efficiency.

[0004] A workpiece transfer device includes: a machine base with a transfer station and a pick-up station for transferring workpieces; a tooling tray storage device disposed on the machine base for storing tooling trays; a tray-retrieving robot disposed on the machine base for bidirectional pick-up and drop-off of tooling trays between the tooling tray storage device and the transfer station; a cleaning tray storage device disposed on the machine base for storing cleaning trays loaded with workpieces; an empty tray storage device disposed on the machine base for storing empty cleaning trays; and a cleaning tray pick-up and drop-off device. A cleaning tray with workpieces loaded is placed on the machine tool and used to remove the cleaning tray storage device from the cleaning tray storage device to the part picking station. The cleaning tray picking and placing device is also used to transport empty cleaning trays from the part picking station to the empty tray storage device for storage. A part picking robot is placed on the machine tool and used to grab the workpieces on the cleaning trays removed by the cleaning tray picking and placing device and assemble them onto the tooling tray at the transfer station. A controller is communicatively connected to the tooling tray storage device, the tray picking robot, the cleaning tray storage device, the empty tray storage device, the cleaning tray picking and placing device, and the part picking robot.

[0005] Preferably, the tooling tray storage device includes multiple support plates and multiple driving components, each of which is communicatively connected to the controller; wherein, the multiple support plates are arranged vertically at intervals, each support plate is slidably connected to the machine base along the longitudinal direction, and each support plate has multiple locking seats arranged horizontally at intervals on its upper surface, each locking seat being used to lock the tooling tray; each driving component is located on the machine base and connected to the corresponding support plate to drive the corresponding support plate to slide along the longitudinal direction.

[0006] Preferably, the pallet-retrieving robot includes a lifting and traversing mechanism, a rotating component, and an internally supporting mechanical gripper, all of which are communicatively connected to the controller. The lifting and traversing mechanism is located on the machine platform between the transfer station and the tooling pallet storage device. It is connected to the rotating component to drive the rotating component to move vertically and laterally. The output end of the rotating component faces upward and is connected to a horizontally positioned adapter plate. The internally supporting mechanical gripper is located on the adapter plate and is used to lift the tooling pallet from the inside or release the lifted tooling pallet.

[0007] Preferably, the cleaning tray storage device includes two lifting platforms, multiple support platforms, and a drive mechanism arranged longitudinally at intervals; wherein, the two lifting platforms are arranged parallel to each other longitudinally at intervals, each lifting platform is slidably connected to the machine base vertically, and the multiple support platforms are respectively disposed on the surfaces of the two lifting platforms that are close to each other, so that the multiple support platforms and the two lifting platforms form multiple storage layers arranged vertically at intervals, each storage layer is used to store the cleaning tray containing the workpiece; the drive mechanism is disposed on the machine base and is used to drive the two lifting platforms to lift synchronously.

[0008] Preferably, the cleaning tray picking and placing device includes a lateral movement mechanism and a clamping mechanism. The lateral movement mechanism is located on the machine base and connected to the clamping mechanism to drive the clamping mechanism to move laterally. One end of the lateral movement mechanism is located between the two lifting platforms, and the other end of the lateral movement mechanism extends away from the two lifting platforms and passes through the picking station. The clamping mechanism is used to clamp the cleaning tray laterally or release the cleaning tray.

[0009] Preferably, the workpiece transfer equipment further includes a cleaning tray positioning device, which includes two driving units and two clamping units. The two driving units are both located on the machine base and are arranged opposite to each other in the longitudinal direction about the part taking station. Each driving unit is connected to the corresponding clamping unit to drive the two clamping units to clamp or release the cleaning tray in the longitudinal direction.

[0010] Preferably, the empty tray storage device includes a lifting component, multiple lifting rods, and multiple support components; wherein, the lifting component is disposed on the machine base and connected to each of the lifting rods to drive the multiple lifting rods to rise and fall synchronously, and the connection line of the multiple lifting rods is arranged in a closed loop so that each lifting rod has an inner side and an outer side arranged opposite to each other; each support component has a pivot end and a support end arranged opposite to each other, the pivot end of each support component is pivotally connected to the corresponding lifting rod and can only rotate upward, and the support end of each support component is arranged beyond the inner side of the corresponding lifting rod so that the support ends of the multiple support components can carry the empty cleaning tray together.

[0011] Preferably, the empty tray storage device further includes multiple limiting members, each of which is disposed on the corresponding lifting rod and located on the rotation trajectory of the corresponding carrier. Each carrier has a bearing position for bearing the empty cleaning tray and an abutting position for abutting the corresponding limiting member. When each carrier is in the abutting position, it can rotate to the bearing position under its own gravity.

[0012] Preferably, the robotic arm includes a rotating mechanism, a lifting mechanism, a robotic gripper, and a camera; wherein, the rotating mechanism is disposed on the machine platform and located between the transfer station and the part-picking station, the rotating mechanism is connected to the lifting mechanism and drives the lifting mechanism to rotate, the lifting mechanism is connected to both the robotic gripper and the camera to drive the robotic gripper and the camera to lift synchronously, the robotic gripper is used to grasp the workpiece on the cleaning tray taken out by the cleaning tray pick-up and drop device, the robotic gripper is also used to release the grasped workpiece, the camera is used to determine whether the robotic arm has grasped the workpiece, and the camera is also used to position the tooling tray at the transfer station.

[0013] Preferably, the transfer station is located between the tray-retrieving robot and the part-retrieving robot. The workpiece transfer equipment further includes a transfer device, which includes a first rotating component, two second rotating components, two positioning seats, and a camera. The first rotating component is located at the transfer station, and its output end faces upward and is connected to both second rotating components. The two second rotating components are spaced apart from each other in the direction from the tray-retrieving robot to the part-retrieving robot. The output end of each second rotating component faces upward and is connected to the corresponding positioning seat to drive the corresponding positioning seat to rotate. Each positioning seat is used to position the workpiece tray. The camera is used to determine whether the workpiece is assembled onto the workpiece tray close to the part-retrieving robot.

[0014] The aforementioned workpiece transfer equipment, through the settings of a tooling tray storage device, a tray-retrieving robot, a cleaning tray storage device, an empty tray storage device, a cleaning tray pick-and-place device, a part-retrieving robot, and a controller, operates as follows: First, empty tooling trays are stored in the tooling tray storage device, and cleaning trays containing workpieces are cleaned and then stored in the cleaning tray storage device. Next, the controller controls the tray-retrieving robot to pick up and place the empty tooling trays from the tooling tray storage device to the transfer station. Then, the controller controls the cleaning tray pick-and-place device to retrieve the cleaning trays containing workpieces from the cleaning tray storage device to the part-retrieving station. Finally, the controller controls the part-retrieving robot to pick up the workpieces one by one from the cleaning trays retrieved by the cleaning tray pick-and-place device and assemble them onto the tooling trays at the transfer station until all workpieces on the cleaning trays are transferred. Then, the controller controls the cleaning tray pick-and-place device to transport the empty cleaning trays from the part-retrieving station to the empty tray storage device for storage. Finally, the controller directs the robotic arm to retrieve the workpiece-loaded workpiece-filled tray from the transfer station to the workpiece storage device. This process is repeated until all workpieces on the cleaning trays are transferred to the workpiece trays, thus completing the workpiece transfer from the cleaning trays to the workpiece trays. This setup improves workpiece transfer efficiency. Attached Figure Description

[0015] Figure 1 This is a top view of one embodiment of the workpiece transfer equipment of the present invention; Figure 2 This is a schematic diagram of the structure of one embodiment of the cleaning disc in the present invention; Figure 3 This is a schematic diagram of the structure of one embodiment of the tooling tray in this invention; Figure 4 This is a schematic diagram of the overall structure of an embodiment of the workpiece transfer equipment of the present invention; Figure 5 for Figure 4 Another structural diagram from a different perspective; Figure 6 This is a schematic diagram of the internal structure of an embodiment of the workpiece transfer equipment of the present invention; Figure 7 for Figure 6 A magnified structural diagram of part A in the middle; Figure 8 This is a schematic diagram of one embodiment of the card holder in the present invention; Figure 9 This is a schematic diagram of one embodiment of the disk-retrieving robot of the present invention; Figure 10 This is a schematic diagram of a structure of one embodiment of the bayonet of the internally supported mechanical gripper in this invention;

[0016] Figure 11 This is a schematic diagram of one embodiment of the cleaning tray storage device of the present invention; Figure 12 for Figure 11 A magnified structural diagram of part B in the middle; Figure 13 for Figure 11 Another structural diagram from a different perspective; Figure 14 This is a schematic diagram of one embodiment of the cleaning tray loading and unloading device of the present invention; Figure 15 This is a schematic diagram of an embodiment of the hollow cleaning tray storage device of the present invention; Figure 16 for Figure 15 A magnified structural diagram of part C in the middle; Figure 17 This is a schematic diagram of one embodiment of the robotic arm for picking up parts in this invention; Figure 18 for Figure 4 A magnified schematic diagram of a portion of D in the middle; Figure 19 This is a schematic diagram of one embodiment of the transfer device in the present invention; Figure 20 This is a structural schematic diagram illustrating an embodiment of the second rotating member, the positioning seat, and the integrated shell in this invention.

[0017] Explanation of reference numerals in the attached drawings: 1000 Workpiece transfer equipment; 510 Lifting component; 100 Machine base; 511 Integrated plate; 100a Transfer station; 511a Clearance opening; 100b Picking station; 520 Lifting rod; 100c Mounting cavity; 521 Bushing; 110 Tooling tray; 530 Bearing component; 110a Inlet / outlet; 531 Rotating shaft; 111 Tooling tray door; 540 Limiting component; 120 Cleaning tray; 550 Integrated component; 120a Picking / unloading port; 600 Cleaning tray picking / unloading device; 121 Cleaning tray door; 610 Transverse movement mechanism; 130 Slide rail; 620 Clamping mechanism; 140 Base plate; 621 Base plate; 140a Limiting hole; 622 Fixing plate; 141 Mounting platform; 623 Movable plate; 141a Mounting hole; 624 Force application component; 150 Mounting frame; 700 Part picking robot; 151 Vertical plate; 710 Rotating mechanism; 152 Connecting plate; 720 Lifting mechanism; 200 Tooling tray storage device; 730 Mechanical gripper; 210 Bearing plate; 740 Camera; 211 Card holder; 800 Controller; 211a Card slot; 900 Cleaning tray positioning device; 21 2. Slider; 910. Drive unit; 220. Drive component; 920. Clamping unit; 300. Tray-retrieving robot; 930. Photoelectric sensor; 310. Lifting and traversing mechanism; 931. Light emitter; 311. Lifting unit; 932. Light receiver; 312. Traversing unit; 950. Transfer device; 320. Rotating component; 951. First rotating component; 321. Adapter plate; 952. Second rotating component; 330. Internal support type mechanical claw; 953. Positioning seat; 330a. Bayonet; 954. Camera; 400. Cleaning tray storage device; 955. Photoelectric sensing structure; 410. Lifting platform; 956 Integrated housing; 411 Guide rod; 957 Photoelectric detection structure; 420 Support platform; 2000 Cleaning tray; 430 Drive mechanism; 2100 Tray body; 431 Transmission rod; 2200 Grid; 432 Driven wheel; 3000 Tooling tray; 433 Power component; 3100 Inner ring; 434 Drive wheel; 3110 Positioning part; 435 Transmission belt; 3200 Outer ring; 436 Pressure wheel; 3210 Pad; 437 Drive element; 3300 Connecting part; 437a Connecting rod; 3400 Insertion sleeve; 500 Empty tray storage device. Detailed Implementation

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0019] This invention proposes a workpiece transfer device, which, through the configuration of a tooling tray storage device, a tray-retrieving robot, a cleaning tray storage device, an empty tray storage device, a cleaning tray pick-and-place device, and a part-picking robot, achieves intelligent transfer of workpieces from the cleaning tray to the tooling tray, thereby improving workpiece transfer efficiency. The aforementioned workpiece transfer includes two actions: workpiece transfer and workpiece assembly, that is, transferring the workpiece from one storage location and assembling it to another.

[0020] Please see Figures 1 to 3 This workpiece transfer device 1000 is used in conjunction with the cleaning tray 2000 and the tooling tray 3000. Please refer to [link / reference]. Figure 2 The cleaning tray 2000 includes a tray body 2100 and two grids 2200. The two grids 2200 are vertically spaced on the tray body 2100, and the grid holes on the two grids 2200 are aligned one-to-one so that any two grid holes that are opposite each other on the two grids 2200 form an insertion station for inserting workpieces. With this configuration, workpieces can be inserted one by one into multiple insertion stations to load workpieces into the cleaning tray 2000.

[0021] Please see Figure 3 The tooling tray 3000 includes an inner ring 3100, an outer ring 3200, multiple connecting parts 3300, and multiple insertion sleeves 3400. The inner ring 3100 and the outer ring 3200 have their axes coincident. Each connecting part 3300 connects the outer side of the inner ring 3100 to the inner side of the outer ring 3200 and is spaced apart along the circumference of the inner ring 3100. The multiple insertion sleeves 3400 are all located on the upper surface of the outer ring 3200 and are arranged sequentially along the circumference of the outer ring 3200. Each insertion sleeve 3400 is used for inserting workpieces. With this arrangement, workpieces can be inserted one by one into the multiple insertion sleeves 3400 to load the workpieces into the tooling tray 3000. Furthermore, a pad 3210 is also provided on the lower surface of the outer ring 3200 to raise the inner ring 3100 and the outer ring 3200, making it easier to grip the tooling tray 3000. Specifically, the outer ring 3200 is threaded with a bolt, and the head of the bolt forms a spacer 3210. This arrangement facilitates the formation of the spacer 3210.

[0022] Please see Figures 1 to 4 In one embodiment of the present invention, the workpiece transfer equipment 1000 includes: a machine base 100, a tooling tray storage device 200, a tray retrieval robot 300, a cleaning tray storage device 400, an empty tray storage device 500, a cleaning tray retrieval and placement device 600, a part retrieval robot 700, and a controller 800.

[0023] The machine tool 100 is provided with a transfer station 100a for transferring workpieces and a workpiece removal station 100b. In this embodiment, the workpiece is a milling cutter. Both the transfer station 100a and the workpiece removal station 100b can be located on a plane.

[0024] The machine base 100 provides mounting positions for other components of the workpiece transfer equipment 1000. The machine base 100 can be formed in various ways; it can be assembled from multiple rod-shaped structural components, or from multiple plate-shaped structural components. It can also be integrally formed using methods such as casting or die casting; no specific limitations are made here. The shape of the machine base 100 can be square, circular, or other shapes; no specific limitations are made here.

[0025] The tooling tray storage device 200 is located on the machine tool 100 and is used to store the tooling tray 3000. The tray-retrieving robot 300 is located on the machine tool 100 and is used to bidirectionally retrieve and place the tooling tray 3000 between the tooling tray storage device 200 and the transfer station 100a. This bidirectional retrieval means that the tray-retrieving robot 300 can retrieve and place the tooling tray 3000 from the tooling tray storage device 200 to the transfer station 100a, and the tray-retrieving robot 3000 can also retrieve and place the tooling tray 3000 from the transfer station 100a to the tooling tray storage device 200.

[0026] Specifically, please refer to Figures 1 to 5 The machine tool 100 is equipped with a tooling tray compartment 110, which is located adjacent to the transfer station 100a. The tooling tray storage device 200 and the tray-retrieving robot 300 are both located within the tooling tray compartment 110. An entrance / exit 110a for the tray-retrieving robot 300 is provided on the side of the tooling tray compartment 110 closest to the transfer station 100a. This arrangement effectively prevents dust and other contaminants from the external environment from falling onto the tooling tray 3000 and the workpiece when storing workpieces via the tooling tray 3000, ensuring the cleanliness of both. Additionally, the tooling tray compartment 110 is equipped with a tooling tray compartment door 111 for easy retrieval of the tooling tray 3000. In other embodiments, the workpiece transfer equipment 1000 may be stored in a clean room without the tooling tray compartment 110.

[0027] The cleaning tray storage device 400 is located on the machine base 100 and is used to store the cleaning tray 2000 loaded with workpieces. The empty tray storage device 500 is located on the machine base 100 and is used to store the empty cleaning tray 2000. The cleaning tray picking and placing device 600 is located on the machine base 100 and is used to pick up the cleaning tray 2000 loaded with workpieces from the cleaning tray storage device 400 to the picking station 100b. The cleaning tray picking and placing device 600 is also used to transport the empty cleaning tray 2000 from the picking station 100b to the empty tray storage device 500 for storage.

[0028] Specifically, please refer to Figures 1 to 5 The machine 100 is equipped with a cleaning tray compartment 120, which is adjacent to a cleaning tray loading and unloading device 600. The cleaning tray compartment 120 has a loading / unloading port 120a for loading and unloading cleaning trays 2000 on the side closest to the cleaning tray loading and unloading device 600. A cleaning tray storage device 400 is located inside the cleaning tray compartment 120. This arrangement effectively prevents dust and other contaminants from the external environment from falling onto the cleaning trays 2000 and the workpieces when the cleaning trays 2000 containing workpieces are stored through the cleaning tray storage device 400, ensuring the cleanliness of both. Additionally, the cleaning tray compartment 120 is equipped with a cleaning tray compartment door 121 to facilitate the loading and unloading of the cleaning trays 2000 from the cleaning tray compartment 120. In other embodiments, the workpiece transfer equipment 1000 may also be stored in a clean room without a cleaning tray compartment 120.

[0029] Preferably, the cleaning tray storage device 400 and the empty tray storage device 500 are arranged laterally at intervals, and the cleaning tray retrieval device 600 is located between the cleaning tray storage device 400 and the empty tray storage device 500. This arrangement makes the cleaning tray storage device 400, the empty tray storage device 500 and the cleaning tray retrieval device 600 compact and space-saving.

[0030] The picking robot 700 is located on the machine base 100. The picking robot 700 is used to pick up the workpieces taken out from the cleaning tray 2000 by the picking and placing device and assemble them into the tooling tray 3000 at the transfer station 100a.

[0031] The controller 800 is mounted on the machine tool 100 and is communicatively connected to the tooling tray storage device 200, the tray retrieval robot 300, the cleaning tray storage device 400, the empty tray storage device 500, the cleaning tray retrieval and placement device 600, and the part retrieval robot 700. Alternatively, the controller 800 can be a standalone unit. The communication connection can be wireless, such as WiFi or Bluetooth, or wired; no specific limitation is made here.

[0032] According to the above technical solution, during the workpiece transfer operation, firstly, the empty tooling tray 3000 is stored in the tooling tray storage device 200, and the cleaning tray 2000 containing the workpiece is cleaned and then stored in the cleaning tray storage device 400. Secondly, the controller 800 controls the tray-retrieving robot 300 to pick up and place the empty tooling tray 3000 from the tooling tray storage device 200 to the transfer station 100a. Next, the controller 800 controls the cleaning tray picking and placing device 600 to retrieve the cleaning tray 2000 containing the workpiece from the cleaning tray storage device 400 to the part-retrieving station 100b. Then, the controller 800 controls the picking robot 700 to pick up the workpieces one by one from the cleaning tray 2000 retrieved by the cleaning tray picking and placing device 600 and assemble them onto the tooling tray 3000 at the transfer station 100a, until all the workpieces on the cleaning tray 2000 are transferred. Next, the controller 800 controls the cleaning tray picking and placing device 600 to transport the empty cleaning tray 2000 from the picking station 100b to the empty tray storage device 500 for storage. Finally, the controller 800 controls the tray picking robot 300 to pick up the tooling tray 3000 loaded with workpieces from the transfer station 100a to the tooling tray storage device 200 for storage. This process is repeated until all the workpieces on the cleaning tray 2000 are transferred to the tooling tray 3000, thus completing the workpiece transfer from the cleaning tray 2000 to the tooling tray 3000. This setup achieves intelligent workpiece transfer and improves workpiece transfer efficiency.

[0033] Please see Figure 1 , Figure 3 , Figure 6 as well as Figure 7 There are many types of tooling tray storage devices 200. In one embodiment of the present invention, the tooling tray storage device 200 includes multiple support plates 210 and multiple drive components 220, all of which are communicatively connected to the controller 800. The multiple support plates 210 are arranged vertically at intervals, and each support plate 210 is slidably connected to the machine base 100 along the longitudinal direction. The upper surface of each support plate 210 is provided with multiple locking seats 211 arranged horizontally at intervals, and each locking seat 211 is used to lock the tooling tray 3000. Each drive component 220 is provided on the machine base 100 and connected to the corresponding support plate 210 to drive the corresponding support plate 210 to slide longitudinally.

[0034] Specifically, please refer to Figure 7 Each support plate 210 has a slider 212 at both ends in the horizontal direction, and the machine base 100 has multiple slide rails 130. Each slider 212 is slidably connected to the corresponding slide rail 130 in the longitudinal direction. This arrangement enables the sliding connection between each support plate 210 and the machine base 100. In addition, the sliding connection between the support plate 210 and the machine base 100 can also be achieved through a sliding block and sliding groove structure.

[0035] Please see Figure 8The retaining base 211 is arranged in a circular shape. The upper surface of the retaining base 211 has multiple retaining grooves 211a extending radially therefrom. Both ends of each retaining groove 211a extend through the surface. The inner side of the retaining base 211 mates with the outer side of the inner ring 3100 of the tooling tray 3000. Each retaining groove 211a mates with a corresponding connecting part 3300 on the tooling tray 3000. The number of retaining grooves 211a is the same as the number of connecting parts 3300, and they are arranged in a one-to-one correspondence. This arrangement facilitates the retaining base 211 in securing the tooling tray 3000.

[0036] There are many types of drive components 220. The drive component 220 can be an electric actuator linear transmission module, a cylinder linear transmission module, a motor lead screw linear transmission module, a motor gear linear transmission module, a motor pulley linear transmission module, or other linear transmission structures. Figure 7 The diagram shows the case where the drive unit 220 is a cylinder.

[0037] Through the above technical solution, on the one hand, the tooling trays 3000 can be stored in layers by setting up multiple support plates 210. On the other hand, each drive component 220 can drive the corresponding support plate 210 to slide longitudinally, so that each support plate 210 can be pushed out from the multiple support plates 210, thereby allowing each layer of tooling trays 3000 to be pushed out individually. Therefore, when the tooling tray 300 is picked up or put down from the tooling tray storage device 200 by the tray-picking robot 300, the controller 800 controls the corresponding drive component 220 to drive the corresponding support plate 210 to extend out from the multiple support plates 210, so that the tray-picking robot 300 is unobstructed from above when picking up or putting down the tooling tray 3000, which is beneficial for the tray-picking robot 300 to pick up or put down the tooling tray 3000.

[0038] When the tooling tray storage device 200 is installed in the tooling tray compartment 110, the distance between the uppermost support plate 210 and the top wall of the tooling tray compartment 110 should be greater than the distance between two adjacent support plates 210, so as to facilitate the tooling trays on the uppermost support plate 210 to be picked up and placed by the tooling robot 300.

[0039] In other embodiments, the tooling tray storage device 200 may also be configured as a cabinet-type layered storage structure, a turntable-type storage structure, etc.

[0040] Please see Figure 1 , Figure 3 , Figure 4 as well as Figure 9There are many types of the aforementioned tray-retrieving robot 300. In one embodiment of the present invention, the tray-retrieving robot 300 includes a lifting and traversing mechanism 310, a rotating component 320, and an internally supporting mechanical gripper 330, all of which are communicatively connected to the controller 800. The lifting and traversing mechanism 310 is disposed on the machine base 100 and located between the transfer station 100a and the tooling tray storage device 200. The lifting and traversing mechanism 310 is connected to the rotating component 320 to drive the rotating component 320 to move vertically and horizontally. The output end of the rotating component 320 is upward and connected to a horizontally arranged adapter plate 321. The internally supporting mechanical gripper 330 is disposed on the adapter plate 321 and is used to support the tooling tray 3000 from the inside or release the supported tooling tray 3000.

[0041] See Figure 9 The lifting and traversing mechanism 310 is used to realize two actions: lifting and traversing. It includes a lifting part 311 and a traversing part 312 connected to the lifting part 311. The lifting part 311 is located on the machine base 100 and between the transfer station 100a and the tooling tray storage device 200. The lifting part 311 is used to drive the traversing part 312 to lift vertically. The traversing part 312 is connected to the rotating member 320 and is used to drive the rotating member 320 to move horizontally.

[0042] Both the lifting part 311 and the lateral moving part 312 can be configured with reference to the specific type of the driving component 220 in the above embodiment. There are many types of rotating components 320. The rotating component 320 can be a motor, a rotary cylinder, a motor gear rotating module, a motor pulley rotating module, or other rotating structures. The internal support mechanical claw 330 can be a pneumatic claw, a servo claw, or other claw structures. No specific limitation is made here.

[0043] Preferably, please refer to Figure 10 The internally supported robotic gripper 330 is a four-jaw gripper structure. Each jaw of the internally supported robotic gripper 330 has a locking groove 330a on its outer side for engaging with the inner side of the inner ring 3100 of the tooling tray 3000. This design enhances the stability of the internally supported robotic gripper 330 when it supports the tooling tray 3000 from the inside. Furthermore, each jaw of the internally supported robotic gripper 330 can be made of flexible materials, such as rubber or plastic. This design prevents damage to the tooling tray 3000 and also reduces positioning accuracy to a certain extent.

[0044] Through the above technical solution, when the pallet-retrieving robot 300 picks up and places the tooling tray 3000 from the tooling tray storage device 200 to the transfer station 100a, in step one, the corresponding drive component 220 drives the corresponding support plate 210 and the corresponding empty tooling tray 3000 to extend from the multiple support plates 210 to a preset position. In step two, the lifting and traversing mechanism 310 drives the rotating component 320 and the inner support mechanical claw 330 to rise together and move laterally to a position that matches the corresponding tooling tray 3000. In step three, the rotating component 320 first drives the inner support mechanical claw 330 to rotate above the corresponding tooling tray 3000, and then the lifting and traversing mechanism 310 drives the rotating component 320 and the inner support mechanical claw 330 to descend together until the inner support mechanical claw 330 is located inside the corresponding tooling tray 3000, and the inner support mechanical claw 330 supports the tooling tray 3000 from the inside. Step four: The driving component 220 from step one drives the corresponding support plate 210 to retract to its initial position. Step five: The lifting and traversing mechanism 310 drives the rotating component 320 and the inner-support mechanical claw 330 to move vertically and horizontally to a position compatible with the transfer station 100a. Step six: First, the rotating component 320 drives the inner-support mechanical claw 330 and the tooling tray 3000 to rotate above the transfer station 100a. Then, the lifting and traversing mechanism 310 drives the rotating component 320, the inner-support mechanical claw 330, and the tooling tray 3000 to descend together until the tooling tray 3000 is placed in the transfer station 100a, and the inner-support mechanical claw 330 releases the tooling tray 3000. This setup allows for the retrieval and placement of the tooling tray 3000 from the tooling tray storage device 200 to the transfer station 100a. When the retrieval robot 300 picks up and places the tooling tray 3000 from the transfer station 100a to the tooling tray storage device 200, the principle is the same as that described above when the retrieval robot 300 picks up and places the tooling tray 3000 from the tooling tray storage device 200 to the transfer station 100a.

[0045] In other embodiments, the disk-retrieving robot 300 can also be configured as a multi-joint arm-type mechanical claw structure.

[0046] Please see Figure 1 , Figure 2 as well as Figure 11 There are many types of cleaning tray storage devices 400. This particular cleaning tray storage device 400 includes two lifting platforms 410 spaced longitudinally, multiple support platforms 420, and a drive mechanism 430. The two lifting platforms 410 are arranged parallel to each other longitudinally, and each lifting platform 410 is slidably connected to the machine base 100 vertically. The multiple support platforms 420 are distributed on the surfaces of the two lifting platforms 410 that are close to each other, so that the multiple support platforms 420 and the two lifting platforms 410 form multiple storage layers arranged vertically at intervals. Each storage layer is used to store cleaning trays 2000 containing workpieces. The drive mechanism 430 is located on the machine base 100 and is used to drive the two lifting platforms 420 to move synchronously.

[0047] Through the above technical solution, on the one hand, multiple storage layers are formed by constructing multiple support platforms 420 and two lifting platforms 410 at vertical intervals, enabling layered storage of the cleaning tray 2000 containing the workpiece. On the other hand, when the cleaning tray retrieval device 600 removes the cleaning tray 2000, the drive mechanism 430 drives the two lifting platforms 410 to lower the multi-layer cleaning tray 2000, which descends sequentially to a preset position for retrieval by the cleaning tray retrieval device 600.

[0048] In other embodiments, the cleaning tray storage device 400 may also be configured as a cabinet-type layered storage structure, a turntable-type storage structure, etc.

[0049] Please see Figures 11 to 13 There are many types of drive mechanisms 430. In one embodiment of the present invention, the drive mechanism 430 includes two transmission rods 431, two driven wheels 432, a power component 433 communicatively connected to the controller 800, a driving wheel 434, a transmission belt 435, a pressure wheel 436, and a drive element 437. One end of each transmission rod 431 is pivotally connected to the machine base 100, and the other end of each transmission rod 431 extends vertically and is connected to the corresponding driven wheel 432. Each rod 431 also mates with the corresponding mounting hole (not shown) on the lifting platform 410. The power component 433 is located on the machine base 100 and connected to the drive wheel 434 to drive the drive wheel 434 to rotate. The transmission belt 435 is wrapped around the two driven wheels 432 and the drive wheel 434. The pressure wheel 436 presses against the transmission belt 435. The driving element 437 is located on the machine base 100 and connected to the pressure wheel 436 to drive the pressure wheel 436 to move towards or away from the transmission belt 435.

[0050] Specifically, each lifting platform 410 has a vertical guide rod 411 passing through both ends of its horizontal direction, and both ends of each guide rod 411 are located on the machine base 100. This arrangement allows each lifting platform 410 to slide vertically. Furthermore, each storage layer has a support platform 420 at each of its four corners. This arrangement effectively supports the four corners of the cleaning tray 2000, ensuring stable storage of the cleaning tray 2000. In addition, each transmission rod 431 can be configured as a threaded rod that connects to the mounting hole of the corresponding lifting platform 410.

[0051] Furthermore, the machine base 100 is supported by a base plate 140. The lower ends of each guide rod 411 are located on the upper surface of the base plate 140, and the lower ends of each transmission rod 431 pass through the base plate 140 and are connected to the corresponding driven wheel 432. The power component 433 is located on the lower surface of the base plate 140. This arrangement facilitates the installation of the power component 433. In addition, a strip-shaped limiting hole 140a is formed through the upper surface of the base plate 140. The limiting hole 140a extends in a direction close to or away from the transmission belt 435. A mounting platform 141 is provided on the upper surface of the base plate 140. The mounting platform 141 has a mounting hole 141a. The driving element 437 is a screw-in component with the same extension direction as the limiting hole 140a. One end of the screw-in component is threadedly connected to the mounting hole 141a, and the other end of the screw-in component is connected to the pressure wheel 436 through a connecting rod 437a. The connecting rod 437a is slidably engaged with the limiting hole 140a. With this configuration, by rotating the screw connector in both directions, the pressure roller 436 can be driven to move closer to or further away from the transmission belt 435, thereby adjusting the tension of the transmission belt 435. In other embodiments, the drive element 437 can also be configured as the linear transmission structure described in the above embodiments.

[0052] With the above technical solution, when the cleaning tray retrieval device 600 takes out the cleaning tray 2000, the power component 433 drives the drive wheel 434 to rotate. The drive wheel 434 drives the two driven wheels 432 to rotate through the transmission belt 435. The two driven wheels 432 drive the two transmission rods 431 to rotate. Friction is generated between each transmission rod 431 and the corresponding assembly hole, which in turn drives the two lifting platforms 410 to lower the multi-layer cleaning tray 2000. The multi-layer cleaning tray 2000 is lowered to the preset position one by one for the cleaning tray retrieval device 600 to take out.

[0053] In addition, the lifting part 311 in the lifting and traversing mechanism 310 in the above embodiment can also be set with reference to the specific type of the drive mechanism 430.

[0054] Please see Figure 1 , Figure 2 as well as Figure 14 There are many types of cleaning tray picking and placing devices 600. In one embodiment of the present invention, the cleaning tray picking and placing device 600 includes a transverse mechanism 610 and a clamping mechanism 620. The transverse mechanism 610 is disposed on the machine base 100 and connected to the clamping mechanism 620 to drive the clamping mechanism 620 to move laterally. One end of the transverse mechanism 610 is located between two lifting platforms 410, and the other end of the transverse mechanism 610 extends away from the two lifting platforms 410 and passes through the picking station. The clamping mechanism 620 is used to clamp the cleaning tray 2000 laterally or release the cleaning tray 2000.

[0055] Clearly, the storage layers on the cleaning tray storage device 400 support the two longitudinally opposite sides of the cleaning tray 2000, and in conjunction with the clamping mechanism 620, clamp or release the cleaning tray 2000 laterally. This arrangement ensures that the storage of the cleaning tray 2000 and the clamping by the clamping mechanism 620 do not interfere with each other.

[0056] Through the above technical solution, when the cleaning tray pick-up and place device 600 removes the cleaning tray 2000 from the cleaning tray storage device 400, firstly, the lateral movement mechanism 610 drives the clamping mechanism 620 to move laterally to below the multi-layer cleaning tray 2000. Secondly, the drive mechanism 430 drives the multi-layer cleaning tray 2000 to descend until the lowest cleaning tray 2000 descends into the clamping mechanism 620. Then, the clamping mechanism 620 clamps the cleaning tray 2000 laterally, and the lateral movement mechanism 610 drives the clamping mechanism 620 and the cleaning tray 2000 to move together out of the cleaning tray storage device 400 so that the part-retrieving robot arm 700 can grasp the workpieces on the cleaning tray 2000. Finally, after all the workpieces on the cleaning tray 2000 have been removed, the lateral movement mechanism 610 drives the clamping mechanism 620 to transport the empty cleaning tray 2000 to the empty tray storage device 500 for storage. By repeating this process, all the cleaning trays 2000 in the cleaning tray pick-up and place device 600 can be removed.

[0057] Specifically, please refer to Figure 14 The clamping mechanism 620 includes a base plate 621, a fixed plate 622, a movable plate 623, and a force-applying component 624. The base plate 621 is connected to the transverse movement mechanism 610. The fixed plate 622 and the movable plate 623 are spaced laterally. The fixed plate 622 is connected to the base plate 621, and the movable plate 623 is connected to the force-applying component 624. The force-applying component 624 is located on the base plate 621 and drives the movable plate 623 to move closer to or further away from the fixed plate 622 to clamp or release the cleaning tray 2000. This arrangement makes clamping and releasing the cleaning tray 2000 convenient, facilitating the cleaning tray loading and unloading device 600 to load and unload the cleaning tray 2000.

[0058] The type of the force-applying component 624 can be set with reference to the specific type of the driving component 220 mentioned above, and will not be described in detail here.

[0059] In other embodiments, the clamping mechanism 620 may also be configured as a pneumatic gripper, a servo gripper, or other clamping structure, and the cleaning tray pick-and-place device 600 may also be configured as a multi-joint robotic arm gripper structure, a multi-joint robotic arm suction cup structure, or the like.

[0060] Please see Figure 1 , Figure 2 , Figure 6 , Figure 15 as well as Figure 16There are many types of empty disk storage devices 500. In one embodiment of the present invention, the empty disk storage device 500 includes a lifting member 510, a plurality of lifting rods 520 and a plurality of bearing members 530. The lifting member 510 is disposed on the machine base 100 and connected to each lifting rod 520 to drive the plurality of lifting rods 520 to lift synchronously. The connection of the plurality of lifting rods 520 is arranged in a closed loop so that each lifting rod 520 has an inner side and an outer side arranged opposite to each other.

[0061] Each carrier 530 has a pivot end and a bearing end arranged opposite to each other. The pivot end of each carrier 530 is pivotally connected to the corresponding lifting rod 520 and can only rotate upward. The bearing end of each carrier 530 extends beyond the inner side of the corresponding lifting rod 520 so that the bearing ends of multiple carriers 530 can carry the empty cleaning tray 2000 together.

[0062] Specifically, multiple lifting rods 520 are located on both sides of the traversing mechanism 610 in the direction of movement. This arrangement ensures that the empty tray storage device 500 and the clamping mechanism 620 do not interfere with each other. The inner side of the lifting rod 520 refers to the side of the lifting rod 520 facing the traversing mechanism 610, and the outer side of the lifting rod 520 refers to the side of the lifting rod 520 facing away from the traversing mechanism 610. In addition, the specific type of the lifting member 510 is set with reference to the type of the driving member 220 described above, and will not be described in detail here.

[0063] Preferably, each support member 530 is pivotally connected to the upper end of its corresponding lifting rod 520, facilitating the installation of each support member 530. Alternatively, each lifting rod 520 may have a groove structure on its inner side, with each support member 530 pivotally connected within the corresponding groove structure. The number of lifting rods 520 is set to four, and the line connecting the four lifting rods 520 forms a rectangle. This arrangement provides support at the four corners of the empty cleaning tray 2000, thereby ensuring stable stacking of the empty cleaning trays 2000. Furthermore, the number of lifting rods 520 can also be set to three, five, or other values.

[0064] Using the above technical solution, when the empty tray storage device 500 stores the first empty cleaning tray 2000, firstly, the lifting member 510 drives multiple lifting rods 520 and multiple support members 530 to descend together until all the support members 530 are below the first empty cleaning tray 2000. Secondly, the lateral movement mechanism 610 drives the clamping mechanism 620 and the first empty cleaning tray 2000 to move laterally towards the support members 530 until the first empty cleaning tray 2000 is above the multiple support members 530. Next, the lifting member 510 drives multiple lifting rods 520 and multiple support members 530 to rise together until the multiple support members 530 support the first empty cleaning tray 2000, and the clamping mechanism 620 releases the first empty cleaning tray 2000, thus completing the storage of the first empty cleaning tray 2000.

[0065] When the empty tray storage device 500 stores the second empty cleaning tray 2000, firstly, the lifting member 510 drives multiple lifting rods 520, multiple support members 530, and the first empty cleaning tray 2000 to rise together until all the support members 530 are higher than the second empty cleaning tray 2000. Secondly, the lateral movement mechanism 610 drives the clamping mechanism 620 and the second empty cleaning tray 2000 to move laterally towards the first empty cleaning tray 2000 until the second empty cleaning tray 2000 is below the first empty cleaning tray 2000. Next, the lifting member 510 drives multiple lifting rods 520, multiple support members 530, and the first empty cleaning tray 2000 to descend together until each support member 530 is blocked by the edge of the second empty cleaning tray 2000 and rotates upward to abut the side of the second empty cleaning tray 2000, thus causing the first empty cleaning tray 2000 to be stacked on top of the second empty cleaning tray 2000. Then, the lifting component 510 continues to drive multiple lifting rods 520 and multiple carrier components 530 to descend together until each carrier component 530 has descended to below the second empty cleaning tray 2000. Each carrier component 530, no longer affected by the second empty cleaning tray 2000, rotates under its own gravity to return to its initial state. Finally, the lifting component 510 drives multiple lifting rods 520 and multiple carrier components 530 to rise together until the multiple carrier components 530 abut against the lower surface of the second empty cleaning tray 2000, supporting both the second and first empty cleaning trays. The clamping mechanism 620 then releases the second empty cleaning tray 2000, thus completing the storage of the second empty cleaning tray 2000. This process is repeated to store multiple empty cleaning trays 2000. After a certain number of empty cleaning trays 2000 have been stored in the empty tray storage device 500, the stacked empty cleaning trays 2000 are manually removed from the empty tray storage device 500.

[0066] It should be noted that when the support member 530 is blocked by the edge of the empty cleaning tray 2000 and rotates upward to abut against the empty cleaning tray 2000, the angle between the support member 530 and the edge of the empty cleaning tray 2000 is less than 90 degrees, that is, the angle of the support member 530 rotating upward is less than 90 degrees, so as to ensure that the support member 530 can rotate back to its initial state under its own gravity when it is not affected by the empty cleaning tray 2000.

[0067] In other embodiments, the empty disk storage device 500 can also be configured as a cabinet-type layered storage structure, a turntable-type storage structure, etc. The empty disk storage device 500 can also be configured with reference to the cleaning disk storage device 400 in the above embodiments.

[0068] Further, please refer to Figure 6 and Figure 15The machine base 100 has a mounting cavity 100c, and the upper surface of the machine base 100 has multiple through holes (not shown) that communicate with the mounting cavity 100c. A mounting frame 150 is located on the cavity wall near the upper surface of the machine base 100 in the mounting cavity 100c. The mounting frame 150 includes two parallel vertical plates 151 and a connecting plate 152 connecting the two vertical plates 151. The upper ends of the two vertical plates 151 are connected to the cavity wall near the upper surface of the machine base 100 in the mounting cavity 100c. A lifting component 510 is located on the connecting plate 152 with its output end facing upward and connected to an integrated plate 511. The integrated plate 511 has two clearance openings 511a, and each vertical plate 151 is located within the corresponding clearance opening 511a. Each lifting rod 520 is connected to the integrated plate 511 through a corresponding through hole. This arrangement makes the structure of the mounting frame 150, lifting component 510, integrated plate 511, and lifting rod 520 compact and space-saving. Furthermore, each lifting rod 520 is fitted with a bushing 521 that mates with the corresponding through hole to improve the assembly accuracy of each lifting rod 520 and thus ensure the verticality of each lifting rod 520.

[0069] In other embodiments, the lifting member 510 may also be configured as multiple lifting elements, each lifting element being connected to a corresponding lifting rod 520 and used to drive the corresponding lifting rod 520 to rise or fall.

[0070] Please see Figure 1 , Figure 2 , Figure 15 as well as Figure 16 Considering that when the support member 530 rotates upward due to the obstruction of the edge of the empty cleaning tray 2000, the support member 530 may flip 180 degrees, thus preventing it from returning to its initial state when not under the influence of the empty cleaning tray 2000. Therefore, to prevent the support member 530 from flipping 180 degrees and failing to return to its initial state, in one embodiment of the present invention, the empty tray storage device 500 further includes multiple limiting members 540. Each limiting member 540 is disposed on a corresponding lifting rod 520, and each limiting member 540 is located on the rotation trajectory of the corresponding support member 530. Each support member 530 has a supporting position for carrying the empty cleaning tray 2000 and an abutting position for abutting against the corresponding limiting member 540. When in the abutting position, each support member 530 can rotate to the supporting position under its own gravity, meaning that the angle between each support member 530 and the horizontal plane when in the abutting position is less than 90 degrees. With this configuration, the limiting member 540 can effectively limit the rotation angle of the carrier member 530, thereby preventing the carrier member 530 from flipping 180 degrees and failing to return to its initial state on its own.

[0071] Each limiting component 540 and the corresponding lifting rod 520 can be fixedly connected or detachably connected (such as threaded connection, snap-fit ​​connection, etc.), and no specific limitation is made here.

[0072] Furthermore, the empty disk storage device 500 also includes multiple integrated components 550, each of which is detachably connected to the upper end of a corresponding lifting rod 520. The corresponding support component 530 and limiting component 540 of each lifting rod 520 are mounted on the corresponding integrated component 550. This arrangement allows for the simultaneous assembly and disassembly of the corresponding support component 530 and limiting component 540 by detaching the lifting rod 520 from each integrated component 550, making the assembly and disassembly of these components convenient. The detachable connection between the integrated component 550 and the lifting rod 520 can be via bolts, snap-fit ​​connections, magnetic connections, etc., and is not specifically limited here.

[0073] Specifically, each integrated component 550 has a receiving groove 551 on its upper surface. The receiving groove 551 has two opposing groove walls that extend through it. Each support component 530 is pivotally connected to its corresponding receiving groove 551, and each limiting component 540 is arranged across its corresponding receiving groove 551. This arrangement facilitates the integration of the corresponding support component 530 and limiting component 540 onto the corresponding integrated component 550.

[0074] Each limiting member 540 can also be made of an elastic material, such as rubber or silicone. With this configuration, when each carrier member 530 rotates to the contact position under the action of the empty cleaning tray 2000, each carrier member 530 can press against the corresponding limiting member 540, causing the corresponding limiting member 540 to undergo elastic deformation. After the carrier members 530 are no longer under the action of the empty cleaning tray 2000, each limiting member 540 can drive the corresponding carrier member 530 to rotate back to the bearing position under its own rebound force, facilitating the return of each carrier member 530 to the bearing position.

[0075] The empty disk storage device 500 may further include multiple elastic elements (not shown), each connected to a corresponding support member 530 and a lifting rod 520. Each elastic element can apply an elastic restoring force to its corresponding support member 530 when it rotates upward under external force, so that the support member 530 can return to its initial state when the external force is removed. The elastic element can be a tension spring, which stretches when the support member 530 rotates upward. Alternatively, it can be a compression spring, which compresses when the support member 530 rotates upward. Another option is a torsion spring, in which case each support member 530 is pivotally connected to its corresponding lifting rod 520 via a pivot 531, and each torsion spring is sleeved on its corresponding pivot 531. One end of each torsion spring is connected to its corresponding support member 530, and the other end is connected to its corresponding lifting rod 520. This configuration achieves the same function as the limiting member 540.

[0076] Please see Figure 1 and Figure 17There are many types of the aforementioned picking robot 700. In one embodiment of the present invention, the picking robot 700 includes a rotating mechanism 710, a lifting mechanism 720, a mechanical gripper 730, and a camera 740. The rotating mechanism 710 is disposed on the machine base 100 and located between the cleaning tray picking and placing device 600 and the transfer station 100a. The rotating mechanism 710 is connected to the lifting mechanism 720 and is used to drive the lifting mechanism 720 to rotate. The lifting mechanism 720 is connected to both the camera 740 and the mechanical gripper 730 to drive the mechanical gripper 730 and the camera 740 to lift and lower synchronously. The mechanical gripper 730 is used to grab the workpieces taken out of the cleaning tray 2000 by the picking and placing device. The mechanical gripper 730 is also used to release the grabbed workpieces. The camera 740 is used to detect whether the mechanical gripper 730 has grabbed the workpieces. The camera 740 is also used to position the tooling tray 3000 at the transfer station 100a.

[0077] Using the above technical solution, when the robotic arm 700 performs a picking operation, firstly, the rotating mechanism 710 drives the lifting mechanism 720, the robotic gripper 730, and the camera 740 to rotate together towards the picking station 100b until the robotic gripper 730 is above the corresponding workpiece on the cleaning tray 2000 at the picking station 100b. Secondly, the lifting mechanism 720 drives the robotic gripper 730 and the camera 740 to descend until the robotic gripper 730 is outside the corresponding workpiece, and the robotic gripper 730 grasps the corresponding workpiece. Next, the lifting mechanism 720 drives the robotic gripper 730, camera 740, and workpiece to rise together. Then, the rotating mechanism 710 drives the robotic gripper 730, camera 740, and workpiece to rotate together until the workpiece is positioned above the tooling tray 3000 at the transfer station 100a. The camera 740 takes a picture of the tooling tray for positioning. The lifting mechanism 720, robotic gripper 730, camera 740, and workpiece then descend together until the workpiece is inserted into the corresponding position on the tooling tray 3000. The robotic gripper 730 releases the workpiece, thus completing the workpiece retrieval operation of the robotic arm 700. This process is repeated to complete the retrieval of all workpieces.

[0078] Camera 740 determines whether the robotic gripper 730 has grasped the workpiece by taking a picture, ensuring the accuracy of workpiece grasping. If the robotic gripper 730 fails to grasp the workpiece, it sends a non-grabbing signal to the controller 800, notifying the operator that the equipment is malfunctioning and needs to be handled. If the robotic gripper 730 grasps the workpiece, it sends a grasping signal to the controller 800, which then controls the lifting robot 700 to perform the corresponding operation. Clearly, camera 740 can also be used to photograph and locate the workpiece on the cleaning tray 2000 at the lifting station 100b.

[0079] The rotating mechanism 710 is configured with reference to the specific type of the rotating component 320 described above. The lifting mechanism 720 is configured with reference to the specific type of the driving component 220 in the above embodiment. The mechanical gripper 730 is configured as a pneumatic gripper or a servo gripper. The material of each gripper of the mechanical gripper 730 is configured with reference to the material of each gripper of the internal support mechanical gripper 330 described above, and no specific limitation is made here.

[0080] Please see Figure 1 To facilitate the positioning of the cleaning tray 2000 taken out by the cleaning tray pick-up and drop device 600, in one embodiment of the present invention, the workpiece transfer equipment 1000 further includes a cleaning tray positioning device 900. The cleaning tray positioning device 900 includes two driving parts 910 and two clamping parts 920. The two driving parts 910 are both provided on the machine base 100 and are arranged opposite to each other in the longitudinal direction about the pick-up station 100b. Each driving part 910 is connected to the corresponding clamping part 920 to drive the two clamping parts 920 to clamp or release the cleaning tray 2000 in the longitudinal direction.

[0081] The clamping mechanism 620 clamps the cleaning tray 2000 laterally, and the two drive units 910 are located on both sides of the extension direction of the transverse mechanism 610, so that the two drive units 910 drive the two clamping units 920 to clamp or release the cleaning tray 2000 longitudinally. This ensures that the cleaning tray positioning device 900 and the cleaning tray pick-and-place device 600 do not interfere with each other.

[0082] With the above technical solution, after the cleaning tray 2000 is removed by the cleaning tray pick-up and drop device 600, the lateral movement mechanism 610 drives the clamping mechanism 620 and the cleaning tray 2000 to move together toward the clamping part 920 until the cleaning tray 2000 moves between the two clamping parts 920. The two driving parts 910 then drive the two clamping parts 920 to move toward each other, clamping the cleaning tray 2000 so that the part-removing robot 700 can grasp the workpiece on the cleaning tray 2000. This configuration allows the clamping mechanism 620 and the cleaning tray positioning device 900 to work together, providing double clamping and positioning of the cleaning tray 2000 in both the lateral and longitudinal directions. This ensures the accuracy of positioning when the cleaning tray 2000 is picked up or placed at the part-removing station 100b, while also preventing the workpiece on the cleaning tray 2000 from tilting, ensuring that the workpiece remains vertical. After all the workpieces on the cleaning tray 2000 are removed, the two clamping parts 920 are driven by the two driving parts 910 to move away from each other, releasing the cleaning tray 2000. The clamping mechanism 620 and the empty cleaning tray 2000 are then moved together to the empty tray storage device 500 for storage by the transverse mechanism 610.

[0083] The cleaning tray positioning device 900 also includes a photoelectric sensor 930, which is used to detect whether the cleaning tray placement device 600 has placed the cleaning tray 2000 between the two clamping parts 920 for clamping, thereby enabling precise positioning of the cleaning tray 2000. The photoelectric sensor 930 includes a light emitter (not shown) and a light receiver (not shown) arranged opposite to each other. Both the light emitter and the light receiver are mounted on the machine base 100 and electrically connected to the controller 800. The light emitter and the light receiver are located on opposite sides of the moving direction of the transverse mechanism 610. When the transverse mechanism 610 drives the clamping mechanism 620 and the cleaning tray 2000 to move between the light emitter and the light receiver, the light signal emitted by the light emitter is blocked, and the light receiver does not receive a light signal and sends a detection signal. When the transverse mechanism 610 drives the clamping mechanism 620 and the cleaning tray 2000 to move away from between the light emitter and the light receiver, the light receiver receives the light signal emitted by the light emitter but does not send a detection signal. The photoelectric sensor 930 can be a laser sensor structure or an infrared light sensor structure.

[0084] Please see Figure 3 , Figure 4 , Figure 18 as well as Figure 19 In one embodiment of the present invention, the transfer station 100a is located between the tray-retrieving robot 300 and the part-retrieving robot 700. The workpiece transfer equipment 1000 also includes a transfer device 950, which includes a first rotating component 951, two second rotating components 952, two positioning seats 953 and a camera 954.

[0085] The first rotating component 951 is located at the transfer station 100a, and the output end of the first rotating component 951 faces upward and is connected to both second rotating components 952. The two second rotating components 952 are spaced apart in the direction from the tray-retrieving robot 300 to the part-retrieving robot 700. The output end of each second rotating component 952 faces upward and is connected to the corresponding positioning seat 953 to drive the corresponding positioning seat 953 to rotate. Each positioning seat 953 is used to position the tooling tray 3000. The camera 954 is located on the machine base 100 and is used to determine whether the workpiece is assembled to the tooling tray 3000 close to the part-retrieving robot 700.

[0086] Please see Figure 3 The tooling tray 3000 has a positioning part 3110 on its inner peripheral wall of the inner ring 3100. This facilitates positioning of the tooling tray 3000 via the camera 954. The positioning part 3110 can be a protruding structure or a recessed structure. Figure 3The image shows the positioning part 3110 as a positioning tooth. The specific structure of the positioning seat 953 is set with reference to the specific structure of the locking seat 211 described above. The first rotating member 951 and the second rotating member are both set with reference to the specific type of the driving member 220 in the above embodiment, and will not be described in detail here.

[0087] Furthermore, the transfer device 950 may also be equipped with two photoelectric sensing structures 955, each photoelectric sensing structure 955 being used to detect whether the tooling tray 3000 is installed on the corresponding positioning seat 953. This arrangement facilitates the determination of whether the tooling tray is installed on the transfer device 950. The specific configuration of the photoelectric sensing structure 955 is the same as that of the photoelectric sensor 930 described above, and will not be repeated here.

[0088] Specifically, the transfer device 950 also includes an integrated housing 956, in which two second rotating members are integrated, and the upper part of the output end of the first rotating member 951 is connected to the integrated housing 956. This arrangement facilitates the connection between the first rotating member 951 and the two second rotating members.

[0089] Through the above technical solution, when the pallet-picking robot 300 picks up and places the tooling tray 3000 from the tooling tray storage device 200 to the transfer station 100a, firstly, the pallet-picking robot 300 places the first tooling tray 3000 near the positioning seat 953 for positioning. Secondly, the first rotating component 951 drives the two second rotating components 952 and the two positioning seats 953 to rotate 180 degrees, so that the positioning seat 953 containing the tooling tray 3000 is close to the pallet-picking robot 700, and the positioning seat 953 not containing the tooling tray 3000 is close to the pallet-picking robot 300. Then, the pallet-picking robot 300 can pick up and place the second tooling tray 3000 near the positioning seat 953 for positioning. This setting can speed up the picking and placing efficiency of the tooling tray 3000.

[0090] When the picking robot 700 picks up the workpieces one by one and assembles them into the tooling tray 3000 close to the picking robot 700, the second rotating component 952 close to the picking robot 700 drives the corresponding tooling tray 3000 to rotate, so that each insertion point on the circumferential direction of the tooling tray 3000 rotates to the preset insertion position, making it convenient for the workpiece to be inserted into the tooling tray 3000.

[0091] Furthermore, the camera 854 can determine whether the workpiece is assembled to the tooling tray 3000 near the picking robot 700, ensuring the accuracy of the workpiece assembly to the tooling tray 3000. If the workpiece is not assembled to the tooling tray 3000, it sends an assembly signal to the controller 800, notifying the operator that the equipment is malfunctioning and needs to be handled. If the workpiece is assembled to the tooling tray 3000, it sends an assembly signal to the controller 800, and the controller 800 controls the picking robot 700 to perform the corresponding operation.

[0092] Furthermore, in order to facilitate the determination of whether the first rotating member 951 drives the two second rotating members 952 and the two positioning seats 953 to rotate 180 degrees together, so that the two positioning seats 953 exchange positions, in one embodiment of the present invention, the output end of the first rotating member 951 is connected to a baffle, and the transfer device 950 also includes a photoelectric detection structure 954 that is communicatively connected to the controller 800. The photoelectric detection structure 954 includes a light emitting part and a light receiving part that are arranged opposite each other in the vertical direction.

[0093] When the first driving member 951 drives the two second rotating members 952 and the two positioning seats 953 to rotate 180 degrees together from their initial positions, the baffle is located between the light emitting unit and the light receiving unit. The light receiving unit cannot receive the light emitted by the light emitting unit, and the light receiving unit sends a detection signal to the controller 800. With this configuration, it is possible to detect whether the first rotating member 951 drives the two second rotating members 952 and the two positioning seats 953 to rotate 180 degrees together, thus avoiding the situation where the two second rotating members 952 and the two positioning seats 953 do not rotate into position.

Claims

1. A workpiece transfer device, characterized in that, The workpiece transfer equipment includes: The machine tool is equipped with a transfer station for transferring workpieces and a workpiece removal station. A tooling tray storage device is provided on the machine tool and used to store tooling trays; A tray-retrieving robot is mounted on the machine and used to bidirectionally retrieve and place tooling trays between the tooling tray storage device and the transfer station. A cleaning tray storage device is provided on the machine and used to store cleaning trays containing workpieces. An empty tray storage device is provided on the machine and used to store empty cleaning trays; A cleaning tray picking and placing device is provided on the machine base and is used to pick up the cleaning tray with workpieces loaded from the cleaning tray storage device to the picking station. The cleaning tray picking and placing device is also used to transport the empty cleaning tray from the picking station to the empty tray storage device for storage. A part-picking robot is provided on the machine base. The part-picking robot is used to pick up the workpieces on the cleaning tray taken out by the cleaning tray picking and placing device and assemble them onto the tooling tray at the transfer station. The transfer station is located between the tray picking robot and the part-picking robot. A transfer device includes a first rotating component, a second rotating component, and a positioning seat. The first rotating component is located at the transfer station, and its output end faces upward and is connected to both second rotating components. The two second rotating components are spaced apart from the tray-retrieving robot to the part-retrieving robot. Each positioning seat is used to position the tooling tray. The output end of each second rotating component faces upward and is connected to the corresponding positioning seat to drive the corresponding positioning seat to rotate, so that each insertion point on the circumference of the tooling tray rotates to a preset insertion position. The controller is communicatively connected to the tooling tray storage device, the tray retrieval robot, the cleaning tray storage device, the empty tray storage device, the cleaning tray retrieval and placement device, and the part retrieval robot.

2. The workpiece transfer equipment according to claim 1, characterized in that, The tooling tray storage device includes multiple support plates and multiple drive components, all of which are communicatively connected to the controller; wherein... Multiple support plates are arranged vertically at intervals, and each support plate is slidably connected to the machine base in the longitudinal direction. The upper surface of each support plate is provided with multiple locking seats arranged horizontally at intervals, and each locking seat is used to lock the tooling tray. Each driving component is provided on the machine base and connected to the corresponding support plate to drive the corresponding support plate to slide in the longitudinal direction.

3. The workpiece transfer equipment according to claim 1, characterized in that, The pallet-retrieving robotic arm includes a lifting and traversing mechanism, a rotating component, and an internally supported mechanical gripper, all of which are communicatively connected to the controller; wherein... The lifting and traversing mechanism is located on the machine base and between the transfer station and the tooling tray storage device. The lifting and traversing mechanism is connected to the rotating component to drive the rotating component to lift vertically and move horizontally. The output end of the rotating component is upward and connected to a horizontally arranged adapter plate. The internal support mechanical claw is located on the adapter plate and is used to support the tooling tray from the inside or release the supported tooling tray.

4. The workpiece transfer equipment according to claim 1, characterized in that, The cleaning tray storage device includes two lifting platforms spaced longitudinally, multiple support platforms, and a drive mechanism; wherein... The two lifting platforms are arranged parallel to each other in the longitudinal direction, and each lifting platform is slidably connected to the machine base in the vertical direction. Multiple support platforms are respectively arranged on the surfaces of the two lifting platforms that are close to each other, so that the multiple support platforms and the two lifting platforms form multiple storage layers arranged in the vertical direction. Each storage layer is used to store the cleaning tray containing the workpiece. The driving mechanism is located on the machine base and is used to drive the two lifting platforms to lift synchronously.

5. The workpiece transfer equipment according to claim 4, characterized in that, The cleaning tray picking and placing device includes a lateral movement mechanism and a clamping mechanism. The lateral movement mechanism is located on the machine base and connected to the clamping mechanism to drive the clamping mechanism to move laterally. One end of the lateral movement mechanism is located between the two lifting platforms, and the other end of the lateral movement mechanism extends away from the two lifting platforms and passes through the picking station. The clamping mechanism is used to clamp the cleaning tray laterally or release the cleaning tray.

6. The workpiece transfer equipment according to claim 5, characterized in that, The workpiece transfer equipment also includes a cleaning tray positioning device, which includes two driving units and two clamping units. The two driving units are both located on the machine base and are arranged opposite to each other in the longitudinal direction about the part taking station. Each driving unit is connected to the corresponding clamping unit to drive the two clamping units to clamp or release the cleaning tray in the longitudinal direction.

7. The workpiece transfer equipment according to claim 1, characterized in that, The empty disk storage device includes a lifting component, multiple lifting rods, and multiple load-bearing components; wherein... The lifting component is located on the machine base and connected to each of the lifting rods to drive the multiple lifting rods to lift synchronously. The connection lines of the multiple lifting rods are arranged in a closed loop so that each of the lifting rods has an inner side and an outer side that are arranged opposite to each other. Each of the carrier members has a pivot end and a bearing end arranged opposite to each other. The pivot end of each carrier member is pivotally connected to the corresponding lifting rod and can only rotate upward. The bearing end of each carrier member is arranged beyond the inner side of the corresponding lifting rod so that the bearing ends of multiple carrier members can carry the empty cleaning tray together.

8. The workpiece transfer equipment according to claim 7, characterized in that, The empty tray storage device also includes multiple limiting members. Each limiting member is provided on the corresponding lifting rod and located on the rotation trajectory of the corresponding carrier. Each carrier has a bearing position for bearing the empty cleaning tray and an abutting position for abutting the corresponding limiting member. When each carrier is in the abutting position, it can rotate to the bearing position under its own gravity.

9. The workpiece transfer equipment according to claim 1, characterized in that, The robotic arm for retrieving items includes a rotating mechanism, a lifting mechanism, a robotic gripper, and a camera; wherein... The rotating mechanism is located on the machine tool and between the transfer station and the part picking station. The rotating mechanism is connected to the lifting mechanism and is used to drive the lifting mechanism to rotate. The lifting mechanism is connected to the mechanical gripper and the camera to drive the mechanical gripper and the camera to lift synchronously. The mechanical gripper is used to grab the workpiece on the cleaning tray taken out by the cleaning tray picking device. The mechanical gripper is also used to release the grabbed workpiece. The camera is used to determine whether the robot has grabbed the workpiece. The camera is also used to position the tooling tray at the transfer station.

10. The workpiece transfer equipment according to claim 1, characterized in that, The transfer device includes two second rotating components, two positioning seats, and a camera; wherein the camera is used to determine whether the workpiece is assembled onto the tooling tray close to the picking robot.

Images