Gear shaft automatic unloading and stacking system and method

Abstract

The application discloses a gear shaft automatic unloading and stacking system and method, which comprises a part frame unpacking and stacking station, a grabbing robot station, a gear shaft incoming material grabbing station, a part frame temporary storage station and a control system; the part frame unpacking and stacking station is used for unpacking and stacking the part frame; the part frame temporary storage station is used for placing empty part frames; the gear shaft incoming material grabbing station is used for grabbing the gear shaft; the grabbing robot station is provided with a three-dimensional camera, a gear shaft jaw, a gear shaft conveying track and a part frame jaw; the gear shaft conveying track is used for conveying the gear shaft, the gear shaft jaw is used for grabbing the gear shaft conveyed to the gear shaft incoming material grabbing station, and the part frame jaw is used for grabbing the part frame; the three-dimensional camera is used for taking pictures of the part frame, and confirming the position of the gear shaft jaw for stacking the gear shaft in the part frame; and the control system controls the three-dimensional camera, the gear shaft jaw, the gear shaft conveying track and the part frame jaw.

Description

Technical Field

[0001] This invention belongs to the field of transmission technology, specifically to an automatic gear shaft unloading and stacking system and method. Background Technology

[0002] The gear shafts used in transmissions are core components of the transmission assembly. However, due to changing market demands, the types of transmission gear shafts are increasing, the matching torque is growing, and the weight of gear shaft components is also increasing. Currently, the cutting and stacking of gear shaft components in the industry mainly relies on manual handling. This involves high labor intensity for operators, and the process is prone to quality risks such as bumps and damage during transportation. Furthermore, there is a possibility of errors or omissions in human operation. Summary of the Invention

[0003] To address the problems existing in the prior art, the present invention provides an automatic gear shaft unloading and stacking system and method, which solves the quality risks such as bumps and damage that are prone to occur during the transfer process, as well as the problems of human error and omissions.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An automatic material unloading and stacking system for gear shafts includes a parts frame destacking and stacking station, a gripping robot station, a gear shaft material receiving and gripping station, a parts frame temporary storage station, and a control system.

[0006] The parts frame destacking and stacking station is used for destacking and stacking parts frames; the parts frame temporary storage station is used for placing empty parts frames; and the gear shaft material handling station is used for handling gear shafts.

[0007] The gripping robot station is equipped with a 3D camera, a gear shaft gripper, a gear shaft conveyor track, and a part frame gripper.

[0008] The gear shaft conveyor track is used to transport gear shafts, the gear shaft grippers are used to grip the gear shafts transported to the gear shaft material gripping station, and the parts frame grippers are used to grip the parts frame.

[0009] The 3D camera is used to take pictures of the part frame to confirm the position of the gear shaft chuck stacking the gear shaft in the part frame;

[0010] The control system controls the 3D camera, gear shaft chuck, gear shaft conveyor track, and part frame chuck.

[0011] Preferably, the part frame is provided with part frame positioning corner blocks for precise positioning of the part frame.

[0012] Preferably, the part frame is placed on a part frame placement table, and a magnetic sensor is provided at the bottom of the part frame placement table, the magnetic sensor being electrically connected to the control system.

[0013] Preferably, both the gear shaft gripper and the part frame gripper are six-axis robotic arm grippers.

[0014] Preferably, the 3D camera is used to take pictures of the part frame to obtain placement position information.

[0015] An automatic unloading and stacking method for gear shafts includes the following processes:

[0016] After the parts frames are destacking, the empty parts frames are placed in the parts frame temporary storage station.

[0017] The gear shaft is conveyed along the gear shaft conveyor track to the gear shaft unloading unit, and after being recognized by a 3D camera, it is gripped by the gear shaft chuck.

[0018] When empty parts frames arrive at the parts frame destacking and stacking station, a 3D camera takes 3D pictures of the incoming empty parts frames and transmits the identified 3D data of the empty parts frame stack to the parts frame clamps.

[0019] After the part frame chuck obtains the three-dimensional coordinate data of the empty part frame stack, it unpacks the empty part frame stack to the part frame temporary storage station. The gear shaft chuck picks up the gear shaft from the gear shaft material picking station, reads the gear shaft placement position identified by the three-dimensional camera, and puts the gear shaft into the empty part frame.

[0020] After the empty parts frame is filled, it is transferred to the next workstation;

[0021] The part frame gripper grabs the empty part frames temporarily stored at the part frame temporary storage station and stacks them to the part frame destacking and stacking station to continue stacking.

[0022] Preferably, after the parts frame is destacking, it is placed in the parts frame temporary storage station, and the parts frame positioning corner blocks are used to precisely position the parts frame.

[0023] Preferably, when the magnetic sensor under the part frame placement table senses the part frame on the part frame placement table, the control system controls the gear shaft chuck to grasp the gear shaft at the gear shaft material handling station and then place it in the part frame.

[0024] Compared with the prior art, the present invention has the following beneficial technical effects:

[0025] This invention provides an automated gear shaft unloading and stacking system. It achieves automated gear shaft unloading and stacking by setting up a parts frame unpacking and stacking station, a gripping robot station, a gear shaft receiving and gripping station, and a parts frame temporary storage station. The gripping robot station is equipped with a 3D camera, gear shaft grippers, a gear shaft conveyor track, and parts frame grippers. The 3D camera is used to determine the placement position of the gear shaft within the parts frame through image processing. This automated gear shaft unloading and stacking system can automatically identify and unpack the parts transfer frame. After unloading the gear shaft, the parts frame is stacked and stored, avoiding quality damage to the gear shaft caused by manual handling and preventing mis-packing or omissions. Attached Figure Description

[0026] Figure 1 Schematic diagram of temporary storage station 11 for parts frame;

[0027] Figure 2 A schematic diagram of the robot's grasping components;

[0028] Figure 3 General drawing of the gear shaft blanking unit;

[0029] In the attached diagram: 1 is a magnetic sensor; 2 is a part frame positioning corner block; 3 is a part frame; 4 is a part frame placement table; 5 is a 3D camera; 6 is a gear shaft gripper; 7 is a gear shaft conveyor track; 8 is a part frame gripper; 9 is a part frame destacking and stacking station; 10 is a gear shaft material handling station; 11 is a part frame temporary storage station. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to specific embodiments. These descriptions are for explanation purposes only and are not intended to limit the scope of the invention.

[0031] The present invention provides an automatic gear shaft unloading and stacking system, comprising a parts frame destacking and stacking station 9, a gripping robot station, a gear shaft receiving and gripping station 10, a parts frame temporary storage station 11, and a control system.

[0032] Parts frame destacking and stacking station 9 is used for destacking and stacking parts frame 3; parts frame temporary storage station 11 is used for placing empty parts frames; gear shaft material grabbing station 10 is used for grabbing gear shafts.

[0033] The gripping robot station is equipped with a 3D camera 5, a gear shaft gripper 6, a gear shaft conveyor track 7, and a part frame gripper 8.

[0034] The gear shaft conveyor track 7 is used to transport gear shafts, the gear shaft chuck 6 is used to grip the gear shafts transported to the gear shaft material gripping station 10, and the parts frame chuck 8 is used to grip the parts frame 3.

[0035] The 3D camera 5 is used to take pictures of the part frame 3 to confirm the position of the gear shaft chuck 6 stacking the gear shaft in the part frame 3.

[0036] The control system controls the 3D camera 5, the gear shaft chuck 6, the gear shaft conveyor track 7, and the part frame chuck 8.

[0037] The 3D camera 5 automatically identifies the position and status of the part frame 3 and the gear shaft. The part frame jaws 8 disassemble the three-layer part frame. The gear shaft jaws 6 grab the gear shaft, identify it through the 3D camera 5, and place it in the corresponding position in the part frame 3. The part frame jaws 8 stack the part frame 3 again. The gear shaft jaws 6 repeat the previous action to grab the gear shaft and place it in the corresponding position in the part frame 3.

[0038] like Figure 1 As shown, in the temporary storage station 11 for parts, after being destacking, parts 3 are placed in the temporary storage station 11 for parts. The parts 3 is precisely positioned by the positioning corner block 2. The magnetic sensor 1 under the parts 3 placement table 4 can accurately sense the parts 3 on the parts 3 placement table 4, which is convenient for the robot to grasp and identify in the future.

[0039] like Figure 2 As shown, in the robot gripping assembly, the gear shaft is conveyed along the gear shaft conveyor track 7 to the gear shaft material gripping station 10. After being identified by the 3D camera 5, it is gripped by the gear shaft claw 6. The head of the part frame claw 8 can be bent at 90° to realize the gripping and release of the part frame 3.

[0040] like Figure 3 As shown, empty parts frames (3 stacks in total) are delivered to the parts frame destacking and stacking station 9. The 3D camera 5 carried by the gripping robot takes 3D pictures of the incoming empty parts frames and transmits the 3D data of the identified empty parts frame stacks to the gear shaft chuck 6.

[0041] After the grabbing robot obtains the three-dimensional coordinate data of the empty part frame stack, it unpacks the empty part frame stack to the part frame temporary storage station 11. At this time, there is one empty part frame left in the part frame unpacking and stacking station 9. The gear shaft chuck 6 grabs the gear shaft from the gear shaft material grabbing station 10, reads the gear shaft placement position identified by the three-dimensional camera 5, and puts the gear shaft into the remaining empty part frame.

[0042] After the empty parts frame is filled, the parts frame claw 8 grabs the empty parts frame temporarily stored at the parts frame temporary storage station 11 and stacks it to the parts frame destacking and stacking station 9. The previous step is repeated until all three parts frames 3 are filled. Then, the three stacks of filled parts frames are conveyed to the next station along the track.

[0043] The present invention provides an automatic unloading and stacking method for gear shafts, comprising the following processes:

[0044] After the parts frame 3 is destacking, the empty parts frame is placed in the parts frame temporary storage station 11;

[0045] The gear shaft is conveyed along the gear shaft conveyor track 7 to the gear shaft unloading unit, and after being identified by the three-dimensional camera 5, it is gripped by the gear shaft chuck 6.

[0046] Empty parts frames are brought to the parts frame destacking and stacking station 9. The 3D camera 5 takes a 3D picture of the incoming empty parts frames and transmits the identified 3D data of the empty parts frame stack to the parts frame claw 8.

[0047] After the part frame chuck 8 obtains the three-dimensional coordinate data of the empty part frame stack, it unpacks the empty part frame stack to the part frame temporary storage station 11. The gear shaft chuck 6 picks up the gear shaft from the gear shaft material picking station 10, reads the gear shaft placement position identified by the three-dimensional camera 5, and puts the gear shaft into the empty part frame.

[0048] Once the empty parts frames are full, they are transferred to the next workstation.

[0049] The part frame gripper 8 grabs the empty part frames temporarily stored at the part frame temporary storage station 11 and stacks them to the part frame destacking and stacking station 9 to continue stacking.

Claims

1. An automatic gear shaft unloading and stacking system, characterized in that, It includes a parts frame destacking and stacking station (9), a gripping robot station, a gear shaft material gripping station (10), a parts frame temporary storage station (11), and a control system; The part frame destacking and stacking station (9) is used to destacking and stacking the part frames (3); the part frame temporary storage station (11) is used to place empty part frames; the gear shaft material grabbing station (10) is used to grab the gear shaft. The gripping robot station is equipped with a three-dimensional camera (5), a gear shaft chuck (6), a gear shaft conveyor track (7), and a part frame chuck (8). The gear shaft conveying track (7) is used to transport the gear shaft, the gear shaft chuck (6) is used to grip the gear shaft transported to the gear shaft material gripping station (10), and the part frame chuck (8) is used to grip the part frame (3). The three-dimensional camera (5) is used to take pictures of the part frame (3) to confirm the position of the gear shaft chuck (6) stacking the gear shaft in the part frame (3); after obtaining the three-dimensional coordinate data of the empty part frame stack, the empty part frame stack is disassembled to the part frame temporary storage station (11). At this time, there is one empty part frame left in the part frame disassembly and stacking station (9); the gear shaft chuck (6) grabs the gear shaft from the gear shaft material grabbing station (10), reads the gear shaft placement position identified by the three-dimensional camera (5), and puts the gear shaft into the empty part frame; The part frame claw (8) grabs the empty part frame temporarily stored at the part frame temporary storage station (11) and stacks it to the part frame destacking and stacking station (9) to continue stacking. The control system controls the three-dimensional camera (5), the gear shaft chuck (6), the gear shaft conveyor track (7), and the part frame chuck (8).

2. The automatic gear shaft unloading and stacking system according to claim 1, characterized in that, The part frame (3) is provided with a part frame positioning corner block (2) for precise positioning of the part frame (3).

3. The automatic gear shaft unloading and stacking system according to claim 1, characterized in that, The part frame (3) is placed on the part frame placement table (4), and a magnetic sensor (1) is provided at the bottom of the part frame placement table (4). The magnetic sensor (1) is electrically connected to the control system.

4. The automatic gear shaft unloading and stacking system according to claim 1, characterized in that, Both the gear shaft gripper (6) and the part frame gripper (8) are six-axis robotic arm grippers.

5. The automatic gear shaft unloading and stacking system according to claim 1, characterized in that, The three-dimensional camera (5) is used to take pictures of the part frame (3) to obtain placement information.

6. A method for automatically unloading and stacking gear shafts, characterized in that, An automatic gear shaft unloading and stacking system according to any one of claims 1-5 includes the following processes. After the parts frame (3) is destacking, the empty parts frame is placed in the parts frame temporary storage station (11). The gear shaft is conveyed along the gear shaft conveyor track (7) to the gear shaft unloading unit. After being identified by the three-dimensional camera (5), it is gripped by the gear shaft chuck (6). Empty parts frames are brought to the parts frame destacking and stacking station (9). The three-dimensional camera (5) takes three-dimensional pictures of the incoming empty parts frames and transmits the three-dimensional data of the identified empty parts frame stack to the parts frame claw (8). After the part frame chuck (8) obtains the three-dimensional coordinate data of the empty part frame stack, it unpacks the empty part frame stack to the part frame temporary storage station (11). At this time, there is one empty part frame left in the part frame unpacking and stacking station (9). The gear shaft chuck (6) grabs the gear shaft from the gear shaft material grabbing station (10), reads the gear shaft placement position identified by the three-dimensional camera (5), and puts the gear shaft into the empty part frame. The part frame claw (8) grabs the empty part frame temporarily stored at the part frame temporary storage station (11) and stacks it to the part frame destacking and stacking station (9) to continue stacking. Once the empty parts frames are full, they are transferred to the next workstation.

7. The automatic unloading and stacking method for gear shafts according to claim 6, characterized in that, After being unstacked, the part frame (3) is placed in the part frame temporary storage station (11), and the part frame positioning corner block (2) performs precise positioning of the part frame (3).

8. The automatic unloading and stacking method for gear shafts according to claim 6, characterized in that, When the magnetic sensor (1) under the parts frame placement table (4) senses the parts frame (3) on the parts frame placement table (4), the control system controls the gear shaft chuck (6) to grab the gear shaft at the gear shaft material grabbing station (10) and then place it in the parts frame (3).

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