Visual robotic machining station

Abstract

The application belongs to the field of mechanical processing equipment, and particularly relates to a visual robot processing station, which comprises a rotating device and a mechanical arm. The rotating device comprises a rotating track, the rotating track is provided with a transmission belt and a synchronous rack, the rotating track is further provided with a bearing platform, the bearing platform is respectively connected with the transmission belt and the synchronous rack at different work stations, and the rotating device is provided with a sliding track, and the sliding track is connected with the mechanical arm. The visual robot processing station realizes the processes of fastening screws, punching, detection, installation of other parts and unloading from the work station at different work stations by adopting the rotating device matched with the mechanical arm. The bearing platform adopts different transmission modes according to different work stations, the processes of different non-equal time are coordinated, the redundant setting of the mechanical arm is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This application belongs to the field of mechanical processing equipment, specifically a vision robot processing station. Background Technology

[0002] Parts processing stations are commonly used to carry and receive materials, and to transfer them between multiple workstations. This facilitates operations such as material loading, hole processing, hole quality inspection, material assembly, and unloading at each workstation. Generally, the loaded materials are not integrally formed, so it is necessary to process and install the holes or screws required for assembling other components step by step. After material addition, pre-processing, post-processing, and unloading are required. During the material handling process as the turntable rotates and delivers the materials, the above material handling actions should be cyclical and synchronous. The time required for hole processing and material assembly is generally significantly longer than that for hole processing and quality inspection. Therefore, in terms of transmission, existing processing stations typically use staggered configurations of redundant robotic arms. That is, when using a synchronous rotary conveyor belt, the carrying platforms mounted on the conveyor belt are all fixed to the rotary belt and transported at a uniform speed. When hole quality inspection is completed at a relatively fast speed, robotic arms that have not yet completed drilling or loading cannot immediately follow. To maintain continuous production, more robotic arms are needed, significantly increasing costs and reducing production efficiency.

[0003] In summary, there is a need for a workstation that enables multiple material handling actions to be coordinated in a loop, reduces redundant robotic arm setups, and improves production efficiency. Summary of the Invention

[0004] To address the problems of redundant robotic arm setups and low efficiency caused by varying time at different workstations in existing technologies, this application aims to provide a vision robot processing station.

[0005] The technical solution adopted in this application is as follows:

[0006] A vision robot processing station includes a rotary device and a robotic arm. The rotary device includes a rotary track, on which a transmission belt and a synchronous rack are provided. A support platform is also provided on the rotary track. The support platform is connected to the transmission belt and the synchronous rack at different workstations. A sliding track is provided inside the rotary device and is connected to the robotic arm.

[0007] Preferably, the transmission synchronous rack is arranged on both sides of the rotary guide rail, the transmission belt is arranged at two positions without the synchronous rack, and a magnetic damping belt is arranged between the two transmission belts. The protrusion height of the magnetic damping belt is lower than that of the transmission belt. When the bearing platform moves to the magnetic...

[0008] Preferably, the bearing platform includes a mounting platform with supports on both sides. The bearing platform has a U-shaped cross-section and spans the rotary guide rail. Roller mounting brackets are provided on the supports, with one roller mounting bracket rotatably connected to a drive wheel and the other roller mounting bracket rotatably connected to an auxiliary pair of wheels. The drive wheel abuts against a drive belt, and the auxiliary pair of wheels abuts against the drive belt on the other side at corresponding positions. The drive wheel and the auxiliary pair of wheels clamp the rotary rail. A drive motor is provided on the support on the same side as the drive wheel, and the drive motor shaft is connected to the drive wheel via belt drive.

[0009] Preferably, the lower end of the bracket is provided with a rotatable synchronous pulley, which meshes with a synchronous rack. The shaft of the synchronous pulley is connected to the shaft of the drive motor. The synchronous pulleys are arranged in pairs on both sides of the rotary track. When meshed, the synchronous pulleys clamp the rotary track.

[0010] Preferably, the bracket on the side where the auxiliary roller is located is elastically connected to the mounting platform via a return spring. When the drive wheel and the auxiliary roller clamp the rotary track, the return spring is stretched, and the resulting elastic force causes the drive wheel and the auxiliary roller to press tightly against the corresponding drive belt. When the carrying platform moves to the position corresponding to the synchronous rack, the drive wheel and the auxiliary roller disengage from the contact state with the drive belt. The synchronous pulley and the end of the roller mounting bracket are provided with magnetic couplings. When the magnetic couplings are close to the magnetic damping belt, they are connected. The magnetic connection here should adopt a mutually exclusive method to better maintain balance.

[0011] Preferably, the rotary track is divided into a loading station, a processing station, an inspection station, an assembly station, and an unloading station. A pulse recognizer is provided between the loading station and the processing station, between the processing station and the inspection station, between the inspection station and the assembly station, and between the assembly station and the unloading station.

[0012] Preferably, the sliding track is slidably connected to the rotary support, the rotary support is rotatably connected to the robotic arm, the robotic arm is equipped with a parallel four-bar linkage, the parallel four-bar linkage is connected to an open multi-link mechanism, the driving link of the parallel four-bar linkage is connected to the servo motor shaft, and the movable end of the open multi-link mechanism is equipped with a tool mounting head, which is detachably connected to the processing instrument. When the processing volume is small and the inspection time is relatively long, a single robotic arm can reciprocate on the sliding track to perform preliminary processing such as drilling at different workstations and subsequent installation procedures.

[0013] Preferably, the pulse identifier is electrically connected to the drive motor, servo motor, and detection device. When the carrying platform passes through the pulse identifier between two different workstations, the signal is fed back to the servo motor and detection device to control the robotic arm to operate and the detection device to perform detection. Most importantly, the signal is fed back to the drive motor to control the moving speed of the carrying platform.

[0014] Preferably, the upper surface of the mounting platform is provided with mounting holes for mounting the material to be processed, and the lower surface of the mounting platform is embedded with a plurality of sliding rollers, which are padded on the upper surface of the rotary guide rail.

[0015] The beneficial effects of this application are as follows: by using a rotary device in combination with a robotic arm, the processes of tightening screws, drilling, inspection, installing other parts, and unloading from the workstation are realized at different workstations. The carrying platform adopts different transmission methods according to the different workstations, so that the processes that are not performed at the same time can be coordinated, reducing the redundant setting of the robotic arm and improving production efficiency. Attached Figure Description

[0016] Figure 1 This is an isometric structural schematic diagram of this application;

[0017] Figure 2 This is a schematic diagram of the multi-station structure of this application;

[0018] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure at point AA;

[0019] Figure 4 yes Figure 2 Schematic diagram of the cross-sectional structure at point BB;

[0020] In the diagram: 1. Rotary track; 101. Pulse recognizer; 102. Synchronous rack; 103. Transmission belt; 2. Bearing platform; 201. Synchronous pulley; 202. Mounting platform; 203. Bracket; 204. Drive motor; 205. Auxiliary pulley; 206. Transmission wheel; 207. Roller mounting bracket; 208. Magnetic damping belt; 209. Magnetic connector; 210. Mounting hole; 211. Return spring; 212. Sliding roller; 3. Robotic arm; 301. Rotary support; 302. Tool mounting head; 4. Robotic arm at the loading station; 5. Sliding track; S1: Loading station; S2: Processing station; S3: Inspection station; S4: Loading station; S5: Unloading station. Detailed Implementation

[0021] like Figure 1 and 2As shown, a vision robot processing station includes a rotary device and a robotic arm 3. The rotary device includes a rotary track 1, which is equipped with a transmission belt 103 and a synchronous rack 102. A support platform 2 is also provided on the rotary track 1. The support platform 2 is connected to the transmission belt and the synchronous rack 102 at different workstations. A sliding track 5 is provided inside the rotary device and is connected to the robotic arm 3.

[0022] like Figure 3 and 4 As shown, the transmission synchronous rack 102 is arranged on both sides of the rotary guide rail, and the transmission belt 103 is arranged at two positions without the synchronous rack 102. A magnetic damping belt 208 is arranged between the two sections of the transmission belt 103. The protrusion height of the magnetic damping belt 208 is lower than the protrusion height of the transmission belt 103. When the bearing platform 2 moves to the magnetic...

[0023] like Figure 1 , 3 As shown in Figure 4, the bearing platform 2 includes a mounting platform 202, with supports 203 on both sides of the mounting platform 202. The bearing platform 2 has a U-shaped cross section and spans the rotary guide rail. Roller mounting brackets 207 are provided on the supports 203. One side of the roller mounting bracket 207 is rotatably connected to the transmission wheel 206, and the other side of the roller mounting bracket 207 is rotatably connected to the auxiliary roller 205. The transmission wheel 206 abuts against the transmission belt 103, and the auxiliary roller 205 abuts against the transmission belt 103 on the other side at the corresponding position. The transmission wheel 206 and the auxiliary roller 205 clamp the rotary track 1. A drive motor 204 is provided on the support 203 on the same side as the transmission wheel 206. The shaft of the drive motor 204 is connected to the transmission wheel 206 via belt drive. The lower end of the bracket 203 is provided with a rotatable synchronous pulley 201, which is meshed with the synchronous rack 102. The shaft of the synchronous pulley 201 is connected to the shaft of the drive motor 204. The synchronous pulleys 201 are arranged in pairs on both sides of the rotary track 1. When meshed, the synchronous pulleys 201 clamp the rotary track 1.

[0024] In the above structure, the significance of setting the transmission belt 103 and the synchronous rack is that, generally, the positional accuracy requirements of the bearing platform 2 are not as high as those during the loading, inspection and unloading stages, so a general transmission wheel 206 is used for transmission. However, at the processing station S2 and the assembly station S4, a more precise position is obtained by the meshing of the synchronous wheel and the synchronous rack.

[0025] like Figure 3As shown, the bracket 203 on the side where the auxiliary roller 205 is located is elastically connected to the mounting platform 202 through a return spring 211. When the drive wheel 206 and the auxiliary roller 205 clamp the rotary track 1, the return spring 211 is stretched, and the resulting elastic force makes the drive wheel 206 and the auxiliary roller 205 closely adhere to the corresponding drive belt 103. When the bearing platform 2 moves to the position corresponding to the synchronous rack 102, the drive wheel 206 and the auxiliary roller 205 disengage from the contact state with the drive belt 103, and the synchronous pulley 201 and the roller mounting bracket 207 are provided with magnetic connectors 209. When the magnetic connectors 209 are close to the magnetic damping belt 208, they are connected. The magnetic connection here should adopt a mutually exclusive method to better maintain balance.

[0026] like Figure 2 As shown, the rotary track 1 is divided into a loading station S1, a processing station S2, an inspection station S3, an assembly station S4, and an unloading station S5. A pulse recognizer 101 is installed between the loading station S1 and the processing station S2, between the processing station S2 and the inspection station S3, between the inspection station S3 and the assembly station S4, and between the assembly station S4 and the unloading station S5.

[0027] The sliding track 5 is slidably connected to the rotary support 301, which is rotatably connected to the robotic arm 3. The robotic arm 3 is equipped with a parallel four-bar linkage, which is connected to an open multi-link mechanism. The active link of the parallel four-bar linkage is connected to the servo motor shaft. The movable end of the open multi-link mechanism is equipped with a tool mounting head 302, which is detachably connected to the processing instrument. When the processing volume is small and the inspection time is relatively long, a single robotic arm 3 can be used to reciprocate on the sliding track 5 to perform preliminary processing such as drilling at different workstations and subsequent installation procedures, i.e., as shown in the example. Figure 2 The dashed line indicates the installation station S4 robotic arm 43. The pulse identifier 101 is electrically connected to the drive motor 204, the servo motor, and the detection device. When the carrying platform 2 passes through the pulse identifier 101 between two different stations, the signal is fed back to the servo motor and the detection device, controlling the robotic arm 3 to operate and the detection device to perform detection. Most importantly, the signal is fed back to the drive motor 204 to control the movement speed of the transport platform to adapt to the processing time of the current station.

[0028] like Figure 2 As shown, the upper end face of the mounting platform 202 is provided with mounting holes 210 for mounting materials to be processed, and a plurality of sliding rollers 212 are embedded in the lower end face of the mounting platform 202. The sliding rollers 212 are placed on the upper end face of the rotary guide rail to reduce the sliding damage of the bearing platform 2.

[0029] The specific implementation method of this application is as follows: The material is installed on the support platform 2 at the loading station S1. Driven by the drive motor 204, the transmission wheel 206 drives the support platform 2 forward. After passing the pulse identifier 101 at the first position, it prepares to enter the processing station S2. The pulse identifier 101 feeds back the signal to the drive motor 204. The drive motor 204 controls the synchronous wheel speed according to the speed required for the processing station S2. After completing the process at the processing station S2, it passes the pulse identifier 101 at the second position and prepares to enter the detection station S3. The pulse identifier 101 sends the signal... The signal is fed back to the drive motor 204. The drive motor 204 controls the rotation speed of the transmission wheel 206 according to the speed required by the detection station S3 to complete the detection. After passing through the pulse recognizer 101 at the third position, it is ready to enter the installation station S4. The pulse recognizer 101 feeds back the signal to the drive motor 204. The drive motor 204 controls the rotation speed of the synchronous wheel according to the speed required by the processing station S2 to complete the installation process. Finally, after passing through the pulse recognizer 101 at the fourth position, the transmission wheel 206 continues to move, bringing the carrying platform 2 into the unloading station S5 to unload the processed material.

Claims

1. A vision robot processing station, comprising a rotary device and a robotic arm (3), characterized in that: The rotary device includes a rotary track (1), which is equipped with a transmission belt (103) and a synchronous rack (102). A bearing platform (2) is also provided on the rotary track (1). The bearing platform (2) is connected to the transmission belt and the synchronous rack (102) at different work positions. A sliding track (5) is provided inside the rotary device. The sliding track (5) is connected to the robotic arm (3). The synchronous rack (102) is set on both sides of the rotary guide rail, and the transmission belt (103) is set at two positions without the synchronous rack (102). A magnetic damping belt (208) is set between the two transmission belts (103), and the protrusion height of the magnetic damping belt (208) is lower than the protrusion height of the transmission belt (103). The carrying platform (2) includes a mounting platform (202), and brackets (203) are provided on both sides of the mounting platform (202). The carrying platform (2) has a U-shaped cross section and is straddling the rotary guide rail. Roller mounting brackets (207) are provided on the brackets (203). One side of the roller mounting bracket (207) is rotatably connected to the transmission wheel (206), and the other side of the roller mounting bracket (207) is rotatably connected to the auxiliary pair of wheels (205). The transmission wheel (206) abuts against the transmission belt (103), and the auxiliary pair of wheels (205) abuts against the transmission belt (103) on the other side at the corresponding position. The transmission wheel (206) and the auxiliary pair of wheels (205) clamp the rotary track (1). A drive motor (204) is provided on the bracket (203) on the same side as the transmission wheel (206). The shaft of the drive motor (204) is connected to the transmission wheel (206) through belt drive. The bracket (203) on the side where the auxiliary roller (205) is located is elastically connected to the mounting platform (202) by a return spring (211). The end of the roller mounting bracket (207) is provided with a magnetic connector (209), which is connected to the magnetic shock-absorbing belt (208).

2. The visual robot processing station according to claim 1, characterized in that: The lower end of the bracket (203) is provided with a synchronous pulley (201), which is meshed with the synchronous rack (102). The shaft of the synchronous pulley (201) is connected to the shaft of the drive motor (204). The synchronous pulleys (201) are arranged in pairs on both sides of the rotary track (1). When meshed, the synchronous pulleys (201) hold the rotary track (1).

3. The visual robot processing station according to claim 1, characterized in that: The sliding track (5) is slidably connected to the rotary support (301), the rotary support (301) is rotatably connected to the robotic arm (3), the robotic arm (3) is provided with a parallel four-bar linkage, the parallel four-bar linkage is connected to the open multi-bar linkage, the active rod of the parallel four-bar linkage is connected to the servo motor shaft, the movable end of the open multi-bar linkage is provided with a tool mounting head (302), and the tool mounting head (302) is detachably connected to the processing instrument.

4. The visual robot processing station according to claim 1, characterized in that: The rotary track (1) is divided into a loading station S1, a processing station S2, an inspection station S3, an assembly station S4, and an unloading station S5. A pulse recognizer (101) is provided between the loading station S1 and the processing station S2. A pulse recognizer (101) is provided between the processing station S2 and the inspection station S3. A pulse recognizer (101) is provided between the inspection station S3 and the assembly station S4. A pulse recognizer (101) is provided between the assembly station S4 and the unloading station S5.

5. A vision robot processing station according to claim 4, characterized in that: The pulse identifier (101) is electrically connected to the drive motor (204), the servo motor, and the detection device.

6. A vision robot processing station according to claim 1, characterized in that: The upper end face of the mounting platform (202) is provided with mounting holes (210) for mounting the material to be processed, and a number of sliding rollers (212) are embedded in the lower end face of the mounting platform (202). The sliding rollers (212) are placed on the upper end face of the rotary guide rail.

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