An automatic screw locking machine loading and unloading equipment

Abstract

The present invention relates to the technical field of automation equipment, and discloses an automatic loading and unloading device for a screw locking machine, comprising: a machine platform, on which a screw locking machine is installed, and on the surface of the machine platform are provided: a loading and unloading station; a deviation correction station; and a detection station. The present invention relates to an automatic loading and unloading device for a screw locking machine, which improves the material picking speed of a four-axis manipulator by correcting the position of a product during the loading process, and ensures that a suction cup is stably adsorbed at a fixed position of the product during the material picking process, thereby ensuring the accuracy of the product when it enters the screw locking machine for processing, avoiding being sucked at a wrong position, and increasing the productivity of defective products.

Description

Technical Field

[0001] The invention relates to the field of automation technology, and in particular to an automatic loading and unloading device for a screw locking machine. Background Art

[0002] Automated equipment refers to equipment that can automatically perform processing according to set programs and instructions without human intervention, or with little human intervention. It is used to reduce manual labor intensity and improve product quality and efficiency. It is widely used in various industries. Automated equipment needs to be designed according to actual conditions, working environment and other factors.

[0003] Among them, the screw locking machine is a kind of automated equipment, which is mainly used to automatically lock screws on products, reducing the number of manpower and defective screw locking products caused by human factors.

[0004] The existing screw locking machines need to rely on cameras to position the products when automatically loading and unloading, and then guide the robot to suck the products. The efficiency is slow, and the range of the products left for the suction nozzle to suck is very small. Once the accuracy error of the robot's picking and placing is too large, it will cause the suction position of the nozzle to deviate, increasing the defective rate of the product.

[0005] Therefore, it is necessary to provide a new technical solution to overcome the above-mentioned defects. Summary of the invention

[0006] The object of the present invention is to provide an automatic loading and unloading device for a screw locking machine which can effectively solve the above-mentioned technical problems.

[0007] In order to achieve the purpose of the present invention, the following technical scheme is adopted: an automatic loading and unloading equipment for a screw locking machine, comprising: a machine platform, a screw locking machine is installed on the machine platform, and the surface of the machine platform is provided with: loading and unloading stations: the tray containing raw materials is lifted to the positioning assembly by the loading assembly, the position of the tray is fixed by the clamping cylinder in the positioning assembly, the horizontality of the tray is ensured by the positioning cylinder, and the tray is divided into trays, and the empty tray is taken to the unloading position 1 and the unloading position 2 by the first suction cup on the moving assembly; the deviation correction station: the raw material suction cup on the four-axis manipulator sucks the raw material to the fixed assembly, and the raw material is sucked to the fixed assembly by the built-in air cylinder. The cylinder pushes the spring push block to push the product to the right angle formed by the positioning block, repositions the product, and takes it out through the third suction cup on the flip assembly, and then cooperates with the raw material suction cup on the three-axis moving assembly to suck the raw material to the screw locking machine for processing; Inspection station: The clinker suction cup on the three-axis moving assembly sucks the clinker through the flip assembly and sends it to the fixed assembly. The fixed assembly fixes the product through the second suction cup, and uses the built-in camera and the built-in camera of the flip assembly to synchronously inspect the product from top to bottom, and then cooperates with the clinker suction cup on the four-axis manipulator to suck the product to the unloading position 1 and unloading position 2 respectively;

[0008] The fixing assembly includes a bottom plate slidably connected to the machine platform, a positioning stopper fixedly connected to the bottom plate, a spring push block slidably connected to the bottom plate, a waist hole provided on the spring push block, and a clamping block fixedly connected to the spring push block.

[0009] The positioning block is provided with a chamfer, a linear guide rail is provided between the machine platform and the bottom plate, and the bottom plate is fixedly mounted on the linear guide rail and is slidably connected to the machine platform.

[0010] Furthermore, the loading assembly includes a pulley for driving the lifting platform to move, a servo motor fixedly connected to the surface of the pulley, a belt transmission connected to the pulley, and the surface of the belt is fixedly connected to the lifting platform.

[0011] Furthermore, the tray is placed on a lifting platform.

[0012] Furthermore, the positioning assembly includes a clamping cylinder for clamping the pallet and a positioning cylinder for dividing the pallet. A fixing frame is fixed on the surface of the positioning cylinder, and the clamping cylinder is fixed to the outer surface of the fixing frame.

[0013] Furthermore, the moving assembly includes a moving platform fixedly connected to the machine platform, a sliding cylinder slidably connected to the moving platform, and a first suction cup for sucking the tray is fixedly connected to one end surface of the sliding cylinder.

[0014] Furthermore, the machine platform is provided with a first material discharge position and a second material discharge position for collecting defective products and qualified products respectively, and a four-axis manipulator is fixedly installed on the upper surface of the machine platform.

[0015] Furthermore, the flipping assembly includes an upper and lower cylinder for driving the third suction cup to move, and a rotating cylinder for driving the third suction cup to flip. One side of the rotating cylinder is fixedly connected to a fixed plate, the surface of the fixed plate is fixedly connected to a spring guide rail, and the surface of the spring guide rail is slidably connected to a supporting plate that supports the third suction cup.

[0016] Furthermore, the three-axis moving assembly includes a two-dimensional moving device fixedly connected to the machine platform, a lifting cylinder is fixedly connected to the surface of the two-dimensional moving device, and one end of the lifting cylinder is fixedly connected to a raw material suction cup and a cooked material suction cup.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention discloses an automatic loading and unloading device for a screw locking machine, which improves the material picking speed of a four-axis manipulator by correcting the position of a product during the loading process, and ensures that a suction cup is stably adsorbed at a fixed position of the product during the material picking process, thereby ensuring the accuracy of the product when it enters the screw locking machine for processing, avoiding adsorption at a wrong position, and increasing the productivity of defective products. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0020] Figure 1 This is a structural schematic diagram of an automatic screw locking machine loading and unloading device of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of cooperation between a servo motor and a pulley of an automatic screw locking machine loading and unloading device of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the positioning cylinder and the clamping cylinder cooperating with each other in the loading and unloading equipment of an automatic screw locking machine of the present invention;

[0023] Figure 4 It is a cross-sectional structural schematic diagram of a mobile station of a loading and unloading device of an automatic screw locking machine of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of cooperation between a transfer station and a flip station of an automatic screw locking machine loading and unloading device of the present invention;

[0025] Figure 6 This is a structural schematic diagram of a turning station of a loading and unloading device of an automatic screw locking machine of the present invention;

[0026] Figure 7 This is a structural schematic diagram of a three-axis moving station of an automatic screw locking machine loading and unloading device of the present invention;

[0027] Figure 8 The invention provides an automatic screw locking machine loading and unloading device Figure 5 Enlarged structural diagram at A in the middle.

[0028] In the figure: 1. Machine table; 2. Screw locking machine; 3. Pallet; 4. Loading assembly; 41. Servo motor; 42. Pulley; 43. Lifting platform; 5. Positioning assembly; 51. Positioning cylinder; 52. Clamping cylinder; 6. Moving assembly; 61. Moving platform; 62. Slide cylinder; 7. Unloading position one; 8. Unloading position two; 9. Four-axis manipulator; 10. Fixed assembly; 101. Bottom plate; 102. Positioning block; 103. Chamfering; 104. Spring push block; 105. Block; 106. Waist hole; 11. Flipping assembly; 111. Upper and lower cylinders; 112. Rotating cylinder; 113. Spring guide rail; 12. Three-axis moving assembly; 121. Two-dimensional moving device; 122. Lifting cylinder. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are partial embodiments of the present invention, rather than all embodiments.

[0030] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention. When a mechanism is referred to as being "fixed to" another mechanism, it may be directly on the other mechanism or there may also be a centered mechanism. When a mechanism is considered to be "connected to" another mechanism, it may be directly connected to the other mechanism or there may be a centered mechanism at the same time. When a mechanism is considered to be "set on" another mechanism, it may be directly set on the other mechanism or there may be a centered mechanism at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0031] like Figures 1 to 8 As shown, the present invention is an automatic loading and unloading equipment for a screw locking machine, comprising: a machine platform 1, a screw locking machine 2 is installed on the machine platform 1, and the surface of the machine platform 1 is provided with: loading and unloading stations: a tray 3 is loaded by a loading component 4, and the position of the tray 3 is fixed by a positioning component 5, and the tray 3 is sucked to the unloading position 1 7 and the unloading position 2 8 by a first suction cup on a moving component 6, and the product is sucked to a fixing component 10 by a second suction cup on a four-axis manipulator 9, and the four-axis manipulator 9 respectively transports raw materials and clinker and transfers them to different positions; a deviation correction station: two groups of suction cups are provided on the four-axis manipulator 9, which are used to suck raw materials and clinker respectively, and the raw materials are sucked to the fixing component 10, and the positioning block 102 and the spring are used to fix the raw materials to the fixing component 10. The spring push block 104 fixes the position of the product and corrects the position accuracy of the product; Transplanting station: the product is sucked and flipped 180 degrees by the fourth suction cup on the flipping component 11. Two sets of suction cups are provided on the three-axis moving component 12, which are used to suck raw materials and cooked materials respectively. Then, the product is sucked to the screw locking machine 2 by the fifth suction cup on the three-axis moving component 12. Inspection station: the flipping component 11 is flipped 180 degrees to the top of the product, and the fixing component 10 fixes the product through the third suction cup, and the built-in camera of the fixing component 10 and the built-in camera of the flipping component 11 are used to synchronously inspect the product from top to bottom, and then the product is sucked to the unloading position 1 7 and the unloading position 2 8 respectively by the four-axis manipulator 9.

[0032] The loading assembly 4 includes a pulley 42 for driving a lifting platform 43, a servo motor 41 fixedly connected to the surface of the pulley 42, a belt transmission-connected to the pulley 42, the surface of the belt is fixedly connected to the lifting platform 43, the pallet 3 is placed on the lifting platform 43, the positioning assembly 5 includes a clamping cylinder 52 for clamping the pallet 3, a positioning cylinder 51 for dividing the pallet 3 into trays, a fixed frame is fixed to the surface of the positioning cylinder 51, the clamping cylinder 52 is fixed to the outer surface of the fixed frame, and the output ends of the clamping cylinder 52 and the positioning cylinder 51 are both fixed with clamping blocks.

[0033] In the present invention, the servo motor 41 drives the pulley 42 to rotate, and through the belt transmission, drives the lifting platform 43 to rise and fall. A four-axis manipulator 9 is fixedly installed on the upper surface of the machine 1. The four-axis manipulator 9 takes the material. When the material plate is taken out, the servo motor 41 moves upward by a plate distance. At the same time, the two clamping cylinders 52 push the clamping block to clamp the tray 3, which can avoid the irregular size of the tray 3 and the instability. The positioning cylinder 51 can support the tray 3 to avoid the horizontality of the tray 3 changing, resulting in material taking failure.

[0034] The moving assembly 6 includes a moving platform 61 fixedly connected to the machine 1, a sliding cylinder 62 slidably connected to the moving platform 61, and a first suction cup for sucking the tray 3 is fixedly connected to the surface of one end of the sliding cylinder 62. A discharge position 1 7 and a discharge position 2 8 are provided on the machine 1 for collecting unqualified products and qualified products respectively. The first suction cup sucks the tray 3 to the discharge position 1 7 and the discharge position 2 8 respectively, and the tray 3 is used to carry the product.

[0035] In the present invention, the slide cylinder 62 drives the first suction cup to move up and down, and absorbs the product through the first suction cup, and then drives the tray 3 to move through the mobile platform 61, and places the tray 3 at the unloading position 1 7 and the unloading position 2 8 respectively, so that the four-axis manipulator 9 can place the taken out clinker at different positions according to the quality of the product clinker. The structure of the mobile platform 61 is a common linear module.

[0036] The fixing assembly 10 includes a bottom plate 101 slidably connected to the machine table 1, a positioning block 102 fixedly connected to the bottom plate 101, a chamfer 103 provided on the positioning block 102, a spring push block 104 slidably connected to the bottom plate, a waist hole 106 provided on the spring push block 104, and a clamping block 105 fixedly connected to the spring push block 104. The flip assembly 11 includes an upper and lower cylinder 111 for driving the third suction cup to move, a rotating cylinder 112 for driving the third suction cup to flip, a fixed plate fixedly connected to one side of the rotating cylinder 112, a spring guide rail 113 fixedly connected to the surface of the fixed plate, and a bearing member 111 for carrying the third suction cup slidably connected to the surface of the spring guide rail 113. When the upper and lower cylinders 111 drive the third suction cup to press down to absorb the product, the spring guide rail 113 prevents the product from being crushed. The fixed plate is also provided with a spring guide rail 113. An elastic material taking method is adopted when taking materials to prevent the product from being crushed. A camera is installed on the carrier plate, which can synchronously detect the product up and down to confirm whether the product is qualified, and cooperate with the four-axis manipulator 9 to move the product to a suitable position. A linear guide rail is arranged between the machine 1 and the base plate 101. The base plate 101 is fixedly mounted on the linear guide rail and is slidably connected to the machine 1. After the product is fixed on the base plate 101, it is moved to the lower side of the flip assembly 11 through the linear guide rail, so that the flip assembly 11 can take out the product.

[0037] In the present invention, the product is sucked into the fixed component 10 by the raw material suction cup on the four-axis manipulator 9, and the right-angled sides formed by the three groups of positioning blocks 102 are in contact with the two side surfaces of the product. The chamfers 103 on the positioning blocks 102 enable the product to move to the right-angled sides of the positioning blocks 102 within a certain tolerance range. At the same time, the cylinder inside the bottom plate 101 pushes the spring push block 104 to contact the other two side surfaces of the product to clamp the product. Secondly, the clamping block 105 on the spring push block 104 can prevent the product from moving, thereby completing the work of correcting the position accuracy of the product. The waist hole 106 on the spring push block 104 can fix the spring push block 104 at different positions to adapt to products of different sizes.

[0038] What needs to be explained in detail here is that the spring push block 104 clamps the product to prevent the product from being crushed, and a avoidance groove is provided inside the base plate 101 for installing the camera while avoiding the risk of triple damage to the camera. The third suction nozzle on the fixed component 10 is used to prevent the product from shifting during movement and affecting the accuracy of the robot's material picking.

[0039] The three-axis moving assembly 12 includes a two-dimensional moving device 121 fixedly connected to the machine table 1, and a lifting cylinder 122 is fixedly connected to the surface of the two-dimensional moving device 121. One end of the lifting cylinder 122 is fixedly connected to a raw material suction cup and a clinker suction cup. The lifting cylinder 122 and the four-axis manipulator 9 are both provided with raw material suction cups and clinker suction cups, which can suck raw materials and clinkers at the same time for processing, thereby improving production efficiency.

[0040] Working principle: the product is sucked to the fixed component 10 through the raw material suction cup on the four-axis manipulator 9, and the right-angled edges formed by the three groups of positioning blocks 102 are in contact with the two side surfaces of the product. The chamfers 103 on the positioning blocks 102 enable the product to move to the right-angled edges of the positioning blocks 102 within a certain tolerance range. At the same time, the cylinder inside the bottom plate 101 pushes the spring push block 104 to contact the other two side surfaces of the product to clamp the product. Secondly, the clamping block 105 on the spring push block 104 can prevent the product from moving and complete the work of correcting the position accuracy of the product. The waist hole 106 on the spring push block 104 can fix the spring push block 104 at different positions to adapt to products of different sizes.

[0041] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The content not described in detail in this specification belongs to the prior art known to professional and technical personnel in this field.

[0042] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. An automatic loading and unloading device for locking screws. Features: include: A machine platform is provided with a screw locking machine, and the surface of the machine platform is provided with: Loading and unloading stations: The loading assembly lifts the tray containing the raw material to the positioning assembly, the clamping cylinder in the positioning assembly fixes the position of the tray, the positioning cylinder ensures the horizontality of the tray, and the tray is divided into trays. The empty tray is taken to the unloading position 1 and the unloading position 2 by the first suction cup on the moving assembly; Deviation correction station: The raw material suction cup on the four-axis manipulator sucks the raw material to the fixed component, and the built-in cylinder pushes the spring push block to push the product to the right angle formed by the positioning block, repositions the product, and takes it out through the third suction cup on the flip component, and then cooperates with the raw material suction cup on the three-axis moving component to suck the raw material to the screw locking machine for processing; Inspection station: The clinker suction cup on the three-axis moving component sucks the clinker, which is sucked by the flip component and sent to the fixed component. The fixed component fixes the product through the second suction cup, and uses the built-in camera and the built-in camera of the flip component to synchronously inspect the product from top to bottom. Then, the clinker suction cup on the four-axis manipulator sucks the product to the unloading position 1 and unloading position 2 respectively. The fixing assembly includes a bottom plate slidably connected to the machine platform, a positioning stopper fixedly connected to the bottom plate, a spring push block slidably connected to the bottom plate, a waist hole is provided on the spring push block, and a clamping block is fixedly connected to the spring push block; The positioning block is provided with a chamfer, a linear guide rail is provided between the machine platform and the bottom plate, and the bottom plate is fixedly mounted on the linear guide rail and slidably connected to the machine platform; The positioning assembly includes a clamping cylinder for clamping the pallet and a positioning cylinder for separating the pallets. A fixing frame is fixed on the surface of the positioning cylinder, and the clamping cylinder is fixed on the outer surface of the fixing frame. The moving assembly includes a moving platform fixedly connected to the machine platform, a sliding cylinder slidably connected to the moving platform, and a first suction cup for sucking the tray is fixedly connected to one end surface of the sliding cylinder; The flip assembly includes an upper and lower cylinder for driving the third suction cup to move, and a rotating cylinder for driving the third suction cup to flip, one side of the rotating cylinder is fixedly connected to a fixed plate, the surface of the fixed plate is fixedly connected to a spring guide rail, and the surface of the spring guide rail is slidably connected to a bearing plate that carries the third suction cup; The three-axis moving assembly includes a two-dimensional moving device fixedly connected to the machine platform, a lifting cylinder is fixedly connected to the surface of the two-dimensional moving device, and a raw material suction cup and a cooked material suction cup are fixedly connected to one end of the lifting cylinder.

2. The automatic screw locking machine loading and unloading equipment as claimed in claim 1, It is characterized in that The loading assembly includes a pulley for driving the lifting platform to move, a servo motor fixedly connected to the surface of the pulley, a belt transmission connected to the pulley, and the lifting platform is fixedly connected to the surface of the belt.

3. The automatic screw locking machine loading and unloading equipment as claimed in claim 1, It is characterized in that The tray is placed on the lifting platform.

4. The automatic screw locking machine loading and unloading equipment according to claim 1, It is characterized in that The machine platform is provided with a first material discharge position and a second material discharge position for collecting unqualified products and qualified products respectively, and a four-axis manipulator is fixedly installed on the upper surface of the machine platform.

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