Automatic material system

Abstract

The invention discloses an automatic material system which comprises a feeding mechanism, a quick-change grabbing mechanism, a turnover mechanism, a labeling device, a circulating conveying device, a discharging mechanism and a visual system. The feeding mechanism is used for feeding and conveying products; the discharging mechanism is used for discharging and conveying products. The overturning mechanism is used for overturning the product; the labeling device is used for labeling the overturned products; the circulating conveying device is used for conveying the products to a downstream station for assembling and testing and conveying the products back to the automatic material system; the visual system is used for product code scanning and appearance detection; and the quick-change grabbing mechanism quickly and stably completes switching of the material taking jigs to clamp products at different stations. By arranging the grabbing and quick-changing mechanism and the overturning module, the robot can be assisted in efficiently completing the process of feeding, overturning, labeling and discharging of power products, manual work is not needed during model changing and line changing, the automation degree is high, and stability and reliability are achieved.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, in particular to an automatic material system. Background Art

[0002] In the field of automatic production lines, when new energy power products are transferred from upstream workstations to downstream workstations, they need to move horizontally and flip over before being transferred to the downstream workstations for further processing. Existing robotic arms all use a single robot fixture, and manual replacement of the chuck and robot fixture is still required when changing models and lines. The degree of automation of such production equipment is not ideal, which wastes production time and poses potential safety risks during manual operation. Summary of the invention

[0003] Based on this, the purpose of the present invention is to provide an automatic material system, which can assist the robot to efficiently complete the process of loading - flipping - labeling - unloading of power products by setting a grabbing quick-change mechanism and a flipping module. No manual labor is required when changing models and lines, and the system has a high degree of automation and is stable and reliable.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] An automatic material system, including a feeding mechanism, a quick-change grabbing mechanism, a flipping mechanism, a labeling device, a circulating conveying device, a feeding mechanism, a visual system and an electric control system;

[0006] The feeding mechanism is used for feeding and conveying products;

[0007] The unloading mechanism is used for unloading and conveying products;

[0008] The flipping mechanism is used to flip the product;

[0009] The labeling device is used to label the turned product;

[0010] The circulating conveying device is used to convey the products to the downstream workstations for assembly and testing and to convey the products back to the automatic material system;

[0011] The visual system is used for product code scanning and appearance inspection;

[0012] The quick-change grabbing mechanism is used to transfer the products of the loading mechanism to the flipping mechanism for flipping, to grab the products of the flipping mechanism and transfer them to the labeling device for labeling, and to transfer the products to the visual system for code scanning and appearance inspection, and to transfer the labeled products to the circulating conveying device, and to transfer the products of the circulating conveying device to the unloading mechanism.

[0013] The electric control system is communicatively connected with the feeding mechanism, the quick-change grabbing mechanism, the flipping mechanism, the labeling device, the circulating conveying device, the unloading mechanism and the visual system.

[0014] Furthermore, the loading mechanism and the unloading mechanism both include an AGV trolley and a transfer station arranged on the AGV trolley. The AGV trolley adopts fully autonomous laser navigation and remote monitoring technology. A lifting and positioning unit module is installed and extended on the upper part of the AGV trolley.

[0015] Further, the quick-change gripping mechanism comprises a material-retrieving robot, a first gripping module and a second gripping module, a driving end of the material-retrieving robot is connected with a quick-change connector, and the material-retrieving robot is connected to the first gripping module or the second gripping module through the quick-change connector;

[0016] The quick-change connector includes a mounting seat, a quick-change main plate and a detection element, the upper end of the mounting seat is connected to the driving end of the material-retrieving robot, the lower end of the mounting seat is connected to the quick-change main plate, and the detection element is arranged on one side of the mounting seat;

[0017] The first grabbing module and the second grabbing module are both provided with a quick-change sub-disk matched with the quick-change main disk, and the quick-change main disk is matched and connected with the quick-change sub-disk, so that the first grabbing module or the second grabbing module is connected to the material-retrieving robot;

[0018] The quick-change main disk is provided with a first pair of plug-in terminals, a first plug-in guide element and a first plug-in disk at one end away from the mounting seat, and a first pair of plug-in digital-analog ports are also provided on the side of the quick-change main disk. The first grab module and the second grab module are both provided with a quick-change sub-disk that cooperates with the quick-change main disk, and the quick-change sub-disk is provided with a second pair of plug-in ports that cooperate with the first pair of plug-in terminals, a second plug-in guide element that cooperates with the first plug-in guide element, a second plug-in digital-analog port that cooperates with the first pair of plug-in digital-analog ports, and a second slot that cooperates with the first plug-in disk;

[0019] The first plug-in guide element is a guide pin, and the guide pin is provided with a plug-in chamfer. The second plug-in guide element is a guide sleeve, and a universal ball is arranged around the outer side of the first plug-in disk.

[0020] Further, the first grabbing module and the second grabbing module both include a base plate, an active clamping element, a passive clamping element and a guide shaft, and a clamping position is formed between the active clamping element and the passive clamping element;

[0021] The active clamping element and the driven clamping element both include a driving cylinder and a gripper mounted on the base plate, the gripper includes a connecting portion and a holding portion, the connecting portion is provided with a first hinge and a second hinge, the gripper is connected to the driving cylinder via the first hinge, and the gripper is connected to the base plate via the second hinge;

[0022] The quick-change sub-plate is arranged on a side of the substrate facing away from the clamping position;

[0023] The first grabbing module further includes a positioning pin and a positioning column installed on the base plate, the positioning pin limits the clamping distance of the driven clamping element along the clamping position, and the positioning column positions the grabbed product, and the second grabbing module further includes a limiting column installed on the base plate to limit the grabbed product;

[0024] The positioning pin member comprises a mounting plate, a pin seat, a pin block and a positioning cylinder. The mounting plate is mounted on the base plate, the pin seat and the positioning cylinder are mounted on the mounting plate, and the pin block passes through the pin seat and is connected to the driving end of the positioning cylinder.

[0025] Further, the flip mechanism includes a frame, a support seat group and a flip module, the flip module and the support seat are arranged on the frame, the support seat group includes two groups of support seats, and the two groups of support seats are respectively used to place the first grabbing module and the second grabbing module;

[0026] The flip module includes a first flip component and a second flip component, and the first flip component and the second flip component cooperate to complete the flipping of the product;

[0027] The first flip assembly and the second flip assembly each include a transverse transmission assembly, a longitudinal transmission assembly and a rotational tightening assembly;

[0028] The transverse transmission assembly includes a transverse guide rail transversely arranged on the frame, a transverse transmission seat slidably arranged on the transverse guide rail, and a first cylinder installed on the frame and used to drive the transverse transmission seat, wherein the first cylinder drives the transverse transmission seat to move along the transverse guide rail;

[0029] The longitudinal transmission assembly includes a longitudinal guide rail mounted on the transverse transmission seat, the longitudinal transmission seat slidably mounted on the longitudinal guide rail, a rack mounted on one side of the longitudinal transmission seat, and a second cylinder mounted on the transverse transmission seat and used to drive the longitudinal transmission seat, wherein the second cylinder drives the longitudinal transmission seat to move along the longitudinal guide rail;

[0030] The rotary clamping assembly includes a linear bearing installed on the transverse transmission seat, a gear connected to one end of the linear bearing, and a clamping block connected to the other end of the linear bearing. The gear is gear-engaged with the rack, and the longitudinal transmission seat moves along the longitudinal guide rail to drive the gear to drive the linear bearing to rotate.

[0031] Furthermore, the two groups of support seats include a vertical cylinder installed on the frame and a quick-change base connected to the output end of the vertical cylinder, the quick-change base is provided with a plurality of positioning terminals, the first grabbing module and the second grabbing module are both provided with positioning ports corresponding to the positioning terminals, and the positioning terminals are inserted into the positioning ports to connect the first grabbing module and the second grabbing module to the quick-change base.

[0032] Furthermore, the visual system includes a camera and an LED light source, wherein the LED light source is arranged below the camera, and a data processor and a signal generator are integrated in the camera.

[0033] Furthermore, the labeling device comprises a labeling control cabinet, a labeling module and a label printer, and the labeling module and the label printer are installed above the labeling control cabinet;

[0034] The labeling module includes a label peeling mechanism and a labeling mechanism. The label peeling mechanism is arranged on the label output side of the label printer. The label peeling mechanism includes a slide cylinder, a label peeling base installed on the output end of the slide cylinder, and a label peeling platform installed on the label peeling base. The label peeling platform is provided with a knife edge at one end facing the label output side of the label printer. The label peeling mechanism transfers the label from the label printer to the label peeling platform.

[0035] The labeling mechanism includes a linear module arranged on one side of the sliding cylinder, a labeling base slidably arranged on the linear module, a rotating cylinder installed on the labeling base, and a labeling component connected to the rotating cylinder. The labeling component includes a linear cylinder and a suction cup connected to the output end of the linear cylinder. The suction cup is externally connected to a vacuum generator. The labeling mechanism removes the label from the label stripping platform and cooperates with the material picking robot to apply the label to the product.

[0036] Furthermore, the circulating conveying device includes a conveying track, a transition track connected to both ends of the conveying track, a lifting and positioning mechanism and a pallet cleaning mechanism arranged on the conveying track;

[0037] The lifting and positioning mechanism includes a bottom plate installed on the conveying track, a lifting cylinder installed on the bottom plate, a positioning plate connected to the output end of the lifting cylinder, and a lifting guide column connected between the positioning plate and the bottom plate;

[0038] The tray cleaning mechanism comprises a cover body, a switch door assembly, an air blowing assembly and a dust collector, wherein the cover body is mounted on the conveying track, the switch door assembly is arranged on both sides of the cover body along the conveying track, the air blowing assembly is mounted on the top of the cover body, the air blowing assembly passes through the top cover of the cover body and is also connected to a plurality of rotating brushes, and the dust collector is connected to the bottom of the cover body through an air duct;

[0039] The opening and closing door assembly includes a lifting cylinder installed on the top of the cover body, a lifting arm connected to the output end of the lifting cylinder, linear slide rails arranged at the left and right ends of the lifting arm, a sealing plate connected to the linear slide rail, and a linear slider installed on the top of the cover body. The linear slide rail slides on the linear slider, and the lifting cylinder drives the sealing plate to move up and down in the vertical direction.

[0040] The beneficial effects of the present invention are:

[0041] The automatic material system of the present invention can assist the robot to efficiently complete the process of loading-flipping-labeling-unloading of power products by setting a quick-change grabbing mechanism and a flipping module. The material-picking robot is connected to the first grabbing module, grabs the product from the AGV loading mechanism and places it in the flipping module. The flipping module flips the product. The material-picking robot replaces the connected first grabbing module with the second grabbing module, grabs the flipped product and sends it to the labeling device for labeling. After labeling, the material-picking robot places the product in the circulating conveying device, which transports the product to the downstream station for assembly and testing. After the assembly and testing of the downstream station are completed, it is sent back by the circulating conveying device. The material-picking robot grabs the product and places it in the AGV unloading mechanism, and the AGV unloading mechanism completes the product unloading. The present invention does not require manual labor when changing models and lines, has a high degree of automation, and is stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of the structure of an automatic material system provided by an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of the structure of a combination of a quick-change grabbing mechanism and a flipping mechanism provided in an embodiment of the present invention;

[0044] Figure 3 A schematic structural diagram of a quick-change connector provided by an embodiment of the present invention;

[0045] Figure 4 A schematic structural diagram of a first grabbing module provided by an embodiment of the present invention;

[0046] Figure 5 A schematic diagram of the structure of a second grabbing module provided by an embodiment of the present invention;

[0047] Figure 6A schematic diagram of the structure of a quick-change main disk provided by an embodiment of the present invention;

[0048] Figure 7 A schematic diagram of the structure of a quick-change auxiliary disk provided by an embodiment of the present invention;

[0049] Figure 8 A schematic structural diagram of a positioning pin provided by an embodiment of the present invention;

[0050] Fig. 9 A schematic structural diagram of a first / second flip assembly provided by an embodiment of the present invention;

[0051] Fig.10 A schematic structural diagram of a support base provided by an embodiment of the present invention;

[0052] Fig.11 A schematic structural diagram of a labeling device provided by an embodiment of the present invention;

[0053] Fig.12 for Fig.11 Schematic diagram of the structure of the middle A area;

[0054] Fig.13 A schematic structural diagram of a circulating conveying device provided in an embodiment of the present invention;

[0055] Fig.14 A schematic structural diagram of a tray cleaning mechanism provided by an embodiment of the present invention;

[0056] Fig.15 A schematic cross-sectional structure diagram of a tray cleaning mechanism provided by an embodiment of the present invention;

[0057] Reference numerals:

[0058] 10-feeding mechanism; 11-AGV trolley; 12-transfer station;

[0059] 20-feeding mechanism;

[0060] 30-Quick change grabbing mechanism;

[0061] 31- Material handling robot;

[0062] 32-quick-change connector; 321-mounting seat; 322-quick-change main plate; 323-first pair of plug terminals; 324-first plug-in guide element; 325-first plug plate; 326-universal ball bearing; 327-first pair of plug-in digital-analog ports; 328-detection element;

[0063] 33-first grabbing module; 331-base plate; 332-active clamping element; 333-passive clamping element; 334-guide shaft; 335-positioning pin; 336-positioning column; 337-mounting plate; 338-pin seat; 339-pin block; 340-positioning cylinder;

[0064] 34-second grabbing module; 345-limiting column;

[0065] 35-quick-change sub-disk; 351-second plug-in port; 352-second plug-in guide element; 353-second plug-in digital-analog port; 354-second slot;

[0066] 40- flip mechanism;

[0067] 41-first turning assembly; 411-lateral guide rail; 412-lateral transmission seat; 413-first cylinder; 414-longitudinal guide rail; 415-longitudinal transmission seat; 416-second cylinder; 417-rack;

[0068] 418- linear bearing; 419- gear; 420- clamping block;

[0069] 42- second flip assembly;

[0070] 43-support seat; 431-vertical cylinder; 432-quick-change base; 433-positioning terminal;

[0071] 44- rack;

[0072] 50-labeling device;

[0073] 51-labeling control cabinet;

[0074] 52-labeling module; 521-sliding cylinder; 522-label peeling base; 523-label peeling platform; 524-knife edge; 525-linear module; 526-labeling base; 527-rotating cylinder; 528-linear cylinder; 529-suction cup;

[0075] 53-label printer;

[0076] 60-circulating conveying device;

[0077] 61-transmission track; 62-transition track; 63-lifting and positioning mechanism; 64-tray cleaning mechanism; 65-cover; 66-door opening and closing assembly; 661-lifting cylinder; 662-lifting arm; 663-linear slide rail; 664-sealing plate; 665-linear slide block; 67-blowing assembly; 671-rotating brush; 645-dust collector;

[0078] 70-Visual system;

[0079] 80-Electronic control system. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0081] In the description of the present invention, it should be noted that the terms "vertical direction", "up", "down", "horizontal", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the 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 present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0082] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0083] like Figures 1 to 15 As shown, an embodiment of the present invention provides an automatic material system, including a feeding mechanism 10, a quick-change gripping mechanism 30, a flipping mechanism 40, a labeling device 50, a circulating conveying device 60, a feeding mechanism 20, a visual system 70 and an electric control system 80; the electric control system 80 is connected to the feeding mechanism 10, the quick-change gripping mechanism 30, the flipping mechanism 40, the labeling device 50, the circulating conveying device 60, the feeding mechanism 20 and the visual system 70 for communication. Among them:

[0084] The feeding mechanism 10 is used for feeding and conveying products;

[0085] The unloading mechanism 20 is used for unloading and conveying the product;

[0086] The flipping mechanism 40 is used to flip the product;

[0087] The labeling device 50 is used to label the flipped product;

[0088] The circulating conveying device 60 is used to convey the products to the downstream workstations for assembly and testing and to convey the products back to the automatic material system;

[0089] The visual system 70 is used for scanning and appearance inspection of products;

[0090] The quick-change grabbing mechanism 30 is used to grab the product of the loader and transfer it to the flipping mechanism 40 for flipping, to grab the product of the flipping mechanism 40 and transfer it to the labeling device 50 for labeling, and to transfer the product to the visual system 70 for code scanning and appearance inspection, and to transfer the labeled product to the circulating conveying device 60, and to transfer the product of the circulating conveying device 60 to the unloading mechanism 20.

[0091] In the present invention, the loading mechanism 10, the quick-change gripping mechanism 30, the flipping mechanism 40, the labeling device 50, the circulating conveying device 60, and the unloading mechanism 20 are all provided with a plurality of position sensors and are communicated with the electric control system 80, thereby realizing the automation of the present invention.

[0092] like Figure 1 As shown, in the embodiment of the present invention, the loading mechanism 10 and the unloading mechanism 20 both include an AGV trolley 11 and a transfer station 12 arranged on the AGV trolley 11. The AGV trolley 11 adopts fully autonomous laser navigation and remote monitoring technology, and a lifting and positioning unit module is installed and extended on the upper part of the AGV trolley 11.

[0093] In the present invention, the AGV trolley 11 has a high rated load, a fast speed, flexible turning, a long endurance time, and fully autonomous navigation based on laser, which does not require any preset manual markings. The AGV trolley 11 is equipped with and expanded with a lifting and positioning unit module to realize multi-point reciprocating unmanned autonomous transportation of material carts in factory workshops, and can transport materials across regions and floors. It can autonomously avoid obstacles in a dynamic environment and autonomously plan driving paths to improve work efficiency. It can be operated independently of manual labor, and there is no need for manual transportation of products to be processed and finished products.

[0094] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in the embodiment of the present invention, the quick-change grasping mechanism 30 includes a material picking robot 31, a first grasping module 33 and a second grasping module 34. The driving end of the material picking robot 31 is connected to a quick-change connecting piece 32, and the material picking robot 31 is connected to the first grasping module 33 or the second grasping module 34 through the quick-change connecting piece 32; the material picking robot 31 is arranged on one side of the frame 44, and the circulating conveying device 60 is arranged on the other side of the frame 44.

[0095] In the present invention, the material picking robot 31 is connected to the first grabbing module 33, grabs the product from the AGV loading mechanism 10 and places it on the flipping module, the flipping module flips the product, the material picking robot 31 replaces the connected first grabbing module 33 with the second grabbing module 34, then grabs the flipped product and sends it to the labeling device 50 for labeling, after labeling, the material picking robot 31 places the product on the circulating conveying device 60, the circulating conveying device 60 transports the product to the downstream station for assembly and testing, after the assembly and testing of the downstream station are completed, it is sent back by the circulating conveying device 60, the material picking robot 31 grabs the product and places it on the AGV unloading mechanism 20, and the AGV unloading mechanism 20 completes the product unloading.

[0096] The present invention realizes automatic loading and unloading through the flexible rotation and clamping of the loading mechanism 10, the unloading mechanism 20 and the quick-change grasping mechanism 30. The equipment uses remote monitoring technology and WIFI / 5G and other methods to monitor the remote status, position, power, tasks, etc. in real time, thereby realizing multi-point reciprocating unmanned autonomous transportation of material carts in factory workshops.

[0097] In this embodiment, Figure 2 , Figure 3 and Figure 6 As shown,

[0098] The quick-change connector 32 includes a mounting seat 321, a quick-change main disk 322 and a detection element 328. One end of the mounting seat 321 is connected to the driving end of the material-picking robot 31, and the other end of the mounting seat 321 is connected to the quick-change main disk 322. The first grabbing module 33 and the second grabbing module 34 are both provided with a quick-change sub-disk 35 that cooperates with the quick-change main disk 322. The quick-change main disk 322 cooperates with the quick-change sub-disk 35 to connect, so that the first grabbing module 33 or the second grabbing module 34 can be quickly switched and connected to the material-picking robot 31. The detection element 328 integrates a data processor and a signal generator to detect the power supply products grabbed by the first grabbing module 33 and the second grabbing module 34.

[0099] In this embodiment, Figure 2 , Figure 3 , Figure 6 and Figure 7 As shown,

[0100] The quick-change main disk 322 is provided with a first pair of plug terminals 323, a first plug-in guide element 324 and a first plug-in disk 325 at one end away from the mounting seat 321. A first pair of plug-in digital-analog ports 327 are also provided on the side of the quick-change main disk 322. The first grab module 33 and the second grab module 34 are both provided with a quick-change sub-disk 35 that cooperates with the quick-change main disk 322. The quick-change sub-disk 35 is provided with a second pair of plug-in ports 351 that cooperate with the first pair of plug terminals 323, a second plug-in guide element 352 that cooperates with the first plug-in guide element 324, a second plug-in digital-analog port 353 that cooperates with the first pair of plug-in digital-analog ports 327, and a second slot 354 that cooperates with the first plug-in disk 325. Specifically, the first plug-in guide element 324 is a guide pin with a plug-in chamfer, the second plug-in guide element 352 is a guide shaft 334 sleeve, and a universal ball 326 is provided around the outer side of the first plug-in disk 325.

[0101] In this embodiment, the quick-change main disk 322 and the quick-change auxiliary disk 35 are matched with multiple groups of plug-in structures, which have good connection effect, convenient connection and good stability, and can be separated and matched quickly and stably.

[0102] In this embodiment, Figure 4 and Figure 5 As shown,

[0103] The first gripping module 33 and the second gripping module 34 each include a base plate 331, an active clamping element 332, a passive clamping element 333 and a guide shaft 334, wherein a clamping position is formed between the active clamping element 332 and the passive clamping element 333; the active clamping element 332 and the passive clamping element 333 each include a driving cylinder and a gripper mounted on the base plate 331, wherein the gripper includes a connecting portion and a supporting portion, wherein the connecting portion is provided with a first hinge and a second hinge, wherein the gripper is connected to the driving cylinder via the first hinge, and wherein the gripper is connected to the base plate 331 via the second hinge; the quick-change sub-disk 35 is arranged on the side of the base plate 331 facing away from the clamping position.

[0104] In this embodiment, Figure 4 and Figure 8 As shown, the first grabbing module 33 further includes a positioning pin 335 and a positioning column 336 installed on the base plate 331 .

[0105] The positioning pin 335 includes a mounting plate 337, a pin seat 338, a pin block 339 and a positioning cylinder 340. The mounting plate 337 is mounted on the base plate 331. The pin seat 338 and the positioning cylinder 340 are mounted on the mounting plate 337. The pin block 339 passes through the pin seat 338 and is connected to the driving end of the positioning cylinder 340. The positioning pin 335 limits the clamping distance of the driven clamping element 333 along the clamping position. The positioning column 336 positions the grasped product.

[0106] The second grabbing module 34 further includes a limiting column 345 installed on the base plate 331 to limit the grasped product.

[0107] In the present invention, the quick-change main plate 322 and the quick-change auxiliary plate 35 are separated and matched quickly and stably, so that the material-picking robot 31 can quickly and stably complete the switching of the material-picking fixture and clamp different products.

[0108] In this embodiment, as 1, Figure 2 , Fig. 9 and Fig.10 As shown,

[0109] The flip mechanism 40 includes a first flip assembly 41, a second flip assembly 42, a support seat group and a frame 44. The material picking robot 31 is arranged on one side of the frame 44. The first flip assembly 41, the second flip assembly 42 and the support seat group are arranged on the frame 44. The first flip assembly 41 and the second flip assembly 42 cooperate to complete the flipping of the product. The support seat group includes two groups of support seats 43, and the two groups of support seats 43 are respectively used to place the first grabbing module 33 and the second grabbing module 34. Specifically, in this embodiment, the material picking robot 31 is a six-axis robot.

[0110] Both sets of support seats 43 include a vertical cylinder 431 installed on a frame 44 and a quick-change base 432 connected to the output end of the vertical cylinder 431. The quick-change base 432 is provided with a plurality of positioning terminals 433. The first grabbing module 33 and the second grabbing module 34 are both provided with positioning ports corresponding to the positioning terminals 433. The positioning terminals 433 are inserted into the positioning ports to connect the first grabbing module 33 and the second grabbing module 34 to the quick-change base 432.

[0111] The first flip assembly 41 and the second flip assembly 42 both include a transverse transmission assembly, a longitudinal transmission assembly and a rotational tightening assembly 45. Among them:

[0112] The transverse transmission assembly includes a transverse guide rail 411 transversely arranged on the frame 44, a transverse transmission seat 412 slidably arranged on the transverse guide rail 411, and a first cylinder 413 installed on the frame 44 and used to drive the transverse transmission seat 412. The first cylinder 413 drives the transverse transmission seat 412 to move along the transverse guide rail 411.

[0113] The longitudinal transmission assembly includes a longitudinal guide rail 414 mounted on the transverse transmission seat 412, a longitudinal transmission seat 415 slidably mounted on the longitudinal guide rail 414, a rack 417 mounted on one side of the longitudinal transmission seat 415, and a second cylinder 416 mounted on the transverse transmission seat 412 and used to drive the longitudinal transmission seat 415. The second cylinder 416 drives the longitudinal transmission seat 415 to move along the longitudinal guide rail 414.

[0114] The rotating clamping assembly 45 includes a linear bearing 418 mounted on the transverse transmission seat 412, a gear 419 connected to one end of the linear bearing 418, and a clamping block 420 connected to the other end of the linear bearing 418. The gear 419 is gear-engaged with the rack 417. The longitudinal transmission seat 415 moves along the longitudinal guide rail 414 and drives the gear 419 to drive the linear bearing 418 to rotate. After the first flip assembly 41 and the second flip assembly 42 clamp the product, the linear bearing 418 rotates synchronously to complete the flipping of the product.

[0115] Specifically, in the present invention, the quick-change main plate 322 and the quick-change auxiliary plate 35 are quickly and stably separated and matched to complete the switching of the first grasping module 33 and the second grasping module 34 on the material-grabbing robot 31, and respectively grasp the products before and after flipping.

[0116] The operating principle of the quick-change grabbing mechanism and the flipping mechanism of the present invention is:

[0117] The first grabbing module 33 and the second grabbing module 34 are placed on the support seat 43, and the material picking robot 31 moves to a support seat 43 where the first grabbing module 33 is placed, and the quick-change main plate 322 is matched with the quick-change sub-plate 35 of the first grabbing module 33 on the support seat 43, and then the material picking robot 31 drives the first grabbing module 33 to grab the product from the feeding mechanism 10 and place it on the flipping mechanism 40;

[0118] The transverse transmission components of the first flip assembly 41 and the second flip assembly 42 synchronously drive the clamping block 420 to tighten the two ends of the power supply product. After the power supply product is tightened and fixed, the longitudinal transmission components of the first flip assembly 41 and the second flip assembly 42 are synchronously started, and the longitudinal transmission seat 415 moves along the longitudinal guide rail 414 to drive the gear 419 to drive the linear bearing 418 to rotate, thereby flipping the product;

[0119] While the product is flipping, the material picking robot 31 drives the first grabbing module 33 to move to a support seat 43, and separates the quick-change main disk 322 from the quick-change sub-disk 35 of the first grabbing module 33 on the support seat 43. The first grabbing module 33 stays on the support seat 43. Then the material picking robot 31 moves to the support seat 43 where the second grabbing module 34 is placed, and matches the quick-change main disk 322 with the quick-change sub-disk 35 of the second grabbing module 34 on the support seat 43 to complete the switching of the material picking fixture. The material picking robot 31 drives the second grabbing module 34 to move to the flipping mechanism 40, grabs the flipped product from the flipping mechanism 40 and sends it to the labeling device 50.

[0120] In this embodiment, Figure 1 , Fig.11 and Fig.12As shown, the labeling device 50 includes a labeling control cabinet 51 , a labeling module 52 and a label printer 53 , and the labeling mechanism and the label printer 53 are installed above the labeling control cabinet 51 .

[0121] The labeling module 52 includes a label peeling mechanism and a labeling mechanism. The label peeling mechanism is arranged on the label output side of the label printer 53. The label peeling mechanism includes a slide cylinder 521, a label peeling base 522 installed on the output end of the slide cylinder 521, and a label peeling platform 523 installed on the label peeling base 522. The label peeling platform 523 is provided with a knife edge 524 at one end facing the label output side of the label printer 53. The label peeling mechanism transfers the label from the label printer 53 to the label peeling platform 523.

[0122] The labeling mechanism includes a linear module 525 arranged on one side of the sliding cylinder 521, a labeling base 526 slidably arranged on the linear module 525, a rotating cylinder 527 installed on the labeling base 526, and a labeling component connected to the rotating cylinder 527. The labeling component includes a linear cylinder 528 and a suction cup 529 connected to the output end of the linear cylinder 528. The suction cup 529 is externally connected to a vacuum generator. The labeling mechanism removes the label from the label stripping platform 523 and cooperates with the material picking robot 31 to apply the label to the product.

[0123] In this embodiment, Figure 1 , Fig.13 , Fig.14 and Fig.15 As shown, the circulating conveying device 60 includes a conveying track 61 , transition tracks 62 connected to both ends of the conveying track 61 , a lifting and positioning mechanism 63 and a tray cleaning mechanism 64 arranged on the conveying track 61 .

[0124] The lifting and positioning mechanism 63 includes a base plate installed on the conveying track 61, a lifting cylinder installed on the base plate, a positioning plate connected to the output end of the lifting cylinder, and a lifting guide column connected between the positioning plate and the base plate.

[0125] The tray cleaning mechanism 64 includes a cover body 65, a switch door assembly 66, a blowing assembly 67 and a dust collector 645. The cover body 65 is installed on the conveying track 61. The switch door assembly 66 is arranged on both sides of the cover body 65 along the conveying track 61. The blowing assembly 67 is installed on the top of the cover body 65. The blowing assembly 67 passes through the top cover of the cover body 65 and is also connected to a plurality of rotating brushes 671. The dust collector 645 is connected to the bottom of the cover body 65 through an air duct.

[0126] The switch door assembly 66 includes a lifting cylinder 661 installed on the top of the cover body 65, a lifting arm 662 connected to the output end of the lifting cylinder 661, linear slide rails 663 arranged at the left and right ends of the lifting arm 662, a sealing plate 664 connected to the linear slide rail 663, and a linear slider 665 installed on the top of the cover body 65. The linear slider 665 slides on the linear slide rail 663, and the lifting cylinder 661 drives the sealing plate 664 to move up and down in the vertical direction.

[0127] In the present invention, the pallet cleaning mechanism 64 cleans the pallet for transferring products, and the cleaned pallet continues to circulate and transport the products.

[0128] In this embodiment, the visual system 70 includes a camera and an LED light source. The LED light source is arranged below the camera, and a data processor and a signal generator are integrated in the camera.

[0129] The above only expresses the preferred technical solution of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and the present invention is also intended to include these modifications and modifications.

Claims

1. An automatic material system, characterized in that: It includes loading mechanism, quick-change grabbing mechanism, flipping mechanism, labeling device, circulating conveying device, unloading mechanism and visual system; The feeding mechanism is used for feeding and conveying products; The unloading mechanism is used for unloading and conveying products; The flipping mechanism is used to flip the product; The labeling device is used to label the turned product; The circulating conveying device is used to convey the products to the downstream workstations for assembly and testing and to convey the products back to the automatic material system; The visual system is used for product code scanning and appearance inspection; The quick-change grabbing mechanism is used to transfer the products of the loading mechanism to the flipping mechanism for flipping, to grab the products of the flipping mechanism and transfer them to the labeling device for labeling, and to transfer the products to the visual system for code scanning and appearance inspection, and to transfer the labeled products to the circulating conveying device, and to transfer the products of the circulating conveying device to the unloading mechanism.

2. The automatic material system according to claim 1, characterized in that: The loading mechanism and the unloading mechanism both include an AGV trolley and a transfer station arranged on the AGV trolley. The AGV trolley adopts fully autonomous laser navigation and remote monitoring technology. A lifting and positioning unit module is installed and extended on the upper part of the AGV trolley.

3. The automatic material system according to claim 1, characterized in that: The quick-change grabbing mechanism comprises a material-grabbing robot, a first grabbing module and a second grabbing module, a driving end of the material-grabbing robot is connected with a quick-change connector, and the material-grabbing robot is connected to the first grabbing module or the second grabbing module through the quick-change connector; The quick-change connector includes a mounting seat, a quick-change main plate and a detection element, the upper end of the mounting seat is connected to the driving end of the material-retrieving robot, the lower end of the mounting seat is connected to the quick-change main plate, and the detection element is arranged on one side of the mounting seat; The first grabbing module and the second grabbing module are both provided with a quick-change sub-disk matched with the quick-change main disk, and the quick-change main disk is matched and connected with the quick-change sub-disk, so that the first grabbing module or the second grabbing module is connected to the material-retrieving robot; The quick-change main disk is provided with a first pair of plug-in terminals, a first plug-in guide element and a first plug-in disk at one end away from the mounting seat, and a first pair of plug-in digital-analog ports are also provided on the side of the quick-change main disk. The first grab module and the second grab module are both provided with a quick-change sub-disk that cooperates with the quick-change main disk, and the quick-change sub-disk is provided with a second pair of plug-in ports that cooperate with the first pair of plug-in terminals, a second plug-in guide element that cooperates with the first plug-in guide element, a second plug-in digital-analog port that cooperates with the first pair of plug-in digital-analog ports, and a second slot that cooperates with the first plug-in disk; The first plug-in guide element is a guide pin, and the guide pin is provided with a plug-in chamfer. The second plug-in guide element is a guide sleeve, and a universal ball is arranged around the outer side of the first plug-in disk.

4. The automatic material system according to claim 3, characterized in that: The first grabbing module and the second grabbing module both include a base plate, an active clamping element, a passive clamping element and a guide shaft, and a clamping position is formed between the active clamping element and the passive clamping element; The active clamping element and the driven clamping element both include a driving cylinder and a gripper mounted on the base plate, the gripper includes a connecting portion and a holding portion, the connecting portion is provided with a first hinge and a second hinge, the gripper is connected to the driving cylinder via the first hinge, and the gripper is connected to the base plate via the second hinge; The quick-change sub-plate is arranged on a side of the substrate facing away from the clamping position; The first grabbing module further includes a positioning pin and a positioning column installed on the base plate, the positioning pin limits the clamping distance of the driven clamping element along the clamping position, and the positioning column positions the grabbed product, and the second grabbing module further includes a limiting column installed on the base plate to limit the grabbed product; The positioning pin member comprises a mounting plate, a pin seat, a pin block and a positioning cylinder. The mounting plate is mounted on the base plate, the pin seat and the positioning cylinder are mounted on the mounting plate, and the pin block passes through the pin seat and is connected to the driving end of the positioning cylinder.

5. The automatic material system according to claim 3, characterized in that: The flip mechanism includes a flip module, a support seat group and a frame, the flip module and the support seat are arranged on the frame, the support seat group includes two groups of support seats, and the two groups of support seats are respectively used to place the first grabbing module and the second grabbing module; The flip module includes a first flip component and a second flip component, and the first flip component and the second flip component cooperate to complete the flipping of the product; The first flip assembly and the second flip assembly each include a transverse transmission assembly, a longitudinal transmission assembly and a rotational tightening assembly; The transverse transmission assembly includes a transverse guide rail transversely arranged on the frame, a transverse transmission seat slidably arranged on the transverse guide rail, and a first cylinder installed on the frame and used to drive the transverse transmission seat, wherein the first cylinder drives the transverse transmission seat to move along the transverse guide rail; The longitudinal transmission assembly includes a longitudinal guide rail mounted on the transverse transmission seat, the longitudinal transmission seat slidably mounted on the longitudinal guide rail, a rack mounted on one side of the longitudinal transmission seat, and a second cylinder mounted on the transverse transmission seat and used to drive the longitudinal transmission seat, wherein the second cylinder drives the longitudinal transmission seat to move along the longitudinal guide rail; The rotary clamping assembly includes a linear bearing installed on the transverse transmission seat, a gear connected to one end of the linear bearing, and a clamping block connected to the other end of the linear bearing. The gear is gear-engaged with the rack, and the longitudinal transmission seat moves along the longitudinal guide rail to drive the gear to drive the linear bearing to rotate.

6. The automatic material system according to claim 5, characterized in that: Both groups of the support bases include a vertical cylinder installed on the frame and a quick-change base connected to the output end of the vertical cylinder. The quick-change base is provided with a plurality of positioning terminals. The first grabbing module and the second grabbing module are both provided with positioning ports corresponding to the positioning terminals. The positioning terminals are inserted into the positioning ports to connect the first grabbing module and the second grabbing module to the quick-change base.

7. The automatic material system according to claim 3, characterized in that: The labeling device comprises a labeling control cabinet, a labeling module and a label printer, and the labeling module and the label printer are installed above the labeling control cabinet; The labeling module includes a label peeling mechanism and a labeling mechanism. The label peeling mechanism is arranged on the label output side of the label printer. The label peeling mechanism includes a slide cylinder, a label peeling base installed on the output end of the slide cylinder, and a label peeling platform installed on the label peeling base. The label peeling platform is provided with a knife edge at one end facing the label output side of the label printer. The label peeling mechanism transfers the label from the label printer to the label peeling platform. The labeling mechanism includes a linear module arranged on one side of the sliding cylinder, a labeling base slidably arranged on the linear module, a rotating cylinder installed on the labeling base, and a labeling component connected to the rotating cylinder. The labeling component includes a linear cylinder and a suction cup connected to the output end of the linear cylinder. The suction cup is externally connected to a vacuum generator. The labeling mechanism removes the label from the label stripping platform and cooperates with the material picking robot to apply the label to the product.

8. The automatic material system according to claim 1, characterized in that: The circulating conveying device includes a conveying track, a transition track connected to both ends of the conveying track, a lifting and positioning mechanism arranged on the conveying track, and a pallet cleaning mechanism; The lifting and positioning mechanism includes a bottom plate installed on the conveying track, a lifting cylinder installed on the bottom plate, a positioning plate connected to the output end of the lifting cylinder, and a lifting guide column connected between the positioning plate and the bottom plate; The tray cleaning mechanism comprises a cover body, a switch door assembly, an air blowing assembly and a dust collector, wherein the cover body is mounted on the conveying track, the switch door assembly is arranged on both sides of the cover body along the conveying track, the air blowing assembly is mounted on the top of the cover body, the air blowing assembly passes through the top cover of the cover body and is also connected to a plurality of rotating brushes, and the dust collector is connected to the bottom of the cover body through an air duct; The opening and closing door assembly includes a lifting cylinder installed on the top of the cover body, a lifting arm connected to the output end of the lifting cylinder, linear slide rails arranged at the left and right ends of the lifting arm, a sealing plate connected to the linear slide rail, and a linear slider installed on the top of the cover body. The linear slide rail slides on the linear slider, and the lifting cylinder drives the sealing plate to move up and down in the vertical direction.

9. The automatic material system according to claim 1, characterized in that: The visual system includes a camera and an LED light source, wherein the LED light source is arranged below the camera, and a data processor and a signal generator are integrated in the camera.

10. The automatic material system according to claim 1, characterized in that: It also includes an electric control system, which is communicatively connected with the feeding mechanism, the quick-change grabbing mechanism, the flipping mechanism, the labeling device, the circulating conveying device, the unloading mechanism and the visual system.

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