Full-automatic tray pipe inserting machine

Abstract

The full-automatic tray pipe inserting machine comprises a conveying unit, a pipe inserting unit and a pressing and positioning mechanism, wherein the conveying unit is used for conveying trays to all stations through servo driving; the pipe inserting unit is arranged beside the conveying unit; the pressing and positioning mechanism is used for pressing the trays during pipe inserting; the pipe inserting unit comprises a visual deviation rectifying module used for obtaining the pipe inserting position on the tray and a pipe inserting mechanical arm used for inserting the pipe into the tray, and the output end of the visual deviation rectifying module is electrically connected with the input end of the pipe inserting mechanical arm. According to the full-automatic pipe assembling machine, the pipes can be fully automatically assembled into the tray, a large amount of labor cost is saved, the pipe inserting position of the tray is obtained in real time through the visual deviation rectifying module, the assembling process is accurate, the situation that the tray is poked and damaged is not prone to occurring, the full-automatic pipe assembling machine further has the low useless action running process, the assembling production efficiency is high, and the production cost is low. And the use requirements of the current huge and ever-increasing high-weighing-load tray can be met more easily.

Description

Technical Field

[0001] The invention relates to the technical field of pallet assembly production, in particular to a full-automatic pallet tube insertion machine. Background Art

[0002] Pallets are usually used to place workpiece blanks in workshops, which facilitates the stacking of workpieces and the loading and unloading of forklifts. They are widely used in various factories today.

[0003] At present, pallets are mainly divided into wooden pallets, metal pallets and plastic pallets, which have different characteristics and are used in different scenarios. Among them, plastic pallets are light in texture and easy to place, so they are used more and more in modern factories. However, they also have the disadvantage of relatively low strength. In order to improve the limitations of plastic pallets, some manufacturers have introduced solutions to add steel pipes to plastic pallets to increase the strength of the pallets, so that they can have a higher load capacity. Specifically, a small amount of steel pipes are directly inserted into the plastic pallet, which will not increase the weight of the plastic pallet itself, but also improve the strength of the plastic pallet.

[0004] Currently, the main method of assembling steel pipes into plastic pallets is manual work. However, the demand for the use of plastic pallets is increasing, and the manual assembly method is labor-intensive and can no longer meet market demand.

[0005] Therefore, the present application proposes a fully automatic tray intubation machine. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings existing in the prior art, and the proposed fully automatic pallet tube insertion machine can realize the fully automated assembly of pipes into pallets, saving a lot of labor costs, and the real-time acquisition of the pallet tube insertion position by the visual correction module makes the assembly process accurate and error-free, and the pallet is not prone to being punctured and damaged. It also has a low useless action operation process, the assembly production efficiency is higher, and it is easier to meet the current huge and growing demand for the use of high-weighing load pallets.

[0007] In order to achieve the above object, the present invention provides the following technical solutions: Fully automatic tray intubation machine, including: The conveying unit brings the pallet to each workstation through servo drive; The intubation unit is located next to the conveying unit and includes a visual correction module for obtaining the intubation position on the tray and an intubation manipulator for inserting the tube into the tray; A clamping and positioning mechanism is used to clamp the tray during intubation; The output end of the visual correction module is electrically connected to the input end of the intubation manipulator.

[0008] Through the above structure, it is possible to fully automatically assemble the pipes into the pallet, saving a lot of labor costs. The visual correction module can obtain the pallet insertion position in real time, making the assembly process accurate and error-free. The pallet is not easily damaged by being punctured. It also has a low useless motion operation process, and the assembly production efficiency is high, which can more easily meet the current huge and growing demand for the use of high-weighing load pallets.

[0009] Preferably, the conveying unit comprises a bracket, a conveying platform on the bracket for placing the pallet, and a power module for servo-driving the conveying platform to operate, and the conveying platform comprises one of a roller, a conveyor belt, and a chain.

[0010] Through the above structure, the operation of the conveying unit can be controlled, and when matched with other processes, it can ensure that the conveying process of the pallet is relatively accurate, avoiding the inaccurate movement position of the pallet affecting the normal operation of each process.

[0011] Preferably, the conveying unit further comprises a third in-place detection module, and an output end of the third in-place detection module is electrically connected to an input end of the pressing and positioning mechanism.

[0012] Through the above structure, when the tray is delivered to the right position, the positioning mechanism is pressed to fix the tray, thereby ensuring accurate positioning and avoiding affecting the accuracy of intubation.

[0013] Preferably, the visual correction module includes a mounting table, a shift guide rail fixedly connected to the mounting table, a servo-driven linear slider slidably mounted on the shift guide rail, a rotating cylinder arranged on the linear slider, and a camera on the rotating cylinder shaft, and the output end of the camera is electrically connected to the input end of the intubation manipulator.

[0014] Through the above structure, it is possible to adapt to trays of different models and specifications to achieve the purpose of taking pictures, and to take better pictures to ensure that the acquired tray position is accurate, ensure that the intubation process is carried out accurately, and ensure the finished product quality of the intubation tray.

[0015] Preferably, it further comprises a pallet loading unit, comprising a frame arranged at the front end of the conveying unit and a conveying line arranged on the frame for driving the pallet to move; Through the above structure, the pallet can be automatically loaded onto the conveying unit, which can save a lot of labor costs.

[0016] Preferably, the frame is also provided with a weighing unit, including: The interception mechanism is arranged on one side of the frame close to the conveying unit, and comprises an interception plate and a first lifting cylinder for driving the interception plate to rise and fall; A second in-place detection module is provided on the frame and is used to detect whether a pallet passes through the conveyor line, wherein an output end of the second in-place detection module is electrically connected to an input end of the first lifting cylinder; and The weighing device comprises a plurality of ejector rods which can be passed upward from the conveying line, a second ejection cylinder for driving all ejector rods to rise and fall, and a pressure sensor connected to the ejection end of the second ejection cylinder.

[0017] Through the above structure, the pallet can be weighed and tested before insertion to ensure that only qualified pallets are inserted. This effectively avoids unqualified pallets from entering the insertion process and causing impact on subsequent quality inspection, shipment, etc., greatly reduces the probability of rework, and solves the problem of blind insertion leading to a more complicated and troublesome disassembly process during rework.

[0018] Preferably, a first reversing mechanism is further provided in the conveying plane of the conveying unit at a position corresponding to the clamping and positioning mechanism, comprising a lifting mechanism, a lifting platform rotatably connected to the lifting mechanism, and a driving assembly for driving the lifting platform to rotate.

[0019] Through the above structure, it is possible to insert pipes from multiple directions of the pallet to better improve the carrying capacity of the pallet, and it can be applicable to various types of pallets with different insertion directions, and has a wider range of application scenarios.

[0020] Preferably, it also includes a silo unit for storing pipes, including a lifting base, a silo wall and a first in-place detection module for detecting the height position of the top pipe, wherein the output end of the first in-place detection module is electrically connected to the input end of the lifting base.

[0021] Through the above structure, when the top layer of pipes is completely taken away, the silo unit can rise so that the top layer of pipes is always at a fixed height, so that the movement trajectory of the insertion robot each time it takes the pipes will not differ too much, thereby maintaining the change in the duration of each action of the insertion robot during the insertion assembly process within a smaller range, thereby improving the production efficiency of pallets, which are products with high demand.

[0022] Preferably, a pipe pre-loading unit is provided on one side of the silo unit, comprising: The pipe positioning mechanism is located on the side of the conveying unit close to the silo unit, and the pipe positioning mechanism includes a control frame, a first pushing component for pushing the side of the pipe, and a second pushing component for pushing the end of the pipe. The control frame is provided with a groove for placing the pipe; The disordered feeding mechanism is located above the pipe positioning mechanism and is used to place the pipes of the silo unit into the grooves of the processing rack. It includes a three-dimensional servo module and a visual positioning module and a material picking module driven by the three-dimensional servo module. The material picking module is used to capture the pipes. The input end of the material picking module is electrically connected to the output end of the visual positioning module, and the visual positioning module is interconnected with the three-dimensional servo module.

[0023] Through the above structure, the pipes placed in disorder in the silo unit can be pre-loaded into the processing rack, and the position of each pipe is fixed. The pipe insertion robot can take out the pipe from the fixed point. This pipe taking method can not only further shorten the action flow of the pipe insertion robot and improve the production efficiency of the pallet, but also ensure that the process of taking pipes will not go wrong, ensuring that the process of pallet production is unlikely to go wrong.

[0024] Preferably, the material picking module includes a Z-axis servo motor arranged on the three-dimensional servo module, a base frame arranged on the axis of the Z-axis servo motor, and a plurality of suction cup modules arranged on the base frame.

[0025] Through the above structure, it can adapt to pipes of different shapes and specifications, thereby improving the application scope of the intubation machine. In addition, during the tube removal process, it only needs to touch the top surface of the pipe, and there will be no collision with the adjacent pipes, ensuring that the removal process is stable and smooth.

[0026] Preferably, the silo unit is provided with two or more, and the three-dimensional servo module comprises: X-axis guide rails, two X-axis guide rails span across the top of all silo units; The Y-axis guide rail is slidably connected to the X-axis guide rail at both ends; Lifting module, slidably connected to the Y-axis guide rail; The output end of the lifting module faces downward, and the material taking module is arranged at the output end of the lifting module.

[0027] Through the above structure, a variety of pipes can be stored. For example, there may be a situation where the lengths or specifications of pipes that need to be inserted into a certain pallet in different directions are different. In this case, different pipes can be directly placed in different silo units, so that the disordered loading mechanism can take out a variety of pipes for the same pallet, making the insertion process of the pallet more efficient.

[0028] Preferably, the intubation manipulator comprises a mechanical arm and a clamp arranged on the mechanical arm, and a placement table for placing a plurality of clamps is further provided on a side of the tube positioning mechanism close to the intubation unit; the clamp comprises: A quick-change plate, located at the free end of the robot arm; Gripper; The driving module is used for driving the two clamping jaws to move closer or apart, and the driving module is detachably connected to the quick-change plate.

[0029] Through the above structure, when it is necessary to replace a pallet of different specifications and models, the original fixture can be removed by starting the quick-change plate, and the fixture that matches the pallet can be directly taken out from the placement table. There is no need for manual replacement of the fixture, which is very convenient.

[0030] Preferably, a force sensor is further provided between the clamp and the intubation manipulator, the intubation unit also includes a knocking mechanism, the output end of the force sensor is electrically connected to the input end of the knocking mechanism, the knocking mechanism includes a three-dimensional guide rail and a knocking head arranged on the three-dimensional guide rail, when the force sensor detects that the clamp is subjected to excessive force, the knocking head moves to the front end of the pipe and knocks the pipe into the intubation port.

[0031] Preferably, the placement table is also provided with a deburring mechanism, including a driving motor fixedly connected to the placement table and a deburring brush arranged on the shaft end of the driving motor.

[0032] Through the above structure, when some pipes have burrs and are difficult to assemble into the pallet, the insertion robot can align the pipe with the deburring brush driven by the drive motor to perform deburring operations, making the insertion process smoother. At the same time, it also avoids the situation where forced assembly of the pipe may easily result in improper assembly or damage to the pallet.

[0033] Preferably, the pressing and positioning mechanism comprises: The blocking mechanism is arranged on one side of the conveying unit, and includes a baffle and a lifting driving mechanism for driving the baffle to rise and fall; The pressing mechanism is arranged above one side of the conveying unit, and comprises a mounting frame fixedly connected to the conveying unit, a pressing driving mechanism fixedly installed on the mounting frame, and a pressing plate; The lateral positioning mechanism comprises two side pressure plates and a side pressure driving cylinder for driving the two side pressure plates to move closer to or away from each other. The two side pressure driving cylinders are fixedly connected to the bottom of the mounting frame.

[0034] Through the above structure, a solution is constructed that can adapt to the positioning of trays of different shapes, structures and specifications. As long as a tray comes over, it can be pressed and positioned to the preset position by pressure in all directions, making the application range of this intubation machine relatively wide.

[0035] Preferably, it also includes a material unloading unit for taking out the tray with completed intubation, wherein the material unloading unit is arranged between the intubation unit and the tray loading unit, and the material unloading unit includes a material unloading robot and a tray clamping tool driven by the material unloading robot.

[0036] Through the above structure, after the tray is assembled with pipes, the conveying unit retreats and transfers the tray to the unloading unit. The unloading robot takes the tray out of the conveying unit, thereby completing the fully automatic unloading without manual intervention. This is very convenient. In addition, this unloading method ensures that each process can proceed normally, and makes the spatial layout of the entire intubation machine more compact, reducing the occupied space.

[0037] Preferably, the pallet clamping tool comprises: The base is rotatably connected to the unloading manipulator; A slide rail fixedly connected to the base; The fork comprises a sliding fork and a fixed fork, wherein the fixed fork is fixedly connected to one end of the slide rail, and the sliding fork is slidably connected to the slide rail; The pallet clamping cylinder is fixed on the base, and the ejecting end of the pallet adding cylinder is connected to the sliding fork; The forks are all T-shaped and can enter the space between the pallet and the conveying platform.

[0038] Through the above structure, the pallet unloading can be completed fully automatically without human intervention, and the unloading robot can also be used for palletizing, which is very convenient.

[0039] Preferably, it also includes a pressure anti-slip pad unit, including: A substrate is disposed on the base and is located in a different plane from the base; The pressure head is arranged on the base plate, and comprises a cylinder, a first spring, an elastic contact and a top column. The cylinder is fixedly connected to the base plate. The elastic contact comprises a mounting cylinder arranged on the outer wall of the cylinder, a contact slidably mounted in the mounting cylinder, and a second spring connected between the contact and the bottom of the mounting cylinder. The free end of the contact is located in the cylinder when the second spring is not subjected to force. The pressure pad mechanism is fixedly connected to a position on the base plate corresponding to the pressure head, and includes a pressure pad electric cylinder and a pressure pad head arranged at the top end of the pressure pad electric cylinder; When the pressure pad mechanism is in operation, the pressure pad head presses the ejector post so that the anti-skid pad stuck in the cylinder by the elastic contact is squeezed out, and after the pressure pad head is separated from the cylinder, the first spring and the second spring are reset.

[0040] Through the above structure, not only is the function of pressing the anti-slip pad provided for the pallet, but the integration of the anti-slip pad pressing unit into the unloading robot of the unloading unit also makes the structure of the entire production line simpler, especially in terms of occupying less space, without the need for more robots, and the overall production time and cost will not be too high.

[0041] Preferably, the inner wall of the cylinder is provided with a limiting ring for preventing the first spring from detaching from the cylinder, and the top column is slidably connected to the inner wall of the cylinder and is located between the limiting ring and the elastic contact.

[0042] Through the above structure, the anti-skid pad can be stuck between the elastic contact and the limit ring, and will not fall out of the cylinder during the movement of the unloading robot, causing the anti-skid pad to fail. It can also ensure that the first spring and the top column will not fall out of the cylinder, ensuring that the anti-skid pad function is effective.

[0043] Preferably, a plurality of pressure heads are provided on the substrate and are distributed in a ring shape on the substrate, and a servo motor for driving the substrate to rotate is also provided on the base.

[0044] With the above structure, the anti-skid pad can be pressed multiple times continuously, thus avoiding the waste of work time caused by reinstalling the anti-skid pad every time an anti-skid pad is pressed.

[0045] Preferably, the anti-slip pad pressing unit also includes an anti-slip pad pre-loading mechanism, which is arranged next to the unloading robot, and the anti-slip pad pre-loading mechanism includes a vibration plate and a dividing mechanism connected to each other, and the dividing mechanism includes a support plate and a rotating plate rotatably connected to the support plate, and the edge of the rotating plate is provided with a plurality of recesses for placing the anti-slip pad; the side walls of the edge of the support plate are arranged around the edge side walls of the rotating plate to limit the anti-slip pad from detaching from the recess when the rotating plate rotates, and the output end of the vibration plate is opposite to the recess, and the distribution pattern of the recess and the pressure head corresponds to each other.

[0046] Through the above structure, it is possible to provide multiple anti-slip pads for the anti-slip pad pressing unit in a fully automated manner. When the unloading robot carries the pressing head to align with each notch, the anti-slip pad can be pressed down to load the anti-slip pad into all the pressing heads at one time. This can save a lot of labor costs and time costs, and is conducive to application in pallet assembly production with large demand.

[0047] Compared with the prior art, the present invention has the following beneficial effects: it realizes fully automated assembly of pipes into pallets, saving a large amount of labor costs, and obtains the pallet insertion position in real time through the visual correction module, making the assembly process accurate and error-free, and the pallet is not easily damaged by being punctured. It also has a low useless action operation process, and the assembly production efficiency is higher, which can more easily meet the current huge and growing demand for the use of high-weighing load pallets. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a schematic diagram of the three-dimensional structure of the fully automatic tray tube insertion machine proposed by the present invention; Figure 2 This is a top view of the structure of the fully automatic tray tube insertion machine proposed by the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the intubation unit in the fully automatic tray intubation machine proposed by the present invention; Figure 4This is a three-dimensional structural schematic diagram of the intubation station in the fully automatic tray intubation machine proposed by the present invention, mainly showing the visual correction module; Figure 5 It is a three-dimensional structural schematic diagram of the first reversing mechanism in the fully automatic tray tube insertion machine proposed by the present invention; Figure 6 It is a three-dimensional structural schematic diagram of the intubation manipulator in the fully automatic tray intubation machine proposed by the present invention, mainly showing the clamp; Figure 7 It is a three-dimensional structural schematic diagram of the pressing and positioning mechanism in the fully automatic tray tube insertion machine proposed by the present invention, mainly showing the pressing mechanism and the lateral positioning mechanism; Figure 8 It is a three-dimensional structural schematic diagram of the silo unit and the pipe pre-loading unit in the fully automatic tray pipe insertion machine proposed by the present invention; Fig. 9 It is a three-dimensional structural schematic diagram of the pipe positioning mechanism in the fully automatic tray pipe insertion machine proposed by the present invention; Fig.10 It is a three-dimensional structural schematic diagram of the disordered feeding mechanism in the fully automatic tray tube insertion machine proposed by the present invention, mainly showing the three-dimensional servo module; Fig.11 It is a three-dimensional structural schematic diagram of the disordered feeding mechanism in the fully automatic tray tube insertion machine proposed by the present invention, mainly showing the material taking module; Fig.12 It is a schematic diagram of the three-dimensional structure of the tray loading unit in the fully automatic tray pipe insertion machine proposed by the present invention; Fig.13 This is a schematic diagram of the three-dimensional structure of the weighing device in the fully automatic tray tube insertion machine proposed by the present invention; Fig.14 It is a three-dimensional structural schematic diagram of the unloading unit and the anti-slip pad pressing unit in the fully automatic tray tube insertion machine proposed by the present invention; Fig.15 It is a three-dimensional structural schematic diagram of the tray clamping tooling in the fully automatic tray tube insertion machine proposed by the present invention; Fig.16 A schematic diagram of the three-dimensional structure of the medium-pressure anti-slip pad unit of the fully automatic tray tube insertion machine proposed by the present invention; Fig.17 This is a schematic diagram of the three-dimensional structure of the pressure head in the fully automatic tray tube insertion machine proposed by the present invention; Fig.18 It is a three-dimensional structural schematic diagram of the anti-slip pad pre-loading mechanism in the fully automatic tray tube insertion machine proposed in the present invention.

[0049] In the figure: A. Pallet; B. Pipe; 1. Conveying unit; 11. Bracket; 12. Conveying platform; 13. Power module; 14. First reversing mechanism; 141. Lifting mechanism; 142. Lifting platform; 143. Driving assembly; 15. Third in-place detection module; 2. Intubation unit; 21. Visual correction module; 211. Mounting table; 212. Shifting guide rail; 213. Rotating cylinder; 214. Camera; 22. Intubation manipulator; 221. Robotic arm; 222. Clamp; 2221. Quick-change plate; 2222. Clamp; 2223. Drive module; 3. Compressing and positioning mechanism; 31. Blocking mechanism; 311. Baffle; 312. Lifting and driving mechanism; 32. Pressing mechanism; 321. Mounting frame; 322. Pressing and driving mechanism; 323. Pressing plate; 33. Horizontal positioning mechanism; 331. Side pressing plate; 332. Side pressing driving cylinder; 4. Bin unit; 41. Lifting base; 42. Bin wall; 43. First arrival detection module; 5. Pipe pre-loading unit; 51. Pipe positioning mechanism; 511. Gripping frame; 5111. Groove; 512. First push assembly; 513. Second push assembly; 52. Disordered feeding mechanism; 521. Three-dimensional servo module; 5211. X-axis guide rail; 5212. Y-axis guide rail; 5213. Lifting module; 522. Visual positioning module; 523. Retrieving module; 5231. Z-axis servo motor; 5232. Base frame; 5233. Suction cup module; 53. Placement table; 54. Deburring mechanism; 541. Driving motor; 542. Deburring brush; 6. Pallet loading unit; 61. Rack; 62. Conveyor line; 63. Weighing unit; 631. Intercepting mechanism; 6311. Intercepting plate; 6312. First lifting cylinder; 632. Second in-place detection module; 633. Weighing device; 6331. Push rod; 6332. Second lifting cylinder; 6333. Pressure sensor; 7. Unloading unit; 71. Unloading manipulator; 72. Pallet clamping tooling; 721. Base; 722. Slide rail; 723. Fork; 7231. Fixed fork; 7232. Sliding fork; 73. Pallet clamping cylinder; 74. Second reversing mechanism; 8. Anti-skid pad pressing unit; 81. Base plate; 82. Press head; 821. Cylinder; 8211. Limiting ring; 822. First spring; 823. Elastic contact; 824. Ejector column; 83. Press pad mechanism; 831. Press pad electric cylinder; 832. Press pad ejector; 84. Servo motor; 85. Anti-skid pad pre-loading mechanism; 851. Vibrating plate; 852. Material dividing mechanism; 8521. Support plate; 8522. Rotating plate; 85221. Notch. DETAILED DESCRIPTION

[0050] 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.

[0051] It should be understood that the pipe B referred to below mainly refers to a component inserted into the pallet A to improve the strength of the pallet A, which should include not only the currently existing pipe fittings, but also pipe fittings of various materials, shapes, and specifications that may appear in the future, and should also include solid components; and, pallet A cannot be limited to one type of plastic pallet. The pallet A in the present technical solution cannot be limited to the material, specification, shape and use of the pallet itself, but should refer to all pallets A that can be inserted with pipe B or solid components to improve strength and bearing capacity.

[0052] Therefore, it should be recognized that when technical personnel in this field implement this technical solution, all applications for the assembly of pipe fittings or solid components in various types of pallets A fall within the protection scope of this technical solution.

[0053] See also Figure 1-4 The present invention provides the following technical solution: a fully automatic tray intubation machine, comprising: Conveying unit 1 brings tray A to each station through servo drive; The intubation unit 2 is arranged beside the conveying unit 1, and includes a visual correction module 21 for obtaining the intubation position on the tray A and an intubation manipulator 22 for inserting the tube B into the tray A; A clamping and positioning mechanism 3, used to clamp the tray A during intubation; The output end of the visual correction module 21 is electrically connected to the input end of the intubation manipulator 22 .

[0054] As an optional implementation scheme of the present invention, after the tray A is formed, it is manually or automatically loaded into the conveying unit 1, and the conveying unit 1 is started by the controller. After the conveying unit 1 drives the tray A to the intubation unit 2, the conveying unit 1 stops running, and at the same time, the pressing and positioning mechanism 3 fixes the tray A on the conveying unit 1 from all directions, so as to avoid deviation when the visual correction module 21 obtains the intubation position and when the intubation unit 2 intubates, resulting in the inability to align the intubation position, and to prevent the tray A from being poked by the pipe B due to the inability to align and being damaged; Then the visual correction module 21 takes a picture of the end of pallet A, determines the current position of the insertion port on pallet A through image processing technology, and compares the current position of the insertion port with the pre-stored insertion position to calculate the compensation parameters, and sends the compensation parameters to the insertion robot 22. The insertion robot 22 obtains the actual motion trajectory parameters, so that it can align the tube B with the insertion port of the current pallet A and accurately insert the tube B into pallet A.

[0055] In the present technical solution, since the tray A that needs to be intubated may have different specifications and shapes, and even if it is the same tray A, the intubation position may be different, for example, the intubation port is located at the edge of the tray A, the clamping and positioning mechanism 3 applies pressure from all directions of the tray A, so that no matter what kind of tray A is, it is fixed by the same clamping and positioning mechanism 3. The advantage of this is that the initial positions of various trays A after being fixed by the same clamping and positioning mechanism 3 are the same, and the visual correction module 21 will not be blocked when obtaining the intubation position due to the intubation port being close to the side, top, etc. of the conveying unit 1, or the volume of the intubation manipulator 22 itself will cause collision and obstruction with the side, top, etc. of the conveying unit 1 during intubation; Furthermore, these initial positions can be pre-stored in the memory according to the specifications and models. When assembling a pallet A of corresponding specifications and models, the stored initial position data can be directly retrieved, so that the intubation robot 22 only needs to be fine-tuned according to the compensation parameters obtained by the visual correction module 21, thereby reducing the useless trajectory of the intubation robot 22 during each intubation, thereby greatly improving the intubation assembly efficiency.

[0056] Through the above structure, the pipe B can be assembled into the pallet A in a fully automated manner, which saves a lot of labor costs. The visual correction module 21 can obtain the insertion position of the pallet A in real time, making the assembly process accurate and error-free. The pallet A is not easily punctured and damaged. It also has a low useless action operation process, and the assembly production efficiency is high, which can more easily meet the current huge and growing demand for the use of high-weighing load pallets A.

[0057] like Figure 4 As shown, the conveying unit 1 includes a bracket 11, a conveying platform 12 on the bracket 11 for placing the pallet A, and a power module 13 for servo-driving the conveying platform 12 to operate. The conveying platform 12 includes one of a roller, a conveyor belt, and a chain.

[0058] As an optional implementation scheme of the present invention, when the conveying unit 1 is running, the power module 13 receives an electrical signal servo to drive the operation of the conveying platform 12, so the control of the conveying platform 12 is more precise, so the movement and stop position of the tray A are also relatively precise, which makes the clamping and positioning mechanism 3 more accurate in positioning the tray A after it is fixed, ensuring that each process, especially the intubation process, is carried out accurately.

[0059] Those skilled in the art should understand that the specific implementation of the conveyor platform 12 should not be limited to rollers, conveyor belts, and chains, but should also include other common conveying methods, and these methods can in fact be combined with the subsequent first reversing mechanism 14; at the same time, the power module 13 includes a servo motor.

[0060] Preferably, the conveying platform 12 in the present technical solution mainly uses rollers. Compared with other conveying methods, it has the advantages of high radial load and no need to install additional load-bearing structure, and there is a gap between each roller, which allows the components located below the conveying platform 12 to extend directly upward from the adjacent rollers. Compared with conveying methods such as conveyor belts, when combined with subsequent weighing units 63, first reversing mechanisms 14, and second reversing mechanisms 74, the structural design is easier and more reasonable (of course other conveying methods can also be combined). Therefore, the use of the above-mentioned conveying unit 1 for the intubation unit 2 and the clamping and positioning mechanism 3 in the present technical solution makes the overall technical solution lower in cost, smaller in space occupancy, and easy to be put into the market for wide use.

[0061] Through the above structure, the operation of the conveying unit 1 is controllable, and when matched with other processes, it can ensure that the conveying process of the pallet A is relatively accurate, avoiding the inaccurate movement position of the pallet A affecting the normal operation of each process.

[0062] like Figure 4-5 As shown, the conveying unit 1 further includes a third in-place detection module 15 , and an output end of the third in-place detection module 15 is electrically connected to an input end of the pressing and positioning mechanism 3 .

[0063] As an optional implementation scheme of the present invention, when the third in-place detection module 15 detects that the pallet A reaches the preset position of the conveying unit 1, it outputs an electrical signal to control the conveying unit 1 to stop running, and the clamping and positioning mechanism 3 starts running to fix the pallet A on the conveying unit 1.

[0064] In this technical solution, the third arrival detection module 15 may use an infrared distance measuring sensor.

[0065] Through the above structure, when the tray A is delivered to the right position, the positioning mechanism 3 is pressed to fix the tray A, thereby ensuring accurate positioning and avoiding affecting the accuracy of the intubation.

[0066] like Figure 4 As shown, the visual correction module 21 includes a mounting table 211, a shift guide rail 212 fixedly connected to the mounting table 211, a servo-driven linear slider slidably mounted on the shift guide rail 212, a rotating cylinder 213 arranged on the linear slider, and a camera 214 on the axis of the rotating cylinder 213, wherein the output end of the camera 214 is electrically connected to the input end of the intubation manipulator 22, and the length direction of the shift guide rail 212 is perpendicular to the length direction of the conveying unit 1.

[0067] As an optional implementation scheme of the present invention, when pallet A is fixed by the clamping positioning mechanism 3, the linear slider drives the camera 214 to move along the side direction of pallet A, and the rotating cylinder 213 drives the camera 214 to rotate so as to adjust the shooting angle, so as to achieve the side edge of pallet A without blind spots. It ensures that the multiple intubation positions obtained are accurate and correct, thereby ensuring that the intubation robot 22 can accurately insert the pipe B into the intubation port in pallet A.

[0068] In this technical solution, since there is usually more than one inlet for pipe insertion on the pallet A, and the position and number of the inlet for pipe insertion corresponding to each type of pallet A are different, it is necessary to take a photo of the inlet position of each inlet for pipe insertion to determine it. It should be understood that for this technical solution, one camera 214 can be used to take photos of multiple inlet for pipe insertion by moving, or multiple cameras 214 can be used to take photos of each inlet for pipe insertion respectively, and the linear slider and the rotating cylinder 213 can be used to adapt to pallets A of different specifications and types. Both methods should be within the protection scope of this technical solution.

[0069] Through the above structure, it is possible to adapt to trays A of different models and specifications to achieve the purpose of taking pictures, and to take better pictures to ensure that the position of the tray A obtained is accurate, ensure that the intubation process is carried out accurately, and ensure the quality of the finished product of the intubation tray A.

[0070] like Fig.12 As shown, it also includes a tray loading unit 6, including a frame 61 disposed at the front end of the conveying unit 1 and a conveying line 62 disposed on the frame 61 for driving the tray A to move; As an optional embodiment of the present invention, the pallet A is loaded onto the conveying unit 1 via the conveying line 62, so that the pallet A can be put onto the conveying unit 1 without manpower, which can save a lot of labor costs. It should be understood that the conveying line 62 here can be used as a conveying device for connecting the pallet A from the previous process to the conveying unit 1, and the "previous process" can be a thermoplastic molding device for the pallet A, or a technology used in the prior art to continuously load the pallet A onto the conveyor belt, such as a robot.

[0071] Through the above structure, the pallet A can be automatically loaded onto the conveying unit 1, which can save a lot of labor costs.

[0072] like Figure 12-13 As shown, the frame 61 is also provided with a weighing unit 63, including; The interception mechanism 631 is disposed on one side of the frame 61 close to the conveying unit 1, and includes an interception plate 6311 and a first lifting cylinder 6312 for driving the interception plate 6311 to rise and fall; The second in-place detection module 632 is disposed on the frame 61 and is used to detect whether the pallet A passes through the conveyor line 62. The output end of the second in-place detection module 632 is electrically connected to the input end of the first lifting cylinder 6312; and The weighing device 633 includes a plurality of ejector rods 6331 that can be extended upward from the conveyor line 62 , a second lifting cylinder 6332 for driving all ejector rods 6331 to move up and down, and a pressure sensor 6333 connected to the ejection end of the second lifting cylinder 6332 .

[0073] As an optional implementation scheme of the present invention, when pallet A passes through the second in-place detection module 632, the second in-place detection module 632 senses pallet A and outputs an electrical signal, controlling the first lifting cylinder 6312 to push upward, so that the intercepting plate 6311 blocks pallet A, and the conveyor line 62 stops running. Then the second lifting cylinder 6332 pushes upward, and multiple push rods 6331 pass through the conveyor line 62 to lift pallet A. At this time, the pressure sensor 6333 detects the weight of pallet A. When the weight of pallet A exceeds or is lower than the qualified weight range, an alarm is sounded through an indicator light or an alarm, and the staff can take out pallet A. When the weight of pallet A is within the qualified weight range, the second lifting cylinder 6332 and the first lifting cylinder 6312 return, and then the conveyor line 62 starts again to transport pallet A to the conveying unit 1.

[0074] In the present technical solution, it should be understood that the conveyor line 62 mainly uses rollers, which have the advantages of high radial load and no need to install additional load-bearing structures compared to other conveying methods, and there is also a gap between each roller, so that the top rod 6331 located below the conveyor line 62 can directly pass upward from the adjacent roller. The top of the top rod 6331 can also be connected together by multiple connecting rods, so that the top rod 6331 passing through the gap between the same adjacent rollers can support the bottom end of the tray A with the connecting rod, so that without aligning the tray A to the components above the weighing device 633, all trays A of various specifications can be weighed smoothly, thereby ensuring the effectiveness of the weighing function.

[0075] Through the above structure, pallet A can be weighed and tested before insertion to ensure that only qualified pallets A are inserted. This effectively avoids unqualified pallets A from entering the insertion process and causing impact on subsequent quality inspection, shipment, etc., greatly reduces the probability of rework, and solves the problem of blind insertion leading to a more complicated and troublesome disassembly process during rework.

[0076] like Figure 4-5 As shown, a first reversing mechanism 14 is also provided in the conveying plane of the conveying unit 1 at a position corresponding to the clamping and positioning mechanism 3, including a lifting mechanism 141, a lifting platform 142 rotatably connected to the lifting mechanism 141, and a driving component 143 for driving the lifting platform 142 to rotate.

[0077] As an optional implementation scheme of the present invention, generally speaking, common pallets A are square, and pipes B need to be inserted in two vertical directions to improve the overall strength. However, it is not ruled out that in some cases, steel pipes can be inserted at multiple angles. Therefore, through the setting of the first reversing mechanism 14, when pallet A enters the lower range of the clamping and positioning mechanism 3 (and the conveying unit 1 has stopped running), the lifting mechanism 141 first rises to allow the lifting platform 142 to lift up the pallet A. After completing the insertion of the pipe at one angle, the driving assembly 143 drives the lifting platform 142 to rotate to expose the insertion port of the pallet A at another angle, and the insertion is completed again through the insertion unit 2.

[0078] In the present technical solution, it should be understood that the lifting mechanism 141 is literally regarded as any component that can drive the lifting platform 142 to move up and down, which can be a common cylinder, scissor frame, etc.; the initial position of the lifting platform 142 is located below the surface of the conveying platform 12 to prevent affecting the normal movement of the tray A on the conveying unit 1; the specific structure of the driving component 143 may include a motor and a rotating electric cylinder, which is not specifically limited in the present technical solution. Any technical solution that can drive the lifting platform 142 to rotate should be regarded as within the protection scope of the driving component 143; Preferably, the drive assembly 143 includes an electric push rod, a stand and a sleeve. The sleeve is sleeved on the shaft where the lifting platform 142 is located. The stand is fixedly installed on the top of the lifting mechanism 141, and the two ends of the electric push rod are rotatably connected to the stand and the sleeve respectively. The advantage of this design is that the maximum rotation angle of the lifting platform 142 can be limited by the maximum stroke of the electric push rod, that is, the angle between the two insertion directions of the tray A is determined by the maximum stroke of the electric push rod. It is suitable for the insertion assembly of square trays A, which have the largest market share and the largest demand, because this type of tray A only needs to be inserted in two directions with an angle of 90°, and the electric push rod runs relatively quickly. It is difficult for the technical problem of inaccurate rotation angle to occur with only one electric push rod, and the service life is also relatively long.

[0079] Through the above structure, it is possible to insert the pipe from multiple directions of the pallet A to better improve the carrying capacity of the pallet A, and it can be applicable to various types of pallets A with different insertion directions, and has a wider range of application scenarios.

[0080] like Figure 1-3 and Figure 8 As shown, it also includes a silo unit 4 for storing pipes B, including a lifting base 41, a silo wall 42 and a first in-place detection module 43 for detecting the height position of the top pipe B, and the output end of the first in-place detection module 43 is electrically connected to the input end of the lifting base 41.

[0081] As an optional implementation scheme of the present invention, if the intubation manipulator 22 directly takes out the pipe B from the silo unit 4, then when the pipe B in the silo unit 4 becomes less and less, the movement trajectory required by the intubation manipulator 22 becomes larger and larger, which will greatly reduce the assembly efficiency of the pallet A. For the production of pallets A with large market demand, this problem is obviously not to be ignored. Every time the intubation manipulator 22 takes out the top layer of pipe B, the first in-place detection module 43 detects "lack of material", thereby sending an electrical signal to control the lifting base 41 to rise. When the first in-place detection module 43 detects the pipe B again, the lifting base 41 stops running, ensuring that the time consumed by the intubation manipulator 22 to take out the material each time does not change too much and affect the production efficiency of the pallet A.

[0082] In the present technical solution, it should be understood that the lifting base 41 should be regarded as a component with a lifting function, which is used to carry the pipe B. The specific structural design of the lifting base 41 is not specifically limited in the present technical solution, including but not limited to a scissor frame, a screw lifting method, a hydraulic cylinder, etc. All components with a lifting function that can be driven by an electrical signal should be regarded as within the protection scope of the present technical solution.

[0083] The silo wall 42 can also be provided with a movable function, so that the silo wall 42 of the silo unit 4 can be close to or away from the pipe B. This can prevent the pipe B from collapsing due to unbalanced force during its rise, and can provide more operating space when adding the pipe B to the silo unit 4.

[0084] Through the above structure, when the top layer of pipe B is completely taken away, the silo unit 4 can rise so that the top layer of pipe B is always at a fixed height position, so that the movement trajectory of the insertion robot 22 each time it takes the pipe B will not differ too much, thereby maintaining the change in the duration of each action of the insertion robot 22 during the insertion assembly process within a smaller range, thereby improving the production efficiency of products with a large demand, such as pallets A.

[0085] like Figure 1-3 and Figure 8-11As shown, a pipe pre-loading unit 5 is provided beside the silo unit 4, comprising: The pipe positioning mechanism 51 is located on one side of the conveying unit 1 close to the silo unit 4. The pipe positioning mechanism 51 includes a support frame 511, a first pushing component 512 for pushing the side of the pipe B, and a second pushing component 513 for pushing the end of the pipe B. The support frame 511 is provided with a groove 5111 for placing the pipe B. The disordered feeding mechanism 52 is located above the tube positioning mechanism 51 and is used to place the tube B of the silo unit 4 into the groove 5111 of the treatment rack 511. It includes a three-dimensional servo module 521 and a visual positioning module 522 and a material picking module 523 driven by the three-dimensional servo module 521. The material picking module 523 is used to capture the tube B. The input end of the material picking module 523 is electrically connected to the output end of the visual positioning module 522, and the visual positioning module 522 is interconnected with the three-dimensional servo module 521.

[0086] As an optional implementation scheme of the present invention, after the intubation manipulator 22 takes out the tube B in the treatment rack 511, it sends an electrical signal to the three-dimensional servo module 521, driving the visual positioning module 522 and the material taking module 523 to the top of the silo unit 4. The visual positioning module 522 identifies the removable tube B, and then the three-dimensional servo module 521 drives the material taking module 523 to approach and capture the tube B, and then drives the tube B to the top of the tube positioning mechanism 51. In this process, the first pushing component 512 and the second pushing component 513 returns, so that the tube B can be placed in the groove 5111 in the treatment frame 511. After being placed in, the first pushing component 512 and the second pushing component 513 push out, so that the tube B is positioned at a fixed point in the length direction and the width direction, so as to wait for the intubation manipulator 22 to take it out again; when the intubation manipulator 22 takes the tube B, the first pushing component 512 and the second pushing component 513 first release the tube B, and then the intubation manipulator 22 grabs the tube B to ensure that the intubation manipulator 22 has enough space to take out the tube B.

[0087] In the present technical solution, it should be understood that the technical solution of the visual positioning module 522 and the three-dimensional servo module 521 to locate the pipe B to be taken out is a commonly used technical solution at present, which can automatically mark and track the target pipe B, thereby driving the material taking module 523 to smoothly take out the pipe B, and then realize the smooth removal of the pipe B from the disorderly placed in the silo unit 4; the material taking module 523 should be identified as a device that can take away the pipe B, and its specific implementation includes but is not limited to a suction cup, a mechanical clamp 2222, a controllable magnet (i.e., an electromagnetic Iron), etc., since these methods are common and can be used in the present technical solution, they should be regarded as within the protection range of the material picking module 523; the three-dimensional servo module 521 is a commonly used XYZ guide rail module, which is a mature existing technology and will not be elaborated in the present technical solution. Any guide rail module that can drive the material picking module 523 to move in three-dimensional space can be regarded as within the protection range of the three-dimensional servo module 521. Those skilled in the art can also use a robot plus a visual positioning module 522 to replace the three-dimensional servo module 521.

[0088] Through the above structure, the pipes B placed in disorder in the silo unit 4 can be pre-loaded into the handling rack 511, and the position of each pipe B is fixed. The insertion robot 22 can take out the pipe B from a fixed point. This method of taking out the pipe B can not only further shorten the action flow of the insertion robot 22 and improve the production efficiency of the pallet A, but also ensure that there will be no errors in the process of taking out the pipe B, ensuring that the process of producing the pallet A is unlikely to make mistakes.

[0089] like Figure 10-11 As shown, the material picking module 523 includes a Z-axis servo motor 5231 disposed on the three-dimensional servo module 521 , a base frame 5232 disposed on the axis of the Z-axis servo motor 5231 , and a plurality of suction cup modules 5233 disposed on the base frame 5232 .

[0090] As an optional implementation scheme of the present invention, during the process of taking out the pipe B, the Z-axis servo motor 5231 drives the entire base frame 5232 to rotate, so as to match the length direction of the pipe B. The suction cup module 5233 can absorb the pipe B through negative pressure, so that it can adapt to pipes B of different shapes and specifications, thereby improving the application scope of the intubation machine. Moreover, during the process of taking out the pipe, it is only necessary to contact the top surface of the pipe B, and there will be no collision with the pipe B next to it, ensuring that the pipe taking process is stable and smooth.

[0091] In this technical solution, the Z-axis servo motor 5231 can also be used to enable the base frame 5232 to carry multiple parallel pipes B at the same time.

[0092] like Figure 8 and Fig.10 As shown, the silo unit 4 is provided with two or more three-dimensional servo modules 521 including: X-axis guide rails 5211, two X-axis guide rails 5211 span across the tops of all the silo units 4; The Y-axis guide rail 5212 is slidably connected to the X-axis guide rail 5211 at both ends; The lifting module 5213 is slidably connected to the Y-axis guide rail 5212; The output end of the lifting module 5213 faces downward, and the material taking module 523 is disposed at the output end of the lifting module 5213 .

[0093] As an optional embodiment of the present invention, multiple silo units 4 are provided so that a variety of pipes B can be stored. For example, there may be a situation where a certain pallet A needs to insert pipes B of different lengths or specifications in different directions. In this case, different pipes B can be directly placed in different silo units 4, so that the disordered loading mechanism 52 can take out a variety of pipes B for the same pallet A, making the insertion process of the pallet A more efficient.

[0094] like Figure 3 , Figure 6 as well as Figure 8-9 As shown, the intubation manipulator 22 includes a mechanical arm 221 and a clamp 222 arranged on the mechanical arm 221. A placement table 53 for placing multiple clamps 222 is also provided on one side of the tube positioning mechanism 51 close to the intubation unit 2; the clamp 222 includes: The quick-change plate 2221 is provided at the free end of the mechanical arm 221; Gripping jaws 2222; The driving module 2223 is used to drive the two clamping jaws 2222 to move closer or apart. The driving module 2223 can be detachably connected to the quick-change plate 2221 .

[0095] As an optional implementation scheme of the present invention, when it is necessary to replace a pallet A of different specifications and models, the original clamp 222 can be removed by starting the quick-change disk 2221, and the clamp 222 that matches the pallet A can be directly taken out from the placement table 53, without the need for manual replacement of the clamp 222, which is very convenient. When the pipe is taken out or inserted, the two claws 2222 on the clamp 222 are moved closer or farther away by controlling the drive module 2223 to clamp or loosen the pipe B. And when this technical solution is combined with the above-mentioned pipe pre-loading unit 5, it can well solve the technical problem that the insertion robot 22 is difficult to clamp a pipe B from multiple pipes B that are very close to each other.

[0096] Through the above structure, when it is necessary to replace the pallet A of different specifications and models, the original clamp 222 can be removed by starting the quick change plate 2221, and the clamp 222 that matches the pallet A can be directly taken out from the placement table 53. There is no need for manpower to replace the clamp 222, which is very convenient.

[0097] like Fig. 9 As shown, a deburring mechanism 54 is also provided on the placement table 53 , including a driving motor 541 fixedly connected to the placement table 53 and a deburring brush 542 provided on the shaft end of the driving motor 541 .

[0098] As an optional implementation scheme of the present invention, when part of the tube B has burrs and is difficult to be assembled into the tray A, the intubation robot 22 can align the tube B with the deburring brush 542 driven by the drive motor 541 to perform a deburring operation, thereby making the intubation process smoother and also avoiding the situation in which forced assembly of the tube B may result in improper assembly or damage to the tray A.

[0099] In the present technical solution, the burrs on the tube B can be detected by the aforementioned visual positioning module 522 or the visual correction module 21, or a function of detecting the burrs on the tube B can be separately provided on the treatment rack 511, and this is not specifically limited in the present technical solution.

[0100] Furthermore, a force sensor is provided between the clamp 222 and the robotic arm 221, and the intubation unit 2 also includes a knocking mechanism. The output end of the force sensor is electrically connected to the input end of the knocking mechanism. The knocking mechanism includes a three-dimensional guide rail and a knocking head arranged on the three-dimensional guide rail. When the force sensor detects that the clamp 222 is subjected to excessive force, the knocking head moves to the front end of the pipe B and knocks the pipe B into the intubation port.

[0101] In this technical solution, when the robot arm 221 cannot smoothly insert the pipe into the pallet, the force sensor will detect that the force is too large, and then output a command to control the knocking mechanism to start running. The knocking head is moved and aligned with the end face of the pipe B that cannot be smoothly inserted into the pallet A through the three-dimensional guide rail, and the three-dimensional guide rail provides a driving force to perform the knocking action, thereby facilitating the smooth completion of the assembly process of the pipe B, avoiding the difficulty in completing the assembly of the pipe B in the event of an abnormal situation, which causes the entire pallet A assembly production to stagnate. At the same time, no manpower is required, making the entire pallet assembly production more stable, simple and convenient. In addition, during the knocking process, the clamp 2222 can be separated appropriately, and only the support force perpendicular to the knocking direction is provided to the pipe B.

[0102] Through the above structure, the end face of tube B can be knocked when the insertion encounters an obstacle to ensure that tube B can finally be assembled into pallet A, ensuring that the entire pallet A assembly production is more stable while also eliminating the need for manpower to resolve such abnormal situations, making the assembly production of pallet A more convenient.

[0103] like Figure 4 and Figure 7 As shown, the pressing and positioning mechanism 3 includes: The blocking mechanism 31 is disposed on one side of the conveying unit 1 and includes a baffle 311 and a lifting driving mechanism 312 for driving the baffle 311 to rise and fall; The pressing mechanism 32 is disposed above one side of the conveying unit 1, and includes a mounting frame 321 fixedly connected to the conveying unit 1, a pressing driving mechanism 322 fixedly mounted on the mounting frame 321, and a pressing plate 323; The lateral positioning mechanism 33 includes two side pressure plates 331 and a side pressure driving cylinder 332 for driving the two side pressure plates 331 to move closer to or away from each other. The two side pressure driving cylinders 332 are fixedly connected to the bottom of the mounting frame 321.

[0104] As an optional implementation scheme of the present invention, when pallet A moves to the pipe B assembly station, it is blocked by the blocking mechanism 31, and then the pressing mechanism 32 and the lateral positioning mechanism 33 respectively press the top and both ends of pallet A, and can cooperate with the aforementioned first reversing mechanism 14 to press the bottom of pallet A to achieve positioning of pallet A in all directions, and this structural design is irrelevant to the position and direction of pallet A on the conveying unit 1 or the shape and specifications of pallet A itself, as long as pallet A is in place, it can be positioned at the preset position.

[0105] Through the above structure, a solution is constructed that can adapt to the positioning of trays A of different shapes, structures and specifications. As long as a tray A comes over, it can be pressed and positioned to the preset position by pressure in all directions, making the application range of this intubation machine relatively wide.

[0106] like Fig.14 As shown, it also includes a blanking unit 7 for taking out the tray A after the intubation is completed. The blanking unit 7 is arranged between the intubation unit 2 and the tray loading unit 6. The blanking unit 7 includes a blanking robot 71 and a tray clamping tool 72 driven by the blanking robot 71.

[0107] As an optional implementation scheme of the present invention, after the tray A is assembled with the pipe B, the conveying unit 1 retreats and transfers the pallet A to the unloading unit 7. The unloading robot 71 moves to the front of the pallet A, and the pallet clamping tooling 72 brings the pallet A out of the conveying unit 1, thereby completing the fully automatic unloading without human intervention, which is very convenient. In addition, this unloading method ensures that the position design of the visual correction module 21 and the intubation robot 22 at the intubation station is not affected, thereby avoiding unloading directly from the end of the conveying unit 1, which causes the spatial layout of the intubation unit 2 to be too compact, resulting in the inability to carry out the various processes normally. At the same time, the spatial layout of the entire intubation machine is more compact, reducing the occupied space.

[0108] In the present technical solution, since the unloading unit 7 can automatically take out the pallet A for palletizing, both the pallet A that fails the weighing as mentioned above and the pallet A that has been subsequently intubated can be unloaded. Therefore, for those skilled in the art, applying the unloading unit 7 to take out unqualified pallets A and palletize them also falls within the protection scope of the present technical solution. It not only makes the unloading operation of all pallets A more convenient, but also reduces the cost of using the robot arm, and does not affect the normal progress of the entire process. When the unqualified pallet A is moved to the unloading station, the entire intubation machine can also be made to occupy less space.

[0109] Through the above structure, after the tray A is assembled with the pipe B, the conveying unit 1 retreats and transfers the tray A to the unloading unit 7. The unloading robot 71 brings the tray A out of the conveying unit 1, thereby completing the fully automatic unloading without the need for human intervention. This is very convenient. In addition, this unloading method ensures that each process can proceed normally, while making the spatial layout of the entire intubation machine more compact and reducing the occupied space.

[0110] like Fig.15 As shown, the pallet gripping tool 72 includes: The base 721 is rotatably connected to the blanking robot 71; The slide rail 722 is fixedly connected to the base 721; The fork 723 includes a sliding fork 7232 and a fixed fork 7231. The fixed fork 7231 is fixedly connected to one end of the slide rail 722, and the sliding fork 7232 is slidably connected to the slide rail 722; The tray clamping cylinder 73 is fixed on the base 721, and the ejection end of the tray adding cylinder A is connected to the sliding fork 7232; The forks 723 are all T-shaped and can enter the space between the tray A and the conveying platform 12 .

[0111] As an optional implementation scheme of the present invention, after the insertion is completed, the unloading robot 71 drives the pallet clamping tooling 72 to move between the insertion unit 2 and the pallet loading unit 6, and the pallet clamping cylinder 73 retracts, so that the sliding fork 7232 is separated from the fixed fork 7231. When pallet A is transported to the right position by the conveying unit 1, the unloading robot 71 drives one of the forks 723 into the fork opening at the bottom of pallet A, so that the two forks 723 are respectively located on the upper and lower sides of pallet A, and then the pallet clamping cylinder 73 is pushed out, so that the two forks 723 are close together, thereby clamping pallet A. The unloading robot 71 can then take pallet A out of the conveying unit 1, thereby completing the entire pallet A unloading process.

[0112] Through the above structure, the unloading of the pallet A can be completed fully automatically without human intervention, and the unloading robot 71 can also be used for palletizing, which is very convenient.

[0113] Furthermore, the unloading unit 7 also includes a second reversing mechanism 74 , which is disposed on the conveying unit 1 .

[0114] In the present technical solution, the principle of the second reversing mechanism 74 is similar to or the same as that of the first reversing mechanism 14, and will not be elaborated here. It should be understood that when pallet A is unloading, if the direction of the fork of pallet A is parallel to the conveying direction of the conveying unit 1, it will cause the problem that the pallet clamping tool 72 is difficult to clamp pallet A, so the second reversing mechanism 74 can rotate pallet A so that the fork of pallet A faces the direction of the unloading robot 71, so that the unloading process of pallet A can proceed smoothly. Generally speaking, there is a possibility of random placement of pallet A when loading, which makes the direction of the fork of pallet A not parallel to the conveyor line 62, and not all pallets A need to be rotated by the first reversing mechanism 14 so that the pipe B is assembled in both directions of pallet A, so the setting of the second reversing mechanism 74 is of great significance.

[0115] like Figure 1 , Figure 14-16 As shown, it also includes a pressing anti-skid pad unit 8, including: The substrate 81 is disposed on the base 721 and is located in a different plane from the base 721; The pressure head 82 is arranged on the base plate 81, and includes a cylinder 821, a first spring 822, an elastic contact 823 and a top column 824. The cylinder 821 is fixedly connected to the base plate 81. The elastic contact 823 includes a mounting cylinder arranged on the outer wall of the cylinder 821, a contact slidably mounted in the mounting cylinder, and a second spring connected between the contact and the bottom of the mounting cylinder. When the second spring is not subjected to force, the free end of the contact is located in the cylinder 821. The pressure pad mechanism 83 is fixedly connected to the position on the base plate 81 corresponding to the pressure head 82, and includes a pressure pad electric cylinder 831 and a pressure pad head 832 arranged at the ejection end of the pressure pad electric cylinder 831; When the pressure pad mechanism 83 is in operation, the pressure pad head 832 squeezes the top column 824 so that the anti-slip pad stuck in the cylinder 821 by the elastic contact 823 is squeezed out, and after the pressure pad head 832 is separated from the cylinder 821, the first spring 822 and the second spring are reset.

[0116] As an optional implementation scheme of the present invention, the unloading robot 71 drives the pressure pad mechanism 83 equipped with an anti-slip pad to move to the unloading station. When the pallet A moves into place on the conveying unit 1, the unloading robot 71 drives the pressure head 82 to contact the surface of the pallet A. It should be understood that the position where the pressure head 82 contacts the pallet A can be arbitrary, preferably the upper surface. The anti-slip pad installed on the pallet A mainly prevents the materials placed thereon from slipping during use. When pressing the anti-slip pad, the pressure pad electric cylinder 831 drives the pressure pad top head 832 to push out, squeeze out the anti-slip pad located in the cylinder 821, and press it tightly on the pallet A.

[0117] In this technical solution, the anti-skid pad pressing unit 8 is integrated into the unloading manipulator 71 of the unloading unit 7, which not only simply provides the function of pressing the anti-skid pad, but also makes the structure of the entire production line simpler, especially occupies less space; It should also be understood that the integration of the anti-skid pad pressing unit 8 allows the intubation machine to either perform intubation first → then press the anti-skid pad → finally unload the material, or press the anti-skid pad → intubation → unload the material in the entire intubation process. The two processes have different assembly times for the overall pipe B. For the process of first pressing the anti-skid pad and then intubating, the anti-skid pad can be pressed while the intubation process is in progress, and the time consumed for pressing the anti-skid pad is usually shorter. When the intubation is completed, the subsequent pallet A waiting for intubation has completed the anti-skid pad pressing process. The pallet A that has completed intubation retreats on the conveyor table 12, and the unloading robot 71 that has entered the waiting state can quickly take out the pallet A that has completed intubation. Then the conveyor table 12 moves forward, and when the pallet A that has completed pressing the anti-skid pad is brought to the intubation station, the next pallet A that has not yet pressed the anti-skid pad also enters the anti-skid pad pressing process, which is obviously shorter than the process of first intubating and then pressing the anti-skid pad.

[0118] Of course, the process of first pressing the anti-slip pad and then inserting the tube is a significant improvement over the other process, but the present technical solution does not make any specific restrictions on the selection of the two processes, and both should fall within the protection scope of the present technical solution.

[0119] Through the above structure, not only is the function of pressing the anti-slip pad provided for the pallet A, but the integration of the anti-slip pad unit 8 into the unloading robot 71 of the unloading unit 7 also makes the structure of the entire production line simpler, especially in terms of occupying less space, without the need for more robots, and the overall production time and cost will not be too high.

[0120] like Fig.17 As shown, the inner wall of the cylinder 821 is provided with a limiting ring 8211 for preventing the first spring 822 from detaching from the cylinder 821 , and the top column 824 is slidably connected to the inner wall of the cylinder 821 and is located between the limiting ring 8211 and the elastic contact 823 .

[0121] As an optional embodiment of the present invention, when the pressure pad head 832 is pushed into the cylinder 821, the top column 824 is pushed by the pressure pad head 832 to push out the anti-skid pad stuck between the limit ring 8211 and the elastic contact 823. The setting of the limit ring 8211 allows the anti-skid pad to be stuck between the elastic contact 823 and the limit ring 8211, and will not fall out of the cylinder 821 during the movement of the unloading robot 71, causing the anti-skid pad to fail to function. It can also ensure that the first spring 822 and the top column 824 will not fall out of the cylinder 821, ensuring that the anti-skid pad function is effective.

[0122] like Fig.16 As shown, a plurality of pressing heads 82 are disposed on the substrate 81 and are distributed in a ring shape on the substrate 81 . A servo motor 84 for driving the substrate 81 to rotate is also disposed on the base 721 .

[0123] As an optional implementation scheme of the present invention, it is possible to carry multiple anti-skid pads at one time and perform multiple anti-skid pad pressing operations. When pressing the anti-skid pads, after completing one pressing operation, the servo motor 84 drives the base plate 81 to rotate a certain angle so that the next cylinder 821 is aligned with the pressing pad head 832 on the pressing pad electric cylinder 831, so that the next anti-skid pad pressing can be performed.

[0124] With the above structure, the anti-skid pad can be pressed multiple times continuously, thus avoiding the waste of work time caused by reinstalling the anti-skid pad every time an anti-skid pad is pressed.

[0125] like Fig.14 and Fig.18 As shown, the anti-skid pad pressing unit 8 also includes an anti-skid pad pre-loading mechanism 85, which is arranged next to the unloading robot 71. The anti-skid pad pre-loading mechanism 85 includes a vibration plate 851 and a distribution mechanism 852 that are connected to each other. The distribution mechanism 852 includes a support plate 8521 and a rotating plate 8522 that is rotatably connected to the support plate 8521. The edge of the rotating plate 8522 is provided with a plurality of recesses 85221 for placing the anti-skid pad; the side walls of the edge of the support plate 8521 are arranged around the edge side walls of the rotating plate 8522 to limit the anti-skid pad from detaching from the recess 85221 when the rotating plate 8522 rotates, and the output end of the vibration plate 851 is opposite to the recess 85221, and the distribution pattern of the recess 85221 and the pressure head 82 corresponds to each other.

[0126] As an optional implementation scheme of the present invention, the vibration disk 851 stores anti-skid pads and drives the anti-skid pads to be continuously output to the dividing mechanism 852 during operation. When an anti-skid pad enters the recess 85221 on the rotating disk 8522, the rotating disk 8522 rotates so that the next recess 85221 is aligned with the output channel of the vibration disk 851, thereby completing the pre-loading of multiple anti-skid pads. When the anti-skid pads on all the pressure heads 82 are pressed on the tray A, the unloading robot 71 can drive all the pressure heads 82 to align with all the recesses 85221 on the rotating disk 8522, and then the unloading robot 71 provides a driving force so that the anti-skid pad enters the cylinder 821 and is stuck between the elastic contact 823 and the top column 824.

[0127] Through the above structure, it is possible to provide multiple anti-slip pads for the anti-slip pad pressing unit 8 in a fully automated manner. When the unloading robot 71 carries the pressing head 82 to align with each notch 85221, the anti-slip pad can be pressed down to load the anti-slip pad into all the pressing heads 82 at one time. This can save a lot of labor costs and time costs, which is beneficial for application in the assembly production of pallets A with greater demand for use.

[0128] The working principle and use process of the present invention are as follows: after the tray A is formed, it is manually or automatically loaded into the conveying unit 1, and the conveying unit 1 is started by the controller. After the conveying unit 1 drives the tray A to the intubation unit 2, the conveying unit 1 stops running, and at the same time, the pressing and positioning mechanism 3 fixes the tray A on the conveying unit 1 from all directions, so as to avoid deviation when the visual correction module 21 obtains the intubation position and when the intubation unit 2 intubates, causing the intubation position to be misaligned, and to prevent the tray A from being damaged by being poked by the pipe B due to the misalignment; Then the visual correction module 21 takes a picture of the end of pallet A, determines the current position of the insertion port on pallet A through image processing technology, and compares the current position of the insertion port with the pre-stored insertion position to calculate the compensation parameters, and sends the compensation parameters to the insertion robot 22. The insertion robot 22 obtains the actual motion trajectory parameters, so that it can align the tube B with the insertion port of the current pallet A and accurately insert the tube B into pallet A.

[0129] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A fully automatic tray intubation machine, comprising a conveying unit that brings the tray to each station through a servo drive, an intubation unit arranged next to the conveying unit, and a clamping and positioning mechanism for clamping the tray during intubation; characterized in that: The intubation unit comprises a visual correction module for obtaining the intubation position on the tray and an intubation manipulator for inserting the tube into the tray; the output end of the visual correction module is electrically connected to the input end of the intubation manipulator.

2. The fully automatic tray intubation machine according to claim 1, characterized in that: The conveying unit comprises a bracket, a conveying platform on the bracket for placing a tray, and a power module for servo-driving the conveying platform to operate. The conveying platform comprises one of a roller, a conveyor belt, and a chain.

3. The fully automatic tray intubation machine according to claim 1, characterized in that: A first reversing mechanism is also provided in the conveying plane of the conveying unit at a position corresponding to the pressing and positioning mechanism, comprising a lifting mechanism, a lifting platform rotatably connected to the lifting mechanism, and a driving component for driving the lifting platform to rotate.

4. The fully automatic tray intubation machine according to claim 1, characterized in that: It also includes a silo unit for storing pipes, including a lifting base, a silo wall and a first in-place detection module for detecting the height position of the top pipe, wherein the output end of the first in-place detection module is electrically connected to the input end of the lifting base.

5. The fully automatic tray intubation machine according to claim 4, characterized in that: A pipe pre-loading unit is provided on one side of the silo unit, comprising: The pipe positioning mechanism is located on the side of the conveying unit close to the silo unit, and the pipe positioning mechanism includes a control frame, a first pushing component for pushing the side of the pipe, and a second pushing component for pushing the end of the pipe. The control frame is provided with a groove for placing the pipe; The disordered feeding mechanism is located above the pipe positioning mechanism and is used to place the pipes of the silo unit into the grooves of the processing rack. It includes a three-dimensional servo module and a visual positioning module and a material picking module driven by the three-dimensional servo module. The material picking module is used to capture the pipes. The input end of the material picking module is electrically connected to the output end of the visual positioning module, and the visual positioning module is interconnected with the three-dimensional servo module.

6. The fully automatic tray intubation machine according to claim 5, characterized in that: The material taking module comprises a Z-axis servo motor arranged on the three-dimensional servo module, a base frame arranged on the axis of the Z-axis servo motor, and a plurality of suction cup modules arranged on the base frame.

7. The fully automatic tray intubation machine according to claims 5-6, characterized in that: The silo unit is provided with two or more, and the three-dimensional servo module comprises: X-axis guide rails, two X-axis guide rails span across the top of all silo units; The Y-axis guide rail is slidably connected to the X-axis guide rail at both ends; Lifting module, slidably connected to the Y-axis guide rail; The output end of the lifting module faces downward, and the material taking module is arranged at the output end of the lifting module.

8. The fully automatic tray intubation machine according to claim 7, characterized in that: The intubation manipulator includes a mechanical arm and a clamp arranged on the mechanical arm. The side of the tube positioning mechanism close to the intubation unit is also provided with a placement table for placing multiple clamps; the clamp includes: A quick-change plate, located at the free end of the robot arm; Gripper; The driving module is used for driving the two clamping jaws to move closer or apart, and the driving module is detachably connected to the quick-change plate.

9. The fully automatic tray intubation machine according to claim 8, characterized in that: The placing table is also provided with a deburring mechanism, which comprises a driving motor fixedly connected to the placing table and a deburring brush arranged at the shaft end of the driving motor.

10. The fully automatic tray intubation machine according to claim 1, characterized in that: The pressing and positioning mechanism comprises: The blocking mechanism is arranged on one side of the conveying unit, and includes a baffle and a lifting driving mechanism for driving the baffle to rise and fall; The pressing mechanism is arranged above one side of the conveying unit, and comprises a mounting frame fixedly connected to the conveying unit, a pressing driving mechanism fixedly installed on the mounting frame, and a pressing plate; The lateral positioning mechanism comprises two side pressure plates and a side pressure driving cylinder for driving the two side pressure plates to move closer to or away from each other. The two side pressure driving cylinders are fixedly connected to the bottom of the mounting frame.

Images