Automatic workpiece feeding system

Abstract

The automatic part feeding system comprises a material frame assembly, the material frame assembly comprises a material frame structure and a limiting structure, the limiting structure is connected with the material frame structure, the limiting structure is provided with a limiting part and an overturning part, the limiting part is used for containing a to-be-assembled part, and the overturning part is arranged on the outer side of the to-be-assembled part; the positioning assembly is provided with an avoiding cavity, and the avoiding cavity is used for containing the material frame structure so as to clamp the material frame structure. The carrying assembly comprises a carrying structure and an unlocking structure, the unlocking structure is connected with the carrying structure and used for overturning the overturning part, and the carrying structure is arranged on one side of the positioning assembly and used for grabbing and transporting the to-be-assembled part in the avoiding cavity; the clamp assembly is arranged on one side of the carrying assembly and used for receiving the to-be-assembled part grabbed by the carrying structure. The automatic feeding device can perform automatic feeding, realizes an automatic production mode, improves the production efficiency, reduces the labor cost, and completely eradicates the potential safety hazard of cutting during manual operation.

Description

Technical Field

[0001] The present application relates to the field of automobile manufacturing technology, and in particular to an automatic loading system. Background Art

[0002] In the past, my country's automobile manufacturing and production of automobile sheet metal parts often rely on manual handling of automobile sheet metal parts. Since the metal cutting edges of automobile sheet metal parts are relatively sharp, there is a safety hazard of cuts during manual handling, and manual handling has the disadvantages of low production efficiency and high production costs. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide an automatic loading system that can automatically load parts, realize an automatic production mode, improve production efficiency, reduce labor costs, and eliminate the safety hazard of cuts caused by manual operations.

[0004] In the first aspect, an embodiment of the present application provides an automatic loading system, comprising: a rack assembly, comprising a rack structure and a limiting structure, the limiting structure being connected to the rack structure, and the limiting structure being provided with a limiting portion and a flipping portion, the limiting portion being configured to accommodate parts to be assembled, and the flipping portion being arranged on the outside of the parts to be assembled; a positioning assembly, which is provided with an avoidance cavity, the avoidance cavity being configured to accommodate the rack structure so as to clamp the rack structure; a conveying assembly, comprising a conveying structure and an unlocking structure, the unlocking structure being connected to the conveying structure for flipping the flipping portion, the conveying structure being arranged at one side of the positioning assembly, for grabbing and transporting the parts to be assembled in the avoidance cavity; a clamp assembly, which is arranged at one side of the conveying assembly, for receiving the parts to be assembled grabbed by the conveying structure.

[0005] In the above-mentioned implementation process, the limiting structure is connected to the material rack structure, so that after the parts to be assembled are placed on the limiting part of the limiting structure, they are limited by the flipping part, and then the material rack assembly is moved to the avoidance cavity of the positioning assembly, and the material rack assembly is clamped, the conveying structure moves to the positioning assembly, and the unlocking structure toggles the flipping part to achieve unlocking. The conveying structure grabs the parts to be assembled on the material rack structure and moves them to the clamp assembly. After all the parts to be assembled on the material rack structure are grabbed, the material rack assembly withdraws from the positioning assembly and moves to the original position for the next loading and transportation. The whole process is fully automatic loading, realizing an automatic production mode, improving production efficiency, reducing labor costs, and eliminating the safety hazard of cutting during manual operation.

[0006] In some embodiments, the positioning assembly includes a positioning frame and a clamping member, the positioning frame is configured with an opening, the opening is configured for the material rack structure to enter or move out of the avoidance cavity, and the clamping member is connected to the side of the positioning frame away from the opening to clamp the material rack structure.

[0007] In the above-mentioned implementation process, the clamping part is connected to the positioning frame, so that the material rack structure loaded with the parts to be assembled enters the positioning frame from the opening. After the material rack structure moves into place, the clamping part acts to clamp the material rack structure after positioning, making it convenient for the carrying structure to grab and carry the parts to be assembled, which is beneficial to improving production efficiency, reducing labor cost investment, and eliminating the safety hazard of cutting during manual operation.

[0008] In some embodiments, the positioning assembly further includes a first detector and a second detector, wherein the first detector is connected to the positioning frame for detecting the parts to be assembled on the rack structure, and the second detector is connected to the positioning frame for detecting the position of the rack structure.

[0009] In the above implementation process, the first detector and the second detector are respectively provided on the positioning frame, so that after the rack structure loaded with the parts to be assembled enters the positioning frame, it can be detected by the first detector and the second detector, and the detected information can be fed back, which is convenient for the system to control the operation of the handling components, realize the automatic production mode, and improve the production efficiency.

[0010] In some embodiments, the positioning assembly further includes a first guide member and a second guide member, the first guide member and the second guide member are respectively connected to the positioning frame, and the distribution direction of the first guide member and the second guide member is consistent with the movement direction of the material rack structure in the avoidance cavity.

[0011] In the above-mentioned implementation process, a first guide member and a second guide member are further provided on the positioning frame. When the material rack structure moves to the opening of the positioning frame, the first guide member and the second guide member can not only assist in the positioning of the material rack structure and reduce the positioning deviation of the material rack structure, but also prevent the material rack structure from colliding with the positioning frame, thereby reducing damage to the equipment and realizing automation.

[0012] In some embodiments, the fixture assembly includes a fixture base, a bracket and an adjustment structure, wherein the bracket and the adjustment structure are connected to the fixture base to adjust the position of the bracket relative to the fixture base.

[0013] In the above-mentioned implementation process, a bracket and an adjustment structure are respectively provided on the clamp base. The adjustment structure can be moved according to the shape characteristics of the parts to be assembled to adjust the position of the bracket so as to be compatible with the sharing of multiple models. After the transport structure grabs the parts to be assembled, it is convenient for the bracket to support and position the parts to be assembled, thereby completing the placement of the parts to be assembled.

[0014] In some embodiments, the adjustment structure is configured in plurality, and each adjustment structure is connected to the bracket on one side away from the fixture base. According to the shape characteristics of the parts to be assembled, the plurality of adjustment structures can be adjusted accordingly, so as to facilitate the bracket to support the parts to be assembled, realize compatibility with multiple models, reduce cost investment, improve efficiency, and save space.

[0015] In some embodiments, the clamp assembly further includes a first sensor and a second sensor, wherein the first sensor is connected to the clamp base for detecting the parts to be assembled on the bracket, and the second sensor is connected to the clamp base for detecting the parts to be assembled grasped by the transport structure.

[0016] In the above-mentioned implementation process, the first sensor and the second sensor are respectively provided on the clamp base. When the transporting structure grabs the parts to be assembled and moves them to the bracket, when the second sensor detects that the parts to be assembled have been placed on the bracket, the system controls the transporting structure to release the parts to be assembled. After the first sensor detects that there are no parts to be assembled on the bracket, the system controls the transporting structure to continue to grab the parts to be assembled and move them to the bracket. This reciprocating process completes automatic loading and realizes the automatic production mode.

[0017] In some embodiments, the transport structure includes a gripper frame, a visual camera and a transport piece. The visual camera is connected to the gripper frame to obtain feature points of the parts to be assembled and detect the positions of the parts to be assembled. The transport piece is connected to the gripper frame to grab the parts to be assembled.

[0018] In the above implementation process, a visual camera and a transport piece are set on the gripper skeleton. The visual camera obtains the feature points of the parts to be assembled, detects the position of the parts to be assembled, and then provides information feedback. After receiving the information, the system adjusts the moving trajectory of the gripper skeleton to ensure that the transport piece grabs the parts to be assembled, which not only achieves compatibility with the vehicle model, but also ensures stability during the grabbing process.

[0019] In some embodiments, the transport structure further includes a detection member connected to the gripper frame for detecting the distance between the transport structure and the part to be assembled, so as to facilitate the system to control the moving distance of the gripper frame and ensure that the transport member can accurately grab the part to be assembled.

[0020] In some embodiments, the position limiting structure includes a position limiting mounting frame, a mounting shaft and a position limiting block, wherein the position limiting block is connected to the mounting shaft, and the mounting shaft is connected to the position limiting mounting frame. The position limiting structure can be used to limit the support on both sides of the parts to be assembled, thereby preventing the parts to be assembled from falling off the rack assembly and improving safety during movement.

[0021] In some embodiments, the rack structure includes a rack frame and a fixing member, wherein the fixing member is connected to the rack frame, and the fixing member is provided with a plurality of limiting slots, and the limiting slots are configured to accommodate the parts to be assembled.

[0022] In the above implementation process, after the fixing part is connected to the rack frame, the limiting slot of the fixing part can be used to limit the parts to be assembled, so that the rack structure can accommodate the parts to be assembled, preventing the parts to be assembled from falling from the rack assembly, thereby improving safety during movement.

[0023] In some embodiments, the rack structure further includes a moving mechanism, and the moving mechanism is connected to the rack frame. By setting the moving structure on the rack frame, the rack frame can be moved, and then the parts to be assembled can be moved, thereby improving production efficiency and reducing fatigue of manual operation.

[0024] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0025] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of the structure of the automatic loading system provided in the embodiment of the present application;

[0028] Figure 2 A schematic diagram of the structure of the adaptation of the rack assembly and the positioning assembly of the automatic loading system provided in the embodiment of the present application;

[0029] Figure 3 A schematic diagram of the structure of a fixture assembly for an automatic loading system provided in an embodiment of the present application;

[0030] Figure 4 A schematic diagram of the structure of a rack assembly of an automatic loading system provided in an embodiment of the present application;

[0031] Figure 5 A schematic diagram of the partial structure of a rack assembly of an automatic loading system provided in an embodiment of the present application;

[0032] Figure 6 A schematic diagram of the bottom structure of a rack assembly of an automatic loading system provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the structure of a fixing member of an automatic loading system provided in an embodiment of the present application;

[0034] Figure 8 A schematic diagram of the structure of the limit structure of the automatic loading system provided in an embodiment of the present application;

[0035] Fig. 9 A schematic diagram of the structure of a positioning component of an automatic loading system provided in an embodiment of the present application;

[0036] Fig.10 A schematic diagram of the structure of the handling component of the automatic loading system provided in an embodiment of the present application.

[0037] Reference numerals

[0038] 100, rack assembly; 101, rack structure; 1011, rack frame; 1012, fixing piece; 10121, limit slot; 1013, moving mechanism; 1014, stacking slot; 102, limit structure; 1021, limit mounting frame; 1022, mounting shaft; 1023, limit block; 10231, first limit body; 10232, second limit body; 10233, matching groove; 1024, lever; 1025, stop block; 1026, connecting block; 1027, clamping block; 10271, clamping groove; 103, towing hook; 104, AGV carrier substrate; 200, positioning assembly; 201, positioning frame; 202, clamping member; 203, first detector; 204, second detector; 205, first guide member; 206, second guide member; 300, transport assembly; 301, gripper frame; 302, visual camera; 303, transport member; 304, detection member; 305, unlocking structure; 400, fixture assembly; 401, fixture base; 402, bracket; 403, adjustment structure; 404, first sensor; 405, second sensor; 500, parts to be assembled. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0040] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0041] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0042] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or a point connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0044] Example

[0045] In the present application, the automatic loading system includes a rack assembly 100, a positioning assembly 200, a conveying assembly 300 and a clamp assembly 400. The rack assembly 100 is used to accommodate parts 500 to be assembled, and the parts 500 to be assembled are sheet metal parts. The rack assembly 100 is towed to the positioning assembly 200 by a tractor or an AGV cart. The positioning assembly 200 can position and clamp the rack assembly 100 to avoid the occurrence of deviation and the like when the conveying assembly 300 clamps the parts 500 to be assembled from the rack assembly 100. The clamp assembly 400 is used to receive the parts 500 to be assembled transported by the conveying assembly 300. The parts 500 to be assembled include but are not limited to automobile hoods, for use in subsequent process operations. For example, after the parts 500 to be assembled are placed on the clamp assembly 400, processes such as gluing can be performed.

[0046] Specifically, if Figure 1-Figure 10 As shown, in the first aspect, the embodiment of the present application provides an automatic loading system, including: a rack assembly 100, including a rack structure 101 and a limiting structure 102, the limiting structure 102 is connected to the rack structure 101, and the limiting structure 102 is configured with a limiting portion and a flipping portion, the limiting portion is configured to accommodate a to-be-assembled component 500, and the flipping portion is configured on the outside of the to-be-assembled component 500; a positioning assembly 200, which is configured with an avoidance cavity, and the avoidance cavity is configured to accommodate the The material rack structure 101 is used to clamp the material rack structure 101; the transport component 300 includes a transport structure and an unlocking structure 305, the unlocking structure 305 is connected to the transport structure, and is used to flip the flipping part. The transport structure is configured on one side of the positioning component 200, and is used to grab and transport the to-be-assembled component 500 in the avoidance cavity; the clamp component 400 is configured on one side of the transport component 300, and is used to receive the to-be-assembled component 500 grabbed by the transport structure.

[0047] Exemplarily, there are two limiting structures 102, which are located on opposite sides of the rack structure 101, and the part to be assembled 500 is arranged between the two limiting structures 102, so that the part to be assembled 500 can be limited in the front and rear directions and left and right directions under the cooperation of the limiting structures 102 and the rack structure 101.

[0048] It should be noted that in order to improve the production rhythm of the automatic loading system and adapt to rapid switching, two material rack assemblies 100 can be arranged side by side, and correspondingly, two positioning assemblies 200 are also configured, and each positioning assembly 200 is used to adapt to one material rack assembly 100.

[0049] It can be understood that the unlocking structure 305 is provided on the conveying structure, so that when the rack structure 101 is equipped with the component to be assembled 500 and positioned on the positioning assembly 200, the unlocking structure 305 first drives the flipping part to flip to realize the unlocking function, and then the conveying structure grabs the component to be assembled 500 from the rack assembly 100 and transports it to the clamp assembly 400 for use in subsequent processes.

[0050] In the above-mentioned implementation process, the limiting structure 102 is connected to the rack structure 101, so that after the parts to be assembled 500 are placed on the limiting part of the limiting structure 102, they are limited by the flipping part, and then the rack assembly 100 is moved to the avoidance cavity of the positioning assembly 200, and the rack assembly 100 is clamped, the transporting structure moves to the positioning assembly 200, and the unlocking structure 305 toggles the flipping part to achieve unlocking, and the transporting structure grabs the parts to be assembled 500 on the rack structure 101 and moves to the clamp assembly 400, until all the parts to be assembled 500 on the rack structure 101 are grabbed, the rack assembly 100 withdraws from the positioning assembly 200, and moves to the original position for the next loading and transportation. The whole process is fully automatic loading, realizing an automatic production mode, improving production efficiency, reducing labor costs, and eliminating the safety hazard of cutting during manual operations.

[0051] like Fig. 9 As shown, the positioning assembly 200 includes a positioning frame 201 and a clamping member 202. The positioning frame 201 is provided with an opening, and the opening is configured for the material rack structure 101 to enter or move out of the avoidance cavity. The clamping member 202 is connected to the side of the positioning frame 201 away from the opening to clamp the material rack structure 101.

[0052] Exemplarily, the shape of the positioning frame 201 is set to be U-shaped, and the clamping member 202 includes but is not limited to a clamping cylinder. Two clamping members 202 are configured, and the two clamping members 202 are located on both sides of the positioning frame 201, so that when the material rack structure 101 moves into the avoidance cavity, the two clamping members 202 clamp the material rack structure 101.

[0053] In the above-mentioned implementation process, the clamping member 202 is connected to the positioning frame 201, so that the rack structure 101 loaded with the parts to be assembled 500 enters the positioning frame 201 from the opening. After the rack structure 101 moves into place, the clamping member 202 is actuated to clamp the rack structure 101 after positioning, making it convenient for the transport structure to grab and transport the parts to be assembled 500, which is beneficial to improving production efficiency, reducing labor cost investment, and eliminating the safety hazard of cuts caused by manual operations.

[0054] In some embodiments, the positioning assembly 200 also includes a first detector 203 and a second detector 204. The first detector 203 is connected to the positioning frame 201 to detect the parts to be assembled 500 on the rack structure 101, and the second detector 204 is connected to the positioning frame 201 to detect the position of the rack structure 101.

[0055] Exemplarily, the positioning frame 201 includes a positioning frame and a connecting frame, two of the positioning frames are provided, and the connecting frame connects the two positioning frames. The first detector 203 and the second detector 204 are each configured with at least one, for example, one of the first detectors 203 is provided, and two of the second detectors 204 are provided, wherein the first detector 203 can be connected to the connecting frame, and the second detector 204 can be connected to the positioning frame; of course, in other embodiments, the first detector 203 and the second detector 204 can also be arranged on the same side of the positioning frame 201, which is not specifically limited here.

[0056] In the above-mentioned implementation process, the first detector 203 and the second detector 204 are respectively provided on the positioning frame 201, so that after the rack structure 101 loaded with the parts to be assembled 500 enters the positioning frame 201, it can be detected by the first detector 203 and the second detector 204, and the detected information can be fed back, which is convenient for the system to control the operation of the conveying component 300, realize the automatic production mode, and improve the production efficiency.

[0057] Please refer to Fig. 9 The positioning assembly 200 also includes a first guide member 205 and a second guide member 206, the first guide member 205 and the second guide member 206 are respectively connected to the positioning frame 201, and the distribution direction of the first guide member 205 and the second guide member 206 is consistent with the moving direction of the rack structure 101 in the avoidance cavity.

[0058] Exemplarily, the first guide members 205 and the second guide members 206 are each provided in two rows, and the positioning frames are each provided with one row of the first guide members 205 and one row of the second guide members 206, wherein the first guide members 205 include but are not limited to guide wheels, and the guide wheels are provided in plurality, and the second guide members 206 include but are not limited to guide plates, and the guide plates are provided in plurality.

[0059] In the above-mentioned implementation process, the positioning frame 201 is further provided with a first guide member 205 and a second guide member 206. When the material rack structure 101 moves to the opening of the positioning frame 201, the first guide member 205 and the second guide member 206 can not only assist in the positioning of the material rack structure 101 and reduce the positioning deviation of the material rack structure 101, but also prevent the material rack structure 101 from colliding with the positioning frame 201, thereby reducing damage to the equipment and realizing automation.

[0060] like Figure 3 As shown, the clamp assembly 400 includes a clamp base 401, a bracket 402 and an adjustment structure 403. The bracket 402 and the adjustment structure 403 are connected to the clamp base 401 to adjust the position of the bracket 402 relative to the clamp base 401.

[0061] Exemplarily, the clamp base 401 is provided with supporting legs, the adjustment structure 403 is fixed to the clamp base 401, the bracket 402 is fixed to the adjustment structure 403, and the adjustment structure 403 is configured with at least one. In the present application, the adjustment structure 403 is configured with four. The four adjustment structures 403 are located at different positions of the clamp base 401. Each of the adjustment structures 403 can adjust the position of the bracket 402 according to the shape of the accessory 500 to be assembled, so as to achieve adaptation to different accessories 500 to be assembled.

[0062] In the above-mentioned implementation process, a bracket 402 and an adjustment structure 403 are respectively provided on the clamp base 401. The adjustment structure 403 can be moved according to the shape characteristics of the component to be assembled 500 to adjust the position of the bracket 402 to be compatible with multiple vehicle models. After the transport structure grabs the component to be assembled 500, it is convenient for the bracket 402 to support and position the component to be assembled 500, thereby completing the placement of the component to be assembled 500.

[0063] In some embodiments, the adjustment structure 403 is configured with a plurality of adjustment structures, and each adjustment structure 403 is connected to the bracket 402 on one side away from the fixture base 401. For example, the adjustment structure 403 includes a servo electric cylinder leg. The adjustment structure 403 has a function of adjusting the spatial position. According to actual needs, the adjustment structure 403 can be set to have one-dimensional, two-dimensional and three-dimensional spatial adjustment functions for compatibility with multiple vehicle models. According to the shape characteristics of the part to be assembled 500, the plurality of adjustment structures 403 can be adjusted accordingly to facilitate the support of the bracket 402 for the part to be assembled 500, realize compatibility with multiple vehicle models, reduce cost investment, improve efficiency, and save space.

[0064] In some embodiments, the clamp assembly 400 also includes a first sensor 404 and a second sensor 405, the first sensor 404 is connected to the clamp base 401, and is used to detect the accessory 500 to be assembled on the bracket 402 (for example, the first sensor 404 is used to sense whether the accessory 500 to be assembled is on the bracket 402. When the first sensor 404 detects that there is no material on the bracket 402, the system allows the transport structure to place the accessory 500 to be assembled on the bracket 402), and the second sensor 405 is connected to the clamp base 401, and is used to detect the accessory 500 to be assembled grasped by the transport structure (for example, the second sensor 405 is used to detect whether the accessory 500 to be assembled on the transport structure is placed on the bracket 402. When the second sensor 405 detects that the accessory 500 to be assembled on the transport structure has been placed on the bracket 402, the system controls the transport structure to release, and the transport structure completes the placement and proceeds to the next round of loading).

[0065] In the above-mentioned implementation process, the first sensor 404 and the second sensor 405 are respectively provided on the clamp base 401. When the transport structure grabs the part to be assembled 500 and moves it to the bracket 402, when the second sensor 405 detects that the part to be assembled 500 has been placed on the bracket 402, the system controls the transport structure to release the part to be assembled 500. After the first sensor 404 detects that there is no part to be assembled 500 on the bracket 402, the system controls the transport structure to continue to grab the part to be assembled 500 and move it to the bracket 402, and so on and so forth, to complete automatic loading and realize automatic production mode.

[0066] like Fig.10 As shown, the transport structure includes a gripper skeleton 301, a visual camera 302 and a transport piece 303. The gripper skeleton 301 can be used to connect to the robot's mechanical arm. The transport piece 303 includes but is not limited to a suction cup. The visual camera 302 is connected to the gripper skeleton 301 to obtain the feature points of the component 500 to be assembled and detect the position of the component 500 to be assembled. The transport piece 303 is connected to the gripper skeleton 301 to grab the component 500 to be assembled.

[0067] In the above-mentioned implementation process, a visual camera 302 and a transport piece 303 are provided on the gripper skeleton 301. The visual camera 302 obtains the feature points of the part to be assembled 500, detects the position of the part to be assembled 500, and then provides information feedback. After receiving the information, the system adjusts the moving trajectory of the gripper skeleton 301, thereby ensuring that the transport piece 303 grasps the part to be assembled 500, which not only achieves compatibility with the vehicle model, but also ensures stability during the grasping process.

[0068] In some embodiments, the transport structure further includes a detection member 304, which includes but is not limited to a proximity switch sensor, and the detection member 304 is connected to the gripper frame 301 to detect the distance between the transport structure and the part to be assembled 500. This facilitates the system to control the moving distance of the gripper frame 301, ensuring that the transport member 303 can accurately grab the part to be assembled 500.

[0069] like Figure 8 As shown, the limiting structure 102 includes a limiting mounting frame 1021, a mounting shaft 1022 and a limiting block 1023, wherein the limiting block 1023 is connected to the mounting shaft 1022, and the limiting block 1023 can be turned on the mounting shaft 1022 to limit or cancel the position of the component to be assembled 500, and the mounting shaft 1022 is connected to the limiting mounting frame 1021. The limiting structure 102 can be used to limit the support on both sides of the component to be assembled 500, stabilize the spatial position of the component to be assembled 500, improve the stability during the grasping process, and prevent the component to be assembled 500 from falling off the rack assembly 100, thereby improving the safety during the moving process and avoiding quality problems such as deformation of parts.

[0070] Specifically, if Figure 5As shown, the limiting block 1023 includes a first limiting body 10231 and a second limiting body 10232, the first limiting body 10231 is connected to the second limiting body 10232, the first limiting body 10231 is used to contact and limit the assembly part 500, and the bottom of the second limiting body 10232 is provided with a matching groove 10233; the limiting structure 102 also includes a lever 1024, a stopper 1025, a connecting block 1026 and a clamping block 1027, the The stopper 1025 is connected to the connecting block 1026, and the connecting block 1026 is sleeved on the installation shaft 1022. The clamping block 1027 is located on one side of the stopper 1025. The clamping block 1027 is fixed to the installation shaft 1022 (for example, by welding, etc.), and the clamping block 1027 is provided with a clamping groove 10271. The lever 1024 is elastically connected to the clamping block 1027 (for example, a clamping groove 10271 is provided between the lever 1024 and the clamping block 1027). The lever 1024 can rotate relative to the engaging block 1027, and when the lever 1024 is adapted to the engaging groove 102271, one end of the lever 1024 extends to the outside of the engaging block 1027 and abuts against the stopper 1025, so that the connecting block 1026 cannot rotate relative to the mounting shaft 1022 and is limited in the matching groove 10233, thereby limiting the position of the limiting block 1023. It cannot rotate relative to the installation shaft 1022; when the lever 1024 is pushed outward, the lever 1024 disengages from the engaging groove 10271, and one end of the lever 1024 moves to the inside of the engaging block 1027, thereby unlocking the stop block 1025, causing the connecting block 1026 to rotate relative to the installation shaft 1022 and disengage from the matching groove 10233, thereby allowing the limit block 1023 to rotate relative to the installation shaft 1022.

[0071] It can be understood that the adaptation of the lever 1024 to the snap-in groove 10271 or the disengagement from the snap-in groove 10271 can be done manually, the rotation of the connecting block 1026 relative to the mounting shaft 1022 and the disengagement from the matching groove 10233 or the adaptation to the matching groove 10233 can also be done manually, and the rotation of the limit block 1023 relative to the mounting circle 1022 can be operated through the unlocking structure 305 of the transport assembly 300; of course, in other embodiments, for all the above operations, operations through the transport assembly 300 are not excluded.

[0072] like Figure 4-Figure 7As shown, the rack structure 101 includes a rack frame 1011 and a fixing member 1012 , wherein the fixing member 1012 is connected to the rack frame 1011 , and the fixing member 1012 is provided with a plurality of limiting slots 10121 , and the limiting slots 10121 are configured to accommodate the parts 500 to be assembled.

[0073] Exemplarily, a towing hook 103 is provided at one end of the rack frame 1011 for transportation by a tractor, and an AGV supporting base plate 104 is provided at the bottom of the rack frame 1011 for transportation by an AGV trolley for automatic transplanting. At the same time, in order to realize the stacking of the rack structure 101 in the up and down directions and save the storage space of the rack structure 101, a stacking slot 1014 is provided at the bottom of the rack structure 101.

[0074] It can be understood that there are two fixing members 1012, which are located on opposite sides of the rack frame 1011, and are used to limit and support the parts to be assembled 500. The positions where the fixing members 1012 contact the parts to be assembled 500 can be provided with soft materials such as polyurethane to avoid damaging the parts to be assembled 500.

[0075] In the above implementation process, after the fixing member 1012 is connected to the rack frame 1011, the limiting slot 10121 of the fixing member 1012 can be used to limit the component 500 to be assembled, so that the rack structure 101 can accommodate the component 500 to be assembled, thereby preventing the component 500 to be assembled from falling from the rack assembly 100 and improving safety during the movement.

[0076] In some embodiments, the rack structure 101 further includes a moving mechanism 1013, the moving mechanism 1013 includes moving wheels, and the moving mechanism 1013 is connected to the bottom of the rack frame 1011. By setting the moving structure on the rack frame 1011, the rack frame 1011 can be moved, and then the parts to be assembled 500 can be transported, which improves production efficiency and reduces fatigue of manual operation.

[0077] In all the embodiments of the present application, "big" and "small" are relative, "more" and "less" are relative, and "up" and "down" are relative. The expressions of such relative terms are not elaborated in the embodiments of the present application.

[0078] It should be understood that the "in this embodiment", "in the embodiment of the present application" or "as an optional implementation" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in this embodiment", "in the embodiment of the present application" or "as an optional implementation" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0079] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0080] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An automatic loading system, characterized in that: include: A rack assembly, comprising a rack structure and a limiting structure, wherein the limiting structure is connected to the rack structure and is provided with a limiting portion and a flipping portion, wherein the limiting portion is configured to accommodate a component to be assembled, and the flipping portion is configured on the outside of the component to be assembled; A positioning assembly, which is provided with an avoidance cavity, wherein the avoidance cavity is configured to accommodate the rack structure so as to clamp the rack structure; A transport assembly, comprising a transport structure and an unlocking structure, wherein the unlocking structure is connected to the transport structure and is used to flip the flipping portion, and the transport structure is arranged on one side of the positioning assembly and is used to grab and transport the to-be-assembled parts in the avoidance cavity; A clamp assembly is arranged on one side of the transport assembly and is used to receive the to-be-assembled component grasped by the transport structure.

2. The automatic loading system according to claim 1, characterized in that: The positioning assembly includes a positioning frame and a clamping member. The positioning frame is provided with an opening, and the opening is configured for the material rack structure to enter or move out of the avoidance cavity. The clamping member is connected to a side of the positioning frame away from the opening to clamp the material rack structure.

3. The automatic loading system according to claim 2, characterized in that: The positioning assembly also includes a first detector and a second detector. The first detector is connected to the positioning frame to detect the parts to be assembled on the rack structure, and the second detector is connected to the positioning frame to detect the position of the rack structure.

4. The automatic loading system according to claim 2 or 3, characterized in that: The positioning assembly also includes a first guide member and a second guide member, the first guide member and the second guide member are respectively connected to the positioning frame, and the distribution direction of the first guide member and the second guide member is consistent with the movement direction of the material rack structure in the avoidance cavity.

5. The automatic loading system according to claim 1, characterized in that: The clamp assembly includes a clamp base, a bracket and an adjustment structure, wherein the bracket and the adjustment structure are connected to the clamp base and are used to adjust the position of the bracket relative to the clamp base.

6. The automatic loading system according to claim 5, characterized in that: There are a plurality of adjustment structures, and a side of each adjustment structure away from the clamp base is connected to the bracket.

7. The automatic loading system according to claim 5 or 6, characterized in that: The clamp assembly also includes a first sensor and a second sensor. The first sensor is connected to the clamp base to detect the parts to be assembled on the bracket, and the second sensor is connected to the clamp base to detect the parts to be assembled grasped by the transport structure.

8. The automatic loading system according to claim 1, characterized in that: The transport structure includes a gripper frame, a visual camera and a transport piece. The visual camera is connected to the gripper frame to obtain feature points of the parts to be assembled and detect the positions of the parts to be assembled. The transport piece is connected to the gripper frame to grab the parts to be assembled.

9. The automatic loading system according to claim 8, characterized in that: The transport structure further comprises a detection member, which is connected to the gripper frame and is used to detect the distance between the transport structure and the part to be assembled.

10. The automatic loading system according to claim 1, characterized in that: The limiting structure includes a limiting mounting frame, a mounting shaft and a limiting block, wherein the limiting block is connected to the mounting shaft, and the mounting shaft is connected to the limiting mounting frame.

11. The automatic loading system according to claim 1, characterized in that: The rack structure includes a rack frame and a fixing member, wherein the fixing member is connected to the rack frame and is provided with a plurality of limit slots, wherein the limit slots are configured to accommodate the parts to be assembled.

12. The automatic loading system according to claim 11, characterized in that: The material rack structure also includes a moving mechanism, and the moving mechanism is connected to the material rack frame.

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