Feeding system and method based on transfer robot

Abstract

The invention discloses a feeding system and method based on a transfer robot, the feeding system comprises a manual feeding station and the transfer robot, and the manual feeding station is provided with a safety locking device; the safety locking device comprises a safety protection device fixed side fixedly arranged on the manual feeding station and a safety protection device follow-up side connected with the transfer robot. A safety protection device fixing side clamping mechanism used for supporting and limiting the safety protection device follow-up side is arranged on the safety protection device fixing side. The utilization rate of the transfer robot is increased, the takt is increased, and the input of a feeding clamp is reduced.

Description

Technical Field

[0001] The invention discloses a feeding system, belongs to the technical field of mechanical processing, and specifically discloses a feeding system and method based on a handling robot. Background Art

[0002] In the modern automobile manufacturing process, the complexity of the body structure and the diversity of parts pose great challenges to the production process. Before each part is processed, assembled or welded, it needs to go through a precise loading process to be introduced into a specific device or production line. Due to the significant differences in the structure and morphology of automobile parts, manual loading still occupies the main position on the production line, although semi-automatic and fully automatic loading technologies have already existed.

[0003] In traditional automatic production lines, manual loading mainly presents three typical modes. The first is that the operator directly places the parts on the fixture, and then the station robot performs subsequent welding or other process operations. The main disadvantage of this method is that the manual loading time will directly occupy the production time of the station, which inevitably reduces the overall production cycle.

[0004] The second mode is that workers place parts in the fixture of the workstation, and the handling robot grabs and transfers them to the next workstation. Although this method improves production efficiency to a certain extent, it still does not achieve the maximum optimization of the cycle. More seriously, it increases the investment cost of the fixture, expands the production area, and the utilization rate of the handling robot is relatively low, failing to achieve optimal cost control.

[0005] The third loading method is to place the parts on the fixture and then transport them to the next station through the conveying equipment. This solution not only failed to significantly improve the production cycle, but also increased the investment in conveying equipment, further expanded the production site, and kept the production cost high.

[0006] Faced with the limitations of these traditional loading methods, manufacturers are in urgent need of finding a solution that can not only improve production line rhythm, but also keep costs to a minimum, while ensuring the safety and comfort of operators. Summary of the invention

[0007] The present invention discloses a feeding system and method based on a handling robot, which effectively improves the utilization rate of the handling robot, increases the cycle time, reduces the investment in feeding fixtures, has a high cycle time, fully utilizes space, occupies a small area, is safe and reliable, is easy to operate and maintain, and has a low cost.

[0008] The technical solution of the present invention is as follows: the present invention discloses a loading system based on a handling robot, including a manual loading station and a handling robot, the manual loading station is provided with a safety locking device, the safety locking device includes a safety protection device fixed side fixed on the manual loading station and a safety protection device follower side connected to the handling robot, the safety protection device fixed side is provided with a safety protection device fixed side clamping mechanism for supporting and limiting the safety protection device follower side.

[0009] In a preferred embodiment of the present invention, the safety protection device follower side includes a safety protection device follower side mounting plate, and the safety protection device follower side support rods and safety protection device follower side brackets are symmetrically arranged on both sides of the safety protection device follower side mounting plate.

[0010] In a preferred embodiment of the present invention, at least two safety protection device follower side support rods arranged in parallel and at intervals are provided on each side of the safety protection device follower side mounting plate.

[0011] In a preferred embodiment of the present invention, a mounting hole for connecting the transport robot and the gripper is provided on the follower-side mounting plate of the safety protection device.

[0012] In a preferred embodiment of the present invention, the fixed side of the safety protection device includes a fixed side base of the safety protection device, and two parallel and symmetrically arranged side panels are provided on the fixed side base of the safety protection device, and each side panel is provided with a fixed side card slot of the safety protection device and a fixed side clamping mechanism of the safety protection device.

[0013] In a preferred embodiment of the present invention, a support seat for supporting the follower side support rod of the safety protection device is correspondingly arranged at the bottom of the fixed side slot of the safety protection device, and a groove corresponding to the diameter of the follower side support rod of the safety protection device is arranged on the support seat.

[0014] In a preferred embodiment of the present invention, the width of the clamping groove on the fixed side of the safety protection device corresponds to the diameter of the supporting rod on the follower side of the safety protection device.

[0015] In a preferred embodiment of the present invention, the fixed side clamping mechanism of the safety protection device includes a cylinder connected to the side panel and a T-shaped limit plate hinged to the side panel, and one end of the T-shaped limit is hinged to the cylinder.

[0016] In a preferred embodiment of the present invention, a detection switch for the fixed side of the safety protection device is arranged on the side panel.

[0017] The present invention also discloses a method for realizing loading based on a loading system of a handling robot, the handling robot stops at the position of a manual loading port, the follower side support rod of the safety protection device is clamped by the fixed side clamping mechanism, and the handling robot is restricted from leaving the position of the manual loading port, and an operator can place parts on a gripper; after the operator has completed placing the parts and leaves the manual loading port, the operator presses a line periphery start button, the line control system receives a signal instruction, and the fixed side clamping mechanism of the safety protection device releases the follower side support rod; the handling robot carries the follower side of the safety protection device, the gripper and the parts, moves linearly along the fixed side slot of the safety protection device, disengages from the fixed side slot, leaves the manual loading station and transports the parts to the subsequent station; after the handling robot delivers the parts to the subsequent station, the follower side support rod of the safety protection device and the gripper are returned to the vicinity of the manual loading port, the follower side support rod is completely placed in the fixed side slot, the fixed side clamping mechanism of the safety protection device clamps the follower side support rod, returns to the initial state, and prepares for the next cycle.

[0018] The feeding system and method based on the handling robot of the present invention have the following significant technical advantages and beneficial effects: First, the system provides a lean feeding solution, which significantly improves the work cycle by transferring parts through the handling robot. Compared with the traditional feeding method, the present invention achieves a substantial improvement in the efficiency of the production line.

[0019] Secondly, the system innovatively allows operators to place parts directly on the gripper, a design that greatly improves the utilization rate of the handling robot. By reducing the number of fixtures at the feeding port, it not only further improves the work cycle, but also makes full use of the space, significantly reduces the floor space, facilitates operation and maintenance, and reduces the overall production cost.

[0020] Furthermore, the system has made an outstanding technical breakthrough in terms of safety. To protect the personal safety of operators, the invention uses a hardware mechanism to "lock" the handling robot, completely preventing possible injuries to personnel caused by accidental movement of the robot. After the loading is completed, the system accurately controls the robot to make the next move according to the predetermined trajectory, ensuring the safety and reliability of the production process.

[0021] In addition, the system achieves all-round safety protection during manual loading through an innovatively designed safety locking device. The coordination mechanism of the fixed side and the follower side of the safety protection device can not only effectively limit the movement trajectory of the handling robot, but also ensure the personal safety of the operator during the loading process. The follower side support rod is precisely controlled by the fixed side clamping mechanism, providing a reliable safety protection barrier for the production line.

[0022] The design of the system also greatly improves the work efficiency of the production line. Traditional loading methods are often limited by problems such as manual loading time taking up workstation time and low utilization rate of handling robots. The present invention achieves standardization and process optimization of the loading process through an intelligent safety locking mechanism. The handling robot can accurately complete the transfer of parts at the manual loading port, significantly shortening the production cycle and improving the overall operating efficiency of the production line.

[0023] The system is also highly versatile and adaptable. The follower side of the safety protection device adopts a modular design, including a mounting plate, a support rod and a bracket, which can be flexibly adapted to different types of handling robots and grippers. The design of the mounting holes further enhances the compatibility of the system, enabling it to be widely used in various industrial production scenarios such as automobile manufacturing and mechanical processing.

[0024] Finally, the system has made all-round guarantees in terms of safety performance. The two symmetrical side panels on the fixed side base of the safety protection device, as well as the carefully designed slots and clamping mechanisms on each side panel, can not only accurately locate and support the follower side support rod, but also achieve precise locking control through the cylinder and T-shaped limit plate. The equipped detection switch adds a layer of safety monitoring mechanism to ensure that the system can maintain the best safety level in any working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments disclosed in the present invention, the drawings of the embodiments will be briefly introduced below. These drawings are only used for illustrative purposes and are not intended to limit the protection scope of the present invention.

[0026] Figure 1 This is a schematic diagram of the overall layout of a lean loading solution based on a handling robot according to an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of manual loading of a lean loading solution based on a handling robot according to an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of a safety protection device for a lean feeding solution based on a handling robot according to an embodiment of the present invention;

[0029] Figure 4 It is a schematic diagram of the follower side of a safety protection device of a lean feeding solution based on a handling robot according to an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the connection between a handling robot, a follower side of a safety protection device, and a gripper according to a lean loading solution based on a handling robot according to an embodiment of the present invention;

[0031] Figure 6This is a schematic diagram of the fixed side of a safety protection device of a lean feeding solution based on a handling robot according to an embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the use process of a safety protection device for a lean feeding solution based on a handling robot according to an embodiment of the present invention;

[0033] In all the drawings, the same figure marks represent the same technical features, specifically: 1-manual loading station; 2-operator; 3-safety fence; 4-subsequent work equipment; 5-safety locking device; 6-gripper; 7-handling robot; 8-safety protection device follower side; 9-safety protection device fixed side; 10-safety protection device follower side mounting plate; 11-safety protection device follower side support rod; 12-safety protection device follower side bracket; 13-safety protection device fixed side slot; 14-safety protection device fixed side clamping mechanism; 15-safety protection device fixed side detection switch; 16-safety protection device fixed side base. DETAILED DESCRIPTION

[0034] The technical solution of the present invention (including the preferred technical solution) is further described in detail below by means of the accompanying drawings and by listing some optional 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 making creative work are within the scope of protection of the present invention.

[0035] In modern industrial production, especially in the field of automobile manufacturing, the efficiency and safety of the parts loading process are crucial. The present invention provides a lean loading system based on a handling robot, which greatly improves the overall performance of the production line through innovative safety design and process optimization.

[0036] like Figure 1-7 As shown, an embodiment of the present invention provides a lean loading solution based on a handling robot, including a manual loading station 1, an operator 2, a safety fence 3, subsequent work equipment 4, a safety protection device 5, a gripper 6, a handling robot 7, a safety protection device follower side 8, a safety protection device fixed side 9, a safety protection device follower side mounting plate 10, a safety protection device follower side support rod 11, a safety protection device follower side bracket 12, a safety protection device fixed side slot 13, a safety protection device fixed side clamping mechanism 14, a safety protection device fixed side detection switch 15, and a safety protection device fixed side base 16.

[0037] Among them, the manual loading station 1 includes a safety protection device fixed side 9 for manual loading, and the operator 2 can place the parts on the gripper 6 at the manual loading station 1. This manual loading method can meet the unpredictable needs in the production process, such as the need to frequently change the type of parts, the need for manual special processing, or the need for manual inspection. The setting of the manual loading station 1 makes the entire automated production line more flexible and adaptable, and can better meet the production needs of multiple varieties and small batches.

[0038] The safety fence 3 is installed on the ground to divide the working area and the non-working area to protect the safety of personnel and equipment. This way of dividing the working area can not only prevent the operator from accidentally entering the dangerous area, but also prevent the handling robot 7 from accidentally hitting people or equipment during operation. Furthermore, the safety fence 3 can include fences, gratings, scanners and other equipment to form a three-dimensional safety protection system to improve the safety of the entire working area.

[0039] The subsequent work equipment 4 is used to perform process operations such as welding, gluing, hemming, engraving, testing, assembly, and transportation on the transported parts. These process operations are important links in the production process and need to ensure product quality under a high degree of automation. The setting of the subsequent work equipment 4 meets this demand and improves production efficiency and product quality.

[0040] The safety protection device 5 comprises a safety protection device follower side 8 and a safety protection device fixed side 9, which is used to lock the robot through hardware when manual loading is performed to prevent the handling robot 7 from causing harm to personnel due to abnormal movement. The design of the safety protection device 5 fully considers the potential safety hazards in the human-machine collaboration process and ensures the personal safety of the operator, which is a major innovation of the present invention.

[0041] The safety protection device follower side 8 includes a safety protection device follower side mounting plate 10, a safety protection device follower side support rod 11, and a safety protection device follower side bracket 12. The structures are connected by screws, and the safety protection device follower side 8 is installed on the end flange of the handling robot 7 by screws passing through the safety protection device follower side mounting plate 10. This structural design enables the safety protection device follower side 8 to move with the movement of the handling robot 7, ensuring close cooperation during manual loading.

[0042] The fixed side 9 of the safety protection device includes a fixed side card slot 13 of the safety protection device, a fixed side clamping mechanism 14 of the safety protection device, a fixed side detection switch 15 of the safety protection device, and a fixed side base 16 of the safety protection device. The structures are connected by screws, and the fixed side 9 of the safety protection device is installed on the ground. Among them, the fixed side card slot 13 of the safety protection device is used to place the follower side support rod 11 of the safety protection device. The fixed side clamping mechanism 14 of the safety protection device is actuated by a cylinder in this case, and is used to lock or release the follower side support rod 11 of the safety protection device. When loading manually, the cylinder is actuated to clamp the support rod 11, so that the handling robot 7 cannot leave the loading position, ensuring the safety of the operator. The fixed side detection switch 15 of the safety protection device is used to detect the follower side bracket 12 of the safety protection device, and confirm whether the follower side 8 of the safety protection device is in the correct position of the loading port, so as to provide guarantee for the safe operation of the system.

[0043] The gripper 6 is installed on the follower side 8 of the safety protection device by screws. Furthermore, the gripper 6 can be installed on the follower side 8 of the safety protection device by a quick-change structure for grasping and placing parts. At the same time, the gripper 6 is also a part placement device for manual loading. The specific positioning and clamping method of the plate is not the focus of this patent. It should be pointed out that as long as the parts are positioned, clamped or adsorbed, it will be fine. This design allows the gripper 6 to cooperate with the handling robot 7 to complete automated handling and meet the needs of manual loading, thereby improving the flexibility and adaptability of the entire system.

[0044] The handling robot 7 is installed on the ground, carrying the safety protection device follower 8 and the gripper 6 to carry the parts. As the core execution unit of the entire system, the operation status and reliability of the handling robot 7 are directly related to the production efficiency and product quality. The present invention also innovates the design of the handling robot 7, fully considers the safety factors in the human-machine collaboration process, and ensures the reliability of the robot operation.

[0045] like Figure 5 As shown, the connection diagram of the gripper 6, the handling robot 7, and the follower side 8 of the safety protection device is shown in the figure. In order to clearly show the connection diagram, the gripper 6 and the handling robot 7 are hidden in the following implementation steps. Figure 7 As shown, one embodiment of the present invention provides a lean loading solution based on a handling robot, comprising the following steps:

[0046] S1: During manual loading, the handling robot 7 stops at the manual loading port, at which time the safety protection device follower side support rod 11 is held tightly by the safety protection device fixed side clamping mechanism 14, and the handling robot 7 cannot leave the manual loading port, and the operator 2 can place the parts on the gripper 6. This step ensures the safety of the manual loading process and avoids damage caused by abnormal movement of the robot.

[0047] S2: When manual loading is confirmed to be completed, operator 2 leaves the manual loading port after placing the parts, confirms safety, and presses the start button on the periphery of the line body. The control system of the line body receives a signal command, and the clamping mechanism 14 on the fixed side of the safety protection device releases the supporting rod 11 on the follower side of the safety protection device. This step removes the isolation between man and machine and prepares for the subsequent automatic handling.

[0048] S3: The handling robot 7 carries the safety protection device follower side 8, the gripper 6 and the parts, moves linearly along the safety protection device fixed side slot 13, and leaves the safety protection device fixed side slot 13. Then, the handling robot 7 leaves the manual loading station 1 and transports the parts to the subsequent station 4. This step realizes the automatic handling function of the handling robot 7 and improves production efficiency.

[0049] S4: After the handling robot 7 delivers the parts to the subsequent workstation 4, it carries the safety protection device follower side 8 and the gripper 6 back to the vicinity of the manual loading port, and the handling robot 7 moves with the safety protection device follower side support rod 11, and completely puts the safety protection device follower side support rod 11 into the safety protection device fixed side slot 13, and the safety protection device fixed side clamping mechanism 14 clamps, locks the safety protection device follower side support rod 11, and returns to the initial state, preparing for the next cycle. This step ensures the safety of the system during the human-machine collaboration process and prepares for the next cycle.

[0050] The present invention provides a lean feeding solution based on a handling robot, which fully utilizes space, requires less equipment, occupies a small area, is safe and reliable, is easy to operate and maintain, has a high robot utilization rate, and is low in cost.

[0051] Its innovations are mainly reflected in the following aspects:

[0052] 1. Design of the safety protection device. The cooperation between the follower side 8 of the safety protection device and the fixed side 9 of the safety protection device ensures that the robot will not move abnormally during the manual feeding process, thereby protecting the safety of the operator. This hardware-level safety protection is a major feature of the present invention.

[0053] 2. Flexibility of human-machine collaboration mode. The organic combination of manual loading station 1 and automatic handling links enables the entire system to adapt to the production needs of multiple varieties and small batches, meeting the development trend of modern manufacturing industry.

[0054] 3. High system integration. Fewer devices are required and the floor space is small, which is conducive to the optimization of factory layout and improves production efficiency. At the same time, operation and maintenance are relatively simple, which reduces the cost of use.

[0055] 4. Strong scalability. The core concept of the present invention is human-machine collaboration, and it is equipped with flexible safety protection devices, so it can be appropriately adjusted and expanded in different production scenarios to meet various production needs.

[0056] Those skilled in the art will readily appreciate that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, combinations, replacements, improvements, etc. made within the spirit and principles of the present invention are included within the protection scope of the present invention.

Claims

1. A loading system based on a handling robot, comprising a manual loading station and a handling robot, characterized in that: The manual loading station is provided with a safety locking device, which includes a fixed side of a safety protection device fixedly arranged on the manual loading station and a follower side of a safety protection device connected to the transport robot. The fixed side of the safety protection device is provided with a clamping mechanism of the fixed side of the safety protection device for supporting and limiting the follower side of the safety protection device.

2. The feeding system based on the handling robot according to claim 1 is characterized in that: The safety protection device follower side includes a safety protection device follower side mounting plate, and safety protection device follower side support rods and safety protection device follower side brackets are symmetrically arranged on both sides of the safety protection device follower side mounting plate.

3. The feeding system based on the handling robot according to claim 2 is characterized in that: At least two safety protection device follower side support rods arranged in parallel and at intervals are arranged on each side of the safety protection device follower side mounting plate.

4. The feeding system based on the handling robot according to claim 2 is characterized in that: The follower-side mounting plate of the safety protection device is provided with mounting holes for connecting the transport robot and the gripper.

5. The feeding system based on the handling robot according to claim 1 is characterized in that: The fixed side of the safety protection device comprises a fixed side base of the safety protection device, on which two parallel and symmetrically arranged side panels are arranged, and each side panel is provided with a fixed side card slot of the safety protection device and a fixed side clamping mechanism of the safety protection device.

6. The feeding system based on the handling robot according to claim 5 is characterized in that: A support seat for supporting the follower side support rod of the safety protection device is correspondingly arranged at the bottom of the fixed side slot of the safety protection device, and a groove corresponding to the diameter of the follower side support rod of the safety protection device is arranged on the support seat.

7. The feeding system based on the handling robot according to claim 5 is characterized in that: The groove width of the clamping groove on the fixed side of the safety protection device corresponds to the diameter of the supporting rod on the moving side of the safety protection device.

8. The feeding system based on the handling robot according to claim 5, characterized in that: The fixed side clamping mechanism of the safety protection device comprises a cylinder connected to the side plate and a T-shaped limit plate hinged to the side plate, and one end of the T-shaped limit plate is hinged to the cylinder.

9. The feeding system based on the handling robot according to claim 5, characterized in that: The side plate is provided with a safety protection device fixed side detection switch.

10. A method for loading materials based on a loading system based on a handling robot according to any one of claims 1 to 9, characterized in that: The handling robot stops at the manual loading port, and the follower side support rod of the safety protection device is clamped by the fixed side clamping mechanism, which restricts the handling robot from leaving the manual loading port. The operator can place the parts on the gripper; after the operator has placed the parts and leaves the manual loading port, he presses the line periphery start button, the line control system receives the signal command, and the fixed side clamping mechanism of the safety protection device releases the follower side support rod; the handling robot carries the follower side of the safety protection device, the gripper and the parts, moves in a straight line along the fixed side slot of the safety protection device, disengages from the fixed side slot, leaves the manual loading station and transports the parts to the subsequent station; after the handling robot delivers the parts to the subsequent station, it carries the follower side of the safety protection device and the gripper back to the vicinity of the manual loading port, completely places the follower side support rod into the fixed side slot, and the fixed side clamping mechanism of the safety protection device clamps the follower side support rod, returns to the initial state, and prepares for the next cycle.

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