Dislocation type mechanical arm replacement feeding disc

Abstract

The invention provides a staggered mechanical arm replacement feeding tray which is applied to the technical field of automatic equipment and comprises a first feeding tray and a second feeding tray, and the first feeding tray and the second feeding tray are vertically embedded; the first feeding tray comprises a plurality of first caulking grooves and first covers, the first caulking grooves and the first covers are arranged vertically and horizontally, and the first caulking grooves and the first covers are spaced from each other; the second feeding tray comprises a plurality of second caulking grooves and second covers, the second caulking grooves and the second covers are arranged vertically and horizontally, and the second caulking grooves and the second covers are spaced from each other; the upper and lower corners of the first feeding tray and the second feeding tray are correspondingly covered; the technical problems that although a part of problems can be relieved through an existing conventional improvement scheme such as additionally arranging a partition plate or a layering guide mechanism, the structure is complex and is difficult to adapt to rapid remodeling of materials of multiple specifications, and in addition, the problems of positioning deviation and mechanical clamping stagnation of a traditional feeding disc are further aggravated through severe working conditions such as cooling liquid splashing and metal scrap accumulation are solved.

Description

Technical Field

[0001] This application relates to the technical field of automated equipment, and particularly to a misaligned manipulator replacement loading tray. Background Art

[0002] In the traditional loading trays in the fields of machining and automated loading, a coaxial stacked structure is mostly adopted. When stacking materials, they can only be stacked layer by layer in the vertical direction, resulting in the manipulator having to frequently adjust the vertical height to avoid interference with adjacent layers when picking and placing materials, with low space utilization and limited operation efficiency.

[0003] Especially in high-speed and high-precision scenarios such as machining, CNC, and sliding headstock lathes, the existing loading trays are prone to complex material grasping paths due to the lack of an interlayer misalignment design. At the same time, the stacked structure causes the materials at the bottom layer to bear the gravity extrusion of the upper layer, posing a risk of surface scratches or deformation of precision workpieces. Although conventional improvement solutions such as adding partition plates or layered guiding mechanisms can alleviate some problems, they have complex structures and are difficult to adapt to the rapid change of multiple specifications of materials. In addition, harsh working conditions such as coolant splashing and metal chip accumulation further exacerbate the positioning offset and mechanical jamming problems of traditional loading trays. Summary of the Invention

[0004] This application aims to solve the technical problems that although conventional improvement solutions such as adding partition plates or layered guiding mechanisms can alleviate some problems, they have complex structures and are difficult to adapt to the rapid change of multiple specifications of materials. In addition, harsh working conditions such as coolant splashing and metal chip accumulation further exacerbate the positioning offset and mechanical jamming problems of traditional loading trays, and provides a misaligned manipulator replacement loading tray.

[0005] This application adopts the following technical means to solve the technical problems: A misaligned manipulator replacement loading tray,

[0006] A misaligned manipulator replacement loading tray, the loading tray includes:

[0007] A first loading tray and a second loading tray, the first loading tray and the second loading tray are mutually vertically nested;

[0008] The first loading tray, the first loading tray includes a number of first grooves and a first cover arranged vertically and horizontally, and the first grooves and the first cover are spaced from each other;

[0009] The second loading tray, the second loading tray includes a number of second grooves and a second cover arranged vertically and horizontally, and the second grooves and the second cover are spaced from each other;

[0010] The upper and lower corners of the first loading tray and the second loading tray are correspondingly covered;

[0011] The first loading tray is connected to the second loading tray. The first slot is adapted to the second cover, and the first cover is adapted to the second slot.

[0012] Further, guide posts and positioning holes are respectively provided at the corners of the first loading tray and the second loading tray, and the guide posts and the positioning holes are adapted to each other.

[0013] Further, anti-slip protrusions are provided on the inner walls of the first slot and the second slot, and grooves adapted to the anti-slip protrusions are provided on the lower surfaces of the first cover and the second cover.

[0014] Further, an adjustable telescopic mechanism is provided at the connection of the first loading tray and the second loading tray. The adjustable telescopic mechanism includes an upper magnetic plate, a lower magnetic plate and a spring column. The upper magnetic plate and the lower magnetic plate have the same magnetic poles, and the two ends of the spring column are respectively connected to the upper magnetic plate and the lower magnetic plate.

[0015] Further, an air-floating buffer layer is provided at the bottom of the first slot and the second slot, and air flow is released through micro air holes to form a non-contact support between the material and the slot.

[0016] Further, the loading tray further includes an interlayer positioning sensor and an RFID tag. The sensor real-time detects the interlayer misalignment state, and the RFID tag stores the material specifications and stacking parameter information.

[0017] The present application provides a misaligned manipulator replacement loading tray, which has the following beneficial effects: through the first loading tray and the second loading tray, the first loading tray and the second loading tray are mutually nested up and down; the first loading tray, the first loading tray includes a number of first slots and first covers arranged vertically and horizontally, and the first slots and the first covers are spaced apart from each other; the second loading tray, the second loading tray includes a number of second slots and second covers arranged vertically and horizontally, and the second slots and the second covers are spaced apart from each other; the upper and lower corners of the first loading tray and the second loading tray correspond and cover each other; the first loading tray is connected to the second loading tray, the first slot is adapted to the second cover, and the first cover is adapted to the second slot; it has the technical problem of solving the current conventional improvement solutions such as adding partition plates or layered guiding mechanisms, although they can alleviate some problems, but the structure is complex and it is difficult to adapt to the rapid change of multi-specification materials. In addition, harsh working conditions such as coolant splashing and metal debris accumulation further exacerbate the positioning deviation and mechanical jamming problems of the traditional loading tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the misaligned manipulator replacement loading tray of the present application;

[0019] Figure 2It is the bottom view of the overall structure of an embodiment of the offset manipulator replacing the loading tray in this application;

[0020] Figure 3 It is the exploded view of the overall structure of an embodiment of the offset manipulator replacing the loading tray in this application;

[0021] Figure 4 It is the schematic diagram of the structure of the second loading tray of an embodiment of the offset manipulator replacing the loading tray in this application;

[0022] Figure 5 It is the bottom view of the structure of the first loading tray of an embodiment of the offset manipulator replacing the loading tray in this application.

[0023] For the realization of the purpose, functional features and advantages of this application, further explanations will be made with reference to the embodiments and the accompanying drawings. Specific embodiments

[0024] It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0025] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0026] It should be noted that the terms "including", "comprising" and "having" in the specification and claims of this application and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. In the terms in the claims, specification and specification drawings of this application, relational terms such as "first" and "second" are only used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0027] References herein to "embodiments" mean that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0028] Reference attached Figures 1-5 , which is a schematic diagram of the overall structure of the offset manipulator replacing the loading tray in an embodiment of the present application;

[0029] Embodiment 1

[0030] An offset manipulator replaces a loading tray, and the loading tray includes:

[0031] A first loading tray 1 and a second loading tray 2, and the first loading tray 1 and the second loading tray 2 are vertically and mutually nested;

[0032] The first loading tray 1, the first loading tray 1 includes a number of first grooves 6 arranged vertically and horizontally and a first cover 5, and the first grooves 6 and the first cover 5 are spaced apart from each other;

[0033] The second loading tray 2, the second loading tray 2 includes a number of second grooves 3 arranged vertically and horizontally and a second cover 4, and the second grooves 3 and the second cover 4 are spaced apart from each other;

[0034] The upper and lower corners of the first loading tray 1 and the second loading tray 2 are correspondingly covered;

[0035] The first loading tray 1 and the second loading tray 2 are connected, the first groove 6 is adapted to the second cover 4, and the first cover 5 is adapted to the second groove 3.

[0036] In this embodiment, guide posts and positioning holes are respectively provided at the corners of the first loading tray 1 and the second loading tray 2, and the guide posts and the positioning holes are adapted to each other.

[0037] Specifically, through the arrangement of the guide posts and the positioning holes, when the first loading tray 1 and the second loading tray 2 overlap in the up and down directions, the positions of the first loading tray 1 and the second loading tray 2 can be limited through the adaptation of the guide posts and the positioning holes, so as to achieve the purpose of upper and lower alignment and limitation.

[0038] In this embodiment, anti-slip protrusions are provided on the inner walls of the first grooves 6 and the second grooves 3, and grooves adapted to the anti-slip protrusions are provided on the lower surfaces of the first cover 5 and the second cover 4.

[0039] Specifically, through the anti-slip protrusions on the first groove 6 and the second groove 3 and the grooves on the first cover 5 and the second cover 4, the friction during the insertion of the material 7 can be increased whether the first groove 6 and the first cover 5 are inserted into the upper part or the lower part of the material 7.

[0040] In this embodiment, an adjustable telescopic mechanism is provided at the connection between the first loading tray 1 and the second loading tray 2. The adjustable telescopic mechanism includes an upper magnetic plate, a lower magnetic plate, and a spring column. The upper magnetic plate and the lower magnetic plate have the same magnetic poles, and both ends of the spring column are respectively connected to the upper magnetic plate and the lower magnetic plate.

[0041] Specifically, through the adjustable telescopic mechanism, that is, the upper magnetic plate and the lower magnetic plate have the same magnetic poles and repel each other, and then through the limitation of the spring column, an upward supporting force can be provided for some slightly heavier materials 7.

[0042] In this embodiment, an air-floating buffer layer is provided at the bottom of the first groove 6 and the second groove 3, and non-contact support between the material 7 and the groove is formed by releasing air flow through micro air holes.

[0043] Specifically, it can prevent the situation that the material 7 is inclined or deviated due to excessive pressure when being introduced into the first loading tray 1 and the second loading tray 2.

[0044] The loading tray further includes an interlayer positioning sensor and an RFID tag. The sensor real-time detects the interlayer misalignment state, and the RFID tag stores the specification and stacking parameter information of the material 7.

[0045] Embodiment 2

[0046] A misaligned manipulator replacement loading tray, the loading tray includes:

[0047] A first loading tray 1 and a second loading tray 2, the first loading tray 1 and the second loading tray 2 are mutually nested up and down;

[0048] The first loading tray 1, the first loading tray 1 includes a plurality of first grooves 6 and first covers 5 arranged vertically and horizontally, and the first grooves 6 and the first covers 5 are spaced from each other;

[0049] The second loading tray 2, the second loading tray 2 includes a plurality of second grooves 3 and second covers 4 arranged vertically and horizontally, and the second grooves 3 and the second covers 4 are spaced from each other;

[0050] The upper and lower corners of the first loading tray 1 and the second loading tray 2 are correspondingly covered;

[0051] The first loading tray 1 is connected to the second loading tray 2. The first groove 6 is adapted to the second cover 4, and the first cover 5 is adapted to the second groove 3.

[0052] In this embodiment, guiding columns and positioning holes are respectively provided at the corners of the first loading tray 1 and the second loading tray 2, and the guiding columns and the positioning holes are adapted to each other.

[0053] Anti-slip protrusions are provided on the inner walls of the first groove 6 and the second groove 3, and grooves adapted to the anti-slip protrusions are provided on the lower surfaces of the first cover 5 and the second cover 4.

[0054] An adjustable telescopic mechanism is provided at the connection of the first loading tray 1 and the second loading tray 2. The adjustable telescopic mechanism includes an upper magnetic plate, a lower magnetic plate and a spring column. The upper magnetic plate and the lower magnetic plate have the same magnetic poles, and the two ends of the spring column are respectively arranged and connected to the upper magnetic plate and the lower magnetic plate.

[0055] An air-floating buffer layer is provided at the bottoms of the first groove 6 and the second groove 3, and air flow is released through micro air holes to form a non-contact support between the material 7 and the groove.

[0056] In this embodiment, the loading tray further includes an interlayer positioning sensor and an RFID tag. The sensor real-time detects the interlayer misalignment state, and the RFID tag stores the material 7 specification and stacking parameter information.

[0057] The loading tray includes an interlayer positioning sensor and an RFID tag. The interlayer positioning sensor adopts an infrared or laser ranging module, and is embedded in the side wall at the connection of the first loading tray 1 and the second loading tray 2, and is signal-connected to the manipulator control system. Dynamic calibration compensation is realized by real-time monitoring of the misalignment angle and horizontal spacing deviation between adjacent trays. The RFID tag adopts a high-temperature resistant and oil-proof encapsulation process, and is embedded inside the corners of each loading tray, and wirelessly communicates with the material 7 specification database to store the current stacking layer number, the material 7 dimensional tolerance and the allowable maximum load-bearing parameters. When the manipulator grabs the material 7, the opening degree and movement trajectory of the gripper are automatically matched by reading the RFID tag information, and at the same time, the vertical pressing stroke and horizontal avoidance path are adjusted in combination with the interlayer offset data fed back by the sensor, so as to maintain the picking and placing accuracy in an environment with coolant splashing or metal debris interference, and support the quick change of multiple specifications of materials 7 without manual intervention in parameter setting;

[0058] Among them,

[0059] The specific data and methods for sensor and offset data adjustment include a laser ranging sensor with a measurement accuracy of ±0.1 mm and a sampling frequency of 1000 Hz. It generates offset angle data by real-time monitoring of the tray spacing. The displacement sensor adopts piezoelectric or capacitive principle, with a measuring range of ±5 mm and a linear error of ≤0.5% FS. It is installed at the manipulator joint to collect the axial offset and feedback it to the PLC controller;

[0060] The vision sensor is equipped with a 5-million-pixel industrial camera with a frame rate of 30 fps. It combines edge detection algorithms to identify the position deviation of the material 7, and the coordinate positioning accuracy reaches ±0.05 mm5. The pressure sensor is integrated at the end of the gripper, with a measuring range of 0 - 50 N and a sensitivity of 0.01 N. It judges the grasping offset state of the material 7 through the pressure fluctuation data;

[0061] The gyroscope sensor detects the attitude angle of the robotic arm, with an offset angle resolution of 0.01°. It cooperates with the Kalman filtering algorithm to eliminate vibration interference1. The data adjustment method adopts PID closed-loop control, with a proportional coefficient Kp = 0.8, an integral time Ti = 120 ms, and a differential time Td = 20 ms. It adjusts the servo motor compensation amount through pulse width modulation output;

[0062] At the same time, it combines the specification parameters of the material 7 stored in the RFID tag to dynamically match the opening and closing stroke of the gripper and the pressure threshold. When the horizontal offset exceeds the preset value of 0.3 mm, it triggers the adaptive compensation program, replans the motion trajectory through the Bezier curve, calibrates the vertical direction with a laser interferometer, and the Z-axis repeat positioning accuracy is ±0.02 mm. It cooperates with the air floating buffer device to absorb the downward impact;

[0063] Through the above technical effects, the precise positioning and anti-offset effect can be achieved, improving the repeat positioning accuracy and attitude stability of the material 7 grasping;

[0064] The advantages include multi-sensor fusion deviation correction, dynamic parameter matching, adaptive compensation ability, and high environmental adaptability. At the same time, it supports the quick changeover of multiple specifications of materials 7, reduces manual intervention, improves production efficiency, and extends the equipment life.

[0065] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0066] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce means for implementing the functions specified in one flow Figure 1 one flow or more flows and / or blocks Figure 1 or means for implementing the functions specified in one block or more blocks.

[0067] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or more flows and / or blocks Figure 1 or means for implementing the functions specified in one block or more blocks.

[0068] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or more flows and / or blocks Figure 1 or means for implementing the functions specified in one block or more blocks.

[0069] Although embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application. The scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A misaligned manipulator replaces the loading tray, characterized in that, The loading tray includes: A first loading tray and a second loading tray, the first loading tray and the second loading tray being vertically and horizontally nested with each other; The first loading tray, the first loading tray including a number of first grooves arranged vertically and horizontally and a first cover, the first grooves and the first cover being spaced apart from each other; The second loading tray, the second loading tray including a number of second grooves arranged vertically and horizontally and a second cover, the second grooves and the second cover being spaced apart from each other; The upper and lower corners of the first loading tray and the second loading tray are correspondingly covered; The first loading tray and the second loading tray are connected, the first groove is adapted to the second cover, and the first cover is adapted to the second groove.

2. The misaligned manipulator replacing the loading tray according to claim 1, wherein, Guide posts and positioning holes are respectively provided at the corners of the first loading tray and the second loading tray, and the guide posts and the positioning holes are adapted to each other.

3. The offset type manipulator replacing the loading tray according to claim 1, wherein Anti-slip protrusions are provided on the inner walls of the first grooves and the second grooves, and grooves adapted to the anti-slip protrusions are provided on the lower surfaces of the first cover and the second cover.

4. The misaligned manipulator replacement loading tray according to claim 1, wherein An adjustable telescopic mechanism is provided at the connection of the first loading tray and the second loading tray, the adjustable telescopic mechanism including an upper magnetic plate, a lower magnetic plate and a spring column, the upper magnetic plate and the lower magnetic plate having the same magnetic poles, and the two ends of the spring column being respectively arranged at the connection of the upper magnetic plate and the lower magnetic plate.

5. The offset manipulator replacement loading tray according to claim 1, wherein, An air-floating buffer layer is provided at the bottom of the first grooves and the second grooves, and air flow is released through micro-holes to form a non-contact support between the material and the grooves.

6. The misaligned manipulator replacement loading tray according to claim 1, wherein The loading tray further includes an interlayer positioning sensor and an RFID tag, the sensor real-time detects the interlayer misalignment state, and the RFID tag stores material specifications and stacking parameter information.

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