Automobile part stacking device and stacking method

Abstract

The invention discloses an automobile part stacking device and method, and belongs to the technical field of stacking machine.The device comprises a displacement mechanism and a clamp, the displacement mechanism is used for driving the clamp to move in the X-axis direction, the Y-axis direction and the Z-axis direction, and the clamp comprises a base, a first supporting column, a first driving assembly, a first rotating plate, a second driving assembly and a second rotating plate; the second rotating plate rotates around the first rotating plate, two first clamping assemblies are arranged on the first rotating plate, and a second clamping assembly and a third clamping assembly are arranged on the second rotating plate. According to the stacking device, automobile parts such as automobile doors and fenders which are irregular in shape can be effectively clamped, and the stacking efficiency is improved; automobile parts with different thicknesses can be effectively clamped and stacked, and the application range is wide; automobile parts such as sheet metal parts can be magnetically attracted and fixed, and shaking in the stacking and moving process is prevented; the first rotating plate can drive the hub to rotate, and the second rotating plate can also drive the hub to rotate.

Description

Technical Field

[0001] The present invention belongs to the technical field of palletizing machinery, and particularly relates to a palletizing device and method for automotive parts. Background Art

[0002] A palletizer is an industrial device that automatically stacks goods. In the production process of automotive parts, palletizers are widely used. For example, in the loading and unloading and palletizing of sheet metal parts such as car doors and fenders, and the palletizing and stacking of wheels. Existing palletizers pick up automotive parts through fixtures. The fixtures generally use multiple symmetric jaws. For example, the Chinese invention patent with the authorization announcement number CN110304464B: A wheel palletizing robot, and the Chinese invention patent with the authorization announcement number CN111470331B: Palletizing jaws. The technical solutions in both patents adopt symmetric jaws. Such palletizing equipment can be well used when picking up regular symmetric products such as wheels. However, it cannot function well when dealing with irregularly shaped products such as car doors and fenders. Moreover, when the jaws of these palletizing equipment pick up wheels, since the jaws are pressed against the wheels, they block the wheel wall, and the picking-up part cannot be photographed. Therefore, visual inspection of the inner and outer walls of the wheel cannot be carried out simultaneously. Another assembly line needs to be set up for the wheel to lie flat and move for visual inspection, which increases the cost and affects the production efficiency. Summary of the Invention

[0003] Aiming at the above problems existing in the prior art, the technical problem to be solved by the present invention is to provide a palletizing device and method for automotive parts that can palletize both regular and irregular automotive parts.

[0004] Technical Solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0005] A palletizing device for automotive parts includes a displacement mechanism and a fixture connected to the displacement mechanism. The displacement mechanism is used to drive the fixture to move along the X-axis, Y-axis, and Z-axis directions. The fixture includes a base, a first support column connected to the base, a first driving component connected to the first support column, a first rotating plate connected to the first driving component, a second driving component connected to the base, and a second rotating plate connected to the second driving component. The second rotating plate rotates around the first rotating plate and the two rotating plates are in the same plane. Two first clamping components are provided on the first rotating plate, and a second clamping component and a third clamping component are provided on the second rotating plate.

[0006] Preferably, the two first clamping components are symmetrically arranged on the first rotating plate. The first clamping component includes a first fixed seat, a first lead screw arranged on the first fixed seat, a first clamping motor connected to the first lead screw, and a first clamping plate movably connected to the first lead screw. The second clamping component includes a second fixed seat, a second lead screw arranged on the second fixed seat, a second clamping motor connected to the second lead screw, and a second clamping plate movably connected to the second lead screw. The third clamping component includes a third fixed seat, a third lead screw arranged on the third fixed seat, a third clamping motor connected to the third lead screw, and a third clamping plate movably connected to the third lead screw.

[0007] Preferably, a first lifting component is provided on the first support column, and the first driving component is arranged on the first lifting component. After the first lifting component drives the first driving component and the first rotating plate to descend, the lower end of the first clamping plate is lower than the lower ends of the second clamping plate and the third clamping plate.

[0008] Preferably, the second driving component is a hollow rotating platform. The first support column penetrates through the second driving component, and the second rotating plate is connected to the second driving component through a plurality of connecting rods.

[0009] Preferably, more than one ejector rod component is provided on the first rotating plate and the second rotating plate. The ejector rod component includes a cylinder body and a push rod movably connected to the cylinder body. An electromagnetic chuck is connected to the lower end of the push rod.

[0010] Preferably, the displacement mechanism includes a first displacement component, a second displacement component connected to the first displacement component, and a third displacement component connected to the second displacement component. The first displacement component is used to drive the fixture to move in the Z-axis direction, the second displacement component is used to drive the fixture to move in the X-axis direction, the third displacement component is used to drive the fixture to move in the Y-axis direction, and the third displacement component is connected to the fixture through a second lifting component.

[0011] Preferably, the third displacement component is connected to the second lifting component through a weighing sensor.

[0012] The present invention also provides a method for palletizing automotive parts, using the above-mentioned automotive part palletizing device, including the following steps:

[0013] Step 1: The displacement mechanism drives the fixture to move above the automotive parts;

[0014] Step 2: According to the different heights of automotive parts, the first rotating plate rises or descends to make the heights of the two first clamping plates correspond to the first clamping parts on the automotive parts; the first rotating plate drives the two first clamping assemblies to rotate to make the positions of the two first clamping plates correspond to the first clamping parts on the automotive parts;

[0015] Step 3: The two first clamping plates move inwards or outwards to press against the first clamping parts on the automotive parts;

[0016] Step 4: The second rotating plate drives the second clamping assembly and the third clamping assembly to rotate to make the positions of the second clamping plate and the third clamping plate correspond to the second clamping parts on the automotive parts;

[0017] Step 5: The second clamping plate and the third clamping plate move inwards to press against the second clamping parts on the automotive parts;

[0018] Step 6: The two first clamping plates press against the two first clamping parts on the automotive parts, the second clamping plate and the third clamping plate press against the two second clamping parts on the automotive parts, and the fixture clamps the automotive parts;

[0019] Step 7: The displacement mechanism drives the fixture to move above the stacking rack, puts down the automotive parts, and the fixture releases the automotive parts to wait for the next clamping operation.

[0020] Preferably, in the said Step 3, after the two first clamping plates press against the first clamping parts on the automotive parts, the ejector rod assembly on the first rotating plate moves towards the automotive parts, and the electromagnetic chuck works to hold the automotive parts; in the said Step 5, after the second clamping plate and the third clamping plate press against the second clamping parts on the automotive parts, the ejector rod assembly on the second rotating plate moves towards the automotive parts, and the electromagnetic chuck works to hold the automotive parts.

[0021] Preferably, in the said Step 7, when the clamped automotive part is a wheel hub, the displacement assembly drives the fixture to move to a predetermined position, the second clamping plate and the third clamping plate move outwards, the first rotating plate drives the wheel hub to rotate 360° through the two first clamping plates to facilitate the camera to take pictures of the outer side wall of the wheel hub. After taking pictures of the outer side wall of the wheel hub, the camera extends into the inner side of the wheel hub from the central hole of the wheel hub. The second clamping plate and the third clamping plate move inwards to re-clamp the wheel hub. The two first clamping plates move away from each other to release the wheel hub. The second rotating plate drives the wheel hub to rotate reversely 360° through the second clamping plate and the third clamping plate to facilitate the camera to take pictures of the inner side wall of the wheel hub. After taking pictures, the camera moves out. The displacement mechanism drives the wheel hub to move above the stacking rack through the fixture, puts down the wheel hub, and the fixture releases the wheel hub to wait for the next clamping operation.

[0022] Advantageous effects: Compared with the prior art, the present invention has the following advantages:

[0023] 1. The fixture of the palletizing device is provided with two rotating plates. The first clamping component is arranged on the first rotating plate, and the second clamping component and the third clamping component are arranged on the second rotating plate. The moving distance of each clamping plate is shortened, and the clamping efficiency is improved. Each clamping plate can move independently, and can effectively clamp automotive parts such as door panels and fenders with irregular shapes, improving the palletizing efficiency.

[0024] 2. The first clamping component is arranged on the middle circular first rotating plate, and the second clamping component and the third clamping component are arranged on the annular second rotating plate. The two rotating plates can drive the clamping components to rotate, so as to clamp automotive parts from different angles, which is convenient for use in different automotive part production lines.

[0025] 3. For automotive part sheets such as wheels or door panels with holes in the middle, the two first clamping plates of the first clamping component can expand outwards through the middle hole to fix the automotive parts, and cooperate with the second clamping component and the third clamping component to form internal support and external clamping, with good fixing effect on automotive parts.

[0026] 4. The first rotating plate can move up and down through the first lifting component, so that the height of the first clamping plate can be adjusted. For automotive parts with different thicknesses, such as door panels, the clamping positions of the two first clamping plates have different heights from those of the other two clamping plates, and can effectively clamp and palletize automotive parts with different thicknesses, with a wide range of applications.

[0027] 5. A ejector rod assembly is arranged on the two rotating plates. The ejector rod assembly can adjust its position as it rotates with the rotating plates. An electromagnetic chuck is arranged on the ejector rod assembly, which can magnetically fix automotive parts such as sheet metal parts to prevent them from shaking during the palletizing movement.

[0028] 6. It has good versatility. Through the detachable combination of the clamping plates, it can effectively clamp automotive parts such as wheels, door panels, fenders and crossbeams, and is applicable to the production and palletizing processes of various automotive parts, without the need to replace the fixture or displacement components.

[0029] 7. Since two rotating plates are provided and clamping plates are respectively arranged on the two rotating plates, when the automotive part being clamped is a wheel, the first rotating plate can drive the wheel to rotate only through the two first clamping plates, and the second clamping plate and the third clamping plate are removed, and there is no obstruction on the outer wall of the wheel, which will not affect the external camera from taking pictures of the outer wall of the wheel. The second rotating plate can also drive the wheel to rotate only through the second clamping plate and the third clamping plate, and the two first clamping plates move inwards, and there is no obstruction on the inner wall of the wheel, which will not affect the external camera from taking pictures, which is beneficial to synchronously perform visual inspection on the wheel while palletizing, improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0031] Figure 2 It is a schematic side view structure diagram of the displacement mechanism in the embodiment;

[0032] Figure 3 It is a schematic structure diagram of the fixture in the embodiment;

[0033] Figure 4 It is a schematic structure diagram of the first driving component and the first rotating plate in the embodiment;

[0034] Figure 5 It is a schematic structure diagram of the second driving component and the second rotating plate in the embodiment;

[0035] Figure 6 It is a schematic structure diagram of the first rotating plate in the descending state in the embodiment;

[0036] Figure 7 It is a schematic structure diagram of the first rotating plate in the ascending state in the embodiment;

[0037] Figure 8 It is a schematic bottom view structure diagram of the fixture in this embodiment;

[0038] Figure 9 It is a schematic structure diagram of the push rod in the retracted state in the embodiment;

[0039] Figure 10 It is a schematic structure diagram of the push rod in the extended state in the embodiment;

[0040] Figure 11 It is a schematic structure diagram of the second rotating plate at another working angle in the embodiment;

[0041] Figure 12 It is a schematic structure diagram of the second rotating plate at another working angle in the embodiment;

[0042] Figure 13 It is a schematic cross-sectional structure diagram when the clamping plate clamps the hub in the embodiment;

[0043] Figure 14 It is a schematic diagram of the state when the clamping plate clamps the car door in the embodiment;

[0044] Figure 15 It is a schematic diagram of the state when the clamping plate clamps the fender in the embodiment;

[0045] Figure 16 It is a schematic diagram of the state when two first clamping plates drive the hub to rotate in the embodiment;

[0046] Figure 17 It is a schematic diagram of the state when the second clamping plate and the third clamping plate drive the hub to rotate in the embodiment. Detailed implementation manners

[0047] The present invention will be further illustrated below in conjunction with specific embodiments. The embodiments are implemented on the premise of the technical solution of the present invention. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.

[0048] As Figure 1 and Figure 2 shown, a palletizing device for automotive parts includes a displacement mechanism and a fixture. The displacement mechanism is used to drive the fixture to move along the X-axis, Y-axis, and Z-axis directions. The displacement mechanism includes a first displacement component 91, a second displacement component 92, and a third displacement component 93. All three displacement components adopt existing linear displacement guides. The second displacement component 92 is connected to the first displacement component 91, and the third displacement component 93 is connected to the second displacement component 92. The fixture is connected to the third displacement component 93. The first displacement component 91 is vertically arranged up and down and fixed on the ground. When the first displacement component 91 works, it drives the second displacement component 92, the third displacement component 93, and the fixture as a whole to move vertically, thereby driving the fixture to move along the Z-axis direction. The second displacement component 92 is horizontally arranged left and right. When the second displacement component 92 works, it drives the third displacement component 93 and the fixture as a whole to move left and right, thereby driving the fixture to move along the X-axis direction. The third displacement component 93 is longitudinally arranged front and back and perpendicular to the second displacement component 92. When the third displacement component 93 works, it drives the fixture to move back and forth, thereby driving the fixture to move along the Y-axis direction. The X-axis, Y-axis, and Z-axis direction movements of the fixture are realized through the displacement mechanism. The displacement mechanism adopts an existing straight-wall type palletizing main equipment, such as a single-column rectangular coordinate type equipment produced by Anhui Aerospace Intelligence Technology Co., Ltd., with a working capacity of 500 times per hour. The displacement mechanism can also adopt another implementation method, such as a rectangular coordinate palletizing equipment produced by Shandong Mu'en Robot Technology Co., Ltd. The second displacement component 92 is horizontally arranged and fixed on the ground. The first displacement component 91 is arranged on the second displacement component 92. The third displacement component 93 is directly connected to the first displacement component 91. When the second displacement component 92 works, it drives the first displacement component 91 and the third displacement component 93 to move along the X-axis direction. When the first displacement component 91 works, it drives the third displacement component 93 to move up and down along the Z-axis direction. The third displacement component 93 is still connected to the fixture. When the third displacement component 93 works, it drives the fixture to move along the Y-axis direction. The form of the displacement mechanism is determined according to the on-site environment, and an existing three-axis truss manipulator can also be adopted.

[0049] As Figure 1 and Figure 2As shown, the third displacement component 93 is connected to the fixture through the second lifting component 94. When the slider of the third displacement component 93 slides along the Y-axis, it drives the second lifting component 94 and the fixture to slide along the Y-axis. The second lifting component 94 uses an existing electric cylinder. The lower end of the piston rod of the second lifting component 94 is connected to the fixture so as to drive the fixture to move up and down. The upper end of the third displacement component 93 is connected to the second lifting component 94 through a weighing sensor 95. There are three weighing sensors 95. When the fixture grabs automotive parts, the weighing sensors 95 can weigh the automotive parts. The weighing sensors 95 use existing S-type weighing sensors, such as the YZC-516 series of Shenzhen Youzhongli Technology Co., Ltd., with a range of 0-50 kg and an accuracy of ±0.02% F.S.

[0050] As Figure 1 , Figure 3 , Figure 4 and Figure 5 As shown, the fixture includes a base 1, a first support column 11, a first lifting component 12, a first driving component 2, a first rotating plate 3, a second driving component 4 and a second rotating plate 5. The base 1 is a flat plate type seat. The first support column 11 is connected to the base 1. The first support column 11 is cylindrical and is arranged at the middle position of the lower end face of the base 1. The first lifting component 12 is arranged at the bottom end of the first support column 11. The first driving component 2 is connected to the lower end of the first lifting component 12 and thus connected to the first support column 11. The first driving component 2 includes a first motor and a first reducer. The upper part of the first rotating plate 3 is connected to the output shaft of the first reducer. The first rotating plate 3 is a circular plate. Driven by the first driving component 2, the first rotating plate 3 can rotate. The second driving component 4 is connected to the lower end face of the base 1 through four second support columns 42. The second driving component 4 is an existing hollow rotating platform (motor hollow rotating platform). There are a plurality of through holes on the second driving component 4. The second support columns 42 pass through the through holes. There are threads on the second support columns 42. The second driving component 4 is fixed on the second support columns 42 through nuts. The first support column 11 passes through the hollow part of the second driving component 4 so as not to affect each other. The upper part of the second rotating plate 5 is connected to the turntable of the second driving component 4 through a plurality of connecting rods 41. The second rotating plate 5 and the first rotating plate 3 are in the same plane. The second rotating plate 5 is an annular plate and the inner diameter of the second rotating plate 5 is greater than the diameter of the first rotating plate 3. The first rotating plate 3 is located in the inner circular hole of the second rotating plate 5. Driven by the second driving component 4, the second rotating plate 5 rotates around the first rotating plate 3.

[0051] As Figure 3 , Figure 4 and Figure 8As shown in the figure, two first clamping components 6 are provided on the first rotating plate 3. The two first clamping components 6 are symmetrically arranged. The first clamping component 6 includes a first fixed seat 61, a first lead screw 62, a first clamping motor 63 and a first clamping plate 64. The first fixed seat 61 is linear and extends outward from the center of the first rotating plate 3. An installation groove corresponding to the first fixed seat 61 is provided on the first rotating plate 3. The first fixed seat 61 is arranged in the installation groove. The first lead screw 62 is arranged on the first fixed seat 61. The first clamping motor 63 is connected to the side of the first fixed seat 61 and connected to the first lead screw 62. The first clamping motor 63 is used to drive the first lead screw 62 to rotate. The first clamping plate 64 is movably connected to the first lead screw 62, and the first clamping plate 64 extends downward for a certain length. Driven by the first clamping motor 63, the first lead screw 62 rotates to drive the first clamping plate 64 to approach or move away from the center of the first rotating plate 3. When the two first clamping plates 64 move towards the center of the first rotating plate 3, they are in a state of moving towards each other, and can be used to clamp and fix automotive parts. When the two first clamping plates 64 move away from the center of the first rotating plate 3, they are in a state of moving away from each other, and can be propped outwards from the through hole of automotive parts such as sheet metal parts, and can be used to fix automotive parts such as sheet metal parts with holes in the middle. In this embodiment, the first clamping component 6 can adopt an existing single-axis slide table.

[0052] As Figure 3 , Figure 5 and Figure 8As shown, a second clamping assembly 7 and a third clamping assembly 8 are provided on the second rotating plate 5. The second clamping assembly 7 and the third clamping assembly 8 are symmetrically arranged on the second rotating plate 5. The second clamping assembly 7 includes a second fixed seat 71, a second lead screw 72, a second clamping motor 73, and a second clamping plate 74. The second clamping assembly 7 has the same structure as the first clamping assembly 6 but different lengths. An installation groove corresponding to the second fixed seat 71 is provided on the second rotating plate 5. The second fixed seat 71 is partially arranged in the installation groove and extends outward along the outer circle radius direction of the second rotating plate 5. A part of the second fixed seat 71 is located outside the second rotating plate 5. The second lead screw 72 is arranged on the second fixed seat 71. The second clamping motor 73 is connected to the side of one end of the second fixed seat 71 and is connected to the second lead screw 72. Driven by the second clamping motor 73, the second lead screw 72 rotates to drive the second clamping plate 74 to approach or move away from the center of the first rotating plate 3. The second clamping plate 74 extends downward by a certain length. The structure of the third clamping assembly 8 is the same as that of the second clamping assembly 7. The third clamping assembly 8 includes a third fixed seat 81, a third lead screw 82, a third clamping motor 83, and a third clamping plate 84. The third fixed seat 81 is symmetrically arranged with the second fixed seat 71. The third lead screw 82 is arranged on the third fixed seat 81. The third clamping motor 83 is connected to the third lead screw 82. The third clamping plate 84 is movably connected to the third lead screw 82. Driven by the third clamping motor 83, the third lead screw 82 rotates to drive the third clamping plate 84 to approach or move away from the center of the first rotating plate 3. The third clamping plate 84 extends downward by a certain length. The third clamping plate 84 cooperates with the second clamping plate 74. When moving towards each other, it can be used to clamp the outer edge of automotive parts. When moving away from each other, it can be used to support outward from the through hole of automotive parts such as sheet metal parts, and can be used to fix automotive parts such as sheet metal parts with holes in the middle.

[0053] As Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the first lifting assembly 12 includes a first lifting plate 121, a first lifting rod 122, and a second lifting plate 123. The upper end surface of the first lifting plate 121 is connected to the lower end of the first support column 11. A plurality of first lifting rods 122 are arranged on the first lifting plate 121. The first lifting rods 122 adopt existing electric lifting rods. The second lifting plate 123 is connected to the lower ends of the piston rods of the plurality of first lifting rods 122. When the first lifting rods 122 work, they drive the second lifting plate 123 to rise or fall, thereby driving the first driving assembly 2, the first rotating plate 3, and the two first clamping assemblies 6 to rise or fall as a whole. When the first lifting assembly 12 drives the first driving assembly 2 and the first rotating plate 3 to descend, the lower end of the first clamping plate 64 is lower than the lower ends of the second clamping plate 74 and the third clamping plate 84. When the first lifting assembly 12 drives the first driving assembly 2 and the first rotating plate 3 to rise, the lower end of the first clamping plate 64 is higher than the lower ends of the second clamping plate 74 and the third clamping plate 84.

[0054] As Figure 8 , Figure 9 , Figure 10 and Figure 11 shown, two ejector rod assemblies 31 are provided on the first rotating plate 3, and the two ejector rod assemblies 31 are symmetrically arranged. The straight line passing through the two ejector rod assemblies 31 on the first rotating plate 3 is perpendicular to the first fixed seat 61. Two symmetrical ejector rod assemblies 31 are also provided on the second rotating plate 5. The straight line passing through the two ejector rod assemblies 31 on the second rotating plate 5 is perpendicular to the second fixed seat 71. Cylindrical ejector rod grooves 301 are provided on the first rotating plate 3 and the second rotating plate 5. The ejector rod assemblies 31 are accommodated in the ejector rod grooves 301. The ejector rod assembly 31 includes a cylinder block 311 and a push rod 312. The ejector rod assembly 31 adopts an electric rod. Under the action of the driving motor, the push rod 312 can be pushed out upward. An electromagnetic chuck 313 is connected to the lower end of the push rod 312. A power cord connected to the electromagnetic chuck 313 is provided in the ejector rod groove 31, and the power cord is connected to an external power supply to provide power for the electromagnetic chuck 313. When the push rod 312 is in the retracted state, the upper end of the electromagnetic chuck 313 is flush with the lower end surfaces of the first rotating plate 3 and the second rotating plate 5, so as not to affect the placement of automotive parts; when the ejector rod assembly 31 works, the push rod 312 moves downward, so that the electromagnetic chuck 313 abuts against automotive parts such as sheet metal parts. The electromagnetic chuck 313 is powered on to work and adsorbs on the sheet metal part to fix the sheet metal part. A thin cushion layer (1 mm thick rubber pad) is provided on the electromagnetic chuck 313 to prevent damage to the sheet metal part. When the two first clamping plates 64, the second clamping plate 74 and the third clamping plate 84 fix automotive parts such as sheet metal parts, the ejector rod assembly 31 can hold the sheet metal part by the electromagnetic chuck 313, preventing the sheet metal part from shaking during the movement, and being able to fix the sheet metal part more stably. The ejector rod assembly 31 cooperates with the liftable first rotating plate 3 to magnetically fix automotive parts such as sheet metal parts with different heights and shapes. The number of the ejector rod assemblies 31 can be set to multiple on the first rotating plate 3 and the second rotating plate 5 according to needs, and the setting positions can also be adjusted according to needs.

[0055] As Figure 13As shown, the first clamping plate 64 includes a first straight plate portion 641 and a first functional portion 642. The first functional portion 642 is connected to the lower end of the first straight plate portion 641. The first functional portion 642 is detachably connected to the first straight plate portion 641 by a threaded connection method, which is convenient for replacement. A first cushion layer 643 is provided on the first functional portion 642. The second clamping plate 74 includes a second straight plate portion 741 and a second functional portion 742. The second functional portion 742 is also detachably connected to the lower end of the first straight plate portion 641 by a threaded connection method, which is convenient for replacement. A second cushion layer 743 is provided on the second functional portion 742. The third clamping plate 84 includes a third straight plate portion 841 and a third functional portion 842. The third functional portion 842 is also detachably connected to the lower end of the third straight plate portion 841 by a threaded connection method, which is convenient for replacement. A third cushion layer 843 is provided on the third functional portion 842. When the automotive part to be clamped is a wheel hub, the two first clamping plates 64 move outward from the inside of the wheel hub and thus abut against the inner wall of the wheel hub. The working surface arc of the first cushion layer 643 corresponds to the inner arc of the wheel hub to be clamped (the working surface arc of the first cushion layer 643 is preset according to the inner arc of the wheel hub). The working surface arc of the second cushion layer 743 corresponds to the outer arc of the wheel hub to be clamped (the working surface arc of the second cushion layer 743 is preset according to the outer arc of the wheel hub). The working surface arc of the third cushion layer 843 corresponds to the outer arc of the wheel hub to be clamped. The second clamping plate 74 and the third clamping plate 84 abut against the wheel hub from the outside to clamp the wheel hub. After the four clamping plates clamp the wheel hub, it is convenient to move and stack. Since the first functional portion 642, the second functional portion 742 and the third functional portion 842 are detachably replaceable, it is convenient to replace the functional portions with different shapes according to different models of wheel hubs.

[0056] As Figure 12 and Figure 14As shown, when the automotive part to be clamped is a car door (the car door has not been painted yet, and the suction cup adsorption effect is not good), according to the shape of the car door and the pre-designed clamping positions of each clamping plate, the clamping positions of the two first clamping plates 64 are located at the hole parts of the inner door panel of the car door. The first functional parts 642 of the two first clamping plates 64 are set in a trapezoidal shape, and the working surface shapes of the two first cushion layers 643 correspond to the shapes of the clamping positions of the car door to be clamped. The clamping positions of the second clamping plate 74 and the third clamping plate 84 are located at the outer edge of the car door. The working surface of the second cushion layer 743 of the second clamping plate 74 is arc-shaped, which is convenient to be pressed tightly on the car door. The working surface of the third cushion layer 843 of the third clamping plate 84 is flat, which is also convenient to be pressed tightly on the car door. During operation, the first rotating plate 3 and the second rotating plate 5 rotate to the predetermined positions. Since the fixture positions corresponding to the two first clamping plates 64 are slightly higher than those of the second clamping plate 74 and the third clamping plate 84, the first lifting assembly 12 works to drive the first rotating plate 3 to rise a certain distance to make the two first clamping plates 64 rise. Then, the two first clamping plates 64 move inward a certain distance respectively. The second lifting assembly 94 drives the plurality of clamping plates to descend. After the two first clamping plates 64 are inserted into the corresponding car door holes, they move inward respectively until the working surfaces of the two first cushion layers 643 are tightly pressed against the clamping positions on the car door. The second clamping plate 74 and the third clamping plate 84 move inward respectively until the working surfaces of the corresponding cushion layers are tightly pressed against the clamping positions on the outer edge of the car door, completing the clamping work of the car door. At this time, the electromagnetic suction cup 313 of the ejector rod assembly 31 extends downward to adsorb on the car door to hold the car door, preventing the car door from shaking during the moving process.

[0057] As Figure 12 and Figure 15 shown, when the automotive part to be clamped is a fender, according to the shape of the fender and the pre-designed clamping positions of each clamping plate, the first functional parts 642 of the two first clamping plates 64, the second functional part 742 of the second clamping plate 74, and the third functional part 842 of the third clamping plate 84 are replaced with shapes corresponding to the fender (different parts have different functional parts, and the shapes of the functional parts are pre-designed according to the parts to be clamped). The shapes of the three newly replaced cushion layers also correspond to the shapes of the clamping positions). The clamping work of the fender is completed by using the four clamping plates. The clamping process is similar to the car door clamping process, and the clamping work is completed by controlling the heights and positions of the two first clamping plates 64, the second clamping plate 74, and the third clamping plate 84.

[0058] This embodiment also discloses a method for palletizing automotive parts. Using the above-mentioned automotive part palletizing device, it includes the following steps:

[0059] Step 1: The displacement mechanism drives the fixture to move above the part.

[0060] In this embodiment, the automotive part is a wheel hub. The wheel hub is conveyed to the lower part of the palletizing equipment by a conveyor belt. The displacement mechanism drives the fixture to move along the X-axis, Y-axis, and Z-axis directions, so that the fixture moves above the wheel hub.

[0061] Step 2: According to the different heights of the parts, the first rotating plate 3 rises or falls so that the two first clamping plates 64 correspond to the height of the first clamping part on the parts; the first rotating plate 3 drives the two first clamping components 6 to rotate, so that the two first clamping plates 64 correspond to the position of the first clamping part on the parts;

[0062] The second lifting component 94 drives the first rotating plate 3 and the second rotating plate 5 to descend. The lower end of the first clamping plate 64 enters the inner side of the wheel hub. The lower ends of the two first clamping plates 64 correspond to the height of the first clamping part on the wheel hub. The two first clamping parts are located on the inner side of the wheel hub. The first driving component 2 drives the first rotating plate 3 to rotate, and the first rotating plate 3 rotates to drive the two first clamping plates 64 to move to the corresponding position of the first clamping part.

[0063] Step 3: The two first clamping plates 64 move inwards or outwards to abut against the first clamping part on the parts;

[0064] The two first clamping motors 63 work respectively, and the two first clamping plates 64 move outwards, so that the two first cushion layers 643 respectively abut against the first clamping part of the wheel hub.

[0065] Step 4: The second rotating plate 5 drives the second clamping component 7 and the third clamping component 8 to rotate, so that the second clamping plate 74 and the third clamping plate 84 correspond to the position of the second clamping part on the parts;

[0066] The second driving component 4 drives the second rotating plate 5 to rotate. The second rotating plate 5 rotates to drive the second clamping plate 74 and the third clamping plate 84 to rotate to a predetermined position. At this time, the second clamping plate 74 and the third clamping plate 84 are at a certain distance from the wheel hub. The second clamping part is located on the outer side of the wheel hub.

[0067] Step 5: The second clamping plate 74 and the third clamping plate 84 move inwards to abut against the second clamping part on the parts;

[0068] The second clamping motor 73 and the third clamping motor 83 work. The second clamping plate 74 and the third clamping plate 84 move inwards. The second cushion layer 743 and the third cushion layer 843 abut against the second clamping part on the outer side of the wheel hub. The second clamping part and the first clamping part are at the same height.

[0069] Step 6: The two first clamping plates 64 abut against the two first clamping parts on the parts, the second clamping plate 74 and the third clamping plate 84 abut against the two second clamping parts on the parts, and the fixture clamps the parts.

[0070] Four clamping plates work together to clamp the hub. Since the hub in this embodiment does not need to be fixed by magnetic attraction, it can be directly fixed by the clamping plates. For components such as sheet metal parts, the electromagnetic chuck 323 extends and holds the components.

[0071] Step 7: The displacement mechanism drives the fixture to move above the stacking rack, puts down the component, and the fixture releases the component and waits for the next clamping operation;

[0072] Since the component clamped in this embodiment is a hub, the displacement assembly drives the fixture to move to a predetermined position, the second clamping plate 74 and the third clamping plate 84 move outwards, and the first rotating plate 3 drives the hub to rotate clockwise by 360° through the two first clamping plates 64 to facilitate the camera to take pictures of the outer wall of the hub ( Figure 16 as shown). The camera uses an existing small high-definition camera, such as the RYS-7730 camera of the Rongyangsheng brand, with dimensions of 3.8 cm × 3.8 cm × 1.6 cm and 12 million pixels. The camera is connected to an existing external vision detection system, such as the vision detection system of Zhongyan Yingchuang. Since the second clamping plate 74 and the third clamping plate 84 move outwards, there is no obstruction on the outer wall of the hub, and the entire outer wall of the hub can be clearly photographed. After taking pictures of the outer wall of the hub, the camera extends into the inner side of the hub from the central hole of the hub. The second clamping plate 74 and the third clamping plate (84) move inwards to re-clamp the hub, the two first clamping plates 64 move away from each other to release the hub, and the second rotating plate 5 drives the hub to rotate counterclockwise by 360° through the second clamping plate 74 and the third clamping plate (84) to facilitate the camera to take pictures of the inner wall of the hub ( Figure 17 as shown). Since the two first clamping plates 64 move inwards, there is no obstruction on the inner wall of the hub, and the entire inner wall of the hub can be clearly photographed. After taking pictures, the camera moves out, and the external vision detection system analyzes whether the hub is qualified. If it is unqualified, the hub is placed on the recycling rack. If it is qualified, the displacement mechanism drives the hub to move above the stacking rack through the fixture, puts down the hub, and the fixture releases the hub and waits for the next clamping operation.

[0073] The hubs are placed in a stack of four on the stacking rack, and then the middle plate is placed. The middle plate is provided with grooves corresponding to the hubs to stabilize the hubs (when stacking sheet metal parts such as the car door, the height outside the grooves of the middle plate is higher than that of the car door, and the outer edge of the middle plate is used for support to prevent damage to the stacked car doors). The stacking rack includes a first frame body and a second frame body. After the fixture grabs the parts, the weighing sensor 95 weighs the parts. In this embodiment, the weight reference value of the hub is 15 kg, and the qualified range is ±50 g. After weighing a single hub, the parts with unqualified weights are placed on the recycling rack for convenient inspection of unqualified products. When placing the hubs with qualified weights, the parts with a mass greater than or equal to the reference value are placed on the first frame body (that is, the hubs with positive deviations among the qualified hubs are placed on the first frame body, for example, the deviation value is +30 g), and the parts with a mass less than the reference value are placed on the second frame body (that is, the hubs with negative deviations among the qualified hubs are placed on the second frame body, for example, the deviation value is -20 g). Placing according to the weight can reduce the deviation value between multiple hubs on each frame body, and multiple first frame bodies and second frame bodies can be respectively provided.

[0074] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A palletizing device for automotive parts, characterized in that, It includes a displacement mechanism and a fixture connected to the displacement mechanism. The displacement mechanism is used to drive the fixture to move along the X-axis, Y-axis, and Z-axis directions. The fixture includes a base (1), a first support column (11) connected to the base (1), a first drive assembly (2) connected to the first support column (11), a first rotating plate (3) connected to the first drive assembly (2), a second drive assembly (4) connected to the base (1), and a second rotating plate (5) connected to the second drive assembly (4). The second rotating plate (5) rotates around the first rotating plate (3), and the two rotating plates are in the same plane. Two first clamping assemblies (6) are provided on the first rotating plate (3), and a second clamping assembly (7) and a third clamping assembly (8) are provided on the second rotating plate (5).

2. The palletizing device for automotive parts according to claim 1, characterized in that, The two first clamping assemblies (6) are symmetrically arranged on the first rotating plate (3). The first clamping assembly (6) includes a first fixed seat (61), a first lead screw (62) provided on the first fixed seat (61), a first clamping motor (63) connected to the first lead screw (62), and a first clamping plate (64) movably connected to the first lead screw (62). The second clamping assembly (7) includes a second fixed seat (71), a second lead screw (72) provided on the second fixed seat (71), a second clamping motor (73) connected to the second lead screw (72), and a second clamping plate (74) movably connected to the second lead screw (72). The third clamping assembly (8) includes a third fixed seat (81), a third lead screw (82) provided on the third fixed seat (81), a third clamping motor (83) connected to the third lead screw (82), and a third clamping plate (84) movably connected to the third lead screw (82).

3. The palletizing device for automotive parts according to claim 2, wherein A first lifting assembly (12) is provided on the first support column (11), and the first drive assembly (2) is arranged on the first lifting assembly (12). After the first lifting assembly (12) drives the first drive assembly (2) and the first rotating plate (3) to descend, the lower end of the first clamping plate (64) is lower than the lower ends of the second clamping plate (74) and the third clamping plate (84).

4. The palletizing device for automotive parts according to claim 1, wherein The second drive assembly (4) is a hollow rotating platform. The first support column (11) penetrates through the second drive assembly (4), and the second rotating plate (5) is connected to the second drive assembly (4) through a plurality of connecting rods (41).

5. The palletizing device for automotive parts according to claim 1, characterized in that, One or more ejector rod assemblies (31) are provided on the first rotating plate (3) and the second rotating plate (5). The ejector rod assembly (31) includes a cylinder body (311) and a push rod (322) movably connected to the cylinder body (311). An electromagnetic chuck (323) is connected to the lower end of the push rod (322).

6. The palletizing device for automotive parts according to claim 1, wherein The displacement mechanism includes a first displacement component (91), a second displacement component (92) connected to the first displacement component (91), and a third displacement component (93) connected to the second displacement component (92). The first displacement component (91) is used to drive the fixture to move in the Z-axis direction, the second displacement component (92) is used to drive the fixture to move in the X-axis direction, and the third displacement component (93) is used to drive the fixture to move in the Y-axis direction. The third displacement component (93) is connected to the fixture through a second lifting component (94).

7. The palletizing device for automotive parts according to claim 6, characterized in that, The third displacement component (93) is connected to the second lifting component (94) through a weighing sensor (95).

8. A method for palletizing automotive parts, using the automotive part palletizing device according to any one of claims 2-7, characterized in that, It includes the following steps: Step 1: The displacement mechanism drives the fixture to move above the automotive part. Step 2: According to the different heights of the automotive part, the first rotating plate (3) rises or descends to make the heights of the two first clamping plates (64) correspond to the first clamping positions on the automotive part; the first rotating plate (3) drives the two first clamping components (6) to rotate to make the positions of the two first clamping plates (64) correspond to the first clamping positions on the automotive part. Step 3: The two first clamping plates (64) move inwards or outwards to press against the first clamping positions on the automotive part. Step 4: The second rotating plate (5) drives the second clamping component (7) and the third clamping component (8) to rotate to make the positions of the second clamping plate (74) and the third clamping plate (84) correspond to the second clamping positions on the automotive part. Step 5: The second clamping plate (74) and the third clamping plate (84) move inwards to press against the second clamping positions on the automotive part. Step 6: The two first clamping plates (64) press against the two first clamping positions on the automotive part, the second clamping plate (74) and the third clamping plate (84) press against the two second clamping positions on the automotive part, and the fixture clamps the part. Step 7: The displacement mechanism drives the fixture to move above the stacking rack, puts down the automotive part, and the fixture releases the automotive part and waits for the next clamping operation.

9. The method for palletizing automotive parts according to claim 8, wherein In the said Step 3, after the two first clamping plates (64) press against the first clamping positions on the automotive part, the ejector rod assembly (31) on the first rotating plate (3) moves towards the automotive part, and the electromagnetic chuck (323) works to hold the automotive part; in the said Step 5, after the second clamping plate (74) and the third clamping plate (84) press against the second clamping positions on the automotive part, the ejector rod assembly (31) on the second rotating plate (5) moves towards the automotive part, and the electromagnetic chuck (323) works to hold the automotive part.

10. The method for palletizing automotive parts according to claim 8, characterized in that, In step 7, when the clamped automotive part is a wheel hub, the displacement assembly drives the fixture to move to a predetermined position, the second clamping plate (74) and the third clamping plate (84) move outward, and the first rotating plate (3) drives the wheel hub to rotate 360° through the two first clamping plates (64) to facilitate the camera to take pictures of the outer wall of the wheel hub. After taking pictures of the outer wall of the wheel hub, the camera extends into the inner side of the wheel hub from the central hole of the wheel hub. The second clamping plate (74) and the third clamping plate (84) move inward to re-clamp the wheel hub, and the two first clamping plates (64) move away from each other to release the wheel hub. The second rotating plate (5) drives the wheel hub to rotate 360° in the reverse direction through the second clamping plate (74) and the third clamping plate (84) to facilitate the camera to take pictures of the inner wall of the wheel hub. After taking pictures, the camera moves out. The displacement mechanism drives the wheel hub to move above the stacking rack through the fixture, puts down the wheel hub, and the fixture releases the wheel hub to wait for the next clamping operation.

Images