Multi-station unstacking tooling device

Abstract

The invention belongs to feeding and unstacking devices, and particularly relates to a multi-station unstacking tooling device. By arranging the servo motor, the drag chain, the valve terminal, the tooling main rod, the rolling shaft lead screw and other structures, one tooling can adapt to unstacking machining of plates of various specifications, and the double-stack material separation problem is solved; and for new part patterns, the operation procedures can be reduced and the operation efficiency can be improved through the modes of sucker selection, motor adjustment and formula storage.

Description

Technical Field

[0001] The invention belongs to a material loading and destacking device, and in particular relates to a multi-station destacking end picker device. Background Art

[0002] In modern intelligent manufacturing systems, depalletizing is a critical step in material handling, and its automation level directly impacts production line efficiency and overall operating costs. The current mainstream solution primarily utilizes fixed end effectors coupled with industrial robots. While this configuration can achieve basic automation functions, it has significant limitations.

[0003] In existing multi-station automated production lines, robot depalletizing generally uses one set of end pickers for one specification of parts, resulting in a single application. The end pickers need to be stored and numbered in separate locations, which is costly. Some small incoming parts are stacked side by side and need to be manually separated before processing, which increases the operating process. In addition, when processing two parts at the same time, the gripping spacing cannot be adjusted, and special tooling needs to be made for centering the loading, which increases costs. For the processing of new parts, the end picker needs to manually insert and remove the suction cup and air pipe to match the part position, which is time-consuming and labor-intensive. Summary of the Invention

[0004] Based on the above problems, the present invention provides a multi-station destacking end picker device that can realize the grabbing of parts placed in different positions. Each suction cup can be opened or closed, and after debugging is completed, the recipe can be stored in the system to facilitate the call of parts of different specifications.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A multi-station depalletizing end picker device, comprising:

[0007] A frame, wherein a connecting seat is provided in the frame and the connecting seat is connected to the driving mechanical device;

[0008] A bottom plate, one side of the bottom plate is fixedly connected to the connecting seat, and the other side of the bottom plate is fixedly connected to the valve island;

[0009] A plurality of flanges, wherein the flanges are arranged at both ends of the frame;

[0010] A servo motor is arranged at the end of the flange and is provided with a drag chain and a cover plate;

[0011] A roller screw, the roller screw is arranged in the frame, the end of the roller screw is provided with a coupling and is connected to the servo motor through the coupling, and the coupling is arranged in the flange;

[0012] A screw nut is connected to the roller screw, the bottom of the screw nut is connected to the slide, and the slide is connected to the linear guide rail.

[0013] In some embodiments, a bearing is provided inside the flange, and is connected to the roller screw via the bearing.

[0014] In some embodiments, the bottom of the slide is connected to the end effector main rod, and the end effector main rod is connected to the end effector secondary rod through a support attachment.

[0015] In some embodiments, a suction cup assembly is installed at the end of the end effector sub-rod, an air pipe joint is installed above the suction cup assembly, and the air pipe is connected to the valve island to realize air circuit control.

[0016] In some embodiments, the device also includes a recipe storage function, which enables rapid retrieval of parts of different specifications by selecting the suction cup, adjusting the material grabbing position and saving the recipe parameters through the operation interface.

[0017] In some embodiments, the recipe storage functionality includes:

[0018] Define the recipe number and set the workpiece grabbing position;

[0019] Select the effective suction cup through the interface and adjust the servo motor to correct the gripping position;

[0020] Save the recipe parameters to the buffer area and download them to the PLC for execution.

[0021] In some embodiments, the apparatus is suitable for double stack separation.

[0022] Beneficial effects:

[0023] The present invention can realize an end picker that is suitable for destacking sheet materials of various specifications and solve the problem of separating double-stacked materials; and for new part graphics, suction cup selection, motor adjustment, and recipe storage can be used to reduce the operating procedures and improve operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a structural diagram of the present invention;

[0026] Figure 2 It is the front view of the present invention;

[0027] Figure 3 It is the AA cross-sectional view of the present invention;

[0028] Figure 4 This is the recipe interface diagram of the present invention;

[0029] Figure 5 This is an operation interface diagram of the present invention;

[0030] Among them, 1. Frame; 2. Servo motor; 3. Drag chain; 4. Cover; 5. Connecting seat; 6. Valve island; 7. Base plate; 8. Support accessories; 9. End picker main rod; 10. Roller screw; 11. Coupling; 12. Flange; 13. Bearing; 14. Screw nut; 15. Slide; 16. Linear guide; 17. Suction cup assembly; 18. Air pipe joint; 19. End picker auxiliary rod. DETAILED DESCRIPTION

[0031] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0032] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the usual meanings understood by persons of ordinary skill in the field to which this disclosure belongs. The words "first", "second" and similar terms used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0033] At the same time, “adjacent” is not limitedly interpreted as the minimum effective distance between two structures without interference from other structures.

[0034] like Figures 1 to 3The multi-station destacking end picker device shown in the figure has a connecting seat 5 installed above the frame 1, and the connecting seat 5 is connected to the driving mechanical device, which includes various manipulators. At the same time, one side of the base plate 7 is connected to the connecting seat 5, and the other side of the base plate 7 is connected to the valve island 6. The valve island 6 can be a component that integrates a vacuum generator and a solenoid valve. Flanges 12, servo motors 2 and roller screws 10 are installed at both ends of the frame 1 and are connected by couplings 11. The servo motor 2 is arranged at the end of the flange 12 and is provided with a drag chain 3 and a cover plate 4. The servo motor 2 is wired through the drag chain 3 and protected by the cover plate 4; bearings 13 and roller screws 10 are installed inside the flange 12. Fixed, the bearing 13 can be selected as an angular contact ball bearing; the roller screw 10 is arranged in the frame 1, and a coupling 11 is provided at the end of the roller screw 10, and is connected to the servo motor 2 through the coupling 11, and the coupling 11 is arranged in the flange 12; the screw nut 14 is connected to the roller screw 10, and the bottom of the screw nut 14 is connected to the slide 15, and the slide 15 is connected to the linear guide 16. The connection between the screw nut 14 and the roller screw 10 can realize forward and backward movement; the position of the end picker main rod 9 can be moved by the servo motor 2 to realize destacking at different positions of the suction cup assembly 17, and the valve island 6 can control the closing of each suction cup assembly 17.

[0035] The slide 15 is connected to the screw nut 14 and the linear guide 16. This structural arrangement enables the motor to drive the screw to move the slide 15 left and right. The bottom of the slide 15 is connected to the end picker main rod 9, and the end picker main rod 9 is connected to the end picker auxiliary rod 19 through the support attachment 8.

[0036] A suction cup assembly 17 is installed at the end of the end tool auxiliary rod 19, and an air pipe joint 18 is installed above the suction cup assembly 17. The air pipe is connected to the valve island 6 to realize air circuit control.

[0037] The device also includes a recipe storage function, which allows users to select the suction cup, adjust the gripping position and save the recipe parameters through the operation interface to quickly call parts of different specifications.

[0038] like Figures 4 and 5 The recipe storage functions shown are:

[0039] 1. Define a recipe number for the current sheet, then place the part on the bus table and operate the robot to the position to grab the part;

[0040] 2. According to the shape of the part, select the suction cup button in Figure 4. The button turns green to indicate a successful selection. As long as one suction cup is in effect, double material detection will automatically take effect. If the position deviation is large, you can adjust the motor to modify the gripping position.

[0041] 3. Confirm the recipe number and enter the starting angle for material removal to ensure that it matches the production line speed;

[0042] 4. After all parameters are set, click the "Save Cache Button" in Figure 5 to save all the parameters corresponding to the current recipe. If you change the recipe number, the cache data will automatically be replaced with the data corresponding to the recipe.

[0043] 5. Click "Upload PLC data to cache" in Figure 5 to upload the recipe number and parameter settings in the PLC to the cache, which will be displayed intuitively on the screen;

[0044] The device is suitable for separating double stacks of materials.

[0045] The present invention can realize an end picker that is suitable for destacking sheet materials of various specifications and solve the problem of separating double-stacked materials; and for new part graphics, suction cup selection, motor adjustment, and recipe storage can be used to reduce the operating procedures and improve operating efficiency.

[0046] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be embraced herein. No sign in a claim should be construed as limiting the claim to which it relates.

Claims

1. A multi-station depalletizing end picker device, characterized in that: include: A frame (1), wherein a connecting seat (5) is provided in the frame (1), and the connecting seat (5) is connected to a driving mechanical device; A bottom plate (7), one side of the bottom plate (7) is fixedly connected to the connecting seat (5), and the other side of the bottom plate (7) is fixedly connected to the valve island (6); A plurality of flanges (12), wherein the flanges (12) are arranged at both ends of the frame (1); A servo motor (2), the servo motor (2) being arranged at the end of the flange (12) and provided with a drag chain (3) and a cover plate (4); A roller screw (10), the roller screw (10) is arranged in the frame (1), a coupling (11) is provided at the end of the roller screw (10), and is connected to the servo motor (2) through the coupling (11), and the coupling (11) is arranged in the flange (12); A screw nut (14), the screw nut (14) is connected to the roller screw (10), the bottom of the screw nut (14) is connected to the slide (15), and the slide (15) is connected to the linear guide rail (16).

2. The multi-station depalletizing end tooling device according to claim 1, characterized in that: A bearing (13) is provided inside the flange (12), and is connected to the roller screw 10 via the bearing (13).

3. The multi-station depalletizing end picker device according to claim 2, characterized in that: The bottom of the slide (15) is connected to the end-picker main rod (9), and the end-picker main rod (9) is connected to the end-picker auxiliary rod (19) through a support attachment (8).

4. The multi-station depalletizing end picker device according to claim 3, characterized in that: The end of the end picker auxiliary rod (19) is equipped with a suction cup assembly (17), and an air pipe joint (18) is installed above the suction cup assembly (17), and the air pipe is connected to the valve island (6) to realize air path control.

5. The multi-station depalletizing end tooling device according to claim 1, characterized in that: The device also includes a recipe storage function, which allows users to select the suction cup, adjust the material gripping position and save the recipe parameters through the operation interface, thereby realizing the rapid call of parts of different specifications.

6. The multi-station depalletizing end picker device according to claim 5, characterized in that: The recipe storage function includes: Define the recipe number and set the workpiece grabbing position; Select the effective suction cup through the interface and adjust the servo motor to correct the gripping position; Save the recipe parameters to the buffer area and download them to the PLC for execution.

7. A multi-station depalletizing end tooling device according to any one of claims 1 to 6, characterized in that: The device is suitable for separating double stacks of materials.

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