Loading structure and production line applying same

Abstract

The loading structure comprises a body provided with a robot gripper, the robot gripper comprises a first picking and placing assembly and a second picking and placing assembly which are correspondingly used for picking and placing a first object and a second object, and the first picking and placing assembly and the second picking and placing assembly can ascend and descend relative to each other. An image acquisition mechanism which is in communication connection with a robot control device is mounted on the body and comprises a camera and an image processing part, the image acquisition mechanism is used for executing an image obtained by a first object or a second object shot by the camera, and the image processing part is used for processing the image to detect the actual position of the second object; and the working states of the corresponding first and second pick-and-place assemblies are obtained. The robot gripper has the beneficial effects that the first taking and placing assembly and the second taking and placing assembly which can ascend and descend relative to each other and are used for taking and placing the first object and the second object correspondingly are integrated on the robot gripper, the robot gripper can rapidly switch the taking and placing assemblies according to different objects, and the production efficiency is improved; and meanwhile, the production cost can be reduced.

Description

Technical Field

[0001] This invention relates to the field of workpiece processing and conveying technology, and more specifically to a production line for the production of automotive parts. Background Technology

[0002] With the development of the manufacturing industry, complex workpieces are gradually forming assembly line operations. Workpieces need to be transferred from one workstation to another for processing. Some production lines still use the traditional manual loading and unloading method, but this method is not only labor-intensive, but also reduces the processing cycle of the production line.

[0003] To address this, a Chinese utility model patent with patent number ZL202223350438.1 (publication number CN219053738U), entitled "An Automatic Loading and Unloading CNC Machining Production Line," discloses an automated production line. This line includes a ground rail, a robot mounted on the ground rail, and CNC machine tools positioned around the ground rail. The robot's end is equipped with a clamping device for holding materials. One end of the ground rail also has a loading belt and a unloading belt. During processing, the robot retrieves the workpiece from the loading table and moves along the loading belt to the CNC machine tool. After processing, the robot's unloading component removes the workpiece, and then the robot is transported via the ground rail to the unloading belt to complete the unloading. Finally, the robot returns to the initial material table for the next round of loading. However, the above-mentioned production line has the following technical problems during operation: First, the robot needs to unload the finished product from the machine tool and place it on the finished product table. Then it needs to return to the initial position to pick up the blank from the blank table and put it into the machine tool to complete the loading. That is, the current route is a single loop from blank table to machine tool to finished product table. As the "supplyer" of loading and unloading the machine tool, the robot needs to coordinate the time of each machine tool. That is, to achieve uninterrupted operation of each machine tool, the aforementioned production line is difficult to achieve. Especially when the production cycle of the workpiece to be processed is short, the long waiting time for each machine tool to change materials will reduce the production efficiency. Secondly, in order to wash away aluminum chips on the surface of the workpiece and cool it down at the same time, the machine tool usually sprays cooling water on the surface of the workpiece during the processing. When the fixture on the robot picks up the workpiece and transports it, the cooling water will drip directly from the surface of the workpiece onto the ground rail. This not only wastes the cooling water, but also affects the service life of the components on the ground rail. Third, on the production line, during the process of clamping billets on the billet table, each billet to be processed is generally contained in a placement frame with a capacity and an open top, and stacked from bottom to top on the loading area to prevent the billets from being squeezed. When the robot uses a fixture to clamp the billets, it needs to first clamp the billets to be processed into the corresponding processing machine tool, and then clamp the placement frame containing the billets to the unloading area. Because the billets to be processed and the placement frames have different structures, when the robot clamps them separately, it needs to switch fixtures using a quick-change device to clamp them accordingly. This requires at least two fixtures and at least one quick-change device for loading operations. However, if billet A' is as follows... Figure 1 The blank shown is placed in a frame B' as described above. Figure 2 When using the placement frame shown, another interference problem arises. The protrusions B1' in the placement frame that are held by the suction cup are called the first position P1', while the central area A1' in the blank A' that is held by the suction cup is called the second position P2'. The highest point of the first position P1' is still lower than the lowest point of the second position P2'. Therefore, if the suction cup in the fixture such as CN222844597U is used to suction the first position P1' or the second position P2', since only one set of suction cups is set and their preset height is consistent, it is still impossible to simultaneously satisfy the alternating suction of the two. Therefore, further improvements are needed to the loading structure and the structure of the loading and unloading production line with the loading structure. Summary of the Invention

[0004] The first technical problem to be solved by the present invention is to provide a loading structure that can quickly switch according to different objects being gripped, thereby further reducing intermittent waiting time for operation, in view of the above-mentioned existing technology.

[0005] The second technical problem to be solved by the present invention is to provide a loading structure that can be matched with the production line and can maximize the uninterrupted operation of each processing machine in light of the above-mentioned existing technology.

[0006] The third technical problem to be solved by the present invention is to provide a loading structure that can reduce the impact of cooling water and / or aluminum shavings and avoid the waste of cooling water, in view of the above-mentioned existing technology.

[0007] The fourth technical problem to be solved by the present invention is to provide a production line that applies the above-mentioned loading structure in view of the current state of the prior art.

[0008] The technical solution adopted by the present invention to solve the first technical problem mentioned above is as follows: the loading structure for the production line includes a body equipped with a robot gripper, the robot gripper including a first pick-and-place component for picking up and placing a first object, characterized in that: the robot gripper further includes a second pick-and-place component for picking up and placing a second object, the first and second pick-and-place components can be raised and lowered relative to each other, and the body is also equipped with an image acquisition mechanism, which is communicatively connected to a robot control device, and has a camera and an image processing unit. The image acquisition mechanism executes the image of the first or second object captured by the camera, and processes it through the image processing unit to detect the actual position of the first or second object, so as to obtain the working status of the corresponding first and second pick-and-place components.

[0009] Furthermore, both the first and second pick-and-place components are suction cup assemblies, including a suction cup and a drive mechanism that pass through the mounting plate. The drive mechanism is mounted on a mounting bracket at the bottom of the mounting plate, and a connector is provided between the output end of the drive mechanism and the suction cup. A vacuum assembly is provided inside the suction cup, and a reversing valve for controlling the vacuum assembly to suck in or release air is provided on the mounting plate. By providing a connector between the output end of the drive mechanism and the suction cup, and by using a flexible material for the connector, the suction cup can adaptively adjust its angle and position when it touches an object, ensuring that the entire suction cup sealing surface is completely in contact with the object surface, thereby achieving optimal sealing and maximum suction force. Simultaneously, the reversing valve on the mounting plate can cooperate with the vacuum assembly inside the suction cup, enabling the suction cup to quickly pick up the object in suction mode and quickly release the object in release mode.

[0010] Furthermore, each suction cup of the first pick-and-place component is fixed at the desired suction position, while each suction cup of the second pick-and-place component is arranged around the suction cups in the first pick-and-place component, including a pair of first suction cup groups and a pair of second suction cup groups. The suction cups of the first suction cup group are lower than the suction positions of each suction cup of the first pick-and-place component, while the second suction cup group moves up and down relative to the suction positions of each suction cup in the first pick-and-place component by means of its own driving mechanism. Correspondingly, the first object includes a blank body, which includes a central area for fixing each suction cup in the first pick-and-place component and a recessed area located on one side of the central area that is lower than the central area. The recessed area is for the suction cups of the first suction cup group to extend into.

[0011] As described in the background section, the robotic gripper needs to grasp the blank body as the first object and the placement frame as the second object (the lowest point of the blank body being gripped is still higher than the highest point of the placement frame being gripped). The first pick-and-place component for gripping the blank body and the second pick-and-place component for gripping the placement frame are positioned with corresponding suction cups at the required pick-and-place positions according to the objects being gripped, so that the two can directly perform operations. At the same time, the second pick-and-place component is placed on the periphery of the first pick-and-place component and can be set relatively independently in the spatial position of the mounting plate, so that the two objects can be selectively gripped based on the structure of the first object and the second object. In addition, since a recessed area is provided on one side of the first object, the first suction cup group in the second pick-and-place component can extend into this recessed area. That is, when gripping the blank body, the suction cups in the first suction cup group will not interfere with the blank body. Therefore, by setting the first suction cup group to a fixed length, the cost of the drive mechanism can be eliminated, reducing production costs.

[0012] Furthermore, the main body is also provided with a third picking and placing component, which works in conjunction with the first or second picking component to pick up or place the first or second object. The third picking and placing component includes a pair of clamping arms driven by the output rod of a telescopic cylinder. Correspondingly, the main body is provided with a hinge seat for the clamping arms to open and close relative to each other. Considering that the first or second object is relatively heavy, the suction force provided by the suction cup in the first or second picking component may be insufficient. By providing a third picking and placing component on the main body to cooperate with the first or second picking component, the stability of picking up and placing objects can be improved. Driven by the telescopic cylinder, the clamping arms can move closer to each other on the hinge seat to clamp the first or second object, or move away from each other to release the first or second object.

[0013] To address the second technical problem mentioned above, the system further includes a carrier platform that can move along the production line. The carrier platform includes a first carrier area and a second carrier area. The first carrier area is used to carry the robot with the main body installed, while the second carrier area is used to carry the objects required for processing. The second carrier area includes at least two independent temporary storage stations, which can be used to temporarily store new blanks taken from the blank table as the first object or processed finished products taken from the processing machine table. The platform carrying the robot and capable of moving along the production line is spatially divided into two parts, forming a first carrying area for placing the robot and a second carrying area for placing objects, to meet the loading and unloading needs of each processing machine on the assembly line. More importantly, by setting up independent temporary storage stations on the second carrying area of ​​the platform, which can be used to temporarily store new blanks and finished products respectively, finished products taken from the processing machine can be placed on one temporary storage station, while new blanks located on the other temporary storage station can be immediately sent into the processing machine for processing. This avoids the reduction in production efficiency of the processing machine due to long waiting time for material change, and realizes an uninterrupted production mode.

[0014] To achieve precise object handling, the robot is preferably positioned between two temporary storage stations. The image processing unit detects the actual position of the desired object, and the control signal output by the control device rotates each joint of the robot to obtain a corresponding grasping posture, allowing for selective handling of new blanks or finished products. Positioning the robot between the two temporary storage stations facilitates switching between them. Since the placement orientation of new blanks or finished products differs between the blanking table, the processing table, and the temporary storage stations, the image processing unit can detect the actual position of the object and rotate the robot's joints accordingly, adjusting the robot's grasping posture to match the object's shape for precise object handling.

[0015] To further address the third technical problem mentioned above, each temporary storage station in the second bearing area includes a temporary storage platform. The temporary storage platform has a recessed drainage area at least in its central part. The drainage area is covered with a drainage board with drainage holes, and the drainage board is lower than the outer perimeter of the temporary storage platform adjacent to the top edge of the drainage area. The temporary storage platform is provided with a liquid storage chamber that is fluidly connected to the drainage area. The outer perimeter is also provided with at least two positioning seats arranged circumferentially for positioning the objects required for processing, and a nozzle for blowing air is provided adjacent to each positioning seat. As described in the background section, machine tools typically spray cooling water onto the surface of the workpiece during processing. To this end, during the process of gripping and transporting the workpiece, the cooling water flows to the lower drainage area relative to the periphery of the temporary storage platform due to gravity. At the same time, under the blowing action of the nozzle, most of the cooling water and aluminum chips on the surface of the finished product can be concentrated and dripped into the drainage area. The cooling water can be collected in a liquid storage chamber through the drainage holes for coolant storage. To collect cooling water, preferably, the second bearing area also includes a support frame connected to the temporary storage platform. The support frame includes a U-shaped frame with an opening facing downwards. The U-shaped frame includes transverse walls spaced vertically from the temporary storage platform and two side walls connected to the transverse walls. The side walls include an upper section that is vertically arranged from top to bottom, and a lower section that slopes downwards from the end of the upper section in a direction away from the temporary storage platform. The transverse walls and the two upper sections together with the temporary storage platform form a liquid storage chamber that is in fluid communication with the drainage area to store coolant. The ends of the two upper sections have drainage channels connecting the liquid storage chamber and the lower section, while the lower section constitutes a coolant guiding area. The support frame is designed in a special "U" shape, which serves two purposes: First, the upper sections of the transverse wall and the two side walls can form a liquid storage chamber with the temporary storage platform. Cooling water from the finished products is collected in the liquid storage chamber through the drainage holes on the drain plate for subsequent reuse. Second, the side walls are provided with drainage channels, which allow the coolant to be discharged in the left and right directions as described above, where the processing machine is located. In addition, the left and right side walls are divided into upper and lower sections. The end of the upper section has a drainage channel, and the lower section connected to the drainage channel forms a liquid guiding area for guiding the coolant discharged from the drainage channel. This not only speeds up the discharge of coolant but also better realizes the recycling of coolant.

[0016] Furthermore, a support frame for supporting the frame is provided in the space surrounded by the lower section of the transverse wall and the two side walls, and an installation space is reserved on the support frame for the linear motion module of the entire support platform to move along the production line. The lower section is connected to each processing machine on the production line for workers to stand and work on. The footboard includes a first plate and a second plate arranged in two rows at intervals. The first plate in the upper row is in fluid communication with the liquid guiding area, while the second plate is connected to each processing machine. Both the first plate and the second plate are provided with a flow guiding structure for guiding the coolant to the water tank of each processing machine. The entire support platform needs to accommodate robots, new blanks, and finished products, thus requiring it to withstand a certain load. By setting a support frame at the bottom of the support frame, the overall rigidity of the support platform can be improved. At the same time, the support frame is provided with space for the installation of linear motion modules, allowing the support platform to move along the production line direction to achieve loading and unloading. In addition, the pedal has a dual function: first, it allows workers to stand and repair parts on the support platform or robot; second, the pedal includes an inclined first plate and a second plate. The first plate can receive the fluid in the liquid guiding area, while the second plate is connected to the water tank on the processing machine. With the cooperation of the first and second plates, the cooling water can be recycled back to the water tank for reuse.

[0017] To solve the fourth technical problem mentioned above, the present invention also provides a production line, including a loading structure for conveying objects, wherein the loading structure is the loading structure defined above, and two temporary storage stations in the second bearing area of ​​the loading structure can be used for loading and unloading of materials in the production line. When the temporary storage station is used for loading and unloading on the production line, the following steps are included: Step 1-1: The first pick-and-place component picks up the new blank as the first object from the blank table and lifts it to a preset height. The clamping arms on the body of the third pick-and-place component move closer to each other under the drive of the telescopic cylinder to clamp the new blank. The robot gripper then transfers the new blank to one of the temporary storage stations in the second bearing area. Steps 1-2: The support platform drives the robot and the new blank to move synchronously along the production line to the front of the processing machine. Steps 1-3: The first pick-and-place component and the clamping arm cooperate to transfer the finished product in the processing machine to another temporary storage station in the second bearing area; Steps 1-4: The first pick-and-place component and the clamping arm cooperate to transfer the new billet from the temporary storage station to the processing machine for processing; Steps 1-5: The carrier platform drives the robot and the processed finished product to move synchronously along the production line to the finished product table. The first pick-and-place component and the clamping arm cooperate to transfer the processed finished product to the finished product table. Then the carrier platform and the robot return synchronously to the blank table. Steps 1-6: The second pick-and-place component picks up the empty placement frame for the second object and places it in the unloading area. Then, the first pick-and-place component picks up the new blank for the first object from the next layer placement frame and enters the next round of loading and unloading.

[0018] Compared with the prior art, the advantages of the present invention are as follows: 1. The robot gripper of the loading structure is equipped with a first pick-and-place component for picking up and placing a first object and a second pick-and-place component for picking up and placing a second object. The key design is that the first pick-and-place component and the second pick-and-place component can be raised and lowered relative to each other. At the same time, the camera and image processing unit on the robot can work together to capture and identify the object to be picked up and placed. The control device can adjust the position of the first pick-and-place component and the second pick-and-place component on the robot gripper accordingly, so as to quickly switch the pick-and-place component according to different objects, thereby speeding up production efficiency and saving waiting time. 2. The production line using the above-mentioned loading structure, based on the novel design of the gripper carrying the robot and the second loading area in the loading structure, allows the production line to quickly switch between the new blank (the first item) and the placement frame (the second item) during the loading stage, further reducing intermittent waiting time. The loading structure further utilizes a loading platform that carries the robot and can move along the production line, spatially dividing it into a first loading area for the robot and a second loading area for the items, thus meeting the loading and unloading needs of each processing machine on the assembly line. More importantly, by setting up independent temporary storage stations on the second loading area of ​​the platform, which can be used to temporarily store new blanks and finished products respectively, finished products taken from the processing machine can be placed on one temporary storage station, while new blanks on the other temporary storage station can be immediately sent to the processing machine for processing. This avoids reduced production efficiency due to long waiting times for material changes, achieving an uninterrupted production mode. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the billet in the background art; Figure 2 This is a schematic diagram of the placement frame in the background art; Figure 3 This is a schematic diagram of the structure of the first object picked up and placed by the robot gripper in an embodiment of the present invention. Figure 4This is a schematic diagram of the structure of the second object picked up and placed by the robot gripper in an embodiment of the present invention. Figure 5 This is a schematic diagram of the robot gripping the first object in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the robot gripper in an embodiment of the present invention; Figure 7 for Figure 6 A structural diagram from another direction; Figure 8 This is a top view of the robot gripper in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the first and third pick-and-place components in an embodiment of the present invention for picking up the first object; Figure 10 This is a schematic diagram of the structure of the second pick-and-place component clamping the second object in an embodiment of the present invention; Figure 11 This is a schematic diagram of the clamping arm in an embodiment of the present invention; Figure 12 This is a schematic diagram of the load-bearing structure in an embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of the second bearing area in an embodiment of the present invention; Figure 14 This is a longitudinal sectional view of an embodiment of the present invention (the robot and some pedals are omitted); Figure 15 This is a longitudinal sectional view of the support platform in an embodiment of the present invention (the arrows in the figure indicate the flow direction of the cooling water); Figure 16 This is a longitudinal sectional view of the load-bearing structure in an embodiment of the present invention (the robot and partial load-bearing platform are omitted; the arrows in the figure indicate the flow direction of the cooling water). Figure 17 This is a schematic diagram of the load-bearing structure in an embodiment of the present invention (partial robots and partial linear motion modules are omitted; the arrows in the figure indicate the flow direction of cooling water). Figure 18 This is a schematic diagram of the water guide plate in an embodiment of the present invention; Figure 19 This is a schematic diagram of the loading structure working along the production line in an embodiment of the present invention (showing the movement route of the robot loading structure from the blank table A to the processing machine table B and finally to the finished product table C). Figure 20 This is a schematic diagram of the robot picking up and placing the first object in an embodiment of the present invention (showing the robot taking the first object out of the second object and placing it on the first temporary storage station in the second bearing area). Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0021] like Figures 3 to 20 The figure shown is a preferred embodiment of the present invention.

[0022] refer to Figure 3 and Figure 4 In this embodiment, the first object A and the second object B have the same structure as the blank A' and the placement frame B' mentioned in the background art. In this embodiment, the first object A includes a new blank located on the blank table 10 and a finished product located in the processing table 01. Specifically, the first object A includes a central area A1, and a sunken area A2 is provided on the right side of the central area A1. The second object B, taking the placement frame as an example, has four boss B1 structures. The plane where the boss B1 is located is P1, and the position where the central area A1 is located is P2. At this time, the highest point of the first position P1 is still lower than the lowest point of the second position P2.

[0023] refer to Figure 5 The loading structure in this invention mainly includes a support platform 2 and a robot 1. The support platform 2 can reciprocate between the blank platform 10, the processing machine platform 01, and the finished product platform 02 to realize loading and unloading. The robot 1 includes a body 11 and a robot gripper 12 mounted on the body 11. The robot gripper 12 includes a first pick-and-place component 121 for picking up and placing a first object A and a second pick-and-place component 122 for picking up and placing a second object B. The first pick-and-place component 121 and the second pick-and-place component 122 can be raised and lowered relative to each other. The robot gripper 12 is also equipped with an image acquisition mechanism 13 that is communicatively connected to the control device of the robot 1. The image acquisition mechanism 13 executes the image of the first object A or the second object B captured by the camera 131, and processes it through the image processing unit 132 to detect the actual position of the first object A or the second object B, so as to obtain the working status of the corresponding first and second pick-and-place components 122.

[0024] Specifically, refer to Figures 6 to 10The first pick-and-place assembly 121 and the second pick-and-place assembly 122 are both suction cup assemblies, including a suction cup passing through the mounting plate 125 and a drive mechanism 123. The drive mechanism 123 is mounted on the mounting bracket 126 at the bottom of the mounting plate 125. A connector is provided between the output end of the drive mechanism 123 and the suction cup. Each suction cup is equipped with a vacuum assembly. The mounting plate 125 is equipped with a reversing valve 128 for controlling the vacuum assembly to suck in or release air. By providing a connector between the output end of the drive mechanism 123 and the suction cup, and the connector being made of a flexible material, the suction cup can adaptively adjust its angle and position when it touches an object, ensuring that the entire suction cup sealing surface is completely in contact with the object surface, thereby achieving optimal sealing and maximum adsorption force. At the same time, the reversing valve 128 on the mounting plate 125 can cooperate with the vacuum assembly inside the suction cup, so that the suction cup can quickly grip the object in the suction state and quickly release the object in the release state.

[0025] In this embodiment, the suction cups include a first suction cup 129a disposed on the first pick-and-place assembly 121 and a second suction cup 129b and a third suction cup 129c disposed on the second pick-and-place assembly 122. Specifically, each of the first suction cups 129a of the first pick-and-place assembly 121 is fixed to the mounting plate 125 near the center, and is mainly used to pick up the central area A1 on the first object A. The second suction cups 129b and the third suction cups 129c of the second pick-and-place assembly 122 are disposed around each of the first suction cups 129a in the first pick-and-place assembly 121, including a pair of first suction cup groups 1221 and a pair of second suction cup groups 1222. The second suction cups 129b of the first suction cup group 1221 are lower than the picking position of each of the third suction cups 129c in the first pick-and-place assembly 121, while the second suction cup group 1222 moves relative to each of the third suction cups 129a in the first pick-and-place assembly 121 by means of its own driving mechanism 123. Regarding the lifting and lowering of the suction position of 29c, it should be noted that: since a recessed area A2 is provided on one side of the central area A1 of the first object A, but not on the other side, the recessed area A2 allows the second suction cup 129b of the first suction cup group 1221 to extend into it. That is, during the suction of the first object A, the first suction cup group 1221 will not interfere with the first object A. Therefore, by setting the first suction cup group 1221 into a fixed structure, the expensive drive mechanism 123 can be eliminated, thereby reducing production costs. However, the area of ​​the first object A where the second suction cup group 1222 is located does not have a recessed area A2. Therefore, the third suction cup 129c is extended and retracted by the drive mechanism 123, thereby avoiding interference with the blank body.

[0026] To accommodate the blank body and the placement frame, the mounting plate 125 is configured as a frame structure, including a first frame wall 1251, a second frame wall 1252, a third frame wall 1253, and a fourth frame wall 1254 connected in sequence. Furthermore, each of the first suction cups 129a of the first pick-and-place assembly 121 is connected to the output end of the drive mechanism 123 via a first connector 1241. The two third suction cups 129c of the second suction cup group 1222 are also connected to the second frame wall 1252 via a third connector 1243. Both the first connector 1241 and the third connector 1243 are Z-shaped, and their function is to allow the upper horizontal portion of the first connector 1241 and the third connector 1243 to be fixed to the bottom surface of the second frame wall 1252. Simultaneously, the first connector 124... The large lateral span of the first and third suction cups 127a and 127c ensures a certain distance between them, even with limited installation space in the second frame wall 1252, thus preventing interference during suction. The second suction cup 129b of the first suction cup group 1221 is connected to the first frame wall 1251 via the second connector 1242. This second connector 1242 is a long "[" shape; its upper lateral portion can be fixed to the top of the second frame wall 1252, while its lower lateral portion allows for the installation of the second suction cup 129b. This simple structure allows the second suction cup 129b of the first suction cup group 1221 to be installed at a lower position, enabling the suction of the second object B. This maximizes the stability of the suction and release force.

[0027] Considering the relatively large weight of the blank body of the first object A, the suction force provided by the first suction cup 129a of the first pick-and-place assembly 121 may be insufficient. Therefore, this embodiment provides a third pick-and-place assembly 127 to assist in clamping the first object A, thereby further improving the stability of pick-and-place. Specifically, the hinge seats 1274 are arranged in pairs on the lower surfaces of the third frame wall 1253 and the fourth frame wall 1254. Two telescopic cylinders 1271 are spaced apart along the length direction on the mounting plate 125. The mounting plate 125 is also provided with openings 1255. Each clamping arm is hinged to the output rod 1272 of the telescopic cylinder 1271 through its respective opening 1255. Under the drive of the telescopic cylinder 1271, each clamping arm pair 1273 can move closer or further away from each other, thereby clamping or releasing the first object A. In addition, the hinge seat 1274 can provide a fulcrum for the clamping arm, and the clamping arm is set in a special S-shape (see reference). Figure 11The clamping arm includes a shorter first segment 1273a, a longer second segment 1273b, and a connecting segment 1273c that connects the first segment 1273a and the second segment 1273b and can be hinged to the hinge seat 1274. At this time, the clamping arm can form a force-saving lever structure. When the output rod 1272 of the telescopic cylinder 1271 provides a small thrust to the first segment 1273a, the second segment 1273b of the clamping arm can generate a stable and large clamping force, thereby ensuring that the first object A is clamped.

[0028] refer to Figures 12 to 15 In this embodiment, the support platform 2 includes a first support area 21 and a second support area 22. The first support area 21 is used to support the robot 1, while the second support area 22 is provided with a first temporary storage station 221a and a second temporary storage station 221b. The first temporary storage station 221a is used to temporarily store new blanks taken from the blank table 10, while the second temporary storage station 221b is used to temporarily store finished products taken from the processing machine table 01. When the support platform 2 moves to the front of the processing machine table 01, the finished products in the processing machine table 01 can be gripped by the robot gripper 12 and placed onto the second temporary storage station 221b. At the same time, the robot gripper 12 can place new blanks from the first temporary storage station 221a into the processing machine table 01 for processing, saving the processing machine table 01 the time of waiting for material change, realizing uninterrupted operation and improving the production cycle. Furthermore, since the first object A and the second object B are placed in different directions, this embodiment also provides an image acquisition mechanism 13 that is communicatively connected to the control device on the robot 1. The image acquisition mechanism 13 includes a camera 131 and an image processing unit 132. The image processing unit 132 on the robot 1 can detect the actual position of the object, thereby using the control device to rotate the joints of the robot 1, and then adjust the gripping posture of the robot gripper 12 to match the direction of the object, so as to achieve precise gripping.

[0029] refer to Figures 14 to 16 The first temporary storage station 221a and the second temporary storage station 221b on the second bearing area 22 both include a temporary storage platform 2211. The temporary storage platform 2211 has a recessed drainage area 2212 in the center. The drainage area 2212 is covered with a drainage plate 2213 with drainage holes. The drainage plate 2213 is lower than the outer part of the temporary storage platform 2211 that is adjacent to the top edge of the drainage area 2212. The temporary storage platform 2211 is provided with a liquid storage chamber 6 that is fluidly connected to the drainage area 2212 (see reference). Figure 15The outer part is also provided with eight positioning seats 3 arranged circumferentially for positioning the objects required for processing, and each positioning seat 3 is provided with a nozzle 4 for blowing air. When the processed finished product is taken out from the processing table 01 and placed on the second temporary storage station 221b, the cooling water dripping on the temporary storage platform 2211 will flow to the drainage area 2212, which is lower than the outer part of the temporary storage platform 2211, by the help of gravity. At the same time, under the blowing action of the nozzle 4, most of the cooling water and aluminum chips on the surface of the processed finished product can be concentrated and dripped into the drainage area 2212. At this time, the cooling water can be collected into the liquid storage chamber 6 through the drainage holes, avoiding the waste of cooling water. At the same time, the cooling water and aluminum chips on the surface of the processed finished product are blown off into the drainage area 2212, which can reduce the impact on the next process. In addition, the second bearing area 22 also includes a support frame 5 connected to the temporary storage platform 2211. The support frame 5 includes a U-shaped frame 51 with the opening facing downward. The U-shaped frame 51 includes a transverse wall 511 that is spaced vertically from the temporary storage platform 2211 and two side walls 512 that are connected to the transverse wall 511. The side wall 512 includes an upper section 5121 that is vertically arranged from top to bottom, and a lower section 5122 that is inclined downward from the end of the upper section 5121 in a direction away from the temporary storage platform 2211. The transverse wall 511 and the two upper sections 5121 together with the temporary storage platform 2211 form a liquid storage chamber 6 that is in fluid communication with the drainage area 2212 to store coolant. The ends of the two upper sections 5121 are provided with drainage channels 7 that connect the liquid storage chamber 6 and the lower section 5122, while the lower section 5122 constitutes the coolant guiding area. The advantages of this design are as follows: First, the support platform 2 is separated from the temporary storage platform 2211 by the support frame 5, which can maintain the original temporary storage function and add a storage function for storing the drained cooling water. Since the amount of cooling water will reach a certain amount with the draining of multiple processing items, in order to make better use of the drained cooling water, the design of the drainage channel 7 can discharge the cooling water that has reached a certain amount and discharge it to the preset recycling equipment, such as the water tank of the processing machine 01, so as to realize the recycling and reuse of cooling water.

[0030] Since the entire support platform 2 needs to accommodate robot 1, new blanks, and finished products, it needs to withstand a certain load. (Refer to...) Figures 14 to 18 In this embodiment, a support frame 8 for supporting the frame 5 is provided in the space surrounded by the lower section 5122 of the transverse wall 511 and the two side walls 512, thereby improving the overall rigidity of the support platform 2; at the same time, the support frame 8 is provided with a space for the linear motion module 03 to be installed, so that the support platform 2 can move along the production line direction to realize loading and unloading; in addition, referring to Figure 16 and Figure 17The lower section 5122 is connected to each processing machine 01 on the production line by a footboard 9 for workers to stand on. This footboard 9 includes two rows of spaced-apart first plates 91 and second plates 92. Since the robot 1's loading structure moves along the production line in the front-to-back direction, the purpose of arranging the guide sections in this direction is to collect as much cooling water as possible flowing to the production line. (Refer to...) Figure 14 In this embodiment, the first plate 91 is provided with two stepped guide sections along the front-to-back direction of the production line, which may be referred to as the first guide section 911a and the second guide section 911b. The first guide section 911a is guided to the downstream second guide section 911b by the first water guide plate 93a, while the cooling water on the second guide section 911b is guided to the second plate 92 by the second water guide plate 93b. The second plate 92 is provided with a third water guide plate 93c that is connected to the water tank of the processing machine 01. The third water guide plate 93c guides the cooling water on the second plate 92 to the water tank of the processing machine 01, thereby realizing the recycling of cooling water. In this embodiment, the cross-sections of the first water guide plate 93a, the second water guide plate 93b, and the third water guide plate 93c are all U-shaped (see reference). Figure 18 Its function is as follows: the bottom plate 931 of the water guide plate can guide the cooling water downward, while the side plates 932 located on both sides of the bottom plate 931 can prevent the cooling water from flowing out from both sides. The pedal 9 in this embodiment has a dual function: first, the pedal 9 allows maintenance personnel to stand and inspect the parts on the support platform 2 or robot 1; second, the pedal 9 can receive and guide the cooling water. The first plate 91 located in the upper row is in fluid communication with the liquid guiding area, while the second plate 92 located in the lower row is connected to the water tank of the processing machine 01. With the guidance and receiving function of the first guide section 911a, the first water guide plate 93a, the second guide section 911b, the second water guide plate 93b, the second plate 92 and the third water guide plate 93c arranged at different heights, the cooling water flowing out from the drainage channel 7 can be recycled back to the water tank of the processing machine 01 for reuse.

[0031] This embodiment also provides a production line with a loading structure for conveying objects, wherein two temporary storage stations in the second bearing area 22 of the loading structure can be used for loading and unloading of the production line. refer to Figures 6 to 10 as well as Figure 19 and Figure 20 When a temporary storage station is used for loading and unloading materials on the production line, the following steps are included: Step 1-1: The first pick-and-place assembly 121 picks up the new blank, designated as the first object A, from the blank table 10 and lifts it to a preset height. Then, with the aid of the clamping arms 1273 on the main body 11 of the third pick-and-place assembly 127, driven by the telescopic cylinder 1271, they move closer together to clamp the new blank. The robot gripper 12 then transfers the new blank to the first temporary storage station 221a of the second bearing area 22 (see reference). Figure 19 ); Steps 1-2: The support platform 2 drives the robot 1 and the new blank to move synchronously along the production line to the front of the processing machine 01; Steps 1-3: The first pick-and-place component 121 and the clamping arm pair 1273 cooperate to transfer the finished products in the processing table 01 to the second temporary storage station 221b in the second bearing area 22; Steps 1-4: The first pick-and-place assembly 121 and the clamping arm pair 1273 cooperate to transfer the new blank from the first temporary storage station 221a to the processing machine 01 for processing; Steps 1-5: The carrier platform 2 drives the robot 1 and the processed finished product to move synchronously along the production line to the finished product table 02. The first pick-and-place component 121 and the clamping arm pair 1273 cooperate to transfer the processed finished product to the finished product table 02. Then the carrier platform 2 and the robot 1 return synchronously to the blank table 10. Steps 1-6: The second pick-and-place component 122 picks up the empty placement frame for the second object B and places it in the unloading area. Then, the first pick-and-place component 121 picks up the new blank for the first object A from the next layer placement frame and proceeds to the next loading cycle (see reference). Figure 20 ).

Claims

1. A loading structure for a production line, comprising a body (11) provided with a robot gripper (12) comprising a first pick-and-place assembly (121) for picking and placing first articles (A), characterized in that: The robot gripper (12) also includes a second pick-and-place component (122) for picking up and placing the second object (B). The first and second pick-and-place components (122) can be raised and lowered relative to each other. The main body (11) is also equipped with an image acquisition mechanism (13), which is connected to the robot (1) control device. It has a camera (131) and an image processing unit (132). The image acquisition mechanism (13) executes the image of the first object (A) or the second object (B) captured by the camera (131) and processes it through the image processing unit (132) to detect the actual position of the first object (A) or the second object (B) in order to obtain the working status of the corresponding first and second pick-and-place components (122).

2. The loading structure according to claim 1, characterized in that: The first and second pick-and-place components (122) are both suction cup assemblies, including suction cups (129a; 129b; 129c) that pass through the mounting plate (125) and a drive mechanism (123). The drive mechanism (123) is mounted on a mounting bracket (126) at the bottom of the mounting plate (125). A connector (1241; 1242; 1243) is provided between the output end of the drive mechanism (123) and the suction cups (129a; 129b; 129c). A vacuum assembly is provided inside the suction cups (129a; 129b; 129c). A reversing valve (128) for controlling the vacuum assembly to suck in or release air is provided on the mounting plate (125).

3. The loading structure according to claim 2, characterized in that: Each suction cup (129a; 129b; 129c) of the first pick-and-place component (121) is fixed at the desired pick-and-place position, while each suction cup (129a; 129b; 129c) of the second pick-and-place component (122) is arranged around each suction cup (129a; 129b; 129c) in the first pick-and-place component (121), including a pair of first suction cup groups (1221) and a pair of second suction cup groups (1221). 222), the suction cups (129a; 129b; 129c) of the first suction cup group (1221) are lower than the suction positions of each suction cup (129a; 129b; 129c) of the first pick-and-place assembly (121), while the second suction cup group (1222) rises and falls relative to the suction positions of each suction cup (129a; 129b; 129c) in the first pick-and-place assembly (121) by means of its own drive mechanism (123).

4. The loading structure according to claim 3, characterized in that: The main body (11) is also provided with a third pick-and-place assembly (127) for use with the first or second pick-and-place assembly (122) to pick up or place the first or second object (B). The third pick-and-place assembly (127) includes a pair of clamping arms (1273) driven by the output rod (1272) of the telescopic cylinder (1271). Correspondingly, the main body (11) is provided with a hinge seat (1274) for the clamping arms (1273) to open and close relative to each other.

5. The loading structure according to any one of claims 1 to 4, characterized in that: It also includes a carrier platform (2) that can move along the production line. The carrier platform (2) includes a first carrier area (21) and a second carrier area (22). The first carrier area (21) is used to carry the robot (1) on which the body (11) is set, while the second carrier area (22) is used to carry the object required for processing. The second carrier area (22) is a carrier area including at least two independent temporary storage stations (221a; 221b). The temporary storage stations (221a; 221b) can be used to temporarily store new blanks taken from the blank table (10) as the first object (A) or processed finished products taken from the processing table (01).

6. The loading structure according to claim 5, characterized in that: There are two temporary storage stations (221a; 221b), and the robot (1) is set between the two temporary storage stations (221a; 221b). The actual position of the required object is detected by the image processing unit (132), and the control signal output by the control device is used to rotate each joint of the robot (1) to obtain the corresponding grasping posture of the robot (1) so as to selectively pick up and put in new blanks or finished products.

7. The loading structure according to claim 6, characterized in that: Each temporary storage station (221a; 221b) on the second bearing area (22) includes a temporary storage platform (2211), which has a recessed drainage area (2212) at least in the central part. The drainage area (2212) is covered with a drainage board (2213) with drainage holes, and the drainage board (2213) is lower than the outer part of the temporary storage platform (2211) adjacent to the top edge of the drainage area (2212). The temporary storage platform (2211) is provided with a liquid storage chamber (6) that is fluidly connected to the drainage area (2212). At least two positioning seats (3) arranged circumferentially and used for positioning the objects required for processing are also provided on the outer part, and a nozzle (4) for blowing air is provided adjacent to each positioning seat (3).

8. The loading structure according to claim 7, characterized in that: The second bearing area (22) also includes a support frame (5) joined to the temporary storage platform (2211). The support frame (5) includes a downward-facing "U"-shaped frame (51). The "U"-shaped frame (51) includes transverse walls (511) spaced vertically from the temporary storage platform (2211) and two side walls (512) joined to the transverse walls (511). The side walls (512) include an upper section (5121) vertically arranged from top to bottom, and a lower section (5121) vertically arranged from the upper section (5121). The lower section (5122) of the end of the transverse wall (511) is inclined downwards and away from the temporary storage platform (2211). The transverse wall (511) and the two upper sections (5121) together with the temporary storage platform (2211) form a liquid storage chamber (6) that is in fluid communication with the drainage area (2212) to store coolant. The end of the two upper sections (5121) is provided with a drainage channel (7) that connects the liquid storage chamber (6) and the lower section (5122). The lower section (5122) constitutes the coolant guiding area.

9. The loading structure according to claim 8, characterized in that: A support frame (8) for supporting the frame (5) is provided in the space surrounded by the lower section (5122) of the transverse wall (511) and the two side walls (512). An installation space (81) is provided on the support frame (8) for the linear motion module (03) that allows the entire bearing platform (2) to move along the production line. A footboard (9) for workers to stand on is attached between the lower section (5122) and each processing machine (01) of the production line. The footboard (9) includes a first plate (91) and a second plate (92) arranged in two rows at intervals. The first plate (91) in the upper row is in fluid communication with the liquid guiding area, while the second plate (92) is connected to each processing machine (01). A flow guiding structure is provided on both the first plate (91) and the second plate (92) for guiding the coolant to the water tank in each processing machine (01).

10. A production line comprising a loading structure for conveying objects, characterized in that: The loading structure is the loading structure defined by any one of claims 1 to 9, and the two temporary storage stations (221a; 221b) in the second bearing area (22) of the loading structure can be used for loading and unloading of materials on the production line; When the temporary storage stations (221a; 221b) are used for loading and unloading on the production line, the following steps are included: Step 1-1: The first pick-and-place assembly (121) picks up the new blank as the first object (A) from the blank table (10) and lifts it to a preset height. The new blank is clamped by the clamping arm pair (1273) on the body (11) of the third pick-and-place assembly (127) driven by the telescopic cylinder (1271). The robot gripper (12) transfers the new blank to one of the temporary storage stations (221a; 221b) in the second bearing area (22). Steps 1-2: The support platform (2) drives the robot (1) and the new blank to move synchronously along the production line to the front of the processing machine (01); In steps 1-3, the first pick-and-place assembly (121) and the clamping arm pair (1273) cooperate to transfer the finished product in the processing table (01) to another temporary storage station (221a; 221b) in the second bearing area (22); Steps 1-4: The first pick-and-place assembly (121) and the clamping arm pair (1273) cooperate to transfer the new blank from the temporary storage station (221a; 221b) to the processing machine (01) for processing; Steps 1-5: The carrier platform (2) drives the robot (1) and the processed finished product to move synchronously along the production line to the finished product platform (02). The first pick-and-place component (121) and the clamping arm pair (1273) cooperate to transfer the processed finished product to the finished product platform (02). Then the carrier platform (2) and the robot (1) return synchronously to the blank platform (10). Steps 1-6: The second pick-and-place component (122) picks up the empty placement frame for the second object (B) and places it in the unloading area. Then the first pick-and-place component (121) picks up the new blank for the first object (A) from the next layer placement frame and enters the next round of loading.

Images