Automatic workpiece loading station

Abstract

The application discloses a kind of workpiece automatic filling work station, including female workpiece rotary table device, sub workpiece feeding device, first disarming device, partition plate positioning device and sub workpiece filling equipment, female workpiece rotary table device is used to support female workpiece and drive female workpiece to rotate, sub workpiece feeding device is arranged in one side of female workpiece rotary table device, first disarming device is used to support first sub workpiece from sub workpiece feeding device transmission, and the safety screw of first sub workpiece is operated to be screwed out, partition plate positioning device is used to position and place partition plate, sub workpiece filling equipment is used to transfer the first sub workpiece of release safety to the filling cabin of female workpiece, and the partition plate on partition plate positioning device is transferred to the filling cabin of female workpiece, compared with manual filling operation in prior art, it can obviously reduce labor intensity, improve filling efficiency and reduce safety risk.

Description

Technical Field

[0001] This invention belongs to the field of assembly production technology, and in particular relates to an automatic workpiece loading workstation. Background Technology

[0002] Currently, there are cases where a mother workpiece requires different types of sub-workpieces to be loaded into different designated positions, and separators are also needed between the sub-workpieces. However, the existing loading method involves manually loading the required sub-workpieces in a certain order and combination, resulting in high labor intensity, low loading efficiency, and significant safety risks. Summary of the Invention

[0003] To address the aforementioned deficiencies or shortcomings, this invention provides an automatic workpiece loading workstation, aiming to solve the technical problems of high labor intensity, low loading efficiency, and high safety risks associated with manually loading all sub-workpieces in a mother workpiece.

[0004] To achieve the above objectives, the present invention provides an automatic workpiece loading workstation, comprising a mother workpiece turntable, a child workpiece feeding device, a first safety removal device, a partition plate positioning device, and a child workpiece loading device; the mother workpiece turntable is used to carry the mother workpiece and drive it to rotate; the child workpiece feeding device is located on one side of the mother workpiece turntable; the first safety removal device is used to carry the first child workpiece conveyed by the child workpiece feeding device and to unscrew the safety screws of the first child workpiece; the partition plate positioning device is used to position and place the partition plate; the child workpiece loading device is used to transfer the first child workpiece with its safety removed to the loading chamber of the mother workpiece, and to transfer the partition plate on the partition plate positioning device to the loading chamber of the mother workpiece.

[0005] In one embodiment of the present invention, the first safety removal device includes a first attitude adjustment module and a first screw-down module. The first attitude adjustment module is used to carry the first sub-workpiece conveyed by the sub-workpiece feeding device, and the first screw-down module is used to unscrew the safety screws of the first sub-workpiece on the first attitude adjustment module. The position of one of the first attitude adjustment module and the first screw-down module is adjustable so that each safety screw on the first sub-workpiece is sequentially aligned with the first screw-down module.

[0006] In one embodiment of the present invention, the first posture adjustment module includes a first vision component and a first turntable mechanism. The first screw-in module and the first vision component are respectively disposed on one of the opposite sides of the first turntable mechanism. The first vision component is used to take pictures and identify the position of the safety screw of the first sub-workpiece on the first turntable mechanism, so as to control the first turntable mechanism to rotate until each safety screw on the first sub-workpiece is sequentially positioned opposite the first screw-in module.

[0007] In one embodiment of the present invention, the first disassembly and protection device further includes a first pushing module. The other two opposite sides of the first turntable mechanism are provided with a first loading position and a first rotating position. The first loading position is used to carry the first sub-workpiece conveyed by the sub-workpiece feeding device. The first pushing module is located on the side of the first loading position away from the first turntable mechanism. The first pushing module is used to push the first sub-workpiece on the first loading position onto the first turntable mechanism and to push the first sub-workpiece on the first turntable mechanism onto the first rotating position.

[0008] In one embodiment of the present invention, a first transfer position is used to position and place an empty filling container, a first pusher module is used to push a first sub-workpiece on a first turntable mechanism into the filling container, and the sub-workpiece filling device includes a multi-axis robot. The end of the multi-axis robot is equipped with a first gripper mechanism and a fourth pusher module. The first gripper mechanism is used to grip the filling container from opposite sides, and the fourth pusher module is used to push the first sub-workpiece in the filling container into the filling chamber of the mother workpiece.

[0009] In one embodiment of the present invention, the end effector of the multi-axis robot is also equipped with a positioning camera, which is used to take pictures and position the loading chamber of the mother workpiece.

[0010] In one embodiment of the present invention, the first sub-workpiece is equipped with a safety container, and the sub-workpiece feeding device is used to convey the first sub-workpiece with the safety container to the first loading position. The first vision component includes a first vision bracket and a first attitude adjustment camera. The first vision bracket includes a first vertical plate and a first horizontal plate. The first vertical plate is erected on the side of the first turntable mechanism away from the first screwing module. The horizontal plate is disposed at the upper end of the vertical plate and is arranged vertically and alternately with the first turntable mechanism. The first attitude adjustment camera is disposed on the vertical plate.

[0011] In one embodiment of the present invention, the first disassembly and protection device further includes a pin-pulling module, and the first vision component is also used to take pictures and identify the position of the safety pin of the first sub-workpiece on the first turntable mechanism, so as to control the first turntable mechanism to rotate until the safety pin on the first sub-workpiece is aligned with the pin-pulling module.

[0012] In one embodiment of the present invention, the first disassembly and repair device includes a disassembly and repair translation module, which is disposed on the side of the first turntable mechanism away from the first vision component. The pin pulling module and the first screwing module are both movably disposed on the disassembly and repair translation module.

[0013] In one embodiment of the present invention, the first safety device further includes a first screw collection box, a safety pin collection box, and a first counting camera. The first screw-screw module is used to transfer the screwed-out safety screws into the first screw collection box, and the pin-pulling module is used to transfer the pulled-out safety pins into the safety pin collection box. The first screw collection box, the safety pin collection box, and the first counting camera are arranged sequentially in the same direction. The first counting camera is used to take pictures and count the safety screws placed in the first screw collection box and the safety pins placed in the safety pin collection box, respectively.

[0014] In one embodiment of the present invention, the sub-workpiece feeding device includes a double-layer conveyor module, an elevator module, and a truss gripper mechanism. The double-layer conveyor module includes an upper conveyor line and a lower conveyor line. The upper conveyor line is used to convey a pallet carrying sub-workpieces. The truss gripper mechanism is used to transfer the sub-workpieces on the pallet to the corresponding loading position. The elevator module is used to transfer an empty pallet from the upper conveyor line to the lower conveyor line. The lower conveyor line is used to return an empty pallet.

[0015] In one embodiment of the present invention, the automatic workpiece loading workstation further includes a mother workpiece conveyor line, which is located on the side of the mother workpiece turntable device facing away from the child workpiece feeding device, and is used to transfer the mother workpiece to the mother workpiece turntable device.

[0016] In one embodiment of the present invention, the automatic workpiece loading workstation further includes a partition plate placement device. The partition plate placement device is used to position and place a plurality of partition plates arranged in the same compartment as the first sub-workpiece. The partition plate positioning device includes a clamping positioning module and a support frame. The support frame is used to support the partition plates. The clamping positioning module is used to clamp the partition plates on the support frame from opposite ends of the partition plates and push the partition plates to position and place them. The sub-workpiece loading equipment is used to transfer the partition plates on the partition plate placement device to the support frame and to transfer the partition plates on the support frame to the loading compartment of the mother workpiece.

[0017] In one embodiment of the present invention, the clamp positioning module includes a clamp driving mechanism and two clamping plates disposed at opposite ends of the clamp driving mechanism. A support frame is located between the two clamping plates and spans the clamp driving mechanism. The clamp driving mechanism is used to drive the two clamping plates respectively to clamp and push the partition plate for positioning.

[0018] In one embodiment of the present invention, the sub-workpiece loading device includes a multi-axis robot and a partition plate loading device. The multi-axis robot is used to transfer the first sub-workpiece with the safety released to the loading chamber of the mother workpiece, and to transfer the partition plate on the partition plate placement device to the support frame. The end of the partition plate loading device is equipped with a second gripper mechanism, which is used to grip the partition plate from the upper and lower ends of the partition plate. The partition plate loading device is used to drive the second gripper mechanism to transfer the partition plate from the support frame to the loading chamber of the mother workpiece.

[0019] In one embodiment of the present invention, the automatic workpiece loading workstation further includes a disassembly and loading device, which includes a position adjustment module, a telescopic base, a second screw-on module, and a second push-material module. The position adjustment module is equipped with the telescopic base and the second push-material module. A second loading position is formed on the telescopic base. The second loading position is used to carry the second sub-workpiece conveyed by the sub-workpiece feeding device. The second sub-workpiece is not located in the same compartment as the first sub-workpiece. The second screw-on module is mounted on the telescopic base and located above the second loading position for unscrewing the safety screw on the top of the second sub-workpiece. The position adjustment module is used to drive the telescopic base to move closer to or further away from the mother workpiece. The second push-material module is used to push the second sub-workpiece on the second loading position into the loading compartment of the mother workpiece.

[0020] In one embodiment of the present invention, an arc-shaped mating surface is formed on the side of the telescopic base facing the mother workpiece, and the arc-shaped mating surface is used to be mated with the bottom plate of the compartment of the mother workpiece.

[0021] In one embodiment of the present invention, the telescopic base is also equipped with a second screw collection box, and the second screw-down module is used to transfer the screwed-out safety screws into the second screw collection box.

[0022] In one embodiment of the present invention, the telescopic base includes a telescopic base plate and a telescopic side plate. The telescopic base plate is mounted on the position adjustment module and forms a second loading position. The telescopic side plate is erected on the telescopic base plate and located on one side of the second loading position. The second screwing module is mounted on the upper end of the telescopic side plate.

[0023] In one embodiment of the present invention, the second screw-tightening module includes a three-axis moving mechanism and a second screw-tightening gun. The three-axis moving mechanism is mounted on a telescopic base, and the second screw-tightening gun is mounted on the three-axis moving mechanism and is used to unscrew the safety screw on the top of the second sub-workpiece. The second screw-tightening gun is equipped with a positioning and counting camera, which is used to take pictures and position the safety screw on the top of the second sub-workpiece, and to take pictures and count the safety screws placed in the second screw collection box.

[0024] In one embodiment of the present invention, the position adjustment module includes a lifting drive mechanism, a lifting base, and a telescopic drive mechanism. The lifting drive mechanism is erected on one side of the mother workpiece turntable device. The lifting base is mounted on the lifting drive mechanism and is used to perform lifting movements under the drive of the lifting drive mechanism. The telescopic drive mechanism is mounted on the lifting base and is used to drive the telescopic base to move closer to or further away from the mother workpiece.

[0025] In one embodiment of the present invention, the position adjustment module further includes a translation drive mechanism and a rotary table mechanism. The translation drive mechanism is disposed on one side of the mother workpiece rotary table device, the rotary table mechanism is mounted on the translation drive mechanism and is used to perform translational movement under the drive of the translation drive mechanism, and the lifting drive mechanism is mounted on the rotary table mechanism and is used to perform rotational movement under the drive of the rotary table mechanism.

[0026] Through the above technical solution, the automatic workpiece loading workstation provided by the present invention has the following beneficial effects: When using the aforementioned automatic workpiece loading workstation, which includes a mother workpiece turntable, a child workpiece feeding device, a first safety release device, a partition plate positioning device, and a child workpiece loading equipment, the first child workpiece can be automatically fed to the first safety release device via the child workpiece feeding device. The safety screw on the first child workpiece can then be unscrewed by controlling the first safety release device, thus automatically releasing the safety. The child workpiece loading equipment then automatically transfers the released first child workpiece to the mother workpiece's loading chamber. After the mother workpiece's loading chamber is filled with one ring of first child workpieces, the child workpiece loading equipment transfers the partition plate from the partition plate positioning device to the mother workpiece's loading chamber. This achieves automatic loading of the first child workpiece and the partition plate. Compared to manual loading in existing technologies, this significantly reduces labor intensity, improves loading efficiency, and lowers safety risks.

[0027] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 This is a schematic diagram of the structure of an automatic workpiece loading workstation according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the first disassembly and repair device according to an embodiment of the present invention; Figure 3 This is a partial structural schematic diagram of the first disassembly and repair device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the first screw-in module and the pin-removing module according to an embodiment of the present invention; Figure 5 This is a partial structural schematic diagram of a multi-axis robot according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a partition plate filling device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a partition plate positioning device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the disassembly and filling device according to an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached figures: 01. First sub-workpiece; 02. Second sub-workpiece; 04. Separator; 05. Mother workpiece; 06. Safety container; 07. Filling container; 08. Pallet; 100. Mother workpiece turntable device; 101. Assembly frame; 200. Sub-workpiece feeding device; 210. Double-layer conveyor module; 220. Elevator module; 230. Truss gripper mechanism; 300. First disassembly and protection device; 310. First attitude adjustment module; 311. First vision component; 3111. First vision support; 3112. First attitude adjustment camera; 312. First turntable mechanism; 3121. Rotation drive 3122. Turntable body; 3123. Docking platform body; 320. First screw-in module; 321. Screw-in column; 322. Screw-in crossbar; 323. Screw-in telescopic mechanism; 324. First screw-in gun; 330. First pusher module; 331. Pusher mounting base; 332. First pusher drive mechanism; 333. First pusher block; 340. Pin-pulling module; 341. Pin-pulling column; 342. Pin-pulling crossbar; 343. Pin-pulling telescopic mechanism; 344. Pin-pulling gripper drive; 350. Disassembly and translation module; 360. First screw collection box; 370. Safety pin collection box. Box; 380, First counting camera; 391, First positioning drive; 392, Second positioning drive; 393, Third positioning drive; 400, Sub-workpiece loading equipment; 410, Multi-axis robot; 411, First gripper mechanism; 412, Fourth pushing module; 413, Positioning camera; 420, Partition plate loading device; 421, Loading translation module; 422, Loading linear drive; 423, Second gripper mechanism; 600, Mother workpiece conveyor line; 700, Partition plate unloading device; 800, Partition plate positioning device; 810, Clamping positioning module; 811 812. Clamping drive mechanism; 823. Clamping plate; 824. Support frame; 825. Side baffle; 826. Support base; 900. Disassembly and loading device; 910. Telescopic base; 911. Telescopic bottom plate; 912. Telescopic side plate; 913. Arc-shaped mating surface; 920. Second screw-down module; 921. Three-axis moving mechanism; 922. Second screw-down gun; 923. Positioning and counting camera; 930. Second pushing module; 940. Second screw collection box; 950. Lifting drive mechanism; 960. Lifting base; 980. Translation drive mechanism; 990. Rotary table mechanism. Detailed Implementation

[0030] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0031] It should be noted that the mother workpiece in this invention is provided with a lower loading chamber, a middle loading chamber, and an upper loading chamber from bottom to top. Only one ring of loading nests is formed in both the lower and upper loading chambers, and these nests are used to load the second sub-workpiece. The middle loading chamber has at least two rings of loading nests, and these nests can be used to load the first sub-workpiece. A partition plate separates the first sub-workpiece between adjacent rings of loading nests in the middle loading chamber. Both the first and second sub-workpieces are cylindrical, with the second sub-workpiece having a larger radial dimension and the first sub-workpiece having a smaller radial dimension. The second sub-workpiece is secured by a safety screw located at the top. The first sub-workpiece is secured by a safety screw located on the side, and also by a safety pin located on the side. During transfer, the first sub-workpiece needs to be placed in a safety container to prevent it from falling apart. Of course, the structure of the mother workpiece and the types and arrangements of the sub-workpieces filled in the mother workpiece are not limited to this. As long as the filling operation of the sub-workpieces in the mother workpiece uses the automatic workpiece filling workstation provided by this invention, it should fall within the protection scope of this invention.

[0032] The automatic workpiece loading workstation of the present invention is described below with reference to the accompanying drawings.

[0033] like Figure 1 and Figure 2 As shown, the present invention provides an automatic workpiece loading workstation, wherein the automatic workpiece loading workstation includes: The mother workpiece turntable device 100 is used to support the mother workpiece 05 and drive the mother workpiece 05 to rotate. The sub-workpiece feeding device 200 is located on one side of the mother workpiece turntable device 100; The first disassembly and protection device 300 is used to carry the first sub-workpiece 01 conveyed by the sub-workpiece feeding device 200 and to unscrew the safety screws of the first sub-workpiece 01. The partition positioning device 800 is used to position and place the partition 04. The sub-workpiece loading device 400 is used to transfer the first sub-workpiece 01 (after the safety has been released) to the loading chamber of the mother workpiece 05, and to transfer the partition plate 04 on the partition plate positioning device 800 to the loading chamber of the mother workpiece 05.

[0034] When using the aforementioned automatic workpiece loading workstation, which includes a mother workpiece turntable device 100, a sub-workpiece feeding device 200, a first safety release device 300, a partition plate positioning device 800, and a sub-workpiece loading device 400, the sub-workpiece feeding device 200 can be controlled to automatically feed the first sub-workpiece 01 onto the first safety release device 300. Then, by controlling the first safety release device 300 to unscrew the safety screws on the first sub-workpiece 01, the automatic safety release operation is achieved. Finally, the sub-workpiece loading device 400 is controlled... The first sub-workpiece 01, after the safety device is released, is automatically transferred to the loading chamber of the mother workpiece 05. After the loading chamber of the mother workpiece 05 is filled with the first sub-workpiece 01, the sub-workpiece loading equipment 400 is controlled to transfer the partition plate 04 on the partition plate positioning device 800 to the loading chamber of the mother workpiece 05. This enables the automatic loading of the first sub-workpiece 01 and the partition plate 04. Compared with the manual loading operation in the prior art, this can significantly reduce labor intensity, improve loading efficiency, and reduce safety risks.

[0035] Specifically, the automatic workpiece loading workstation also includes a mother workpiece conveyor line 600. The mother workpiece conveyor line 600 is located on one side of the back ion workpiece feeding device 200 of the mother workpiece turntable device 100 and is used to transfer the mother workpiece 05 to the mother workpiece turntable device 100. Thus, the mother workpiece conveyor line 600 can easily transfer the mother workpiece 05 from the mother workpiece production station to the sub-workpiece loading station. The mother workpiece conveyor line 600 can be set as a roller conveyor line to have a large load-bearing capacity. In addition, the sub-workpiece feeding device 200 and the mother workpiece conveying line 600 are respectively located on one of the opposite sides of the mother workpiece turntable device 100. Specifically, the sub-workpiece feeding device 200 is located on the first side of the mother workpiece turntable device 100, and the mother workpiece conveying line 600 is located on the fourth side of the mother workpiece turntable device 100. Furthermore, the first disassembly and protection device 300 and the sub-workpiece loading device 400 are both located on the second side of the mother workpiece turntable device 100, that is, they are set on the same side, so as to facilitate the transfer of the first sub-workpiece by the sub-workpiece loading device 400.

[0036] In one embodiment of the present invention, the first safety removal device 300 includes a first attitude adjustment module 310 and a first screw-on module 320. The first attitude adjustment module 310 is used to carry the first sub-workpiece 01 conveyed by the sub-workpiece feeding device 200. The first screw-on module 320 is used to unscrew the safety screws of the first sub-workpiece 01 on the first attitude adjustment module 310. The position of one of the first attitude adjustment module 310 and the first screw-on module 320 is adjustable so that each safety screw on the first sub-workpiece 01 is sequentially aligned with the first screw-on module 320. Understandably, the number of safety screws on the first sub-workpiece 01 can be at least two. After the sub-workpiece feeding device 200 automatically feeds the first sub-workpiece 01 to the first attitude adjustment module 310 of the first disassembly and protection device 300, the position can be adjusted by controlling the first attitude adjustment module 310 or the first screw-tightening module 320 so that each safety screw on the first sub-workpiece 01 is sequentially aligned with the first screw-tightening module 320, thereby realizing the automatic unscrewing of each safety screw on the first sub-workpiece 01 in sequence.

[0037] Furthermore, the first attitude adjustment module 310 can be configured to rotate circumferentially for position adjustment; the first screwing module 320 can be configured to rotate around the circumference of the first attitude adjustment module 310 for position adjustment. In addition, the sub-workpiece loading device 400 can be configured to include a multi-axis robot 410 to grasp and transfer the first sub-workpiece 01 through the gripper mechanism at the end of the multi-axis robot 410, or it can be configured to include a pushing module to directly push the first sub-workpiece 01 into the mother workpiece 05.

[0038] See Figure 2 and Figure 3In one embodiment of the present invention, the first posture adjustment module 310 includes a first vision component 311 and a first turntable mechanism 312. The first screw-on module 320 and the first vision component 311 are respectively disposed on one of the opposite sides of the first turntable mechanism 312. The first vision component 311 is used to photograph and identify the position of the safety screws of the first sub-workpiece 01 on the first turntable mechanism 312, so as to control the first turntable mechanism 312 to rotate until each safety screw on the first sub-workpiece 01 is sequentially aligned with the first screw-on module 320. The first disassembly and protection device 300 provided in this embodiment is particularly suitable for the first sub-workpiece 01 where the safety screws are located on the side. The first turntable mechanism 312 for supporting the first sub-workpiece 01 is rotatably configured so that by controlling the first turntable mechanism 312 to rotate circumferentially, each safety screw on the first sub-workpiece 01 is sequentially aligned with the first screw-on module 320. Compared with making the first screw-on module 320 adjustable in position, the structure is obviously simpler and occupies less space. Meanwhile, the addition of the first vision component 311 not only enables accurate positioning of the safety screw but also preserves corresponding positioning image evidence for subsequent inspection. Furthermore, separating the first screw-on module 320 and the first vision component 311 facilitates the first vision component 311's photographic positioning and identification of the safety screw on the curved surface. Additionally, the first vision bracket 3111 of the first vision component 311, while supporting the first attitude adjustment camera 3112, also serves to restrict the first sub-workpiece 01. Of course, the invention is not limited to this; the first attitude adjustment camera 3112 can also be mounted on the first screw-on module 320.

[0039] Specifically, the first turntable mechanism 312 includes a rotary drive 3121 and a turntable body 3122. The turntable body 3122 is located above the rotary drive 3121 and connected to the rotary drive 3121. The turntable body 3122 is used to carry the first sub-workpiece 01 and can rotate under the drive of the rotary drive 3121.

[0040] In one embodiment of the present invention, the first disassembly and protection device 300 further includes a first pushing module 330. A first loading position and a first rotating position are respectively provided on the other two opposite sides of the first turntable mechanism 312. The first loading position is used to carry the first sub-workpiece 01 conveyed by the sub-workpiece feeding device 200. The first pushing module 330 is located on the side of the first loading position opposite to the first turntable mechanism 312. The first pushing module 330 is used to push the first sub-workpiece 01 on the first loading position onto the first turntable mechanism 312, and to push the first sub-workpiece 01 on the first turntable mechanism 312 onto the first rotating position. The first disassembly and protection device 300 provided in this embodiment is particularly suitable for use in conjunction with a multi-axis robot 410 in a sub-workpiece loading device 400. By adding a first loading position on one side of the first turntable mechanism 312, interference between the sub-workpiece feeding device 200 and the first vision component 311 or the first screwing module 320 can be avoided; by adding the first pushing module 330, the automatic transfer of the first sub-workpiece 01 between the first loading position and the first turntable mechanism 312, and between the first turntable mechanism 312 and the first loading position can be realized; by adding the first loading position, interference between the sub-workpiece loading device 400 and the first vision component 311 or the first screwing module 320 can be avoided.

[0041] Furthermore, the first turntable mechanism 312 also includes a fixed docking platform 3123. The docking platform 3123 is provided with a turntable mounting hole for the turntable body 3122 to be installed. The two opposite ends of the docking platform 3123 are respectively docked with the first feeding position and the first turning position to ensure the smoothness of material pushing. The first pusher module 330 includes a pusher mounting base 331, a first pusher driving mechanism 332, and a first pusher block 333. The pusher mounting base 331 is located on the side of the first loading position away from the first turntable mechanism 312. The first pusher driving mechanism 332 is located on the pusher mounting base 331 and is drivenly connected to the first pusher block 333. The first pusher driving mechanism 332 is used to drive the first pusher block 333 to contact the side of the first sub-workpiece 01 and push the first sub-workpiece 01. At the same time, the first pusher block 333 is located on the side of the pusher mounting base 331 facing the first loading position and has a pusher arc surface that fits against the side of the first sub-workpiece 01 to ensure reliable contact.

[0042] See Figures 1 to 3 ,as well as Figure 5In one embodiment of the present invention, the first transfer position is used to position and place an empty filling container 07, and the first pusher module 330 is used to push the first sub-workpiece 01 on the first turntable mechanism 312 into the filling container 07. The sub-workpiece filling device 400 includes a multi-axis robot 410. The end of the multi-axis robot 410 is equipped with a first gripper mechanism 411 and a fourth pusher module 412. The first gripper mechanism 411 is used to grip the filling container 07 from opposite sides, and the fourth pusher module 412 is used to push the first sub-workpiece 01 in the filling container 07 into the filling chamber of the mother workpiece 05. The first disassembly and maintenance device 300 provided in this embodiment is particularly suitable for the first sub-workpiece 01, which is small in size and light in weight, so as to match the gripping and transfer of the multi-axis robot 410. The multi-axis robot 410 can perform multi-line operation, which has obvious advantages. At the same time, since the outer contour of the first sub-workpiece 01 is curved, in order to further ensure the reliability of gripping and movement, the first sub-workpiece 01 can be pushed into the filling container 07 before the multi-axis robot 410 grips it. The opposite sides of the filling container 07 can be used for stable gripping by the first gripper mechanism 411. After the fourth pushing module 412 pushes the first sub-workpiece 01 in the filling container 07 into the filling chamber, the multi-axis robot 410 grips the empty filling container 07 and sends it back to the first transfer position.

[0043] Specifically, the filling container 07 is a square frame with openings on both sides. The openings are used for the first pushing module 330 and the fourth pushing module 412 to push materials. The filling container 07 has limit blocks and a first positioning drive 391 on opposite sides for the first gripper mechanism 411 to grasp. The first positioning drive 391 is used to push the filling container 07 to abut against the limit blocks. A second positioning drive 392 is provided on the open side away from the first turntable mechanism 312. The second positioning drive 392 is used to push the filling container 07 to abut against the docking platform 3123 of the first turntable mechanism 312, thereby realizing the positioning of the filling container 07. After the first gripper mechanism 411 of the multi-axis robot 410 grasps the filling container 07, the first positioning drive 391 and the second positioning drive 392 can release the filling container 07. The first positioning drive 391 and the second positioning drive 392 are, but are not limited to, telescopic cylinders.

[0044] More specifically, the multi-axis robot 410 includes, but is not limited to, a six-axis robot, and the first gripper mechanism 411 includes a first gripper drive unit mounted on the end of the six-axis robot, and two first gripper clamps disposed on opposite sides of the first gripper drive unit. The first gripper drive unit can drive the two first gripper clamps to move relatively closer or relatively farther apart. The fourth pusher module 412 includes a fourth pusher drive mechanism disposed on the end of the six-axis robot, and a fourth pusher block drivenly connected to the fourth pusher drive mechanism. The fourth pusher block is located between the two first gripper clamps. The fourth pusher drive mechanism is used to drive the fourth pusher block to contact the side of the first sub-workpiece 01 and push the ammunition. At the same time, the fourth pusher block also has a pusher arc surface that fits against the side of the first sub-workpiece 01 to ensure the reliability of the contact.

[0045] In one embodiment of the present invention, the end effector of the multi-axis robot 410 is further equipped with a positioning camera 413, which is used to photograph and position the loading chamber of the mother workpiece 05. By adding the positioning camera 413, the placement position of the mother workpiece 05 on the mother workpiece turntable device 100 after loading can be determined before the first sub-workpiece 01 is loaded, thus facilitating the determination of the placement position of the first sub-workpiece 01. Specifically, the loading chamber where the first sub-workpiece 01 is located can be the middle loading chamber of a magazine, which has a more complex structure and requires loading the first sub-workpiece 01 more than twice.

[0046] Please see again Figure 2 and Figure 3In one embodiment of the present invention, the first sub-workpiece 01 is equipped with a safety container 06, that is, the type of the first sub-workpiece 01 is limited to requiring a safety container 06 before loading, otherwise the first sub-workpiece 01 will fall apart, specifically the upper end of the first sub-workpiece 01 will fall apart, and the structure of the safety container 06 can be set to be consistent with the structure of the loading container 07. The sub-workpiece feeding device 200 is used to convey the first sub-workpiece 01 with the safety container 06 to the first loading position. The first vision component 311 includes a first vision bracket 3111 and a first attitude adjustment camera 3112. The first vision bracket 3111 includes a vertical plate portion and a horizontal plate portion. The vertical plate portion is erected on the side of the first turntable mechanism 312 away from the first screwing module 320, and the horizontal plate portion is disposed at the upper end of the vertical plate portion and is arranged vertically and alternately with the first turntable mechanism 312. The first attitude adjustment camera 3112 is disposed on the vertical plate portion. In addition to housing the first attitude adjustment camera 3112, the first vision support 3111 can also restrict the upper end of the first sub-workpiece 01 through the first horizontal plate to prevent the upper end of the first sub-workpiece 01 from spreading out. Specifically, the first sub-workpiece 01 needs to be placed in the safety container 06 before loading, which will affect the release of the safety. Therefore, in order to facilitate the release of the safety while preventing the first sub-workpiece 01 from spreading out, the first vision support 3111 and the scheme of pushing the first sub-workpiece 01 from the safety container 06 to the first turntable mechanism 312 and the loading container 07 are designed. Of course, the present invention is not limited to this. The first sub-workpiece 01 can also be set without the safety container 06. However, in this case, the first vision support 3111 does not need to be provided with the horizontal plate, nor does it need to be provided with the loading container 07. Even if the loading container 07 is provided, its function is only to facilitate the gripping of the first gripper mechanism 411 on the multi-axis robot 410.

[0047] More specifically, a feeding stop and a third positioning drive 393 are provided at a relative interval on the first feeding position, and the feeding stop and the third positioning drive 393 can be respectively provided on opposite sides of the safety container 06. The third positioning drive 393 is configured to press or release the safety container 06 of the first sub-workpiece 01 against the feeding stop.

[0048] like Figure 2 As shown, in one embodiment of the present invention, the first safety removal device 300 further includes a pin-pulling module 340, and the first vision component 311 is also used to photograph and identify the position of the safety pin of the first sub-workpiece 01 on the first turntable mechanism 312, so as to control the first turntable mechanism 312 to rotate until the safety pin on the first sub-workpiece 01 is directly opposite the pin-pulling module 340. That is, in addition to the safety screw, the first sub-workpiece 01 also has a safety pin for safety. By adding the pin-pulling module 340, the safety pin on the first sub-workpiece 01 can be automatically pulled out. Of course, the present invention is not limited to this. When the first sub-workpiece 01 only has a safety screw for safety, it is not necessary to set up the pin-pulling module 340.

[0049] In one embodiment of the present invention, the first disassembly and protection device 300 includes a disassembly and protection translation module 350, which is disposed on the side of the first turntable mechanism 312 opposite to the first vision component 311. A pin-pulling module 340 and a first screw-tightening module 320 are both movably disposed on the disassembly and protection translation module 350. By adding the disassembly and protection translation module 350, the pin-pulling module 340 and the first screw-tightening module 320 can be integrated and installed. When the safety screw on the first sub-workpiece 01 is directly opposite the disassembly and protection translation module 350, the disassembly and protection translation module 350 drives the first screw-tightening module 320 to move to face the safety screw, facilitating the screw-out operation of the first screw-tightening module 320. When the safety pin on the first sub-workpiece 01 is directly opposite the disassembly and protection translation module 350, the disassembly and protection translation module 350 drives the pin-pulling module 340 to move to face the safety pin, facilitating the pin-pulling module 340's pull-out operation.

[0050] Understandably, the disassembly and translation module 350 can be used to drive the pin-pulling module 340 and the first screw-on module 320 to move along a pushing direction parallel to the first pusher module 330. See also Figure 2 and Figure 4 The pin-pulling module 340 includes a pin-pulling column 341, a pin-pulling crossbar 342, a pin-pulling telescopic mechanism 343, and a pin-pulling gripper drive 344. The pin-pulling column 341 is movably mounted on the disassembly and protection translation module 350. The pin-pulling crossbar 342 is located at the upper end of the pin-pulling column 341 and on the side of the pin-pulling column 341 facing the first turntable mechanism 312. The pin-pulling telescopic mechanism 343 is mounted on the pin-pulling crossbar 342 and is equipped with the pin-pulling gripper drive 344. The pin-pulling gripper drive 344 includes, but is not limited to, being a pin-pulling gripper cylinder. The pin-pulling telescopic mechanism 343 is used to drive the pin-pulling gripper drive 344 to move closer to the first sub-workpiece 01, and when the pin-pulling gripper drive 344 clamps the safety pin, it drives the pin-pulling gripper drive 344 to move away from the first sub-workpiece 01 to pull out the safety pin. The first screw-on module 320 includes a screw-on column 321, a screw-on crossbar 322, a screw-on telescopic mechanism 323, and a first screw-on gun 324. The screw-on column 321 is movably mounted on the disassembly and maintenance translation module 350. The screw-on crossbar 322 is located at the upper end of the screw-on column 321 and on the side of the screw-on column 321 facing the first turntable mechanism 312. The screw-on telescopic mechanism 323 is mounted on the screw-on crossbar 322 and carries the first screw-on gun 324. The screw-on telescopic mechanism 323 is used to drive the first screw-on gun 324 to move closer to the first sub-workpiece 01, and when the first screw-on gun 324 is aligned with the screw head, it drives the screw-on gun to move away from the first sub-workpiece 01 to unscrew the safety screw.

[0051] In one embodiment of the present invention, the first safety removal device 300 further includes a first screw collection box 360, a safety pin collection box 370, and a first counting camera 380. A first screw-on module 320 is used to transfer the screwed-out safety screws into the first screw collection box 360, and a pin-pulling module 340 is used to transfer the pulled-out safety pins into the safety pin collection box 370. The first screw collection box 360, the safety pin collection box 370, and the first counting camera 380 are arranged sequentially in the same direction. The first counting camera 380 is used to take pictures and count the safety screws placed in the first screw collection box 360 and the safety pins placed in the safety pin collection box 370, respectively. The addition of the first screw collection box 360 and the safety pin collection box 370 facilitates the separate collection of safety screws and safety pins. The addition of the first counting camera 380 not only enables counting but also preserves corresponding counting image evidence for subsequent verification.

[0052] Please see again Figure 1 In one embodiment of the present invention, the sub-workpiece feeding device 200 includes a double-layer conveyor module 210, an elevator module 220, and a truss gripper mechanism 230. The double-layer conveyor module 210 includes an upper conveyor line and a lower conveyor line. The upper conveyor line is used to convey a pallet 08 carrying sub-workpieces. The truss gripper mechanism 230 is used to transfer the sub-workpieces on the pallet 08 to the corresponding loading position. The elevator module 220 is used to transfer the empty pallet 08 from the upper conveyor line to the lower conveyor line. The lower conveyor line is used to return the empty pallet 08. By configuring the sub-workpiece feeding device 200 with the aforementioned structure, the upper conveyor line can transport various sub-workpieces from the sub-workpiece production station to the loading station. All sub-workpieces are transported using pallets 08. The first sub-workpiece 01 and the second sub-workpiece 02 can be placed in different pallets 08. After all sub-workpieces in the pallets 08 have been transferred by the gantry gripper mechanism 230, the upper conveyor line can transport the empty pallets 08 to the lifting module 220. The lifting module 220 descends to dock with the lower conveyor line and transfers the empty pallets 08 to the lower conveyor line, allowing the lower conveyor line to return the empty pallets 08 to the sub-workpiece production station. Specifically, both the upper and lower conveyor lines are, but are not limited to, double-speed chain conveyor lines.

[0053] Furthermore, the number of truss gripper mechanisms 230 can be two. The two truss gripper mechanisms 230 are arranged sequentially along the length of the double-layer conveyor module 210. The upper conveyor line can convey the pallets 08 carrying the first sub-workpiece 01 and the second sub-workpiece 08 to the two truss gripper mechanisms 230 respectively, and then stop conveying, so that one of the truss gripper mechanisms 230 can transfer the first sub-workpiece 01 to the first loading position, and the other truss gripper mechanism 230 can transfer the second sub-workpiece 02 to the second loading position. Furthermore, the truss gripper mechanism 230 includes two frames, an X-axis assembly, a Y-axis assembly, a Z-axis assembly, and a loading gripper drive. The two frames are arranged relatively spaced along the length of the double-layer conveyor module 210, and the X-axis assembly is mounted on the two frames. The Y-axis assembly is mounted on the X-axis assembly to drive the Y-axis assembly to move along the X direction. The Z-axis assembly is mounted on the Y-axis assembly to drive the Z-axis assembly to move along the Y direction. The loading gripper drive is mounted on the Z-axis assembly to drive the loading gripper drive to move up and down along the Z direction. The loading gripper drive can grip or release the corresponding sub-workpiece.

[0054] See Figure 1 , Figures 5 to 7 In one embodiment of the present invention, the automatic workpiece loading station further includes a partition plate placement device 700, which is used to position and place a plurality of partition plates 04 arranged in the same compartment as the first sub-workpiece 01. Specifically, the long side of the partition plate 04 is set as the upper and lower ends. The partition plate positioning device 800 is located on the second side of the mother workpiece turntable device 100 and includes a clamping positioning module 810 and a support frame 820. The support frame 820 is used to support the partition plates 04. The clamping positioning module 810 is used to clamp the partition plates 04 on the support frame 820 from the opposite ends of the partition plates 04 and push the partition plates 04 for positioning. The sub-workpiece loading equipment 400 is used to transfer the partition plates 04 on the partition plate placement device 700 to the support frame 820 and to transfer the partition plates 04 on the support frame 820 to the loading compartment of the mother workpiece 05. By adding the partition plate placement device 700, it is easier to realize the automatic picking of the partition plate 04 by the sub-workpiece loading device 400. Specifically, when the partition plate 04 on the partition plate placement device 700 is transferred to the support frame 820 by the first gripper mechanism 411 on the multi-axis robot 410, the partition plate 04 can be positioned for the first time before gripping because the end of the multi-axis robot 410 is equipped with a positioning camera 413. In addition, by adding the partition plate positioning device 800, a second positioning can be performed before the partition plate 04 is loaded into the loading chamber of the mother workpiece 05, so as to improve the accuracy of the gripping position and thus ensure the accuracy of the loading position.

[0055] In one embodiment of the present invention, the clamping positioning module 810 includes a clamping driving mechanism 811 and two clamping plates 812 disposed at opposite ends of the clamping driving mechanism 811. A support frame 820 is located between the two clamping plates 812 and spans the clamping driving mechanism 811. The clamping driving mechanism 811 is used to drive the two clamping plates 812 respectively to clamp and push the partition plate 04 for positioning. By placing the support frame 820 between the two clamping plates 812 and spanning the clamping driving mechanism 811, the clamping and pushing process of the two clamping plates 812 on the partition plate 04 can be made more stable. Specifically, the support frame 820 includes a side baffle 821 and two support seats 822. The two support seats 822 are arranged sequentially at intervals along the length direction of the clamping drive mechanism 811. Each support seat 822 includes two support blocks disposed on opposite sides of the clamping drive mechanism 811 and a connecting plate connecting the two support blocks. The side baffle 821 is connected to the support block on the same side of the two support seats 822. The sub-workpiece loading device 400 can transfer the partition plate 04 on the partition plate placement device 700 to the connecting plate, and the partition plate 04 abuts against the side baffle 821. Thus, the placement of the partition plate 04 can be laterally positioned by the setting of the side baffle 821.

[0056] In one embodiment of the present invention, the sub-workpiece loading device 400 includes a multi-axis robot 410 and a partition plate loading device 420. The multi-axis robot 410, the partition plate loading device 420, and the partition plate positioning device 800 are arranged sequentially from the outside to the inside on the second side of the mother workpiece turntable device 100. The multi-axis robot 410 is used to transfer the first sub-workpiece 01 (with the safety released) to the loading chamber of the mother workpiece 05, and to transfer the partition plate 04 on the partition plate placement device 700 to the support frame 820. The end of the partition plate loading device 420 is equipped with a second gripper mechanism 423. The second gripper mechanism 423 is used to grip the partition plate 04 from both the upper and lower ends of the partition plate 04. The partition plate loading device 420 is used to drive the second gripper mechanism 423 to transfer the partition plate 04 from the support frame 820 to the loading chamber of the mother workpiece 05. By splitting the sub-workpiece loading device 400 into two types, a multi-axis robot 410 and a partition plate loading device 420, the loading of the first sub-workpiece 01 and the partition plate 04 can be matched with different devices. The gripper of the first sub-workpiece 01 during loading is particularly suitable for the first gripper mechanism 411, which can grip from opposite sides of the loading container 07, since it has a loading container 07. The partition plate 04 is longer and thinner, so it is particularly suitable for the second gripper mechanism 423, which can grip from the upper and lower ends of the partition plate 04. It should be noted that in order to ensure the stability of the partition plate 04, the long side of the partition plate 04 is generally placed at the upper and lower ends, so that the gripping width of the second gripper mechanism 423 is smaller, thus ensuring the gripping stability.

[0057] Specifically, the second gripper mechanism 423 has a similar structure to the first gripper mechanism 411. The partition plate positioning device 800 is offset to one side of the mother workpiece turntable device 100. The partition plate filling device 420 includes a filling translation module 421 and a filling linear drive 422. The filling translation module 421 is located between the multi-axis robot 410 and the partition plate positioning device 800, and extends from being directly opposite the partition plate positioning device 800 to being directly opposite the mother workpiece turntable device 100. The filling linear drive 422 is mounted on the filling translation module 421. Driven by the loading translation module 421, the loading linear drive 422 can be set at the same height as the loading chamber to be filled by the partition plate 04. The second gripper mechanism 423 is mounted on the loading linear drive 422 and can extend into or out of the partition plate positioning device 800 under the drive of the loading linear drive 422, so as to grasp the partition plate 04 on the partition plate positioning device 800 and extend into or out of the corresponding loading chamber under the drive of the loading linear drive 422, so as to complete the automatic filling of the partition plate 04.

[0058] See Figure 1 and Figure 8In one embodiment of the present invention, the automatic workpiece loading workstation further includes a disassembly and loading device 900. The disassembly and loading device 900 includes a position adjustment module, a telescopic base 910, a second screwing module 920, and a second pushing module 930. The position adjustment module is located on one side of the mother workpiece turntable device 100, specifically on the third side of the mother workpiece turntable device 100. The position adjustment module is equipped with the telescopic base 910 and the second pushing module 930. A second feeding position is formed on the telescopic base 910. The second sub-workpiece 02, which is carried by the sub-workpiece feeding device 200, is set in a different compartment than the first sub-workpiece 01. The second screwing module 920 is mounted on the telescopic base 910 and located above the second loading position for unscrewing the safety screw on the top of the second sub-workpiece 02. The position adjustment module is used to drive the telescopic base 910 to move closer to or away from the mother workpiece 05. The second pushing module 930 is used to push the second sub-workpiece 02 on the second loading position into the loading compartment of the mother workpiece 05. By adding the disassembly and loading device 900, the automatic screwing and loading of the second sub-workpiece 02 can be achieved. Furthermore, the disassembly and loading device 900 integrates the screwing structure and loading transfer structure of the second sub-workpiece 02 into a single device. Before transferring the second sub-workpiece 02 from the second loading position to the loading chamber, the position adjustment module can drive the telescopic base 910 close to the mother workpiece 05, so that the second pushing module 930 can push the second sub-workpiece 02 into the loading chamber. This ensures the reliability of the loading operation of the second sub-workpiece 02 while saving manufacturing costs. The disassembly and loading device 900 is particularly suitable for second sub-workpieces 02 that are large in size and heavy in weight, eliminating the need to manufacture a loading container 07 that matches the second sub-workpiece 02 and preventing accidental falling during the gripping and transfer process. Specifically, the second pushing module 930 has a similar structure to the first pushing module 330.

[0059] In one embodiment of the present invention, the telescopic base 910 has an arc-shaped mating surface 913 on the side facing the mother workpiece 05. The arc-shaped mating surface 913 is used to mate with the bottom plate of the compartment of the mother workpiece 05. By adding the arc-shaped mating surface, it can be ensured that the second sub-workpiece 02 can be smoothly pushed into the loading compartment. Specifically, the bottom plate of the compartment of the mother workpiece 05 can be circular.

[0060] In one embodiment of the present invention, a second screw collection box 940 is also mounted on the telescopic base 910, and the second screw-screwing module 920 is used to transfer the screwed-out safety screws into the second screw collection box 940. The addition of the second screw collection box 940 facilitates the collection of safety screws. Specifically, the second screw collection box 940 is disposed on the telescopic base plate 911 of the telescopic base 910, and is located on the side of the second loading position opposite to the telescopic side plate 912.

[0061] In one embodiment of the present invention, the telescopic base 910 includes a telescopic base plate 911 and a telescopic side plate 912. The telescopic base plate 911 is mounted on the position adjustment module and forms a second loading position. The telescopic side plate 912 is erected on the telescopic base plate 911 and located on one side of the second loading position. The second screwing module 920 is mounted on the upper end of the telescopic side plate 912. By configuring the telescopic base 910 with the above structure, it is convenient to mount the telescopic base 910 on the position adjustment module and to mount the second screwing module 920 on the telescopic base 910.

[0062] In one embodiment of the present invention, the second screw-tightening module 920 includes a three-axis moving mechanism 921 and a second screw-tightening gun 922. The three-axis moving mechanism 921 is mounted on the telescopic base 910, specifically on the upper end of the telescopic side plate 912. The three-axis moving mechanism 921 can be configured to adjust its position in the X, Y, and Z directions. The second screw-tightening gun 922 is mounted on the three-axis moving mechanism 921 and is used to unscrew the safety screw on the top of the second sub-workpiece 02. The second screw-tightening gun 922 is equipped with a positioning and counting camera 923. The positioning and counting camera 923 is used to take pictures and position the safety screw on the top of the second sub-workpiece 02, and to take pictures and count the safety screws placed in the second screw collection box 940. The addition of the three-axis moving mechanism 921 facilitates the position adjustment of the second screw-tightening gun 922 on the upper side of the second sub-workpiece 02, and also facilitates the transfer of the screwed safety screws to the second screw collection box 940. At the same time, the addition of the positioning and counting camera 923 enables the positioning and photographing of the safety screws on the top of the second sub-workpiece 02, and allows for the counting of the quantity while also storing corresponding counting image evidence for subsequent inspection.

[0063] In one embodiment of the present invention, the position adjustment module includes a lifting drive mechanism 950, a lifting base 960, and a telescopic drive mechanism. The lifting drive mechanism 950 is erected on one side of the mother workpiece turntable device 100, specifically the third side. The lifting base 960 is mounted on the lifting drive mechanism 950 and is used to perform lifting movements under the drive of the lifting drive mechanism 950. The telescopic drive mechanism is mounted on the lifting base 960 and is used to drive the telescopic base 910 to move closer to or further away from the mother workpiece 05. By adding the lifting drive mechanism 950, the height of the lifting base 960 can be adjusted so that the telescopic base 910 can be docked with the bottom plates of the upper and lower loading chambers respectively. Thus, the loading operation of the second sub-workpiece 02 in the upper and lower loading chambers can be realized by a disassembly and loading device 900.

[0064] In one embodiment of the present invention, the position adjustment module further includes a translation drive mechanism 980 and a rotary table mechanism 990. The translation drive mechanism 980 is located on one side of the mother workpiece turntable device 100, specifically the third side. The rotary table mechanism 990 is mounted on the translation drive mechanism 980 and is used to perform translational movement under the drive of the translation drive mechanism 980. By adding the translation drive mechanism 980, it is convenient for the rotary table mechanism 990 and the mechanism mounted on the rotary table mechanism 990 to move to a position close to the sub-workpiece loading device. Specifically, the second loading position moves to the lower side of the corresponding loading gripper drive member to facilitate the loading of the second sub-workpiece 02. The lifting drive mechanism 950 is mounted on the rotary table mechanism 990 and is used to perform rotational movement under the drive of the rotary table mechanism 990. The addition of the rotary table mechanism 990 enables automatic adjustment of the posture of the lifting drive mechanism 950 and the mechanism mounted on the lifting drive mechanism 950, so that the mother workpiece 05 can load at least two second sub-workpieces 02 in the current posture. Of course, the adjustment angle of the rotary table mechanism 990 is small and belongs to fine adjustment. After loading all the second sub-workpieces 02 within the adjustment angle range of the rotary table mechanism 990, it is also necessary to control the mother workpiece turntable device 100 to rotate so that the side of the mother workpiece 05 that has not been loaded with second sub-workpieces 02 rotates to face the disassembly and loading device 900.

[0065] Please see again Figure 1 In one embodiment of the present invention, an assembly frame 101 is provided around the mother workpiece turntable device 100, and the first disassembly and protection device 300, the partition plate positioning device 800, the partition plate filling device 420 and the disassembly and protection filling device 900 can all be provided on the assembly frame 101.

[0066] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0067] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0068] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0069] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An automatic workpiece loading workstation, characterized in that, The automatic workpiece loading workstation includes: The mother workpiece turntable device (100) is used to carry the mother workpiece (05) and drive the mother workpiece (05) to rotate; A sub-workpiece feeding device (200) is located on one side of the mother workpiece turntable device (100); The first safety removal device (300) is used to carry the first sub-workpiece (01) transmitted from the sub-workpiece feeding device (200) and to unscrew the safety screw of the first sub-workpiece (01). A partition positioning device (800) is used to position and place partitions (04); Sub-workpiece loading device (400) is used to transfer the first sub-workpiece (01) that has been released from its safety mechanism to the loading chamber of the mother workpiece (05), and to transfer the partition plate (04) on the partition plate positioning device (800) to the loading chamber of the mother workpiece (05).

2. The automatic workpiece loading workstation according to claim 1, characterized in that, The first safety removal device (300) includes a first attitude adjustment module (310) and a first screw-out module (320). The first attitude adjustment module (310) is used to carry the first sub-workpiece (01) conveyed from the sub-workpiece feeding device (200). The first screw-out module (320) is used to unscrew the safety screws of the first sub-workpiece (01) on the first attitude adjustment module (310). The position of one of the first attitude adjustment module (310) and the first screw-out module (320) is adjustable so that each safety screw on the first sub-workpiece (01) is sequentially aligned with the first screw-out module (320).

3. The automatic workpiece loading workstation according to claim 2, characterized in that, The first posture adjustment module (310) includes a first vision component (311) and a first turntable mechanism (312). The first screwing module (320) and the first vision component (311) are respectively disposed on one of the opposite sides of the first turntable mechanism (312). The first vision component (311) is used to take pictures and identify the position of the safety screw of the first sub-workpiece (01) on the first turntable mechanism (312) so as to control the first turntable mechanism (312) to rotate until each safety screw on the first sub-workpiece (01) is sequentially positioned opposite the first screwing module (320).

4. The automatic workpiece loading workstation according to claim 3, characterized in that, The first disassembly and protection device (300) further includes a first pusher module (330). The other two opposite sides of the first turntable mechanism (312) are provided with a first loading position and a first transfer position. The first loading position is used to carry the first sub-workpiece (01) conveyed by the sub-workpiece feeding device (200). The first pusher module (330) is located on the side of the first loading position away from the first turntable mechanism (312). The first pusher module (330) is used to push the first sub-workpiece (01) on the first loading position onto the first turntable mechanism (312) and push the first sub-workpiece (01) on the first turntable mechanism (312) onto the first transfer position.

5. The automatic workpiece loading workstation according to claim 4, characterized in that, The first transfer position is used to position and place an empty filling container (07). The first pusher module (330) is used to push the first sub-workpiece (01) on the first turntable mechanism (312) into the filling container (07). The sub-workpiece filling device (400) includes a multi-axis robot (410). The end of the multi-axis robot (410) is equipped with a first gripper mechanism (411) and a fourth pusher module (412). The first gripper mechanism (411) is used to grip the filling container (07) from opposite sides. The fourth pusher module (412) is used to push the first sub-workpiece (01) in the filling container (07) into the filling chamber of the mother workpiece (05).

6. The automatic workpiece loading workstation according to claim 5, characterized in that, The end of the multi-axis robot (410) is also equipped with a positioning camera (413), which is used to take pictures and position the loading chamber of the mother workpiece (05).

7. The automatic workpiece loading workstation according to claim 4, characterized in that, The first sub-workpiece (01) is equipped with a safety container (06). The sub-workpiece feeding device (200) is used to convey the first sub-workpiece (01) with the safety container (06) to the first loading position. The first vision component (311) includes a first vision bracket (3111) and a first attitude adjustment camera (3112). The first vision bracket (3111) includes a first vertical plate and a first horizontal plate. The first vertical plate is erected on the side of the first turntable mechanism (312) away from the first screwing module (320). The horizontal plate is located at the upper end of the vertical plate and is arranged vertically and alternately with the first turntable mechanism (312). The first attitude adjustment camera (3112) is located on the vertical plate.

8. The automatic workpiece loading workstation according to claim 3, characterized in that, The first disassembly and protection device (300) further includes a pin-pulling module (340), and the first vision component (311) is also used to take pictures and identify the position of the safety pin of the first sub-workpiece (01) on the first turntable mechanism (312) so as to control the first turntable mechanism (312) to rotate until the safety pin on the first sub-workpiece (01) is directly opposite to the pin-pulling module (340).

9. The automatic workpiece loading workstation according to claim 8, characterized in that, The first disassembly and repair device (300) includes a disassembly and repair translation module (350), which is located on the side of the first turntable mechanism (312) away from the first vision component (311). The pin pulling module (340) and the first screwing module (320) are both movably mounted on the disassembly and repair translation module (350). And / or, the first safety removal device (300) further includes a first screw collection box (360), a safety pin collection box (370), and a first counting camera (380). The first screw-on module (320) is used to transfer the screwed-out safety screws into the first screw collection box (360), and the pin-pulling module (340) is used to transfer the pulled-out safety pins into the safety pin collection box (370). The first screw collection box (360), the safety pin collection box (370), and the first counting camera (380) are arranged sequentially in the same direction. The first counting camera (380) is used to take pictures and count the safety screws placed in the first screw collection box (360) and the safety pins placed in the safety pin collection box (370).

10. The automatic workpiece loading workstation according to any one of claims 1 to 9, characterized in that, The sub-workpiece feeding device (200) includes a double-layer conveyor module (210), an elevator module (220), and a truss gripper mechanism (230). The double-layer conveyor module (210) includes an upper conveyor line and a lower conveyor line. The upper conveyor line is used to convey a pallet (08) carrying sub-workpieces. The truss gripper mechanism (230) is used to transfer the sub-workpieces on the pallet (08) to the corresponding loading position. The elevator module (220) is used to transfer an empty pallet (08) from the upper conveyor line to the lower conveyor line. The lower conveyor line is used to return the empty pallet (08). And / or, the automatic workpiece loading station includes a mother workpiece conveyor line (600), which is located on the side of the mother workpiece turntable device (100) away from the child workpiece feeding device (200) and is used to convey the mother workpiece (05) to the mother workpiece turntable device (100).

11. The automatic workpiece loading workstation according to any one of claims 1 to 9, characterized in that, The automatic workpiece loading station also includes a partition plate placement device (700), which is used to position and place several partition plates (04) that are set in the same compartment as the first sub-workpiece (01). The partition plate positioning device (800) includes a clamping positioning module (810) and a support frame (820). The support frame (820) is used to support the partition plates (04). The clamping positioning module (810) is used to clamp the partition plates (04) on the support frame (820) from opposite ends of the partition plates (04) and push the partition plates (04) to position and place them. The sub-workpiece loading equipment (400) is used to transfer the partition plates (04) on the partition plate placement device (700) to the support frame (820) and to transfer the partition plates (04) on the support frame (820) to the loading compartment of the mother workpiece (05).

12. The automatic workpiece loading workstation according to claim 11, characterized in that, The clamp positioning module (810) includes a clamp driving mechanism (811) and two clamping plates (812) disposed at opposite ends of the clamp driving mechanism (811). The support frame (820) is located between the two clamping plates (812) and spans the clamp driving mechanism (811). The clamp driving mechanism (811) is used to drive the two clamping plates (812) respectively to clamp and push the partition plate (04) for positioning.

13. The automatic workpiece loading workstation according to claim 11, characterized in that, The sub-workpiece loading equipment (400) includes a multi-axis robot (410) and a partition plate loading device (420). The multi-axis robot (410) is used to transfer the first sub-workpiece (01) with the safety released to the loading chamber of the mother workpiece (05), and to transfer the partition plate (04) on the partition plate placement device (700) to the support frame (820). The end of the partition plate loading device (420) is equipped with a second gripper mechanism (423). The second gripper mechanism (423) is used to grip the partition plate (04) from the upper and lower ends of the partition plate (04). The partition plate loading device (800) is used to drive the second gripper mechanism (423) to transfer the partition plate (04) from the support frame (820) to the loading chamber of the mother workpiece (05).

14. The automatic workpiece loading workstation according to any one of claims 1 to 9, characterized in that, The automatic workpiece loading workstation also includes a disassembly and loading device (900), which includes a position adjustment module, a telescopic base (910), a second screwing module (920), and a second pushing module (930). The position adjustment module is located on the second side of the mother workpiece turntable device (100) and is equipped with the telescopic base (910) and the second pushing module (930). A second loading position is formed on the telescopic base (910), which is used to carry the second sub-workpiece conveyed by the sub-workpiece feeding device (200). The workpiece (02) and the second sub-workpiece (02) are arranged in different compartments from the first sub-workpiece (01). The second screwing module (920) is mounted on the telescopic base (910) and located on the upper side of the second loading position for unscrewing the safety screw on the top of the second sub-workpiece (02). The position adjustment module is used to drive the telescopic base (910) to move closer to or away from the mother workpiece (05). The second pushing module (930) is used to push the second sub-workpiece (02) on the second loading position into the loading compartment of the mother workpiece (05).

15. The automatic workpiece loading workstation according to claim 14, characterized in that, The telescopic base (910) has an arc-shaped mating surface (913) on the side facing the mother workpiece (05), and the arc-shaped mating surface (913) is used to be mated with the bottom plate of the compartment of the mother workpiece (05). And / or, the telescopic base (910) is also equipped with a second screw collection box (940), the second screw-down module (920) is used to transfer the screwed-out safety screws into the second screw collection box (940); And / or, the telescopic base (910) includes a telescopic base plate (911) and a telescopic side plate (912), the telescopic base plate (911) is mounted on the position adjustment module and forms the second loading position, the telescopic side plate (912) is erected on the telescopic base plate (911) and located on one side of the second loading position, and the second screwing module (920) is mounted on the upper end of the telescopic side plate (912); And / or, the second screw-tightening module (920) includes a three-axis moving mechanism (921) and a second screw-tightening gun (922). The three-axis moving mechanism (921) is mounted on the telescopic base (910). The second screw-tightening gun (922) is mounted on the three-axis moving mechanism (921) and is used to unscrew the safety screw on the top of the second sub-workpiece (02). The second screw-tightening gun (922) is equipped with a positioning and counting camera (923). The positioning and counting camera (923) is used to take pictures and position the safety screw on the top of the second sub-workpiece (02), and to take pictures and count the safety screws placed in the second screw collection box (940).

16. The automatic workpiece loading workstation according to claim 14, characterized in that, The position adjustment module includes a lifting drive mechanism (950), a lifting base (960), and a telescopic drive mechanism. The lifting drive mechanism (950) is erected on one side of the mother workpiece turntable device (100). The lifting base (960) is mounted on the lifting drive mechanism (950) and is used to perform lifting movements under the drive of the lifting drive mechanism (950). The telescopic drive mechanism is mounted on the lifting base (960) and is used to drive the telescopic base (910) to move closer to or further away from the mother workpiece (05).

17. The automatic workpiece loading workstation according to claim 16, characterized in that, The position adjustment module further includes a translation drive mechanism (980) and a rotary table mechanism (990). The translation drive mechanism (980) is located on one side of the mother workpiece turntable device (100). The rotary table mechanism (990) is mounted on the translation drive mechanism (980) and is used to perform translational movement under the drive of the translation drive mechanism (980). The lifting drive mechanism (950) is mounted on the rotary table mechanism (990) and is used to perform rotational movement under the drive of the rotary table mechanism (990).

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