Full-automatic tray arranging machine
The XYZ axis robot and vacuum rotary robot of the fully automatic swing machine can achieve accurate and automatic placement of materials, solving the problems of slow manual placement speed and high error rate, and improving work efficiency and product quality.
Patent Information
- Application Number
- CN202422537724.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-21
- Publication Date
- 2025-08-01
- Estimated Expiration
- 2034-10-21
AI Technical Summary
Manually placing materials is slow, complicated to operate, and high error rate, resulting in low work efficiency and increased product costs.
The fully automatic swing machine is adopted, and the XYZ axis robot, vacuum rotary robot and industrial camera are used for precise alignment and automatic swing, and the vacuum nozzle adsorption and handling components are combined to achieve efficient material transfer.
It realizes efficient and automatic placement of materials, reduces operational complexity and error rate, and improves work efficiency and product quality.
Smart Images
Figure CN223174410U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of palletizing machines, in particular to a full-automatic palletizing machine. Background Technique
[0002] When processing electronic products, it is often necessary to place multiple materials on a tray for centralized next-step processing to improve the use efficiency of processing equipment.
[0003] The work of placing materials on the tray usually needs to be completed manually. On the one hand, manual placement is slow and the operation is complex, reducing work efficiency; on the other hand, during manual operation, the operation process is affected by human factors and the error rate is high, increasing product costs. Content of the Utility Model
[0004] Aiming at the deficiencies of the prior art, the utility model provides a full-automatic palletizing machine, which solves the problems of slow manual placement speed, complex operation, and reduced work efficiency; on the other hand, during manual operation, the operation process is affected by human factors and the error rate is high, increasing product costs.
[0005] The utility model provides the following technical solutions: a full-automatic palletizing machine, including a chassis, a support frame is fixedly installed inside the chassis, four loading and unloading components are fixedly installed on the inner side walls of the support frame, two protective boxes are fixedly installed on the upper surface of the chassis, an upper camera one is arranged inside one of the protective boxes, an upper camera two is arranged inside the other protective box, two empty slots are opened on the upper surface of the chassis, and the two empty slots are respectively matched with the upper camera one and the upper camera two, a support column is fixedly connected between the inner side walls on both sides of the support frame, two baffles are fixedly connected to both side surfaces of the support column, two lower cameras are fixedly installed at the tops of the two baffles, an XYZ-axis manipulator is installed between the upper ends of the support frame, and handling components are arranged on both inner side walls of the support frame.
[0006] Preferably: the loading and unloading component includes two fixed seats fixedly connected to the support frame, a lifting module is fixedly installed between the two fixed seats, a lifting bottom plate is installed on one side of the lifting module, a stepping motor is fixedly installed on one side of the lifting module, a synchronous belt is arranged between the output end of the stepping motor and the lifting module, and the lifting module is driven by the stepping motor to drive the lifting bottom plate to lift.
[0007] Preferably, the handling component includes a mechanism base fixedly installed on the support frame. A linear drive synchronous belt is installed on the mechanism base, and an adsorption cylinder is installed on the linear drive synchronous belt. The output end of the adsorption cylinder is fixedly connected to a connecting plate, and a plurality of adjustable vacuum suction nozzles are installed on the connecting plate. A second stepping motor is fixedly installed on the mechanism base, and the linear drive synchronous belt is driven by the second stepping motor.
[0008] Preferably, the XYZ-axis manipulator includes a Y-axis precision linear motor fixedly installed at the upper end of one side of the support frame. A precision linear guide rail is installed on the upper surface of the other side of the support frame. A short plate is installed between the Y-axis precision linear motor and the precision linear guide rail. An X-axis precision linear motor is installed on the lower surface of the short plate, and a connecting frame is installed on the lower surface of the X-axis precision linear motor. A vacuum rotary manipulator is installed on the connecting frame.
[0009] Preferably, the vacuum rotary manipulator includes a vertical plate fixedly connected below the connecting frame. A row of second adsorption cylinders is installed on one side surface of the vertical plate. The output ends of the row of second adsorption cylinders are fixedly connected to an installation frame. A row of vacuum suction nozzles is arranged below the installation frame. Each vacuum suction nozzle is separately provided with a rotating shaft. A row of rotating shaft stepping motors is installed on the installation frame. Each rotating shaft stepping motor is connected to the corresponding rotating shaft. A plurality of Z-axis high-precision servo motors are fixedly installed on the other side surface of the vertical plate. The Z-axis high-precision servo motors cooperate with precision lead screws and guide rails to drive the installation frame to move up and down.
[0010] Preferably, two slide rails are fixedly connected inside the support frame. A drawer box is slidably installed between the two slide rails. A transparent acrylic movable window is opened on the side surface of the chassis, and the transparent acrylic movable window can be opened or closed.
[0011] Preferably, a control PC is installed on the chassis, and an alarm lamp is arranged on the upper surface of the chassis.
[0012] Compared with the prior art, the utility model provides a full-automatic tray arranging machine, which has the following beneficial effects: during use, an FPC is placed on the loading and unloading component below the upper camera 1, and then a plastic tray is placed on the loading and unloading component below the upper camera 2. Then, the position of the FPC is located by the upper camera 1, and then the XYZ-axis manipulator is controlled to pick up the FPC, and the vacuum rotary manipulator and the FPC are controlled to move to the position of the lower camera for detection and identification. When the identification is successful, after calibration and positioning by the upper camera 1, the vacuum rotary manipulator is controlled to accurately place it on the corrected plastic tray, and then the automatic tray arranging of the FPC can be completed. When the upper camera 1 identifies that the positions of the FPCs in the plastic tray are full, the handling component sucks the plastic tray to the full tray area, and raises the next layer to the tray arranging position. When the upper camera 1 finishes sucking the upper-layer FPCs, the handling component sucks the separator paper to the separator paper recycling area, and raises the next layer of FPCs to the sucking position. The XY-axis manipulator of this tray arranging machine uses a servo module, which has high precision, fast speed and more stable operation. The handling component and the manipulator sucking mechanism adopt a vacuum nozzle adsorption method, and are configured with advanced vacuum pipeline components, with faster response, adjustable adsorption force, adsorption position, and quick replacement of nozzles. At the same time, an industrial camera alignment technology is adopted to achieve accurate alignment. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 is a schematic structural diagram of the utility model;
[0014] Figure 2 is a schematic structural diagram of the internal support frame of the utility model;
[0015] Figure 3 is a schematic structural diagram of the loading and unloading component of the utility model;
[0016] Figure 4 is a schematic structural diagram of the handling component of the utility model;
[0017] Figure 5 is a schematic structural diagram of the XYZ-axis manipulator of the utility model;
[0018] Figure 6 is a schematic structural diagram of the vacuum rotary manipulator of the utility model.
[0019] In the figure: 1. Chassis; 2. Support frame; 3. Loading and unloading component; 4. Protection box; 5. Upper camera one; 6. Upper camera two; 7. Support column; 8. Baffle; 9. Lower camera; 10. XYZ-axis manipulator; 11. Handling component; 12. Fixed seat; 13. Lifting module; 14. Lifting bottom plate; 15. Stepper motor; 16. Synchronous belt; 17. Mechanism base; 18. Linear drive synchronous belt; 19. Adsorption cylinder; 20. Connecting plate; 21. Adjustable vacuum suction nozzle; 22. Second stepper motor; 23. Y-axis precision linear motor; 24. Precision linear guide rail; 25. Short board; 26. X-axis precision linear motor; 27. Connecting frame; 28. Vertical board; 29. Second adsorption cylinder; 30. Installation frame; 31. Vacuum suction nozzle; 32. Rotary shaft stepper motor; 33. Z-axis high-precision servo motor; 34. Slide rail; 35. Drawer box; 36. Transparent acrylic movable window; 37. Vacuum rotary manipulator. Detailed implementation manners
[0020] Please refer to Figures 1-6 ,
[0021] Embodiment 1: A fully automatic tray loading machine includes a chassis 1. Inside the chassis 1, a support frame 2 is fixedly installed. On the inner side walls of the support frame 2, four loading and unloading components 3 are fixedly installed. On the upper surface of the chassis 1, two protection boxes 4 are fixedly installed. Inside one of the protection boxes 4, an upper camera one 5 is arranged. Inside the other protection box 4, an upper camera two 6 is arranged. On the upper surface of the chassis 1, two empty slots are opened, and the two empty slots respectively match the upper camera one 5 and the upper camera two 6. Between the inner side walls on both sides of the support frame 2, a support column 7 is fixedly connected. On both side surfaces of the support column 7, baffles 8 are fixedly connected. On the tops of the two baffles 8, two lower cameras 9 are fixedly installed. Between the upper ends of the support frame 2, an XYZ-axis manipulator 10 is installed. On the inner side walls on both sides of the support frame 2, handling components 11 are arranged.
[0022] Embodiment 2: The difference between this embodiment and Embodiment 1 is that, among them, the loading and unloading component 3 includes two fixed seats 12 fixedly connected to the support frame 2. Between the two fixed seats 12, a lifting module 13 is fixedly installed. On one side of the lifting module 13, a lifting bottom plate 14 is installed. On one side of the lifting module 13, a stepper motor 15 is fixedly installed. Between the output end of the stepper motor 15 and the lifting module 13, a synchronous belt 16 is arranged. The lifting module 13 is driven by the stepper motor 15 to drive the lifting bottom plate 14 to lift. Through the loading and unloading component 3, the plastic suction tray and the FPC can be driven to rise and fall, facilitating their transfer.
[0023] Embodiment 3: The difference between this embodiment and Embodiment 1 is that the handling component 11 includes a mechanism base 17 fixedly installed on the support frame 2. A linear drive synchronous belt 18 is installed on the mechanism base 17, and a suction cylinder 19 is installed on the linear drive synchronous belt 18. The output end of the suction cylinder 19 is fixedly connected to a connecting plate 20, and a plurality of adjustable vacuum suction nozzles 21 are installed on the connecting plate 20. A second stepping motor 22 is fixedly installed on the mechanism base 17, and the linear drive synchronous belt 18 is driven by the second stepping motor 22, which is convenient for transferring the blister trays after being arranged on the tray and for transferring the separator paper.
[0024] Embodiment 4: The difference between this embodiment and Embodiment 1 is that the XYZ-axis manipulator 10 includes a Y-axis precision linear motor 23 fixedly installed at the upper end of one side of the support frame 2. A precision linear guide rail 24 is installed on the upper surface of the other side of the support frame 2. A short plate 25 is installed between the Y-axis precision linear motor 23 and the precision linear guide rail 24. An X-axis precision linear motor 26 is installed on the lower surface of the short plate 25, and a connecting frame 27 is installed on the lower surface of the X-axis precision linear motor 26. A vacuum rotary manipulator 37 is installed on the connecting frame 27. The movement precision of the vacuum manipulator 37 is high, the speed is fast, and the operation is more stable.
[0025] Embodiment 5: The difference between this embodiment and Embodiment 1 is that the vacuum rotary manipulator 37 includes a vertical plate 28 fixedly connected below the connecting frame 27. A row of second suction cylinders 29 is installed on one side surface of the vertical plate 28. The output ends of the row of second suction cylinders 29 are fixedly connected to an installation frame 30. A row of vacuum suction nozzles 31 is arranged below the installation frame 30. Each vacuum suction nozzle 31 is separately provided with a rotating shaft. A row of rotating shaft stepping motors 32 is installed on the installation frame 30, and each rotating shaft stepping motor 32 is connected to the corresponding rotating shaft. A plurality of Z-axis high-precision servo motors 33 are fixedly installed on the other side surface of the vertical plate 28. The Z-axis high-precision servo motors 33 cooperate with precision lead screws and guide rails to drive the installation frame 30 to move up and down. By adopting the vacuum suction nozzle adsorption method and configuring high-level vacuum circuit components, the response is faster, the adsorption force and adsorption position can be adjusted, and the suction nozzles can be quickly replaced.
[0026] Embodiment 6: The difference between this embodiment and Embodiment 1 is that two slide rails 34 are fixedly connected inside the support frame 2. A pull-out box 35 is slidably installed between the two slide rails 34. A transparent acrylic movable window 36 is opened on the side surface of the chassis 1, and the transparent acrylic movable window 36 can be opened or closed, which is convenient for placing the FPC that has not been successfully identified and storing it, facilitating subsequent processing.
[0027] Embodiment 7: The difference between this embodiment and Embodiment 1 is that a control PC is installed on the chassis 1, and an alarm lamp is arranged on the upper surface of the chassis 1, which is convenient for the user to control each component and is convenient for use.
[0028] In summary, when the fully automatic palletizing machine is in use, an FPC is placed on the loading and unloading component 3 below the upper camera 1, and then a plastic tray is placed on the loading and unloading component 3 below the upper camera 2. Then, the position of the FPC is located by the upper camera 1. Next, the XYZ-axis manipulator is controlled to pick up the FPC, and the vacuum rotary manipulator 37 and the FPC are controlled to move to the position of the lower camera for detection and recognition. When the recognition is successful, after calibration and positioning by the upper camera 2, the vacuum rotary manipulator 37 is controlled to accurately place it on the corrected plastic tray, and the automatic palletizing of the FPC can be completed. When the upper camera 2 recognizes that the FPC positions in the plastic tray are full, the handling component sucks the plastic tray to the full tray area and raises the next layer to the palletizing position. When the upper camera 1 has finished sucking the upper-layer FPC, the handling component sucks the separator paper to the separator paper recycling area and raises the next layer of FPC to the sucking position. The XY-axis manipulator of this palletizing machine uses a servo module, which has high precision, fast speed, and more stable operation. The handling component and the manipulator sucking mechanism adopt the vacuum nozzle adsorption method, are equipped with high-level vacuum pipeline components, have faster response, can adjust the adsorption force and adsorption position, and can quickly replace the nozzle. At the same time, the precise alignment is achieved by using the three industrial camera alignment technology.
Claims
1. A fully automatic tray loading machine, comprising a chassis (1), characterized in that: Inside the chassis (1), a support frame (2) is fixedly installed. Inside the side walls of the support frame (2), four loading and unloading components (3) are fixedly installed. On the upper surface of the chassis (1), two protective boxes (4) are fixedly installed. Inside one of the protective boxes (4), an upper camera one (5) is arranged. Inside the other protective box (4), an upper camera two (6) is arranged. On the upper surface of the chassis (1), two empty slots are opened, and the two empty slots respectively match the upper camera one (5) and the upper camera two (6). Between the inner side walls of the support frame (2), a support column (7) is fixedly connected. On both side surfaces of the support column (7), baffles (8) are fixedly connected. On the top ends of the two baffles (8), two lower cameras (9) are fixedly installed. Between the upper ends of the support frame (2), an XYZ-axis manipulator (10) is installed. On the inner side walls of both sides of the support frame (2), handling components (11) are arranged.
2. The full-automatic tray arranging machine according to claim 1, wherein: The loading and unloading component (3) includes two fixed seats (12) fixedly connected to the support frame (2). Between the two fixed seats (12), a lifting module (13) is fixedly installed. On one side of the lifting module (13), a lifting bottom plate (14) is installed. On one side of the lifting module (13), a stepping motor (15) is fixedly installed. Between the output end of the stepping motor (15) and the lifting module (13), a synchronous belt (16) is arranged. The lifting module (13) is driven by the stepping motor (15) to drive the lifting bottom plate (14) to lift.
3. The full-automatic dish arranging machine according to claim 1, characterized in that: The handling component (11) includes a mechanism base (17) fixedly installed on the support frame (2). On the mechanism base (17), a linear drive synchronous belt (18) is installed. On the linear drive synchronous belt (18), a suction cylinder (19) is installed. The output end of the suction cylinder (19) is fixedly connected to a connecting plate (20). On the connecting plate (20), a plurality of adjustable vacuum suction nozzles (21) are installed. On the mechanism base (17), a second stepping motor (22) is fixedly installed. The linear drive synchronous belt (18) is driven by the second stepping motor (22).
4. A fully automatic plate arranging machine according to claim 1, characterized in that: The XYZ-axis manipulator (10) includes a Y-axis precision linear motor (23) fixedly installed at the upper end of one side of the support frame (2). On the upper surface of the other side of the support frame (2), a precision linear guide rail (24) is installed. Between the Y-axis precision linear motor (23) and the precision linear guide rail (24), a short plate (25) is installed. On the lower surface of the short plate (25), an X-axis precision linear motor (26) is installed. On the lower surface of the X-axis precision linear motor (26), a connecting frame (27) is installed. On the connecting frame (27), a vacuum rotary manipulator (37) is installed.
5. The full-automatic tray arranging machine according to claim 4, characterized in that: The vacuum rotary manipulator (37) includes a vertical plate (28) fixedly connected below the two connecting frames (27). A row of second adsorption cylinders (29) is installed on one side surface of the vertical plate (28). The output ends of the row of second adsorption cylinders (29) are fixedly connected with a mounting frame (30). A row of vacuum suction nozzles (31) is arranged below the mounting frame (30). Each vacuum suction nozzle (31) is separately provided with a rotating shaft. A row of rotating shaft stepping motors (32) is installed on the mounting frame (30). Each rotating shaft stepping motor (32) is connected to the corresponding rotating shaft. A plurality of Z-axis high-precision servo motors (33) are fixedly installed on the other side surface of the vertical plate (28). The Z-axis high-precision servo motors (33) cooperate with precision lead screws and guide rails to drive the mounting frame (30) to move up and down.
6. A fully automatic tray loading machine according to claim 1, wherein: Two slide rails (34) are fixedly connected between the interiors of the support frames (2). A drawer box (35) is slidably installed between the two slide rails (34). A transparent acrylic movable window (36) is opened on the side surface of the chassis (1). The transparent acrylic movable window (36) can be opened or closed.
7. A fully automatic plate arranging machine according to claim 1, characterized in that: The chassis (1) is installed with a control PC, and an alarm lamp is arranged on the upper surface of the chassis (1).