Automatic boxing station

Abstract

The utility model discloses an automatic boxing station which comprises a belt line used for conveying parts, a part grabbing / placing robot, a material frame, a visual sensor and an industrial personal computer. The grabbing / placing robot and the material frame are arranged on one side of the belt line; the part grabbing / placing robot can grab parts from the belt line and place the parts into the material frame. The visual sensor is arranged above the material frame through the truss or the layered platform bracket and is used for acquiring the position information of the material frame; the industrial personal computer is electrically connected with the workpiece grabbing / placing robot and the visual sensor and can control the workpiece grabbing / placing robot to correct workpiece placing track deviation of the workpiece grabbing / placing robot according to material frame position information obtained by the visual sensor, and therefore the parts are accurately loaded into the material frame. According to the scheme, more reasonable layout is conducted on existing stations, the high-precision manufacturing requirement for material frames and the like is avoided by introducing a visual system, and cost is saved; in addition, the positioning process of the visual system does not occupy extra production takt, and the overall station efficiency is higher.

Description

Technical Field

[0001] The utility model relates to the field of automobile automated production, in particular to an automatic packing station. Background Art

[0002] The continuous development of the automotive industry has led to an increasing demand for automated production, particularly in the production of automotive stamping parts. Robots have replaced manual packing at the end of the line. By grabbing and placing parts, the robots remove the formed parts from the conveyor belt and place them into a material basket, completing the automatic packing process. While accurate automated grasping is now possible through the introduction of industrial vision systems, the placement process still relies on high-precision material baskets to align with the robot's trajectory.

[0003] Currently, to ensure the accuracy of the robot's placement process, it is necessary to strictly guarantee the error chain accuracy of each link, such as the storage location, pallet, and material frame. This means that on the one hand, high manufacturing precision must be guaranteed; on the other hand, installation precision must be strictly controlled. Due to the different processing conditions and process levels of various sub-equipment (storage locations, pallets, material frames, etc.), different degrees of error will be caused, resulting in a large cumulative error of the entire system during the installation process. Therefore, both manufacturing and installation precision directly lead to high manufacturing costs for the entire system.

[0004] In addition, as the equipment operates, each sub-item of equipment will inevitably wear out and age, resulting in a decrease in accuracy and affecting system operation. Therefore, in order to maintain the normal operation of the system, frequent and large-scale manual maintenance work is often required, which directly leads to higher maintenance costs and labor costs. Summary of the Invention

[0005] In order to solve the above technical problems, the utility model provides an automatic packing station, which makes the station layout more reasonable and effectively improves production efficiency by introducing a visual positioning system; at the same time, it avoids the high-precision requirements for material frames, etc., and saves costs.

[0006] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0007] An automatic packing station, including a belt line for transporting parts, a pick-up / placement robot, a material frame, a visual sensor, and an industrial computer;

[0008] The grab / place robot and the material frame are arranged on one side of the belt line; the grab / place robot can grab parts from the belt line and place them into the material frame;

[0009] The visual sensor is arranged above the material frame through a truss or a layered platform support to obtain position information of the material frame;

[0010] The industrial computer is electrically connected to the grab / place robot and the visual sensor, and can control the grab / place robot to correct its placement trajectory deviation based on the material frame position information obtained by the visual sensor, thereby accurately loading the parts into the material frame.

[0011] Furthermore, there are multiple material frames, and the number of the grabbing / releasing robots is determined according to their arm spans, the size of the material frames, and the distance between the material frames, so that each material frame can correspond to a grabbing / releasing robot.

[0012] Furthermore, the workstation also includes a sliding guide rail, which is fixed on the truss or layered platform bracket for installing the visual sensor; the visual sensor can slide along the sliding guide rail to ensure that it can position all material frames.

[0013] Furthermore, the workstation further includes a material frame tray, which is fixedly arranged at the material frame for supporting the material frame.

[0014] Furthermore, the workstation also includes an automatic guided vehicle, and the material frames are arranged on the automatic guided vehicle in a one-to-one correspondence.

[0015] The automatic packing station provided by the utility model has the following characteristics:

[0016] 1. Through a more reasonable layout, the working efficiency of the automatic packing station is effectively improved; when the station is running, the positioning of the material frame by the visual system does not occupy additional production time, and can achieve automatic packing more efficiently and stably;

[0017] 2. The position information of the material frame is obtained through the visual sensor and transmitted to the pick / place robot for trajectory correction. This enables the visual system to position the material frame with high precision, has good applicability, and avoids the manufacturing precision requirements for the material frame, etc., and does not require continuous maintenance, saving costs;

[0018] 3. It has good universality and can be extended to more application scenarios where the robot cannot grasp / place the material frame or other components due to insufficient manufacturing precision. By introducing a visual system and making corresponding arrangements, the automatic packing function can be realized without changing the material frame structure and manufacturing precision, thus saving costs to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the automatic packing station of the utility model. DETAILED DESCRIPTION

[0020] The technical solution of the present utility model is described in detail below with reference to the accompanying drawings and embodiments.

[0021] like Figure 1As shown, an automatic packing station includes a belt line 1 for transporting parts, a grab / place robot 2, a material frame 3, a visual sensor 4, and an industrial computer 5. The grab / place robot 2 and the material frame 3 are arranged on one side of the belt line 1. The grab / place robot can grab parts from the belt line and place them in the material frame.

[0022] The visual sensor 4 is set above the material frame 3 through a truss or layered platform bracket to obtain the position information of the material frame; the industrial computer 5 is electrically connected to the grasping / placing robot 2 and the visual sensor 4, and can control the grasping / placing robot to correct its placement trajectory deviation based on the material frame position information obtained by the visual sensor, so as to accurately load the parts into the material frame.

[0023] In order to improve the efficiency of the work station and save time, multiple material frames 3 are provided, and the number of grabbing / releasing robots is determined according to their arm span, the size of the material frame, and the distance between the material frames, so that each material frame can correspond to a grabbing / releasing robot; in the specific implementation, the installation height of the visual sensor 4 is determined according to its field of view and working distance requirements, and it must be satisfied that the visual sensor 4 after fixed installation can collect the position information of all material frames; when the grabbing / releasing robot completes the packing of a material frame, it can directly proceed to the packing operation of the next material frame. In this process, the visual sensor 4 collects the position information of the next material frame synchronously with the packing process of the previous material frame by the grabbing / releasing robot. After completing the packing of the previous material frame, there is no need to wait for the material frame to be replaced and the position information of the new material frame to be collected. The robot can directly perform the packing operation on the next material frame, which saves time and improves the overall efficiency of the work station.

[0024] When the site conditions of the workstation cannot meet the requirements for the fixed visual sensor 4 to collect all the position information of the material frame, a sliding guide rail 6 is further provided in the workstation. The sliding guide rail 6 is fixedly set on the truss or layered platform bracket for installing the visual sensor 4; the visual sensor 4 can slide along the sliding guide rail and collect the position information of the material frame;

[0025] During specific implementation, when the field of view of the visual sensor 4 at a fixed position cannot cover all the position information of a single material frame, it is necessary to adjust the position of the visual sensor 4 with the cooperation of the sliding guide rail 6 to obtain all the position information of a single material frame; this process requires calibrating the preset position on the sliding guide rail in advance, that is, completing the calibration of the visual sensor in advance at the position where the visual sensor needs to stay, and marking the position as the preset position; when the visual sensor is working, it can be directly moved to the preset position for information collection, which saves time and ensures the positioning accuracy of the visual sensor.

[0026] When the visual sensor 4 can cover all the position information of a single material frame in a fixed position field of view but cannot cover the position information of multiple material frames, it is also necessary to collect position information one by one with the cooperation of the sliding guide rail 6. That is, the visual sensor is calibrated in advance on the sliding guide rail corresponding to each material frame to clarify the working position of the visual sensor corresponding to each material frame and make a preset position mark. After the visual sensor 4 completes the position information collection of the first material frame, it moves to the preset position corresponding to the next material frame under the action of the sliding guide rail and collects the position information of the next material frame. This operation is carried out until all material frames are packed. The visual sensor returns to the top of the first material frame under the action of the sliding guide rail and repeats the previous round of positioning work for the newly replaced material frame. In addition, in order to ensure that the visual sensor can accurately reach the preset position during repeated movement on the sliding guide rail, the repeatability accuracy of the sliding guide rail is preferably less than or equal to ±0.3mm.

[0027] During specific implementation, a material frame tray 7 is further provided in the work station. The material frame tray is fixedly arranged at the material frame for supporting the material frame.

[0028] In order to facilitate the transportation of material frames, the work station also includes an automatic guided vehicle, and the material frames 3 are arranged one by one on the automatic guided vehicle. The material frames 3 can be automatically moved under the action of the automatic guided vehicle, including but not limited to the transportation of empty material frames and the transportation of material frames after packaging.

[0029] The automatic packing station operates as follows: After the material frame 3 is moved to the material frame tray 7 by the AGV, the industrial computer 5 controls the visual sensor 4 to measure the position of the material frame 3, obtain the position information of the material frame 3, and feed this position information back to the industrial computer 5. The industrial computer 5 calculates the positioning deviation of the material frame 3 based on the received position information and corrects the placement trajectory of the pick / place robot 2 based on this deviation, so that the pick / place robot can accurately load the parts into the material box. This implementation process has the advantages of higher positioning accuracy and better applicability. It also avoids the processing precision requirements of the material frame and other parts, and does not require continuous maintenance, saving costs.

[0030] When there are multiple material frames 3 in the workstation, the visual sensor 4 can continue to obtain the position information of the next material frame after completing the acquisition of the position information of the previous material frame (whether the acquisition process of the material frame position information needs to use the sliding guide rail needs to be determined according to the field of view range, working distance and installation distance of the visual sensor from the material frame), and feed it back to the industrial computer 5. The industrial computer 5 calculates the in-place deviation of the next material frame based on the received position information, and then obtains the trajectory correction deviation of the grab / place robot 2 corresponding to the next material frame; when the grab / place robot 2 completes the packing task of the previous material frame and comes to the next material frame, the industrial computer sends the trajectory correction deviation corresponding to the next material frame to the grab / place robot 2, and the grab / place robot 2 completes the trajectory correction to achieve accurate packing of the next material frame. In the above implementation process, the acquisition and calculation process of the in-place deviation of the next material frame is carried out simultaneously with the packing process of the previous material frame, without occupying additional production time, and can achieve automatic packing more efficiently and stably.

[0031] The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing descriptions are not intended to be exhaustive, nor are they intended to limit the present invention to the precise forms disclosed, and it is apparent that many variations and modifications are possible in light of the foregoing teachings. The exemplary embodiments have been chosen and described to explain the specific principles of the present invention and its practical application, thereby enabling others skilled in the art to make and utilize the various exemplary embodiments of the present invention and its various alternatives and modifications. The scope of the present invention is intended to be defined by the appended claims and their equivalents.

Claims

1. An automatic packing station, characterized by: It includes a belt line (1) for transporting parts, a grab / place robot (2), a material frame (3), a visual sensor (4) and an industrial computer (5); The grabbing / placing robot (2) and the material frame (3) are arranged on one side of the belt line (1); the grabbing / placing robot can grab parts from the belt line and place them in the material frame; The visual sensor (4) is arranged above the material frame (3) via a truss or a layered platform support to obtain position information of the material frame; The industrial control computer (5) is electrically connected to the grasping / placing robot (2) and the visual sensor (4), and can control the grasping / placing robot to correct its placement trajectory deviation based on the material frame position information obtained by the visual sensor, thereby accurately loading the parts into the material frame.

2. The automatic packing station according to claim 1, characterized in that: There are multiple material frames, and the number of the grabbing / releasing robots is determined according to their arm spans, the size of the material frames, and the distance between the material frames, so that each material frame can correspond to a grabbing / releasing robot.

3. The automatic packing station according to claim 2, characterized in that: The workstation further comprises a sliding guide rail (6), which is fixedly arranged on the truss or layered platform bracket and is used to install the visual sensor; the visual sensor can slide along the sliding guide rail to ensure that it can position all material frames.

4. The automatic packing station according to claim 1, characterized in that: The workstation further comprises a material frame tray (7), which is fixedly arranged at the material frame and is used to support the material frame.

5. The automatic packing station according to any one of claims 1 to 4, characterized in that: The workstation also includes an automatic guided vehicle, and the material frames (3) are arranged on the automatic guided vehicle in a one-to-one correspondence.

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