Grabbing part, automatic feeding device and automatic feeding station

Abstract

The utility model discloses a grabbing part, an automatic feeding device and an automatic feeding station, the grabbing part comprises a base, a plurality of clamping jaw assemblies are arranged on the periphery of the base, the clamping jaw assemblies are used for grabbing materials, a visual identification module arranged towards the clamping direction is arranged above the clamping jaw assemblies, an exchange disc is arranged at the bottom of the base, and the exchange disc is arranged on the base. The exchange disc is used for being connected with a tray transfer claw. According to the grabbing part, through the arrangement of the clamping jaw assembly and the visual recognition module, materials can be accurately recognized, correct materials can be grabbed, the positions and angles of the materials can be recognized and judged through visual guidance of the visual recognition module, and therefore the clamping jaw assembly can grab the materials more accurately; whether materials exist in the material tray or not can be judged, and whether the material tray needs to be transferred or not is determined according to the existence of the materials; and the types of the materials can be recognized to judge which clamping jaw assembly is used for grabbing, and the feeding accuracy and efficiency are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material transfer, in particular to a grabbing part, an automatic feeding device and an automatic feeding station. Background Art

[0002] Motors are crucial components in new energy vehicles. These motors are typically assembled on assembly lines, including rotors, stators, and shafts. The current method involves logistics personnel delivering pallets of materials to the production line, where operators then place the materials on positioning fixtures before assembling them. This method wastes time and manpower. Due to the high mass of the product, loading materials is labor-intensive for operators, and restocking takes a long time.

[0003] There are also transfer carts and robots used for material transfer and loading, but robots can usually only handle baskets loaded with one layer of material and single materials, because the robot used to pick up materials cannot take away the upper basket of the stacked baskets, and cannot take the materials in the second layer of baskets, which will also reduce the robot's loading efficiency. Summary of the Invention

[0004] The purpose of the utility model is to provide a gripping portion, an automatic loading device and an automatic loading station in order to solve the problems existing in the prior art.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] The first aspect provides a gripping portion, comprising a base, a plurality of gripping claw assemblies are arranged on the periphery of the base, the gripping claw assemblies are used to grip materials, a visual recognition module is provided above the gripping claw assemblies and is arranged in the gripping direction, and an exchange disk is provided at the bottom of the base, the exchange disk is used to connect the pallet transfer claws.

[0007] This gripping unit, through the configuration of the gripper assembly and the visual recognition module, can accurately identify and grasp the correct material. Using the visual guidance of the visual recognition module, it can identify and determine the position and angle of the material, allowing the gripper assembly to more accurately grasp the material. It can also determine whether there is material in the material tray and determine whether the material tray needs to be moved based on the presence or absence of material. It can also identify the type of material to determine which gripper assembly to use for grasping. This gripping method greatly improves grasping accuracy and efficiency, and is also conducive to automated and intelligent application.

[0008] Furthermore, the base is a frame structure having at least two mounting sides, each of which is connected to the clamping jaw assembly. The clamping jaw assemblies on different mounting sides have different models, so that they can be used to clamp multiple different materials.

[0009] Furthermore, the clamping jaw assembly includes a clamping jaw cylinder and a finger clamping jaw connected to the clamping jaw cylinder, and the clamping surfaces of the finger clamping jaws are respectively provided with a plurality of protective pads.

[0010] Furthermore, the visual recognition module includes a camera mounting base installed on the clamping jaw assembly and / or the base, and a CCD camera arranged on the camera mounting base, which can better identify materials.

[0011] Furthermore, the exchange disk is connected to the base through a connecting bottom plate, and a quick-connect plug is provided on the exchange disk; the pallet transfer claw includes a pallet transfer frame, and the pallet transfer frame is provided with a quick-connect connection disk that cooperates with the quick-connect plug, and a plurality of suction cups are provided under the pallet transfer frame.

[0012] A second aspect provides an automatic loading device, which includes a robot base and a robotic arm disposed on the robot base, wherein the execution end of the robotic arm is connected to the above-mentioned grasping part.

[0013] The third aspect provides an automatic loading station, which includes the above-mentioned automatic loading device and a plurality of operating stations arranged beside the robot base, a plurality of material carts are parked on the operating stations, and the material cart on at least one of the operating stations is within the grasping range of the robotic arm, and a plurality of material trays are provided on the material cart, and the material trays are used to place materials. The material cart is transferred between each of the operating stations through the AGV cart.

[0014] The robotic arm, in conjunction with the gripper, can transfer materials from the material tray to the assembly line or to a buffer station next to the assembly line for subsequent assembly operations. The provision of multiple operating stations facilitates the transfer of materials, reduces waiting time during material transfer, and ensures the loading efficiency of the robotic arm.

[0015] Furthermore, each of the operating stations is provided with a positioning frame, a connecting component is provided on the positioning frame, a proximity sensor is provided on one side of the connecting component, and the connecting component is used to connect the material cart; both ends of the positioning frame are also provided with limit buffer blocks used in conjunction with the material cart.

[0016] Furthermore, the connecting component is an electromagnet and / or a positioning pin, the electromagnet is magnetically connected to the material trolley, and the positioning pin is connected to the positioning hole on the material trolley.

[0017] Furthermore, the material trolley includes a support platform, the material trays are stacked on the support platform, an armrest is provided on one side of the support platform, a connecting piece is provided on the other side, a positioning hole is provided on the connecting piece, and a plurality of moving wheels are provided under the support platform.

[0018] Furthermore, the material tray is provided with several material placement slots and multiple adsorption positions, and the material tray is also provided with multiple support columns for supporting the upper material tray; a suction cup exchange table is also arranged on one side of the operating station within the grasping range of the robotic arm.

[0019] Compared with the prior art, the beneficial effects of the present invention are: 1. The gripping part can accurately identify materials and grab the correct materials through the setting of the clamping claw assembly and the visual recognition module. The visual guidance of the visual recognition module can be used to identify and judge the position and angle of the material so that the clamping claw assembly can grab the material more accurately; it can also judge whether there is material in the material tray, and determine whether the material tray needs to be transferred according to the presence or absence of material; it can also identify the type of material to determine which clamping claw assembly to use for gripping; this gripping method greatly improves the gripping accuracy and efficiency, and is also conducive to automated and intelligent application; 2. The setting of the exchange disk can be used to connect the pallet transfer claw, and the pallet transfer claw can be quickly loaded and unloaded with it, and does not affect the gripping and placing of the clamping claw assembly during normal loading. The material action is that only when there is an empty material pallet, the gripping part will be connected to the pallet transfer claw to move the empty material pallet away. After moving the empty material pallet, the gripping part will release the pallet transfer claw and continue to use the clamping claw assembly to load the material; 3. The robotic arm cooperates with the gripping part to transfer the material on the material pallet to the assembly line, or to the buffer table next to the assembly line, for subsequent assembly operations; the setting of multiple operating stations is conducive to the reverse transportation of materials, reduces the waiting time during the material transfer process, and ensures the loading efficiency of the robotic arm; 4. The connection components and proximity sensors set on the positioning frame can better judge the position of the material cart and dock with the material cart, so that the material cart can be accurately and stably parked at the station for subsequent robotic arm loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of a grabbing part of the utility model Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the structure of a grabbing part of the utility model Figure 2 ;

[0022] Figure 3 This is a schematic structural diagram of the tray transfer claw of the utility model;

[0023] Figure 4 This is a schematic diagram of the layout of the automatic loading station of this utility model Figure 1 ;

[0024] Figure 5 This is a schematic diagram of the layout of the automatic loading station of this utility model Figure 2 ;

[0025] Figure 6 This is a schematic structural diagram of the positioning frame of the utility model;

[0026] Figure 7 This is a schematic diagram of the structure of the material trolley of the utility model;

[0027] Figure 8 This is a schematic diagram of the structure of the material tray of the utility model;

[0028] In the figure: 1. Grasping part; 101. Base; 102. Gripper cylinder; 103. Finger gripper; 104. CCD camera; 105. Connecting base plate; 106. Exchange plate; 107. Quick-connect plug; 2. Pallet transfer claw; 201. Pallet transfer frame; 202. Quick-connect connection plate; 203. Suction cup; 3. Robot base; 4. Robotic arm; 5. Material trolley; 501. Support platform; 502. Handrail; 503. Connecting piece; 504. Positioning hole; 505. Moving wheel; 6. Material tray; 601. Material placement slot; 602. Adsorption position; 603. Support column; 7. Positioning frame; 701. Positioning pin; 702. Electromagnet; 703. Proximity sensor; 704. Limit buffer block; 8. Suction cup exchange table; 9. Cache table; 10. AGV trolley. DETAILED DESCRIPTION

[0029] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Example 1

[0031] like Figure 1 and Figure 2 As shown, a gripping part includes a base 101, and a plurality of gripping claw assemblies are arranged on the periphery of the base 101, and the gripping claw assemblies are used to grip materials. A visual recognition module arranged in the gripping direction is provided above the gripping claw assembly, and an exchange disk 106 is provided at the bottom of the base, and the exchange disk 106 is used to connect the pallet transfer claw.

[0032] This gripping unit, through the configuration of the gripper assembly and the visual recognition module, can accurately identify and grasp the correct material. Using the visual guidance of the visual recognition module, it can identify and determine the position and angle of the material, allowing the gripper assembly to more accurately grasp the material. It can also determine whether there is material in the material tray and determine whether the material tray needs to be moved based on the presence or absence of material. It can also identify the type of material to determine which gripper assembly to use for grasping. This gripping method greatly improves grasping accuracy and efficiency, and is also conducive to automated and intelligent application.

[0033] The setting of the exchange plate 106 can be used to connect the pallet transfer claw 2. The pallet transfer claw 2 is usually not connected to the bottom of the base 101 to avoid affecting the material grabbing and releasing action of the clamping assembly. Only when there is an empty material pallet, the gripping part will be connected to the pallet transfer claw 2 to remove the empty material pallet. After removing the empty material pallet, the gripping part will release the pallet transfer claw 2 and continue to use the clamping assembly to load materials.

[0034] Furthermore, the base 101 is a frame structure having at least two mounting sides, each of which is connected to the clamping jaw assembly, and the models of the clamping jaw assemblies on different mounting sides are different.

[0035] Specifically, the base 101 is a polygonal frame structure, and each side can be used as an installation side so that multiple clamping assemblies can be installed at the same time. The number of clamping assemblies installed can be set according to the type and requirements of the material.

[0036] The setting of multiple clamping assemblies can be used to clamp multiple different materials. Due to the different materials, the clamping assemblies will vary in model. In order to avoid different clamping assemblies clamping the wrong materials, the visual recognition module can be used to identify and judge the material type, so as to ensure that different types of clamping assemblies can grab the correct corresponding materials.

[0037] Furthermore, the gripper assembly includes a gripper cylinder 102 connected to the mounting side, and finger grippers 103 connected to the gripper cylinder 102. The gripping surfaces of the finger grippers 103 are each provided with a plurality of protective pads. The gripper cylinder 102 drives the pair of finger grippers 103 to move and grip the material. The protective pads increase friction, preventing the material from slipping, and also protect the material from being damaged by the gripper.

[0038] In this embodiment, two materials are used, such as an iron core and a rotor shaft; therefore, two types of gripper assemblies are selected, and the sizes and curvatures of the finger grippers are slightly different. The finger grippers are in a "C" shape. This design makes the gripper assembly more suitable for grasping cylindrical materials.

[0039] Furthermore, the visual recognition module includes a camera mounting base mounted on the clamping jaw assembly and / or the base, and a CCD camera 104 arranged on the camera mounting base. The CCD camera is arranged in the direction of the material being grasped by each clamping jaw assembly. Figure 1 and Figure 2 The CCD camera 104 is shown in only one direction. A commercially available mature product can be used. It can capture a digital image of the target, convert it into an image signal, and transmit it to a dedicated image processing system. The image system performs various operations on these signals to extract the target's features, and then controls the gripper's movements based on the results of the analysis.

[0040] Furthermore, the exchange disk 106 is connected to the base 101 via a connecting bottom plate 105, and a quick-connect plug 107 is provided on the exchange disk 106; Figure 3 As shown, the pallet transfer claw 2 includes a pallet transfer frame 201 , on which a quick-connection plate 202 matching the quick-connect plug 107 is provided, and a plurality of suction cups 203 are provided below the pallet transfer frame 201 .

[0041] The quick-connect plug 107 and the quick-connect connection plate 202 are mutually compatible structures that can achieve rapid connection and separation so that the grasping part can connect or disconnect the pallet transfer claw. This structure can use mature products on the market, such as robot end quick-change plates, gun-changing plates or quick-exchange fixtures.

[0042] The pallet transfer frame 201 is an X-shaped fork structure, with the suction cups 203 connected to the bottom of each of the four ends, and the quick-connect connection plate 202 set in the middle. The suction cup 203 can be a ZPT63HNJ25 series SMC vacuum suction cup. Example 2

[0043] like Figure 4 and Figure 5 As shown, an automatic loading device includes a robot base 3 and a robot arm 4 arranged on the robot base 3, and the execution end of the robot arm 4 is connected to the above-mentioned grasping part 1.

[0044] An automatic loading station includes the above-mentioned automatic loading device and several operating stations arranged beside the robot base 3, several material carts 5 are parked on the operating stations, and the material carts 5 on two of the operating stations are within the grasping range of the robotic arm 4. Several material trays 6 are provided on the material carts 5, and the material trays 6 are used to place materials. The material carts 5 are transferred between each of the operating stations through the AGV cart 10.

[0045] The robotic arm 4 cooperates with the gripping part to transfer the materials on the material tray 6 to the assembly line or to the buffer table 9 next to the assembly line for subsequent assembly operations. The robotic arm 4 can be a KUKA robot, model KR 120 R3100.

[0046] The provision of a plurality of operating stations is conducive to the transportation of materials, reduces waiting time during the material transfer process, and ensures the loading efficiency of the robotic arm.

[0047] In this embodiment, the operating stations include a first station (loading station), a second station (empty tray cache station) and a third station (material cache station), each equipped with three material trolleys; the first station is arranged close to the robotic arm, for parking the material trolley for the robotic arm to grab materials; the third station is arranged away from the robotic arm, for parking fully loaded material trolleys as a standby material trolley; the second station is located next to the first station, between the first and third stations, for parking empty material trolleys.

[0048] In this design, initially, after a material cart is loaded at the material reclaiming location (such as a warehouse or a process), it is transported to the third station for storage via an AGV. Meanwhile, the material cart at the first station also has material on it and is being loaded by the robotic arm. The material cart at the second station is empty, with no material or pallets. When all the material on the original material cart at the first station is fully loaded, the empty pallet is transferred by the robotic arm group and placed on top of the material cart at the second station. The AGV then tows the material cart with the empty pallet to the material reclaiming location to receive the material. Meanwhile, the empty material cart at the first station is towed by the AGV to the second station for further loading of empty pallets. The fully loaded material cart at the third station is transferred to the first station by the AGV for the robot to continue loading. The material cart that goes to the reclaiming location is fully loaded and then returns to the third station. This cycle repeats, allowing the three stations to continuously deliver materials to the robots.

[0049] Furthermore, each of the operating stations is provided with a positioning frame 7, combined with Figure 6 As shown, a connecting component is provided on the positioning frame 7, a proximity sensor 703 is provided on one side of the connecting component, and the connecting component is used to connect the material trolley 5; both ends of the positioning frame 7 are also provided with limiting buffer blocks 704 used in conjunction with the material trolley 5.

[0050] The connection assembly and proximity sensor provided on the positioning frame 7 can effectively determine the position of the material cart and dock it with the material cart, allowing the material cart to be parked at the workstation to prevent the material cart from shaking or moving during loading. It can also determine whether the material cart exists at the workstation. The provision of the limit buffer block not only serves as a limit, but also reduces rigid collision when the material cart docks with the positioning frame.

[0051] In some embodiments, the connecting component is an electromagnet 702 and / or a positioning pin 701, both of which can be used separately or simultaneously; the electromagnet 702 is magnetically connected to the material trolley 5, and the positioning pin 701 is connected to the positioning hole on the material trolley 5, and the positioning pin 701 is a liftable positioning pin.

[0052] In this design, when the connecting device is an electromagnet, the signal fed back by the proximity sensor causes the electromagnet to attract the edge of the material cart to secure it. When the connecting device is a locating pin, the signal fed back by the proximity sensor causes the locating pin to rise and insert into the matching locating hole, thereby securing the material cart.

[0053] Further, such as Figure 7As shown, the material trolley 5 includes a support platform 501, and the material trays 6 are stacked on the support platform 501. An armrest 502 is provided on one side of the support platform 501 and a connecting piece 503 is provided on the other side. A positioning hole 504 is provided on the connecting piece 503, and a plurality of moving wheels 505 are provided under the support platform 501.

[0054] The material cart 5 is generally moved by the AGV, but can sometimes be moved by a person using a handrail. The connecting piece 503 is an L-shaped metal connecting piece (a metal piece or plate that can be magnetically attracted). The vertical portion is connected to the edge of the support platform, and the positioning hole 504 is provided on the horizontal portion.

[0055] In some embodiments, a guide wheel groove is further provided on the ground of each operating station to limit and guide the moving wheel, which is conducive to the accurate parking of the material trolley.

[0056] Further, combined Figure 8 As shown, the material tray 6 is provided with several material placement slots 601 and multiple adsorption positions 602. The material tray 6 is also provided with multiple support columns 603 for supporting the upper material tray; a suction cup exchange table 8 is also arranged on one side of the operating station within the grasping range of the robotic arm, and the tray transfer claw 2 is placed on the suction cup exchange table 8, which is connected and used by the grasping part on the robotic arm when needed.

[0057] The number and position of the suction positions 602 correspond to the number and position of the suction cups on the pallet transfer claw 2, allowing the pallet transfer claw to absorb the material pallet and transfer it to the adjacent trolley. These material placement slots 601 accommodate the material to be loaded, preventing it from rolling and sliding. The material placement slots 601 are flanked by recesses to facilitate gripping by the finger grippers. The support columns 603 are designed to support the upper material pallet, allowing for stacking.

[0058] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripping portion, characterized in that: It includes a base, a plurality of clamping claw assemblies are arranged on the periphery of the base, the clamping claw assemblies are used to grab materials, a visual recognition module is provided above the clamping claw assembly and is arranged in the clamping direction, and an exchange disk is provided at the bottom of the base, and the exchange disk is used to connect the pallet transfer claws.

2. The gripping portion according to claim 1, wherein: The base is a frame structure having at least two mounting side surfaces. Each mounting side surface is respectively connected to the clamping jaw assembly, and the models of the clamping jaw assemblies on different mounting side surfaces are different.

3. The gripping portion according to claim 1, wherein: The clamping jaw assembly comprises a clamping jaw cylinder and a finger clamping jaw connected to the clamping jaw cylinder, and the clamping surfaces of the finger clamping jaws are respectively provided with a plurality of protective pads.

4. The gripping portion according to claim 1, wherein: The visual recognition module includes a camera mounting base installed on the clamping jaw assembly and / or the base, and a CCD camera arranged on the camera mounting base.

5. The gripping portion according to claim 1, wherein: The exchange disk is connected to the base through a connecting bottom plate, and a quick-connect plug is provided on the exchange disk; the pallet transfer claw includes a pallet transfer frame, and the pallet transfer frame is provided with a quick-connect connection disk that cooperates with the quick-connect plug, and a plurality of suction cups are provided under the pallet transfer frame.

6. An automatic feeding device, characterized in that: The automatic loading device includes a robot base and a robot arm arranged on the robot base, and the execution end of the robot arm is connected to the grasping part according to any one of claims 1 to 5.

7. An automatic loading station, characterized in that: It includes the automatic loading device as described in claim 6, and a plurality of operating stations arranged beside the robot base, a plurality of material carts are parked on the operating stations, and the material cart on at least one of the operating stations is within the grasping range of the robotic arm, and a plurality of material trays are provided on the material cart, and the material trays are used to place materials. The material cart is transferred between each of the operating stations through the AGV cart.

8. The automatic loading station according to claim 7, characterized in that: Each operating station is provided with a positioning frame, a connecting component is provided on the positioning frame, a proximity sensor is provided on one side of the connecting component, and the connecting component is used to connect the material trolley; both ends of the positioning frame are also provided with limit buffer blocks used in conjunction with the material trolley.

9. The automatic loading station according to claim 7, characterized in that: The material trolley includes a support platform, the material trays are stacked on the support platform, an armrest is provided on one side of the support platform, a connecting piece is provided on the other side, a positioning hole is provided on the connecting piece, and a plurality of moving wheels are provided under the support platform.

10. The automatic loading station according to claim 7, characterized in that: The material tray is provided with several material placement slots and multiple adsorption positions. The material tray is also provided with multiple support columns for supporting the upper material tray; a suction cup exchange table is also arranged on one side of the operating station within the grasping range of the robotic arm.

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