Tray separating mechanism and robot two-way taking and placing equipment adopting same

Abstract

The utility model discloses a material tray separating mechanism and a robot two-way taking and placing device adopting the same, and belongs to the field of industrial robots, the material tray separating mechanism comprises a first conveying line, first linear modules, a first telescopic air cylinder, a first bracket and a partition plate, the first linear modules are arranged on the front side and the rear side of the first conveying line, and the first telescopic air cylinder is arranged on the first bracket. A first telescopic air cylinder is fixed to the sliding end of the first linear module, a first bracket is fixed to the inner end of the first telescopic air cylinder, the first conveying line is divided into two parts by the partition plate, and a receding space is formed between the partition plate and the first conveying line so that a material disc can penetrate through the receding space. According to the material tray separating mechanism and the robot two-way taking and placing device adopting the material tray separating mechanism, through cooperation of the first conveying line, the partition plate, the first linear module, the first telescopic air cylinder and the first bracket, a lifting mode is adopted, and the material trays are separated rapidly, accurately and stably.

Description

Technical Field

[0001] The utility model belongs to the field of industrial robots, and in particular relates to a tray separation mechanism and a robot bidirectional picking and placing device using the same. Background Art

[0002] Tray separation is an important process in the field of industrial automation and material handling. It involves separating stacked trays individually or in groups for subsequent processing, testing or packaging.

[0003] Existing tray separation mechanisms are unable to separate trays quickly, accurately, and stably, and are prone to crushing or damaging the product or tray during the separation process. Existing pick-and-place equipment also has a single function, without multiple robots operating in conjunction within a single device. If multiple robots were to operate in conjunction within a single device, the equipment would generally be bulky, hindering the modular layout of the factory. It is only suitable for a single production line and a single scenario, such as forward pick-and-place from the assembly line to the tray, or reverse pick-and-place from the tray to the assembly line. Switching lines requires replacing accessories and extensive installation and debugging, making it impossible to achieve dual-function, forward and reverse pick-and-place functionality. Utility Model Content

[0004] The purpose of the present invention is to provide a tray separation mechanism and a robot bidirectional pick-and-place device using the same, so as to overcome at least one of the above-mentioned defects in the prior art.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] The utility model provides a tray separation mechanism, which includes a first conveyor line, a first linear module, a first telescopic cylinder, a first bracket, and a partition. The first linear module is provided on both the front and rear sides of the first conveyor line. The sliding end of the first linear module is fixed with the first telescopic cylinder, and the inner end of the first telescopic cylinder is fixed with the first bracket. The partition divides the first conveyor line into two parts. There is a clearance space between the partition and the first conveyor line for the tray to pass through.

[0007] Preferably, it also includes a second linear module, a first mounting seat, a first vacuum suction cup, and a first hose connector. The sliding end of the second linear module is fixed with the first mounting seat. The first mounting seat is equipped with at least one first vacuum suction cup. The first vacuum suction cup is located below the first conveyor line and can pass through the first conveyor line to contact the material tray placed on the first conveyor line. The bottom end of the first vacuum suction cup is connected to the first hose connector, and the first hose connector is connected to the external air source.

[0008] Preferably, it also includes a second telescopic cylinder, a first baffle, a third telescopic cylinder, and a second baffle. The second telescopic cylinder is provided on both sides of the front and rear ends of the conveying front end of the first conveyor line, the first baffle is fixed to the inner end of the second telescopic cylinder, and the third telescopic cylinder is provided at the rear end of the conveying rear end of the first conveyor line, and the second baffle is fixed to the top end of the third telescopic cylinder.

[0009] The utility model also provides a robot bidirectional picking and placing device, including a frame, and a transfer mechanism, a lifting mechanism, a product picking and placing mechanism, and the above-mentioned tray separation mechanism installed on the frame. The transfer end of the transfer mechanism is located above the lifting mechanism and is used for transferring the tray between the lifting mechanism and the tray separation mechanism. The pick and place end of the product picking and placing mechanism is located above the lifting mechanism and is used for picking and placing products between the assembly line and the tray.

[0010] Preferably, the transfer mechanism includes a first manipulator, a second mounting seat, a second vacuum suction cup, and a second hose connector. The second mounting seat is fixed to the first manipulator. The second mounting seat is equipped with several second vacuum suction cups. The top of the second vacuum suction cup is connected to a second hose connector, and the second hose connector is connected to an external air source.

[0011] Preferably, the lifting mechanism includes a third linear module, a third mounting seat, and a second conveying line. The sliding end of the third linear module is fixed with the third mounting seat, and the second conveying line is fixed to the third mounting seat.

[0012] Preferably, the product picking and placing mechanism includes a second manipulator and a clamp, and the clamp is fixed to the second manipulator.

[0013] Preferably, a third conveying line is further included. The third conveying line is arranged in the frame on one side of the second conveying line, and the third conveying line extends out of the frame.

[0014] Preferably, it also includes a support, a fourth telescopic cylinder, and a second bracket. Two supports are fixed to the frame above the third linear module. The two supports are located on opposite sides of the second conveyor line. The fourth telescopic cylinder is fixed to the top of the support, and the second bracket is fixed to the inner end of the fourth telescopic cylinder.

[0015] Preferably, the first manipulator is a four-axis robot, the second manipulator is a six-axis robot, and the second manipulator is fixed to the top wall of the frame.

[0016] The beneficial effects of the utility model are:

[0017] 1. Through the cooperation of the first conveyor line, partition, first linear module, first telescopic cylinder, and first bracket, a lifting method is adopted to separate the trays quickly, accurately and stably.

[0018] 2. Use the method of one support and one suction to reduce the pressure or damage to the tray and product during the separation process.

[0019] 3. The stacking and separation of empty trays can be achieved through a set of structures.

[0020] 4. The position of the material tray is limited by setting the partition, the first baffle and the second baffle.

[0021] 5. The setting of the first vacuum suction cup is conducive to the separation of the material tray.

[0022] 6. Based on the same mechanical structure, it can realize forward and reverse flow switching, one machine with dual functions, and can be used in multiple scenarios at the same time.

[0023] 7. The empty tray can be transferred between the tray separation mechanism and the lifting mechanism through a set of structures.

[0024] 8. Only one set of structure is needed to realize loading and unloading of trays fully loaded with products.

[0025] 9. By adding a third conveyor line, the loading and unloading efficiency of trays fully loaded with products is greatly improved.

[0026] 10. The arrangement of the fourth telescopic cylinder and the second bracket greatly improves production efficiency.

[0027] 11. The second manipulator is hoisted on the top wall of the frame to save space and has a very high space utilization rate. It can realize the motion control of two industrial robots in a smaller equipment volume, thereby realizing the modular design concept and facilitating the expansion and use of multiple devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of the first embodiment of the present utility model.

[0029] Figure 2 It is a left-side structural schematic diagram of the first embodiment of the present utility model.

[0030] Figure 3 It is a three-dimensional structural diagram of the first linear module, the first telescopic cylinder, and the first bracket in the first embodiment of the present invention.

[0031] Figure 4 It is a schematic diagram of the three-dimensional structure of the second linear module, the first mounting seat, the first vacuum suction cup, and the first hose connector in the first embodiment of the present invention.

[0032] Figure 5 It is a schematic diagram of the three-dimensional structure of the first embodiment of the present invention (with a material tray placed).

[0033] Figure 6 It is a schematic diagram of the three-dimensional structure of the second embodiment of the present utility model.

[0034] Figure 7 It is a partial three-dimensional structural diagram of the second embodiment of the present utility model.

[0035] Figure 8 It is a schematic diagram of the three-dimensional structure of the transfer mechanism of the second embodiment of the present utility model.

[0036] Figure 9 It is a three-dimensional structural diagram of the lifting mechanism of the second embodiment of the present utility model.

[0037] Figure 10 It is a schematic diagram of the three-dimensional structure of the second support, the fourth telescopic cylinder, and the second bracket in embodiment 2 of the present utility model.

[0038] The marks in the accompanying drawings are: 1-first conveyor line, 2-first linear module, 3-first telescopic cylinder, 4-first bracket, 5-partition, 6-make way space, 7-second linear module, 8-first mounting seat, 9-first vacuum suction cup, 10-first hose connector, 11-second telescopic cylinder, 12-first baffle, 13-third telescopic cylinder, 14-second baffle, 15-frame, 16-transfer mechanism, 17-lifting mechanism, 18-product pick-and-place mechanism, 161-first manipulator, 162-second mounting seat, 163-second vacuum suction cup, 164-second hose connector, 171-third linear module, 172-third mounting seat, 173-second conveyor line, 181-second manipulator, 182-clamp, 19-third conveyor line, 20-support, 21-fourth telescopic cylinder, 22-second bracket. DETAILED DESCRIPTION

[0039] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0040] Any content not described in detail in this specification belongs to the prior art known to those skilled in the art. In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of the utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the utility model. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Example 1:

[0042] like Figures 1 to 5As shown, a tray separation mechanism provided in this embodiment includes a first conveyor line 1, a first linear module 2, a first telescopic cylinder 3, a first bracket 4, a partition 5, a second telescopic cylinder 11, a first baffle 12, a third telescopic cylinder 13, a second baffle 14, a second linear module 7, a first mounting seat 8, a first vacuum suction cup 9, and a first hose connector 10. The first linear module 2 is provided on both the front and rear sides of the first conveyor line 1. The sliding end of the first linear module 2 is fixed with the first telescopic cylinder 3. The inner end of the first telescopic cylinder 3 is fixed with the first bracket 4. The partition 5 divides the first conveyor line 1 into two parts, left and right. There is a clearance space 6 between the partition 5 and the first conveyor line 1 for the material tray to pass through. The front and rear sides of the conveying front end of the first conveyor line 1 are provided with a second telescopic cylinder 11. The inner end of the second telescopic cylinder 11 is fixed with a first baffle 12. The conveying rear end of the first conveyor line 1 is provided with a third telescopic cylinder 13. The top end of the third telescopic cylinder 13 is fixed with a second baffle 14. The sliding end of the second linear module 7 is fixed with a first mounting seat 8, and the first mounting seat 8 is equipped with two first vacuum suction cups 9. The first vacuum suction cups 9 are located below the first conveyor line 1 and can pass through the first conveyor line 1 and contact the material tray placed on the first conveyor line 1. The bottom end of the first vacuum suction cup 9 is connected to the first hose connector 10, and the first hose connector 10 is connected to the external air source.

[0043] In the forward pick-and-place process: manually stacked empty trays are placed on the first conveyor line 1, the second telescopic cylinder 11 contracts, driving the first baffle 12 away from the first conveyor line 1, and the stacked empty trays are transported to the right through the first conveyor line 1 until they hit the partition 5, the first conveyor line 1 stops conveying, the second telescopic cylinder 11 extends, driving the first baffle 12 to move inward, and the stacked empty trays are limited by the partition 5 and the first baffle 12; when taking the tray, the first linear module 2 drives the first telescopic cylinder 3 to move upward to the second-to-last layer of empty trays from the bottom to the top, and then the first telescopic cylinder 3 extends, driving the first bracket 4 to move inward to drag the second-to-last layer of empty trays from the bottom to the top; the second linear module 7 drives the first mounting seat 8 to move upward, so that the first vacuum suction The tray 9 moves upward and sucks the empty tray on the bottom layer; then the first linear module 2 continues to drive the first bracket 4 to move upward to the empty tray separation position, at which time the empty tray on the bottom layer is separated from the other empty trays; the first vacuum suction cup 9 removes the adsorption of the empty tray on the bottom layer and resets; the first conveyor line 1 conveys the empty tray on the bottom layer to the right side of the partition 5 until it hits the second baffle 14, the first conveyor line 1 stops conveying, and the tray separation is completed; after the original empty tray on the bottom layer is sent to the right side of the partition 5, the first linear module 2 drives the first bracket 4 and the empty tray above it to move downward until it is placed on the first conveyor line 1 on the left side of the partition 5; the first linear module 2 continues to drive the first bracket 4 to move downward to reset, the first telescopic cylinder 3 contracts and resets, driving the first bracket 4 to retract and reset.

[0044] During the reverse pick-and-place process: the first telescopic cylinder 3 extends, driving the first bracket 4 inward, while the first linear module 2 drives the first bracket 4 upward, lifting the empty trays off the first conveyor line 1. The first conveyor line 1 transports the empty trays placed on the right side of the partition 5 via the transfer mechanism to the left side of the partition 5 until they hit the first baffle 12. The first linear module 2 drives the first bracket 4 and the empty trays above it downward until the empty trays on the bottom layer of the first bracket 4 are stacked on the empty trays on the first conveyor line 1 to the left of the partition 5. The first telescopic cylinder 3 retracts, driving the first bracket 4 back away from the empty trays, completing the stacking of the empty trays. In this way, the stacking and separation of empty trays can be achieved through a single structure. The partition 5, first baffle 12, and second baffle 14 are used to limit the trays. The first vacuum suction cup 9 facilitates the separation of the trays. Through the cooperation of the first conveyor line 1, the partition 5, the first linear module 2, the first telescopic cylinder 3, and the first bracket 4, a lifting method is adopted to quickly, accurately and stably separate the material tray. In combination with the setting of the first vacuum suction cup 9, a one-lifting and one-suction method is adopted to reduce the pressure or damage to the material tray and the product during the separation process.

[0045] Example 2:

[0046] like Figures 6 to 10 As shown, this embodiment provides a robotic bidirectional pick-and-place device, comprising a frame 15, a transfer mechanism 16, a lifting mechanism 17, a product pick-and-place mechanism 18, and the tray separation mechanism of Example 1, all mounted on the frame 15. The transfer end of the transfer mechanism 16 is located above the lifting mechanism 17 and is used to transfer trays between the lifting mechanism 17 and the tray separation mechanism. The pick-and-place end of the product pick-and-place mechanism 18 is located above the lifting mechanism 17 and is used to pick and place products between the assembly line and the tray.

[0047] The forward picking and placing process is as follows: the empty trays are manually stacked and placed on the tray separation mechanism, the transfer mechanism 16 takes away the empty trays separated by the tray separation mechanism, and then places them on the lifting mechanism 17, the product picking and placing mechanism 18 grabs the products from the assembly line and places them in the empty trays on the lifting mechanism 17, after the empty trays on the lifting mechanism 17 are filled with products, the lifting mechanism 17 drops one tray position, the transfer mechanism 16 continues to add empty trays, and the product picking and placing mechanism 18 continues to place products in the newly added empty trays, and so on and so forth until the lifting mechanism 17 is filled with a preset number of trays full of products and the full trays are taken away.

[0048] The reverse pick-and-place process is as follows: a tray full of products is placed on the lifting mechanism 17, the lifting mechanism 17 rises to the material removal position, the product pick-and-place mechanism 18 removes the products from the tray and places them at the set position on the assembly line. When all the products in the tray are removed, the transfer mechanism 16 removes the empty trays on the lifting mechanism 17 and transfers them to the tray separation mechanism for recycling. This process is repeated until all the products on the lifting mechanism 17 are removed. When the empty trays of the tray separation mechanism are fully stacked, all the empty trays of the tray separation mechanism are removed. In this way, based on the same mechanical structure, forward and reverse flow switching can be achieved, and one machine can perform dual functions and can be used in multiple scenarios at the same time.

[0049] Among them, the transfer mechanism 16 includes a first manipulator 161, a second mounting seat 162, a second vacuum suction cup 163, and a second hose connector 164. The second mounting seat 162 is fixed to the first manipulator 161. The second mounting seat 162 is installed with several second vacuum suction cups 163. The top of the second vacuum suction cup 163 is connected to the second hose connector 164, and the second hose connector 164 is connected to the external air source.

[0050] During the forward picking and placing process: after the separated empty tray is transferred to the picking position of the first robot 161 via the first conveyor line 1, the first robot 161 moves to the suction position of the empty tray, vacuum-sucks the empty tray through the second vacuum suction cup 163, moves to the lifting mechanism 17 and breaks the vacuum, and puts down the empty tray.

[0051] During the reverse pick-and-place process, the first robot 161 moves to the top of the lifting mechanism 17, uses the second vacuum cup 163 to vacuum-suction the empty tray from the lifting mechanism 17, moves to the first conveyor line 1, breaks through the air, and places the empty tray. In this way, the empty tray can be transferred between the tray separation mechanism and the lifting mechanism 17 using a single structure.

[0052] The lifting mechanism 17 includes a third linear module 171 , a third mounting seat 172 , and a second conveying line 173 . The sliding end of the third linear module 171 is fixed with the third mounting seat 172 , and the second conveying line 173 is fixed to the third mounting seat 172 .

[0053] During the forward picking and placing process: when the empty tray above it is filled with products, the third mounting seat 172 is driven downward by the third linear module 171, causing the second conveyor line 173 to move downward, thereby freeing up space for the next empty tray to be picked up, making it convenient for the transfer mechanism 16 to pick up the empty tray for replenishment and carry out the next round of picking and placing.

[0054] During the reverse loading and unloading process, after all products on the topmost fully loaded tray are removed, the transfer mechanism 16 removes the empty tray to the tray separation mechanism. The third linear module 171 drives the third mounting seat 172 upward one level, causing the second conveyor line 173 to move upward one level. This in turn moves the fully loaded tray upward to the unloading position, where it is removed by the product loading and unloading mechanism 18. In this way, only one set of mechanisms is required to achieve loading and unloading of fully loaded trays.

[0055] The product pick-and-place mechanism 18 includes a second manipulator 181 and a clamp 182, which is fixed to the second manipulator 181. During pick-and-place, the second manipulator 181 drives the clamp 182 to move to the pick-and-place position, and the clamp 182 clamps the product and puts it down.

[0056] The third conveyor line 19 is also included. The third conveyor line 19 is arranged in the frame 15 on one side of the second conveyor line 173 and extends out of the frame 15.

[0057] During the forward pick-and-place process: the trays fully loaded with products can be manually stacked through the third conveyor line 19 and then transported to the second conveyor line 173 through the third conveyor line 19 for loading operations.

[0058] During the reverse loading and unloading process, stacked trays loaded with products can be transported to the third conveyor line 19 via the second conveyor line 173, and then manually removed from the third conveyor line 19. The addition of the third conveyor line 19 greatly improves the loading and unloading efficiency of trays loaded with products.

[0059] It also includes a support 20, a fourth telescopic cylinder 21, and a second bracket 22. The frame 15 above the third linear module 171 is fixed with two supports 20. The two supports 20 are located on opposite sides of the second conveyor line 173. The fourth telescopic cylinder 21 is fixed on the top of the support 20, and the second bracket 22 is fixed on the inner end of the fourth telescopic cylinder 21.

[0060] During the forward placement process, when the number of fully loaded trays on the second conveyor line 173 reaches a preset value, the third linear module 171 drives the second conveyor line 173 and its fully loaded trays downward, away from the swing position. The fourth telescopic cylinder 21 then extends, driving the front and rear second brackets 22 toward the center, allowing for new empty trays and product placement while fully loaded trays are removed. After the second conveyor line 173 moves upward to the swing position, the fourth telescopic cylinder 21 retracts, driving the second brackets 22 back to their original position, placing the trays on the second conveyor line 173. This significantly improves production efficiency.

[0061] The first manipulator 161 is a four-axis robot, and the second manipulator 181 is a six-axis robot. The second manipulator 181 is fixed to the inner top wall of the frame 15. The arrangement of the second manipulator 181 hoisted to the inner top wall of the frame 15 saves space and has extremely high space utilization. It can realize the motion control of two industrial robots within a relatively small equipment volume, thus realizing the modular design concept and facilitating the expansion and use of multiple devices.

[0062] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by technicians in this field. The provision of power is also common knowledge in this field. In addition, the present invention is mainly used to protect mechanical devices, so the control method and circuit connection are no longer explained in detail in the present invention.

[0063] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A tray separation mechanism, characterized in that: It includes a first conveying line, a first linear module, a first telescopic cylinder, a first bracket, and a partition; A first linear module is provided on both the front and rear sides of the first conveyor line, a first telescopic cylinder is fixed to the sliding end of the first linear module, and a first bracket is fixed to the inner end of the first telescopic cylinder; The partition divides the first conveying line into two parts, and there is a clearance space between the partition and the first conveying line for the material tray to pass through.

2. The tray separation mechanism according to claim 1, characterized in that: Also includes a second linear module, a first mounting base, a first vacuum suction cup, and a first hose connector; A first mounting base is fixed to the sliding end of the second linear module, and at least one first vacuum suction cup is installed on the first mounting base. The first vacuum suction cup is located below the first conveyor line and can pass through the first conveyor line to contact the material tray placed on the first conveyor line; The bottom end of the first vacuum suction cup is connected to a first hose connector, and the first hose connector is connected to an external air source.

3. The tray separation mechanism according to claim 1, characterized in that: Also includes a second telescopic cylinder, a first baffle, a third telescopic cylinder, and a second baffle; A second telescopic cylinder is provided on both the front and rear sides of the conveying front end of the first conveying line, and a first baffle is fixed to the inner end of the second telescopic cylinder; A third telescopic cylinder is provided at the conveying rear end of the first conveying line, and a second baffle is fixed to the top end of the third telescopic cylinder.

4. A robot bidirectional pick-and-place device, characterized in that: It comprises a frame, and a transfer mechanism, a lifting mechanism, a product picking and placing mechanism installed on the frame, and a tray separation mechanism according to any one of claims 1 to 3; The transfer end of the transfer mechanism is located above the lifting mechanism and is used for transferring the tray between the lifting mechanism and the tray separation mechanism; The pick-up and placement end of the product pick-up and placement mechanism is located above the lifting mechanism and is used for picking up and placing products between the assembly line and the tray.

5. The robot bidirectional pick-and-place device according to claim 4, characterized in that: The transfer mechanism includes a first manipulator, a second mounting seat, a second vacuum suction cup, and a second hose connector; The second mounting base is fixed to the first manipulator; The second mounting seat is equipped with a plurality of second vacuum suction cups. The top ends of the second vacuum suction cups are connected to a second hose connector, and the second hose connector is connected to an external air source.

6. The robot bidirectional pick-and-place device according to claim 4, characterized in that: The lifting mechanism includes a third linear module, a third mounting seat, and a second conveying line; The sliding end of the third linear module is fixed with a third mounting seat, and the second conveying line is fixed to the third mounting seat.

7. The robot bidirectional pick-and-place device according to claim 5, characterized in that: The product taking and placing mechanism includes a second manipulator and a clamp; The clamp is fixed to the second robot.

8. The robot bidirectional pick-and-place device according to claim 6, characterized in that: Also included is a third conveyor line; A third conveying line is provided in the frame on one side of the second conveying line, and the third conveying line extends out of the frame.

9. The robot bidirectional pick-and-place device according to claim 6, characterized in that: Also includes a support, a fourth telescopic cylinder, and a second bracket; The frame above the third linear module is fixed with two supports, which are respectively located on opposite sides of the second conveyor line; A fourth telescopic cylinder is fixed on the top of the support, and a second bracket is fixed on the inner end of the fourth telescopic cylinder.

10. The robot bidirectional pick-and-place device according to claim 7, characterized in that: The first manipulator is a four-axis robot, and the second manipulator is a six-axis robot; The second manipulator is fixed to the inner top wall of the frame.

Images