Automatic robot luggage assembling production line

Abstract

The utility model discloses a robot luggage automatic assembly production line which comprises a luggage feeding and discharging station and an automatic assembly station, the luggage feeding and discharging station comprises a feeding tray positioning dock, a 3D visual camera, a feeding and discharging robot, a luggage shell gripper, a centering table and a discharging tray positioning dock, the multiple automatic assembly stations are composed of a multi-station rotary table clamp system and scattered robot working islands, the scattered robot working islands surround the remaining stations around the multi-station rotary table clamp system, and the multi-station rotary table clamp system is formed by combining an indexing rotary table and a plurality of luggage shell clamps. The large rotating platform is arranged, a traditional long-strip-type conveying line is changed into a disc-type conveying line, and the tool carriers rotate along with the rotating disc and sequentially pass through all operation stations on the edge of the assembling rotating disc; meanwhile, by arranging the luggage clamp, the luggage and parts of the luggage are accurately positioned, and displacement caused by factors such as vibration in the transferring process is avoided.

Description

Technical Field

[0001] The utility model relates to the relevant field of robot automatic assembly production lines for luggage, and in particular to a robot automatic assembly production line for luggage. Background Art

[0002] Currently, during the assembly process of luggage parts, factories typically utilize assembly lines for various parts, such as casters, buckles, foot baths, and handles. Workers place parts and tighten screws with screwdrivers. Some factories utilize semi-automatic or automated, non-standard equipment to assist with sorting and positioning incoming materials. Alternatively, manual labor is required for material transfer and placement, while specialized three-axis modular machines perform nail removal and tightening operations at stations securing individual parts. Typically, the production of trolley cases requires separate manufacturing of each component. After fabrication, these components are assembled manually. This method is labor-intensive and prone to errors, resulting in defective products. With rising labor costs, replacing manual labor with robots is becoming a trend to reduce costs and increase efficiency. Furthermore, traditional assembly lines are relatively long and require significant floor space. Utility Model Content

[0003] The purpose of the present utility model is to provide a robot automatic assembly production line for luggage to solve the problem that the manual assembly method proposed in the above-mentioned background technology not only consumes a lot of manpower, but also causes defective products due to the existence of manual assembly errors, and the assembly line of the production line is relatively long and occupies a large area.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot luggage automatic assembly production line, including box loading and unloading stations and automatic assembly stations, the box loading and unloading stations include a loading tray positioning dock, a 3D vision camera, a loading and unloading robot, a box shell gripper, a centering platform and a unloading tray positioning dock, multiple automatic assembly stations are composed of a multi-station turntable fixture system and dispersed robot work islands, the dispersed robot work islands are located at the remaining stations around the multi-station turntable fixture system, and the multi-station turntable fixture system is composed of a dividing turntable and multiple box shell fixtures.

[0005] In a further embodiment, the loading and unloading robot is arranged at the center between the loading pallet positioning dock and the unloading pallet positioning dock, the 3D vision camera is arranged on the loading pallet positioning dock, the end of the loading and unloading robot is provided with a luggage shell gripper, and the centering platform is arranged between the loading and unloading robot and the loading pallet positioning dock, and is located on one side of the luggage shell gripper.

[0006] In a further embodiment, the dispersed robot work island is composed of a plurality of working robots respectively equipped with a picking gripper or a tightening gun module, a parts tray, a loading and unloading trolley, a parts loading and unloading mechanism and a nail feeding machine.

[0007] In a further embodiment, the parts tray is placed on a loading and unloading trolley, and the screws of the tightening gun module are automatically supplied by a nail feeding machine when the module is working.

[0008] In a further embodiment, the luggage shell fixture includes a mounting base, an L-shaped support seat, a z-direction limit block, an x-direction limit plate, a support base, a y-direction sponge suction cup, a y-direction limit plate, an adjustment dovetail slide, a locking fixture, a foot soaking fixture, a y-direction linear guide, a clamping mechanism, a clamping cylinder, a z-direction sponge suction cup, an x-direction adjustment screw, an x-direction linear guide, a y-direction adjustment screw, a guide rod, a hand wheel and a feeding detection sensor;

[0009] The two groups of y-direction sponge suction cups and y-direction limit plates are installed on the mounting base through L-shaped support seats, and multiple groups of z-direction sponge suction cups are arranged on the mounting base through support bases. The pneumatic clamping mechanism is installed on the y-direction linear guide rail and is connected to the y-direction adjustment screw. Multiple groups of x-direction limit plates are arranged on two groups of adjustment dovetail slides through the z-direction limit blocks on both sides. The adjustment dovetail slides are connected to the clamping cylinders and are guided and limited by the guide rods. The clamping cylinders are connected to a group of x-direction adjustment screws and x-direction linear guides and are manually adjusted by a handwheel provided at the end of the x-direction adjustment screws. The foot soaking clamp and the locking clamp are arranged on the adjustment dovetail slides on both sides, and the feeding detection sensor is arranged on the support base.

[0010] In a further embodiment, a caster clamp is further included, which is arranged at the end of the luggage shell clamp. The caster clamp includes a supporting linear guide rail, a connecting plate, a rodless cylinder, a caster mounting seat, a part detection sensor, a caster spacing adjustment handwheel, and a caster spacing adjustment screw. The part detection sensor is arranged on the caster mounting seat, and the caster mounting seat is arranged on the rodless cylinder. The rodless cylinder is arranged on both sides of the caster spacing adjustment screw and is connected to the supporting linear guide rail. The caster spacing adjustment screw is set as a left and right equal spiral symmetrical screw.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] This utility model transforms a traditional long conveyor line into a circular one by installing a large rotating platform. The tooling rotates with the turntable, sequentially passing through various operating stations along the assembly turntable. Furthermore, the utility model incorporates a bag fixture to precisely position the bags and their components, preventing displacement caused by vibrations during transport and other factors that could lead to assembly errors. Multiple assembly units are assigned to their respective operating stations. A retrieving robot picks up the parts to be assembled and moves them to the corresponding position on the tooling. A locking robot then delivers nails and moves to a fixed position to lock them, automatically completing the installation of the desired parts. Furthermore, loading and unloading equipment is located at each operating station. When the loading and unloading mechanism is empty, a trolley enters the loading area, and a lifting mechanism lowers the empty pallet into the lower discharge area of ​​the trolley, completing the automated loading and unloading of parts. After the turntable rotates to drive the assembly of all process parts, a handling robot at the final loading and unloading station uses a handling gripper to stack and unload the assembled bags, facilitating subsequent product processing. This improves production efficiency and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of a robotic luggage automatic assembly production line from a top view of the present invention;

[0014] Figure 2 This is a structural diagram of a tooling tool, foot soaking tool, and locking fixture for a luggage production line of the present invention;

[0015] Figure 3 This is a structural diagram of a caster clamp for a luggage production line of the present utility model;

[0016] Figure 4 This is a top view of the robot working island of the utility model;

[0017] Figure 5 This is a top view of the loading and unloading robot of the present utility model;

[0018] Figure 6 This is a schematic diagram of the structure of the working robot of the utility model;

[0019] Figure 7 It is a top view of the indexing turntable of the utility model.

[0020] In the figure: 1. Indexing turntable; 2. Loading and unloading robot; 3. Working robot; 4. Parts loading and unloading mechanism; 5. Case and bag shell fixture; 6. Nail feeder; 7. Loading and unloading trolley; 8. Pickup gripper; 9. Tightening gun module; 10. Centering platform; 11. Loading tray positioning dock; 12. Case and bag shell gripper; 13. Parts tray; 14. 3D vision camera; 15. Unloading tray positioning dock; 16. Caster fixture; 101. Mounting base; 102. L-shaped support seat; 103. Z-axis limit block; 104. X-axis limit plate; 105. Support base; 106. Y-axis sponge suction cup; 107. Y-axis limit Plate; 108. Adjust the dovetail slide; 109. Locking clamp; 110. Foot soaking clamp; 111. Y-axis linear guide; 112. Clamping mechanism; 113. Clamping cylinder; 114. Z-axis sponge suction cup; 115. X-axis adjustment screw; 116. X-axis linear guide; 117. Y-axis adjustment screw; 118. Guide rod; 119. Handwheel; 120. Feeding detection sensor; 201. Support linear guide; 202. Connecting plate; 203. Rodless cylinder; 204. Caster mounting seat; 205. Parts detection sensor; 206. Caster spacing adjustment handwheel; 207. Caster spacing adjustment screw. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] See also Figure 1-7 The utility model provides an embodiment: a robot luggage automatic assembly production line, including box loading and unloading stations and automatic assembly stations, the box loading and unloading stations include a loading tray positioning dock 11, a 3D vision camera 14, a loading and unloading robot 2, a box shell gripper 12, a centering platform 10 and a unloading tray positioning dock 15, multiple automatic assembly stations are composed of a multi-station turntable fixture system and dispersed robot work islands, the dispersed robot work islands are located at the remaining stations around the multi-station turntable fixture system, and the multi-station turntable fixture system is composed of a dividing turntable 1 and multiple box shell fixtures 5.

[0023] The stack shape is photographed by the 3D vision camera 14, and after the graspable position of the shell is calculated, the robot 2 with the luggage shell gripper 12 picks up the shell and places it on the centering platform 10 for precise positioning. The loading and unloading robot 2 facilitates the loading and unloading and transportation control of the shell, and the automatic assembly station is used to automatically assemble the luggage parts with the shell.

[0024] Furthermore, the loading and unloading robot 2 is arranged in the center between the loading pallet positioning dock 11 and the unloading pallet positioning dock 15, the 3D vision camera 14 is arranged on the loading pallet positioning dock 11, and the end of the loading and unloading robot 2 is provided with a box shell gripper 12, and the centering platform 10 is arranged between the loading and unloading robot 2 and the loading pallet positioning dock 11, and is located on one side of the box shell gripper 12.

[0025] Furthermore, the decentralized robot work island is composed of a plurality of working robots 3 equipped with a picking gripper 8 or a tightening gun module 9, a parts tray 13, a loading and unloading trolley 7, a parts loading and unloading mechanism 4 and a nail feeder 6. The parts are grabbed by the picking gripper 8 and placed in the assembly position, and then another robot 3 equipped with a tightening gun module 9 performs the tightening work.

[0026] Furthermore, the parts tray 13 is placed on the loading and unloading trolley 7, and the screws of the tightening gun module 9 are automatically supplied by the nail feeder 6 when the tightening gun module 9 is working. The loading and unloading trolley 7 facilitates the loading and unloading control of the parts tray 13, and the nail feeder 6 automatically supplies screws to the tightening gun module 9.

[0027] Furthermore, the luggage shell fixture 5 includes a mounting base 101, an L-shaped support seat 102, a z-direction limit block 103, an x-direction limit plate 104, a support base 105, a y-direction sponge suction cup 106, a y-direction limit plate 107, an adjustment dovetail slide 108, a locking fixture 109, a foot soaking fixture 110, a y-direction linear guide 111, a clamping mechanism 112, a clamping cylinder 113, a z-direction sponge suction cup 114, an x-direction adjustment screw 115, an x-direction linear guide 116, a y-direction adjustment screw 117, a guide rod 118, a handwheel 119 and a loading detection sensor 120;

[0028] Two sets of y-direction sponge suction cups 106 and y-direction limit plates 107 are mounted on the mounting base 101 through the L-shaped support base 102. Multiple sets of z-direction sponge suction cups 114 are mounted on the mounting base 101 through the support base 105. The pneumatic clamping mechanism 112 is mounted on the y-direction linear guide 111 and connected to the y-direction adjustment screw 117. Multiple sets of x-direction limit plates 104 are mounted on two sets of adjustment dovetail grooves 108 through the z-direction limit blocks 103 on both sides. , the adjustment dovetail chute 108 is connected to the clamping cylinder 113, and is guided and limited by a guide rod 118. The clamping cylinder 113 is connected to a set of x-direction adjustment screws 115 and x-direction linear guides 116, and is manually adjusted by a handwheel 119 provided at the end of the x-direction adjustment screw 115. The foot soaking fixture 110 and the locking fixture 109 are provided on the adjustment dovetail chute 108 on both sides, and the feeding detection sensor 120 is provided on the support base 105;

[0029] The dovetail slot 108, clamping cylinder 113 and guide rod 118 are used to provide limitation and clamping on both sides of the luggage shell. The handwheel 119 installed at the end of the x-axis adjustment screw 115 can adjust the position of the clamping on both sides to adapt to the width dimensions of different box types. The foot soaking clamp 110 and the locking clamp 109 installed on the dovetail slots 108 on both sides are used to move the rollers on the clamps to drag the clamps to move and position on the slots, thereby meeting the auxiliary positioning of the corresponding parts during assembly. The loading detection sensor 120 is used to sense the presence or absence of parts of the luggage shell.

[0030] Furthermore, it also includes a caster clamp 16, which is arranged at the end of the luggage shell clamp 5. The caster clamp 16 includes a supporting linear guide rail 201, a connecting plate 202, a rodless cylinder 203, a caster mounting seat 204, a part detection sensor 205, a caster spacing adjustment handwheel 206, and a caster spacing adjustment screw 207. The part detection sensor 205 is arranged on the caster mounting seat 204, the caster mounting seat 204 is arranged on the rodless cylinder 203, and the rodless cylinder 203 is arranged on both sides of the caster spacing adjustment screw 207 and is connected to the supporting linear guide rail 201. Next, the caster spacing adjustment screw 207 is set to a left and right symmetrical spiral screw, and the loading detection sensor 120 is used to sense the presence of parts of the luggage shell. This fixture can adjust the positioning position to the edge by rotating multiple sets of hand wheels to meet the external dimensions of different box shells. The part detection sensor 205 senses whether the part is in place. After the part is in place, the rodless cylinder 203 pushes the part into the installation position, which prevents interference and collision when the casters are placed. The caster spacing adjustment screw 207 can be rotated to move the parts closer and farther away at equal intervals to correspond to installation positions of various sizes.

[0031] Working principle: When in use, after the AGV or manual work pushes the shell pallet to the loading pallet positioning dock 11 and the shell is placed in place, the 3D vision camera 14 will take a picture of the stacking shape, calculate the graspable position of the shell, and then the loading and unloading robot 2 with the case shell gripper 12 will pick up the shell and place it on the centering platform 10 for precise positioning. (This is because the loading pallet positioning dock 11 can only ensure that the entire shell stack area enters the field of view of the 3D vision camera 14 when the pallet is fed, but the shells are stacked irregularly when feeding. Even if the 3D vision camera 14 is used to calculate and correct, the loading and unloading robot 2 can only guarantee that the grasping is successful, and the accuracy of the position cannot be fully guaranteed. Therefore, secondary positioning must be performed before placing it in the subsequent precise positioning fixture.) After precise positioning, the loading and unloading robot 2 grabs the case shell again and places it on the fixture of the automatic assembly station. The assembled box is also taken out of the fixture by the loading and unloading robot 2 and placed on the unloading pallet of the unloading pallet positioning dock 15. The parts (components) that need to be assembled are stacked in the part tray 13 and are placed by the upper The unloading trolley 7 is fed in, and the working robot 3 uses the picking gripper 8 to grab the parts and put them into the assembly position, and then another working robot 3 equipped with a tightening gun module 9 performs the tightening work. When the tightening gun module 9 is working, the screws are automatically fed out by the nail feeder 6. For parts that are not neatly stacked on the parts tray 13, the picking gripper 8 can be specially equipped with a 3D camera to automatically correct the grabbing position. The y-direction sponge suction cup 106 and the y-direction limit plate 107 are used to limit and adsorb the bottom of the box shell, and are the benchmark for adapting to all box sizes. The bottom surface of the box shell is adsorbed and supported by multiple sets of z-direction sponge suction cups 114, and the clamping mechanism 112 is adjusted by rotating the handwheel 119 installed on the y-direction adjustment screw 117. The position in the y direction is adjusted to meet the clamping requirements of different bag shell heights. The dovetail slide 108 is connected to the clamping cylinder 113, and the guide rod 118 is used to ensure that the mechanism can move parallel to each other during clamping. This is used to provide position limiting and clamping on both sides of the bag shell. The handwheel 119 installed at the end of the x-axis adjustment screw 115 can adjust the position of the clamping on both sides. In order to adapt to the width dimensions of different boxes, the foot soaking clamp 110 and the locking clamp 109 installed on the dovetail slide 108 on both sides are used to move the rollers on the clamp to drag the clamp to move and position on the slide, so as to meet the auxiliary positioning of the corresponding parts during assembly. The loading detection sensor 120 is used to sense the presence or absence of parts of the luggage shell. This clamp can adjust the positioning position to the edge by rotating multiple sets of hand wheels to meet the external dimensions of different box shells. The part detection sensor 205 senses whether the part is in place. After the part is in place, the rodless cylinder 203 pushes the part into the installation position to prevent interference and collision when the casters are placed. The caster spacing adjustment screw 207 can be rotated to move the parts closer and farther away at equal intervals to correspond to installation positions of various sizes.

[0032] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A robotic luggage automatic assembly production line, including box loading and unloading stations and automatic assembly stations, characterized by: The box loading and unloading stations include a loading tray positioning dock (11), a 3D vision camera (14), a loading and unloading robot (2), a box shell gripper (12), a centering platform (10) and a unloading tray positioning dock (15), and a plurality of the automatic assembly stations are composed of a multi-station turntable fixture system and dispersed robot work islands, and the dispersed robot work islands are located at the remaining stations around the multi-station turntable fixture system, and the multi-station turntable fixture system is composed of a dividing turntable (1) and a plurality of box shell fixtures (5); The luggage shell fixture (5) includes a mounting base (101), an L-shaped support seat (102), a z-axis limit block (103), an x-axis limit plate (104), a support base (105), a y-axis sponge suction cup (106), a y-axis limit plate (107), an adjustment dovetail slide (108), a locking fixture (109), a foot soaking fixture (110), a y-axis linear guide (111), a clamping mechanism (112), a clamping cylinder (113), a z-axis sponge suction cup (114), an x-axis adjustment screw (115), an x-axis linear guide (116), a y-axis adjustment screw (117), a guide rod (118), a hand wheel (119) and a feeding detection sensor (120); Two groups of the y-direction sponge suction cups (106) and the y-direction limit plates (107) are mounted on the mounting base (101) via an L-shaped support seat (102), multiple groups of the z-direction sponge suction cups (114) are mounted on the mounting base (101) via a support base (105), the pneumatic clamping mechanism (112) is mounted on the y-direction linear guide rail (111) and is connected to the y-direction adjustment screw (117), multiple groups of the x-direction limit plates (104) are mounted on two groups of the adjustment dovetail grooves (108) via the z-direction limit blocks (103) on both sides, and the The adjustment dovetail chute (108) is connected to the clamping cylinder (113) and is guided and limited by the guide rod (118). The clamping cylinder (113) is connected to a set of the x-axis adjustment screw (115) and the x-axis linear guide rail (116), and is manually adjusted by a handwheel (119) provided at the end of the x-axis adjustment screw (115). The foot soaking clamp (110) and the locking clamp (109) are provided on the adjustment dovetail chute (108) on both sides, and the feeding detection sensor (120) is provided on the support base (105).

2. The automatic assembly line of luggage with robots according to claim 1, characterized in that: The loading and unloading robot (2) is arranged at the center between the loading tray positioning dock (11) and the unloading tray positioning dock (15), the 3D vision camera (14) is arranged on the loading tray positioning dock (11), the end of the loading and unloading robot (2) is provided with a case shell gripper (12), and the centering platform (10) is arranged between the loading and unloading robot (2) and the loading tray positioning dock (11), and is located on one side of the case shell gripper (12).

3. The robotic luggage automatic assembly line according to claim 1, characterized in that: The dispersed robot working island is composed of a plurality of working robots (3) respectively equipped with a picking gripper (8) or a tightening gun module (9), a parts tray (13), a loading and unloading trolley (7), a parts loading and unloading mechanism (4) and a nail feeding machine (6).

4. The robotic luggage automatic assembly line according to claim 3, characterized in that: The parts tray (13) is placed on the loading and unloading trolley (7), and the screws of the tightening gun module (9) are automatically supplied by the nail feeding machine (6) when the tightening gun module (9) is working.

5. The robotic luggage automatic assembly line according to claim 1, characterized in that: The invention also includes a caster clamp (16), wherein the caster clamp (16) is arranged at the end of the luggage shell clamp (5), and the caster clamp (16) includes a supporting linear guide rail (201), a connecting plate (202), a rodless cylinder (203), a caster mounting seat (204), a part detection sensor (205), a caster spacing adjustment handwheel (206), and a caster spacing adjustment screw (207). The part detection sensor (205) is arranged on the caster mounting seat (204), and the caster mounting seat (204) is arranged on the rodless cylinder (203). The rodless cylinder (203) is arranged on both sides of the caster spacing adjustment screw (207) and is connected to the supporting linear guide rail (201). The caster spacing adjustment screw (207) is set as a left and right equal spiral symmetrical screw.

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