Tray pipe inserting device

Abstract

The utility model belongs to the technical field of tray assembly production, and particularly relates to a tray pipe inserting device which comprises a conveying line, a pipe inserting mechanical arm and a positioning mechanism which are arranged beside the conveying line, and further comprises a pipe knocking mechanism, and the pipe inserting mechanical arm comprises a mechanical arm, a clamp and a pressure sensor arranged between the clamp and the mechanical arm. The output end of the pressure sensor is electrically connected with the input end of the pipe knocking mechanism, and when the pressure value detected by the pressure sensor is too large, the pipe knocking mechanism knocks the pipe into the tray. When an abnormal condition that a pipe is blocked occurs in the pipe inserting process, the pipe knocking mechanism can be started to knock the pipe so as to promote the smooth completion of the pipe inserting process, and the problem that the tray assembling production cannot be completed smoothly due to the fact that slipping possibly occurs when the pipe is inserted by a mechanical arm vigorously is avoided; effective tray pipe inserting function and reliable finished product quality are ensured, and the production efficiency of the tray is prevented from being affected.

Description

Technical Field

[0001] This utility model relates to the field of pallet assembly and production technology, specifically to a pallet tube insertion device. Background Technology

[0002] Pallets are commonly used in workshops to place workpiece blanks, which facilitates both the stacking of workpieces and the loading, unloading and transportation by forklifts, and are widely used in various factories today.

[0003] Currently, pallets are mainly divided into wooden pallets, metal pallets, and plastic pallets, each with different characteristics and used in different scenarios. Plastic pallets, due to their lightweight nature and ease of placement, are increasingly used in modern factories. However, they also have the disadvantage of relatively low strength. To overcome these limitations, some manufacturers have introduced a solution of adding steel pipes to plastic pallets to increase their strength and thus achieve higher load-bearing capacity. Specifically, a small number of steel pipes are directly inserted into the plastic pallet, which neither adds excessive weight to the pallet itself nor fails to improve its strength.

[0004] Currently, the main method of assembling steel pipes into plastic pallets is by manual labor. However, the demand for plastic pallets is increasing, and the labor intensity of manual assembly can no longer meet market demand.

[0005] Therefore, this application proposes a fully automatic tray intubation machine. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides a tray-type cannulation device, which solves the problem of low efficiency in the current manual cannulation method.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a tray tube insertion device, including a conveyor line, a tube insertion robot and a positioning mechanism located on one side of the conveyor line, and a tube knocking mechanism. The tube insertion robot includes a robotic arm, a clamp, and a pressure sensor located between the clamp and the robotic arm. The output end of the pressure sensor is electrically connected to the input end of the tube knocking mechanism. When the pressure sensor detects an excessively high pressure value, the tube knocking mechanism knocks the tube into the tray.

[0008] Preferably, the conveyor line includes one of a conveyor belt and a roller conveyor, and the conveyor line is driven by a servo motor.

[0009] Preferably, the positioning mechanism includes a pressing mechanism located above the conveyor line, comprising a mounting frame fixedly connected to the conveyor line, a pressing cylinder fixedly mounted on the mounting frame, and a pressing plate at the top end of the pressing cylinder.

[0010] Preferably, the positioning mechanism further includes a blocking mechanism located on the side of the conveyor line near the tapping mechanism, including a baffle and a lifting cylinder for driving the baffle to rise and fall.

[0011] Preferably, the positioning mechanism further includes a horizontal pressing mechanism fixedly connected to the bottom of the mounting bracket. The horizontal pressing mechanism includes two side pressing plates and a side pressing cylinder for driving the two side pressing plates to move closer or further apart.

[0012] Preferably, both of the side-pressure cylinders are fixedly connected to the bottom of the mounting bracket.

[0013] Preferably, the tube-tapping mechanism is located between the tube insertion robot and the conveyor line, and the tube-tapping mechanism includes a tapping head and a three-dimensional guide rail for driving the tapping head to move.

[0014] Preferably, it also includes a vision camera, which is connected to the input ends of the intubation robot and the knocking mechanism via a GPU.

[0015] Preferably, the tube-tapping mechanism further includes a tapping cylinder, the tapping head is located at the top end of the tapping cylinder, and the visual camera and the tapping cylinder are mounted together on a three-dimensional guide rail via a base.

[0016] Preferably, the clamp includes grippers and a drive module for driving the two grippers closer together or apart.

[0017] Compared with the prior art, the present invention provides a tray insertion device, which has the following advantages:

[0018] When an abnormal situation occurs during the insertion process, such as the tube being obstructed, the tube-tapping mechanism can be activated to tap the tube to facilitate the smooth completion of the tube insertion process. This avoids the problem of slippage that may occur when relying solely on the robotic arm to forcefully insert the tube, thus preventing the smooth completion of pallet assembly production. This ensures the effectiveness of the pallet insertion function and the reliability of the finished product quality, while also preventing any impact on pallet production efficiency. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the tray insertion device;

[0020] Figure 2 This is a three-dimensional structural diagram of the positioning mechanism in this tray insertion device;

[0021] Figure 3 This is a three-dimensional structural diagram of the transverse pressing mechanism in this tray insertion device;

[0022] Figure 4 This is a three-dimensional structural diagram of the tube-tapping mechanism in this tray-insertion device;

[0023] Figure 5This is a three-dimensional structural diagram of the intubation robot in this tray intubation device;

[0024] Figure 6 This is the control flowchart for this tray insertion device.

[0025] In the picture:

[0026] A. Tray;

[0027] 1. Conveyor line; 11. Roller conveyor;

[0028] 2. Intubation robot; 21. Robotic arm; 22. Gripper; 221. Gripper; 222. Drive module; 23. Pressure sensor;

[0029] 3. Positioning mechanism; 31. Pressing mechanism; 311. Mounting bracket; 312. Pressing cylinder; 313. Pressing plate; 32. Blocking mechanism; 321. Baffle; 322. Lifting cylinder; 33. Horizontal pressing mechanism; 331. Side pressing plate; 332. Side pressing cylinder;

[0030] 4. Pipe-tapping mechanism; 41. Tapping head; 42. Three-dimensional guide rail; 43. Tapping cylinder; 44. Base;

[0031] 5. Visual camera; 6. GPU. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] Please see Figure 1-3 and Figure 6 The present invention provides the following technical solution: a tray insertion device, including a conveyor line 1, an insertion robot 2 and a positioning mechanism 3 located on one side of the conveyor line 1, and a knocking mechanism 4. The insertion robot 2 includes a robot arm 21, a clamp 22 and a pressure sensor 23 located between the clamp 22 and the robot arm. The output end of the pressure sensor 23 is electrically connected to the input end of the knocking mechanism 4. When the pressure sensor 23 detects that the pressure value is too high, the knocking mechanism 4 knocks the tube into the tray A.

[0034] As an optional embodiment of this utility model, tray A refers to a plastic tray with a built-in insertion port after thermoforming. During the tube assembly production, tray A is transported to the tube insertion robot 2 by conveyor line 1. The tube insertion robot 2 picks up the tube and inserts it into the tube insertion port on tray A. During the tube insertion process, when the pressure sensor 23 detects that the pressure value is too high, it indicates that the tube is obstructed. At this time, the output electrical signal feedback controller is activated to start the tube tapping mechanism 4 to tap the end of the tube, thereby ensuring that the tube insertion process is completed smoothly and avoiding the tube insertion function failure caused by slippage between the robot and the tube when the tube is obstructed when using only the robot for tube insertion.

[0035] In this technical solution, the robotic arm 21 is an existing technology, preferably a six-axis robotic arm 21; the pipe-tapping mechanism 4 refers to a technical solution used to tap the pipe after receiving an instruction. Specifically, it can be a solution where a robotic arm or a three-dimensional guide rail 42 drives the tapping head 41 (or hammer). It should be understood that any method that relies on existing automatic drive plus hammer should be considered within the protection scope of the pipe-tapping mechanism 4 in this technical solution.

[0036] With the above structure, if an abnormal situation occurs during the insertion process, such as the tube being blocked, the tube-tapping mechanism 4 can be activated to tap the tube to promote the smooth completion of the tube insertion process. This avoids the problem that the pallet assembly production may not be completed smoothly if the tube is slipped due to the strong insertion force of the robotic arm. This ensures that the pallet tube insertion function is effective and the quality of the finished product is reliable, and also prevents the impact on the production efficiency of the pallet.

[0037] like Figure 1-2 As shown, the conveyor line 1 includes one of a conveyor belt and a roller conveyor 11, and the conveyor line 1 is driven by a servo motor.

[0038] As an optional implementation of this utility model, both conveyor belts and roller conveyors 11 are common and very mature conveying methods. For pallet A conveying, both methods are feasible, and other feasible methods such as conveyor chain plates can also be used. The conveyor line 1 of this technical solution does not limit the specific conveying method. As long as the method can achieve precise conveying by servo drive, it is within the protection scope of this technical solution.

[0039] Preferably, the conveyor line 1 consists of a roller line 11 constructed from a plurality of powered rollers. As is well known, the roller line 11 has the characteristic of high load-bearing capacity. Although conveyor belts and conveyor chains can also increase the load-bearing capacity with additional components, the roller line 11 has a more obvious advantage when combined with the subsequent positioning mechanism 3.

[0040] like Figure 1-3As shown, the positioning mechanism 3 includes a pressing mechanism 31 located above the conveyor line 1, which includes a mounting frame 311 fixedly connected to the conveyor line 1, a pressing cylinder 312 fixedly mounted on the mounting frame 311, and a pressing plate 313 at the top end of the pressing cylinder 312. The positioning mechanism 3 also includes a blocking mechanism 32 located on the side of the conveyor line 1 near the knocking mechanism 4, which includes a baffle 321 and a lifting cylinder 322 for driving the baffle 321 to rise and fall. The positioning mechanism 3 also includes a horizontal pressing mechanism 33 fixedly connected to the bottom of the mounting frame 311. The horizontal pressing mechanism 33 includes two side pressing plates 331 and a side pressing cylinder 332 for driving the two side pressing plates 331 to move closer or further apart. Both side pressing cylinders 332 are fixedly connected to the bottom of the mounting frame 311.

[0041] As an optional implementation of this utility model, when pallet A is delivered to its position, it is first blocked by the blocking mechanism 32 to ensure that pallet A is accurately positioned at the end of the conveyor line 1. Then, the conveyor line 1 stops running, and the pressing mechanism 31 and the horizontal pressing mechanism 33 start running to determine the horizontal positions of the two ends of pallet A and press pallet A tightly. This not only ensures that pallet A is accurately placed on the conveyor line 1, but also prevents pallet A from moving during tube insertion. Moreover, this positioning method is not affected by the specifications or volume of pallet A. Regardless of the size or thickness of pallet A, it can be positioned at the middle of the end of the conveyor line 1, so that the position of the tube insertion port on pallet A is always accurate, and the tube insertion operation of the tube insertion robot 2 is accurate every time.

[0042] like Figure 1 and Figure 4 As shown, the tube-tapping mechanism 4 is located between the tube insertion robot 2 and the conveyor line 1. The tube-tapping mechanism 4 includes a tapping head 41 and a three-dimensional guide rail 42 for moving the tapping head 41.

[0043] As an optional implementation of this utility model, the three-dimensional guide rail 42 refers to the relatively mature X, Y, Z guide rails available on the market. This technical solution does not specifically limit the specific model; it can be driven by a linear slider or a cylinder, etc. When the tube-tapping mechanism 4 receives a tapping command, the three-dimensional guide rail 42 drives the tapping head 41 to align with the end of the tube and impact the end of the tube, allowing the tube to be tapped into the insertion port on the tray A.

[0044] like Figure 4 As shown, it also includes a vision camera 5, which is connected to the input ends of the intubation robot 2 and the knocking mechanism 4 via the GPU 6. The knocking mechanism 4 also includes a knocking cylinder 43, with a knocking head 41 located at the top end of the knocking cylinder 43. The vision camera 5 and the knocking cylinder 43 are mounted together on the three-dimensional guide rail 42 via the base 44.

[0045] As an optional implementation of this utility model, the vision camera 5 mainly acquires the position of the insertion port on the tray A. Since the gap between the insertion port on the tray A and the corresponding tube is usually not designed to be large (mainly to prevent the tray A from deforming under pressure due to excessive gap), the vision camera 5 takes pictures to acquire the position parameters of each insertion port on each tray A in real time to calculate the compensation parameters, so that the insertion robot 2 can better align with the insertion port for insertion operation. First, it ensures less friction during insertion and smoother insertion. Second, when the insertion process is obstructed, it can also provide the three-dimensional guide rail 42 with an accurate position of the tube end, avoiding more serious problems caused by the impact force failing to balance the force on the tube, such as the tube bending or the tray A being damaged due to tilting during insertion, resulting in material scrap.

[0046] In this technical solution, the aforementioned vision camera 5 and GPU 6 are both existing and very mature vision processing technologies. This technical solution does not limit the specific selection of vision camera 5 and GPU 6. Any technology that can achieve real-time acquisition of the position of the pipe end and the position of the insertion port on tray A falls within the protection scope of this technical solution. When the insertion of the pipe is obstructed, the vision camera 5 acquires the position of the pipe end, controls the three-dimensional guide rail 42 to align the striking cylinder 43 with the end of the pipe, and then the striking cylinder 43 starts to run, forcefully pushing out the striking head 41 to act on the end of the pipe, thereby achieving the striking of the pipe.

[0047] like Figure 5 As shown, the clamp 22 includes grippers 221 and a drive module 222 for driving the two grippers 221 to approach or separate.

[0048] As an optional implementation of this utility model, the drive module 222 can be a commonly used drive form such as a cylinder or a motor. These are relatively mature means, and this technical solution does not specifically limit them. The separation and closing of the two grippers 221 realizes the gripping and detachment of the tube by the tube insertion robot 2. When an obstacle is encountered during the tube insertion process, the two grippers 221 can be appropriately separated, providing support only in the non-insertion direction (the same direction of movement as the striking head 41 when performing the striking process), so as to prevent the friction between the grippers 221 and the tube from blocking the tube when the striking mechanism 4 performs the striking process, and also to prevent the striking mechanism 4 from causing wear to the grippers 221 or damage to the robot arm 21 during the striking process.

[0049] The working principle and usage process of this utility model are as follows: Pallet A is conveyed to the insertion robot 2 by the conveyor line 1. It is blocked by the blocking mechanism 32 to ensure that the end position of pallet A on the conveyor line 1 is accurate. Then the conveyor line 1 stops running, and the pressing mechanism 31 and the horizontal pressing mechanism 33 start running to determine the horizontal positions of the two ends of pallet A and press pallet A tightly. The insertion robot 2 picks up the tube and aligns the tube with the insertion port on pallet A according to the compensation parameters obtained by the vision camera 5 and GPU 6 and performs the insertion process. During the insertion process, when the pressure sensor 23 detects that the pressure value is too high, it means that the tube is obstructed. At this time, the output electrical signal feedback controller controls the three-dimensional guide rail 42 to align the striking cylinder 43 with the end of the tube. The two grippers 221 are appropriately separated to provide support force only in the non-insertion direction. Then the striking cylinder 43 starts running and forcefully pushes out the striking head 41 to act on the end of the tube to strike the tube, thereby ensuring that the tube insertion process is completed smoothly.

[0050] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A tray-mounted cannulation device, comprising a conveyor line, a cannulation robot disposed beside the conveyor line, and a positioning mechanism, characterized in that, It also includes a tube-tapping mechanism. The tube insertion robot includes a robotic arm, a clamp, and a pressure sensor located between the clamp and the robotic arm. The output end of the pressure sensor is electrically connected to the input end of the tube-tapping mechanism. When the pressure sensor detects that the pressure value is too high, the tube-tapping mechanism taps the tube into the tray.

2. The tray insertion device according to claim 1, characterized in that, The conveyor line includes one of a conveyor belt, a conveyor chain, and a roller conveyor, and the conveyor line is driven by a servo motor.

3. The tray insertion device according to claim 1, characterized in that, The positioning mechanism includes a pressing mechanism located above the conveyor line. The pressing mechanism includes a mounting frame fixedly connected to the conveyor line, a pressing cylinder fixedly mounted on the mounting frame, and a pressing plate at the top end of the pressing cylinder.

4. The tray insertion device according to claim 3, characterized in that, The positioning mechanism also includes a blocking mechanism located on the side of the conveyor line near the tube-tapping mechanism, which includes a baffle and a lifting cylinder for driving the baffle to rise and fall.

5. The tray insertion device according to claim 3, characterized in that, The positioning mechanism also includes a horizontal pressing mechanism fixedly connected to the bottom of the mounting bracket. The horizontal pressing mechanism includes two side pressing plates and a side pressing cylinder for driving the two side pressing plates to move closer or further apart.

6. The tray insertion device according to claim 5, characterized in that, Both of the aforementioned side-pressure cylinders are fixedly connected to the bottom of the mounting bracket.

7. The tray insertion device according to any one of claims 1-6, characterized in that, The tube-tapping mechanism is located between the tube insertion robot and the conveyor line. The tube-tapping mechanism includes a tapping head and a three-dimensional guide rail for moving the tapping head.

8. The tray insertion device according to claim 7, characterized in that, It also includes a vision camera, which is connected to the input ends of the intubation robot and the knocking mechanism via a GPU.

9. The tray insertion device according to claim 8, characterized in that, The tube-tapping mechanism also includes a tapping cylinder, the tapping head is located at the top end of the tapping cylinder, and the vision camera and the tapping cylinder are mounted together on a three-dimensional guide rail via a base.

10. The tray insertion device according to claim 7, characterized in that, The clamp includes grippers and a drive module for driving the two grippers closer together or apart.

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