Feeding work station

Abstract

The utility model relates to a feeding work station, the feeding work station includes: material storage equipment, detection equipment, material grabbing robot, hoisting equipment and feeding robot, the material storage equipment is used for storing workpieces, the detection equipment includes a detection station and a measuring device, the measuring device is installed on the detection station, the hoisting equipment is installed on the detection station, and the feeding robot is installed on the detection station. The material grabbing robot can move the workpieces on the material storage equipment to the detection station, and the hoisting equipment can be manually operated so as to move the workpieces on the material storage equipment to the detection station; the feeding robot can move the workpieces detected to be qualified on the detection station to the next procedure. According to the feeding station, the failure rate during production can be reduced, and the production efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field, specifically, relate to a feeding work station. BACKGROUND

[0002] With the rapid growth of global demand for automobiles, major automobile manufacturers have begun to use integrated die casting to produce vehicle parts. However, integrated large die castings use a large part to integrate, which has a large size and is difficult to handle and transfer, so they are usually stored and transported in the form of a material frame. Since the position of the large die casting in the material frame is not fixed, most of the large die casting feeding is done manually. In related technologies, although some manufacturers use a robot feeding method to automatically transport the large die casting to the machining station of the CNC equipment, the failure rate is high and the production efficiency is low. SUMMARY

[0003] The utility model aims at at least in a certain extent solves one of the technical problems in the related art.

[0004] To this end, the embodiment of the utility model provides a feeding work station, which can reduce the failure rate and improve the production efficiency.

[0005] The feeding work station of the embodiment of the utility model comprises: a storage device for storing workpieces; a detection device comprising a detection station and a measuring device, the measuring device being installed on the detection station for detecting the size of the workpiece; a grabbing robot that can move the workpiece on the storage device to the detection station; a hoisting device that can be manually operated to move the workpiece on the storage device to the detection station; and a feeding robot that can move the workpiece that passes the detection on the detection station to the next process.

[0006] According to the feeding work station of the embodiment of the utility model, when the feeding work station is working, the grabbing robot can automatically grab the workpiece in the storage device and place it on the detection station for size detection, and the feeding robot can move the workpiece that passes the detection to the next process for subsequent CNC machining. Since the workpiece is detected by the detection station before feeding, the problem of the feeding robot colliding with the workpiece due to manufacturing deviation on the surface of the workpiece can be avoided, and defective workpieces can be prevented from flowing into the next process. In addition, when the feeding robot fails, the hoisting device can be manually operated to manually hoist the workpiece to the detection station for size detection, so that the line does not need to be stopped for maintenance, which helps to improve the production capacity of the feeding work station.

[0007] Therefore, the feeding station of the embodiment of the utility model can reduce the failure rate and improve the production efficiency.

[0008] In some embodiments, the storage device comprises a first storage device and a second storage device, the first storage device and the second storage device can store the workpieces, the first storage device is arranged adjacent to the grabbing robot, and the second storage device is arranged adjacent to the hoisting device.

[0009] In some embodiments, the detection station comprises a first station and a second station, the measuring device is two and is installed on the first station and the second station respectively, the grabbing robot can move the workpiece on the first storage device to the first station, and the hoisting device can move the workpiece on the second storage device to the second station.

[0010] In some embodiments, the feeding robot is arranged adjacent to the first station and the second station, the feeding robot can move the workpiece detected as qualified on the first station and the second station to the next process, and move the workpiece detected as unqualified on the first station to the second station.

[0011] In some embodiments, the measuring device comprises a first sensor arranged on the detection station for detecting whether the workpiece is installed in place; and / or the measuring device comprises a plurality of second sensors arranged at intervals on the detection station for detecting the size of different positions of the workpiece.

[0012] In some embodiments, the detection station further comprises a fixed platform and a support block, the support block is installed on the fixed platform, and the upper end of the support block is provided with a support surface for supporting the workpiece; and / or the detection station further comprises a fixed platform and a limiting support, the limiting support is installed on the edge of the fixed platform and extends in the vertical upward direction.

[0013] In some embodiments, the detection station further comprises a fixed platform and a positioning assembly, the positioning assembly comprises a positioning seat, a positioning column and an elastic piece, the positioning seat is installed on the fixed platform, the positioning seat is provided with a compression cavity inside, the elastic piece is installed in the compression cavity, the lower end of the positioning column is slid into the compression cavity and abuts against the elastic piece, the elastic piece can compress the positioning column in the direction from bottom to top, and the upper end of the positioning column has a conical part for guiding the blank hole of the workpiece.

[0014] In some embodiments, the positioning assembly comprises an adjusting knob penetrating into the compression cavity and abutting against the elastic member, the adjusting knob being movable in the up-down direction of the positioning seat to adjust the compression amount of the elastic member; and / or the positioning assembly comprises a bushing installed in the compression cavity, and the positioning column slides through the bushing.

[0015] In some embodiments, the grabbing robot comprises a mechanical arm, a grabbing tool and a visual camera, the grabbing tool is installed on the mechanical arm, and the visual camera is installed on the grabbing tool, and the visual camera is used for photographing positioning when the grabbing tool grabs the workpiece.

[0016] In some embodiments, the grabbing tool comprises a base, a clamping jaw and a positioning member, the base is installed on the mechanical arm, and the clamping jaw and the positioning member are both installed on the base, the clamping jaw can clamp and release the workpiece, and the positioning member can match the structure on the workpiece; and / or the grabbing robot further comprises a third sensor for detecting the distance between the grabbing tool and the workpiece, so that the visual camera photographs positioning at a preset position; and / or the grabbing robot further comprises a fourth sensor for detecting whether the grabbing tool clamps the workpiece in place.

[0017] In some embodiments, the storage device comprises a frame and a frame fixing mechanism, the frame fixing mechanism encloses a storage area, the frame is used for storing workpieces, and the frame is movably arranged in the storage area. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a top view of the feeding work station of the embodiment of the utility model.

[0019] Figure 2 is an installation schematic view of the measuring station and the measuring device of the feeding work station of the embodiment of the utility model.

[0020] Figure 3 is a schematic view of the positioning assembly of the feeding work station of the embodiment of the utility model.

[0021] Figure 4 is a sectional view of the positioning assembly of the feeding work station of the embodiment of the utility model.

[0022] Figure 5 is a schematic view of the grabbing robot of the feeding work station of the embodiment of the utility model after removing the mechanical arm.

[0023] Figure 6 is a schematic view of the storage device of the feeding work station of the embodiment of the utility model.

[0024] Figure 7 is the installation schematic view of the material frame and the limiting device of the feeding work station of the embodiment of the utility model.

[0025] Figure 8 is Figure 7 the enlarged view of A in figure 6.

[0026] Figure 9 is the installation schematic view of the material frame, the limiting device and the work piece of the feeding work station of the embodiment of the utility model.

[0027] Figure 10 is Figure 9 the enlarged view of B in figure 6.

[0028] Figure 11 is the local installation schematic view of the limiting device and the work piece of the feeding work station of the embodiment of the utility model.

[0029] Figure 12 is the schematic view of the multiple limiting pieces of the feeding work station of the embodiment of the utility model are connected in turn.

[0030] Figure 13 is the schematic view of the adjacent two limiting pieces of the feeding work station of the embodiment of the utility model are connected.

[0031] Figure 14 is the schematic view of the single limiting piece of the feeding work station of the embodiment of the utility model.

[0032] Reference signs:

[0033] 1, storage equipment; 101, first storage device; 102, second storage device; 11, material frame; 111, storage area; 112, inlet and outlet; 12, limiting device; 121, connecting frame; 122, limiting piece; 1221, blocking rod; 1222, rotating seat; 1223, push rod; 1224, counterweight block; 12241, extension rod; 12242, counterweight body; 1225, roller; 1226, buffer sleeve; 1227, linkage rod; 1228, matching rod; 1201, first limiting piece; 1202, second limiting piece; 1203, third limiting piece; 1204, fourth limiting piece; 1205, fifth limiting piece; 123, constraint rod; 124, material frame fixing mechanism; 1241, limiting stand; 1242, guide baffle; 1243, fifth sensor; 1244, sixth sensor; 1245, safety grating; 1246, anti-collision column; 1247, limiting baffle; 13, support frame; 131, profiling groove;

[0034] 2, detection equipment; 21, detection station; 211, first station; 212, second station; 213, fixed platform; 214, support block; 215, limiting support; 216, positioning assembly; 2161, positioning seat; 21611, compression cavity; 2162, positioning column; 21621, conical part; 2163, elastic piece; 2164, adjusting knob; 2165, bushing; 217, two-dimensional code reading and writing module; 218, anti-collision rod;

[0035] 22, measuring device; 221, first sensor; 222, second sensor;

[0036] 3, grabbing robot; 31, grabbing tooling; 311, base; 312, clamping jaw; 313, positioning piece; 32, vision camera; 33, third sensor; 34, fourth sensor; 35, illuminating lamp;

[0037] 4, hoisting equipment;

[0038] 5, workpiece. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0040] The following refers to the accompanying Figures 1 to 14 The feeding station of the embodiments of the present application is described.

[0041] As Figures 1 to 6 shown, the feeding station of the embodiments of the present application comprises a storage equipment 1, a detection equipment 2, a grabbing robot 3, a hoisting equipment 4 and a feeding robot (not shown).

[0042] The storage equipment 1 is used for storing workpieces 5, the detection equipment 2 comprises a detection station 21 and a measuring device 22, the measuring device 22 is installed on the detection station 21 for detecting the size of the workpieces 5, the grabbing robot 3 can move the workpieces 5 on the storage equipment 1 to the detection station 21, the hoisting equipment 4 can be manually operated to move the workpieces 5 on the storage equipment 1 to the detection station 21, and the feeding robot (not shown) can move the workpieces 5 on the detection station 21 that pass the detection to the next process.

[0043] According to the embodiment of the utility model, when the workpiece 5 in the storage equipment 1 is automatically grabbed by the grabbing robot 3 and placed in the detection station 21 for size detection when the feeding station is working, the feeding robot can move the workpiece 5 that passes the detection to the next process for subsequent CNC processing. Since the workpiece 5 is subjected to size detection by the detection station 21 before feeding, the problem of collision between the feeding robot and the workpiece 5 caused by manufacturing deviation on the surface of the workpiece 5 can be avoided, and the defective workpiece 5 can be prevented from flowing into the next process. In addition, when the feeding robot fails, the hoisting equipment 4 can be used for manual operation to manually hoist the workpiece 5 to the detection station 21 for size detection, so that the line does not need to be stopped for maintenance, which is beneficial to improve the production capacity of the feeding station.

[0044] Therefore, the feeding station of the embodiment of the utility model can reduce the failure rate and improve the production efficiency.

[0045] It can be understood that the workpiece 5 in the storage equipment 1 is a blank, so the workpiece 5 may have a size out-of-limit problem. The feeding and detection process of the feeding station of the embodiment of the utility model is located before the CNC processing process, so the detection equipment 2 can be used to detect the size of the workpiece 5, and the workpiece 5 that passes the detection can be moved to the CNC processing equipment by the feeding robot for processing of the workpiece 5.

[0046] In the related art, when the unqualified workpiece flows into the next process (i.e., the CNC processing process), the workpiece may not be accurately positioned, the clamp may interfere, the tool may collide, and the processing size may not be qualified, which leads to a low product qualification rate of machining. The feeding station of the embodiment of the utility model can prevent the unqualified workpiece from flowing into the next process, which is beneficial to improve the product yield.

[0047] On the other hand, the feeding station of the embodiment of the utility model uses the grabbing robot 3 and the feeding robot to cooperate with each other for feeding, which can be performed without the participation of personnel, thereby avoiding the safety risk of personnel operation and improving the production efficiency of the feeding station.

[0048] In the example of the utility model, the hoisting equipment 4 can be a double-beam lifting appliance, and the operator can operate the lifting appliance to take out the workpiece 5 from the storage equipment 1 and manually place it into the detection station 21 for size detection, so that when the grabbing robot 3 fails, the machine does not need to be stopped, which is beneficial to improve the whole-line operation rate.

[0049] In some embodiments, as Figure 1As shown, the storage device 1 comprises a first storage device 101 and a second storage device 102, both of which can store workpieces 5, the first storage device 101 is arranged adjacent to the grabbing robot 3, and the second storage device 102 is arranged adjacent to the hoisting device 4. It can be understood that the automatic grabbing of the grabbing robot and the manual grabbing of the hoisting device 4 are arranged separately, i.e., the grabbing robot 3 can grab workpieces in the first storage device 101, and the hoisting device 4 can grab workpieces in the second storage device 102, and the two do not interfere with each other.

[0050] Therefore, when the grabbing robot 3 is stopped for maintenance due to failure, the path of the manual grabbing of the hoisting device 4 does not affect the operator, which is beneficial to ensure the safety of the operator. On the other hand, when the first storage device 101 fails, the second storage device 102 can be enabled, and the operator operates the hoisting device 4 to take out the workpieces 5 from the second storage device 102, thereby reducing the downtime of the feeding station and improving the overall line uptime.

[0051] In some embodiments, as shown in FIG. 1, Figure 1 As shown, the detection station 21 comprises a first station 211 and a second station 212, the measuring device 22 is two and is respectively installed on the first station 211 and the second station 212, and the grabbing robot 3 can move the workpieces 5 on the first storage device 101 to the first station 211, and the hoisting device 4 can move the workpieces 5 on the second storage device 102 to the second station 212.

[0052] It can be understood that the grabbing robot 3 in the feeding station places the taken workpieces 5 to the first station 211 for size measurement, and the hoisting device 4 places the taken workpieces 5 to the second station 212 for size measurement, and the two do not interfere with each other. Even if one of the grabbing robot 3, the first station 211 or the first storage device 101 fails, it does not affect the manual operation of the hoisting device 4 in the feeding station, thereby reducing the downtime of the feeding station and improving the overall line uptime.

[0053] In addition, when the grabbing robot 3 is debugging (i.e., the grabbing robot 3 is debugging the grabbing and placing of workpieces between the first storage device 101 and the first station 211), it does not affect the process of placing the workpieces 5 by the hoisting device 4 to the second station 212 for manual feeding, and the man-machine separation can be achieved, thereby reducing the safety hazards of the operator.

[0054] Optionally, as shown in FIG. 1, Figure 1As shown, the loading robot is arranged adjacent to the first station 211 and the second station 212, and the loading robot (not shown) can move the workpiece 5 detected as qualified on the first station 211 and the second station 212 to the next process, and move the workpiece 5 detected as unqualified on the first station 211 to the second station 212. Since the loading robot is arranged adjacent to the first station 211 and the second station 212, the movement path of the loading robot can be reduced, and the overall space occupied by the loading station can be reduced.

[0055] For example, the first station 211 and the second station 212 are arranged adjacent to each other, and since the loading robot can move the workpiece 5 detected as unqualified on the first station 211 to the second station 212, the loading station can use the second station 212 as a unloading station when it is not manually operated, that is, the workpiece 5 detected as unqualified on the first station 211 is moved to the second station 212 by the loading robot, so as not to affect the normal detection and loading of the next workpiece 5, which is beneficial to reduce downtime and improve production efficiency. The unqualified product on the second station 212 can be taken out by the lifting device 4.

[0056] Compared with the scheme of "moving the workpiece 5 detected as unqualified on the first station 211 to the second station 212 by the grabbing robot 3", when the loading station is manually operated by the lifting device 4, the grabbing robot 3 does not need to participate in the movement and carrying of the workpiece 5, so that the operator can debug the grabbing robot 3.

[0057] Optionally, as shown in Figure 2 As shown, the measuring device 22 includes a first sensor 221 arranged on the detection station 21 for detecting whether the workpiece 5 is installed in place. It can be understood that after the workpiece 5 is placed on the detection station 21, the first sensor 221 can perform in-place detection on the workpiece 5 to improve the accuracy of the measurement of the measuring device 22. For example, when the first sensor 221 detects that the workpiece 5 is installed out of position, an alarm signal can be sent to remind the operator to handle it in time.

[0058] For example, the first sensor 221 is two or more to improve the reliability of the detection of the first sensor 221.

[0059] Specifically, as shown in Figure 2 As shown, the measuring device 22 includes a plurality of second sensors 222 arranged at intervals on the detection station 21 for detecting the size of different positions of the workpiece 5. The plurality of second sensors 222 can measure the size of different positions of the workpiece 5 to detect the key feature points on the workpiece 5, and when the values detected by the plurality of second sensors 222 all meet the requirements, it means that the profile of the feature points of the workpiece 5 is qualified, and then the workpiece 5 is sent to the numerical control machining center by the loading robot.

[0060] Further, as shown in Figure 2 the detection station 21 is further provided with a two-dimensional code reading and writing module 217. When the workpiece 5 is placed on the detection station, the two-dimensional code reading and writing module 217 automatically reads the two-dimensional code on the workpiece 5. The data measured by the plurality of second sensors 222 is bound to the two-dimensional code of the workpiece 5, and can be traced in real time.

[0061] In some embodiments, as shown in Figure 2 the detection station 21 further includes a fixed platform 213 and a support block 214. The support block 214 is installed on the fixed platform 213, and the upper end of the support block 214 is provided with a support surface for supporting the workpiece 5. The support block 214 can support the workpiece 5 to improve the stability of the workpiece 5.

[0062] For example, the support block 214 is a plurality of support blocks 214, which are arranged at intervals on the fixed platform 213, and the plurality of support blocks 214 collectively support the workpiece 5.

[0063] Optionally, as shown in Figure 2 the detection station 21 further includes a fixed platform 213 and a limiting support 215. The limiting support 215 is installed on the edge of the fixed platform 213 and extends in a vertically upward direction. It can be understood that the limiting support 215 is used to stop the workpiece 5. It can be understood that the limiting support 215 is used for coarse limiting when manually loading. Since manual loading has poor repeatability, and the size of the workpiece 5 is large, the line of sight of the operator is easily blocked. When manually loading, the operator moves the workpiece 5 to the limiting support 215, and then considers that the workpiece 5 has arrived at the correct position. At this time, the workpiece 5 can be lowered and guided by the support block 214 for coarse guiding to guide the workpiece 5 to the correct position.

[0064] In an example, the limiting support 215 is only provided in the second station 212, that is, the limiting support 215 is provided in the station for manual loading. The limiting support 215 does not need to be provided in the first station 211, because the movement of the grabbing robot 3 has high repeatability and accurate movement position, and does not need the limiting support 215 for guiding, thereby reducing the manufacturing cost.

[0065] Further, as shown in Figure 2 the detection station 21 further includes an anti-collision rod 218. The anti-collision rod 218 is installed on one side of the fixed platform 213. In an example, the anti-collision rod 218 is only provided in the second station 212. The anti-collision rod 218 can prevent the workpiece 5 from colliding with the two-dimensional code reading and writing module 217 and the second sensor 222 when manually loading due to the operator's poor control of the distance between the workpiece 5 and the two sides of the fixed platform 213.

[0066] In some embodiments, asFigure 3 and Figure 4 As shown in FIG. 1, the detection station 21 further comprises a fixed platform 213 and a positioning assembly 216, the positioning assembly 216 comprises a positioning seat 2161, a positioning column 2162 and an elastic member 2163, the positioning seat 2161 is installed on the fixed platform 213, the positioning seat 2161 is internally provided with a compression cavity 21611, the elastic member 2163 is installed in the compression cavity 21611, the lower end of the positioning column 2162 is slidably penetrated into the compression cavity 21611 and abuts against the elastic member 2163, the elastic member 2163 can compress the positioning column 2162 in the direction from bottom to top, and the upper end of the positioning column 2162 is provided with a conical part 21621 for guiding the blank hole of the workpiece 5.

[0067] It can be understood that, as Figure 4 shown in FIG. 1, the positioning column 2162 can be retracted downwardly in the direction of the compression cavity 21611 under a certain pressure, and the positioning column 2162 can be automatically reset upwardly when the pressure of the positioning column 2162 disappears. Since the upper end of the positioning column 2162 is provided with the conical part 21621, the conical part 21621 can guide and correct the blank hole of the workpiece 5 during the descending process of the workpiece 5, so as to ensure the consistency of the workpiece positioning.

[0068] Therefore, the feeding work station of the embodiment of the utility model adopts the positioning assembly 216 to position the blank hole of the workpiece 5, and the guiding function of the positioning column 2162 can be utilized to automatically guide the position during the descending process of the workpiece 5, so as to reduce the position deviation of the workpiece 5.

[0069] Optionally, as Figure 4 shown in FIG. 1, the positioning assembly 216 comprises an adjusting knob 2164, the adjusting knob 2164 is penetrated into the compression cavity 21611 and abuts against the elastic member 2163, and the adjusting knob 2164 is movable in the up-down direction of the positioning seat 2161, so as to adjust the elastic force of the elastic member 2163. The elastic member 2163 can be a spring. It can be understood that, an operator can adjust the position of the adjusting knob 2164 in the compression cavity 21611, so as to compress or release the elastic member 2163. The feeding work station of the embodiment of the utility model can expand the application range of the positioning assembly 216 by adjusting the elastic force of the elastic member 2163, so as to meet different use scenarios of the positioning assembly 216 and facilitate the adjustment.

[0070] Specifically, as Figure 4 shown in FIG. 1, the adjusting knob 2164 is threadedly matched in the compression cavity 21611. An operator can rotate the adjusting knob 2164, so as to compress or release the elastic member 2163. The lower end of the positioning seat 2161 is provided with a lower opening which is in communication with the compression cavity 21611. It can be understood that, an operator can send a wrench into the compression cavity 21611 through the lower opening and rotate the adjusting knob 2164, so as to adjust the elastic force of the elastic member 2163.

[0071] Optionally, as shown in Figure 4 The positioning assembly 216 includes a bushing 2165 mounted in the compression cavity 21611, and the positioning column 2162 slides through the bushing 2165. It can be understood that the bushing 2165 is arranged between the inner wall of the compression cavity 21611 and the outer wall of the positioning column 2162, which can guide the movement of the positioning column 2162 and reduce the wear between the positioning column 2162 and the positioning seat 2161, thereby prolonging the service life of the positioning assembly 216.

[0072] In some embodiments, as shown in Figure 5 The grabbing robot 3 includes a mechanical arm (not shown), a grabbing tool 31 mounted on the mechanical arm, and a visual camera 32 mounted on the grabbing tool 31, which is used for photographing positioning when the grabbing tool 31 grabs the workpiece 5. In this way, the positioning accuracy of the grabbing tool 31 when grabbing can be further improved.

[0073] It can be understood that before grabbing, the visual camera 32 needs to take a photo of the position of the workpiece 5, and then the grabbing robot 3 can automatically compensate the position of the workpiece 5 according to the set program, and then the grabbing tool 31 grabs the workpiece 5 according to the compensated position parameters. In this way, the incoming requirements for the workpiece 5 can be reduced, and the probability of grabbing failure can be reduced.

[0074] For example, as shown in Figure 5 The visual camera 32 is provided with an illuminating lamp 35 to illuminate when the visual camera 32 takes a photo, which is conducive to improving the clarity of the visual camera when taking a photo.

[0075] Optionally, as shown in Figure 5 The grabbing tool 31 includes a base 311, a clamping jaw 312, and a positioning member 313, the base 311 is mounted on the mechanical arm, and the clamping jaw 312 and the positioning member 313 are both mounted on the base 311. The clamping jaw 312 can clamp and release the workpiece 5, and the positioning member 313 can match the structure on the workpiece 5. It can be understood that the positioning member 313 can position the workpiece 5 when the clamping jaw 312 grabs the workpiece 5, which is conducive to improving the accuracy of the clamping jaw 312 when grabbing and releasing.

[0076] Optionally, as shown in Figure 5As shown, the grabbing robot further comprises a third sensor 33 for detecting the distance between the grabbing tool 31 and the workpiece 5, so that the visual camera 32 can take a picture at a preset position. It can be understood that when the visual camera 32 takes a picture of the workpiece 5, the visual camera 32 needs to be moved to a position close to the workpiece 5 (i.e. the preset position) by the mechanical arm first, and the third sensor 33 is used to detect whether the mechanical arm has been moved to the position, so as to improve the accuracy of the picture taken by the visual camera 32 and the subsequent position compensation.

[0077] Further, as shown in Figure 5 the grabbing robot further comprises a fourth sensor 34 for detecting whether the grabbing tool 31 clamps the workpiece 5 in place. When the grabbing tool 31 does not grab the workpiece 5 at the correct position or the workpiece 5 is grabbed with deviation, the fourth sensor 34 can send an indication signal to the controller of the grabbing robot 3 to remind the operator to handle it in time.

[0078] In some embodiments, as shown in Figure 6 the storage device 1 comprises a frame 11 and a frame fixing mechanism 124, the frame fixing mechanism 124 encloses a storage area, and the frame 11 is movably arranged in the storage area. For example, the operator can use a forklift to put the frame 11 into the storage area, and the operator can use a forklift to take out the frame 11 from the storage area, thereby improving the convenience of loading the frame 11.

[0079] Optionally, as shown in Figures 6 to 8 the storage device 1 further comprises a limiting device 12. The frame 11 is provided with an inlet and outlet 112 on one side in a first direction, and the limiting device 12 comprises a connecting frame 121 and a limiting piece 122, the connecting frame 121 is arranged on one side of the frame 11 in a second direction, the first direction, the second direction and the height direction of the frame 11 are orthogonal to each other, and the limiting piece 122 is rotatable relative to the connecting frame 121 between an open position and a closed position. The limiting piece 122 comprises a blocking rod 1221, and in the closed position, the blocking rod 1221 can be stopped on one side of the workpiece 5 in the first direction, and in the open position, the blocking rod 1221 can be spaced apart from the workpiece 5, so that the workpiece 5 can enter and exit in the first direction.

[0080] For example, as shown in Figure 7 the first direction is the front-rear direction of the frame 11, and the second direction is the left-right direction of the frame 11.

[0081] According to the material storage device 1 of this utility model embodiment, when the workpiece 5 needs to be stored in the material frame 11, the workpiece 5 enters the material frame 11 from the inlet / outlet 112 along the first direction. The limiting member 122 can rotate from the open position to the closed position. At this time, the stop bar 1221 can stop on one side of the workpiece 5 along the first direction, thereby limiting the workpiece 5 to prevent it from tipping over. When the workpiece 5 needs to be moved out of the material frame 11, the limiting member 122 can rotate from the closed position to the open position. At this time, the stop bar 1221 is spaced apart from the workpiece 5 so that the workpiece 5 can be discharged along the first direction. The material storage device 1 of this utility model embodiment, by designing the limiting device 12 with the above structure, can both stop and limit the workpiece 5 and facilitate the loading and unloading of the workpiece 5, resulting in better performance.

[0082] Understandably, when the limiting member 122 is in the open position, there is no interference when the workpiece 5 is discharged along the first direction, meaning that the lever 1223 will not cause any stop interference when the workpiece 5 is discharged along the first direction. When the limiting member 122 is in the closed position, the lever 1223 stops on one side of the workpiece 5 along the first direction. At this time, the workpiece 5 will interfere with the lever 1223 when it is discharged along the first direction, thereby preventing the workpiece 5 from tipping over and fixing the workpiece 5.

[0083] Optionally, such as Figure 7 and Figure 9 As shown, there are two sets of limiting devices 12. The two sets of limiting devices 12 are arranged on both sides of the material frame 11 along the second direction. It can be understood that the limiting devices 12 located on the left and right sides of the material frame 11 can jointly constrain the workpiece 5, thereby improving the stability of the workpiece 5 placed in the material frame 11.

[0084] In some embodiments, such as Figure 7 and Figure 9 As shown, the material frame 11 has multiple storage areas 111 arranged at intervals along a first direction. Each storage area 111 can hold one workpiece 5. Multiple limiting members 122 are arranged at intervals along the first direction and correspond one-to-one with each storage area 111. It can be understood that the material frame 11 can store multiple workpieces 5, and the multiple limiting members 122 can limit different workpieces 5. When a workpiece 5 needs to be removed, the limiting member 122 can rotate from a closed position to an open position so that the grabbing robot 3 or the hoisting equipment 4 can remove the workpiece 5 from the material frame 11. The material storage device 1 of this embodiment of the present invention, by setting multiple storage areas 111 within the material frame 11, allows a single material frame 11 to accommodate multiple workpieces 5, thereby reducing the frequency of handling the material frame 11 and improving production efficiency.

[0085] It is understandable that, such as Figure 9As shown, when the workpieces 5 are put into the magazine 11, the workpieces 5 are firstly put into the storage areas 111 far away from the access opening 112, and then the workpieces 5 are put into the storage areas 111 adjacent to the access opening 112. In other words, one side of the magazine 11 where the access opening 112 is arranged is defined as the front side of the magazine 11, and the other side of the magazine 11 away from the access opening 112 is defined as the back side of the magazine 11, and when the workpieces 5 are put into the magazine 11, the workpieces 5 are sequentially filled into the storage areas 111 from back to front. When the workpieces 5 are taken out of the magazine 11, the workpieces 5 are sequentially moved out of the storage areas 111 from front to back.

[0086] Optionally, as shown in Figure 11 and Figure 14 The limiting member 122 further comprises a rotating seat 1222 and two blocking rods 1221, the rotating seat 1222 is rotatably installed on the connecting frame 121, and the two blocking rods 1221 are arranged on the rotating seat 1222 in a first direction. It can be understood that each limiting member 122 comprises two blocking rods 1221, and when the rotating seat 1222 rotates, the two blocking rods 1221 can rotate synchronously with the rotating seat 1222. When the limiting member 122 is in the closed position, the two blocking rods 1221 can stop the same workpiece 5, that is, the two blocking rods 1221 are arranged on the front and back sides of the same workpiece 5. Alternatively, the two blocking rods 1221 can stop two different workpieces 5 in front and back. The storage equipment 1 of the embodiment of the present application can make the structure of the limiting member 122 more compact, which is conducive to improving the stability of the workpiece 5 placement, and the linkage effect is better.

[0087] The rotation of the limiting member 122 (that is, the rotation of the limiting member 122 between the open position and the closed position) can be controlled by an external power source, or can be driven by the movement of the workpiece 5 itself when the workpiece 5 is put in or taken out.

[0088] In some embodiments, as shown in Figure 11 and Figure 14 The limiting member 122 further comprises a pushing rod 1223, the pushing rod 1223 and the blocking rod 1221 are arranged on the rotating seat 1222 in a first direction, and the pushing rod 1223 can swing downward under the downward pressure of the workpiece 5 when the workpiece 5 is put in, so as to drive the blocking rod 1221 to rotate from the open position to the closed position. It can be understood that the workpiece 5 can be sent into the storage area 111 in the direction from front to back, at this time the bottom surface of the workpiece 5 is still a distance away from the bottom surface of the magazine 11, then the workpiece 5 moves downward, and the pushing rod 1223 also swings downward synchronously under the downward pressure of the workpiece 5, and since the pushing rod 1223 and the blocking rod 1221 are both connected with the rotating seat 1222, the blocking rod 1221 can be rotated towards the workpiece 5 and stopped on one side of the workpiece 5 in the front and back directions.

[0089] The storage equipment 1 of the embodiment of the utility model can drive the limiting piece 122 through the workpiece 5, so that the limiting piece 122 automatically stops the workpiece 5, and the workability of the storage equipment 1 is improved, and the number of driving pieces (such as motors or air cylinders) is reduced, and the manufacturing cost of the storage equipment 1 is reduced.

[0090] Optionally, as shown in Figures 12 to 14 The limiting piece 122 includes a counterweight 1224, the counterweight 1224 is connected with the rotating seat 1222, and the counterweight 1224 is arranged on the side of the rotating seat 1222 away from the push rod 1223. When the workpiece 5 moves upward to release the push rod 1223, the counterweight 1224 can drive the blocking rod 1221 to rotate from the closed position to the open position under the action of gravity. It can be understood that when the workpiece 5 is lifted upward, the push rod 1223 is released from the limiting position, and under the action of gravity of the counterweight 1224, the counterweight 1224 can drive the push rod 1223 to reset (that is, drive the limiting piece 122 as a whole to rotate from the closed position to the open position), at this time, the blocking rod 1221 can be spaced apart from the workpiece 5 to avoid the problem that the blocking rod 1221 interferes with the workpiece 5 when the workpiece 5 is taken out. The storage equipment 1 of the embodiment of the utility model can set the counterweight 1224 on the limiting piece 122, so that the reset action of the limiting piece 122 can be completed when the workpiece 5 is taken out without the aid of external power source, the linkage effect is good, and the reliability is good.

[0091] Specifically, as shown in Figures 12 to 14 The counterweight 1224 includes an extension rod 12241 and a counterweight body 12242, the extension direction of the extension rod 12241 is substantially parallel to the extension direction of the push rod 1223, one end of the extension rod 12241 is connected with the rotating seat 1222, and the other end of the extension rod 12241 is connected with the counterweight body 12242. When the limiting piece 122 is in the closed position, the extension rod 12241 is arranged substantially horizontally, at this time, the counterweight body 12242 has a downward swinging trend. When the workpiece 5 releases the limiting position of the push rod 1223 (that is, when the workpiece 5 is lifted upward), the counterweight body 12242 swings downward under the action of gravity, so that the rotating seat 1222 can drive the push rod 1223 to swing upward, and when the counterweight body 12242 swings downward to the lowest point, the limiting piece 122 resets to the open position.

[0092] In order to improve the reset speed and the reset fluency of the limiting piece 122, the counterweight 1224 can be provided with a plurality of counterweights, and the counterweights are arranged along the length direction of the rotating seat 1222. In the example of the present application, the counterweight 1224 is two, and the two counterweights 1224 are arranged adjacent to the two blocking rods 1221 respectively.

[0093] In other examples, a torsional spring or other elastic member can be provided between the limiting member 122 and the rotating seat 1222. When the workpiece 5 is released from the limiting member 122, the elastic force of the elastic member can drive the limiting member 122 to rotate from the closed position to the open position, so as to complete the resetting action of the limiting member 122.

[0094] Optionally, as shown in Figure 8 the limiting device 12 further comprises a constraint rod 123 extending along the first direction and arranged on the lower side of the rotating seat 1222. When the counterweight body 12242 swings downward to the lowest point, the extension rod 12241 can abut against the constraint rod 123, so as to limit the continuous swinging of the counterweight body 12242, thereby preventing the problem of the counterweight body 12242 continuously swinging and hitting the workpiece 5.

[0095] Optionally, as shown in Figures 12 to 14 the limiting member 122 further comprises a roller 1225 installed on the end of the push rod 1223 away from the rotating seat 1222, and the rotation axis of the roller 1225 is parallel to the first direction. When the workpiece 5 presses down the push rod 1223 or the workpiece 5 is lifted up, the workpiece 5 can contact the roller 1225 at the end of the push rod 1223. Since the roller 1225 can rotate freely, the risk of the workpiece 5 being scratched by the push rod 1223 can be reduced, and the problem of the workpiece 5 being jammed with the push rod 1223 when the workpiece 5 is lowered or lifted can be avoided.

[0096] Further, as shown in Figure 14 the limiting member 122 further comprises an elastic buffer sleeve 1226 sleeved on the end of the stop rod 1221 away from the rotating seat 1222. It can be understood that when the stop rod 1221 is in the closed position, the buffer sleeve 1226 can abut between the workpiece 5 and the stop rod 1221, thereby avoiding the problem of abnormal noise caused by the direct hard contact between the stop rod 1221 and the workpiece 5 and the problem of the workpiece 5 being scratched by the stop rod 1221.

[0097] In some embodiments, as shown in Figures 10 to 13 in the open position, the end of the stop rod 1221 (i.e., the end of the stop rod 1221 away from the rotating seat 1222) and the push rod 1223 both extend in the vertically upward direction. Thus, when the workpiece 5 is taken out along the front-rear direction of the material frame 11, the stop rod 1221 and the push rod 1223 will not interfere with the workpiece 5. In the closed position, the end of the stop rod 1221 and the push rod 1223 both extend horizontally towards the workpiece 5, i.e., the end of the stop rod 1221 and the push rod 1223 both extend horizontally towards the storage area 111. At this time, the push rod 1223 is located on the lower side of the fixing area of the workpiece 5 (the transition position of the wheel cover and the longitudinal beam of the workpiece 5), and the stop rod 1221 is located on the upper side of the fixing area of the workpiece 5.

[0098] AsFigure 13 As shown in the figure, the limiting member 122 further comprises a standby position, in which the end of the blocking rod 1221 and the end of the pushing rod 1223 are both inclined to extend upward in the direction towards the workpiece 5, and the end of the pushing rod 1223 is closer to the workpiece 5 than the end of the blocking rod 1221, so that the pushing rod 1223 can be pressed down when the workpiece 5 is put in. It can be understood that in the standby position, the workpiece 5 will not interfere with the limiting member 122 during the taking or putting process (during the movement of the workpiece 5 in the front-back direction of the material frame 11). Since the end of the pushing rod 1223 is closer to the workpiece 5 than the end of the blocking rod 1221, when the workpiece 5 is lowered, the fixed area of the workpiece 5 can be in contact with the end of the pushing rod 1223 to drive the pushing rod 1223 to swing downward.

[0099] Therefore, the storage equipment 1 of the embodiment of the present application can facilitate the workpiece 5 to drive the limiting member 122 to link, and the limiting member 122 will not interfere with the taking and putting of the workpiece 5, which is beneficial to improve the reliability of the taking and putting of the storage equipment 1.

[0100] Optionally, as shown in the figure, Figure 13 The limiting member 122 comprises a first limiting member 1201 and a second limiting member 1202, the first limiting member 1201 and the second limiting member 1202 are arranged on the connecting frame 121 in the first direction (i.e. the front-back direction of the material frame 11), the second limiting member 1202 is closer to the inlet and outlet 112 than the first limiting member 1201, the first limiting member 1201 is provided with a linkage rod 1227, the second limiting member 1202 is provided with a matching rod 1228, the linkage rod 1227 cooperates with the matching rod 1228, and when the first limiting member 1201 rotates to the closed position, the linkage rod 1227 can drive the matching rod 1228 to link, so that the second limiting member 1202 rotates from the open position to the standby position.

[0101] It can be understood that, as shown in the figure, Figure 13 The first limiting member 1201 and the second limiting member 1202 are two adjacent limiting members 122, when the current limiting member 122 (the first limiting member 1201) rotates from the open position to the closed position (or from the standby position to the closed position) under the pressing action of the workpiece 5, the next limiting member 122 (the second limiting member 1202) can rotate from the open position to the standby position under the linkage action of the first limiting member 1201, so as to stop and limit the next workpiece 5 (the second workpiece 5) when it is put in. The storage equipment 1 of the embodiment of the present application can drive multiple limiting members 122 to link in turn without external power source, which can improve the reliability of the action of the limiting device 12.

[0102] It should be noted that, as shown in the figure, Figure 12and Figure 13 As shown, the multiple limiting members 122 may also include a third limiting member 1203, a fourth limiting member 1204, and a fifth limiting member 1205, etc. The present invention does not limit the number of limiting members 122. The first limiting member 1201, the second limiting member 1202, the third limiting member 1203, the fourth limiting member 1204, and the fifth limiting member 1205 are arranged sequentially from back to front, and a linkage structure of a linkage rod 1227 and a cooperating rod 1228 is provided between each pair of adjacent limiting members 122.

[0103] Specifically, when the second limiting member 1202 rotates from the open position to the ready position, the third limiting member 1203 does not need to move, that is, the third limiting member 1203 remains in the open position, thereby avoiding interference of the third limiting member 1203 with the picking and unloading of the workpiece 5.

[0104] For example, such as Figure 12 and Figure 13 As shown, when the second limiting member 1202 rotates from the open position to the ready position, the linkage rod 1227 on the second limiting member 1202 can gradually approach the mating rod 1228 on the third limiting member 1203. Since the linkage rod 1227 and the mating rod 1228 are not in contact, the third limiting member 1203 can remain stationary. When the second limiting member 1202 moves to the ready position, the linkage rod 1227 on the second limiting member 1202 and the mating rod 1228 on the third limiting member 1203 can just come into contact. When the second limiting member 1202 moves from the ready position to the closed position, the linkage rod 1227 on the second limiting member 1202 can drive the mating rod 1228 on the third limiting member 1203 to rotate synchronously, so that the third limiting member 1203 moves to the ready position. This process is repeated until the storage area 111 in the material frame 11 is filled.

[0105] like Figure 13 As shown, the mating rod 1228 is provided with a groove. When the linkage rod 1227 contacts the mating rod 1228, the linkage rod 1227 can fit into the groove on the mating rod 1228 to improve the stability of the movement of the two adjacent limiting members 122.

[0106] Optionally, such as Figure 9 As shown, the storage device 1 also includes a support frame 13, which is installed on the bottom wall of the material frame 11. The support frame 13 is provided with a contour groove 131 for supporting and fixing the workpiece 5. For example, each storage area 111 is provided with two support frames 13, which are arranged at intervals along the second direction at the bottom of the material frame 11, so that the bottom of the workpiece 5 can be supported by the two support frames 13 at the same time, thereby improving the stability of the workpiece 5.

[0107] Optionally, the frame fixing mechanism 124 comprises a limiting column 1241 and a guide baffle 1242, the limiting column 1241 and the guide baffle 1242 are arranged on opposite sides of the storage area respectively, the limiting column 1241 is arranged on the side of the storage area adjacent to the grabbing robot 3, and the guide baffle 1242 is arranged on the side of the storage area away from the grabbing robot 3, that is, the forklift side of the storage area. During the process of placing the frame 11 by the forklift, when the frame 11 touches the limiting column 1241, the operator is reminded that the forklift has moved to the target position, and then the operator lowers the forklift arm to make the frame 11 descend, under the guidance of the guide baffle, the frame 11 can be placed stably in the storage area.

[0108] Specifically, as shown in Figure 6 the frame fixing mechanism 124 further comprises a fifth sensor 1243 and a sixth sensor 1244, the fifth sensor 1243 is arranged near the storage area, and the fifth sensor 1243 is used to detect whether the frame 11 is installed in place, and the sixth sensor 1244 is used to detect whether the workpiece 5 in the frame 11 is in place, so as to ensure the placement accuracy of the frame 11.

[0109] For example, as shown in Figure 6 the frame fixing mechanism 124 further comprises a safety grating 1245 and a collision prevention column 1246, the safety grating 1245 and the collision prevention column 1246 are arranged on the forklift side of the storage area (that is, the side of the forklift for taking and placing the frame 11), so as to improve the safety of the frame fixing mechanism 124 when taking and placing the frame 11. The forklift is equipped with a Bluetooth-controlled button box, and the operator can reset the safety grating 1245 by using the button box, so that the operator can confirm the feeding and reset the grating without getting off the forklift, which is beneficial to improve the production efficiency.

[0110] As shown in Figure 6 in order to prevent the problem of the forklift bumping the frame 11, the forklift side of the frame 11 is arranged with two left and right collision prevention columns 1246, and a limiting baffle 1247 is arranged between the two collision prevention columns 1246, the limiting baffle 1247 is installed on the ground, and the limiting baffle 1247 can prevent the wheels of the forklift from continuing to move towards the direction of the frame 11, which is beneficial to improve the safety of the frame 11 when taking and placing.

[0111] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0112] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0113] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication or interaction relationship of two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0114] In the utility model, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0115] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0116] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and the changes, modifications, replacements and modifications of the above embodiments made by the person skilled in the art are within the protection scope of the present application.

Claims

1. A material loading station, characterized in that, include: A storage device for storing workpieces; The testing equipment includes a testing station and a measuring device, wherein the measuring device is installed at the testing station for testing the dimensions of the workpiece; A material handling robot, which can move workpieces from the storage equipment to the inspection station; The hoisting equipment is manually operable to move the workpiece on the storage equipment to the inspection station; The loading robot can move the qualified workpieces at the inspection station to the next process.

2. The material loading station according to claim 1, characterized in that, The storage equipment includes a first storage device and a second storage device. Both the first storage device and the second storage device can store the workpiece. The first storage device is arranged adjacent to the material handling robot, and the second storage device is arranged adjacent to the hoisting equipment.

3. The material loading station according to claim 2, characterized in that, The inspection station includes a first station and a second station. There are two measuring devices installed on the first station and the second station respectively. The material handling robot can move the workpiece on the first storage device to the first station, and the hoisting equipment can move the workpiece on the second storage device to the second station.

4. The material loading station according to claim 3, characterized in that, The loading robot is arranged adjacent to the first workstation and the second workstation. The loading robot can move the qualified workpieces at the first workstation and the second workstation to the next process, and move the unqualified workpieces at the first workstation to the second workstation.

5. The material loading station according to claim 1, characterized in that, The measuring device includes a first sensor, which is arranged on the detection station to detect whether the workpiece is installed in place; And / or, the measuring device includes a plurality of second sensors, which are arranged at intervals on the detection station to detect the dimensions of the workpiece at different locations.

6. The material loading station according to claim 1, characterized in that, The inspection station also includes a fixed platform and a support block. The support block is installed on the fixed platform, and the upper end of the support block is provided with a support surface for supporting the workpiece. And / or, the testing station further includes a fixed platform and a limiting bracket, the limiting bracket being installed on the edge of the fixed platform and extending in a vertically upward direction.

7. The material loading station according to claim 1, characterized in that, The inspection station also includes a fixed platform and a positioning component. The positioning component includes a positioning seat, a positioning column, and an elastic element. The positioning seat is installed on the fixed platform. The positioning seat has a compression cavity. The elastic element is installed in the compression cavity. The lower end of the positioning column slides into the compression cavity and abuts against the elastic element. The elastic element can press the positioning column in a bottom-up direction. The upper end of the positioning column has a conical portion for guiding the blank hole of the workpiece.

8. The material loading station according to claim 7, characterized in that, The positioning component includes an adjustment knob that extends into the compression chamber and abuts against the elastic element. The adjustment knob is movable along the vertical direction of the positioning seat to adjust the compression amount of the elastic element. And / or, the positioning assembly includes a bushing installed within the compression chamber, and the positioning post slidably passes through the bushing.

9. The material loading station according to claim 1, characterized in that, The material handling robot includes a robotic arm, a material handling fixture, and a vision camera. The material handling fixture is mounted on the robotic arm, and the vision camera is mounted on the material handling fixture. The vision camera is used to take pictures and locate the workpiece when the material handling fixture picks up the workpiece.

10. The material loading station according to claim 9, characterized in that, The material gripping fixture includes a base, grippers, and positioning components. The base is mounted on the robotic arm, and both the grippers and the positioning components are mounted on the base. The grippers can clamp and release the workpiece, and the positioning components can be matched with the structure on the workpiece. And / or, the material handling robot further includes a third sensor, which is used to detect the distance between the material handling fixture and the workpiece, so that the vision camera can take pictures and position the workpiece at a preset location; And / or, the material handling robot further includes a fourth sensor, which is used to detect whether the material handling fixture has clamped the workpiece in place.

11. The material loading station according to any one of claims 1-10, characterized in that, The material storage device includes a material frame and a material frame fixing mechanism. The material frame fixing mechanism forms a material storage area. The material frame is used to store workpieces and is movably arranged within the material storage area.

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