Robot feeding equipment for material trays and material frames

Abstract

The utility model discloses a tray and frame robot feeding device which comprises a six-axis robot, a visual photographing mechanism, a first roller conveying line, a second roller conveying line, a third roller conveying line, a fourth roller conveying line and a fifth roller conveying line. The second roller conveying line, the third roller conveying line and the fourth roller conveying line are each provided with a material frame transplanting mechanism, the first roller conveying line conveys material frames to the second roller conveying line, and the material frame transplanting mechanisms on the second roller conveying line transplant the material frames to the third roller conveying line. According to the automatic feeding device, intelligentization can be achieved in the feeding link, statistics can be carried out on feeding of the material disc in batches, and the fool-proof function is achieved for the follow-up working procedures. Compared with previous manual feeding, automatic operation of the automatic feeding device is more standard and unified, information of each material tray can be visually traced through data obtained through photographing of the visual photographing mechanism, and meanwhile the feeding accuracy is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to tray packaging industry especially relates to a tray material frame robot feeding equipment. BACKGROUND

[0002] As the first process of the packaging production line, the feeding needs to collect information and upload to the system in real time for the host computer to analyze and judge the subsequent processes and monitor the tray state, and check the production instructions from the MES system. For the subsequent process control logic, this step has low fault tolerance.

[0003] Therefore, the tray material frame robot feeding equipment can identify the information of the feeding tray, realize intelligentization, and statistically count the feeding of the tray, which has a foolproof effect on the subsequent processes. SUMMARY

[0004] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the utility model is to provide a tray material frame robot feeding equipment.

[0005] The utility model discloses a tray material frame robot feeding equipment, including six axis robot, visual photographing mechanism, first roller conveyor line, second roller conveyor line, third roller conveyor line, fourth roller conveyor line and fifth roller conveyor line, be equipped with material frame transplanting mechanism on second roller conveyor line, third roller conveyor line and fourth roller conveyor line, first roller conveyor line transports material frame to second roller conveyor line, and the material frame transplanting mechanism on second roller conveyor line transplants material frame to third roller conveyor line, still be equipped with left clamping mechanism and right clamping mechanism on third roller conveyor line, left clamping mechanism and right clamping mechanism clamping material frame, visual photographing mechanism identifies to each tray tray photographing, and six axis robot is through the form of vacuum chuck adsorption and catches tray feeding.

[0006] As an improvement of the tray material frame robot feeding equipment, the visual photographing mechanism includes a bracket, an X-axis servo drive is provided on the bracket, the X-axis servo drive controls the movement of a Y-axis servo drive, the Y-axis servo drive controls the movement of a Z-axis servo drive, the Z-axis servo drive controls the movement of a lifting plate, a camera bracket is provided on the lifting plate, a camera height adjusting screw is provided on the camera bracket, the camera height adjusting screw can adjust the height position of the camera seat, a camera is provided on the camera seat, and the camera seat is connected to the camera bracket through a sliding block and a sliding rail.

[0007] As an improvement of the tray material frame robot feeding equipment of the utility model, the vacuum chuck is installed on the chuck support, the chuck support is installed on the connecting rod, the upper end of the connecting rod is provided with an electric slip ring, the electric slip ring is installed on the six-axis robot, the electric slip ring can rotate compensation according to the tray offset angle feedback of the visual photographing mechanism, and it is ensured that each tray can be uniformly and standardly placed on the equipment transportation table.

[0008] As an improvement of the tray material frame robot feeding equipment of the utility model, the left clamping mechanism comprises a front positioning cylinder mounting support and a side positioning cylinder mounting support, a front positioning cylinder is arranged on the front positioning cylinder mounting support, a front positioning plate is arranged on the piston rod end of the front positioning cylinder, a side positioning cylinder is arranged on the side positioning cylinder mounting support, and a side positioning plate is arranged on the piston rod end of the side positioning cylinder.

[0009] The right clamping mechanism comprises a rear positioning cylinder mounting support, a rear positioning cylinder is arranged on the rear positioning cylinder mounting support, and a rear positioning plate is arranged on the piston rod end of the rear positioning cylinder.

[0010] As an improvement of the tray material frame robot feeding equipment of the utility model, the right side and the rear side of the third roller conveying line are provided with positioning reference plates.

[0011] As an improvement of the tray material frame robot feeding equipment of the utility model, the tray frame transplanting mechanism comprises a lifting plate and a bottom plate, a plurality of belt pulley mounting plates are arranged on the lifting plate at intervals, a plurality of belt pulleys are arranged on each belt pulley mounting plate at intervals, a plurality of the belt pulleys are connected through a conveying belt, the conveying belt is driven by a main transmission stick, the main transmission stick is rotatably controlled by a servo drive, the lifting plate is slidably connected to the bottom plate through a plurality of guide rods, a jacking cylinder is arranged on the bottom plate, and the piston rod end of the jacking cylinder is connected to the lifting plate.

[0012] As an improvement of the tray material frame robot feeding equipment of the utility model, the second roller conveying line is located at the discharging end of the first roller conveying line, the third roller conveying line is located at the discharging end of the second roller conveying line, the fourth roller conveying line is located at the discharging end of the third roller conveying line, and the fifth roller conveying line is located at the discharging end of the fourth roller conveying line.

[0013] The utility model discloses have the beneficial effect that the utility model can realize intelligentization in the feeding link, and the feeding of tray can be batched and counted, and the following process has the foolproof function. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a perspective view of the utility model;

[0015] Figure 2 is a perspective view of the visual photographing mechanism of the utility model;

[0016] Figure 3 is a schematic view of the third roller conveying line structure of the utility model;

[0017] Figure 4 is a schematic view of the material frame transplanting mechanism structure of the utility model;

[0018] Figure 5 is a schematic view of the vacuum chuck mounting structure of the utility model;

[0019] The reference signs are: 1, six-axis robot, 2, visual photographing mechanism, 3, first roller conveying line, 4, second roller conveying line, 5, third roller conveying line, 6, fourth roller conveying line, 7, fifth roller conveying line, 8, material frame transplanting mechanism, 9, left clamping mechanism, 10, right clamping mechanism, 11, vacuum chuck, 12, chuck support, 13, connecting rod, 14, electric slip ring, 15, positioning reference plate, 21, support, 22, X-axis servo drive, 23, Y-axis servo drive, 24, Z-axis servo drive, 25, lifting plate, 26, camera support, 27, camera height adjusting screw, 28, camera seat, 29, camera, 81, lifting plate, 82, bottom plate, 83, pulley mounting plate, 84, pulley, 85, conveying belt, 86, main transmission stick, 87, guide rod, 91, front positioning cylinder mounting support, 92, side positioning cylinder mounting support, 93, front positioning cylinder, 94, front positioning plate, 95, side positioning cylinder, 96, side positioning plate, 101, rear positioning cylinder mounting support, 102, rear positioning cylinder, 103, rear positioning plate. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described in connection with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0021] It should be noted that all directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the utility model are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0022] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor in the protection scope required by the present application.

[0023] As shown in Figures 1-5 A tray material frame robot feeding equipment, including six-axis robot 1, visual shooting mechanism 2, first roller conveying line 3, second roller conveying line 4, third roller conveying line 5, fourth roller conveying line 6 and fifth roller conveying line 7, second roller conveying line 4, third roller conveying line 5 and fourth roller conveying line 6 are provided with material frame transplanting mechanism 8, first roller conveying line 3 conveys material frame to second roller conveying line 4, material frame transplanting mechanism 8 on second roller conveying line 4 transplants material frame to third roller conveying line 5, third roller conveying line 5 is also provided with left clamping mechanism 9 and right clamping mechanism 10, left clamping mechanism 9 and right clamping mechanism 10 clamp material frame, visual shooting mechanism 2 takes a photograph and identifies each tray tray, six-axis robot 1 is in the form of vacuum chuck 11 adsorption and catches the tray on the material frame. Visual shooting mechanism 2 mainly collects the two-dimensional code data on the tray and the angle of the tray in the material frame.

[0024] Preferably, visual shooting mechanism 2 includes support 21, support 21 is provided with X-axis servo drive 22, X-axis servo drive 22 controls Y-axis servo drive 23 to move, Y-axis servo drive 23 controls Z-axis servo drive 24 to move, Z-axis servo drive 24 controls a lifting plate 25 to move, lifting plate 25 is provided with camera support 26, camera support 26 is provided with camera height adjusting screw 27, camera height adjusting screw 27 can adjust the height position of camera seat 28, camera seat 28 is provided with camera 29, camera seat 28 is connected on camera support 26 through sliding block and sliding rail.

[0025] Preferably, vacuum chuck 11 is installed on chuck support 12, chuck support 12 is installed on connecting rod 13, upper end of connecting rod 13 is provided with electric slip ring 14, electric slip ring 14 is installed on six-axis robot 1, electric slip ring 14 can rotate compensation according to the tray offset angle feedback by visual shooting mechanism 2, to ensure that each tray can be uniformly and standardly placed on the equipment transport table.

[0026] Preferably, the left clamping mechanism 9 comprises a front positioning cylinder mounting bracket 91, a front positioning cylinder 93 is arranged on the front positioning cylinder mounting bracket 91, a front positioning plate 94 is arranged on the piston rod end of the front positioning cylinder 93, and a side positioning cylinder mounting bracket 92 is arranged on the side positioning cylinder mounting bracket 92, a side positioning cylinder 95 is arranged on the side positioning cylinder mounting bracket 92, and a side positioning plate 96 is arranged on the piston rod end of the side positioning cylinder 95.

[0027] The right clamping mechanism 10 comprises a rear positioning cylinder mounting bracket 101, a rear positioning cylinder 102 is arranged on the rear positioning cylinder mounting bracket 101, and a rear positioning plate 103 is arranged on the piston rod end of the rear positioning cylinder 102.

[0028] Preferably, the right side and the rear side of the third roller conveying line 5 are both provided with a positioning reference plate 15.

[0029] Preferably, the material frame transplanting mechanism 8 comprises a lifting plate 81 and a bottom plate 82, a plurality of belt pulley mounting plates 83 are arranged on the lifting plate 81 at intervals, a plurality of belt pulleys 84 are arranged on each belt pulley mounting plate 83 at intervals, the plurality of belt pulleys 84 are connected in transmission through a conveying belt 85, the conveying belt 85 is driven by a main transmission rod 86, the main transmission rod 86 is rotatable under the control of a servo drive, the lifting plate 81 is connected to the bottom plate 82 in sliding mode through a plurality of guide rods 87, a lifting cylinder is arranged on the bottom plate 82, and the piston rod end of the lifting cylinder is connected to the lifting plate 81.

[0030] Preferably, the second roller conveying line 4 is located at the discharging end of the first roller conveying line 3, the third roller conveying line 5 is located at the discharging end of the second roller conveying line 4, the fourth roller conveying line 6 is located at the discharging end of the third roller conveying line 5, and the fifth roller conveying line 7 is located at the discharging end of the fourth roller conveying line 6.

[0031] The material frame is conveyed to a visual shooting position in a roller conveying mode, the left clamping mechanism 9 and the right clamping mechanism 10 clamp the material frame, the camera of the visual shooting mechanism 2 is controlled to move to the position directly above the material frame, shooting and identification are performed, the vision mainly collects two-dimensional code data on the material tray and an angle of deviation of the material tray in the material frame, after the visual shooting is completed, the six-axis robot 1 grasps the material tray in a suction mode through the vacuum suction cup 11, a power slip ring is arranged at the grasping end, in the process of moving the material tray, rotation compensation is performed according to the deviation angle of the material tray fed back by the vision, and it is ensured that each material tray can be uniformly and regularly placed on the equipment transportation table.

[0032] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and structures of the utility model, and the scope of the utility model is defined by the appended claims and their equivalent ranges.

Claims

1. A tray magazine robot loading apparatus, characterized by, Six-axis robot, visual photographing mechanism, first roller conveying line, second roller conveying line, third roller conveying line, fourth roller conveying line and fifth roller conveying line are included, the second roller conveying line, third roller conveying line and fourth roller conveying line are all provided with material frame transplanting mechanism, the first roller conveying line conveys material frame to the second roller conveying line, the material frame transplanting mechanism on the second roller conveying line transplants material frame to the third roller conveying line, the third roller conveying line is also provided with left clamping mechanism and right clamping mechanism, the left clamping mechanism and right clamping mechanism clamp material frame, the visual photographing mechanism photographs and identifies each tray of material tray, the six-axis robot grasps material tray in the form of vacuum chuck adsorption.

2. The tray magazine robot loading apparatus of claim 1, wherein, The visual photographing mechanism includes a support, the support is provided with an X-axis servo drive, the X-axis servo drive controls the movement of a Y-axis servo drive, the Y-axis servo drive controls the movement of a Z-axis servo drive, the Z-axis servo drive controls the movement of a lifting plate, the lifting plate is provided with a camera support, the camera support is provided with a camera height adjusting screw, the camera height adjusting screw can adjust the height position of the camera seat, the camera seat is provided with a camera, and the camera seat is connected to the camera support through a sliding block and a sliding rail.

3. The tray magazine robot loading apparatus of claim 1, wherein, The vacuum chuck is installed on a suction cup support, the suction cup support is installed on a connecting rod, the upper end of the connecting rod is provided with an electric slip ring, the electric slip ring is installed on the six-axis robot, and the electric slip ring can perform rotary compensation according to the tray offset angle fed back by the visual photographing mechanism.

4. The tray magazine robot loading apparatus of claim 1, wherein, The left clamping mechanism includes a front positioning cylinder mounting support and a side positioning cylinder mounting support, the front positioning cylinder mounting support is provided with a front positioning cylinder, the piston rod end of the front positioning cylinder is provided with a front positioning plate, the side positioning cylinder mounting support is provided with a side positioning cylinder, and the piston rod end of the side positioning cylinder is provided with a side positioning plate. The right clamping mechanism includes a rear positioning cylinder mounting support, the rear positioning cylinder mounting support is provided with a rear positioning cylinder, and the piston rod end of the rear positioning cylinder is provided with a rear positioning plate.

5. The tray magazine robot loading apparatus of claim 1, wherein, The right side and the rear side of the third roller conveying line are both provided with a positioning reference plate.

6. The tray magazine robot loading apparatus of claim 1, wherein, The material frame transplanting mechanism includes a lifting plate and a bottom plate, a plurality of pulley mounting plates are arranged at intervals on the lifting plate, a plurality of pulleys are arranged at intervals on each pulley mounting plate, a plurality of pulleys are connected by a conveying belt, the conveying belt is driven by a main transmission rod, the main transmission rod is controlled to rotate by a servo drive, the lifting plate is connected to the bottom plate by a plurality of guide rods, the bottom plate is provided with a jacking cylinder, and the piston rod end of the jacking cylinder is connected to the lifting plate.

7. The tray magazine robot loading apparatus of claim 1, wherein, The second roller conveying line is located at the discharge end of the first roller conveying line, the third roller conveying line is located at the discharge end of the second roller conveying line, the fourth roller conveying line is located at the discharge end of the third roller conveying line, and the fifth roller conveying line is located at the discharge end of the fourth roller conveying line.

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