Feeding and discharging device and feeding and discharging system

Abstract

The utility model discloses a feeding and discharging device and a feeding and discharging system.The feeding and discharging device comprises a picking assembly, a mechanical arm, a robot vision system and a distance sensor, and the picking assembly is installed at the tail end of the mechanical arm; the robot vision system is installed on the mechanical arm and used for obtaining an image of the resistor disc and obtaining the first position of the resistor disc on the first plane according to the image of the resistor disc, the distance sensor is used for detecting the distance between the picking assembly and the resistor disc, and the mechanical arm drives the picking assembly to move according to the first position and the distance. And the resistor discs are accurately picked up. According to the feeding and discharging device, through cooperation of the mechanical arm, the picking assembly, the robot vision system and the distance sensor, automatic determination of the positions of the resistor discs and automatic taking and placing of the resistor discs are achieved, manual taking and placing of the resistor discs are replaced, the working time of workers in the high-voltage and noise environment of resistor disc production and machining is shortened, and the working efficiency is improved. And the harm of high-voltage and noise environments to workers is reduced.

Description

Technical Field

[0001] This application relates to the field of transformer technology, and in particular to a loading and unloading device and system. Background Technology

[0002] In related technologies, the loading and unloading of materials in the production process of resistor sheet manufacturing, electrical performance testing process, and assembly process of surge arrester are generally done manually. Workers need to be in the high-voltage and noisy environment of resistor sheet production and processing for a long time, which will have some adverse effects on the health of the workers.

[0003] Therefore, how to shorten the working time of workers in the high-voltage and noisy environment of resistor production and processing has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] This application proposes a loading and unloading device to reduce the working time of workers in the high-voltage and noisy environment of resistor sheet production and processing. This solution also discloses a loading and unloading system.

[0005] To achieve the above objectives, this application provides a loading and unloading device, comprising:

[0006] Pick-up component, used to pick up resistor pieces;

[0007] A robotic arm is fixedly installed on the ground, and the picking component is installed at the end of the robotic arm to drive the picking component to move;

[0008] A robot vision system, mounted on the robotic arm, is used to acquire images of the resistor and determine the first position of the resistor on a first plane based on the images.

[0009] A distance sensor, mounted on the robotic arm, is used to detect the distance between the pickup component and the resistive element.

[0010] The robotic arm drives the pickup component to pick up the resistor sheet based on the first position and the distance.

[0011] Preferably, in the above-mentioned loading and unloading device, the robot vision system includes an image sensor and a supplementary light. The image sensor is used to acquire images of the resistor sheet, and the supplementary light is used to provide illumination. The supplementary light is located below the image sensor.

[0012] Preferably, in the above-mentioned loading and unloading device, the picking component includes;

[0013] The first telescopic cylinder, the telescopic rod of the first telescopic cylinder is connected to the robotic arm;

[0014] The first mounting plate is connected to the cylinder body of the first telescopic cylinder;

[0015] A second mounting plate is parallel to the first mounting plate and connected to the cylinder body. At least one set of suction cup assemblies is mounted on the second mounting plate. The suction cup assembly includes at least two second telescopic cylinders and at least two small suction cups. The second telescopic cylinders correspond one-to-one with the lower suction cups. The cylinder body of the second telescopic cylinder is connected to the second mounting plate, and the telescopic rod of the second telescopic cylinder is connected to the small suction cups.

[0016] Preferably, in the above-mentioned loading and unloading device, the robotic arm is a six-axis robotic arm.

[0017] A loading and unloading system includes a loading platform, an unloading platform, a waste disposal platform, and a worktable.

[0018] The loading platform is used to store resistor sheets to be processed;

[0019] The unloading platform is used to store the processed resistor sheets;

[0020] The waste storage platform is used to store discarded resistor pieces;

[0021] The loading platform and the unloading platform are positioned opposite each other, and the waste disposal platform is located between the loading platform and the unloading platform. The loading platform, the unloading platform, and the waste disposal platform are arranged in a U-shaped structure. The workbench is adjacent to the waste disposal platform.

[0022] It also includes a loading and unloading device, which is the loading and unloading device described in any of the above schemes, and is located inside the U-shaped structure.

[0023] Preferably, in the above-mentioned loading and unloading system, the worktable is a circular turntable used for the production, electrical testing, or assembly processes of resistor sheets, or the worktable is a transmission device used for the production, electrical testing, or assembly processes of resistor sheets.

[0024] Preferably, the above-described loading and unloading system further includes a loading guide assembly that cooperates with the carrier plate of the circular turntable, including a guide plate and a clamping block.

[0025] One side of the guide plate is in contact with the carrier plate, and the other side of the guide plate is provided with the clamping block. The clamping block is used to cooperate with the loading and unloading device to enable the loading and unloading device to pick up the guide plate.

[0026] The guide plate has a guide hole, which is a conical hole. The larger end of the conical hole is the feed inlet, and the smaller end is the discharge outlet. The resistor element enters the guide hole through the feed inlet. The discharge outlet corresponds to the material hole of the carrier plate. The guide hole is used to prevent the resistor element from tilting during the process of entering the material hole.

[0027] Preferably, in the above-mentioned loading and unloading system, the guide plate is positioned and connected to the carrier plate through a positioning component. The positioning component includes a positioning protrusion and a positioning groove. The number of positioning protrusions and positioning grooves is at least two. The positioning protrusion is disposed on the side of the guide plate that is in contact with the carrier plate, and the positioning groove is formed on the carrier plate.

[0028] Preferably, in the above-mentioned loading and unloading system, the positioning protrusion is provided with a screw, the guide plate has a through hole that cooperates with the screw, and the screw passes through the through hole and is locked onto the guide plate by a nut.

[0029] Preferably, in the above-described loading and unloading system, the material holes of the carrier tray are provided with buffer strips on their walls; and / or,

[0030] The picking component of the loading and unloading device also includes a large suction cup for picking up the clamping block.

[0031] The loading and unloading device provided in this application includes a picking component, a robotic arm, a robot vision system, and a distance sensor. The picking component is mounted at the end of the robotic arm. The robot vision system is mounted on the robotic arm and is used to acquire images of the resistor sheet and determine the first position of the resistor sheet on a first plane based on the images. The distance sensor is mounted on the robotic arm and is used to detect the distance between the picking component and the resistor sheet. Based on the first position and distance, the robotic arm drives the picking component to move, accurately picking up the resistor sheet. The loading and unloading device disclosed in this solution, through the cooperation of the robotic arm, picking component, robot vision system, and distance sensor, achieves automatic determination of the resistor sheet position and automatic picking and placing of the resistor sheet, replacing manual handling of resistor sheets. This reduces the working time of workers in the high-voltage and noisy environment of resistor sheet production and processing, and reduces the physical damage caused by the high-voltage and noisy environment to workers.

[0032] This solution also discloses a loading and unloading system, including a loading platform, an unloading platform, a waste platform, a workbench, and a loading and unloading device. The loading and unloading device is the loading and unloading device described in any of the above solutions. Since the loading and unloading device has the above-mentioned technical effects, the loading and unloading system with the loading and unloading device also has the same technical effects, which will not be described in detail here. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort, and this application can be applied to other similar scenarios based on the provided drawings. Unless obvious from the linguistic context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0034] Figure 1 This is a schematic diagram of the loading and unloading system of this application;

[0035] Figure 2 This is a top view of the loading and unloading system of this application;

[0036] Figure 3 This is a schematic diagram of the loading and unloading device of this application;

[0037] Figure 4 This is a structural schematic diagram of the loading and unloading device (without a robotic arm) of this application;

[0038] Figure 5 This is a schematic diagram of the workbench of the loading and unloading system of this application;

[0039] Figure 6 This is a schematic diagram of the structure of the unloading guide component and the carrier tray of the loading and unloading system of this application;

[0040] Figure 7 This is a schematic diagram of the structure of the loading and unloading system tray of this application;

[0041] Figure 8 This is a schematic diagram of the structure of the guide plate of the unloading guide component of the loading and unloading system of this application;

[0042] Figure 9 This is a schematic diagram of the guide plate of the unloading guide component of the loading and unloading system of this application.

[0043] The attached diagram is described below:

[0044] 1-Pickup component; 11-First telescopic cylinder; 12-First mounting plate; 13-Second mounting plate; 14-Second telescopic cylinder; 15-Small suction cup; 2-Robotic arm; 3-Robot vision system; 31-Image sensor; 32-Supplemental light; 4-Distance sensor; 5-Loading platform; 6-Unloading platform; 7-Scrap platform; 8-Workbench; 9-Unloading guide component; 91-Guide plate; 911-Guide hole; 912-Positioning protrusion; 92-Clamping block; 10-Carrier plate; 101-Positioning groove; 102-Buffer strip. Detailed Implementation

[0045] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. The described embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0046] It should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in these embodiments can be arbitrarily combined, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features.

[0047] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0048] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0049] Please see Figures 1-9 .

[0050] Some embodiments of this application disclose a loading and unloading device, including a picking component 1, a robotic arm 2, a robot vision system 3, and a distance sensor 4, wherein,

[0051] The robotic arm 2 is fixedly installed on the ground. Optionally, the robotic arm 2 is fixed to the ground by a base to ensure that the position of the robotic arm 2 is fixed. The base is used to support the weight of the robotic arm 2 and the inertia of the robotic arm 2 during the movement, thereby improving the stability of the robotic arm 2 during operation.

[0052] The robotic arm 2 is equipped with a pickup component 1 at its end. The robotic arm 2 can drive the pickup component 1 to move in the up, down, left, right, forward and backward directions to pick up the resistor sheet.

[0053] The robot vision system 3 is mounted on the robotic arm 2. The robot vision system 3 is used to acquire images of the resistor sheet and to obtain the first position of the resistor sheet on the first plane based on the images of the resistor sheet.

[0054] Distance sensor 4 is mounted on robotic arm 2 to detect the distance between pickup component 1 and resistive sheet, which is the distance between pickup component 1 and resistive sheet in a direction perpendicular to the first plane.

[0055] Based on the first position and distance, the robotic arm 2 drives the picking component 1 to move, accurately picking up the resistor sheet. It should be noted here that the first plane is the plane where the carrier plate 10 for holding the resistor sheet is located.

[0056] by Figure 1 Taking the angle shown as an example, the first plane is a horizontal plane, and the direction perpendicular to the first plane is the vertical direction. Through the robot vision system 3 and the distance sensor 4, the position of the resistor on the horizontal plane and the descent height of the picking component 1 driven by the robotic arm 2 are obtained, so as to realize the accurate picking of the resistor by the robotic arm 2.

[0057] The loading and unloading device disclosed in this solution, through the cooperation of robotic arm 2, picking component 1, robot vision system 3 and distance sensor 4, realizes the automatic determination of the position of resistor sheet and the automatic picking and placing of resistor sheet, replacing manual picking and placing of resistor sheet, reducing the working time of workers in the high voltage and noise environment of resistor sheet production and processing, and reducing the physical damage of high voltage and noise environment to workers.

[0058] Optionally, the robotic arm 2, the pickup component 1, the robot vision system 3, and the distance sensor 4 are communicatively connected to the controller. The robot vision system 3 acquires an image of the resistor and obtains the first position of the resistor on the first plane based on the image. The robot vision system 3 transmits the acquired first position to the controller, which controls the movement of the robotic arm 2, causing the robotic arm 2 to move the pickup component 1 to a position directly opposite the resistor. The distance sensor 4 is used to detect the distance between the pickup component 1 and the resistor and transmits it to the controller. The controller determines the distance that the robotic arm 2 will move the pickup component 1 in a direction perpendicular to the first plane based on the distance detected by the distance sensor 4, in order to pick up the resistor.

[0059] The robot vision system 3 and the distance sensor 4 can work simultaneously. Alternatively, the robot vision system 3 can first obtain the first position of the resistor, and the robotic arm 2 can control the picking component 1 to move to the position corresponding to the resistor. Then, the distance sensor 4 can measure the distance between the picking component 1 and the resistor.

[0060] The robot vision system 3 and distance sensor 4 can be installed at any convenient measurement location on the robotic arm 2, such as... Figure 3 As shown, the robot vision system 3 and the distance sensor 4 are installed at the end of the robotic arm 2, and the robot vision system 3 and the distance sensor 4 are installed on the robotic arm 2 through the pickup assembly 1.

[0061] The robot vision system 3 includes an image sensor 31 and a supplementary light 32. The image sensor 31 is used to acquire images of the resistive sheet, and the supplementary light 32 is used to provide illumination to assist the image sensor 31 in acquiring clear images.

[0062] like Figure 4 As shown, the fill light 32 is a ring light, which is located below the image sensor 31.

[0063] The image sensor 31 can be a CCD camera. A CCD camera is a semiconductor device that can convert optical images into digital signals. CCD cameras are characterized by their small size, light weight, and resistance to vibration and impact.

[0064] In some embodiments, the robotic arm 2 is a six-axis robotic arm, so that the robotic arm 2 can drive the pickup component 1 to adjust its position in all directions (up, down, left, right, forward, backward), thereby improving the flexibility of the position adjustment of the pickup component 1.

[0065] The pickup component 1 picks up the resistor sheet by adsorption and absorption. This adsorption and absorption method not only ensures the reliability of picking up the resistor sheet, but also reduces damage to the resistor sheet.

[0066] The number of pick-up components 1 must be at least two, such as... Figure 4 As shown, in an embodiment of the loading and unloading device having two picking components 1, the robot vision system 3 and the distance sensor 4 are located between the two picking components 1.

[0067] In some embodiments, the picking component 1 includes:

[0068] The first telescopic cylinder 11, the telescopic rod of the first telescopic cylinder 11 is connected to the robotic arm 2;

[0069] The first mounting plate 12 is connected to the cylinder body of the first telescopic cylinder 11;

[0070] The second mounting plate 13 is parallel to the first mounting plate 12 and connected to the cylinder body. At least one set of suction cup assemblies is mounted on the second mounting plate 13. The suction cup assembly includes a corresponding second telescopic cylinder 14 and a small suction cup 15. The cylinder body of the second telescopic cylinder 14 is connected to the second mounting plate 13, and the telescopic rod of the second telescopic cylinder 14 is connected to the small suction cup 15.

[0071] During operation, the telescopic rod of the first telescopic cylinder 11 extends, and the first mounting plate 12, the second mounting plate 13, and the suction cup assembly descend synchronously. After descending to the designated height, the small suction cup 15 of the suction cup assembly corresponding to the position of the resistor sheet is brought into contact with the resistor sheet by the telescopic rod of the second telescopic cylinder 14 to pick up the resistor sheet. After the pick-up is completed, the telescopic rod of the second telescopic cylinder 14 retracts.

[0072] like Figure 4 As shown, the second mounting plate 13 is equipped with two sets of suction cup assemblies, each set having eight small suction cups 15. The robot vision system 3 can acquire images of multiple resistors on the worktable 8 at a time and simultaneously obtain the first positions of multiple resistors. After the first telescopic cylinder 11 drives the first mounting plate 12 to descend, the robotic arm 2 drives the picking component 1 to move, so that the picking component 1 picks up resistors at different positions. After all resistors are adsorbed on a single suction cup assembly, the first telescopic cylinder 11 retracts, and the robotic arm 2 drives the picking component 1 to move to the unloading table 6 for unloading.

[0073] The pickup assembly 1 has at least two suction cups to enable it to pick up multiple resistors sequentially, thereby improving the pickup efficiency of the resistors.

[0074] In some embodiments, the loading and unloading device has at least two picking components 1, one of which picks components 1 loads and unloads the resistor sheet to be processed, and the other picks components 1 loads and unloads the processed resistor sheet; or, all picking components 1 load and unload the resistor sheet to be processed or the processed resistor sheet simultaneously.

[0075] This solution also discloses a loading and unloading system, including a loading platform 5, an unloading platform 6, a waste platform 7, a worktable 8, and loading and unloading devices, wherein...

[0076] The loading platform 5 is used to store resistor sheets to be processed, the unloading platform 6 is used to store processed resistor sheets, the waste platform 7 is used to store discarded resistor sheets, and the workbench 8 is used for production electrical testing or assembly processes of resistor sheets.

[0077] The loading and unloading system disclosed in this solution also includes a loading and unloading device, which is the loading and unloading device described in any of the above solutions. Since the loading and unloading device has the above-mentioned technical effects, the loading and unloading system with the loading and unloading device also has the same technical effects, and will not be described in detail here.

[0078] like Figure 1 and Figure 2 As shown, the loading platform 5 and the unloading platform 6 are arranged opposite to each other. The waste platform 7 is located on one side of the loading platform 5 and between the loading platform 5 and the unloading platform 6. The loading platform 5, the unloading platform 6 and the waste platform 7 are arranged in a U-shaped structure, and the loading and unloading devices are located in the U-shaped space.

[0079] Within the space enclosed by the loading / unloading device, loading platform 5, unloading platform 6, and scrap platform 7, the loading / unloading device picks up the resistor sheet from loading platform 5 and transfers it to workbench 8. The resistor sheet undergoes production electrical testing or assembly processes on workbench 8. After completion, the loading / unloading device picks up the resistor sheet. Qualified resistor sheets are unloaded to unloading platform 6, and unqualified resistor sheets are unloaded to scrap platform 7.

[0080] After the loading and unloading system is powered on, it automatically initializes. The robotic arm 2 moves to the initial position. The relevant parameters are set in the controller. When the loading and unloading system starts running, the robotic arm 2 moves to the point set on the loading table 5 and takes a picture with the robot vision system 3 to locate the resistor sheet to be picked up. Then, the distance sensor 4 (such as a laser rangefinder) measures the distance from the robotic arm 2 to the resistor sheet. Then, the small suction cup 15 picks up the resistor sheet. The robotic arm 2 turns to the direction of the worktable 8 and locates the resistor sheet that has completed the process on the worktable 8. The suction cup of another set of picking components 1 picks up the metal oxide resistor sheet that has been tested and places the metal oxide resistor sheet to be tested on the worktable 8. Finally, according to the results of the process feedback, the resistor sheet that has completed the process operation is placed on the unloading table 6 or the waste table 7.

[0081] The loading and unloading system disclosed in this solution enables the robotic arm 2 to accurately pick up resistors that have not been limited by industrial vision and place them precisely in the designated position, thereby reducing the need for pre-limiting operations on the resistors. Compared with manual loading and unloading, this system can effectively reduce the safety hazards to the human body during the production process and improve production efficiency.

[0082] The workbench 8 can be a circular turntable used for the production, electrical testing, or assembly of resistor sheets, or it can be a transmission device used for the production, electrical testing, or assembly of resistor sheets.

[0083] The loading and unloading system disclosed in this solution also includes a loading guide component 9, which works in conjunction with the carrier plate 10 of the circular turntable.

[0084] The carrier tray 10 has material holes for holding the resistor sheet to be processed. The carrier tray 10 has at least two material holes, such as... Figure 5 and Figure 7 As shown, the carrier disk 10 is a circular disk with eight material holes evenly distributed around its circumference. The material holes are used to limit the position of the resistor sheet and prevent the resistor sheet from changing position during processing.

[0085] The worktable 8 has an inner turntable and an outer turntable, forming an annular space between the inner and outer turntables. The inner turntable has cylindrical teeth perpendicular to the plane of the inner turntable, and the outer turntable has cylindrical teeth perpendicular to the plane of the outer turntable. The circumference of the carrier disk 10 has teeth that mesh with the cylindrical teeth of the inner and outer turntables. The rotation of the inner and outer turntables drives the carrier disk 10 to move along the circumference of the annular space to change the position of the carrier disk 10.

[0086] In some embodiments, the unloading guide assembly 9 includes a guide disk 91 and a clamping block 92. Wherein,

[0087] One side of the guide plate 91 is in contact with the carrier plate 10, and the other side of the guide plate 91 is provided with a clamping block 92. The clamping block 92 is used to cooperate with the loading and unloading device. The loading and unloading device picks up the guide plate 91 through the clamping block 92, so as to place the guide plate 91 on the carrier plate 10 or remove the guide plate 91 from the carrier plate 10.

[0088] The guide plate 91 has a guide hole 911 for guiding the resistor sheet. The guide hole 911 is a tapered hole. The larger end of the tapered hole is the feed port, and the smaller end is the discharge port. The resistor sheet enters the guide hole 911 through the feed port and falls into the material hole of the carrier plate 10 through the discharge port. The position of the discharge port of the guide hole 911 corresponds to the position of the material hole. The guide hole 911 is used to prevent the resistor sheet from tilting during the process of entering the material hole, and to ensure that the resistor sheet does not tilt after entering the material hole, so that the resistor sheet is stacked in place in one go, reducing the risk of jamming during the grinding process.

[0089] The material feeding guide component 9 disclosed in this solution guides the process of the resistor sheet being fed into the material hole of the carrier tray 10 through the guide hole 911, and corrects the tilting of the resistor sheet during the feeding process, so as to ensure that the resistor sheet is placed in the material hole in one go and improve the efficiency of resistor sheet stacking.

[0090] like Figure 7 As shown, the material hole of the carrier plate 10 is a round hole, the guide hole 911 is coaxial with the material hole, and the shape of the discharge port of the guide hole 911 is the same as the shape of the material hole.

[0091] The diameter of the feed inlet of the guide hole 911 is larger than the diameter of the material hole, and the diameter of the discharge outlet of the guide hole 911 is equal to the diameter of the material hole. The diameter of the material hole is equal to the diameter of the resistor element. When the resistor element passes through the guide hole 911, the inner wall of the guide hole 911 limits the resistor element at various positions in the circumferential direction to ensure the reliability of guiding the resistor element.

[0092] In some embodiments, the angle between the wall of the guide hole 911 and the axis of the guide hole 911 is 15°-45°. The greater the thickness of the guide plate 91, the greater the angle between the wall of the guide hole 911 and the axis of the guide hole 911.

[0093] The greater the thickness of the guide plate 91 and the longer the length of the guide hole 911, the better the guiding effect of the guide plate 91 on the resistor sheet.

[0094] When the thickness of the guide plate 91 is large, the length of the guide hole 911 opened on the guide plate 91 is relatively long. In order to facilitate the resistance sheet to enter the guide hole 911, the included angle between the hole wall of the guide hole 911 and the axis of the guide hole 911 can be appropriately increased so as to increase the area of ​​the feed port of the guide hole 911.

[0095] When the thickness of the guide plate 91 is small, the length of the guide hole 911 opened on the guide plate 91 is short. In order to ensure the guiding effect of the guide hole 911 on the resistor, the included angle between the hole wall of the guide hole 911 and the axis of the guide hole 911 can be appropriately reduced.

[0096] The number of guide holes 911 on the guide disk 91 can be equal to or unequal to the number of material holes on the carrier disk 10. Preferably, the number of guide holes 911 on the guide disk 91 is equal to the number of material holes on the carrier disk 10, so that the guide disk 91 can guide the resistive pieces placed in each material hole of the carrier disk 10, and the guidance of each resistive piece placed in the material hole can be achieved through one interaction between the guide disk 91 and the carrier disk 10.

[0097] After the loading and unloading device picks up the guide plate 91 through the clamping block 92, it places the guide plate 91 on the carrier plate 10. Then, the loading and unloading device picks up the resistor sheet at the loading position and places the picked-up resistor sheet into the material hole of the carrier plate 10 through the guide hole 911 of the guide plate 91.

[0098] After the material holes of the carrier plate 10 are filled with resistor sheets, the loading and unloading device picks up the guide plate 91 through the clamping block 92 and places the guide plate 91 in a position that does not affect the grinding plate. The grinding machine grinds the resistor sheets of the carrier plate 10. After grinding, the loading and unloading device picks up the resistor sheets from the material holes of the carrier plate 10 and places them in the unloading position.

[0099] The clamping block 92 and the guide disk 91 can be formed as one piece or as separate structures.

[0100] In embodiments where the clamping block 92 and the guide plate 91 are separate structures, the clamping block 92 is connected to the guide plate 91 by bolts. Specifically, the guide plate 91 has bolt holes, and the clamping block 92 may also have bolt holes. The guide plate 91 and the clamping block 92 are connected by bolts that mate with the bolt holes.

[0101] The clamping block 92 and the guide plate 91 can also be connected by welding, riveting or magnetic connection.

[0102] To reduce the difficulty of aligning the guide plate 91 with the carrier plate 10, the unloading guide component 9 disclosed in this solution also includes a positioning component, through which the guide plate 91 is positioned and connected to the carrier plate 10.

[0103] In some embodiments, the positioning component includes a positioning protrusion 912 and a positioning groove 101. The positioning protrusion 912 is disposed on the side of the guide disk 91 that fits against the carrier disk 10, and the positioning groove 101 is formed on the carrier disk 10.

[0104] The positioning component has at least two positioning protrusions 912 and positioning grooves 101 to circumferentially limit the guide plate 91, prevent the position of the guide plate 91 from changing during the process of the resistor sheet being lowered into the guide hole 911, and improve the limiting and guiding effect of the guide plate 91 on the resistor sheet.

[0105] Specifically, after the guide plate 91 and the carrier plate 10 are engaged by the positioning component, the guide hole 911 of the guide plate 91 corresponds to the material hole of the carrier plate 10, and there is no need to adjust the position of the guide plate 91.

[0106] The positioning protrusion 912 and the guide plate 91 can be integrally formed or they can be considered separate structures. In an embodiment where the positioning protrusion 912 and the guide plate 91 are separate structures, a screw is provided on the positioning protrusion 912, and a through hole is provided on the guide plate 91 to mate with the screw. The screw of the positioning protrusion 912 passes through the through hole of the guide plate 91 and is locked onto the guide plate 91 by a nut. Optionally, a washer is provided between the nut and the guide plate 91.

[0107] like Figure 6 As shown, the positioning protrusions 912 are located on both sides of the clamping block 92. The positioning groove 101 of the carrier plate 10 can also serve as a structure for the robot vision system 3 of the loading and unloading device to perform angular positioning of the carrier plate 10, so as to facilitate the cooperation between the guide plate 91 and the carrier plate 10, as well as the positioning of the material hole during the loading and unloading process; correspondingly, the nut of the guide plate 91 can also serve as a structure for the robot vision system 3 of the loading and unloading device to perform angular positioning of the guide plate 91, so as to facilitate the cooperation between the guide plate 91 and the carrier plate 10.

[0108] The shape of the guide disk 91 may be the same as or different from the shape of the carrier disk 10.

[0109] In embodiments where the shape of the guide plate 91 is the same as that of the carrier plate 10, the size of the guide plate 91 is also equal to that of the carrier plate 10. After the guide plate 91 and the carrier plate 10 are engaged, the space occupied by the unloading guide component 9 on the outer periphery of the carrier plate 10 is reduced.

[0110] In embodiments where the shape of the guide disk 91 is different from the shape of the carrier disk 10, the shape of the guide disk 91 can be designed according to actual needs, such as a petal shape with the same shape as the multiple material holes of the carrier disk 10, or a rectangle or other polygons.

[0111] The clamping block 92 can be located at at least one position in the middle and outer periphery of the guide disk 91. For example... Figure 6 As shown, this is an embodiment in which the clamping block 92 is located in the middle of the guide plate 91. The middle of the guide plate 91 is located in an annular structure surrounded by multiple guide holes 911. The middle of the guide plate 91 is a solid structure, which can ensure the fixing strength of the clamping block 92 and provide a sufficiently large installation space for the clamping block 92. On the other hand, it can also increase the volume of the clamping block 92.

[0112] The clamping block 92 protrudes from the surface of the guide plate 91.

[0113] In an embodiment where the clamping block 92 is disposed on the outer periphery of the guide disk 91, the clamping block 92 is disposed away from the guide hole 911. The clamping block 92 can be disposed at various positions in the circumferential direction of the guide disk 91, allowing for flexible placement.

[0114] During the process of the resistor sheet being lowered into the carrier plate 10 through the guide plate 91, the loading and unloading device will inevitably collide with the hole wall of the guide hole 911. After the hole wall is collided, the guiding effect on the resistor sheet will inevitably be affected. In order to solve the above problem, this solution uses a high-strength and collision-resistant material to make the guide plate 91.

[0115] In some embodiments, the guide disk 91 is a metal disk.

[0116] The resistor sheet slides into the material hole of the carrier plate 10 through the guide hole 911 of the guide plate 91. In order to reduce damage to the resistor sheet, a buffer strip 102 is provided in the material hole of the carrier plate 10.

[0117] Optionally, the wall of the material hole is provided with a groove, and the buffer strip 102 is embedded in the groove.

[0118] The number and location of the buffer bars 102 can be selected by those skilled in the art according to actual needs, and no specific limitation is made here.

[0119] In some embodiments, the picking component 1 picks up the unloading guide component 9 by suction. Optionally, the picking component 1 has a large suction cup for picking up the clamping block 92, the large suction cup being located among a plurality of small suction cups 15; the large suction cup can also be used to pick up the carrier plate 10.

[0120] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed, and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. The scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A loading and unloading device, characterized in that, include: Pick-up component (1) is used to pick up resistor pieces; A robotic arm (2) is fixedly installed on the ground, and the picking component (1) is installed at the end of the robotic arm (2) for driving the picking component (1) to move; A robot vision system (3), mounted on the robotic arm (2), is used to acquire images of the resistor and determine the first position of the resistor on the first plane based on the images. A distance sensor (4), mounted on the robotic arm (2), is used to detect the distance between the pickup component (1) and the resistive element. The robotic arm (2) drives the picking component (1) to pick up the resistor sheet according to the first position and the distance.

2. The loading and unloading device according to claim 1, characterized in that, The robot vision system (3) includes an image sensor (31) and a fill light (32). The image sensor (31) is used to acquire images of the resistive sheet, and the fill light (32) is used to provide illumination. The fill light (32) is located below the image sensor (31).

3. The loading and unloading device according to claim 1, characterized in that, The picking component (1) includes; The first telescopic cylinder (11) has its telescopic rod connected to the robotic arm (2); The first mounting plate (12) is connected to the cylinder body of the first telescopic cylinder (11); The second mounting plate (13) is parallel to the first mounting plate (12) and connected to the cylinder body. At least one set of suction cup assemblies is mounted on the second mounting plate (13). The suction cup assembly includes at least two second telescopic cylinders (14) and at least two small suction cups (15). The second telescopic cylinders (14) correspond one-to-one with the small suction cups. The cylinder body of the second telescopic cylinder (14) is connected to the second mounting plate (13), and the telescopic rod of the second telescopic cylinder (14) is connected to the small suction cups (15).

4. The loading and unloading device according to claim 1, characterized in that, The robotic arm (2) is a six-axis robotic arm.

5. A loading and unloading system, characterized in that, It includes a loading platform (5), a unloading platform (6), a waste disposal platform (7), and a workbench (8). The loading platform (5) is used to store the resistor sheets to be processed; The unloading platform (6) is used to store the processed resistor sheets; The waste storage platform (7) is used to store discarded resistor pieces; The loading platform (5) and the unloading platform (6) are positioned opposite each other, and the waste platform (7) is located between the loading platform (5) and the unloading platform (6). The loading platform (5), the unloading platform (6), and the waste platform (7) are arranged in a U-shaped structure. The workbench (8) is adjacent to the waste platform (7). It also includes a loading and unloading device, which is the loading and unloading device according to any one of claims 1-4, and is located within the U-shaped structure.

6. The loading and unloading system according to claim 5, characterized in that, The workbench (8) is a circular turntable used for the production, electrical testing or assembly process of resistor sheets, or the workbench (8) is a transmission device used for the production, electrical testing or assembly process of resistor sheets.

7. The loading and unloading system according to claim 6, characterized in that, It also includes a feeding guide assembly (9), which cooperates with the carrier plate (10) of the circular turntable, including a guide plate (91) and a clamping block (92). One side of the guide plate (91) is in contact with the carrier plate (10), and the other side of the guide plate (91) is provided with the clamping block (92). The clamping block (92) is used to cooperate with the loading and unloading device to enable the loading and unloading device to pick up the guide plate (91). The guide plate (91) has a guide hole (911), which is a conical hole. The larger end of the conical hole is the feed port, and the smaller end is the discharge port. The resistor element enters the guide hole (911) through the feed port. The discharge port corresponds to the material hole of the carrier plate (10). The guide hole (911) is used to prevent the resistor element from tilting during the process of entering the material hole.

8. The loading and unloading system according to claim 7, characterized in that, The guide disk (91) is positioned and connected to the carrier disk (10) through a positioning component. The positioning component includes a positioning protrusion (912) and a positioning groove (101). There are at least two positioning protrusions (912) and positioning grooves (101). The positioning protrusions (912) are located on the side where the guide disk (91) and the carrier disk (10) are in contact. The positioning grooves (101) are formed on the carrier disk (10).

9. The loading and unloading system according to claim 8, characterized in that, The positioning protrusion (912) is provided with a screw, and the guide plate (91) has a through hole that cooperates with the screw. After the screw passes through the through hole, it is locked onto the guide plate (91) by a nut.

10. The loading and unloading system according to claim 7, characterized in that, The material holes of the carrier disk (10) are provided with buffer strips (102) on their walls; and / or, The picking component (1) of the loading and unloading device also includes a large suction cup for picking up the clamping block (92).

Images