Flexible wobble plate machine with replaceable suction nozzle

Abstract

The utility model belongs to the technical field of wobble plate machines, and particularly relates to a flexible wobble plate machine with a replaceable suction nozzle, which comprises an upper rack and a lower rack, the upper rack is arranged above the lower rack, an FFU box body is arranged at the top of the upper rack, a plurality of movable doors are connected to the side surface of the upper rack, and a plurality of suction nozzles are arranged on the movable doors. A vibration disc feeding module, a tray discharging module and a gantry manipulator are arranged in the upper rack, the vibration disc feeding module and the tray discharging module are arranged side by side and located on the front side in the upper rack, and the gantry manipulator is arranged on the rear side in the upper rack. The tray placing device can achieve efficient tray placing, has good universality due to the fact that the tray placing device can be matched with various suction nozzles, can be suitable for parts of different models, can be matched with various visual monitoring cameras, can conduct analysis and recognition from multiple directions according to the optical effect, and achieves the flexible and effective operation effect.

Description

A flexible tray-stacking machine with replaceable suction nozzles Technical Field

[0001] This utility model belongs to the technical field of tray slab machines, and in particular relates to a flexible tray slab machine with replaceable suction nozzles. Background Technology

[0002] A plating machine is a device that automatically arranges items on plates or trays according to certain rules. Based on their application scenarios and functional characteristics, fully automatic plating machines can be divided into several types. Flexible plating machines use flexible vibrating plates and a vision positioning system to automatically arrange disordered parts, quickly achieving the purpose of arranging different models of products.

[0003] An existing patent (publication number CN213595392U) discloses a flexible feeding and tray-stacking machine, including a flexible feeder compatible with a variety of materials; a vacuum nozzle assembly, including multiple nozzles for picking up materials from the flexible vibrating plate and transferring them to the tray; and a vision system, including an upper vision system disposed above the production line for positioning the tray.

[0004] In the existing technology, the tray-loading machine needs to use different suction nozzles to operate according to different types of materials. However, the existing tray-loading machine can only adapt to a single type of material, which makes the types of products that can be operated very limited. In specific use, the portability is low and the cost of special-purpose machines is high. Summary of the Invention

[0005] This invention addresses the technical problems raised in the background art where existing tray-stacking machines can only adapt to a single type of material, resulting in a very limited range of products that can be operated, low portability in specific use, and high cost of specialized machines. The invention proposes a flexible tray-stacking machine with replaceable suction nozzles.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A flexible tray-stacking machine with replaceable suction nozzles includes an upper frame and a lower frame. The upper frame is located above the lower frame. An FFU (Fan Filter Unit) housing is provided on the top of the upper frame. Multiple movable doors are connected to the side of the upper frame. A vibratory feeder module, a tray unloading module, and a gantry robot are provided inside the upper frame. The vibratory feeder module and the tray unloading module are arranged side by side and located on the front side inside the upper frame. The gantry robot is located on the rear side inside the upper frame.

[0008] A top CCD is provided above the vibratory feeder module, a head CCD is provided at one end of the gantry robot, a bottom CCD is provided on one side of the rear of the pallet unloading module, and a suction nozzle module is provided on the other side of the rear of the pallet unloading module.

[0009] The nozzle module includes a limiting plate and a nozzle box. The limiting plate is slidably mounted on the nozzle box, and the nozzle box stores multiple nozzles. A movable cylinder is fixedly installed inside the nozzle box. A linkage block is fixedly connected to one end of the limiting plate, and the drive end of the movable cylinder is fixedly connected to the linkage block.

[0010] The top of the upper frame is also equipped with a three-color light, and an operation screen is installed inside the upper frame.

[0011] Preferably, an NG collection box is also provided on the side of the pallet unloading module near the bottom CCD. The bottom CCD and the NG collection box are both located behind and between the vibratory feeder module and the pallet unloading module. The top CCD has 25 million pixels, the bottom CCD has 5 million pixels, and the head CCD has 5 million pixels.

[0012] Preferably, the bottom of the upper frame is provided with a frame for use with the vibratory feeder module and the pallet unloading module. The vibratory feeder module and the pallet unloading module are slidably installed in the frame. The lower frame is provided with a lifting cylinder for driving the vibratory feeder module and the pallet unloading module to move up and down.

[0013] Preferably, the operation screen is located at the front of the top of the upper frame, near the vibratory feeder module and the tray unloading module, and the three-color lights are located on the upper frame near the operation screen.

[0014] Preferably, the head CCD is connected to one end of the gantry robot, and the head CCD moves back and forth along the bottom surface of the gantry robot.

[0015] Preferably, a guide rail is provided on one side of the upper frame, and the guide rail is located on the side of the pallet unloading module away from the vibratory feeder loading module. The gantry robot is slidably connected to the guide rail via a flexible robotic arm.

[0016] Compared with the prior art, the beneficial effects of this utility model are: this device can achieve efficient tray placement, and because it can be adapted to a variety of suction nozzles, it has good versatility and can adapt to different types of parts. In addition, with the help of a variety of visual monitoring cameras, it can analyze and identify from multiple directions based on optical effects, thus achieving flexible and effective operation. Attached Figure Description

[0017] Figure 1 is a structural schematic diagram of a flexible tray-swiping machine with replaceable suction nozzle proposed in this utility model;

[0018] Figure 2 is a side view of a flexible tray-swiping machine with replaceable suction nozzle proposed in this utility model.

[0019] Figure 3 is a schematic diagram of the top structure of a flexible tray-swiping machine with replaceable suction nozzle proposed in this utility model;

[0020] Figure 4 is a schematic diagram of the internal structure of a flexible plate-swiping machine with replaceable suction nozzle proposed in this utility model;

[0021] Figure 5 is a partial structural schematic diagram of a flexible plate-swiping machine with replaceable suction nozzle proposed in this utility model;

[0022] Figure 6 is a partial structural schematic diagram of a flexible tray-swiping machine with replaceable suction nozzle proposed in this utility model;

[0023] Figure 7 is a schematic diagram of the rear structure of Figure 6;

[0024] Figure 8 is a schematic diagram of the side structure of Figure 6;

[0025] Figure 9 is a schematic diagram of the nozzle module;

[0026] Figure 10 is a schematic diagram of the nozzle module from below.

[0027] In the diagram: 1. Upper frame; 2. Movable door; 3. Lower frame; 4. FFU housing; 5. Tri-color light; 6. Operation panel; 7. Gantry robot; 8. Top CCD; 9. Vibratory feeder module; 10. Pallet unloading module; 11. Bottom CCD; 12. Head CCD; 13. Nozzle module; 14. Limiting plate; 15. Moving cylinder; 16. Linkage block; 17. Nozzle box. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0029] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0030] Referring to Figures 1-10, a flexible tray-stacking machine with replaceable suction nozzles includes an upper frame 1 and a lower frame 3. The upper frame 1 is located above the lower frame 3. An FFU housing 4 is provided on the top of the upper frame 1. Multiple movable doors 2 are connected to the side of the upper frame 1. A vibratory feeder module 9, a tray unloading module 10, and a gantry robot 7 are provided inside the upper frame 1. The vibratory feeder module 9 and the tray unloading module 10 are arranged side by side and located on the front side inside the upper frame 1. The gantry robot 7 is located on the rear side inside the upper frame 1.

[0031] A top CCD 8 is provided above the vibratory feeder module 9, a machine head CCD 12 is provided at one end of the gantry robot 7, a bottom CCD 11 is provided on one side of the rear of the pallet unloading module 10, and a suction nozzle module 13 is provided on the other side of the rear of the pallet unloading module 10.

[0032] The nozzle module 13 includes a limiting plate 14 and a nozzle box 17. The limiting plate 14 is slidably mounted on the nozzle box 17. The nozzle box 17 stores multiple nozzles. A movable cylinder 15 is fixedly installed inside the nozzle box 17. A linkage block 16 is fixedly connected to one end of the limiting plate 14. The drive end of the movable cylinder 15 is fixedly connected to the linkage block 16.

[0033] The top of the upper rack 1 is also equipped with a three-color light 5, and the upper rack 1 is equipped with an operation panel 6. The FFU box is a fan filter unit, and the CCD is a digital camera with a charge-coupled device image sensor.

[0034] An NG collection box is also located at the rear of the pallet unloading module 10, near the bottom CCD 11. Both the bottom CCD 11 and the NG collection box are positioned between and behind the vibratory feeder module 9 and the pallet unloading module 10. The top CCD 8 has 25MP, the bottom CCD 11 has 5MP, and the head CCD 12 has 5MP. The bottom CCD 11 monitors the operation of the vibratory feeder module 9 and the pallet unloading module 10, and also monitors the operation of the gantry robot 7. The NG collection box is used to collect defective products.

[0035] The bottom of the upper frame 1 is equipped with a frame that works in conjunction with the vibratory feeder module 9 and the pallet unloading module 10. The vibratory feeder module 9 and the pallet unloading module 10 are slidably installed vertically within the frame. The lower frame 3 is equipped with a lifting cylinder for driving the vibratory feeder module 9 and the pallet unloading module 10 to move vertically. During operation, the lower lifting cylinder pushes the vibratory feeder module 9 and the pallet unloading module 10 vertically relative to the frame via its drive end to accommodate the loading and unloading of materials.

[0036] The control panel 6 is located at the front of the top of the upper frame 1, near the vibratory feeder module 9 and the pallet unloading module 10. The tri-color lights 5 are located on the upper frame 1 near the control panel 6. During operation, the operator can open the movable door 2 to operate the internal control panel 6 via touchscreen. Commands can be input to the internal structure through the control panel 6. The tri-color lights 5 above the upper frame 1 indicate the equipment's operating status, illuminating different colors to alert the operator.

[0037] The head CCD12 is connected to one end of the gantry robot 7, and moves back and forth along the bottom surface of the gantry robot 7. By connecting the head CCD12 to one end of the gantry robot 7, the condition of the material can be monitored through the head CCD12 during gripping, thereby enabling corresponding operations.

[0038] A guide rail is provided on one side of the upper frame 1. The guide rail is located on the side of the pallet unloading module 10 away from the vibratory feeder loading module 9. The gantry robot 7 is slidably connected to the guide rail via a flexible robotic arm. The gantry robot 7 can move back and forth on the guide rail via the flexible robotic arm. The gantry robot 7 and the guide rail cooperate with each other to allow it to operate at any point on the table.

[0039] During operation, materials are placed on the vibratory feeder module 9. The bottom CCD 11 monitors the operation from below, the top CCD 8 monitors the operation from above, and the head CCD 12 monitors the gripping end. The gantry robot 7, used for product handling, employs a dual-nozzle design for interchangeable nozzles. The gantry robot 7 selects a suitable nozzle from the nozzle module 13 and uses it to pick up materials from the vibratory feeder module 9. Finished products are then placed on the pallet unloading module 10. The vibratory feeder module 9 and the pallet unloading module 10 are adaptively raised and lowered by lifting cylinders to suit the operation. The vibratory feeder module 9 automatically feeds materials, and the hopper can hold five vibratory feeders at a time. The pallet unloading module 10 automatically unloads materials, and the pallet unloading module 10 can hold a certain number of sheets at a time. The pallet unloading module has 10 pallets. The top CCD 8 has 25 million pixels and can be used to detect and position the pallets for the gantry robot 7 to accurately pick up and place materials. The end of the gantry robot 7 that picks up materials has 5 million pixels and can scan and position the upper and lower material trays accordingly. The bottom CCD 11 also has 5 million pixels and is used to accurately position the products. When the gantry robot 7 changes the suction nozzle, the moving cylinder 15 drives the linkage block 16 and the limiting plate 14 to be offset relative to the suction nozzle box 17 through the drive end. Then the end of the gantry robot 7 can select and replace different suction nozzles. The suction nozzle box 17 is provided with multiple grooves for storing suction nozzles. The required suction nozzle can be selected. After the replacement is completed, the moving cylinder 15 drives the limiting plate 14 back again through the drive end to confine the remaining suction nozzles in the suction nozzle box 17 and prevent them from moving randomly.

[0040] The vibratory feeder module 9 moves to feed materials, the flexible vibratory feeder disperses the material, the top CCD 8 detects and positions the material, the gantry robot 7 picks up the material, the bottom CCD 11 provides precision positioning, the head CCD 12 positions the tray, the gantry robot 7 places the material, and the tray unloads the material.

[0041] CT analysis revealed that the gantry robot's loading and unloading time was as follows: 0.6s to move horizontally to the loading position, 0.2s x 2 for Z-axis downward loading, 0.1s x 2 for Z-axis upward loading, 0.1s x 2 for bottom imaging, 0.6s to move horizontally to the unloading position, 0.2s x 2 for Z-axis downward unloading, and 0.1s x 2 for Z-axis upward loading. The total time was 2.6s / 2 = 1.3s / piece.

[0042] When using a vibratory feeder, the following steps are required: 1.5 seconds for the feeder to move to the hopper, 1 second for the feeder to lift and hook onto the feeder, 2 seconds for the feeder to move to the flexible vibrating position, and 0.5 seconds for the cylinder to clamp the feeder. After the feeder is empty, 0.5 seconds for the cylinder to release, 2 seconds for the feeder to move to the hopper, 1 second for the hopper to lower the hook, and 0.5 seconds for the feeder to retract. Changing the feeder in the hopper takes 2 seconds. With 100 pieces per feeder, the total time is 10 / 100 = 0.1 seconds per piece.

[0043] When unloading trays of 100 pieces per tray, using the same vibratory feeder method, the total time is 0.5 seconds per piece. The estimated average time is approximately 1.3 + 0.1 + 0.5 = 1.9 seconds per piece. This means that with 100 pieces per tray, approximately 1850 pieces can be unloaded per hour. This equipment achieves highly efficient tray unloading. Because it is compatible with various nozzles, it has good versatility and can adapt to different parts models. Furthermore, with multiple visual monitoring cameras, it can analyze and identify parts from multiple directions based on optical effects, achieving flexible and effective operation.

[0044] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A flexible tray-stacking machine with replaceable suction nozzles, comprising an upper frame (1) and a lower frame (3), wherein the upper frame (1) is disposed above the lower frame (3), characterized in that, The top of the upper frame (1) is provided with an FFU housing (4), and the side of the upper frame (1) is connected with multiple movable doors (2). The upper frame (1) is provided with a vibratory feeder module (9), a pallet unloading module (10) and a gantry robot (7). The vibratory feeder module (9) and the pallet unloading module (10) are arranged side by side and located on the front side of the upper frame (1). The gantry robot (7) is located on the rear side of the upper frame (1). A top CCD (8) is provided above the vibratory feeder module (9), and a machine head CCD (12) is provided at one end of the gantry robot (7). A bottom is provided on one side of the rear of the pallet unloading module (10). CCD (11), a suction module (13) is provided on the other side behind the tray unloading module (10); the suction module (13) includes a limiting plate (14) and a suction box (17), the limiting plate (14) is slidably installed on the suction box (17), the suction box (17) stores multiple suction nozzles, a moving cylinder (15) is fixedly installed in the suction box (17), a linkage block (16) is fixedly connected to one end of the limiting plate (14), and the driving end of the moving cylinder (15) is fixedly connected to the linkage block (16); a three-color light (5) is also provided on the top of the upper frame (1), and an operation screen (6) is provided in the upper frame (1).

2. The flexible tray-stacking machine with replaceable suction nozzles according to claim 1, characterized in that, An NG collection box is also provided on the side of the pallet unloading module (10) near the bottom CCD (11). The bottom CCD (11) and the NG collection box are both located behind and between the vibratory feeder module (9) and the pallet unloading module (10). The top CCD (8) has 25 million pixels, the bottom CCD (11) has 5 million pixels, and the head CCD (12) has 5 million pixels.

3. The flexible tray-stacking machine with replaceable suction nozzle according to claim 1, characterized in that, The bottom of the upper frame (1) is provided with a frame that works in conjunction with the vibratory feeder module (9) and the pallet unloading module (10). The vibratory feeder module (9) and the pallet unloading module (10) are slidably installed in the frame. The lower frame (3) is provided with a lifting cylinder for driving the vibratory feeder module (9) and the pallet unloading module (10) to move up and down.

4. The flexible tray-stacking machine with replaceable suction nozzle according to claim 1, characterized in that, The operation screen (6) is located at the front of the top of the upper frame (1) near the vibratory feeder module (9) and the pallet unloading module (10), and the tri-color light (5) is located on the upper frame (1) near the operation screen (6).

5. A flexible tray-stacking machine with replaceable suction nozzles according to claim 1, characterized in that, The head CCD (12) is connected to one end of the gantry robot (7), and the head CCD (12) moves back and forth along the bottom surface of the gantry robot (7).

6. A flexible tray-stacking machine with replaceable suction nozzles according to claim 1, characterized in that, A guide rail is provided on one side of the upper frame (1). The guide rail is located on the side of the pallet unloading module (10) away from the vibratory feeder module (9). The gantry robot (7) is slidably connected to the guide rail through a flexible robotic arm.

Images