A single-station robotic automatic tray-setting device

Abstract

This utility model discloses a single-station robotic automatic tray-stacking device, relating to the field of workpiece tray-stacking technology. It includes a base, a feeding guide rail connected to the output end of a vibratory feeder, a conveyor belt parallel to the feeding guide rail in front of the feeding rack, a robotic arm mounted between the conveyor belt and the feeding guide rail, and a placement mechanism mounted on the robotic arm. The placement mechanism includes a positioning seat fixedly mounted at the end of the robotic arm, a mounting frame fixedly mounted on the positioning seat, an adjusting guide rail fixedly mounted on the mounting frame, and six adjusting sliders mounted on the adjusting guide rail. The rightmost adjusting slider is fixedly mounted on the adjusting guide rail, while the remaining adjusting sliders are slidably mounted on the adjusting guide rail. A suction nozzle is fixedly mounted on each adjusting slider, and an adjusting mechanism is installed between the adjusting sliders. This single-station robotic automatic tray-stacking device, through the coordinated use of the adjusting mechanism and the placement mechanism, can adjust the spacing of the placed items according to placement requirements.

Description

Technical Field

[0001] This utility model relates to the field of workpiece tray placement technology, specifically a single-station robot automatic tray placement device. Background Technology

[0002] Robotic palletizing is an intelligent workflow that utilizes industrial robots combined with a vision positioning system to automatically complete workpiece gripping, posture adjustment, and precise placement. The system uses a 3D camera or laser scanning to identify the position and shape of the workpiece in real time, and then uses path planning algorithms to control the fixtures to arrange the randomly arriving materials into the carrier according to process requirements.

[0003] In the prior art, patent announcement number CN116985182B discloses a four-axis robot workpiece tray system based on machine vision, including a cabinet and a vibration feeding system installed in the middle of the cabinet for orderly transferring a large number of ceramic sheet workpieces to the vibration transmission system; the vibration transmission system is located behind the transmission end of the vibration feeding system and is installed in the middle of the cabinet.

[0004] The aforementioned device can place workpieces onto a carrier; however, the spacing between different types of workpieces on the carrier usually varies significantly. Because these workpieces differ in size, shape, and weight, their placement on the carrier must be precisely adjusted according to specific circumstances. The aforementioned device cannot flexibly adjust the spacing according to the workpiece placement. Therefore, a single-station robotic automatic tray-loading device is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a single-station robotic automatic tray-setting device to solve the problems in the prior art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a single-station robot automatic tray-stacking device, comprising a device base, on which a vibratory feeder and a feeding rack are fixedly installed. The output end of the vibratory feeder is connected to a feeding guide rail. A conveyor belt is provided in front of the feeding rack, and the conveyor belt is parallel to the feeding guide rail. A robotic arm is installed between the conveyor belt and the feeding guide rail. A placement mechanism is installed on the robotic arm. The placement mechanism includes a positioning seat fixedly installed at the end of the robotic arm. A mounting frame is fixedly installed on the positioning seat. An adjusting guide rail is fixedly installed on the mounting frame. Six adjusting sliders are installed on the adjusting guide rail, wherein the rightmost adjusting slider is fixedly installed on the adjusting guide rail, and the remaining adjusting sliders are slidably installed on the adjusting guide rail. A suction nozzle is fixedly installed on each adjusting slider. An adjusting mechanism is installed between the adjusting sliders.

[0007] Preferably, the mounting bracket has an inlet / outlet hole on one side, a cylinder is fixedly installed at the inlet / outlet hole, and the output end of the cylinder is fixedly installed on the adjusting slider.

[0008] Preferably, the adjusting slider has a sliding hole, and the adjusting slider is slidably installed in the adjusting guide rail through the sliding hole.

[0009] Preferably, the adjusting slider is movably mounted inside the mounting bracket via an adjusting guide rail, and the output end of the cylinder extends into the mounting bracket through an inlet / outlet hole.

[0010] Preferably, the adjusting mechanism includes a fixed frame fixedly mounted on the adjusting slider, a T-shaped groove is provided on the fixed frame, a screw is slidably mounted on the fixed frame, a T-shaped frame is connected to the screw, a nut is rotatably mounted inside the T-shaped frame, a worm gear is fixedly mounted on the nut, and a worm is rotatably mounted on one side of the worm gear, with the worm gear and the worm meshing together.

[0011] Preferably, the T-shaped frame has a movable groove, and the nut is movably installed inside the T-shaped frame through the movable groove.

[0012] Preferably, the T-shaped frame is movably installed in the T-shaped groove, and the T-shaped frame is connected to the fixed frame by a nut.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. In this application, before picking up the palletized parts, the extension action of the cylinder is controlled to move the adjusting slider, thereby reducing the distance between the suction nozzles and facilitating the picking up of the palletized parts closely arranged on the feeding guide rail. After the suction nozzles successfully pick up the palletized parts, the retraction action of the cylinder will trigger the extension of the adjusting slider, thereby adjusting the distance between the suction nozzles to be equal to the placement distance of the palletized parts, ensuring that the palletized parts are accurately placed on the palletized surface at an appropriate distance.

[0015] 2. In this application, the rotational motion of the worm gear is transmitted to the worm wheel through meshing, thereby driving the worm wheel to rotate. The rotation of the worm wheel then acts on the nut, causing it to rotate. The rotation of the nut causes axial displacement of the screw, and by adjusting the extension length of the screw, the distance between the sliders can be adjusted. Ultimately, according to specific placement requirements, the spacing between the placement components can be precisely controlled by changing the distance between the sliders. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a partial structural schematic diagram of the present invention;

[0018] Figure 3 This is a schematic diagram of the placement mechanism of this utility model;

[0019] Figure 4This is a schematic diagram of the adjustment mechanism of this utility model;

[0020] Figure 5 This is a partial schematic diagram of the adjustment mechanism of this utility model.

[0021] The diagram shows the following markings: 1. Equipment base; 2. Conveyor belt; 3. Robotic arm; 4. Vibratory feeder; 5. Feeding guide rail; 6. Placement mechanism; 601. Positioning seat; 602. Mounting bracket; 603. Adjusting guide rail; 604. Cylinder; 605. Inlet / outlet hole; 606. Suction nozzle; 607. Adjusting slider; 7. Adjusting mechanism; 701. Fixing bracket; 702. Nut; 703. T-shaped bracket; 704. T-slot; 705. Worm gear; 706. Worm wheel; 707. Screw; 8. Feeding rack. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] like Figure 1 and Figure 2 As shown, this utility model provides a technical solution for a single-station robot automatic tray-laying device, including a device base 1, on which a vibratory feeder 4 and a feeding rack 8 are fixedly installed. The output end of the vibratory feeder 4 is connected to a feeding guide rail 5. A conveyor belt 2 is provided in front of the feeding rack 8, and the conveyor belt 2 and the feeding guide rail 5 are parallel to each other. A robotic arm 3 is installed between the conveyor belt 2 and the feeding guide rail 5. A placement mechanism 6 is installed on the robotic arm 3. An adjustment mechanism 7 is installed between the adjusting sliders 607. Through the cooperation of the adjustment mechanism 7 and the placement mechanism 6, the placement spacing of the placement items can be adjusted according to the placement requirements.

[0024] like Figure 2 and Figure 3As shown, the placement mechanism 6 includes a positioning seat 601 fixedly installed at the end of the robotic arm 3. A mounting bracket 602 is fixedly installed on the positioning seat 601. An adjusting guide rail 603 is fixedly installed on the mounting bracket 602. Six adjusting sliders 607 are installed on the adjusting guide rail 603. The rightmost adjusting slider 607 is fixedly installed on the adjusting guide rail 603, while the other adjusting sliders 607 are slidably installed on the adjusting guide rail 603. A suction nozzle 606 is fixedly installed on the adjusting slider 607. An inlet / outlet hole 605 is opened on one side of the mounting bracket 602. A cylinder 604 is fixedly installed at the inlet / outlet hole 605, and the output end of the cylinder 604 is fixedly installed on the adjusting slider 607. A sliding hole is opened on the adjusting slider 607, and the adjusting slider 607 is slidably installed in the adjusting guide rail 603 through the sliding hole.

[0025] Specifically, before the suction nozzle 606 begins to pick up the palletized parts, the operator can precisely control the extension of the cylinder 604 through the control system. When the cylinder 604 extends as instructed, the connecting adjusting slider 607 also moves and gradually closes, making the distance between the suction nozzles 606 very small. This design ensures that the suction nozzle 606 can easily and accurately pick up the palletized parts closely arranged on the feeding guide rail 5, thereby improving the picking efficiency and accuracy. After the suction nozzle 606 successfully picks up the palletized parts, the control system will issue another command to control the cylinder 604 to retract. As the cylinder 604 retracts, the adjusting slider 607 will also extend accordingly, restoring the distance between the suction nozzles 606 to be equal to the placement spacing. In this way, the suction nozzle 606 can accurately place the picked-up palletized parts on the pallet surface according to the pre-set appropriate spacing.

[0026] like Figure 2 , Figure 4 and Figure 5 As shown, the adjustment mechanism 7 includes a fixed frame 701 fixedly mounted on the adjustment slider 607. The fixed frame 701 has a T-shaped groove 704. A screw 707 is slidably mounted on the fixed frame 701. A T-shaped frame 703 is connected to the screw 707. A nut 702 is rotatably mounted inside the T-shaped frame 703. A worm gear 706 is fixedly mounted on the nut 702. A worm 705 is rotatably mounted on one side of the worm gear 706, and the worm gear 706 and the worm 705 mesh together. A movable groove is provided on the T-shaped frame 703, and the nut 702 is movably mounted inside the T-shaped frame 703 through the movable groove.

[0027] Specifically, when the operator manually rotates the worm gear 705, it drives the worm wheel 706 to rotate. The rotation of the worm wheel 706 is not isolated; it further drives the connected nut 702 to rotate as well. Through the engagement of the threads, the extension length of the mating screw 707 can be precisely adjusted. Specifically, as the nut 702 rotates, the screw 707, under the action of external force, will extend or retract accordingly, thereby achieving precise control over the extension length of the screw 707.

[0028] Once the extension length of the screw 707 is adjusted to the desired position, this change in length directly affects the connected adjusting slider 607. When the adjusting sliders 607 are extended, the spacing between them adjusts accordingly with the change in the extension length of the screw 707. Through this linkage mechanism, the operator can flexibly adjust the spacing between the placement components according to actual placement needs, ensuring that the components are precisely placed according to the predetermined layout and intervals, meeting different usage scenarios and functional requirements.

[0029] Working principle: The conveyor belt 2 moves the disc to below the robotic arm 3, and the feeding guide rail 5 moves the swaying disc to below the robotic arm 3. Then, the robotic arm 3 drives the suction nozzle 606 to move between the conveyor belt 2 and the feeding guide rail 5, thereby using the suction nozzle 606 to pick up the swaying disc on the feeding guide rail 5 and place it on the swaying disc. Before the suction nozzle 606 picks up the swaying disc, the extension of the cylinder 604 can be controlled. When the cylinder 604 extends, it will drive the adjusting slider 607 to move closer, so that the distance between the suction nozzles 606 is very small, which is convenient for picking up the swaying discs that are closely arranged on the feeding guide rail 5. After the suction nozzle 606 picks up the swaying disc, the retraction of the cylinder 604 can be controlled. After the cylinder 604 retracts, the adjusting slider 607 will unfold accordingly, so that the distance between the suction nozzles 606 is equal to the placement spacing, and the swaying discs are placed on the surface of the swaying disc at a suitable spacing. Meanwhile, the user can rotate the worm 705, which will drive the worm wheel 706 to rotate. The rotation of the worm wheel 706 will drive the nut 702 to rotate. After the nut 702 rotates, the extension length of the screw 707 can be adjusted. After the extension length of the screw 707 is adjusted, the spacing when the adjusting slider 607 is unfolded can be changed, thereby adjusting the placement spacing of the placement parts according to the placement requirements.

[0030] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A single-station robotic automatic tray-loading device, comprising a device base (1), on which a vibratory feeder (4) and a feeding rack (8) are fixedly installed, the output end of the vibratory feeder (4) is connected to a feeding guide rail (5), a conveyor belt (2) is provided in front of the feeding rack (8), and the conveyor belt (2) is parallel to the feeding guide rail (5), and a robotic arm (3) is installed between the conveyor belt (2) and the feeding guide rail (5), characterized in that: The robotic arm (3) is equipped with a placement mechanism (6), which includes a positioning seat (601) fixedly installed at the end of the robotic arm (3). A mounting bracket (602) is fixedly installed on the positioning seat (601). An adjustment guide rail (603) is fixedly installed on the mounting bracket (602). Six adjustment sliders (607) are installed on the adjustment guide rail (603). The rightmost adjustment slider (607) is fixedly installed on the adjustment guide rail (603), and the remaining adjustment sliders (607) are slidably installed on the adjustment guide rail (603). A suction nozzle (606) is fixedly installed on each adjustment slider (607). An adjustment mechanism (7) is installed between the adjustment sliders (607).

2. The single-station robot automatic tray-setting device according to claim 1, characterized in that: The mounting bracket (602) has an inlet / outlet hole (605) on one side, and a cylinder (604) is fixedly installed at the inlet / outlet hole (605), and the output end of the cylinder (604) is fixedly installed on the adjusting slider (607).

3. The single-station robot automatic tray-setting device according to claim 2, characterized in that: The adjusting slider (607) has a sliding hole, and the adjusting slider (607) is slidably installed in the adjusting guide rail (603) through the sliding hole.

4. The single-station robot automatic tray-setting device according to claim 3, characterized in that: The adjusting slider (607) is movably mounted inside the mounting bracket (602) via the adjusting guide rail (603), and the output end of the cylinder (604) extends into the mounting bracket (602) through the inlet / outlet hole (605).

5. The single-station robot automatic tray-setting device according to claim 4, characterized in that: The adjustment mechanism (7) includes a fixed frame (701) fixedly installed on the adjustment slider (607). A T-shaped groove (704) is provided on the fixed frame (701). A screw (707) is slidably installed on the fixed frame (701). A T-shaped frame (703) is connected to the screw (707). A nut (702) is rotatably installed inside the T-shaped frame (703). A worm wheel (706) is fixedly installed on the nut (702). A worm (705) is rotatably installed on one side of the worm wheel (706), and the worm wheel (706) and the worm (705) mesh together.

6. The single-station robot automatic tray-setting device according to claim 5, characterized in that: The T-shaped frame (703) has a movable groove, and the nut (702) is movably installed in the T-shaped frame (703) through the movable groove.

7. The single-station robot automatic tray-setting device according to claim 6, characterized in that: The T-shaped frame (703) is movably installed in the T-shaped groove (704), and the T-shaped frame (703) is connected to the fixed frame (701) by a nut (702).

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