A fully automatic hardware parts picking and placing device

Abstract

This utility model discloses a fully automatic hardware parts picking and placing device in the field of hardware parts assembly technology, including a feeding machine box, a receiving machine box, and a feeding robot. The feeding robot sequentially places materials from multiple storage trays onto the discharge tray at designated points according to installation requirements. The receiving machine box is equipped with a receiving robot, which is equipped with a receiving clamp head. The receiving clamp head includes a clamping group and an adsorption group. The clamping group includes a clamping unit composed of multiple clamping cylinders, and the adsorption group includes an adsorption unit composed of multiple adsorption heads. The feeding machine box and receiving machine box of this utility model can realize highly efficient and fully automated operation of rapid picking up, centralized transfer, and conveying of multiple materials to the next workstation, without the need for step-by-step transfer of individual parts. The feeding claw and receiving clamp head meet the clamping requirements of most parts, eliminating the need for additional manual operation, greatly improving production efficiency, and saving time and labor costs.

Description

Technical Field

[0001] This utility model relates to the field of hardware assembly technology, specifically to a fully automatic hardware loading and unloading device. Background Technology

[0002] In the assembly and production process of hardware parts, since most parts are small and difficult to position, and include not only metal parts but also plastic parts such as injection molded parts, it is difficult to transport and assemble them as a whole. Although various robotic arms and fixtures are available on the market, for such a diverse set of parts for single assembly, they can only be picked up and assembled one by one. Most of the time of the robotic arm is not spent picking up, but on transport and positioning actions. This means that although the degree of mechanization and automation is improving, the overall assembly efficiency of parts is still not greatly improved.

[0003] Based on this, this utility model designs a fully automatic hardware parts picking and placing device to solve the above problems. Utility Model Content

[0004] The purpose of this utility model is to provide a fully automatic hardware parts handling device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: An automated hardware parts handling device includes a feeding machine box and a receiving machine box. The feeding machine box houses multiple unloading machines, each with a sequentially discharging storage tray at its bottom outlet. A feeding robot arm equipped with feeding claws is positioned above the storage trays. The receiving machine box is adjacent to the feeding machine box with a reserved operating space between them. The feeding machine box extends outwards towards the operating space, with a discharge tray. The feeding robot arm sequentially places materials from the storage trays onto the discharge trays according to installation requirements. A receiving robot arm is mounted on the receiving machine box facing the operating space, equipped with a receiving clamp head. The receiving clamp head includes a clamping group and an adsorption group. The clamping group comprises a clamping unit consisting of multiple clamping cylinders, and the adsorption group comprises an adsorption unit consisting of multiple adsorption heads. The receiving machine box is equipped with a receiving processing table for receiving materials from the receiving clamp head.

[0006] As a further embodiment of this utility model: a discharge rack is provided facing the operating space, the discharge rack includes a linear drive device, and the discharge plate is installed on the drive end of the discharge rack.

[0007] As a further embodiment of this utility model: the surfaces of the discharge tray and the receiving processing table are provided with part storage and positioning grooves of various specifications and sizes.

[0008] As a further embodiment of this utility model: the part storage and positioning groove is provided with multiple air holes, and the air holes are connected to an external air inflator to provide negative pressure.

[0009] As a further embodiment of this utility model: the adsorption head includes a magnetic head and an adsorption mechanism. The magnetic head includes an electromagnetic head, and the end face of the electromagnetic head is provided with a variety of part adsorption grooves. The adsorption mechanism includes a plurality of air holes embedded in the part adsorption grooves. The air holes are connected to an external air pump through a flexible air tube. The receiving clamp head is provided with a lifting cylinder for driving the multiple electromagnetic heads to rise and fall.

[0010] As a further embodiment of this utility model: the end face of the electromagnetic head is flush with and attached to the end face of the discharge tray.

[0011] As a further embodiment of this utility model: the loading robot and the receiving robot are at least six-axis robotic arms.

[0012] As a further embodiment of this utility model, a visual recognition system is provided in the feeding box, the receiving box, and the operating space.

[0013] Compared with the prior art, the beneficial effects of this utility model are: 1. The feeding and receiving machine boxes of this utility model can realize efficient and fully automated operation of quickly picking up multiple materials, centrally transferring them, and conveying them to the next work station. There is no need for individual parts to be transferred step by step. The feeding claws and receiving clamps meet the clamping requirements of most parts. No additional manual operation is required, which greatly improves production efficiency and saves time and labor costs. 2. This utility model forms a relatively sealed cavity by connecting the part storage and positioning groove and the part adsorption groove. The air hole on the discharge tray disconnects the negative pressure of the air path, and the air hole on the electromagnetic head provides pneumatic negative pressure. Thus, the parts can be transferred to the part adsorption groove of the electromagnetic head without damage and with precision, completing the precise transfer action of small sheet-like parts. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the internal structure of the feeding machine casing; Figure 3 This is a schematic diagram of the material receiving clamp head; Figure 4 This is a schematic diagram of the clamping cylinder. Figure 5 This is a schematic diagram of the adsorption component.

[0015] The attached diagram lists the components represented by each number as follows: 1. Loading machine housing, 10. Unloading machine, 11. Storage tray, 12. Loading robot, 13. Loading claw, 14. Discharge rack, 15. Discharge tray, 2. Receiving machine housing, 20. Receiving processing table, 21. Receiving robot, 22. Receiving clamp head, 23. Clamping cylinder, 24. Adsorption head, 25. Electromagnetic head, 26. Part adsorption tank, 27. Soft cylinder, 28. Lifting cylinder. Detailed Implementation Example 1

[0016] Please see Figure 1-5 This utility model provides a technical solution: a fully automatic hardware parts handling device, including a loading machine box 1 and a receiving machine box 2. The loading machine box 1 houses multiple unloading machines 10, each with a sequentially discharging storage tray 11 at its bottom outlet. Above the storage trays 11 is a loading robot 12 equipped with loading claws 13. The receiving machine box 2 is adjacent to the loading machine box 1, with a reserved operating space between them. The loading machine box 1 extends outwards towards the operating space with a discharge tray 15. The loading robot 12 sequentially places the materials in the multiple storage trays 11 at the specified points on the discharge tray 15 according to the installation requirements. The receiving machine box 2 is equipped with a receiving robot 21 facing the operating space. The receiving robot 21 is equipped with a receiving clamp head 22. The receiving clamp head 22 includes a clamping group and an adsorption group. The clamping group includes a clamping unit composed of multiple clamping cylinders 23. The adsorption group includes an adsorption unit composed of multiple adsorption heads 24. The receiving machine box 2 is provided with a receiving processing table 20 for receiving materials from the receiving clamp head 22. During operation, the unloading machine 10 of the loading machine box 1 stores various materials. The unloading machine 10 is a vibrating type, which can meet the sequential discharge of various parts. The storage tray 11 is set according to the actual specifications of the parts, ensuring that the sequentially discharged parts can be neatly placed in the corresponding storage tray 11 area. The loading robot 12, according to the part ratio, places the matched parts one by one on the discharge tray 15 through the loading claw 13. After the placement is completed, the receiving robot 21 takes out the parts from the discharge tray 15 as a whole through the receiving clamp head 22 and transfers them to the receiving processing table 20 of the receiving machine box 2. Here, the receiving clamp head 22 is used to process the parts. The clamping unit on the upper part is designed according to the part structure and provides multiple clamping points, which can clamp parts that cannot be adsorbed, such as injection molded irregular parts, as a whole. The adsorption head 24 is mainly used for individual adsorption of small parts with flat surfaces, ensuring the overall movement of various parts. Thus, the loading box 1 and receiving box 2 set in this application can realize efficient and fully automated operation of rapid picking up of multiple materials, centralized transfer, and delivery to the next station. There is no need for individual parts to be transferred step by step. The loading claw 13 and receiving clamp head 22 meet the clamping requirements of most parts, and no additional manual operation is required, which greatly improves production efficiency and saves time and labor costs.

[0017] The 1-direction operating space is provided with a discharge rack 14, the discharge rack 14 includes a linear drive device, and the discharge plate 15 is installed on the drive end of the discharge rack 14; During operation, since the loading robot 12 and the receiving robot 21 are set up adjacent to each other, in order to prevent collisions and reserve the maximum safe operating space, the parts can be placed in the loading machine box 1 before the discharge tray 15 is fully equipped. After the parts are matched, they are then transported outward to the picking range of the receiving robot 21 through the discharge rack 14, thereby improving the safety of operation.

[0018] The surfaces of the discharge tray 15 and the receiving processing table 20 are provided with part storage and positioning slots of various specifications and sizes. During operation, the actual picking action of the loading robot 12 is very fast. In order to ensure that the parts are placed on the discharge tray 15 stably, the part storage positioning slot is set to reduce the bumps and vibrations generated when the parts are removed from the loading claw 13, promote the automatic alignment and reset of the parts, and ensure the overall picking accuracy of the receiving clamp head 22.

[0019] The part storage and positioning groove is provided with multiple air holes, and the air holes are connected to an external air inflator to provide negative pressure. During operation, for some large structural components, the part storage and positioning slot can ensure the stability of the parts. However, for some sheet-like parts, such as conductive sheets and connecting sheets, which are small in mass, displacement and shaking can easily occur even under the airflow disturbance caused by the material receiving clamp head 22 descending to pick up the material. Therefore, for these types of parts, the negative pressure function of the air hole can be turned on to achieve the stable positioning function of the sheet material.

[0020] The loading robot 12 and the receiving robot 21 are at least six-axis robotic arms; The feeding machine box 1, the receiving machine box 2, and the operating space are all equipped with a visual recognition system; During operation, the six-axis robotic arm is not only more flexible, especially for large parts, but it can also optimize the transfer path, allowing parts to be transferred at a certain angle, reducing the operating space required. Compared with traditional sensors, the vision recognition system can identify whether large parts meet the transfer requirements, and whether the movements of the loading robot 12, receiving robot 21, unloading tray 15, and receiving clamp head 22 are in line with the production rhythm. It performs intelligent recognition and analysis on a larger scale and with a more overall movement effect, reducing major production accidents. Example 2

[0021] The difference between this embodiment and Embodiment 1 is that: The adsorption head 24 includes a magnetic head and an adsorption mechanism. The magnetic head includes an electromagnetic head 25. The end face of the electromagnetic head 25 is provided with a variety of part adsorption grooves 26. The adsorption mechanism includes a variety of air holes embedded in the part adsorption grooves 26. The air holes are connected to an external air pump through a flexible air tube 27. The receiving clamp head 22 is provided with a lifting cylinder 28 for driving the multiple electromagnetic heads 25 to rise and fall. The end face of the electromagnetic head 25 is flush with and attached to the end face of the discharge plate 15. During operation, the electromagnetic head 25 uses a control circuit to achieve magnetic adsorption and dispensing. An external air pump synchronously controls the generation and disappearance of negative pressure in the air vents. The end face of the electromagnetic head 25 is specially designed to be flush with the end face of the discharge tray 15. Thus, the lifting cylinder 28 can move the part adsorption tank 26 to the end face of the discharge tray 15 to fit together. Through the docking of the part receiving and positioning slot and the part adsorption tank 26, a relatively sealed cavity is formed. The air vents on the discharge tray 15 disconnect the negative pressure in the air path, while the air vents on the electromagnetic head 25 provide pneumatic negative pressure. As a result, the parts can be transferred into the part adsorption tank 26 of the electromagnetic head 25 without damage and with precision, completing the precise transfer of small sheet parts.

Claims

1. A full-automatic hardware taking and placing equipment, comprising a feeding machine box (1) and a receiving machine box (2), characterized in that: The loading machine box (1) is equipped with multiple unloading machines (10). Each unloading machine (10) has a storage tray (11) for sequential material discharge at its bottom outlet. A loading robot (12) is installed above the multiple storage trays (11). The loading robot (12) is equipped with a loading claw (13). The receiving machine box (2) is located adjacent to the loading machine box (1) and an operating space is reserved between them. The loading machine box (1) extends outward toward the operating space with a discharge tray (15). The loading robot (12) sequentially discharges the multiple storage trays (11) into the storage trays (11). 1) The internal material installation and setting requirements are to be placed on the discharge tray (15) at a fixed point. The receiving machine box (2) is equipped with a receiving robot (21) facing the operating space. The receiving robot (21) is equipped with a receiving clamp head (22). The receiving clamp head (22) includes a clamping group and an adsorption group. The clamping group includes a clamping unit composed of multiple clamping cylinders (23). The adsorption group includes an adsorption unit composed of multiple adsorption heads (24). The receiving machine box (2) is provided with a receiving processing table (20) for receiving the material of the receiving clamp head (22).

2. The full-automatic hardware taking and placing equipment according to claim 1, characterized in that: The (1) is provided with a discharge rack (14) facing the operating space. The discharge rack (14) includes a linear drive device, and the discharge plate (15) is installed on the drive end of the discharge rack (14).

3. The full-automatic hardware taking and placing equipment according to claim 1, characterized in that: The surfaces of the discharge tray (15) and the receiving processing table (20) are provided with part storage and positioning slots of various specifications and sizes.

4. The full-automatic hardware taking and placing equipment according to claim 3, characterized in that: The part storage and positioning slot is provided with multiple air holes, and the air holes are connected to an external air inflator to provide negative pressure.

5. The full-automatic hardware taking and placing equipment according to claim 4, characterized in that: The adsorption head (24) includes a magnetic head and an adsorption mechanism. The magnetic head includes an electromagnetic head (25). The end face of the electromagnetic head (25) is provided with a variety of part adsorption grooves (26). The adsorption mechanism includes a variety of air holes embedded in the part adsorption grooves (26). The air holes are connected to an external air pump through a flexible air tube (27). The receiving clamp head (22) is provided with a lifting cylinder (28) for driving the multiple electromagnetic heads (25) to rise and fall.

6. The full-automatic hardware taking and placing equipment according to claim 5, characterized in that: The end face of the electromagnetic head (25) is flush with and attached to the end face of the discharge plate (15).

7. The full-automatic hardware taking and placing equipment according to claim 1, characterized in that: The loading robot (12) and the receiving robot (21) are at least six-axis robotic arms.

8. The full-automatic hardware taking and placing equipment according to claim 1, characterized in that: The feeding machine box (1), the receiving machine box (2), and the operating space are all equipped with a visual recognition system.

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