Aluminum-magnesium alloy palletizing device with robot collaboration structure

Abstract

The utility model belongs to aluminum magnesium alloy stacking technical field especially has aluminum magnesium alloy stacking device with robot cooperation structure, including mounting bracket, be provided with conveyer belt on the front and back side inner wall of mounting bracket, the front side fixed connection of mounting bracket has PLC controller, be provided with correction guide mechanism and attitude correction mechanism from left to right between conveyer belt and mounting bracket, the top rear side fixed connection of mounting bracket has work piece detection sensor, be provided with robot cooperation mechanism on the bottom inner wall of mounting bracket. The utility model structure design is reasonable, and many institutions cooperate and cooperate, reduce manual intervention, promote the stacking efficiency, satisfy the demand of large -scale production, through correction guide, attitude correction, visual positioning, work piece calibration etc. mechanism, ensure work piece delivery, snatch, stacking process precision, stack neatly, reduce the scrap rate, and synergic control, reduce the idle waiting time, improve work efficiency, and high reliability.

Description

Technical Field

[0001] This utility model relates to the field of aluminum-magnesium alloy palletizing technology, and in particular to an aluminum-magnesium alloy palletizing device with a robot collaborative structure. Background Technology

[0002] After production, aluminum-magnesium alloy workpieces (such as automotive die-cast parts and industrial profiles) need to be palletized, stored, or transferred. Traditional aluminum-magnesium alloy palletizing devices have shortcomings. The lack of effective guidance and posture adjustment when the workpieces are transported on the conveyor belt makes them prone to displacement and tilting, resulting in difficulties in subsequent gripping and affecting palletizing efficiency and accuracy. Moreover, the stacking of workpieces is prone to displacement during the palletizing process, and the higher the layer, the greater the displacement, making them prone to tipping over during subsequent storage. Therefore, we propose an aluminum-magnesium alloy palletizing device with a robot collaborative structure to solve the above problems. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings mentioned above by proposing an aluminum-magnesium alloy palletizing device with a robotic collaborative structure.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A palletizing device for aluminum-magnesium alloys with a robotic collaborative structure includes a mounting frame. Conveyor belts are installed on the front and rear inner walls of the mounting frame. A PLC controller is fixedly connected to the front of the mounting frame. A correction and guidance mechanism and an attitude correction mechanism are arranged from left to right between the conveyor belts and the mounting frame. A workpiece detection sensor is fixedly connected to the top rear side of the mounting frame. A robotic collaborative mechanism is installed on the bottom inner wall of the mounting frame. A hydraulic cylinder is fixedly connected to the bottom inner wall of the mounting frame. A palletizing platform is fixedly connected to the output shaft of the hydraulic cylinder. A pallet plate is movably placed on the top of the palletizing platform. A workpiece calibration mechanism is arranged between the mounting frame and the pallet. A layer height detection sensor is fixedly connected to the top of the palletizing platform.

[0005] As a preferred embodiment of this utility model, the correction and guidance mechanism includes two cylinders, which are respectively fixedly connected to the front and rear sides of the mounting frame. A guide plate is fixedly connected to the output shaft of the cylinder, a laser rangefinder is fixedly connected to the front side of the rear guide plate, and a correction plate is fixedly connected to one side of the guide plate.

[0006] As a preferred embodiment of this utility model, the back of the guide plate is fixedly connected to two guide rods, and the four guide rods are slidably sleeved on the front and rear sides of the mounting frame.

[0007] As a preferred embodiment of this utility model, the posture correction mechanism includes two cylinders, which are respectively fixedly connected to the front and rear sides of the mounting frame. A mounting cover is fixedly connected to the output shaft of the cylinder, and the same correction roller is rotatably connected to the inner walls of both sides of the mounting cover.

[0008] As a preferred embodiment of this utility model, the back of the mounting cover is fixedly connected to a second guide rod, and the two second guide rods are slidably connected to the front and rear sides of the mounting frame, respectively.

[0009] As a preferred embodiment of this invention, the robot collaboration mechanism includes a six-axis industrial robot, with a pneumatic gripper fixedly connected to the end of the six-axis industrial robot's robotic arm, and a visual positioning camera fixedly connected to the top of the pneumatic gripper.

[0010] As a preferred embodiment of this utility model, the workpiece calibration mechanism includes two workpiece calibration components, which are respectively disposed on the rear and right sides of the palletizing platform. Each workpiece calibration component includes two guide rods three fixedly connected to the inner wall of the bottom of the mounting frame. The palletizing platform is slidably sleeved on the outside of the four guide rods three. The top ends of the two guide rods three are fixedly connected to the same support plate. A cylinder three is fixedly connected to one side of the support plate. A positioning plate is fixedly connected to the output shaft of the cylinder three.

[0011] As a preferred embodiment of this invention, two guide rods are slidably connected to the support plate, and both guide rods are fixedly connected to the back of the positioning plate.

[0012] In this utility model, an aluminum-magnesium alloy palletizing device with a robot collaborative structure is described. Multiple mechanisms work together to reduce manual intervention, improve palletizing efficiency, and meet the needs of large-scale production. Through mechanisms such as correction guidance, posture correction, visual positioning, and workpiece calibration, it ensures that the workpiece conveying, gripping, and palletizing processes are accurate, the stacks are neat, and the scrap rate is reduced.

[0013] In this utility model, an aluminum-magnesium alloy palletizing device with a robot collaborative structure is described. A six-axis industrial robot works in conjunction with a vision positioning camera to accurately grasp workpieces. It is coordinated with the conveying mechanism to reduce idle waiting time. The PLC controller controls all mechanisms in a unified manner to realize automated palletizing, reduce labor intensity, and improve production safety. This utility model has a reasonable structural design with multiple mechanisms working together to reduce manual intervention, improve palletizing efficiency, and meet the needs of large-scale production. Through mechanisms such as correction guidance, posture correction, visual positioning, and workpiece calibration, it ensures that the workpiece conveying, gripping, and palletizing processes are accurate, the stacks are neat, and the scrap rate is reduced. Moreover, the collaborative control reduces idle waiting time, improves work efficiency, and has high reliability. Attached Figure Description

[0014] Figure 1This is a schematic diagram of an aluminum-magnesium alloy palletizing device with a robot collaborative structure proposed in this utility model.

[0015] Figure 2 This is a partial top view of an aluminum-magnesium alloy palletizing device with a robot collaborative structure proposed in this utility model.

[0016] Figure 3 for Figure 2 A schematic diagram of the structure of part A.

[0017] Figure 4 This is a cross-sectional view of the palletizing platform of an aluminum-magnesium alloy palletizing device with a robot collaborative structure proposed in this utility model.

[0018] In the diagram: 1. Mounting frame; 2. PLC controller; 3. Conveyor belt; 4. Correction and guidance mechanism; 41. Cylinder 1; 42. Guide rod 1; 43. Laser rangefinder; 44. Guide plate; 45. Correction plate; 5. Posture correction mechanism; 51. Cylinder 2; 52. Guide rod 2; 53. Mounting cover; 54. Correction roller; 6. Workpiece detection sensor; 7. Robot collaboration mechanism; 71. Six-axis industrial robot; 72. Vision positioning camera; 73. Pneumatic gripper; 8. Workpiece calibration mechanism; 81. Guide rod 3; 82. Support plate; 83. Cylinder 3; 84. Guide rod 4; 85. Positioning plate; 9. Hydraulic cylinder; 10. Palletizing platform; 11. Pallet; 12. Layer height detection sensor. Detailed Implementation

[0019] 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.

[0020] Reference Figures 1-4 A palletizing device for aluminum-magnesium alloys with a robot collaborative structure includes a mounting frame 1. A conveyor belt 3 is provided on the inner walls of the front and rear sides of the mounting frame 1. A PLC controller 2 is fixedly connected to the front side of the mounting frame 1. A correction and guidance mechanism 4 and an attitude correction mechanism 5 are provided between the conveyor belt 3 and the mounting frame 1 from left to right. A workpiece detection sensor 6 (photoelectric sensor) is fixedly connected to the rear top side of the mounting frame 1. A robot collaborative mechanism 7 is provided on the inner wall of the bottom of the mounting frame 1. A hydraulic cylinder 9 is fixedly connected to the inner wall of the bottom of the mounting frame 1. A palletizing platform 10 is fixedly connected to the output shaft of the hydraulic cylinder 9. A pallet 11 is movably placed on the top of the palletizing platform 10. A workpiece calibration mechanism 8 is provided between the mounting frame 1 and the pallet 11. A layer height detection sensor 12 (a laser displacement sensor) is fixedly connected to the top of the palletizing platform 10.

[0021] Specifically, the calibration guide mechanism 4—precise delivery guide: The calibration guide mechanism 4 includes two cylinders 41, which are fixedly connected to the front and rear sides of the mounting frame 1 respectively. A guide plate 44 is fixedly connected to the output shaft of the cylinder 41. A laser rangefinder 43 is fixedly connected to the front side of the rear guide plate 44. A calibration plate 45 is fixedly connected to one side of the guide plate 44. Two guide rods 42 are fixedly connected to the back of the guide plate 44. The four guide rods 42 are slidably sleeved on the front and rear sides of the mounting frame 1 respectively.

[0022] Working principle: PLC controller 2 controls cylinder 41 to extend and retract, driving guide plate 44 to move along guide rod 42, adjusting the spacing of guide plates 44 to adapt to workpieces of different widths. Laser rangefinder 43 can detect the spacing between the two guide plates 44 to adapt to the front and rear width of the workpiece, accurately controlling guide plate 44 to guide the workpiece. Correction plate 45 can automatically correct when the workpiece is conveyed to the right.

[0023] Specifically, the posture correction mechanism 5 adjusts the workpiece posture: The posture correction mechanism 5 includes two cylinders 51, which are fixedly connected to the front and rear sides of the mounting frame 1 respectively. A mounting cover 53 is fixedly connected to the output shaft of the cylinder 51. The same correction roller 54 is rotatably connected to the inner walls on both sides of the mounting cover 53. A guide rod 52 is fixedly connected to the back of the mounting cover 53. The two guide rods 52 are slidably connected to the front and rear sides of the mounting frame 1 respectively.

[0024] Working principle: Cylinder 2 51 drives the mounting cover 53 to move along guide rod 2 52, so that the straightening roller 54 (a rubber roller) contacts the workpiece. By using the rotation and squeezing of the straightening roller 54, the posture of the workpiece on the conveyor belt is adjusted to ensure that the posture of the workpiece is consistent when the robot grasps it.

[0025] 3. Robot Collaboration Mechanism 7 – Precise Grabbing and Palletizing: The robot collaboration mechanism 7 includes a six-axis industrial robot 71 (model ABB-IRB-1200). The end of the robotic arm of the six-axis industrial robot 71 is fixedly connected to a pneumatic gripper 73, and a vision positioning camera 72 is fixedly connected to the top of the pneumatic gripper 73.

[0026] Working principle: After the workpiece detection sensor 6 detects that the workpiece is in place, the vision positioning camera 72 captures an image of the workpiece to determine its position and posture. Based on the vision positioning information, the six-axis industrial robot 71 controls the pneumatic gripper 73 to accurately grasp the workpiece and place it at the designated position on the pallet 11.

[0027] Specifically, the workpiece calibration mechanism 8—post-palletizing calibration: The workpiece calibration mechanism 8 includes two workpiece calibration components, which are respectively set on the rear and right sides of the palletizing platform 10. The workpiece calibration components include two guide rods 81 fixedly connected to the inner wall of the bottom of the mounting frame 1. The palletizing platform 10 is slidably sleeved on the outside of the four guide rods 81. The top of the two guide rods 81 is fixedly connected to the same support plate 82. A cylinder 83 is fixedly connected to one side of the support plate 82. A positioning plate 85 is fixedly connected to the output shaft of the cylinder 83. Two guide rods 84 are slidably connected to the support plate 82. Both guide rods 84 are fixedly connected to the back of the positioning plate 85.

[0028] Working principle: Hydraulic cylinder 9 drives palletizing platform 10 to rise and fall along guide rod 3 81, adjusting the height of pallet 11 to suit palletizing requirements. Layer height detection sensor 12 detects the palletizing height in real time and feeds back the data to PLC controller 2, controlling hydraulic cylinder 9 to ensure accurate palletizing layer height. After each layer of workpieces is completed, cylinder 3 83 drives positioning plate 85 to move along guide rod 4 84 to calibrate the workpieces on pallet 11, ensuring that the workpieces are stacked neatly. Guide rod 4 84 ensures that positioning plate 85 (the side that contacts the workpiece can be equipped with a rubber pad to avoid damaging the workpiece) moves smoothly and accurately.

[0029] The entire workflow is as follows: The workpiece is placed on the conveyor belt 3. The cylinder 41 of the correction and guiding mechanism 4 drives the guide plate 44 to adjust the spacing. The laser rangefinder 43 assists in precise guidance, so that the workpiece is transported in the correct direction. The cylinder 51 of the posture correction mechanism 5 pushes the mounting cover 53. The correction roller 54 contacts and adjusts the posture of the workpiece to ensure that the subsequent gripping posture is consistent. After the workpiece detection sensor 6 detects that the workpiece has been transported to the correct position, the vision positioning camera 72 (a 2D industrial camera) positions the workpiece. The six-axis industrial robot 71 controls the pneumatic gripper 73 to grip the workpiece and place it on the pallet 11. After each layer of palletizing is completed, the cylinder 83 of the workpiece calibration mechanism 8 drives the positioning plate 85 to calibrate the workpiece. The layer height detection sensor 12 detects the palletizing height. The hydraulic cylinder 9 adjusts the height of the palletizing platform 10 to proceed with the next layer of palletizing.

Claims

1. An aluminum magnesium alloy palletizing device having a robot cooperative structure, characterized by, The system includes a mounting frame (1), a conveyor belt (3) on the front and rear inner walls of the mounting frame (1), a PLC controller (2) fixedly connected to the front of the mounting frame (1), a correction guide mechanism (4) and an attitude correction mechanism (5) arranged from left to right between the conveyor belt (3) and the mounting frame (1), a workpiece detection sensor (6) fixedly connected to the top rear side of the mounting frame (1), a robot collaboration mechanism (7) arranged on the bottom inner wall of the mounting frame (1), a hydraulic cylinder (9) fixedly connected to the bottom inner wall of the mounting frame (1), a palletizing platform (10) fixedly connected to the output shaft of the hydraulic cylinder (9), a pallet (11) movably placed on the top of the palletizing platform (10), a workpiece calibration mechanism (8) arranged between the mounting frame (1) and the pallet (11), and a layer height detection sensor (12) fixedly connected to the top of the palletizing platform (10).

2. The aluminum magnesium alloy palletizing device having a robot collaborative structure according to claim 1, characterized by, The correction and guidance mechanism (4) includes two cylinders (41), which are fixedly connected to the front and rear sides of the mounting frame (1) respectively. A guide plate (44) is fixedly connected to the output shaft of the cylinder (41), and a laser rangefinder (43) is fixedly connected to the front side of the rear guide plate (44). A correction plate (45) is fixedly connected to one side of the guide plate (44).

3. The aluminum-magnesium alloy palletizing device with a robot collaborative structure according to claim 2, characterized in that, Two guide rods (42) are fixedly connected to the back of the guide plate (44), and the four guide rods (42) are slidably sleeved on the front and rear sides of the mounting frame (1).

4. The aluminum magnesium alloy palletizing device having a robot collaborative structure according to claim 1, characterized by, The posture correction mechanism (5) includes two cylinders (51), which are fixedly connected to the front and rear sides of the mounting frame (1) respectively. A mounting cover (53) is fixedly connected to the output shaft of the cylinder (51), and the same correction roller (54) is rotatably connected to the inner walls on both sides of the mounting cover (53).

5. The aluminum magnesium alloy palletizing device having a robot collaborative structure according to claim 4, characterized by, The back of the mounting cover (53) is fixedly connected to guide rod two (52), and the two guide rod two (52) are slidably connected to the front and rear sides of the mounting frame (1).

6. The aluminum-magnesium alloy palletizing device with a robot collaborative structure according to claim 1, characterized in that, The robot collaboration mechanism (7) includes a six-axis industrial robot (71), with a pneumatic gripper (73) fixedly connected to the end of the robotic arm of the six-axis industrial robot (71), and a visual positioning camera (72) fixedly connected to the top of the pneumatic gripper (73).

7. The aluminum-magnesium alloy palletizing device with a robot collaborative structure according to claim 1, characterized in that, The workpiece calibration mechanism (8) includes two workpiece calibration components, which are respectively set on the rear and right sides of the palletizing platform (10). The workpiece calibration components include two guide rods (81) fixedly connected to the inner wall of the bottom of the mounting frame (1). The palletizing platform (10) is slidably sleeved on the outside of the four guide rods (81). The top of the two guide rods (81) is fixedly connected to the same support plate (82). A cylinder (83) is fixedly connected to one side of the support plate (82). A positioning plate (85) is fixedly connected to the output shaft of the cylinder (83).

8. The aluminum-magnesium alloy palletizing device with a robot collaborative structure according to claim 7, characterized in that, Two guide rods (84) are slidably connected to the support plate (82), and both guide rods (84) are fixedly connected to the back of the positioning plate (85).

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