A tray material detection and empty space replenishment mechanism

Abstract

The utility model discloses a tray material detection and empty position material supplementing mechanism, including material placing mechanism, manipulator, jacking mechanism and detection equipment, detection equipment and material placing mechanism can detect the material on material placing mechanism, and the manipulator and jacking mechanism all are in the side of material placing mechanism, and the tray is in the side of manipulator, and the manipulator can shift the material between tray, jacking mechanism and material placing mechanism, when the jacking mechanism is in the state of lifting, the manipulator can place / pick up the material from jacking mechanism, when the jacking mechanism is in the state of falling, the manipulator can shift the material between tray and material placing mechanism. The utility model can realize the detection of material, and guarantee that the material on the tray is all qualified material, and the manipulator is not influenced by unqualified product in the process of taking back the material to the tray, guarantees the full material in the tray, and is convenient for subsequent production operation.

Description

Technical Field

[0001] This utility model discloses a pallet material detection and empty space replenishment mechanism, which belongs to the field of automated detection technology. Background Technology

[0002] In today's automated production lines, manufactured materials or workpieces need to be inspected to determine their quality. The main steps include a robotic arm picking up materials from a feeding tray and placing them in the inspection area. After inspection, the robotic arm returns qualified materials to the tray and rejects unqualified materials. During this process, if one or more materials are determined to be unqualified and need to be rejected, the corresponding material position in the tray will be missing material. In subsequent processing or cleaning steps, the missing material in the tray will be inconvenient for subsequent operations and may even require machine stoppage for replenishment. To ensure that there are no empty spaces in the tray, this utility model designs a tray material detection and empty space replenishment mechanism. Utility Model Content

[0003] To overcome the shortcomings of existing technologies, this utility model proposes a pallet material detection and empty space replenishment mechanism, which can detect the materials in the pallet and ensure that there are no empty spaces when qualified products are placed in the pallet.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a pallet material detection and empty space replenishment mechanism, characterized in that: it includes a material placement mechanism, a robot arm, a lifting mechanism, and a detection device. The detection device and the material placement mechanism can detect the material on the material placement mechanism. The robot arm and the lifting mechanism are both located beside the material placement mechanism, and the pallet is located beside the robot arm. The robot arm can transfer the material between the pallet, the lifting mechanism, and the material placement mechanism. When the lifting mechanism is in a lifted state, the robot arm can place / grab the material from the lifting mechanism. When the lifting mechanism is in a lowered state, the robot arm can transfer the material between the pallet and the material placement mechanism.

[0005] Furthermore, in the aforementioned pallet material detection and empty space replenishment mechanism, the lifting mechanism includes a base, a cylinder, and a fixing component. The cylinder is fixedly connected to the base, and the fixing component is fixedly connected to the movable end of the cylinder. The cylinder's movement can cause the fixing component to lift / lower, and the material can be placed on the fixing component.

[0006] Furthermore, in the aforementioned pallet material detection and empty space replenishment mechanism, the fixed component includes a support plate, a base, and a clamping component. The support plate is fixedly connected to the movable end of the cylinder. The base and the clamping component are both fixedly connected to the support plate, and the base and the clamping component are arranged opposite to each other. A sensor is provided on the base. When the cylinder is in the falling state, the sensor can detect whether there is material placed on the fixed component.

[0007] Furthermore, in the aforementioned pallet material detection and empty space replenishment mechanism, the material placement mechanism is a turntable with a connecting plate along its edge. A fixed seat is provided on the connecting plate, and a placement groove is formed on the fixed seat. The material can be placed in the placement groove. The detection device is located beside the turntable, and the detection device is positioned corresponding to the fixed seat.

[0008] Furthermore, in the aforementioned pallet material detection and empty space replenishment mechanism, multiple connecting plates are provided, and each connecting plate is evenly distributed on the outer periphery of the turntable.

[0009] Furthermore, in the aforementioned pallet material detection and empty space replenishment mechanism, the detection device is an industrial camera.

[0010] Furthermore, in the aforementioned pallet material detection and empty space replenishment mechanism, the front end of the robotic arm is provided with multiple grippers, each gripper can be opened / clamped independently for placing or picking up materials, and 2 to 6 grippers can be provided. The number of fixed parts of the lifting mechanism corresponds to the number of grippers.

[0011] Furthermore, in the aforementioned pallet material detection and empty space replenishment mechanism, the number of placement slots on the fixed seat on the connecting plate corresponds to the number of grippers.

[0012] The advantages of this utility model are: it can detect materials and ensure that all materials on the pallet are qualified materials. During the process of the robot arm taking the materials back to the pallet, it is not affected by unqualified products, ensuring that the pallet is full of materials, which facilitates subsequent production operations. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the pallet material detection and empty space replenishment mechanism of this utility model; Figure 2 Detailed schematic diagrams of the turntable, lifting mechanism, robotic arm, and pallet; Figure 3 This is a schematic diagram of the lifting mechanism. Figure 4 This is a schematic diagram of the material placement area on the turntable; Figure 5 This is a schematic diagram of the gripper structure of a robotic arm.

[0014] The markings in the diagram represent the following: 1. Material placement mechanism; 11. Connecting plate; 12. Fixed base; 2. Robotic arm; 21. Gripper; 3. Pallet; 4. Lifting mechanism; 41. Base; 42. Cylinder; 43. Support plate; 44. Base; 45. Clamping component; 46. Sensor; 5. Detection equipment; 6. Material. Detailed Implementation

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Element in the present invention is referred to as being "fixed to" or "set on" another element; it may be directly on another element or may have an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may have an intervening element present. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0016] like Figure 1 and Figure 2 As shown, this utility model provides a pallet material detection and empty space replenishment mechanism, including a material placement mechanism 1, a robotic arm 2, a lifting mechanism 4, and a detection device 5. The robotic arm 2 can achieve three-axis movement. The detection device 5 is positioned corresponding to the material placement mechanism 1 and can detect the material on the material placement mechanism 1. The robotic arm 2 and the lifting mechanism 4 are both located beside the material placement mechanism 1, and the pallet 3 is located beside the robotic arm 2. The robotic arm 2 can transfer material 6 between the pallet 3, the lifting mechanism 4, and the material placement mechanism 1. When the lifting mechanism 4 is in the lifting state, the robotic arm 2 places / grabs material 6 from the lifting mechanism 4. When the lifting mechanism 4 is in the lowering state, the robotic arm 2 can transfer material 6 between the pallet 3 and the material placement mechanism 1.

[0017] Specifically, such as Figure 3 The lifting mechanism 4 includes a base 41, a cylinder 42, and a fixing component. The cylinder 42 is fixedly connected to the base 41, and the fixing component is fixedly connected to the movable end of the cylinder 42. The cylinder 42's movement can lift / lower the fixing component, allowing material 6 to be placed on it. The fixing component includes a support plate 43, a base 44, and a clamping component 45. The support plate 43 is fixedly connected to the movable end of the cylinder, and both the base 44 and the clamping component 45 are fixedly connected to the support plate 43, with the base 44 and clamping component 45 positioned opposite each other. A sensor 46 is provided on the base 41. When the cylinder 42 is in the lowered state, the sensor 46 can detect whether material 6 is present on the fixing component.

[0018] like Figure 1 and Figure 4 As shown, the material placement mechanism 1 is a turntable with a connecting plate 11 along its edge. A fixing seat 12 is mounted on the connecting plate 11, and a placement groove is formed on the fixing seat 12, into which the material 6 can be placed. Multiple connecting plates 11 are provided, evenly distributed around the outer perimeter of the turntable. The detection device 5 is located beside the turntable, corresponding to the fixing seat 12. The detection device 5 is an industrial camera used to inspect the structure or surface of the material.

[0019] It should be noted that setting the material placement mechanism 1 as a turntable is only a preferred option. The rotation of the turntable can realize the detection of materials one by one. Of course, an ordinary support table can also be used as a substitute, with the robotic arm 2 placing the materials on the table or taking the materials from the table.

[0020] like Figure 5 As shown, the front end of the robotic arm 2 is provided with multiple grippers 21. Each gripper 21 can be opened / clamped independently for placing or picking up materials. The grippers are equipped with sensors to detect whether there are materials on the grippers. There can be 2 to 6 grippers. The number of grippers 21 corresponds to the number of fixed parts of the lifting mechanism 4, and the number of grippers 21 corresponds to the number of placement slots on the fixed seat 12 on the connecting plate 11.

[0021] The working principle of this utility model is as follows: The material placement mechanism 1 rotates, and the robotic arm 2 first picks up the material 6 from the tray 3 and places it into the various placement slots of the fixed seat 12 of the material placement mechanism 1. The material placement mechanism 1 continues to rotate, and the detection device 5 checks each material individually and records whether it is a defective product. After the material placement mechanism 1 rotates one revolution, the robotic arm 2 simultaneously picks up the inspected material 6 from the material placement mechanism 1. The robotic arm classifies the material 6 according to the inspection results. Qualified material 6 is preferentially placed on the empty fixed part of the lifting mechanism 4. If the material 6 is a defective product... Then, material 6 is put into the waste bin, and the robot arm picks up the newly delivered material 6 from the material placement mechanism 1 after inspection. If the fixed part of the lifting mechanism 4 is full of qualified material 6, the lifting mechanism 4 is lowered. Subsequently, the robot arm 2 picks up the inspected material 6 from the material placement mechanism 1 and returns it to the tray 3. During this process, if there is a gap in the gripper 21 of the robot arm 2 due to unqualified material 6, the fixed part of the lifting mechanism 4 is lifted up, and qualified material 6 is replenished from the lifted fixed part. Then, the robot arm 2 puts the material 6 on the filled gripper 21 back to the empty position of the tray 3 according to the empty position of the tray. During the process of the robotic arm 2 picking up material 6 from the material placement mechanism 1 and transferring it to the tray 3, if the sensor 46 detects that there is no material 6 on the lifting mechanism 4, the robotic arm 2 will first replenish the missing position on the fixing seat 12 of the lifting mechanism 4 with qualified material 6, keeping the fixing seat 12 of the lifting mechanism 4 full of qualified material 6. Then, the robotic arm 2 will place the remaining qualified material 6 on the gripper 21 back into the empty positions of the tray 3 according to the order of the empty positions. Finally, the robotic arm 2 will pick up the qualified material 6 from the lifting mechanism 4 and put it back into the tray 3.

[0022] As can be seen from the above description, this utility model can detect materials and ensure that all materials on the pallet 3 are qualified materials. During the process of the robot arm 2 taking the material 6 back to the pallet, it is not affected by unqualified products, ensuring that the pallet is full of materials, which facilitates subsequent production operations.

[0023] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A pallet material detection and empty space replenishment mechanism, characterized in that: The device includes a material placement mechanism (1), a robotic arm (2), a lifting mechanism (4), and a detection device (5). The detection device (5) and the material placement mechanism (1) can detect the material on the material placement mechanism (1). The robotic arm (2) and the lifting mechanism (4) are located on the side of the material placement mechanism (1), and the tray (3) is located on the side of the robotic arm (2). The robotic arm (2) can transfer the material (6) between the tray (3), the lifting mechanism (4), and the material placement mechanism (1). When the lifting mechanism (4) is in the lifting state, the robotic arm (2) can place / grab the material (6) from the lifting mechanism (4). When the lifting mechanism (4) is in the lowering state, the robotic arm (2) can transfer the material (6) between the tray (3) and the material placement mechanism (1).

2. The pallet material detection and empty space replenishment mechanism according to claim 1, characterized in that: The lifting mechanism (4) includes a base (41), a cylinder (42) and a fixing component. The cylinder (42) is fixedly connected to the base (41), and the fixing component is fixedly connected to the movable end of the cylinder (42). The cylinder (42) can lift / lower the fixing component when it moves, and the material (6) can be placed on the fixing component.

3. The pallet material detection and empty space replenishment mechanism according to claim 2, characterized in that: The fixing component includes a support plate (43), a fixing component base (44), and a clamping member (45). The support plate (43) is fixedly connected to the movable end of the cylinder. The fixing component base (44) and the clamping member (45) are both fixedly connected to the support plate (43), and the fixing component base (44) and the clamping member (45) are arranged opposite to each other. A sensor (46) is provided on the base (41). When the cylinder (42) is in the falling state, the sensor (46) can detect whether there is material (6) placed on the fixing component.

4. The pallet material detection and empty space replenishment mechanism according to claim 1, characterized in that: The material placement mechanism (1) is a turntable. The turntable has a connecting plate (11) on its edge. The connecting plate (11) has a fixed seat (12) on it. The fixed seat (12) has a placement groove. The material (6) can be placed in the placement groove. The detection device (5) is located on the side of the turntable, and the detection device (5) is in a position corresponding to the fixed seat (12).

5. The pallet material detection and empty space replenishment mechanism according to claim 4, characterized in that: The connecting plate (11) is provided in multiple ways, and each connecting plate (11) is evenly distributed on the outer periphery of the turntable.

6. The pallet material detection and empty space replenishment mechanism according to claim 5, characterized in that: The detection device (5) is an industrial camera.

7. The pallet material detection and empty space replenishment mechanism according to claim 2, characterized in that: The front end of the robotic arm (2) is provided with multiple grippers (21), each gripper (21) can be opened / clamped independently for putting down or picking up materials (6). There can be 2 to 6 grippers, and the number of fixed parts of the lifting mechanism (4) corresponds to the number of grippers (21).

8. The pallet material detection and empty space replenishment mechanism according to claim 4, characterized in that: The number of slots for the fixing seat (12) on the connecting plate (11) corresponds to the number of grippers (21).

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