A robot material receiving, tray arranging, tray disassembling, feeding and assembling device

Abstract

The utility model discloses a kind of robot material receiving tray placing and disassembling feeding assembly equipment, including belt line: the one side of belt line is fixedly installed with lower rack and with the upper rack of lower rack top fixed, the both sides of lower rack inner chamber are provided with tray lifting mechanism for feeding and discharging, the top of tray lifting mechanism is provided with tray in-out mechanism for feeding and discharging, the top of lower rack is provided with pick-and-place four-axis robot for picking and placing material;The utility model is set between the cooperation of belt line, belt line positioning upper camera, pick-and-place four-axis robot, product positioning lower camera, tray transfer mechanism, tray positioning upper camera, tray lifting mechanism and tray in-out mechanism, can effectively improve productivity, reduce production cost, and product pass rate is high, according to camera photographing positioning, provide the product and position coordinate of pick-and-place four-axis robot, stable and efficient operation, whole machine automation degree is high, and change type is convenient and fast.

Description

Technical Field

[0001] This utility model relates to the field of automated loading and unloading technology, specifically to a robotic material receiving, tray placement, tray disassembly, loading, and assembly equipment. Background Technology

[0002] In the existing production process, the material receiving and tray placement and unpacking / loading processes have long relied on manual operation, which has many technical drawbacks: The traditional production method of receiving and tray placement involves manually picking up materials on the conveyor belt and placing them into the trays one by one, and then changing the trays when they are full. This requires a large number of workers, resulting in low productivity, high production costs, and the sweat of workers during the loading process can easily cause secondary pollution.

[0003] The traditional production method of disassembling and loading materials involves manually taking materials from the trays and placing them sequentially on the conveyor belt or the product body to be assembled. After the tray is empty, it is changed. This method requires a lot of manpower, resulting in low productivity, high production costs, and inconsistent work skills among workers, leading to a low pass rate.

[0004] Although some semi-automatic loading and unloading equipment exists in the existing technology, they generally suffer from problems such as limited functionality, low positioning accuracy, and cumbersome changeover, and cannot meet the production needs of modern production lines for multiple varieties, high precision, and high efficiency. Utility Model Content

[0005] The purpose of this invention is to provide a robotic material receiving, tray placement, disassembly, loading, and assembly equipment that can effectively improve productivity, reduce production costs, and achieve a high product qualification rate. Based on the cooperation between various structures, it forms an automatic material receiving, tray placement, disassembly, and loading operation, eliminating the need for manual material handling on the conveyor belt and manual material handling from the trays. Through multi-mechanism collaboration and visual positioning technology, it achieves full automation of the material receiving, tray placement, disassembly, and loading process, thereby solving the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robotic material receiving, tray placement, tray unloading, loading, and assembly device, comprising a conveyor belt:

[0007] A lower frame and an upper frame fixed to the top of the lower frame are fixedly installed on one side of the conveyor belt. Both sides of the inner cavity of the lower frame are provided with a tray lifting mechanism for loading and unloading materials. The top of the tray lifting mechanism is provided with a tray loading and unloading mechanism for loading and unloading materials. The top of the lower frame is provided with a four-axis robot for loading and unloading materials. The upper frame is fixedly installed with a conveyor belt positioning camera and a tray positioning camera. The inner cavity of the lower frame is fixedly installed with a product positioning camera. The top of the lower frame is also provided with a tray transfer mechanism for transferring materials.

[0008] For example, the four-axis robot for picking and placing materials includes an adjustment component disposed on the top of the lower frame, and one end of the adjustment component is provided with a double-headed ZR axis.

[0009] For example, the adjustment assembly includes a fixed frame fixedly mounted on the top of the lower frame and a four-axis robotic arm fixed to the top of the fixed frame, one end of the four-axis robotic arm being connected to a dual-head ZR axis.

[0010] For example, the tray transfer mechanism includes a movable component disposed on the top of the lower frame, and a support component is disposed on the movable component.

[0011] For example, the moving component includes a transfer motor fixedly mounted on the lower frame, and a first slide rail adapted to the transfer motor is also fixedly mounted on the top of the lower frame.

[0012] For example, the support assembly includes a support plate fixedly mounted on the moving part of the transfer motor, and a first presence / absence sensor is fixedly mounted on the bottom of the support plate.

[0013] For example, the material tray lifting mechanism includes mounting brackets disposed on both sides of the inner cavity of the lower frame and a first motor fixed to one side of the mounting brackets. The output shaft of the first motor is driven by a lead screw that is rotatably connected to the mounting brackets.

[0014] For example, a second slide rail and a support frame that slides and adapts to the second slide rail are fixedly installed on both sides of the surface of the mounting frame. A second presence / absence sensor is fixedly installed on the inner side wall of the support frame, and a positioning sensor is fixedly installed on the top of one side of the mounting frame.

[0015] For example, the tray feeding mechanism includes a bracket fixedly installed on the top of the support frame, and a second motor is fixedly installed on the inner side wall of the bracket.

[0016] For example, a lifting position sensor is fixedly installed at the bottom of the inner cavity of the bracket, and a discharge port sensor is fixedly installed at one end of the bottom of the inner cavity of the bracket.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] This utility model, through the coordinated arrangement of a conveyor belt, a conveyor belt positioning camera, a four-axis robot for picking and placing materials, a product positioning camera, a tray transfer mechanism, a tray positioning camera, a tray lifting mechanism, and a tray in / out mechanism, can effectively improve productivity, reduce production costs, and achieve a high product qualification rate. Based on the camera's image positioning, it provides the four-axis robot with the product and position coordinates for picking and placing materials, ensuring stable and efficient operation, a high degree of automation, and convenient and quick model changeover.

[0019] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention can be realized and obtained through the structures pointed out in the description and the accompanying drawings. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the mounting box structure of this utility model;

[0022] Figure 3 This is a schematic diagram of the lower frame structure of this utility model;

[0023] Figure 4 This is a schematic diagram of the material tray lifting mechanism of this utility model;

[0024] Figure 5 This is a schematic diagram of the four-axis robotic arm structure of this utility model;

[0025] Figure 6 This is a schematic diagram of the first sensor structure of this utility model;

[0026] Figure 7 This is a schematic diagram of the second sensor structure of this utility model;

[0027] Figure 8 This is a schematic diagram of the lifting position sensor structure of this utility model.

[0028] In the diagram: 1. Conveyor belt; 2. Conveyor belt positioning camera; 3. Four-axis robot for picking and placing materials; 31. Fixing frame; 32. Four-axis robotic arm; 33. Dual-head ZR axis; 4. Product positioning camera; 5. Tray transfer mechanism; 51. Transfer motor; 52. Support plate; 53. First presence / absence sensor; 54. First slide rail; 6. Tray positioning camera; 7. Tray lifting mechanism; 71. Mounting frame; 72. First motor; 73. Lead screw; 74. Second slide rail; 75. Support frame; 76. Second presence / absence sensor; 77. Position sensor; 8. Tray in / out mechanism; 81. Support; 82. Second motor; 83. Lifting position sensor; 84. Discharge port sensor; 9. Lower frame; 10. Upper frame. Detailed Implementation

[0029] 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.

[0030] This utility model provides a robotic material receiving, tray placement, tray disassembly, loading, and assembly device, including a belt conveyor 1:

[0031] A lower frame 9 and an upper frame 10 fixed to the top of the lower frame 9 are fixedly installed on one side of the conveyor belt 1. Both sides of the inner cavity of the lower frame 9 are provided with a material tray lifting mechanism 7 for loading and unloading materials. The top of the material tray lifting mechanism 7 is provided with a material tray loading and unloading mechanism 8 for loading and unloading materials. The top of the lower frame 9 is provided with a four-axis robot 3 for loading and unloading materials. The upper frame 10 is fixedly installed with a conveyor belt positioning camera 2 and a material tray positioning camera 6. The inner cavity of the lower frame 9 is fixedly installed with a product positioning lower camera 4. The top of the lower frame 9 is also provided with a material tray transfer mechanism 5 for transferring materials.

[0032] Belt 1 is used for product conveying and can be designed with frequency conversion speed regulation according to requirements. Its belt surface is set with anti-slip texture to prevent the product from shifting during the conveying process.

[0033] The belt conveyor positioning camera 2, the tray positioning camera 6, and the product positioning camera 4 can form a vision positioning system. This system includes, but is not limited to, using industrial CCD cameras and can be equipped with ring lights depending on the application scenario to ensure positioning accuracy in complex lighting environments.

[0034] The belt conveyor positioning camera 2 is fixed to the top inside the upper frame 10, facing the material picking area of ​​the belt conveyor 1, and is used to capture the position coordinates of the products on the belt conveyor 1.

[0035] The tray positioning camera 6 is also fixed inside the upper frame 10, facing the tray placement area, and is used to locate the coordinates of the product placement station in the tray.

[0036] The product positioning camera 4 is fixed in the middle of the inner cavity of the lower frame 9, facing upwards to take pictures, which helps to confirm the front and back of the product and the position of details, and improves the accuracy of picking up and putting down materials;

[0037] After the camera captures images, it transmits the coordinate data of the product and the tray to the equipment control system, providing a precise motion trajectory for the four-axis robot 3 that picks and places materials. This method is a mature existing technology and therefore does not need further explanation.

[0038] Preferred:

[0039] like Figure 5As shown, the four-axis robot 3 for picking and placing materials includes an adjustment component set on the top of the lower frame 9. One end of the adjustment component is equipped with a double-headed ZR axis 33. The four-axis robot 3 for picking and placing materials realizes the precise picking and placing of products between the conveyor belt 1 and the material tray, and at the same time completes the picking and placing operations of the material tray, the conveyor belt 1 and the product body when disassembling the tray.

[0040] further:

[0041] like Figure 5 As shown, the adjustment assembly includes a fixed frame 31 fixedly installed on the top of the lower frame 9 and a four-axis robotic arm 32 fixed to the top of the fixed frame 31. One end of the four-axis robotic arm 32 is connected to a dual-head ZR axis 33. The four-axis robotic arm 32 is driven by a servo motor. The dual-head ZR axis 33 is connected to the end of the four-axis robotic arm 32 and is equipped with a vacuum suction cup gripper. It can be replaced with a mechanical gripper according to the shape of the product, supporting the simultaneous handling of two products and improving work efficiency.

[0042] Going a step further:

[0043] like Figure 4 As shown, the material tray transfer mechanism 5 includes a movable component disposed on the top of the lower frame 9, and a support component is disposed on the movable component.

[0044] in:

[0045] like Figure 6 As shown, the moving component includes a transfer motor 51 fixedly installed on the lower frame 9. The top of the lower frame 9 is also fixedly installed with a first slide rail 54 that is compatible with the transfer motor 51. The transfer motor 51 of the material tray transfer mechanism 5 is a stepper motor with adjustable speed. The first slide rail 54 is a linear guide rail to ensure smooth transfer. The bearing plate 52 is used to support the material tray, and its size can be adapted to various specifications of material trays.

[0046] in addition:

[0047] like Figure 6 As shown, the support assembly includes a support plate 52 fixedly mounted on the moving part of the transfer motor 51. A first presence / absence sensor 53 is fixedly mounted on the bottom of the support plate 52. The first presence / absence sensor 53 can be a photoelectric sensor, used to detect whether there is a material tray on the support plate 52, including but not limited to photoelectric sensors.

[0048] It is worth noting that:

[0049] like Figure 7As shown, the material tray lifting mechanism 7 includes a mounting bracket 71 disposed on both sides of the inner cavity of the lower frame 9 and a first motor 72 fixed to one side of the mounting bracket 71. The output shaft of the first motor 72 is driven to a lead screw 73 rotatably connected to the mounting bracket 71. The material tray lifting mechanism 7 realizes the vertical lifting of the material tray, and works with the material tray inlet and outlet mechanism 8 to complete the full tray discharge and empty tray feeding, while providing a suitable material tray height for picking up and putting down materials.

[0050] in:

[0051] like Figure 7 As shown, a second slide rail 74 and a support frame 75 that slides and adapts to the second slide rail 74 are fixedly installed on both sides of the surface of the mounting frame 71. A second presence / absence sensor 76 is fixedly installed on the inner side wall of the support frame 75. The second presence / absence sensor 76 is used to detect the stacking height of the material tray on the support frame 75. A position sensor 77 is fixedly installed on the top of one side of the mounting frame 71. The position sensor 77 is a proximity switch used to detect whether the support frame 75 has risen to the material pick-up / placement station.

[0052] in addition:

[0053] like Figure 8 As shown, the tray feeding mechanism 8 includes a bracket 81 fixedly installed on the top of the support frame 75, and a second motor 82 is fixedly installed on the inner side wall of the bracket 81.

[0054] The tray feeding mechanism 8 enables automatic feeding of trays, such as when an empty tray enters the equipment, and automatic discharging, such as when a full tray leaves the equipment, and connects to an external tray storage rack or conveyor line.

[0055] at last:

[0056] like Figure 8 As shown, a lifting position sensor 83 is fixedly installed at the bottom of the inner cavity of the bracket 81. The lifting position sensor 83 is used to detect whether the lifting position of the material tray is aligned with the inlet and outlet channels. A discharge port sensor 84 is fixedly installed at one end of the bottom of the inner cavity of the bracket 81. The discharge port sensor 84 is used to detect whether the material tray has been completely moved out of or into the equipment to ensure that the inlet and outlet are in place.

[0057] Material receiving and tray placement method: The product is received by the conveyor belt 1. The camera 2 on the conveyor belt is positioned to take pictures and provide product coordinates for the four-axis robot 3 to pick up and place the product. The robot moves to the product positioning camera 4 to take pictures and confirm the product posture coordinates. At the same time, the tray positioning camera 6 provides the tray placement coordinates. The four-axis robot 3 moves to the corresponding coordinates to place the product. The tray transfer mechanism 5 moves the tray to the set placement position to wait for the material. The tray lifting mechanism 7 switches between full and empty trays for loading and unloading. The tray entry and exit mechanism 8 moves the full and empty trays into and out of the machine, that is, the lower frame 9.

[0058] Material receiving and plating process:

[0059] After the equipment is started, the belt conveyor 1 transports products at a preset speed. The empty material tray enters the support 81 through the material tray inlet and outlet mechanism 8. After the lifting position sensor 83 detects the material tray, the first motor 72 of the material tray lifting mechanism 7 drives the lead screw 73 to drive the support frame 75 to rise to the material pick-up and drop-off position. The position sensor 77 sends out the position signal.

[0060] The upper camera 2 on the belt line positions the product on the belt line 1 to take pictures and position it, while the lower camera 4 assists in confirming the product's posture and transmits the coordinate data to the control system.

[0061] The four-axis robot 3, based on coordinate data, adjusts its posture through the four-axis robotic arm 32, and the gripper of the dual-head ZR axis 33 grasps or adsorbs the product.

[0062] The camera 6 positions the placement station in the material tray and controls and guides the four-axis robot to accurately place the product into the corresponding station in the material tray.

[0063] When the tray is full, the stacking height is detected by the second presence / absence sensor 76. The transfer motor 51 of the tray transfer mechanism 5 drives the support plate 52 to move along the first slide rail 54 to the bottom of the tray. The support plate 52 lifts the tray and moves it to the top of the lifting mechanism.

[0064] The material tray lifting mechanism 7 drives the full tray to descend, and the second motor 82 of the material tray in / out mechanism 8 drives the conveying rollers to move the full tray out of the equipment. At the same time, a new empty material tray enters, and the above process is repeated.

[0065] Disassembly and assembly method: The tray positioning camera 6 provides the tray picking coordinates, the four-axis robot 3 moves to the corresponding coordinates to pick up the material, and moves to the product positioning camera 4 to take pictures to confirm the product posture coordinates. At the same time, the product body is fed through the belt conveyor 1, the belt conveyor positioning camera 2 takes pictures and provides the product body coordinates to the four-axis robot 3. The four-axis robot 3 moves to the product body position to assemble or place the material, the tray transfer mechanism 5 moves the tray to the set material placement position to wait for picking up the material, the tray lifting mechanism 7 switches between full and empty trays for loading and unloading, and the tray in and out mechanism 8 moves full and empty trays in and out of the machine.

[0066] Disassembly and loading process:

[0067] The stacked full trays enter the support 81 through the tray inlet / outlet mechanism 8. After the lifting position sensor 83 detects the position, the tray lifting mechanism 7 drives the support frame 75 to rise, and the position sensor 77 sends a signal.

[0068] The upper camera 6 of the tray positioning takes pictures of the products in the tray to locate them, and the lower camera 4 of the product positioning assists in confirming the product position. The coordinate data is transmitted to the control system.

[0069] The four-axis robot 3 picks up and puts in the material tray according to the coordinate data, and the four-axis robot arm 32 adjusts its posture to accurately place the product on the conveyor belt 1 or the designated assembly station.

[0070] When the tray is empty, it is detected by the second presence / absence sensor 76. The tray transfer mechanism 5 moves the empty tray above the lifting mechanism, the tray lifting mechanism 7 drives the empty tray to descend, and the tray in / out mechanism 8 moves the empty tray out of the equipment.

[0071] The new full material tray enters the equipment via the tray loading / unloading mechanism 8, and the above tray disassembly and loading process is repeated.

[0072] The four-axis robotic arm model 32 is SR400, and the dual-head ZR axis 33 is equipped with a vacuum suction cup;

[0073] The CCD camera model is MV-CE500-30GM, and the fill light is a ring LED fill light;

[0074] The transfer motor 51 is model 57HS22, and the first slide rail 54 is model THKSR20;

[0075] The first motor, model 72, is SGM7J-04AFC6S, and the lead screw, model 73, is SFU1605.

[0076] The second motor, model 82, is 5IK120RGN-CF, and all of its sensors are diffuse reflection photoelectric sensors.

[0077] The specific equipment models used include those mentioned above, but are not limited to those models.

[0078] Adopting a four-axis robot and dual-head gripper design, the equipment has a high frequency of material handling and loading, and can continuously perform high-frequency material receiving and tray placement or tray unpacking and loading operations, which improves efficiency compared to manual labor; the tray changing process is automated, requiring no manual intervention, shortening tray changing time and significantly enhancing the continuity of operation.

[0079] The equipment has low energy consumption and no easily damaged parts that require frequent replacement, resulting in low maintenance costs.

[0080] The visual positioning system has high positioning accuracy, and the robot has high repeatability in picking up and placing materials, avoiding deviations and contamination caused by manual operation, improving the product qualification rate, ensuring good consistency in product placement, and eliminating losses such as collisions and scratches, thus reducing the product loss rate.

[0081] It is easy to change models and supports the operation of various product specifications. When changing models, you only need to adjust the camera parameters, robot loading and unloading programs and fixtures through the touch screen. There is no need to change the mechanical structure. The changeover time is short and meets the needs of multi-variety small-batch production.

[0082] With a high degree of automation and convenient operation, the equipment integrates fully automated operation without the need for continuous human intervention. Only one operator is required to monitor the equipment and replenish the material tray. The touch screen operation interface is intuitive and easy to understand, supports parameter storage and retrieval, and facilitates production management.

[0083] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic material receiving, tray placement, tray disassembly, loading, and assembly device, characterized in that, Including the belt conveyor (1): A lower frame (9) and an upper frame (10) fixed to the top of the lower frame (9) are fixedly installed on one side of the conveyor belt (1). A material tray lifting mechanism (7) for loading and unloading is provided on both sides of the inner cavity of the lower frame (9). A material tray loading and unloading mechanism (8) for loading and unloading is provided on the top of the material tray lifting mechanism (7). A four-axis robot (3) for loading and unloading is provided on the top of the lower frame (9). A conveyor belt positioning upper camera (2) and a material tray positioning upper camera (6) are fixedly installed inside the upper frame (10). A product positioning lower camera (4) is fixedly installed in the inner cavity of the lower frame (9). A material tray transfer mechanism (5) for transferring materials is also provided on the top of the lower frame (9).

2. The robotic material receiving, tray placement, tray disassembly, loading, and assembly equipment according to claim 1, characterized in that: The four-axis robot (3) for picking up and placing materials includes an adjustment component located on the top of the lower frame (9), and one end of the adjustment component is provided with a double-headed ZR axis (33).

3. The robotic material receiving, tray placement, disassembly, loading, and assembly equipment according to claim 2, characterized in that: The adjustment assembly includes a fixed frame (31) fixedly installed on the top of the lower frame (9) and a four-axis robotic arm (32) fixed to the top of the fixed frame (31), one end of which is connected to a dual-head ZR axis (33).

4. The robotic material receiving, tray placement, tray disassembly, loading, and assembly equipment according to claim 1, characterized in that: The tray transfer mechanism (5) includes a movable component disposed on the top of the lower frame (9), and a support component is disposed on the movable component.

5. The robotic material receiving, tray placement, tray disassembly, loading, and assembly equipment according to claim 4, characterized in that: The moving component includes a transfer motor (51) fixedly mounted on the lower frame (9), and a first slide rail (54) adapted to the transfer motor (51) is also fixedly mounted on the top of the lower frame (9).

6. The robotic material receiving, tray placement, tray disassembly, loading, and assembly equipment according to claim 5, characterized in that: The support assembly includes a support plate (52) fixedly mounted on the moving part of the transfer motor (51), and a first presence / absence sensor (53) is fixedly mounted on the bottom of the support plate (52).

7. The robotic material receiving, tray placement, tray disassembly, loading, and assembly equipment according to claim 1, characterized in that: The material tray lifting mechanism (7) includes a mounting frame (71) set on both sides of the inner cavity of the lower frame (9) and a first motor (72) fixed to one side of the mounting frame (71). The output shaft of the first motor (72) is connected to a lead screw (73) that is rotatably connected to the mounting frame (71).

8. The robotic material receiving, tray placement, tray disassembly, loading, and assembly equipment according to claim 7, characterized in that: The mounting bracket (71) has a second slide rail (74) and a support frame (75) that slides and adapts to the second slide rail (74) fixedly installed on both sides of its surface. The support frame (75) has a second presence / absence sensor (76) fixedly installed on its inner side wall. The mounting bracket (71) has a position sensor (77) fixedly installed on its top side.

9. The robotic material receiving, tray placement, tray disassembly, loading, and assembly equipment according to claim 1, characterized in that: The tray feeding mechanism (8) includes a bracket (81) fixedly installed on the top of the support frame (75), and a second motor (82) is fixedly installed on the inner side wall of the bracket (81).

10. A robotic material receiving, tray placement, tray disassembly, loading, and assembly device according to claim 9, characterized in that: A lifting position sensor (83) is fixedly installed at the bottom of the inner cavity of the bracket (81), and a discharge port sensor (84) is fixedly installed at one end of the bottom of the inner cavity of the bracket (81).

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