Disordered grabbing code piling device

Abstract

The utility model provides a kind of disorderly grabbing code stacking device, belong to chip processing technical field.A kind of disorderly grabbing code stacking device, including device main body, device main body includes feeding belt conveyor, the tray changer unit of symmetrical setting in the both sides of feeding belt conveyor, camera and parallel robot device;Feeding belt conveyor is located between two tray changer units, and parallel robot device is installed in the top of feeding belt conveyor and tray changer unit, for disorderly grabbing sorting product;Camera is installed in the top of feeding belt conveyor and aligns the product on feeding belt conveyor.The utility model has the advantages of full-automatic disorderly grabbing and product full-automatic feeding and discharging.

Description

Technical Field

[0001] This utility model belongs to the technical field of chip processing equipment, specifically a disordered gripping and palletizing device. Background Technology

[0002] When semiconductor chips are processed, the products need to be picked up in a disordered manner by a device and then placed into a tray. However, the existing devices require manual loading and unloading, which is labor-intensive. At the same time, the device needs to be combined with manual control of product sorting and disordered picking, so it cannot achieve fully automated production. Summary of the Invention

[0003] The purpose of this utility model is to address the aforementioned problems in existing technologies and propose a solution. A disordered gripping and palletizing device has the advantages of fully automatic disordered gripping and fully automatic product loading and unloading.

[0004] The purpose of this utility model can be achieved through the following technical solution: a disordered gripping and palletizing device, including a device body, the device body including a feeding belt conveyor, a pallet changing unit symmetrically arranged on both sides of the feeding belt conveyor, a camera and a parallel robot device; The feeding conveyor belt is located between two pallet changing units. A parallel robot device is installed above the feeding conveyor belt and the pallet changing units for unordered product grabbing and sorting. A camera is installed directly above the feeding conveyor belt and aimed at the products on the feeding conveyor belt. The pallet changing unit includes a frame, a reciprocating moving module, and a slide table slidably mounted on the reciprocating moving module. The reciprocating moving module is mounted on the frame, and the slide table is slidably mounted on the reciprocating moving module. A first guide frame for guiding the placement of empty pallets is mounted on the left side of the frame, and a second guide frame is mounted on the right side of the frame. A first cylinder and a fifth cylinder are sequentially mounted on one side of the frame from left to right. A second cylinder is fixed to the piston rod of the first cylinder, and an insertion plate is fixed to the piston rod of the second cylinder. A third cylinder is also mounted at the bottom of the slide table, and the piston rod of the third cylinder passes through the slide table and abuts against the pallet. A fourth cylinder is also mounted on one side of the slide table, and the piston rod of the fourth cylinder is used to clamp the pallet. A sixth cylinder is fixed to the piston rod of the fifth cylinder, and the piston rod of the sixth cylinder is fixed to the tray.

[0005] Preferably, the assembly also includes a material handling component and a plate chain. The material handling component includes a gripper traversing module, a sliding seat, a seventh cylinder, and a gripper cylinder. The gripper traversing module is equipped with a sliding seat for moving left or right on the gripper traversing module. The sliding seat is equipped with a seventh cylinder. The piston rod of the seventh cylinder is fixed with a gripper cylinder for clamping multiple trays. The plate chain is located directly below the gripper cylinder. A climbing cylinder is installed below the plate chain for raising or lowering the position of the plate chain.

[0006] Preferably, a first through-beam sensor is installed on one side of the gripper cylinder, and a second through-beam sensor is installed on one side of the plate chain. The first through-beam sensor is located directly above and aligned with the second through-beam sensor.

[0007] Preferably, the parallel robot device has a suction cup for adsorbing products.

[0008] Preferably, the machine body is also equipped with a tray check assembly.

[0009] Preferably, the empty pallet loading guide is also equipped with a position sensor for detecting the position of the pallet.

[0010] Preferably, one side of the device body also includes a control panel.

[0011] Compared with the prior art, the advantages of this utility model are: by setting two pallet changing units on both sides of the feeding belt conveyor, the equipment can produce on both sides, which is conducive to fully automatic replacement of empty pallets and efficient random grabbing and stacking of products. Attached Figure Description

[0012] Figure 1 This is a structural diagram of the present invention.

[0013] Figure 2 This is a structural diagram of the tray replacement unit in this utility model.

[0014] Figure 3 This is a structural diagram of the material handling assembly and plate chain in this utility model.

[0015] In the diagram, 2 is the feeding conveyor belt; 31 is the parallel robot device; 32 is the camera; 41 is the frame; 42 is the reciprocating module; 43 is the slide table; 44 is the first guide frame; 45 is the second guide frame; 51 is the first cylinder; 52 is the second cylinder; 53 is the insertion plate; 54 is the third cylinder; 55 is the fourth cylinder; 56 is the fifth cylinder; 57 is the sixth cylinder; 61 is the plate chain; 62 is the gripper lateral movement module; 63 is the sliding seat; 64 is the seventh cylinder; 65 is the gripper cylinder; 66 is the climbing cylinder; 71 is the first through-beam sensor; 72 is the second through-beam sensor; 81 is the handling suction cup; 82 is the pallet anti-return assembly; 83 is the position sensor; and 84 is the control panel. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0017] like Figures 1 to 3 As shown, a disordered grasping and palletizing device includes a main body, which includes a feeding belt conveyor 2, a pallet changing unit symmetrically arranged on both sides of the feeding belt conveyor 2, a camera 32, and a parallel robot device 31. The feeding conveyor belt 2 is located between two pallet changing units. The parallel robot device 31 is installed above the feeding conveyor belt 2 and the pallet changing units for disordered picking and sorting of products. The camera 32 is installed directly above the feeding conveyor belt 2 and is aimed at the products on the feeding conveyor belt 2. The pallet changing unit includes a frame 41, a reciprocating moving module 42, and a slide table 43 slidably mounted on the reciprocating moving module 42. The reciprocating moving module 42 is mounted on the frame 41, and the slide table 43 is slidably mounted on the reciprocating moving module 42. A first guide frame 44 for guiding the placement of empty pallets is mounted on the left side of the frame 41, and a second guide frame 45 is mounted on the right side of the frame 41. A first cylinder 51 and a fifth cylinder 56 are sequentially mounted on one side of the frame 41 from left to right. A second cylinder 52 is fixed to the piston rod of the first cylinder 51, and an insertion plate 53 is fixed to the piston rod of the second cylinder 52. A third cylinder 54 is also mounted at the bottom of the slide table 43. The piston rod of the third cylinder 54 passes through the slide table 43 and abuts against the pallet. A fourth cylinder 55 is also mounted on one side of the slide table 43. The piston rod of the fourth cylinder 55 is used to clamp the pallet. A sixth cylinder 57 is fixed to the piston rod of the fifth cylinder 56, and the piston rod of the sixth cylinder 57 is fixed to the tray.

[0018] In this utility model, the bottom of the first guide frame 44 has an empty pallet loading position, and the bottom of the second guide frame 45 has a full material stacking position.

[0019] Using the above structure, the punch press conveys the chip to the feeding conveyor belt 2. The feeding conveyor belt 2 starts to receive the chip. When the chip is transported to the area directly below the camera 32, the camera 32's vision system verifies the product position and angle. Then, the parallel robot device 31 drives the parallel robot device 31 and, combined with the vision results and the speed information provided by the encoder, calculates the product position, adjusts the angle of the parallel robot device 31, and then picks up the product. Subsequently, the product is placed in the empty pallet loading position in the first guide frame 44. The slide table 43 is located below the empty pallet loading position. The initial state of the empty pallet loading position is as follows: the third cylinder 54 on the slide table 43 drops, the fourth cylinder 55 on the slide table 43 opens, and at the same time, the first cylinder 51 drops, and the second cylinder 52 extends to fix the slide table 43. At startup, the operator places an empty pallet into the slide 43 via the first guide frame 44. The pallet contacts the slide 43, and then the fourth cylinder 55 of the slide 43 pushes back, while the piston rod of the third cylinder 54 extends, lifting the empty pallet. The first cylinder 51 then rises to a position below the second-to-last layer of pallets, and the second cylinder 52 drives the insertion plate 53 to insert below it. The third cylinder 54 then drops, automatically removing the empty pallet and placing it onto the slide 43. The reciprocating module 42 then moves the slide 43 to a preset position for the parallel robot device 31 to grasp the pallet. The fifth cylinder 56 raises the sixth cylinder 57 to the same height as the empty pallet on the slide 43, and the sixth cylinder 57 extends to clamp the empty pallet. Simultaneously, the first cylinder 51 below the slide 43 also lifts the empty pallet. The parallel robot device 31 then places the absorbed product onto the empty pallet, facilitating fully automated operation. The system features fully automatic, disordered pallet picking, with two pallet changing units symmetrically installed on both sides of the feeding conveyor belt 2. After one pallet layer is full, the sixth cylinder 57 retracts, the fifth cylinder 56 drops, and the fourth cylinder 55 on the slide 43 fixes the pallet. The slide 43, through the reciprocating movement module 42, sends the full pallet to the full stacking position. The third cylinder 54 of the slide 43 rises to the top and then falls back to reset, with the full pallet landing on the check valve assembly. Finally, the slide 43 returns to the leftmost empty pallet loading position, awaiting the next transport. This structure is beneficial for dual-line production. After the right pallet is full, the parallel robot device 31 directly begins stacking the left pallet, sending the full right pallet to the full stacking position, followed by the stacking of the left pallet. Once the left pallet is full, stacking on the right begins directly, and the left side automatically changes to empty pallets. This structure facilitates fully automatic empty pallet changing and efficient disordered picking and stacking of products.

[0020] Specifically, such as Figures 1 to 3As shown, it also includes a material handling assembly and a plate chain 61. The material handling assembly includes a gripper traversing module 62, a sliding seat 63, a seventh cylinder 64, and a gripper cylinder 65. The gripper traversing module 62 is equipped with a sliding seat 63 for moving left or right on the gripper traversing module 62. The seventh cylinder 64 is installed on the sliding seat 63. The piston rod of the seventh cylinder 64 is fixed with a gripper cylinder 65 for clamping multiple trays. The plate chain 61 is located directly below the gripper cylinder 65. A climbing cylinder 66 is installed below the plate chain 61 for raising or lowering the position of the plate chain 61.

[0021] Using the above structure, when the number of pallets reaches the required number of layers, the gripper cylinder 65 moves to the top of the pallet via the gripper lateral movement module 62; then the seventh cylinder 64 drops, the gripper cylinder 65 hooks all the pallets, and then the seventh cylinder 64 rises, lifting the pallets to the highest position. The gripper lateral movement module 62 then moves the gripper cylinder 65 onto the plate chain 61 and prevents it from falling. The lifting cylinder of the plate chain 61 drops, and several layers of pallets are placed on the plate chain 61. The plate chain 61 then sends the pallets out of the workstation. This structure is advantageous because when a specified number of full pallets are accumulated, the gripper cylinder 65 can transport them to the plate chain 61, and the plate chain 61 will then send them out of the main body of the device, achieving fully automated, disordered gripping and loading / unloading of products, with a high degree of automation and mechanization.

[0022] like Figures 1 to 3 As shown, a first through-beam sensor 71 is installed on one side of the gripper cylinder 65, and a second through-beam sensor 72 is installed on one side of the plate chain 61. The first through-beam sensor 71 is located directly above and aligned with the second through-beam sensor 72. By adding the first through-beam sensor 71 and the second through-beam sensor 72, it is beneficial to detect the distance between the gripper cylinder 65 and the plate chain 61 through the first through-beam sensor 71 and the second through-beam sensor 72, preventing the seventh cylinder 64 from lowering the gripper cylinder 65 and causing damage between the components.

[0023] like Figures 1 to 3 As shown, the parallel robot device 31 has a transfer suction cup 81 for adsorbing products. The transfer suction cup 81 facilitates convenient and more efficient adsorption of products.

[0024] like Figures 1 to 3 As shown, the frame 41 is equipped with a pallet anti-return assembly 82. By setting the pallet anti-return assembly 82, it is beneficial to prevent the pallet from returning to its previous position and facilitate automatic retention of full pallets.

[0025] like Figures 1 to 3As shown, a position sensor 83 for detecting the pallet position is also installed on the empty pallet loading guide frame. By setting the position sensor 83, it is beneficial to detect the pallet position in real time, resulting in better detection performance. like Figures 1 to 3 As shown, a control panel 84 is also included on one side of the main body of the device. The control panel 84 facilitates real-time adjustments by the operator.

[0026] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0027] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Meanwhile, the meaning of "and / or" throughout the text includes three solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0028] All of the above components are general standard parts or components known to those skilled in the art. Their structure and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0029] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A disordered grasping and palletizing device, comprising a device body, characterized in that, The main body of the device includes a feeding belt conveyor (2), a pallet changing unit symmetrically arranged on both sides of the feeding belt conveyor (2), a camera (32), and a parallel robot device (31). The feeding conveyor belt (2) is located between two pallet changing units. A parallel robot device (31) is installed above the feeding conveyor belt (2) and the pallet changing units for disordered picking and sorting of products. A camera (32) is installed directly above the feeding conveyor belt (2) and aimed at the products on the feeding conveyor belt (2). The pallet changing unit includes a frame (41), a reciprocating moving module (42), and a slide (43) slidably mounted on the reciprocating moving module (42). The reciprocating moving module (42) is mounted on the frame (41), and the slide (43) is slidably mounted on the reciprocating moving module (42). A first guide frame (44) for guiding the placement of empty pallets is mounted on the left side of the frame (41), and a second guide frame (45) is mounted on the right side of the frame (41). The first guide frame (44) is installed sequentially on one side of the frame (41) from left to right. The first cylinder (51) and the fifth cylinder (56) are provided. The piston rod of the first cylinder (51) is fixed with the second cylinder (52), and the piston rod of the second cylinder (52) is fixed with the insertion plate (53). The bottom of the slide (43) is also equipped with a third cylinder (54), the piston rod of the third cylinder (54) passes through the slide (43) and abuts against the tray. The side of the slide (43) is also equipped with a fourth cylinder (55), the piston rod of the fourth cylinder (55) is used to clamp the tray. The piston rod of the fifth cylinder (56) is fixed with a sixth cylinder (57), and the piston rod of the sixth cylinder (57) is fixed with the tray.

2. The disordered gripping and palletizing device according to claim 1, characterized in that, It also includes a material handling assembly and a plate chain (61). The material handling assembly includes a gripper traversing module (62), a sliding seat (63), a seventh cylinder (64), and a gripper cylinder (65). The gripper traversing module (62) is equipped with a sliding seat (63) for moving left or right on the gripper traversing module (62). The sliding seat (63) is equipped with a seventh cylinder (64). The piston rod of the seventh cylinder (64) is fixed with a gripper cylinder (65) for clamping multiple trays. The plate chain (61) is located directly below the gripper cylinder (65). A climbing cylinder (66) is installed below the plate chain (61) for raising or lowering the position of the plate chain (61).

3. The disordered gripping and palletizing device according to claim 2, characterized in that, A first through-beam sensor (71) is installed on one side of the gripper cylinder (65), and a second through-beam sensor (72) is installed on one side of the plate chain (61). The first through-beam sensor (71) is located directly above and aligned with the second through-beam sensor (72).

4. The disordered gripping and palletizing device according to claim 1, characterized in that, The parallel robot device (31) has a transport suction cup (81) for adsorbing products.

5. The disordered gripping and palletizing device according to claim 1, characterized in that, The frame (41) is also equipped with a tray check assembly (82).

6. The disordered gripping and palletizing device according to claim 1, characterized in that, The first guide frame (44) is also equipped with a position sensor (83) for detecting the position of the tray.

7. The disordered gripping and palletizing device according to claim 1, characterized in that, The main body of the device also includes a control panel (84).

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