CN106966167B - Automatic feeding and discharging system - Google Patents

Abstract

The invention discloses an automatic loading and unloading system, which includes a frame on which a loading station, a feeding station, a positioning station, a feeding station, and a feeding slot are arranged; a first conveying mechanism, a feeding mechanism, including a clamping mechanism and a supporting mechanism; a retrieving mechanism, which is used to clamp the workpiece on the bracket at the retrieving station to the positioning station; a blanking mechanism; a positioning mechanism, which is used to position the workpiece; The inserting manipulator is used to pick up the workpiece at the positioning station and turn over the workpiece so as to insert the turned workpiece into the slot of the inserting rack. The automatic loading and unloading system of the present invention can automatically complete the loading, retrieving, positioning, inserting and unloading of workpieces, and can automatically stack empty racks, with a high degree of automation.

Description

Automatic loading and unloading system

technical field

The invention relates to the technical field of mechanical processing, in particular to an automatic loading and unloading system.

Background technique

With the improvement of scientific and technological level, electronic equipment is widely used in various fields, so the production efficiency of electronic equipment is becoming increasingly important. Most of the various electronic devices have glass screens, and the cleanliness of the glass screen is the key to the quality of electronic equipment. If the cleanliness of the glass screen is not enough, it will lead to defects such as light leakage on the screen of the electronic device. Therefore, in the production process of electronic equipment Among them, the cleaning of the glass screen is very important. On the production line, generally a plurality of glass screens produced are horizontally placed and installed with a bracket, and then the glass screens are taken off from the glass screens, and turned over to make it vertical, so that the vertical screens The glass screen is inserted on the insertion rack (cleaning rack) with slots, so as to clean the vertically placed glass screen, which is convenient for cleaning; and the support rack after the glass screen is removed will continue to be transported.

However, the loading and unloading efficiency of the existing equipment is low, the transfer efficiency of the glass screen is low, and after the glass screen on the support rack is removed, the remaining empty support racks are often directly transported to the unloading by the conveying mechanism. In the area, the empty racks are manually stacked, and the entire process is low in automation.

Contents of the invention

In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide an automatic loading and unloading system, which can automatically complete the loading, retrieving, positioning, inserting and unloading of workpieces, and can automatically stack empty brackets ,high degree of automation.

The object of the present invention adopts following technical scheme to realize:

Automatic loading and unloading system, including,

The frame is provided with a loading station, a retrieving station, a positioning station, an unloading station, and a feeding slot; the loading station is provided with a stacking space, and the stacking space is used for Highly stack multiple racks loaded with workpieces; the bottom of the stacking space forms a discharge port; There are blocking stations for blocking empty racks; insertion slots are used to place insertion racks with slots;

The first conveying mechanism, the starting end of the first conveying mechanism is connected to the material outlet and is used to receive the bracket output from the material outlet, and the end of the first conveying mechanism is connected to the material inlet;

The loading mechanism includes a clamping mechanism and a supporting mechanism. The clamping mechanism is used to clamp or loosen the carrier at the bottom of the stacking space; The bottommost support rack;

The retrieving mechanism is used to clamp the workpiece on the bracket at the retrieving station to the positioning station;

The unloading mechanism, including the jacking mechanism and the blocking mechanism, the jacking mechanism is located below the material inlet and can move toward or away from the material inlet; the ejector mechanism is used to press the empty support when moving toward the material inlet frame so that the carrier moves into the material holding space; the blocking mechanism can move toward or away from the blocking station; and the blocking mechanism is used to block the carrier when moving toward the blocking station;

a positioning mechanism, the positioning mechanism is used for positioning the workpiece;

The inserting manipulator is used to pick up the workpiece at the positioning station and turn over the workpiece so as to insert the turned workpiece into the slot of the inserting rack.

Preferably, the support mechanism includes a first drive cylinder, a first support plate and a support rod, the first support plate is affixed to the piston rod of the first drive cylinder, the bottom end of the support rod is affixed to the first support plate, and the support The top of the rod forms a supporting end, and the supporting end is used for moving toward or away from the discharge port.

Preferably, the clamping mechanism includes a plurality of second driving cylinders and a plurality of clamping blocks, and the plurality of second driving cylinders are mounted on the frame and arranged in a circular array around the central axis of the stacking space, and the plurality of clamping blocks are fixed in one-to-one correspondence. Connected to the piston rods of multiple second driving cylinders, each clamping block can move toward or away from the inside of the stacking space.

Preferably, the blocking mechanism includes a plurality of blocking blocks, which are arranged at the blocking station and can move toward or away from the blocking station; the plurality of blocking blocks are used to block the support when moving toward the blocking station. material rack; each blocking block is pivotally connected to the side wall of the material inlet, and each blocking block can be rotated toward or away from the material inlet under the action of external force; the bottom end of the blocking block is provided with a pressure slope, the The pressure inclined surface gradually inclines away from the material inlet from top to bottom; the pressure inclined surface is used to be pressed by an external force to make the blocking block rotate in a direction away from the material inlet.

Preferably, the pick-up mechanism includes a plurality of pick-up parts for sucking workpieces, a first drive mechanism and a second drive mechanism, and the first drive mechanism is used to drive a plurality of pick-up parts towards or away from along the width direction of the frame The retrieving station moves; the second driving mechanism is used to drive multiple retrieving parts to move toward or away from the retrieving station along the height direction of the frame.

Preferably, the frame is also provided with a stopper station and a stopper mechanism, the stopper station is located between the take-up station and the blanking station, the stopper mechanism can move towards or away from the stopper station, and The stop mechanism is used to block the support frame when moving towards the stop position; the stop position is provided with a limit sensor, which is used to detect the position of the support frame and send a position signal to the stop mechanism, The stopper mechanism is used to move toward the stopper station according to the position signal to block the support frame.

Preferably, the automatic loading and unloading system also includes a guiding mechanism, which is used to guide the carrier to move along the conveying direction of the first conveying mechanism; the guiding mechanism includes a plurality of guide rollers, and both sides of the first conveying mechanism are provided with A plurality of guide rollers, the plurality of guide rollers are arranged along the conveying direction of the first conveying mechanism and are used to roll and cooperate with the edge of the support frame.

Preferably, the inserting manipulator includes a gripping device, a visual positioning device, a first driving device and a second driving device; the gripping device is used to grip the workpiece of the feeding station; the first driving device is used to drive the gripping device to turn over The visual positioning device is used to take pictures of the unloading station and send a picture signal to the second driving device, and the second driving device is used to drive the clamping device to move from the loading station to the unloading station according to the picture signal.

Preferably, the automatic loading and unloading system further includes a material holding mechanism, which is located below the insertion slot and is used to move toward or away from the inside of the insertion slot.

Preferably, the automatic loading and unloading system also includes a conveying platform installed on the frame and a second conveying mechanism, the conveying platform is provided with a plurality of conveying platforms, and the plurality of conveying platforms are arranged at intervals along the height direction of the frame; The conveying platform is used to place the inserting racks with slots; multiple conveying platforms can move along the height direction of the conveying platform; the second conveying mechanism is used to transport the inserting racks on the conveying platform to the inserting groove bit.

Compared with the prior art, the beneficial effects of the present invention are:

1. It pre-stacks multiple brackets in the stacking space, and connects the first conveying mechanism to the discharge port of the stacking space. In this way, when loading materials, the clamping mechanism can be released from the brackets. The bracket falls on the first conveying mechanism and is conveyed to the next station by the first conveying mechanism, so as to quickly complete automatic feeding.

2. After loading, multiple workpieces can be removed at one time through the movement of multiple pick-up parts in the height direction of the frame, and multiple pick-up parts can move along the width direction of the rack, which can realize the reclaiming The material is taken from different positions of the station, and the efficiency of the material is high; and after the material is taken, the workpiece can be transferred to the positioning station, and the positioning is performed under the action of the positioning mechanism, which is convenient for the positioning and picking of the material inserting manipulator.

3. The inserting manipulator can automatically take away the workpiece at the positioning station and flip it over before inserting, and automatically complete the inserting operation.

4. It is transported to the material inlet through the empty support frame of the first conveying mechanism. At this time, the ejector mechanism moves toward the material inlet and presses against the empty material frame. At the same time, the blocking mechanism moves away from the blocking The direction of the station moves, so that the empty support rack moves into the support space. Thereafter, the blocking mechanism will move towards the direction close to the blocking station and block the empty carrier, that is, the carrier will be blocked by the blocking mechanism and will not fall. Repeatedly, the empty support racks conveyed by the first conveying mechanism will enter the material support space one by one from the material inlet to be stacked, and the unloading operation will be completed quickly.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is one of partial structure schematic diagrams of the present invention;

Fig. 3 is the second partial structure schematic diagram of the present invention;

Fig. 4 is the third partial structure schematic diagram of the present invention;

Fig. 5 is the fourth partial structure schematic diagram of the present invention;

Fig. 6 is a schematic structural view of the material holding mechanism of the present invention;

Fig. 7 is a schematic structural view of the positioning mechanism of the present invention;

Fig. 8 is a schematic structural view of the inserting manipulator of the present invention;

Fig. 9 is a schematic structural view of the reclaiming mechanism of the present invention;

Fig. 10 is a structural schematic diagram of the support mechanism of the present invention;

Fig. 11 is a schematic structural view of the ejecting mechanism of the present invention;

Fig. 12 is a schematic structural view of the stopper mechanism of the present invention.

In the figure: 100, frame; 110, support rack; 111, workpiece; 120, inserting rack; 121, slot; 10, feeding mechanism; 11, stacking space; 12, support mechanism; 13, first height Sensor; 14. The first driving cylinder; 15. Clamping block; 16. Support rod; 17. The second driving cylinder; 18. The third driving cylinder; Material parts; 212, the first drive mechanism; 213, the second drive mechanism; 241, the first fixed frame; 22, the stop mechanism; 221, the stop plate; 222, the fifth drive cylinder; 30, the blanking mechanism; 31 , material support space; 32, ejector mechanism; 33, ejector rod; 34, blocking block; 35, fourth drive cylinder; 40, positioning mechanism; 41, positioning block; 42, first limit block; 43, second Limiting block; 44, first guide groove; 45, second guide groove; 46, third manipulator; 47, fourth manipulator; 50, inserting manipulator; 51, first driving device; 511, drive motor; 512, The rotating shaft of the driving motor; 52, the joint robot; 53, the clamping device; 531, the second fixed frame; 532, the second vacuum suction cup; 54, the camera; The third driving mechanism; 622, the conveying arm; 63, the material supporting mechanism; 631, the sixth driving cylinder; 632, the connecting frame; 633, the supporting piece; 64, the elastic component; ; 70, the conveying platform; 71, the conveying platform; 80, the first conveying mechanism; 90, the guiding mechanism.

Detailed ways

Below, in conjunction with accompanying drawing and specific embodiment, the present invention is described further:

The automatic loading and unloading system shown in Figure 1-5 includes a frame 100, a first conveying mechanism 80, a feeding mechanism 10, a retrieving mechanism 21, a blanking mechanism 30, a positioning mechanism 40, a material inserting manipulator 50, and a frame The 100 is provided with a loading station, a reclaiming station 20, a positioning station, a blanking station, and a feeding slot 61. The loading station, the retrieving station 20 and the unloading station can be arranged sequentially along the conveying direction of the first conveying mechanism 80 .

A stacking space 11 is provided at the loading station, and the stacking space 11 is used for stacking a plurality of brackets 110 loaded with workpieces 111 , and the brackets 110 are stacked along the height direction of the stacking space 11 . A discharge opening is formed at the bottom of the stacking space 11 . At the same time, a material holding space 31 is provided at the unloading station, and a material inlet is correspondingly provided at the bottom of the material holding space 31; bit. The starting end of the first conveying mechanism 80 is connected to the discharge port at the bottom of the stacking space 11, and is used to receive the support frame 110 output from the discharge port, while the end of the first conveying mechanism 80 can be connected to the support space 31 feed openings at the bottom. The starting end of the first conveying mechanism 80 is connected to the discharge port at the bottom of the stacking space 11, and is used to receive the support frame 110 output from the discharge port, while the end of the first conveying mechanism 80 can be connected to the support space 31 feed openings at the bottom. In addition, the inserting slot 61 is used for placing an inserting rack with a slot 121 (that is, a cleaning rack).

The above-mentioned loading mechanism 10 can be specifically installed in a loading station, and the loading mechanism 10 includes a clamping mechanism and a supporting mechanism 12 , the clamping mechanism can be used to clamp or release the bracket 110 located at the bottom of the stacking space 11 . The support mechanism 12 can move towards or away from the discharge opening, and when the support mechanism 12 moves close to the discharge opening, the support mechanism 12 abuts against the bottommost bracket 110 in the stacking space 11 .

In addition, the above-mentioned retrieving mechanism 21 is installed on the retrieving station 20, and the retrieving mechanism 21 is used to clamp the workpiece 111 on the bracket 110 at the retrieving station 20 to the positioning station. The positioning mechanism 40 can be installed at the positioning station, and is used for positioning the workpiece 111 transferred by the picking mechanism 21 . At the same time, the inserting manipulator 50 can be used to grip the workpiece 111 at the positioning station, and overturn the workpiece 111 , so as to insert the overturned workpiece 111 into the slot 121 of the inserting rack 120 .

The unloading mechanism 30 includes a material jacking mechanism 32 and a blocking mechanism. The material jacking mechanism 32 is located below the material inlet, and the material jacking mechanism 32 can move toward or away from the material inlet. When the material jacking mechanism 32 moves toward the material inlet During the movement, the empty support frame 110 can be pressed upwards, so that the empty support frame 110 can move into the material support space 31 . In addition, the blocking mechanism can move toward or away from the blocking station, and when the blocking mechanism moves toward the blocking station, it can block an empty carrier 110 .

In this embodiment, multiple glass screens are loaded on the support frame 110, and the automatic up and down system is used to remove multiple glass screens and turn over the glass screens so that the glass screens are inserted into the material insertion frame 120 in a vertical state. inside the slot 121.

On the basis of the above structure, a plurality of brackets 110 loaded with multiple glass screens can be stacked in the stacking space 11 in advance. The edge of the material rack 110 prevents the material rack 110 from falling. When starting the loading operation, the support mechanism 12 can be moved towards the direction close to the discharge port. At this time, the support mechanism 12 will abut against the material rack 110 located at the lowest end of the stacking space 11, and the material support frame 110 will not pass through the discharge port. drop. At the same time, make the clamping mechanism loosen the bracket 110 located at the lowest end of the stacking space 11, and then move the support mechanism 12 toward the direction away from the discharge port, and the bracket 110 will follow the support mechanism under the action of its own gravity. 12 is far away from the discharge port, so that the clamping mechanism is re-clamped on the support frame 110 adjacent to the support frame 110 located at the lowest end of the stacking space 11, so in the process that the support mechanism 12 continues to move away from the discharge port, only one support The material rack 110 will then drop to the starting end of the first conveying mechanism 80 , and so on, so that the material can be continuously loaded.

After the carrier 110 loaded with a plurality of glass screens falls on the starting end of the first conveying mechanism 80, the first conveying mechanism 80 will transport the carrier 110 to the retrieving station 20, and the retrieving mechanism 21 will Remove the multiple glass screens on the support rack 110, and transfer the removed glass screens to the positioning station, where the positioning mechanism 40 provided at the positioning station can position the glass screens so that they can be placed neatly , to facilitate the accurate grasping of the inserting manipulator 50. After the material inserting manipulator 50 grabs the glass screen, it will be turned over so that it is in a vertical state. Afterwards, the material inserting manipulator 50 can insert the overturned glass screen into the material inserting rack at position 61 of the material inserting slot In the slot 121 of 120, complete inserting operation. Repeatedly, after inserting the material rack 120 to fill the glass screen, it will be cleaned uniformly.

In addition, at the same time as the above operations, that is, after the reclaiming mechanism 21 removes a plurality of glass screens, the remaining empty brackets 110 will continue to be transported to the unloading station under the action of the first conveying mechanism 80, and the remaining empty The empty support rack 110 will be transported to the material inlet at the bottom of the material support space 31. At this time, by making the ejector mechanism 32 move upwards, that is, move towards the direction of the inlet, that is, the ejector mechanism 32 will press upward. At the same time, the above-mentioned empty support rack 110 can move the blocking station towards a direction away from the material inlet, so that the empty material support 110 will move from the material inlet into the material support space 31 . After that, make the blocking mechanism move toward the direction close to the blocking station, and make the ejector mechanism 32 move toward the direction away from the material inlet (that is, downward). At this time, the blocking mechanism will block the empty bracket 110, that is, The empty carrier 110 will be blocked by the blocking mechanism and will not fall due to its own gravity. Repeatedly, the empty material racks 110 conveyed by the first conveying mechanism 80 will enter the material supporting space 31 one by one from the material inlet to be stacked, and the unloading operation can be quickly completed with a high degree of automation.

Preferably, referring to FIG. 10 , the support mechanism 12 includes a first drive cylinder 14, a first support plate and a support rod 16, so that the first support plate is affixed to the piston rod of the first drive cylinder 14, and the bottom of the support rod 16 The end is fixedly connected to the first support plate, and the top end of the support rod 16 forms a support end, and the support end is used for moving toward or away from the discharge port. On the basis of this structure, the piston rod of the first driving cylinder 14 drives the first support plate to expand and contract. During the process of the first support plate expanding and contracting, it drives the support end to approach or move away from the above-mentioned discharge port to complete the above-mentioned feeding process. Supporting work on the bracket 110. Of course, multiple support rods 16 can be provided, and the support structure is more stable.

Further, the support mechanism 12 also includes a third drive cylinder 18 and a second support plate, the cylinder body of the third drive cylinder 18 is installed on the frame 100, and the piston rod of the third drive cylinder 18 is fixed to the second support plate. connection. Based on this structure, the cylinder body of the first driving cylinder 14 is installed on the second support plate. In addition, the movement stroke of the third driving cylinder 18 is smaller than the movement stroke of the first driving cylinder 14 . In this way, through the mutual cooperation of the first driving cylinder 14 and the second driving cylinder 17, when the support rod 16 is just started to move close to the bracket 110, the first driving cylinder 14 and the third driving cylinder 18 can work together to increase The movement distance of the first support rod 16. And when the support rod 16 moves away from the bracket 110, it can only move after the last bracket 110 needs to be re-clamped by the clamping mechanism during the period. At this time, the piston rod of the third driving cylinder 18 can be contracted earlier to drive The support rod 16 moves away from the discharge port for a short distance, and after the clamping mechanism is clamped stably, the piston rod of the first driving cylinder 14 is contracted, so that the bracket 110 falls on the first conveying mechanism 80, as described above The feeding process is gradual, and the movement stroke is more flexible and adjustable.

Further, in this embodiment, referring to FIG. 3 , the clamping mechanism includes a plurality of second driving cylinders 17 and a plurality of clamping blocks 15 , and the plurality of second driving cylinders 17 are installed on the frame 100 and surround the stacking space 11 The central axis of the circular array, a plurality of clamping blocks 15 are fixed on the piston rods of a plurality of second drive cylinders 17 one by one, specifically, the second drive cylinder 17 is provided with four, and the corresponding clamping blocks 15 Four are provided, and the four second driving cylinders 17 are respectively arranged at four corners of the stacking space 11 . When the work has not started, the four clamping blocks 15 can be moved towards the inside of the stacking space 11 under the drive of the four second driving cylinders 17, so that the four clamping blocks 15 are located under the bracket 110, holding The bracket 110 completes the clamping operation. When feeding, the supporting mechanism 12 first supports the material holder 110, so that the four clamping blocks 15 are kept away from the inside of the stacking space 11, and the material holder 110 can fall to complete the material loading. so repeatedly. Of course, each clamping block 15 can also abut against the edge of the carrier 110 during the movement toward the interior of the stacking space 11 , and the clamping operation can also be completed.

Preferably, referring to Fig. 3 , the blocking mechanism includes a plurality of blocking blocks 34, and the plurality of blocking blocks 34 are arranged at the blocking station, and the plurality of blocking blocks 34 can move toward or away from the blocking station, and the plurality of blocking blocks 34 can move toward or away from the blocking station. Block 34 blocks empty carriers 110 as it moves toward the approach blocking station. On the basis of this mechanism, when the ejector mechanism 32 presses the above-mentioned empty bracket 110 upwards, the above-mentioned plurality of blocking blocks 34 can be moved in a direction away from the material inlet, so that the empty bracket 110 will be moved by the inlet. The feed port moves into the material holding space 31 . After that, make a plurality of blocking blocks 34 move towards the direction close to the blocking station, and make the ejector mechanism 32 move toward a direction away from the material inlet, and at this time, the blocking blocks 34 will block the empty bracket 110, that is, The empty carrier 110 will be blocked by the blocking block 34, and will not fall due to its own gravity, and so on and on.

Preferably, each blocking block 34 mentioned above can be pivotally connected to the side wall of the material inlet, and each blocking block 34 can rotate toward or away from the material inlet under the action of external force. In this way, when the material ejecting mechanism 32 moves toward the direction close to the material inlet, that is, it presses the empty bracket 110 upward, and the empty bracket 110 will press the blocking block 34 upward during the upward movement, so that The blocking block 34 rotates in a direction away from the material inlet, so that the empty material holder 110 can smoothly enter into the material support space 31 for stacking. Thereafter, the blockable block 34 can reset under its own gravity and move towards the direction close to the material inlet, thereby completing the blocking operation, so that the empty material holders 110 are stacked in the material holder space 31 . Of course, in this embodiment, the blocking block 34 is pivotally connected to the side wall of the material inlet through the rotating shaft, so that the blocking block 34 is in interference fit with the rotating shaft and has a certain damping force. It can only be rotated when it is large enough, and it will automatically return to the horizontal state under its own gravity. Of course, the blocking block 34 can also be expanded and contracted by the cylinder so that it extends into the feed port, or retracts into the side wall of the feed port, and the above operations can also be realized.

Preferably, the bottom end of the blocking block 34 is provided with a pressure slope, and the pressure slope is gradually inclined toward the direction away from the feed inlet from top to bottom; direction of movement. That is to say, when the empty support frame 110 is pressed upward by the material ejecting mechanism 32, the edge of the empty support frame 110 will press the above-mentioned pressed inclined surface, so that the pressed inclined surface will decompose the force into blocking blocks. The vertical force that 34 moves upwards and the horizontal force that makes blocking block 34 shrink inwards are convenient to drive.

In this embodiment, referring to FIG. 11 , the ejector mechanism 32 includes a fourth driving cylinder 35 , a connecting plate and a plurality of ejector rods 33 . The concrete connecting plate is fixed on the top of the fourth driving cylinder 35, and the piston rod of the fourth driving cylinder 35 can move towards the direction away from the feed port. A plurality of push rods 33 are fixed on the connecting plate and are used for pressing Empty stock rack 110 . On the basis of this mechanism, by starting the fourth driving cylinder 35, the piston rod can be driven to move up and down, so that the connecting plate can be driven to move up and down, thereby driving a plurality of ejector rods 33 on the connecting plate to move closer to or away from the material inlet, and complete The function of pushing the empty carrier 110. However, the use of a plurality of ejector pins 33 can make the stress on the empty bracket 110 more uniform.

Preferably, referring to FIG. 9 , the pick-up mechanism 21 includes a plurality of pick-up parts 211 for sucking the workpiece 111, a first drive mechanism 212 and a second drive mechanism 213, and the first drive mechanism 212 can drive a plurality of pick-up parts 211 moves toward or away from the reclaiming station 20 along the width direction of the frame 100 . At the same time, the second driving mechanism 213 can drive the plurality of pick-up parts 211 to move toward or away from the pick-up station 20 along the height direction of the frame 100 . In this way, the second driving mechanism 213 can drive the movement of the plurality of pick-up parts 211 in the height direction of the frame 100 , and remove the plurality of glass screens on the material holder 110 at one time. Afterwards, the first driving mechanism 212 drives a plurality of pick-up parts 211 to move along the width direction of the frame 100, so that a plurality of glass screens at another position on the support rack 110 can be removed, so that it can be realized at the pick-up station. 20 different positions to take material. It should be noted that, the above-mentioned pick-up member 211 can specifically select a plurality of first vacuum chucks, and arrange the plurality of first vacuum chucks at intervals along the width direction of the frame 100, and adopt a plurality of first vacuum chucks to suck the parts of the workpiece 111. The method can make the workpiece 111 transfer smoothly without causing damage to the surface of the workpiece 111 . Of course, the pick-up part 211 can also be replaced by parts with gripping functions such as clamping jaws and pneumatic fingers.

In addition, the above-mentioned first driving mechanism 212 is a first manipulator, the second driving mechanism 213 is a second manipulator, and a plurality of pick-up parts 211 are fixedly connected to the power output end of the second manipulator through a first fixing frame 241, and the second The manipulator is installed at the power delivery end of the first manipulator. In this way, the second manipulator can drive the first fixed frame 241 to move up and down (that is, the height direction of the frame 100), thereby driving a plurality of pick-up parts 211 to absorb the workpiece 111, and then the first manipulator drives the second manipulator to move back and forth (ie The width direction of the frame 100 ) can drive a plurality of retrieving parts 211 to move to different positions of the retrieving station 20 to complete the above retrieving operation. Of course, the first driving mechanism 212 and the second driving mechanism 213 can also be replaced by other transmission mechanisms such as air cylinders, oil cylinders or sliding devices.

Preferably, referring to Fig. 3 and Fig. 12, a stopper station and a stopper mechanism 22 are also provided on the frame 100, so that the stopper station is located between the reclaiming station 20 and the blanking station, and the stopper mechanism 22 can move toward or away from the material blocking station, and the material blocking mechanism 22 is used to block the material holder 110 when moving toward the material blocking station. On the basis of this structure, when the support frame 110 loaded with multiple glass screens is transported along the conveying direction of the first conveying mechanism 80, the support frame 110 will pass through the stopper station, and at this time, the stopper mechanism 22 can be moved toward Moving close to the stopper station, the stopper mechanism 22 blocks the above-mentioned support frame 110 to prevent the workpiece 111 from being over-delivered, so that the position of the support frame 110 can be limited to realize positioning. After a plurality of glass screens on the material holder 110 are all taken off, a plurality of stopper mechanisms 22 can be moved towards a direction away from the stopper station, so that the empty holder 110 after the parts can be taken continues to be transported to next station. Repeatedly, every time the support rack 110 is transported to the reclaiming station 20, it can be blocked by the material blocking mechanism 22 for a period of time before being released, and the positioning and retrieving of the support rack 110 can be realized, with a high degree of automation and high retrieving efficiency .

Preferably, a position sensor can also be provided at the stop material station, and the position of the workpiece 111 is detected by the position sensor, and a position signal is sent to the stop material mechanism 22, and the stop material mechanism 22 can move toward the stop material station according to the position signal To block the workpiece 111, it is easy to control and locate in real time.

Preferably, in this embodiment, referring to FIG. 12 , the blocking mechanism 22 may include a fifth driving cylinder 222 and a blocking plate 221. Specifically, the fifth driving cylinder 222 is used to drive the blocking plate according to the position signal sent by the position sensor. 221 moves along the height direction of the frame 100 towards the material blocking station to realize the material blocking operation. Of course, the material blocking plate 221 can also be driven by a linear motor or a robot.

Preferably, the automatic loading and unloading mechanism 30 also includes a first height sensor 13 and a second height sensor (not shown) installed on the frame 100, the first height sensor 13 is installed at the loading station for Detecting the height of a plurality of pallets 110 with workpieces 111 in the stacking space 11 and sending a first height signal. In this way, during the process that the material racks 110 are sequentially output from the discharge port, the height of the material racks 110 in the stacking space 11 will gradually decrease, and when the height decreases to a certain value, the first height sensor 13 can detect the When the heights of multiple racks 110 are lower than a certain value, a first height signal can be sent to remind the operator of the number of racks 110, so that the operator can replenish the racks in time rack 110, so that the number of racks 110 can always be kept in a certain amount, and continuous automatic conveying can be realized, with a high degree of automation.

In addition, the above-mentioned second height sensor is set at the unloading station, and is used to detect the height of the empty material holder 110 in the material holder space 31 and send a second height signal. That is, after a plurality of empty holders 110 continuously enter the holder space 31, the height of the empty holders 110 in the holder space 31 will gradually increase, and when the height of the plurality of empty holders 110 reaches a certain value, a second height signal can be sent to remind the operator to remove the stacked empty brackets 110 in time to avoid overturning due to excessive stacking of empty brackets 110 .

Certainly, a controller may be provided on the frame 100, and the above-mentioned first height signal and second height signal may be received through the controller, and the above-mentioned height value may be set in advance. In addition, in the absence of a controller, the sent first altitude signal and second altitude signal may be alarm signals, which will sound to remind the operator. It should be noted that, the above-mentioned height sensor can be one of potentiometer type sensor, grating type angle sensor, magnetic grating type angle sensor and code disc type sensor in the prior art.

Preferably, the automatic loading and unloading mechanism 30 further includes a guiding mechanism 90, which can be used to guide the carrier 110 to be conveyed along the conveying direction of the first conveying mechanism 80, so that the movement process is smoother. Specifically, the guiding mechanism 90 may include a plurality of guiding rollers, specifically, a plurality of guiding rollers are arranged on both sides of the first conveying mechanism 80, and the plurality of guiding rollers are arranged along the conveying direction of the first conveying mechanism 80, and on the support When the material rack 110 is conveyed by the first conveying mechanism 80 , the plurality of guide rollers can roll and cooperate with the edge of the material rack 110 , so that the material rack 110 can be transported smoothly and the conveying process is smoother.

Preferably, in this embodiment, referring to FIG. 8 , the inserting manipulator 50 specifically includes a clamping device 53 , a vision positioning device, a first driving device 51 and a second driving device. The gripping device 53 is used to grip the workpiece 111 of the loading station, and the first driving device 51 is used to drive the gripping device 53 to turn over, that is, to drive the workpiece 111 on the gripping device 53 to turn over. At the same time, the visual positioning device is used to take pictures of the unloading station and send a picture signal, and the above-mentioned second driving device can drive the clamping device 53 to move from the loading station to the unloading station according to the picture signal.

On the basis of the above structure, the glass screen of the positioning station is first clamped by the clamping device 53, and then the first driving device 51 is used to drive the clamping device 53 to turn over, that is, the glass screen can be turned from a horizontal state to a vertical state . At the same time, the position of the slot 121 of the insertion rack 120 can be photographed by the visual positioning device and a picture signal can be sent. When the positioning station moves to the slot 121 of the inserting rack 120, the glass screen can be inserted into the slot 121 of the inserting rack 120 to complete the inserting operation. That is to say, the above-mentioned manipulator can complete the flipping operation of the workpiece 111 and accurately transfer it into the slot 121 to improve efficiency.

Preferably, in this embodiment, the second driving device is an articulated robot 52, and the articulated robot 52 is configured to receive the image signal. In addition, the clamping device 53 includes a second fixing frame 531 and a plurality of second vacuum chucks 532, the plurality of second vacuum chucks 532 are installed on the second fixing frame 531, and the second fixing frame 531 is installed on the joint robot 52 at the same time. The power output end, and the first driving device 51 can be used to drive the second fixed frame 531 to turn over. On the basis of this structure, the workpiece 111 can be sucked by a plurality of second vacuum chucks 532, and then the first driving device 51 is activated to make the second fixing frame 531 turn over, and the workpiece 111 can be driven to be sucked during the turning over of the second fixing frame 531 The plurality of second vacuum chucks 532 are overturned, thereby completing the overturning operation of the workpiece 111 . Thereafter, the joint robot 52 can drive the second fixing frame 531 to move to the slot 121 according to the above picture signal, and complete the transfer operation. It should be noted that the workpiece 111 can be transferred smoothly by adopting a plurality of second vacuum chucks 532 to suck the workpiece 111 without causing damage to the surface of the workpiece 111 . The adoption of the joint robot 52 can enable the gripping device 53 to have more freedom of movement in multiple directions, which is convenient to change according to the picture signal. Specifically, the articulated robot 52 can be a five-axis or six-axis articulated robot 52 with higher flexibility. Certainly, besides the above-mentioned implementation manners, the clamping device 53 can also independently select clamping jaws and the like. Likewise, the second driving device can also be realized by selecting multiple driving mechanisms capable of outputting linear motion.

Preferably, the first driving device 51 is a driving motor 511 , the body of the driving motor 511 is fixed on the power output end of the articulated robot 52 , and the rotating shaft 512 of the driving motor is fixedly connected to the fixing frame 531241 . In this way, the drive motor 511 drives the fixed frame 531241 to rotate, and then drives a plurality of second vacuum suction cups 532 to rotate, thereby realizing the above-mentioned turning operation. Certainly, the first driving device 51 may also be replaced by a gear mechanism or other driving mechanisms capable of outputting rotational motion.

Preferably, the visual positioning device is a camera 54 fixedly connected to the articulated robot 52 , and the slot 121 is photographed and positioned through the camera 54 , and then the picture signal is sent to the articulated robot 52 . Of course, other devices such as sensors and other sensing mechanisms can also be used for visual positioning.

Preferably, in this embodiment, the longitudinal sections of the first vacuum chuck and the second vacuum chuck 532 intercept their own outer surfaces to form a wavy line, that is to say, the first vacuum chuck and the second vacuum chuck 532 The outer surface can be provided with a plurality of folds, since the first vacuum chuck and the second vacuum chuck 532 are generally made of rubber material, thus having a plurality of folds can buffer the suction operation process of the first vacuum chuck and the second vacuum chuck 532 The effect is better, no direct impact occurs during the suction process, and the damage to the workpiece 111 is avoided.

Preferably, referring to Fig. 4 and Fig. 6, the automatic loading and unloading system may also include a material holding mechanism 63, which is located below the insertion slot 61 and is used to move toward or away from the insertion slot 61. . In this way, during the inserting operation, the supporting mechanism 63 can be moved toward the inside of the inserting slot 61 first, and the supporting mechanism 63 can extend into the slot 121 of the inserting rack 120 to hold the workpiece 111 first, and then make the supporting The mechanism 63 gradually moves away from the insertion slot 61, driving the workpiece 111 to slowly enter the slot 121, so that the workpiece 111 can be inserted smoothly, that is, the insertion manipulator 50 can complete the insertion without fully extending into the slot 121 operation, to avoid the insertion manipulator 50 and the insertion rack 120 from colliding.

The supporting mechanism 63 in this embodiment includes a sixth driving cylinder 631, a connecting frame 632 and a plurality of supporting pieces 633, and a plurality of supporting pieces 633 are fixedly connected to the connecting frame 632, and the sixth driving cylinder 631 is used to drive the connecting frame 632 moves toward or away from the insertion slot 61 , so that the plurality of supporting pieces 633 extend into or away from the slot 121 of the insertion rack 120 . That is to say, during the inserting operation, the sixth drive cylinder 631 can drive the plurality of supporting pieces 633 to move toward the insertion slot 61, and the plurality of supporting pieces 633 can extend into the slot 121, that is, the supporting pieces 633 The height is higher than the bottom of the slot 121, so that the insertion manipulator 50 places the workpiece 111 in the slot 121 so that the bottom of the workpiece 111 is in contact with the top of the supporting piece 633, so the insertion manipulator 50 does not need to enter the slot 121 . Afterwards, the plurality of supporting pieces 633 are moved away from the inserting slot 61 , during this process, the workpiece 111 will fall into the slot 121 to complete the fixing.

Preferably, referring to Fig. 4 and Fig. 5, the automatic loading and unloading system also includes a conveying platform 70 and a second conveying mechanism 62 installed on the frame 100, and a plurality of conveying platforms 71 are arranged on the conveying platform 70, so that multiple A number of transport racks 71 are arranged at intervals along the height direction of the frame 100 , and the transport racks 71 can be used to place the insertion racks 120 with the slots 121 . In addition, the above-mentioned multiple delivery platforms 71 can move along the height direction of the delivery platform 70 . The second conveying mechanism 62 can be used to convey the inserting frame 120 on the conveying platform 71 to the inserting slot 61 .

On the basis of the above structure, the insertion frame 120 with the slot 121 can be placed on each delivery platform 71 of the delivery platform 70 in advance, and the second delivery mechanism 62 can place the insertion frame 120 on the topmost delivery platform 71. The material rack 120 is transported into the insertion slot 61 , and the workpiece 111 is inserted into the slot 121 by the insertion manipulator 50 to complete automatic insertion. After completing the inserting operation of one inserting rack 120, the inserting rack 120 can be transported to the conveying platform 71 again by the second conveying mechanism 62. Moving upward, that is, the empty inserting rack 120 is lifted up, and then the inserting rack 120 is transported to the inserting slot 61 by the second conveying mechanism 62 to complete the inserting operation, so repeated, the degree of automation is higher.

In this embodiment, the second conveying mechanism 62 specifically includes a conveying arm 622 and a third driving mechanism 621. The third driving mechanism 621 drives the conveying arm 622 to move toward or away from the conveying table 70, and when the conveying arm 622 moves toward When moving close to the conveying platform 70 , the conveying arm 622 can extend under the conveying platform 71 to support the inserting frame 120 . While the conveying arm 622 can drive the inserting frame 120 to move to the inserting slot 61 when moving away from the conveying table 70 . Specifically, when inserting materials, the third driving mechanism 621 can drive the conveying arm 622 to move toward the conveying platform 70, and when the conveying arm 622 moves to the bottom of the conveying platform 71, it can be moved by multiple conveying platforms 71. Move downward, so that the inserting rack 120 will fall on the conveying arm 622 , and at this time, the conveying arm 622 is moved away from the conveying table 70 to drive the inserting rack 120 to move toward the inserting slot 61 . After inserting the material, the delivery arm 622 can be moved towards the direction close to the delivery platform 70, so that the delivery arm 622 will drive the insertion rack 120 filled with the workpieces 111 to move to the top of the delivery platform 71. The first conveying platform 71 can move upwards, and the inserting frame 120 will be separated from the conveying arm 622. This is repeated to complete the inserting operation of the inserting racks 120 on the multiple conveying platforms 71 .

Preferably, an elastic member 64 is provided on the side of the material inserting slot 61 away from the conveying platform 70 , and when the conveying arm 622 drives the inserting frame 120 to move away from the conveying platform 70 , the material inserting frame 120 will press against the elastic member 64 , so that hard collision between the insertion rack 120 and the frame 100 can be avoided. Of course, after the insertion is completed, the reset of the above-mentioned elastic member 64 will also provide an acceleration to the insertion frame 120, which is convenient for driving. In this embodiment, the elastic member 64 may specifically be a spring.

More specifically, a pressing mechanism 66 may be provided on one side of the insertion slot 61, and the pressing mechanism 66 may move toward or away from the insertion slot 61. Above, when preparing to insert the material, the pressing mechanism 66 can be moved towards the insertion slot 61, so that the pressing mechanism 66 can abut against one side of the inserting frame 120, so that the inserting frame 120 is stably positioned on the inserting slot 61. In the slot 61, it is prevented from being deflected during the inserting process. The above-mentioned pressing mechanism 66 may include an abutment plate and a driving cylinder, and the abutment plate can be driven to move toward or away from the insertion slot 61 by the driving cylinder.

Preferably, a position limiter 65 is also provided on the side of the insertion slot 61 close to the delivery platform 70, and the position limiter 65 is used to detect the position of the insertion rack 120 and send a signal, so that After the position 61 has completely entered the inserting slot 61, the position limiter 65 can generate a signal to the above-mentioned inserting manipulator 50, so that the reclaiming manipulator starts to work.

Referring to Fig. 7, the positioning mechanism 40 in this embodiment includes a positioning platform, a first limiting block 42, a second limiting block 43, a first guide groove 44 and a second guiding groove 45; the first limiting block 42, the second The two limit blocks 43 , the first guide groove 44 and the second guide groove 45 can be installed on the positioning platform. A positioning slot is formed on the positioning platform, and the positioning slot can be used for installing the workpiece 111 . Specifically, the first limiting block 42 can move toward the positioning slot along the width direction of the positioning platform, and at the same time, the second limiting block 43 can move toward the positioning slot along the length direction of the positioning platform. The above-mentioned first guide groove 44 is used to guide the first stop block 42 to move toward the direction close to the positioning slot along the length direction of the positioning table. Similarly, the second guide groove 45 can be used to guide the second stop block 43 along the positioning direction. Movement in the width direction of the table.

After the retrieving mechanism 21 picks up the material, the glass screen can be placed in the positioning slot, so that the first stopper 42 moves to the end of the workpiece 111, and the second stopper moves to the side, so that the workpiece 111 The end face and the side face of the locating slot are all abutted against the end wall and the side wall of the positioning slot, so that the workpiece 111 can be neatly placed in the positioning slot, which is convenient for the accurate grasping of the inserting manipulator 50. And the direction of motion of the first limiting block 42 and the second limiting block 43 is two completely perpendicular directions, which can make the glass screen installed in the positioning slot be in a fully fitted state, and will not appear in the grabbing process. In the case of skew, the gripping effect is better.

It should be noted that, in this embodiment, the above-mentioned positioning slot can be a groove provided on the positioning platform, and the groove has an end wall and a side wall. Based on this, when the above-mentioned first limiting block 42 and the second limiting block 43 are all in contact with the glass screen, the first limiting block 42 and the second limiting block 43 can form the other end wall of the groove and the other end wall. side wall. Certainly, the positioning groove position also can only be an open station, can make the first limiting block 42 be provided with two at this moment, and the second limiting block 43 is also provided with two simultaneously, can make the first limiting block in pairs like this The positioning blocks 42 move relative to each other, and at the same time make the two second limiting blocks 43 relatively move in pairs, and the two first limiting blocks 42 and the second limiting blocks 43 in pairs can also jointly form the above-mentioned positioning slots . Certainly, other formations can also be selected for the above-mentioned positioning slots.

Further, a plurality of positioning blocks 41 are arranged on the positioning platform, and the plurality of positioning blocks 41 are arranged along the length direction of the positioning platform, and the top surface of each positioning block 41 forms a positioning slot. That is to say, the positioning platform is provided with a plurality of positioning slots, which can simultaneously complete the positioning of multiple glass screens. Of course, on the basis of this structure, the above-mentioned positioning blocks 41 are uniformly provided with the above-mentioned first limiting blocks 42, second limiting blocks 43, first guide grooves 44 and second guide grooves 45, so as to facilitate each positioning. Block 41 can complete the positioning operation independently without mutual influence.

Further, a third manipulator 46 is provided on the positioning platform, and the third manipulator 46 is used to drive the first limiting block 42 to move along the width direction of the positioning platform, and the driving structure is stable and simple. Similarly, a fourth manipulator 47 is also provided on the positioning platform, and the fourth manipulator 47 is used to drive the second limiting block 43 to move along the length direction of the positioning platform. The driving structure is also stable and simple, which is convenient for driving.

Those skilled in the art can make various other corresponding changes and deformations according to the above-described technical solutions and concepts, and all these changes and deformations should fall within the protection scope of the claims of the present invention.

Claims (9)

1. The automatic loading and unloading system is characterized by comprising,

the automatic feeding device comprises a rack, wherein a feeding station, a taking station, a positioning station, a discharging station and a material inserting groove are arranged on the rack; a stacking space is arranged at the feeding station and used for stacking a plurality of material supporting frames loaded with workpieces along the height of the stacking space; a discharge port is formed at the bottom end of the stacking space; a material supporting space is arranged at the blanking station, and a feeding port is arranged at the bottom end of the material supporting space; a blocking station for blocking an empty material supporting frame is arranged at the material inlet; the inserting groove is used for placing an inserting frame with an inserting groove;

the starting end of the first conveying mechanism is connected with the discharge port and used for receiving the material supporting frame output by the discharge port, and the tail end of the first conveying mechanism is connected with the material inlet;

the feeding mechanism comprises a clamping mechanism and a supporting mechanism, and the clamping mechanism is used for clamping or loosening the material supporting frame positioned at the bottommost end of the stacking space; the supporting mechanism is used for abutting against the material supporting frame positioned at the bottommost end of the stacking space when moving towards the material outlet;

the material taking mechanism is used for clamping a workpiece on the material supporting frame at the material taking station to a positioning station;

the blanking mechanism comprises a material ejecting mechanism and a blocking mechanism, and the material ejecting mechanism is positioned below the material inlet and can move towards or away from the material inlet; the material ejecting mechanism is used for ejecting the empty material supporting frame when moving towards the material inlet so as to enable the material supporting frame to move into the material supporting space; the blocking mechanism can move towards the direction close to or far away from the blocking station; the blocking mechanism is used for blocking the material supporting frame when moving towards the blocking station;

a positioning mechanism for positioning a workpiece;

the inserting manipulator is used for clamping the workpiece at the positioning station and overturning the workpiece so as to insert the overturned workpiece into the slot of the inserting frame;

the automatic feeding and discharging system also comprises a conveying table and a second conveying mechanism which are arranged on the rack, wherein a plurality of conveying racks are arranged on the conveying table and are arranged at intervals along the height direction of the rack; the conveying rack is used for placing an inserting rack with slots; the plurality of conveying platforms can move along the height direction of the conveying platforms; the second conveying mechanism is used for conveying the material inserting frame on the conveying rack to the material inserting groove; the second conveying mechanism comprises a conveying arm and a third driving mechanism, the third driving mechanism drives the conveying arm to move towards the direction close to or far away from the conveying table, and when the conveying arm moves towards the direction close to the conveying table, the conveying arm can extend into the lower part of the conveying table frame to support the material inserting frame; and the conveying arm can drive the material inserting frame to move to the material inserting groove position when moving away from the conveying table.

2. The automatic loading and unloading system of claim 1, wherein the support mechanism comprises a first driving cylinder, a first support plate and a support rod, the first support plate is fixedly connected to a piston rod of the first driving cylinder, the bottom end of the support rod is fixedly connected to the first support plate, and the top end of the support rod forms a support end which is used for moving towards or away from the discharge hole.

3. The automatic loading and unloading system of claim 1, wherein the clamping mechanism comprises a plurality of second driving cylinders and a plurality of clamping blocks, the plurality of second driving cylinders are mounted on the frame and circumferentially arrayed around the central axis of the stacking space, the plurality of clamping blocks are fixedly connected to piston rods of the plurality of second driving cylinders in a one-to-one correspondence manner, and each clamping block can move towards the inside of the stacking space or away from the stacking space.

4. The automatic loading and unloading system of claim 1, wherein the blocking mechanism comprises a plurality of blocking blocks, the plurality of blocking blocks are arranged at the blocking station and can move towards the direction close to or far away from the blocking station; the blocking blocks are used for blocking the material holding frame when moving towards the blocking station; each blocking block is pivoted on the side wall of the feeding opening and can rotate towards the direction close to or far away from the feeding opening under the action of external force; the bottom end of the blocking block is provided with a pressed inclined plane which is gradually inclined towards the direction far away from the material inlet from top to bottom; the pressed inclined surface is pressed by external force so that the blocking block rotates towards the direction far away from the feeding port.

5. The automatic loading and unloading system of claim 1, wherein the material taking mechanism comprises a plurality of material taking parts for sucking the workpieces, a first driving mechanism and a second driving mechanism, the first driving mechanism is used for driving the plurality of material taking parts to move towards or away from the material taking station along the width direction of the rack; the second driving mechanism is used for driving the plurality of material taking parts to move towards or away from the material taking station along the height direction of the rack.

6. The automatic loading and unloading system of claim 1, wherein the frame is further provided with a material blocking station and a material blocking mechanism, the material blocking station is positioned between the material taking station and the material discharging station, the material blocking mechanism can move towards or away from the material blocking station, and the material blocking mechanism is used for blocking the material supporting frame when moving towards the material blocking station; the material blocking station is provided with a limiting sensor, the limiting sensor is used for detecting the position of the material supporting frame and sending a position signal to the material blocking mechanism, and the material blocking mechanism is used for moving towards the material blocking station to block the material supporting frame according to the position signal.

7. The automatic loading and unloading system of claim 1, further comprising a guide mechanism for guiding the carrier frame to move in the conveying direction of the first conveying mechanism; the guide mechanism comprises a plurality of guide rollers, a plurality of guide rollers are arranged on two sides of the first conveying mechanism, and the guide rollers are arranged along the conveying direction of the first conveying mechanism and are used for being matched with the edge of the material supporting frame in a rolling mode.

8. The automatic loading and unloading system of claim 1, wherein the material inserting manipulator comprises a gripping device, a vision positioning device, a first driving device and a second driving device; the clamping device is used for clamping a workpiece of the feeding station; the first driving device is used for driving the clamping device to overturn; the vision positioning device is used for photographing the blanking station and sending a picture signal to the second driving device, and the second driving device is used for driving the clamping device to move from the feeding station to the blanking station according to the picture signal.

9. The automatic loading and unloading system of claim 1, further comprising a material supporting mechanism located below the material inserting slot and adapted to move toward or away from an inside of the material inserting slot.

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