CN111410049A - Rapid stacking/unstacking system for sheet workpieces - Google Patents
Rapid stacking/unstacking system for sheet workpieces Download PDFInfo
- Publication number
- CN111410049A CN111410049A CN202010286540.6A CN202010286540A CN111410049A CN 111410049 A CN111410049 A CN 111410049A CN 202010286540 A CN202010286540 A CN 202010286540A CN 111410049 A CN111410049 A CN 111410049A
- Authority
- CN
- China
- Prior art keywords
- tray
- stacking
- workpieces
- unstacking
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005192 partition Methods 0.000 claims abstract description 62
- 239000000463 material Substances 0.000 claims abstract description 59
- 241000252254 Catostomidae Species 0.000 claims abstract description 6
- 238000007599 discharging Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 52
- 230000007246 mechanism Effects 0.000 claims description 47
- 238000007664 blowing Methods 0.000 claims description 6
- 239000013307 optical fiber Substances 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 description 7
- 239000006260 foam Substances 0.000 description 5
- 239000000758 substrate Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920003229 poly(methyl methacrylate) Polymers 0.000 description 1
- 239000004926 polymethyl methacrylate Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G60/00—Simultaneously or alternatively stacking and de-stacking of articles
Landscapes
- De-Stacking Of Articles (AREA)
Abstract
The invention provides a quick stacking/unstacking system for sheet workpieces, which improves stacking/unstacking efficiency. The system for quickly stacking/unstacking the thin sheet workpieces comprises a control system, a robot taking and placing device, a workpiece feeding and discharging device, a stacking material tray and a partition material tray, wherein the robot taking and placing device comprises a robot, a first sucker component and a second sucker component; the first sucker component is used for sucking a workpiece and comprises a plurality of non-contact suckers; the second sucking disc subassembly is used for absorbing the baffle, including a plurality of vacuum chuck. The automatic stacking/unstacking device is suitable for automatic stacking/unstacking of thin, soft and breathable workpieces, reduces labor cost and improves stacking/unstacking efficiency.
Description
Technical Field
The invention relates to the technical field of automation and unstacking and stacking, in particular to a rapid stacking/unstacking system for sheet workpieces.
Background
The conventional sucker or gripper cannot effectively grab due to the characteristics of thin, soft, breathable and poor surface roughness of the workpiece, and is very easy to grab insecure workpieces, uneven workpieces and multiple workpieces. At present, most of sheet workpieces are stacked and unstacked in a manual operation mode, and the sheet workpieces have the following defects and shortcomings:
1. the bar code is manually identified, so that the identification rate is low;
2. data are recorded manually, so that the efficiency is low and the error rate is high;
3. manual stacking and unstacking are carried out, so that the efficiency is low, the labor intensity is high, large-scale stacking/unstacking cannot be realized, and the large-scale stacking/unstacking cannot be adapted to mass production;
4. the work piece is softer, snatchs the difficulty, and the manual work can't be put neatly.
For example, for stacking and unstacking of some thin-sheet foams, in order to prevent adjacent foams from being stuck together when stacked in rows, a hard partition plate is arranged between the adjacent foams to prevent the adjacent foams from being stuck together.
Disclosure of Invention
The invention provides a quick stacking/unstacking system for sheet workpieces, which can automatically pick and place the sheet workpieces for stacking or unstacking, improve the stacking/unstacking efficiency and reduce the error rate.
In order to achieve the technical effect, the invention adopts the technical scheme that the rapid stacking/unstacking system for the sheet workpieces comprises:
a control system;
the robot taking and placing device is used for taking and placing workpieces and partition plates and comprises a robot, a first sucker component and a second sucker component, wherein the first sucker component and the second sucker component are arranged at the tail end of a mechanical arm of the robot; the first sucker component is used for sucking workpieces and comprises a first mounting plate fixedly connected with the tail end of a mechanical arm of the robot and a plurality of non-contact suckers fixedly mounted on the first mounting plate and positioned below the first mounting plate; the second sucker assembly is used for sucking the partition plate and comprises a first mounting plate fixedly connected with the tail end of a mechanical arm of the robot and a plurality of vacuum suckers fixedly mounted on the first mounting plate and positioned below the first mounting plate;
the workpiece loading and unloading device is used for loading workpieces to a material taking position for the robot taking and placing device to grab during stacking and receiving the workpieces at a material placing position of the robot taking and placing device during unstacking;
the stacking material tray is used for placing stacked/to-be-unstacked workpieces and partition plates, and the workpieces and the partition plates are alternately placed up and down in the stacking material tray;
the clapboard tray is used for placing the clapboard.
The quick stacking/unstacking system for the sheet workpieces further comprises:
the vision positioning device is used for correcting the deviation of the workpiece taken and placed by the robot taking and placing device and comprises a light source assembly and a camera, and the vision positioning device is located between the workpiece feeding and discharging device and the robot taking and placing device.
The workpiece loading and unloading device comprises a workpiece tray and a lifting mechanism, the workpiece tray is used for placing workpieces, and the lifting mechanism is used for driving the workpiece tray to lift so that the robot taking and placing device can take the workpieces at the same material taking position or can place the workpieces at the same material placing position.
The workpiece loading and unloading device further comprises a fixedly arranged surrounding frame for limiting the lifting space of the workpiece tray, the workpiece tray is located in the lifting space, the lifting mechanism is located on the outer side of the surrounding frame, and the workpiece tray and the lifting part of the lifting mechanism are fixedly connected into a whole through a connecting piece.
Enclose the frame and include the bottom plate and set firmly on the bottom plate and follow many pin poles that the circumference of bottom plate was laid, install on the bottom plate and be used for detecting whether there is the first detection switch of work piece charging tray work piece, it is used for detecting to enclose to install on the top of frame whether the work piece charging tray goes up and down to making the robot gets the second detection switch that puts the device and get the material or put the blowing at same material position and get the material or same blowing position blowing.
The first detection switch is a photoelectric sensor, a through part for the detection light of the first detection switch to penetrate through so as to irradiate the workpiece is formed on the workpiece tray, and the second detection switch is an optical fiber sensor.
The quick stacking/unstacking system for the sheet workpieces further comprises:
the stacking tray lifting mechanism is used for driving the stacking tray to lift so that the robot taking and placing device can take materials at the same material taking position or place materials at the same material placing position, and a third detection switch for detecting whether the stacking tray is lifted in place or not is arranged on the side part of the stacking tray;
the baffle charging tray elevating system is used for driving the baffle charging tray to go up and down so that the robot taking and placing device takes materials at the same material taking position or discharges materials at the same material discharging position, the lateral part of the baffle charging tray is provided with a fourth detection switch used for detecting whether the baffle charging tray goes up and down in place.
The quick stacking/unstacking system for the sheet workpieces further comprises:
the stacking material tray in-out mechanism is used for driving the stacking material tray to slide to a stacking/unstacking position or leave the stacking/unstacking position;
and the partition plate material tray in-out mechanism is used for driving the partition plate material tray to slide to the stacking/unstacking position or leave the stacking/unstacking position.
The stacking tray in-and-out mechanism comprises a slidable support seat plate, a driving part for driving the support seat plate to slide and a guide assembly for guiding the sliding of the support seat plate, the support seat plate is connected to the output end of the driving part, the support seat plate is in guide fit with the guide assembly, and the stacking tray can slide in or out of the support seat plate; the structure of the partition plate material tray in-out mechanism is the same as that of the stacking material tray in-out mechanism, and the partition plate material tray can slide in or out of the support seat plate of the partition plate material tray in-out mechanism.
The stacking tray in-and-out mechanism further comprises a fifth detection switch for detecting whether the stacking tray slides in place on the support base plate, a positioning component for positioning the stacking tray when the stacking tray slides in place, and a sixth detection switch for detecting whether the workpiece and/or the partition plate exist in the stacking tray; the baffle charging tray in-and-out mechanism further comprises a seventh detection switch for detecting whether the baffle charging tray slides in place on the supporting seat plate, a positioning component for positioning the baffle charging tray when the baffle charging tray slides in place, and an eighth detection switch for detecting whether the baffle exists in the baffle charging tray.
Compared with the prior art, the invention has the following advantages and positive effects:
the invention is characterized in that a workpiece and a partition board are grabbed by a robot picking and placing device, a first sucker component and a second sucker component are arranged at the tail end of a mechanical arm of the robot picking and placing device and are respectively used for sucking the workpiece and the partition board, a non-contact type sucker is adopted in the first sucker component for sucking the workpiece, the non-contact type sucker utilizes Bernoulli principle to form a through hole which is communicated up and down at the central line of two corresponding end surfaces of the sucker, compressed air enters from the upper end of the through hole and is sprayed out from a plurality of air nozzles which are distributed on the other end surface of the sucker along the circumferential direction, an air inlet through hole is communicated with the air nozzles through a plurality of communicating holes which are obliquely arranged in corresponding number, the air nozzles are open conical holes, the compressed air sprayed out from the centers of the end surfaces of the air nozzles meets the workpiece, the compressed air is rapidly diffused outwards along the radial horizontal direction of the sucker from the centers, the workpiece is sucked by the large-area negative pressure, and the device is particularly suitable for grabbing thin, soft and breathable workpieces, so that the grabbing problem of the workpieces is solved; the function of the partition plates is the same as that of the prior art, namely the partition plates are alternately placed up and down with the workpieces during stacking to prevent adjacent workpieces from being adhered, the partition plates are hard plates, and the second sucker assembly can be a common vacuum sucker; the robot picking and placing device is controlled to drive the first sucker component and the second sucker component to alternately operate, so that automatic stacking/unstacking of the thin sheet workpieces is realized, labor cost is reduced, stacking/unstacking efficiency is improved, and the requirement of mass production is met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a system for rapidly stacking/unstacking sheet-like workpieces according to a preferred embodiment of the invention;
FIG. 2 is a schematic perspective view of a system for rapidly palletizing/unstacking sheet-like workpieces according to a preferred embodiment of the present invention without a protective frame;
FIG. 3 is an enlarged view of the portion A of FIG. 2;
FIG. 4 is an axial cross-sectional view of a single non-contact suction cup in accordance with a preferred embodiment of the present invention;
FIG. 5 is a view taken along line A of FIG. 4;
FIG. 6 is a schematic structural view of a workpiece loading and unloading apparatus according to a preferred embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a driving part of a rapid stacking/unstacking system for sheet workpieces to drive a partition tray to slide out in the preferred embodiment of the invention;
FIG. 8 is a schematic structural view of the stacking tray omitted from FIG. 2;
FIG. 9 is an enlarged view of the portion A of FIG. 8;
fig. 10 is an enlarged view of the portion B in fig. 8.
Detailed Description
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 to 5, the system for quickly stacking/unstacking thin-sheet workpieces in this embodiment includes a control system 1700, a robot pick-and-place device 100, a workpiece loading and unloading device 200, a stacking tray 300, and a partition tray 400. The control system 1700 is used for automated control of the entire system; the robot picking and placing device 100 is used for picking and placing the workpieces 500 and the partition boards 600, the workpieces 500 are thin, soft and breathable sheet-shaped workpieces, such as foam, in this embodiment, in order to prevent adhesion between adjacent workpieces 500 stacked up and down during stacking, the hard partition boards 600 and the workpieces 500 are alternately placed up and down during stacking, and then the workpieces 500 and the partition boards 600 need to be alternately taken out and respectively fed onto the workpiece loading and unloading device 200 and the partition board tray 400 during unstacking.
Specifically, the robot picking and placing device 100 comprises a robot 110, and a first sucker assembly 120 and a second sucker assembly 130 which are installed at the end of the mechanical arm of the robot 110, wherein the first sucker assembly 120 comprises a mounting plate 121 fixedly connected with the end of the mechanical arm of the robot 110 and a plurality of non-contact suckers 122 which are fixedly installed on the mounting plate 121 and are positioned below the mounting plate 121; the second chuck assembly 130 includes a mounting plate 131 fixedly coupled to an end of the arm of the robot 110 and a plurality of vacuum chucks 132 fixedly mounted on the mounting plate 131 and positioned below the mounting plate 131. The workpiece loading and unloading device 200 is used for loading the workpieces 500 to a material taking position for the robot taking and placing device 100 to grab during stacking and carrying the workpieces 500 at a material placing position of the robot taking and placing device 100 during unstacking; the stacking tray 300 is used for storing stacked or to-be-unstacked workpieces 500 and the partition boards 600, and the workpieces 500 and the partition boards 600 are alternately stacked up and down in the stacking tray 300; the separator tray 400 is used to place the separators 600.
In the embodiment, the robot pick-and-place apparatus 100 is used to automatically grab the workpiece 500 and the partition 600, the non-contact type suction cup 122 is used in the first suction cup assembly 120, as shown in fig. 3 to 5, the non-contact type suction cup 122 utilizes bernoulli principle, a through hole 122A which is communicated with each other up and down is formed at the center line of two corresponding end surfaces of the suction cup, compressed air enters from the upper end of the through hole 122A (the air flow direction is shown by vertical downward arrow in fig. 4), and then is ejected from a plurality of air ejection ports 122B which are arranged on the other end surface of the suction cup along the circumferential direction, the through hole 122A is communicated with the plurality of air ejection ports 122B through a corresponding number of communication holes 122C which are arranged obliquely, the air ejection ports 122B are tapered holes with an opening shape, as shown in fig. 4, after the compressed air ejected from the air ejection ports 122B meets the workpiece, the compressed air rapidly diffuses from the center of the end surface of the air ejection ports 122B along, the air diffused by the plurality of air nozzles 122B is vortex-shaped, as shown in fig. 5, the compressed air takes away the air in the central area to generate continuous negative pressure between the workpiece and the center of the suction cup, and the workpiece is sucked by the large-area negative pressure (the direction of the force is shown by the upward arrow in fig. 4), so that the vacuum suction device is particularly suitable for grabbing thin, soft and breathable workpieces; the partition plate 600 is a hard plate, the second sucker component 130 is only required to be selected from the common vacuum sucker 132, the robot picking and placing device 100 is controlled to drive the first sucker component 120 and the second sucker component 130 to alternately operate, automatic stacking/unstacking of the workpieces 500 is achieved, labor cost is reduced, stacking/unstacking efficiency is improved, and mass production requirements are met.
As shown in fig. 1 and 2, the robot picking and placing device 100 is located at about the center of the whole system, so that the robot picking and placing device 100 can pick and place materials conveniently. Pile up neatly charging tray 300 and baffle charging tray 400 structure are the same, can be general, all are field word check structure to improve the volume of carrying cargo, be equipped with the dog all around, prevent work piece 500 or baffle 600 roll-off.
When the workpieces 500 are placed on the workpiece loading and unloading device 200 by manual placement, since it is difficult to ensure that the positions of the workpieces 500 placed each time are uniform by manual placement, a certain deviation exists, for example, some workpieces 500 are not placed correctly and have an inclination, so that the initial placing states of the workpieces 500 grabbed each time by the robot picking and placing device 100 are not uniform, and the placing positions on the stacking tray 300 are deviated; or when unstacking is performed, the initial placement states of the workpieces 500 on the stacking trays 300 are not uniform, so that the placement positions on the feeding and discharging devices 200 are deviated. To solve the technical problem, the system for quickly stacking/unstacking thin-sheet workpieces in this embodiment further includes a visual positioning device 700 for correcting the deviation of the workpieces 500 picked and placed by the robot picking and placing device 100, so that the workpieces 500 are placed in order. Specifically, referring to fig. 8 and 9, the visual positioning device 700 includes a light source module 710 and a camera 720, the camera 720 is a CCD camera system or a CMOS camera system or other camera units capable of identifying and distinguishing workpieces through object images (shape, color difference, special features, etc.), and the visual positioning device 700 is located between the workpiece loading and unloading device 200 and the robot pick-and-place device 100, so that the robot pick-and-place device 100 can perform visual correction immediately after picking the workpiece 500 from the workpiece loading and unloading device 200 or before placing the workpiece 500. The principle of the visual deviation correction of the visual positioning apparatus 700 is the same as that of the prior art, and is not described herein again.
Specifically, during stacking, after the robot taking and placing device 100 grabs the workpiece 500 from the loading and unloading device 200, the camera 720 takes a picture of the workpiece 500 to acquire position information, the information is processed and then transmitted to the control system 1700, the control system 1700 controls the robot 110 to act to adjust the workpiece 500 to a correct position, and then the workpiece 500 is driven to move to the stacking tray 300 for stacking; when unstacking is carried out, after the robot picking and placing device 100 picks the workpieces 500 from the stacking tray 300, the camera 720 shoots the workpieces 500 to acquire position information, the information is processed and then transmitted to the control system 1700, the control system 1700 controls the robot 110 to act to adjust the workpieces 500 to correct positions, and then the workpieces 500 are driven to move and placed on the loading and unloading device 200.
For the specific structural form of the workpiece loading and unloading device 200, it can be a manual workpiece tray, and also can be a conveyor for automatic loading. In this embodiment, in order to reduce the equipment cost of the rapid stacking/unstacking system for sheet-type workpieces in this embodiment, the workpiece loading and unloading device 200 in this embodiment adopts manual tray loading, that is, it includes the workpiece tray 210, and usually a plurality of workpieces are stacked up and down on one tray for sheet-type workpieces by tray loading, so as to improve the utilization rate of the tray.
Specifically, during stacking, since the total height of the stacked workpieces on the workpiece tray 210 is reduced along with the stacking, in order to ensure that the robot taking and placing device 100 is located at the same material taking position when grabbing the workpieces 500 each time, and the height position of the first chuck assembly 120 does not need to be adjusted according to the total height of the workpieces 500 on the workpiece tray 210, in the embodiment, the workpiece loading and unloading device 200 further includes a lifting mechanism 220 in addition to the workpiece tray 210, the lifting mechanism 220 drives the workpiece tray 210 and the workpieces 500 thereon to ascend so as to load the workpieces 500 to the same material taking position, that is, the robot taking and placing device 100 takes materials at the same material taking position, so that the robot taking and placing device 100 does not need to drive the first chuck assembly 120 to descend to contact the workpieces 500 on the uppermost layer to contact each time when grabbing, so that the actions of the robot taking and placing device 100 are as simple as possible, and, meanwhile, if the robot picking and placing device 100 drives the first chuck assembly 120 to descend for a certain distance each time it picks, there is a possibility that the first chuck assembly 120 interferes with the workpiece loading and unloading device 200, which is not beneficial to picking and placing.
Similarly, during unstacking, since the total height of the stacked workpieces 500 on the workpiece tray 210 is increased along with the unstacking, in order to ensure that the robot taking and placing device 100 is located at the same placing position during each placing, the lifting mechanism 220 drives the workpiece tray 210 and the workpieces 500 thereon to descend so that the robot taking and placing device 100 places the workpieces at the same placing position, and the first suction tray assembly 120 does not need to be driven to ascend by a certain distance to avoid the gradually stacked and raised workpieces 500 during each placing of the robot taking and placing device 100.
More specifically, in the embodiment, the lifting mechanism 220 is a linear module, and the stroke precision is high.
In this embodiment, referring to fig. 6, the workpiece loading and unloading device 200 further includes a fixed enclosure frame 230 for defining a lifting space of the workpiece tray 210 and the workpiece 500 thereon, and the workpiece tray 210 and the workpiece 500 thereon are located in the lifting space, so that the enclosure frame 230 circumferentially limits and protects the workpiece tray 210 and the stacked/unstacked workpiece 500, and ensures that the lifting mechanism 220 works, the lifting motion stability of the workpiece tray 210 and the workpiece 500 thereon is stable, and the cross section of the lifting space enclosed by the enclosure frame 230 can be adapted to the profile shape of the workpiece 500, so as to better limit the lifting space and facilitate guiding. The lifting mechanism 220 is located outside the enclosure frame 230, and the workpiece tray 210 is fixedly connected with the lifting part of the lifting mechanism 220 through a connecting piece 240.
As shown in fig. 6, the enclosure frame 230 includes a bottom plate 231 and a plurality of blocking rods 232 fixed on the bottom plate 231 and arranged along the circumferential direction of the bottom plate 231, and a gap is formed between adjacent blocking rods 232, so as to observe the condition of the workpiece 500 in the lifting space at any time, and facilitate the connection of the connection member 240 with the external lifting mechanism 220 and the internal workpiece tray 210. Meanwhile, the first detection switch 250 for detecting whether the workpiece tray 210 has the workpiece 500 is installed on the bottom plate 231, and the first detection switch 250 is in communication connection with the controller, so that when no workpiece 500 is detected, a signal is transmitted to the controller, the controller controls the robot taking and placing device 100 to stop to wait for placing a new workpiece 500, smooth grabbing of the robot taking and placing device 100 is ensured, and the stacking efficiency is further improved; in addition, a second detection switch 260 for detecting whether the workpiece tray 210 is lifted to enable the robot picking and placing device 100 to pick a workpiece at the same picking position or to place a workpiece at the same placing position is installed at the top end of the enclosure frame 230, specifically, the second detection switch 260 detects whether the position of the uppermost workpiece 500 reaches a preset picking/placing position, for example, when the second detection switch 260 detects that the workpiece 500 is lifted to the preset picking position during stacking, a signal is transmitted to the controller, and the controller controls the robot picking and placing device 100 to pick the workpiece.
For the first detection switch 250, it is only necessary to detect whether the workpiece 500 exists, the precision requirement of the first detection switch 250 is low, for example, a photoelectric sensor is selected, and at this time, a through part (i.e., a through hole, not shown in the view angle reason) through which the detection light of the first detection switch 250 passes to irradiate the workpiece 500 is formed on the workpiece tray 210; the second detection switch 260 needs to detect the accurate position of the workpiece 500, so that the precision requirement of the second detection switch 260 is high, and the second detection switch 260 is an optical fiber sensor.
Similarly, as the total heights of the stacked workpieces 500 and the separators 600 on the stacking tray 300 change with time along with the stacking or unstacking, the height during stacking increases and decreases, and in order to ensure that the robot taking and placing device 100 is located at the same taking/placing position every time the workpiece 500 or the separator 600 is grabbed or placed on the stacking tray 300, the height position of the first suction tray assembly 120 does not need to be adjusted according to the total height of the workpiece 500 on the workpiece tray 210; meanwhile, a third detection switch 900, such as an optical fiber sensor, for detecting whether the stacking tray 300 is lifted in place is arranged on one side of the stacking tray 300, and in this embodiment, as shown in fig. 2, the third detection switch 900 is installed on a support column.
Similarly, as the stacking or unstacking is performed, the total height of the partition boards 600 on the partition board tray 400 changes with time, the stacking is increased, and the unstacking is decreased, so as to ensure that the robot taking and placing device 100 is located at the same taking/placing position when grabbing or placing the partition boards 600 on the partition board tray 400 at each time, in this embodiment, the system for quickly stacking/unstacking thin-sheet workpieces further comprises a partition board tray lifting mechanism 1000 for driving the partition board tray 400 to lift so that the robot taking and placing device 100 takes or places the thin-sheet workpieces at the same taking position, and meanwhile, a fourth detection switch 1100 for detecting whether the partition board tray 400 is lifted in place is arranged at one side of the partition board tray 400, such as an optical fiber sensor, as shown in fig. 2, and the fourth detection switch 1100 is mounted on a support column in this embodiment.
In order to facilitate replacement of a new stacking tray 300 when the stacking tray 300 is fully stacked or when the stacking is completely disassembled, and similarly, to replace a new partition tray 400, the rapid stacking/disassembling system for sheet workpieces of this embodiment further includes a stacking tray in-and-out mechanism 1200 and a partition tray in-and-out mechanism 1300, wherein the stacking tray in-and-out mechanism 1200 is used for driving the stacking tray 300 to slide to the stacking/disassembling position or leave the stacking/disassembling position; the separator tray in-out mechanism 1300 is used to drive the separator tray 400 to slide to or away from the palletizing/unstacking position.
Further specifically, referring to fig. 8, in the present embodiment, the stacker tray in-and-out mechanism 1200 includes a slidable support seat plate 1210, a driving member 1220 for driving the support seat plate 1210 to slide, and a guide assembly 1230 for guiding the sliding of the support seat plate 1210, wherein the support seat plate 1210 is connected to an output end of the driving member 1220, and the support seat plate 1210 is in guiding fit with the guide assembly 1230, and the stacker tray 300 can slide in or out of the support seat plate 1210. When the stacking tray 300 is loaded on the support base plate 1210, a loading trolley is adopted to be in butt joint with the support base plate 1210, then the stacking tray 300 is pushed to slide into the support base plate 1210, in order to reduce friction between the stacking tray 300 and the support base plate 1210, a plurality of rollers 1240 are distributed on the support base plate 1210 along the sliding direction of the stacking tray 300, when stacking or unstacking of the stacking tray 300 is finished, the support base plate 1210 is driven by a driving part 1220 to drive the stacking tray 300 to slide outwards together so as to replace a new stacking tray 300, and the sliding state of the stacking tray 300 can refer to the sliding state of the partition plate tray 400 driven by the corresponding driving part and the support base plate in fig. 7; similarly, the structure of the partition plate tray in-out mechanism 1300 is the same as the structure of the stacking tray in-out mechanism 1200, and can be universal, the structure of the partition plate tray in-out mechanism 1300 in this embodiment is not repeated, and the partition plate tray 400 can slide in or out of the support seat plate of the partition plate tray in-out mechanism 1300. In this embodiment, the driving member 1220 is a cylinder, and an output end of a cylinder rod of the driving member is connected to the support base plate 1210 to drive the support base plate 1210 to move linearly.
Further, the stacking tray in-and-out mechanism 1200 further includes a fifth detection switch for detecting whether the stacking tray 300 slides in place on the support base plate 1210, a positioning member 1250 for positioning the stacking tray 300 when the stacking tray 300 slides in place, and a sixth detection switch 1260 for detecting whether the workpiece 500 and/or the partition 600 exist in the stacking tray 300. Specifically, the fifth detection switch may be a magnetic switch, which is specifically disposed on a side portion of the driving part 1220 to detect whether the stacking tray 300 slides in place on the support seat plate 1210; referring to fig. 8 and 10, the positioning component 1250 is a positioning pin, two positioning components 1250 are respectively arranged on the stacking tray in-out mechanism 1200 and the partition tray in-out structure 1300, and the two positioning components 1250 are arranged diagonally, as shown in fig. 8, positioning holes are correspondingly arranged on the stacking tray 300 and the support seat plate 1210, positioning of the stacking tray 300 is realized through cooperation of the positioning pin and the positioning holes, and the fifth detection switch and the positioning component 1250 act together, so that positioning reliability and positioning accuracy of the stacking tray 300 are improved; the sixth detection switch 1260 is arranged on the support base plate 1210, and a photoelectric sensor can be selected, the detection principle of the sixth detection switch is the same as that of the first detection switch 250 on the workpiece loading and unloading device 200, and a through part is also arranged on the stacking tray 300 for the detection light of the sixth detection switch 1260 to pass through. Similarly, the partition tray in-out mechanism 1300 further includes a seventh detection switch for detecting whether the partition tray 400 slides in place on the support seat plate 1210, a positioning component for positioning the partition tray 400 when the partition tray 400 slides in place, and an eighth detection switch for detecting whether the partition 600 exists in the partition tray 400, which is not described herein again.
In addition, the system for quickly stacking/unstacking thin-sheet workpieces in the embodiment further comprises an alarm device 1400, which is at least used for sending a stacking/unstacking completion signal. After the stacking/unstacking is finished, the finishing information is transmitted to the alarm device 1400, the alarm device 1400 sends a stacking/unstacking finishing signal, the rapid stacking/unstacking system for sheet workpieces can be configured with the display screen, the stacking/unstacking information is displayed on the display, and the stacking/unstacking result is automatically stored. The alarm device 1400 may be a sound and light alarm or other alarm device.
In this embodiment, the system for quickly stacking/unstacking thin-sheet workpieces further includes a fixed substrate 1500, as shown in fig. 1 and 2, the robot pick-and-place device 100, the workpiece loading and unloading device 200, the stacking tray 300, the partition tray 400, and the visual positioning device 700 are all disposed on the fixed substrate 1500 to form an organic whole.
Meanwhile, the system for quickly stacking/unstacking thin-sheet workpieces in the embodiment further comprises a protection frame 1600, as shown in fig. 1, the control system 1700, the robot pick-and-place device 100, the workpiece loading and unloading device 200, the stacking tray 300, the partition tray 400 and the fixing substrate 1500 are all arranged in the protection frame 1600, the control system 1700 is arranged below the fixing substrate 1500 to save space, acrylic glass can be inlaid on the protection frame 1600, the protection frame 1600 is provided with a loading port 1610, and the alarm device 1400 can be arranged on the protection frame 1600.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A system for rapidly stacking/unstacking sheet-like workpieces is characterized by comprising:
a control system;
the robot taking and placing device is used for taking and placing workpieces and partition plates and comprises a robot, a first sucker component and a second sucker component, wherein the first sucker component and the second sucker component are arranged at the tail end of a mechanical arm of the robot; the first sucker component is used for sucking workpieces and comprises a first mounting plate fixedly connected with the tail end of a mechanical arm of the robot and a plurality of non-contact suckers fixedly mounted on the first mounting plate and positioned below the first mounting plate; the second sucker assembly is used for sucking the partition plate and comprises a first mounting plate fixedly connected with the tail end of a mechanical arm of the robot and a plurality of vacuum suckers fixedly mounted on the first mounting plate and positioned below the first mounting plate;
the workpiece loading and unloading device is used for loading workpieces to a material taking position for the robot taking and placing device to grab during stacking and receiving the workpieces at a material placing position of the robot taking and placing device during unstacking;
the stacking material tray is used for placing stacked/to-be-unstacked workpieces and partition plates, and the workpieces and the partition plates are alternately placed up and down in the stacking material tray;
the clapboard tray is used for placing the clapboard.
2. Rapid palletization/unstacking system for sheet-like workpieces according to claim 1, characterized in that,
the quick stacking/unstacking system for the sheet workpieces further comprises:
the vision positioning device is used for correcting the deviation of the workpiece taken and placed by the robot taking and placing device and comprises a light source assembly and a camera, and the vision positioning device is located between the workpiece feeding and discharging device and the robot taking and placing device.
3. Rapid palletization/unstacking system for sheet-like workpieces according to claim 1, characterized in that,
the workpiece loading and unloading device comprises a workpiece tray and a lifting mechanism, the workpiece tray is used for placing workpieces, and the lifting mechanism is used for driving the workpiece tray to lift so that the robot taking and placing device can take the workpieces at the same material taking position or can place the workpieces at the same material placing position.
4. Rapid palletization/unstacking system for sheet-like workpieces according to claim 3, characterized in that,
the workpiece loading and unloading device further comprises a fixedly arranged surrounding frame for limiting the lifting space of the workpiece tray, the workpiece tray is located in the lifting space, the lifting mechanism is located on the outer side of the surrounding frame, and the workpiece tray and the lifting part of the lifting mechanism are fixedly connected into a whole through a connecting piece.
5. Rapid palletization/unstacking system for sheet-like workpieces according to claim 4, characterized in that,
enclose the frame and include the bottom plate and set firmly on the bottom plate and follow many pin poles that the circumference of bottom plate was laid, install on the bottom plate and be used for detecting whether there is the first detection switch of work piece charging tray work piece, it is used for detecting to enclose to install on the top of frame whether the work piece charging tray goes up and down to making the robot gets the second detection switch that puts the device and get the material or put the blowing at same material position and get the material or same blowing position blowing.
6. Rapid palletization/unstacking system for sheet-like workpieces according to claim 5, characterized in that,
the first detection switch is a photoelectric sensor, a through part for the detection light of the first detection switch to penetrate through so as to irradiate the workpiece is formed on the workpiece tray, and the second detection switch is an optical fiber sensor.
7. Rapid palletization/unstacking system for sheet-like workpieces according to claim 1, characterized in that,
the quick stacking/unstacking system for the sheet workpieces further comprises:
the stacking tray lifting mechanism is used for driving the stacking tray to lift so that the robot taking and placing device can take materials at the same material taking position or place materials at the same material placing position, and a third detection switch for detecting whether the stacking tray is lifted in place or not is arranged on the side part of the stacking tray;
the baffle charging tray elevating system is used for driving the baffle charging tray to go up and down so that the robot taking and placing device takes materials at the same material taking position or discharges materials at the same material discharging position, the lateral part of the baffle charging tray is provided with a fourth detection switch used for detecting whether the baffle charging tray goes up and down in place.
8. Rapid palletization/unstacking system for sheet-like workpieces according to claim 7, characterized in that,
the quick stacking/unstacking system for the sheet workpieces further comprises:
the stacking material tray in-out mechanism is used for driving the stacking material tray to slide to a stacking/unstacking position or leave the stacking/unstacking position;
and the partition plate material tray in-out mechanism is used for driving the partition plate material tray to slide to the stacking/unstacking position or leave the stacking/unstacking position.
9. Rapid palletization/unstacking system for sheet-like workpieces according to claim 8, characterized in that,
the stacking tray in-and-out mechanism comprises a slidable support seat plate, a driving part for driving the support seat plate to slide and a guide assembly for guiding the sliding of the support seat plate, the support seat plate is connected to the output end of the driving part, the support seat plate is in guide fit with the guide assembly, and the stacking tray can slide in or out of the support seat plate; the structure of the partition plate material tray in-out mechanism is the same as that of the stacking material tray in-out mechanism, and the partition plate material tray can slide in or out of the support seat plate of the partition plate material tray in-out mechanism.
10. Rapid palletization/unstacking system for sheet-like workpieces according to claim 7, characterized in that,
the stacking tray in-and-out mechanism further comprises a fifth detection switch for detecting whether the stacking tray slides in place on the support base plate, a positioning component for positioning the stacking tray when the stacking tray slides in place, and a sixth detection switch for detecting whether the workpiece and/or the partition plate exist in the stacking tray; the baffle charging tray in-and-out mechanism further comprises a seventh detection switch for detecting whether the baffle charging tray slides in place on the supporting seat plate, a positioning component for positioning the baffle charging tray when the baffle charging tray slides in place, and an eighth detection switch for detecting whether the baffle exists in the baffle charging tray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010286540.6A CN111410049A (en) | 2020-04-13 | 2020-04-13 | Rapid stacking/unstacking system for sheet workpieces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010286540.6A CN111410049A (en) | 2020-04-13 | 2020-04-13 | Rapid stacking/unstacking system for sheet workpieces |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111410049A true CN111410049A (en) | 2020-07-14 |
Family
ID=71488266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010286540.6A Pending CN111410049A (en) | 2020-04-13 | 2020-04-13 | Rapid stacking/unstacking system for sheet workpieces |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111410049A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025347A (en) * | 2020-07-21 | 2020-12-04 | 广东长盈精密技术有限公司 | Rotating shaft processing equipment |
| CN112061796A (en) * | 2020-08-19 | 2020-12-11 | 宁波三韩合金材料有限公司 | Automatic stacking-disassembling feeding and discharging intelligent self-checking production line for machining lathe tool bit cavity |
| CN113021010A (en) * | 2021-03-11 | 2021-06-25 | 杭州三奥智能科技有限公司 | Automatic production line with vision guide robot for feeding and discharging, unstacking and stacking |
| CN113581530A (en) * | 2021-04-26 | 2021-11-02 | 南京钢诺包装机械有限公司 | High-speed flat-pushing type stacking packaging machine |
| CN114101885A (en) * | 2021-12-10 | 2022-03-01 | 江苏北人智能制造科技股份有限公司 | Automatic welding device |
| CN114210578A (en) * | 2021-12-08 | 2022-03-22 | 博众精工科技股份有限公司 | Material distribution device, material distribution method and detection production line |
| CN114348648A (en) * | 2021-12-24 | 2022-04-15 | 柳州市金元机械制造有限公司 | Automatic feeding machine and method for automobile transmission suspension bracket parts |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007009321A1 (en) * | 2007-02-22 | 2008-08-28 | Ass Luippold Automation Systems & Services E.K. | Device for stacking or unstacking thin laminar staple commodities, particularly of bare printed circuit boards, has assembly area, which is assigned vacuum plate that is supported movable longitudinally and in altitude to receive stack |
| CN204056924U (en) * | 2014-07-30 | 2014-12-31 | 浙江瑞宏机器人有限公司 | Automatic access bin |
| CN106516766A (en) * | 2016-11-22 | 2017-03-22 | 苏州超群智能科技有限公司 | Double-material-disc stacking machine |
| CN107098160A (en) * | 2017-04-26 | 2017-08-29 | 中国工程物理研究院化工材料研究所 | A kind of crawl of flexible, porous thin gauge sheet and transfer device |
| CN108639652A (en) * | 2018-07-10 | 2018-10-12 | 崔凤忠 | A kind of intelligence de-stacking outbound loading system and its de-stacking warehouse-out method |
| CN109607222A (en) * | 2018-11-30 | 2019-04-12 | 成都信息工程大学 | A kind of foam stacking destacking apparatus |
| CN110282424A (en) * | 2019-07-16 | 2019-09-27 | 苏州康克莱自动化科技有限公司 | A kind of two-wire shares the assembly line of feeding |
| CN110371695A (en) * | 2019-07-26 | 2019-10-25 | 北京华晟经世信息技术有限公司 | A kind of comprehensive practical traning work station of industrial robot stacking and de-stacking |
| CN110386463A (en) * | 2019-08-07 | 2019-10-29 | 哈尔滨博实自动化股份有限公司 | De-stacking control system and de-stacking production line working method |
| CN212608152U (en) * | 2020-04-13 | 2021-02-26 | 海克斯康制造智能技术(青岛)有限公司 | Rapid stacking/unstacking system for sheet workpieces |
-
2020
- 2020-04-13 CN CN202010286540.6A patent/CN111410049A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007009321A1 (en) * | 2007-02-22 | 2008-08-28 | Ass Luippold Automation Systems & Services E.K. | Device for stacking or unstacking thin laminar staple commodities, particularly of bare printed circuit boards, has assembly area, which is assigned vacuum plate that is supported movable longitudinally and in altitude to receive stack |
| CN204056924U (en) * | 2014-07-30 | 2014-12-31 | 浙江瑞宏机器人有限公司 | Automatic access bin |
| CN106516766A (en) * | 2016-11-22 | 2017-03-22 | 苏州超群智能科技有限公司 | Double-material-disc stacking machine |
| CN107098160A (en) * | 2017-04-26 | 2017-08-29 | 中国工程物理研究院化工材料研究所 | A kind of crawl of flexible, porous thin gauge sheet and transfer device |
| CN108639652A (en) * | 2018-07-10 | 2018-10-12 | 崔凤忠 | A kind of intelligence de-stacking outbound loading system and its de-stacking warehouse-out method |
| CN109607222A (en) * | 2018-11-30 | 2019-04-12 | 成都信息工程大学 | A kind of foam stacking destacking apparatus |
| CN110282424A (en) * | 2019-07-16 | 2019-09-27 | 苏州康克莱自动化科技有限公司 | A kind of two-wire shares the assembly line of feeding |
| CN110371695A (en) * | 2019-07-26 | 2019-10-25 | 北京华晟经世信息技术有限公司 | A kind of comprehensive practical traning work station of industrial robot stacking and de-stacking |
| CN110386463A (en) * | 2019-08-07 | 2019-10-29 | 哈尔滨博实自动化股份有限公司 | De-stacking control system and de-stacking production line working method |
| CN212608152U (en) * | 2020-04-13 | 2021-02-26 | 海克斯康制造智能技术(青岛)有限公司 | Rapid stacking/unstacking system for sheet workpieces |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025347A (en) * | 2020-07-21 | 2020-12-04 | 广东长盈精密技术有限公司 | Rotating shaft processing equipment |
| CN112025347B (en) * | 2020-07-21 | 2022-02-18 | 广东长盈精密技术有限公司 | Rotating shaft processing equipment |
| CN112061796A (en) * | 2020-08-19 | 2020-12-11 | 宁波三韩合金材料有限公司 | Automatic stacking-disassembling feeding and discharging intelligent self-checking production line for machining lathe tool bit cavity |
| CN112061796B (en) * | 2020-08-19 | 2022-05-27 | 宁波三韩合金材料有限公司 | Automatic stacking-disassembling feeding and discharging intelligent self-checking production line for machining lathe tool bit cavity |
| CN113021010A (en) * | 2021-03-11 | 2021-06-25 | 杭州三奥智能科技有限公司 | Automatic production line with vision guide robot for feeding and discharging, unstacking and stacking |
| CN113581530A (en) * | 2021-04-26 | 2021-11-02 | 南京钢诺包装机械有限公司 | High-speed flat-pushing type stacking packaging machine |
| CN114210578A (en) * | 2021-12-08 | 2022-03-22 | 博众精工科技股份有限公司 | Material distribution device, material distribution method and detection production line |
| CN114210578B (en) * | 2021-12-08 | 2024-06-07 | 苏州博众智能机器人有限公司 | Material distributing device, material distributing method and detection production line |
| CN114101885A (en) * | 2021-12-10 | 2022-03-01 | 江苏北人智能制造科技股份有限公司 | Automatic welding device |
| CN114101885B (en) * | 2021-12-10 | 2023-11-14 | 江苏北人智能制造科技股份有限公司 | Automatic welding device |
| CN114348648A (en) * | 2021-12-24 | 2022-04-15 | 柳州市金元机械制造有限公司 | Automatic feeding machine and method for automobile transmission suspension bracket parts |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111410049A (en) | Rapid stacking/unstacking system for sheet workpieces | |
| CN109712924B (en) | Automatic test equipment for infrared focal plane array chip | |
| CN111745365B (en) | Assembling device | |
| CN212608152U (en) | Rapid stacking/unstacking system for sheet workpieces | |
| CN112249674A (en) | Workpiece transfer device | |
| CN112357589B (en) | Full-automatic screen feeding machine | |
| CN212597197U (en) | Rapid sorting system for thin sheet workpieces | |
| CN211520771U (en) | Feeding device | |
| CN214455044U (en) | Wafer material loading and carrying mechanism | |
| CN111361993A (en) | AOI automatic plate collecting and releasing machine | |
| CN113245227A (en) | Full-automatic high-speed loading and unloading device for AOI (automated optical inspection) process of plates | |
| CN216036730U (en) | Single device is pieced together to big board ceramic tile in warehouse | |
| CN109969760A (en) | It is adapted to method and device, the charging and discharging mechanism of charging tray height | |
| CN113666122A (en) | Method and device for splicing large-plate ceramic tiles in warehouse | |
| CN219859420U (en) | Loading and unloading device | |
| CN217024412U (en) | IC carrier plate anti-sticking board feeding system | |
| CN216140902U (en) | Mechanism for realizing feeding and discharging in tray set | |
| CN113084913A (en) | Plate collecting machine for support plate | |
| CN210594292U (en) | Automatic sheet separating mechanism for stacking light guide plates | |
| CN112404928A (en) | Tire and screw feeding system | |
| CN216795288U (en) | Equipment of circular arc magnet to wireless earphone shell that charges | |
| KR20170058672A (en) | VCM dispensing system and controlling method of the same | |
| CN218950460U (en) | Feeding and discharging assembly of appearance visual inspection machine | |
| CN220950230U (en) | Feeding and receiving device | |
| CN221928035U (en) | Wafer extracting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230927 Address after: No. 885 Huaguan Road, High tech Zone, Qingdao, Shandong Province, 266101 Applicant after: Haikeshong manufacturing intelligent technology (Qingdao) Co.,Ltd. Applicant after: INSTITUTE OF CHEMICAL MATERIALS OF CHINA ACADEMY OF ENGINEERING AND PHYSICS Address before: No. 188, Zhuzhou Road, Laoshan District, Qingdao City, Shandong Province 266100 Applicant before: HEXAGON METROLOGY (QINGDAO) Co.,Ltd. Applicant before: INSTITUTE OF CHEMICAL MATERIALS OF CHINA ACADEMY OF ENGINEERING AND PHYSICS |
|
| TA01 | Transfer of patent application right |