CN111689114A - Tray system - Google Patents
Tray system Download PDFInfo
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- CN111689114A CN111689114A CN202010689755.2A CN202010689755A CN111689114A CN 111689114 A CN111689114 A CN 111689114A CN 202010689755 A CN202010689755 A CN 202010689755A CN 111689114 A CN111689114 A CN 111689114A
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- tray
- assembly
- parts
- grid
- pallet
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- 238000004519 manufacturing process Methods 0.000 claims abstract description 54
- 230000007306 turnover Effects 0.000 claims description 53
- 230000032258 transport Effects 0.000 claims 3
- 239000000969 carrier Substances 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
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- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides a tray system, wherein a production operation area comprises an assembly production operation area, the operation station comprises an assembly operation station, the tray system comprises a tray conveying device, a tray and a tray stereoscopic warehouse, the tray comprises parts on products, the tray stereoscopic warehouse comprises a stereoscopic shelf, a goods lattice and a tray moving-out device, the tray is stored in the goods lattice, the tray in the goods lattice is moved out of the goods lattice through the tray moving-out device, the parts on the tray moved out of the goods lattice are taken out through the operation device, the parts are assembled on the products through the operation device at the assembly operation station, and the tray conveying device is used for conveying the parts carried by the tray among the goods lattice, the operation stations and the goods lattice and the operation station; the delivery of picking and parts to be assembled is solved through the tray system in the assembly production operation area, the tray stereoscopic warehouse is arranged nearby, the tray is moved out of the tray stereoscopic warehouse through the tray moving-out device, and the parts are conveniently picked and placed nearby by the operation device.
Description
Technical Field
The invention relates to a tray system, and belongs to the technical field of material transfer trays in production operation areas.
Background
The existing factory is in a production assembly operation area, particularly complex products with more parts needing assembly, the parts are stored and sorted in other areas of the factory, the general plane arrangement is far away from the assembly operation area, the required parts are conveyed to an assembly station through transfer equipment, and logistics distribution is disordered.
Disclosure of Invention
The invention provides a tray system, which aims to overcome the defects in the prior art and has the main advantages that: the tray system is used for picking and distributing parts to be assembled in an assembly production operation area, the tray stereoscopic warehouse is arranged nearby, the tray shifting-out device is used for shifting out the tray stereoscopic warehouse, and operation mechanical arms or workers can conveniently pick and place the parts nearby.
The technical solution of the invention is as follows: the production operation area comprises operation stations, a tray system and an operation device, the production operation area comprises an assembly production operation area, the operation stations comprise assembly operation stations, the tray system comprises a tray conveying device, a tray and a tray stereoscopic warehouse, parts on the product are arranged on the tray, the tray stereoscopic warehouse comprises a stereoscopic goods shelf, goods grids and a tray shifting-out device, the stereoscopic goods shelf comprises a plurality of goods grids, the tray is stored in the goods grids, the tray in the goods grids is shifted out of the goods grids through the tray shifting-out device, the parts on the tray shifted out of the goods grids are taken out through the operation device, the parts are assembled on the product through the operation device at the assembly operation stations, and the tray conveying device is used for conveying the parts carried by the tray between the goods grids, between the operation stations and between the goods grids and the operation stations.
Preferably, the production operation area comprises a sorting production operation area, the operation stations comprise sorting operation stations, and the operation device comprises an operator, a mechanical arm, a robot and a small crane; the tray comprises an assembly tray and a turnover tray, the parts comprise parts to be assembled and parts to be selected, the parts to be assembled are placed on the assembly tray, the parts to be selected are placed on the turnover tray, and the three-dimensional warehouse of the tray comprises an assembly tray warehouse which is located at an assembly operation station and used for storing the assembly tray; conveying the turnover tray and the assembly tray which are moved to the outside of the goods to a picking production operation area through a tray conveying device, taking out the parts to be picked on the turnover tray through an operation device at a picking operation station, and placing the parts on the assembly tray to become the parts to be assembled; and then, conveying the assembly tray carrying the parts to be assembled to an assembly tray warehouse through a tray conveying device, moving the assembly tray in the assembly tray warehouse out of the assembly tray grid through a tray moving-out device, taking the parts to be assembled on the assembly tray moved out of the assembly tray grid through an operation device, and taking the parts to be assembled on the assembly tray out of the assembly tray grid through the operation device at an assembly operation station to assemble the parts on the product.
Preferably, the robot comprises two structures, namely a truss robot and a universal robot, the truss robot comprises a longitudinal fixed rail X, a transverse moving rail Y, a longitudinal moving rack, a transverse moving rack, a lifting device Z and a grabbing device, the grabbing device is fixed at the bottom of the lifting device Z, the lifting device Z is fixed on the transverse moving rack, the transverse moving rack runs on the transverse moving rail Y along the Y direction, the transverse moving rail Y is fixed on the longitudinal moving rack, the longitudinal moving rack runs on the longitudinal fixed rail X along the X direction, the longitudinal fixed rail X is fixed on a factory building, and the universal robot is a multi-axis joint robot.
Preferably, the tray conveying device comprises a tray RGV conveying vehicle R with jacking and rotating functions or a tray GV conveying vehicle with jacking and rotating functions, and the operation of the trays among the assembling operation station, the picking operation station and the tray stereoscopic warehouse is realized through the tray conveying device; the goods grids comprise goods grids of a delivery vehicle connected with the bottom floor or the floor slab, and the assembly trays or the turnover trays are transported away from the goods grids of the delivery vehicle or are transported into and stored in the goods grids of the delivery vehicle through a tray RGV delivery vehicle R or a tray GV delivery vehicle.
Preferably, the stereoscopic warehouse for trays comprises a roadway and a stacker which operates in the roadway, the stacker is used for conveying the assembled trays and the turnover trays between different cargo grids, the stacker is a component of the tray conveying device and comprises a general stacker and a special stacker, the RGV (red, green and blue) conveying vehicle R or GV conveying vehicle can enter and exit the special stacker, the special stacker is used for conveying the RGV conveying vehicle R or GV conveying vehicle between different cargo grids, and the operation between different floors is realized.
Preferably, the tray moving-out device in the tray stereoscopic warehouse comprises a movable tray moving-out device and a fixed tray moving-out device, the movable tray moving-out device comprises a telescopic rail and a guide rail push-pull device, when the guide rail push-pull device pushes the telescopic rail back, the telescopic rail is positioned in the cargo grid, and when the guide rail push-pull device pulls out the telescopic rail, the telescopic rail and the tray above the telescopic rail are positioned outside the cargo grid; the fixed tray moving-out device comprises a tray inner track positioned in the tray, a tray outer track positioned outside the tray and a tray push-pull device, wherein the tray inner track and the tray outer track are unpowered roller ways; when the truss robot or the universal robot is used as the guide rail push-pull device, the telescopic rail in the goods grid and the tray on the telescopic rail are pulled out of the goods grid, or the telescopic rail outside the goods grid and the tray on the telescopic rail are pushed back into the goods grid; when the truss robot or the universal robot is used as a tray pushing and pulling device, the tray on the inner track of the goods grid is pulled out to the outer track of the goods grid, or the tray on the outer track of the goods grid is pushed back to the inner track of the goods grid.
Preferably, the stacker places empty assembly trays in assembly grids adjacent to the turnover grids, to-be-picked parts are placed on the turnover trays in the turnover grids, the truss robot pulls out the turnover trays and the assembly trays in the grids outside the grids, to-be-picked parts on the turnover trays are picked by the truss robot and then placed on the assembly trays, the turnover trays and the assembly trays are pushed back into the grids by the truss robot, and the stacker takes out the assembly trays in the assembly grids together with the to-be-assembled parts and places the assembly trays in an assembly tray warehouse.
Preferably, the tray system comprises a tray plane storage area, the plane storage area comprises a plurality of plane brackets, the assembly trays and the turnover trays are placed on the plane brackets, the plane storage area is used for holding the trays at the bottoms of the trays through a tray RGV (red, green and blue) conveyor vehicle or a tray AGV conveyor vehicle or grabbing the trays from the upper side of the trays through a truss robot, and the operation of the trays between the tray stereoscopic warehouse, the tray plane storage area, the assembly operation stations in the assembly production operation area and the picking operation stations in the picking production operation area is realized.
Preferably, the assembly production operation area is a roller way assembly line, the roller way assembly line is composed of a plurality of assembly operation stations, and comprises a three-dimensional roller way assembly line, a planar roller way assembly line and a mixed roller way assembly line C, one side of the three-dimensional roller way assembly line comprises an assembly tray library, and the assembly operation area adopts a general robot assembly operation mode: the general robot pulls out the assembly tray in the assembly goods grid to the outside of the assembly goods grid, assembles parts on the assembly tray outside the assembly goods grid onto a product, pushes the assembly tray outside the assembly goods grid into the assembly goods grid through the general robot, takes away the empty assembly tray through a stacker, and places the assembly tray with the parts in the empty assembly goods grid; the edge of plane formula roll table assembly line includes tray plane storage area, and it adopts the manual assembly operation mode: an operator assembles parts on an assembly tray placed on a plane bracket onto a product through a small traveling crane, takes away an empty assembly tray through a tray RGV delivery wagon R, a tray AGV delivery wagon or a truss robot, and places the assembly tray with the parts on the empty plane bracket; the mixed roller way assembly production line C comprises an assembly tray warehouse and a tray plane storage area, and the automatic assembly operation mode is as follows:
1) the truss robot pulls out the assembly tray with the parts in the assembly grid out of the assembly grid;
2) the truss robot places an assembly tray which is provided with parts and is not assembled in the cargo on the empty plane bracket;
3) the universal robot takes away the parts on the assembly tray placed on the plane bracket and assembles the parts on the product;
4) the truss robot takes the empty assembly tray on the plane bracket away and places the empty assembly tray on an empty telescopic rail outside an assembly cargo grid or an empty cargo grid outer rail;
5) the truss robot pushes the empty assembly tray outside the assembly cargo compartment into the assembly cargo compartment;
6) taking the empty assembly tray in the assembly goods grid away through a stacker;
7) the stacker puts the assembly tray with the parts in the empty assembly grid.
Preferably, the assembly production operation area is a multi-layer parallel flexible assembly production line, the flexible assembly production line comprises an elevated tray stereoscopic warehouse from the basement to two layers, a first layer, a second layer, the basement, a half-layer platform, a product tray and a large tray, the elevated stereoscopic warehouse comprises an assembly tray stereoscopic warehouse positioned on one side of the assembly operation station, a stacker, a first layer comprises a plurality of assembly operation stations, an assembly tray stereoscopic warehouse, a universal robot, a first layer truss robot and a large storage position of the large tray, the assembly operation station comprises the product tray, the product tray comprises the product, and the universal robot takes out parts on the assembly tray in the assembly tray stereoscopic warehouse and puts the parts in the product on the product tray; the second layer comprises a plurality of selecting and picking operation stations, a turnover tray three-dimensional library, a large storage area of a large tray, a two-layer truss robot, a longitudinal truss robot and a two-layer assembly operation area, wherein the selecting and picking operation stations comprise an assembly tray and a turnover tray, the two-layer truss robot takes out the turnover tray with parts in the turnover tray three-dimensional library and places the turnover tray on the selecting and picking operation station, the parts on the turnover tray are placed on an empty assembly tray through the two-layer truss robot on the selecting and picking operation station, the assembly tray with the parts is moved to the two-layer assembly operation area from the selecting and picking operation station through the two-layer truss robot, then the empty assembly tray in the two-layer assembly operation area is moved to the selecting and picking operation station, and the longitudinal truss robot places the assembly tray with the parts in the two-layer assembly operation area on the plane storage area in the half-layer platform; the basement comprises a bottom layer RGV conveying vehicle R positioned below the assembly operation stations, and the product trays are conveyed between the assembly operation stations freely through the bottom layer RGV conveying vehicle R; the half-layer platform is positioned between the first layer and the second layer and comprises a platform cache area of a product tray and a large tray, a pedestrian passageway is arranged below the half-layer platform, and the second-layer floor plate above the half-layer platform comprises a hole for the product tray and the large tray to go in and out; the longitudinal truss robot hoists and places the product trays in the two-layer assembly operation area in the platform cache area, the first-layer truss robot hoists and places the product trays in the platform cache area to the assembly operation stations for assembly operation, or hoists and places the product trays in the assembly operation stations in the platform cache area, and then the longitudinal truss robot hoists and places the product trays in the platform cache area in the two-layer assembly operation area for assembly operation; the longitudinal truss robot is used for hoisting and placing large pallets in the large storage area in the platform cache area, the first-layer truss robot is used for hoisting and transporting the large pallets in the platform cache area to the large storage position, the general-purpose robot is used for taking out the large pallets in the large storage position and loading the large pallets in products on product pallets located at the assembly operation station, the first-layer truss robot is used for hoisting and placing empty large pallets in the large storage position in the platform cache area, and the longitudinal truss robot is used for hoisting and placing the empty large pallets in the platform cache area in the large storage area.
The invention has the advantages that: the tray system is used for picking and distributing parts to be assembled in an assembly production operation area, the tray stereoscopic warehouse is arranged nearby, the tray shifting-out device is used for shifting out the tray stereoscopic warehouse, and operation mechanical arms or workers can conveniently pick and place the parts nearby.
Drawings
FIG. 1 is a schematic structural view of a production work area 1 including work stations 1-1, a pallet system 1-2, and work devices 1-3;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic structural view of a three-dimensional warehouse with trays in the middle, a picking work station 1B-1 on the left side and an assembling work station 1A-1 on the right side;
fig. 4 is a schematic structural view of the truss robot 7A including a longitudinal fixed rail 7AX, a transverse moving rail 7AY, a longitudinal moving frame 7A-1, a transverse moving frame 7A-2, a lifting device 7AZ, and a gripping device 7A-3, where the lifting device 7AZ is a multi-stage guide post sleeve structure, and a hoisting steel wire rope is provided in the middle and is driven by a hoist;
fig. 5 is a schematic structural diagram of the tray conveying device 2, which has both jacking and rotating functions, the jacking function realizes the taking and placing of the tray 3, the tray conveying device 2 includes a tray RGV transport vehicle 2R and a tray AGV transport vehicle 2A, the tray RGV transport vehicle 2R travels using a rail as a guide, and the tray AGV transport vehicle 2A travels using a laid magnetic stripe as a guide;
FIG. 6 shows two layers of the assembly equipment, which are provided with picking work stations 1B-1, a universal robot 7B picks parts 5-1B to be picked on the picking work stations 1B-1, then places the parts on an assembly tray 3A, and sends the parts to be picked to a tray stereoscopic warehouse 4 through a tray RGV transport vehicle 2R or a tray AGV transport vehicle 2A, and sends the parts to be picked to the tray stereoscopic warehouse 4 of one layer through a special stacker 4-4B, and then sends the parts to be picked to the assembly work stations 1A-1 through a tray RGV transport vehicle 2R or a tray AGV transport vehicle 2A of the other layer, and the parts are assembled by using trolley cars 1-3-4; the two-layer tray RGV transport vehicle 2R or tray AGV transport vehicle 2A can be communicated up and down through a special stacker 4-4B to realize the operation among different floors;
FIG. 7 is a schematic structural diagram of the vertical turnover goods grid 4B-2 and the vertical assembly goods grid 4A-2 of the tray stereoscopic warehouse 4, wherein the truss robot 7A pulls out the turnover tray 3B from the turnover goods grid 4B-2, and takes out the parts to be picked 5-1B for picking;
fig. 8 is a plan view of fig. 7, which is also a schematic structural view of the palletized stereoscopic warehouse 4 in which the horizontally-circulating cargo compartment 4B-2 and the assembled cargo compartment 4A-2 are arranged adjacently and picking is performed by the truss robot 7A;
FIG. 9 is a top view of the flat storage area 8, and is also a view showing the operation of the mounting trays 3A and the turnaround trays 3B on the surface tray 8-1 between the tray stereo warehouse 4, the tray flat storage area 8, the mounting work stations 1A-1 in the mounting production work area 1A, and the picking work stations 1B-1 in the picking production work area 1B by the tray RGV conveyor 2R or the tray AGV conveyor 2A or the truss robot 7A;
FIG. 10 is the view A-A of FIG. 9, also a schematic of the structure of the tray RGV transport 2R or tray AGV transport 2A jacking up the tray 3 so that it is clear of the planar pallet 8-1;
fig. 11 is a front view of the three-dimensional roller bed assembly line 9A;
fig. 12 is a plan view of the assembly line 9B of the planar roller table;
FIG. 13 is a cross-sectional view of the multiple parallel flexible assembly line 10;
FIG. 1 is a production work area including a work station 1-1, a pallet system 1-2, and a work device 1-3; 1-1 is an operation station; 1A-1 is an assembly operation station; 1A is an assembly production operation area; 1B-1 is a picking work station, and 1-3 is a working device which comprises an operator 1-3-1, a mechanical arm 1-3-2, a robot 1-3-3 and a small traveling crane 1-3-4; 1-3-1 is an operator; 1-3-2 is a mechanical arm; 1-3-3 is a robot; 1-3-4 is a small traveling crane; 1-2 is a tray system, which comprises a tray conveying device 2, a tray 3 and a tray stereoscopic warehouse 4; 1-3 are working devices; 2 is a pallet conveying device; 2, the pallet conveying device comprises a pallet RGV conveying vehicle 2R with jacking and rotating functions or a pallet AGV conveying vehicle 2A with jacking and rotating functions; 2R is a pallet RGV delivery wagon; 2A is a pallet AGV transport vehicle; 3 is a tray comprising an assembly tray 3A and a turnaround tray 3B; 3A is an assembly tray; 3B is a turnaround tray; 4 is a tray stereoscopic warehouse which comprises a stereoscopic shelf 4-1, a goods grid 4-2 and a tray removing device 6; 4-1 is a three-dimensional shelf; 4-2 is a cargo grid; 4A-2 is an assembly grid; 4-2B is a turnover grid; 4-2-1 is a goods grid of a delivery wagon; 4A is an assembly tray magazine; 4-3 are lanes; 4-4 is a stacker, comprising a general stacker 4-4A and a special stacker 4-4B; 4-4A is a general stacker; 4-4B is a special stacker; 5 is a product; 5-1 is a part, including a part to be assembled 5-1A and a part to be sorted 5-1B; 5-1A is a part to be assembled; 5-1B is a part to be sorted; 6 is a tray removing device; 1-3 are working devices; the tray removing device 6 comprises a movable tray removing device 6A and a fixed tray removing device 6B; 6A is a movable tray shifting-out device which comprises a telescopic track 6A-1 and a guide rail push-pull device 6A-2; 6A-1 is a telescopic rail; 6A-2 is a guide rail push-pull device; the fixed tray removing device 6B comprises a goods grid inner rail 6B-1 positioned in the goods grid 4-2, a goods grid outer rail 6B-2 positioned outside the goods grid 4-2 and a tray pushing and pulling device 6B-3; 6B-1 is the inner track of the cargo grid; 6B-2 is an extra-cargo rail; 6B-3 is a tray push-pull device; the 7A is a truss robot and comprises a longitudinal fixed rail 7AX, a transverse moving rail 7AY, a longitudinal moving rack 7A-1, a transverse moving rack 7A-2, a lifting device 7AZ and a grabbing device 7A-3; 7AX is a longitudinal fixed rail; 7AY is the traversing rail; 7A-1 is a longitudinal moving frame; 7A-2 is a transverse moving frame; 7AZ is a lifting device; 7A-2 is a grasping device; 7B is a general purpose robot; the storage area 8 is a plane storage area of the tray and comprises a plurality of plane brackets 8-1; 8-1 is a planar carrier; 9 is a roller way assembly production line which consists of a plurality of assembly operation stations 9-1; 9-1 is an assembly operation station; 9A is a three-dimensional roller way assembly production line; 9B is a plane type roller way assembly production line; 9C is a mixed roller way assembly production line; 10 is a multi-layer parallel flexible assembly production line, which comprises a high-level tray stereoscopic warehouse 410 from a basement to two floors, a first floor 10-1, a second floor 10-2, a basement 10-3, a half-floor platform 10-4, a product tray 10-5 and a large tray 10-6; 410 is a high-tray stereoscopic warehouse; 10-1 is one layer; 10-2 is two layers; 10-3 is basement; 10-4 is a half-layer platform; 10-5 is a product tray; 10-6 is a large-piece pallet; 82 is a large storage area; 7A2 is a two-layer truss robot; 7a3 is a longitudinal truss robot; 11 is a two-layer assembly operation area; 84 is a flat storage area; 4B is a turnover tray three-dimensional warehouse; 2R-1 is the bottom RGV delivery wagon; 7a3 is a longitudinal truss robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, an assembly operation station 1A-1 is arranged in the middle area of a production operation area 1, a row of tray stereoscopic warehouses 4 are respectively arranged at the left and the right of the assembly operation station 1A-1, the stereoscopic shelf 4-1 of the tray stereoscopic warehouse 4 is horizontally and vertically divided into a plurality of goods grids 4-2, a tray removing device 6 is arranged at the bottom of the goods grids 4-2, trays 3 with parts 5-1 are stored in the goods grids 4-2, the moving out and the retracting are realized through the tray removing device 6 at the bottom, when the tray 3 is moved out of the goods grids by the tray removing device 6, an operator 1-3-1 or a mechanical arm 1-3-2 takes out the parts 5-1 from the trays 3 to assemble on products 5 in the assembly production operation area 1A, and empty trays 3 are retracted into the goods grids 4-2 through the tray removing device 6, the reverse side of the three-dimensional goods shelf 4-1 can be taken out through other lifting equipment such as a forklift and the like, then the tray 3 for loading the parts 5-1 is placed in the three-dimensional goods shelf again, the small traveling crane 1-3-4 or the mechanical arm 1-3-2 at the top of the production operation area 1 can be used for transferring the tray 3 in each goods lattice 4-2, the parts 5-1 can be stored in the assembly production operation area 1A, the tray moving-out device 6 is arranged on the side of the assembly operation station 1A-1 of the tray three-dimensional warehouse 4, the tray 3 can be moved out of the three-dimensional goods shelf 4-1 conveniently, and the operation device 1-3 can grab and lift the tray 3 or the parts 5-1 from the upper side conveniently.
As shown in fig. 3, a double-row tray stereoscopic warehouse 4 is arranged at the middle position of the production operation area 1, the right row of the tray stereoscopic warehouse 4 is arranged as an assembly tray warehouse 4A for storing assembly trays 3A, an assembly grid 4A-2 of the assembly tray warehouse 4A is provided with a movable tray moving-out device 6A, the assembly tray warehouse 4A on the telescopic rail 6A-1 can extend out and retract by the push-pull driving of an air cylinder or a screw rod of a guide rail push-pull device 6A-2, the assembly tray 3A extends out and moves out of the stereoscopic shelf 4-1, parts 5-1 in the assembly tray 3A are manually taken out and assembled on products 5 by an operator 1-3-1, or the parts 5-1 are lifted to an assembly operation station 1A-1 by a small crane 1-3-4, if the distance between the assembling operation station 1A-1 and the assembling tray warehouse 4A is too large, the tray conveying device 2 runs to the position below an assembling tray 3A which is moved out of the three-dimensional goods shelf 4-1, the tray conveying device 2 can be a tray RGV conveying vehicle 2R or a tray AGV conveying vehicle 2A, the assembling tray warehouse 4A is separated from the movable tray moving-out device 6A by utilizing the self-carrying jacking function of the tray conveying device 2, the tray conveying device 2 carries the assembling tray 3A to move to the assembling operation station 1A-1, and the parts 5-1 are installed; a channel is arranged at the bottom of the tray stereoscopic warehouse 4, the tray conveying device 2 carries the assembly tray 3A to travel from the picking operation station 1B-1 to the assembly operation station 1A-1, and the operator 1-3-1 takes the to-be-assembled parts 5-1A from the assembly tray 3A for installation.
As shown in fig. 1, 2 and 3, a pallet system is characterized in that a production operation area 1 comprises an operation station 1-1, a pallet system 1-2 and an operation device 1-3, the production operation area 1 comprises an assembly production operation area 1A, the operation station 1-1 comprises an assembly operation station 1A-1, the pallet system 1-2 comprises a pallet conveying device 2, a pallet 3 and a pallet stereo warehouse 4, the pallet 3 comprises parts 5-1 on a product 5, the pallet stereo warehouse 4 comprises a stereo shelf 4-1, a cargo grid 4-2 and a pallet removing device 6, the stereo shelf 4-1 comprises a plurality of cargo grids 4-2, the pallet 3 is stored in the cargo grid 4-2, the pallet 3 in the cargo grid 4-2 is removed out of the cargo grid 4-2 through the pallet removing device 6, then the parts 5-1 on the tray 3 moved out of the goods grid 4-2 are taken out through the operation device 1-3, the parts 5-1 are assembled on the product 5 through the operation device 1-3 at the assembling operation station 1A-1, and the tray 3 carries the parts 5-1 among the goods grids 4-2, among the operation stations 1-1 and between the goods grid 4-2 and the operation station 1-1 through the tray conveying device 2.
As shown in fig. 3, the production work area 1 includes a picking production work area 1B, the work stations 1-1 include a picking work station 1B-1, and the work devices 1-3 include an operator 1-3-1, a robot arm 1-3-2, a robot 1-3-3, and a trolley 1-3-4; the tray 3 comprises an assembly tray 3A and a turnover tray 3B, the parts 5-1 comprise parts to be assembled 5-1A and parts to be picked 5-1B, the parts to be assembled 5-1A are placed on the assembly tray 3A, the parts to be picked 5-1B are placed on the turnover tray 3B, and the tray stereoscopic warehouse 4 comprises an assembly tray warehouse 4A which is located at an assembly operation station 1A-1 and used for storing the assembly tray 3A; conveying the turnover tray 3B and the assembly tray 3A which are moved out of the goods grid 4-2 to a picking production operation area 1B through a tray conveying device 2, taking out parts 5-1B to be picked on the turnover tray 3B through an operation device 1-3 at a picking operation station 1B-1, and placing the parts on the assembly tray 3A to become parts 5-1A to be assembled; then, the assembly tray 3A carrying the parts 5-1A to be assembled is conveyed to the assembly tray warehouse 4A through the tray conveying device 2, the assembly tray 3A in the assembly goods grid 4A-2 in the assembly tray warehouse 4A is moved out of the assembly goods grid 4A-2 through the tray moving-out device 6, the parts 5-1A to be assembled on the assembly tray 3A moved out of the assembly goods grid 4A-2 are taken out through the operation device 1-3, and the parts 5-1 to be assembled on the assembly tray 3A are taken out through the operation device 1-3 at the assembly operation station 1A-1 and assembled on the products 5.
As shown in fig. 3, 4 and 6, the robot 1-3-3 includes two structures of a truss robot 7A and a general robot 7B, the truss robot 7A includes a longitudinal fixed rail 7AX, a transverse moving rail 7AY, a longitudinal moving frame 7A-1, a transverse moving frame 7A-2, a lifting device 7AZ, and a gripping device 7A-3, the gripping device 7A-3 is fixed at the bottom of the lifting device 7AZ, the lifting device 7AZ is fixed on the transverse moving frame 7A-2, the transverse moving frame 7A-2 runs on the transverse moving rail 7AY in the Y direction, the transverse moving rail 7AY is fixed on the longitudinal moving frame 7A-1, the longitudinal moving frame 7A-1 runs on the longitudinal fixed rail 7AX in the X direction, the longitudinal fixed rail 7AX is fixed on a factory building, the general-purpose robot 7B is a multiaxial joint robot.
As shown in fig. 4 to 6, the tray conveying device 2 includes a tray RGV conveyor 2R having a lifting and rotating function or a tray AGV conveyor 2A having a lifting and rotating function, and the operation of the tray 3 among the assembling work station 1A-1, the picking work station 1B-1, and the tray stereoscopic warehouse 4 is realized by the tray conveying device 2; the cargo compartment 4-2 includes a conveyor compartment 4-2-1 connected to the floor or floor deck, and the assembled tray 3A or the turnaround tray 3B is carried away from the conveyor compartment 4-2-1 or the assembled tray 3A or the turnaround tray 3B is carried in and stored in the conveyor compartment 4-2-1 by a tray RGV conveyor 2R or a tray AGV conveyor 2A.
As shown in fig. 6, the stereoscopic warehouse for trays 4 includes a tunnel 4-3 and a stacker 4-4 operating in the tunnel 4-3, the assembly trays 3A and the turnover trays 3B are conveyed between different grids 4-2 by the stacker 4-4, the stacker 4-4 is a component of the tray conveying device 2, and includes a general stacker 4-4A and a special stacker 4-4B, the RGV transporting vehicle 2R or the AGV transporting vehicle 2A can go in and out of the special stacker 4-4B, and the RGV transporting vehicle 2R or the AGV transporting vehicle 2A is conveyed between different grids 4-2 by the special stacker 4-4B, that is, the operation between different floors is realized.
As shown in fig. 3, the tray removing device 6 in the tray stereoscopic warehouse 4 comprises a movable tray removing device 6A and a fixed tray removing device 6B, the movable tray removing device 6A comprises a telescopic rail 6A-1 and a guide rail push-pull device 6A-2, when the guide rail push-pull device 6A-2 pushes the telescopic rail 6A-1 back, the telescopic rail 6A-1 is positioned in the cargo space 4-2, and when the guide rail push-pull device 6A-2 pulls out the telescopic rail 6A-1, the telescopic rail 6A-1 with the tray 3 above is positioned outside the cargo space 4-2; the fixed tray moving-out device 6B comprises a cargo grid inner track 6B-1 positioned in the cargo grid 4-2, a cargo grid outer track 6B-2 positioned outside the cargo grid 4-2 and a tray push-pull device 6B-3, wherein the cargo grid inner track 6B-1 and the cargo grid outer track 6B-2 are unpowered roller ways, when the tray push-pull device 6B-3 pushes the tray 3 back, the tray 3 is positioned in the cargo grid inner track 6B-1, and when the tray push-pull device 6B-3 pulls out the tray 3, the tray 3 is positioned in the cargo grid outer track 6B-2; when the truss robot 7A or the universal robot 7B serves as the guide rail push-pull device 6A-2 or the tray push-pull device 6B-3, the telescopic rail 6A-1 in the cargo grid 4-2 and the tray 3 on the telescopic rail 6A-1 are pulled out of the cargo grid 4-2, or the telescopic rail 6A-1 outside the cargo grid 4-2 and the tray 3 on the telescopic rail 6A-1 are pushed back into the cargo grid 4-2; when the truss robot 7A or the universal robot 7B serves as a tray pushing and pulling device 6B-3, the tray 3 on the goods lattice inner rail 6B-1 is pulled out to the goods lattice outer rail 6B-2, or the tray 3 on the goods lattice outer rail 6B-2 is pushed back to the goods lattice inner rail 6B-1.
As shown in fig. 7 and 8, the stacker 4-4 places the empty assembly tray 3A in the assembly grid 4A-2 adjacent to the turnover grid 4-2B, places the parts to be picked 5-1B on the turnover tray 3B in the turnover grid 4B-2, the truss robot 7A pulls out the turnover tray 3B and the assembly tray 3A in the grid 4-2 to the outside of the grid 4-2, the parts to be picked 5-1B on the turnover tray 3B are picked by the truss robot 7A and then placed on the assembly tray 3A, then the turnover tray 3B and the assembly tray 3A are pushed back into the goods grid 4-2 by the truss robot 7A respectively, and the assembly tray 3A in the assembly goods grid 4A-2 and the parts to be assembled 5-1A are taken out by the stacker 4-4 and placed in the assembly tray warehouse 4A.
As shown in fig. 9 and 10, the pallet system 1-2 is characterized in that the pallet system 1-2 includes a pallet plane storage area 8, the plane storage area 8 includes a plurality of plane pallets 8-1, the assembly pallet 3A and the turnover pallet 3B are placed on the plane pallets 8-1, the plane storage area 8 holds the pallet 3 at the bottom of the pallet 3 by means of a pallet RGV carriage 2R or a pallet AGV carriage 2A, or holds the pallet 3 from above the pallet 3 by means of a truss robot 7A, and the pallet 3 is operated among the pallet stereo warehouse 4, the pallet plane storage area 8, the assembly operation stations 1A-1 in the assembly production operation area 1A, and the picking operation stations 1B-1 in the picking production operation area 1B.
As shown in fig. 11 and 12, the assembly production operation area 1A is a roller assembly line 9, the roller assembly line 9 is composed of a plurality of assembly operation stations 9-1, and includes a three-dimensional roller assembly line 9A, a planar roller assembly line 9B, and a hybrid roller assembly line 9C, one side of the three-dimensional roller assembly line 9A includes an assembly tray library 4A, which adopts a universal robot 7B assembly operation mode: the universal robot 7B pulls out the assembly tray 3A in the assembly goods grid 4A-2 to the outside of the assembly goods grid 4A-2, the universal robot 7B assembles parts 5-1 on the assembly tray 3A outside the assembly goods grid 4A-2 onto the product 5, then the universal robot 7B pushes the assembly tray 3A outside the assembly goods grid 4A-2 into the assembly goods grid 4A-2, the stacker 4-4 takes away the empty assembly tray 3A, and the assembly tray 3A with the parts 5-1 is placed in the empty assembly goods grid 4A-2; the edge of the plane type roller way assembly line 9B comprises a tray plane storage area 8, and the manual assembly operation mode is adopted: an operator 1-3-1 assembles parts 5-1 on an assembly tray 3A placed on a plane bracket 8-1 onto a product 5 through a trolley 1-3-4, takes away an empty assembly tray 3A through a tray RGV delivery wagon 2R, a tray AGV delivery wagon 2A or a truss robot 7A, and places the assembly tray 3A with the parts 5-1 on the empty plane bracket 8-1; the mixed roller way assembly line 9C comprises an assembly tray library 4A and a tray plane storage area 8, and the automatic assembly operation mode is as follows:
1) the truss robot 7A pulls out the assembly tray 3A with the parts 5-1 in the assembly lattice 4A-2 to the outside of the assembly lattice 4A-2;
2) the truss robot 7A places an assembly tray 3A which is provided with the parts 5-1 and outside the assembly goods grid 4A-2 on the hollow plane bracket 8-1;
3) the universal robot 7B takes away the parts 5-1 on the assembly tray 3A which is placed on the plane bracket 8-1 and assembles the parts on the product 5;
4) the truss robot 7A takes away the empty assembly tray 3A on the plane bracket 8-1 and places the empty assembly tray on the empty telescopic rail 6A-1 outside the assembly cargo grid 4A-2 or the empty cargo grid outside rail 6B-2;
5) the truss robot 7A pushes the empty assembly tray 3A outside the assembly cargo grid 4A-2 into the assembly cargo grid 4A-2;
6) taking the empty assembly tray 3A in the assembly goods grid 4A-2 away through a stacker 4-4;
7) the stacker 4-4 places the assembly tray 3A with the parts 5-1 in the empty assembly compartment 4A-2.
As shown in fig. 13, the assembly and production work area 1A is a multi-layer parallel flexible assembly line 10, the flexible assembly line 10 includes an elevated tray three-dimensional warehouse 410 from the basement to two floors, a first floor 10-1, a second floor 10-2, a basement 10-3, a half-floor platform 10-4, a product tray 10-5 and a large tray 10-6, the elevated tray three-dimensional warehouse 410 includes an assembly tray three-dimensional warehouse 4A located at one side of an assembly work station 9-1, a stacker 4-4, the first floor 10-1 includes a plurality of assembly work stations 9-1, the assembly tray three-dimensional warehouse 4A, a general robot 7B, a first floor truss robot 7a1 and a large storage station 10-1-1 of the large tray 10-6, the assembly work station 9-1 includes the product tray 10-5, the product tray 10-5 includes the product 5, the universal robot 7B takes out the parts 5-1 on the assembly tray 3A in the assembly tray stereo library 4A and puts the parts in the products 5 on the product tray 10-5; the second layer 10-2 comprises a plurality of picking operation stations 1B-1, a turnover tray three-dimensional library 4B, a large article storage area 82 of a large article tray 10-6, a two-layer truss robot 7A2, a longitudinal truss robot 7A3 and a two-layer assembly operation area 11, the picking operation stations 1B-1 comprise assembly trays 3A and turnover trays 3B, the two-layer truss robot 7A2 takes out the turnover trays 3B with parts 5-1 in the turnover tray three-dimensional library 4B and places the turnover trays 3B on the picking operation stations 1B-1, the parts 5-1 on the turnover trays 3B are placed on the empty assembly trays 3A through the two-layer truss robot 7A2 in the picking operation stations 1B-1, the assembly trays 3A with the parts 5-1 are moved to the two-layer assembly operation area 11 from the picking operation stations 1B-1 through the two-layer truss robot 7A2, then the empty assembly tray 3A in the second-layer assembly operation area 11 is moved to a selecting and picking operation station 1B-1, and the longitudinal truss robot 7A3 places the assembly tray 3A with the parts 5-1 in the second-layer assembly operation area 11 on the plane storage area 84 in the half-layer platform 10-4; the basement 10-3 comprises a bottom layer RGV conveying vehicle 2R-1 positioned below the assembly operation stations 9-1, and the product trays 10-5 are conveyed between the assembly operation stations 9-1 through the bottom layer RGV conveying vehicle 2R-1;
the half-layer platform 10-4 is positioned between the first layer 10-1 and the second layer 10-2 and comprises a product tray 10-5 and a platform cache region 84 of a large tray 10-6, a pedestrian passageway is arranged below the half-layer platform 10-4, and the second-layer floor plate 10-2-1 above the half-layer platform 10-4 comprises an entrance 10-2-2 for the product tray 10-5 and the large tray 10-6 to go in and out; the longitudinal truss robot 7A3 hoists and places the product trays 10-5 in the second-layer assembly operation area 11 in the platform cache area 84, the first-layer truss robot 7A1 hoists and places the product trays 10-5 in the platform cache area 84 in the assembly operation station 9-1 for assembly operation, or hoists and places the product trays 10-5 in the assembly operation station 9-1 in the platform cache area 84, and then hoists and places the product trays 10-5 in the platform cache area 84 in the second-layer assembly operation area 11 for assembly operation through the longitudinal truss robot 7A 3; the longitudinal truss robot 7A3 hoists and places the large pallet 10-6 in the large storage area 82 in the platform cache area 84, the first-layer truss robot 7A1 hoists and places the large pallet 10-6 in the platform cache area 84 to the large storage position 10-1-1, the universal robot 7B takes out the large pallet 5-1-1 in the large pallet 10-6 in the large storage position 10-1-1 and loads the large pallet 5 in the product pallet 10-5 in the assembly work station 1A-1, the first-layer truss robot 7A1 hoists and places the empty large pallet 10-6 in the large storage position 10-1-1 in the platform cache area 84, and the longitudinal truss robot 7A3 hoists and places the empty large pallet 10-6 in the platform cache area 84 in the large storage area 82; the one-level 10-1 assembly work station 9-1 may be provided with a one-level storage area 81, and the assembly tray 3A is switched between the one-level storage area 84 and the one-level storage area 81 by the one-level truss robot 7a 1.
Claims (10)
1. A tray system is characterized in that a production operation area (1) comprises an operation station (1-1), a tray system (1-2) and an operation device (1-3), the production operation area (1) comprises an assembly production operation area (1A), the operation station (1-1) comprises an assembly operation station (1A-1), the tray system (1-2) comprises a tray conveying device (2), a tray (3) and a tray stereoscopic warehouse (4), the tray (3) comprises parts (5-1) on a product (5), the tray stereoscopic warehouse (4) comprises a stereoscopic shelf (4-1), a goods grid (4-2) and a tray moving-out device (6), the stereoscopic shelf (4-1) comprises a plurality of goods grids (4-2), and the tray (3) is stored in the goods grid (4-2), the tray (3) in the goods grid (4-2) is moved out of the goods grid (4-2) through the tray moving-out device (6), the parts (5-1) on the tray (3) moved out of the goods grid (4-2) are taken out through the operation device (1-3), the parts (5-1) are assembled on the product (5) through the operation device (1-3) at the assembling operation station (1A-1), and the conveying of the parts (5-1) carried by the tray (3) among the goods grid (4-2), among the operation stations (1-1) and between the goods grid (4-2) and the operation station (1-1) is realized through the tray conveying device (2).
2. A pallet system according to claim 1, characterised in that said production area (1) comprises a picking production area (1B), the work stations (1-1) comprise picking work stations (1B-1), the work devices (1-3) comprise operators (1-3-1), robotic arms (1-3-2), robots (1-3-3) and trolleys (1-3-4); the tray (3) comprises an assembly tray (3A) and a turnover tray (3B), the parts (5-1) comprise parts to be assembled (5-1A) and parts to be picked (5-1B), the parts to be assembled (5-1A) are placed on the assembly tray (3A), the parts to be picked (5-1B) are placed on the turnover tray (3B), and the tray stereoscopic warehouse (4) comprises an assembly tray warehouse (4A) which is located at an assembly operation station (1A-1) and used for storing the assembly tray (3A); conveying the turnover tray (3B) and the assembly tray (3A) which are moved out of the goods grid (4-2) to a picking production operation area (1B) through a tray conveying device (2), taking out parts (5-1B) to be picked on the turnover tray (3B) through an operation device (1-3) at a picking operation station (1B-1), and placing the parts on the assembly tray (3A) to become parts (5-1A) to be assembled; then, the assembly tray (3A) carrying the parts (5-1A) to be assembled is conveyed to an assembly tray warehouse (4A) through a tray conveying device (2), the assembly tray (3A) in an assembly goods grid (4A-2) in the assembly tray warehouse (4A) is moved out of the assembly goods grid (4A-2) through a tray moving-out device (6), the parts (5-1A) to be assembled on the assembly tray (3A) moved out of the assembly goods grid (4A-2) are taken out through an operation device (1-3), and the parts (5-1) to be assembled on the assembly tray (3A) are taken out through the operation device (1-3) and assembled on the product (5) at an assembly operation station (1A-1).
3. A pallet system according to claim 2, characterized in that said robot (1-3-3) comprises a truss robot (7A) and a general robot (7B), the truss robot (7A) comprises a longitudinal fixed rail (7 AX), a transverse moving rail (7 AY), a longitudinal moving frame (7A-1), a transverse moving frame (7A-2), a lifting device (7 AZ) and a gripping device (7A-3), the gripping device (7A-3) is fixed at the bottom of the lifting device (7 AZ), the lifting device (7) is fixed on the transverse moving frame (7A-2), the transverse moving frame (7A-2) runs on the transverse moving rail (7 AY) in the Y direction, the transverse moving rail (7 AY) is fixed on the longitudinal moving frame (7A-1), the longitudinal moving rack (7A-1) runs along the X direction on a longitudinal fixed rail (7 AX), the longitudinal fixed rail (7 AX) is fixed on a factory building, and the universal robot (7B) is a multi-axis joint robot.
4. A pallet system according to claim 3, characterized in that the pallet conveyor (2) comprises a pallet RGV conveyor (2R) with jacking and turning functions or a pallet AGV conveyor (2A) with jacking and turning functions, and the pallet conveyor (2) is used for realizing the operation of the pallet (3) among the assembling operation station (1A-1), the picking operation station (1B-1) and the pallet stereo warehouse (4); the goods grid (4-2) comprises a delivery vehicle goods grid (4-2-1) connected with the bottom floor or floor slab, and the assembly tray (3A) or the turnover tray (3B) is transported away from the delivery vehicle goods grid (4-2-1) or is transported in and stored in the delivery vehicle goods grid (4-2-1) through a tray RGV delivery vehicle (2R) or a tray AGV delivery vehicle (2A).
5. A pallet system according to claim 4, characterised in that the stereoscopic warehouse of pallets (4) comprises a roadway (4-3) and a stacker (4-4) operating in the roadway (4-3), the conveyance of assembled pallets (3A) and turnaround pallets (3B) between different compartments (4-2) is realized by the stacker (4-4), the stacker (4-4) is a component of the pallet conveyor (2) and comprises a general stacker (4-4A) and a special stacker (4-4B), the pallet RGV conveyor (2R) or the pallet AGV conveyor (2A) can enter and exit the special stacker (4-4B), the conveyance of the pallet RGV conveyor (2R) or the pallet AGV conveyor (2A) between different compartments (4-2) is realized by the special stacker (4-4B), i.e. to enable operation between different floors.
6. A pallet system according to claim 5, characterised in that the pallet removing means (6) in the pallet space warehouse (4) comprise a movable pallet removing means (6A) and a fixed pallet removing means (6B), the movable pallet removing means (6A) comprise a telescopic track (6A-1) and a rail push-pull means (6A-2), the telescopic track (6A-1) is located inside the cargo compartment (4-2) when the rail push-pull means (6A-2) pushes the telescopic track (6A-1) back, the telescopic track (6A-1) together with the pallet (3) above it is located outside the cargo compartment (4-2) when the rail push-pull means (6A-2) pulls the telescopic track (6A-1) out; the fixed tray moving-out device (6B) comprises a cargo grid inner track (6B-1) positioned in the cargo grid (4-2), a cargo grid outer track (6B-2) positioned outside the cargo grid (4-2) and a tray push-pull device (6B-3), the cargo grid inner track (6B-1) and the cargo grid outer track (6B-2) are unpowered roller ways, when the tray push-pull device (6B-3) pushes the tray (3) back, the tray (3) is positioned in the cargo grid inner track (6B-1), and when the tray push-pull device (6B-3) pulls out the tray (3), the tray (3) is positioned in the cargo grid outer track (6B-2); when the truss robot (7A) or the universal robot (7B) serves as the guide rail push-pull device (6A-2) or the tray push-pull device (6B-3), the telescopic rail (6A-1) in the goods grid (4-2) and the tray (3) on the telescopic rail (6A-1) are pulled out of the goods grid (4-2), or the telescopic rail (6A-1) outside the goods grid (4-2) and the tray (3) on the telescopic rail (6A-1) are pushed back into the goods grid (4-2); when the truss robot (7A) or the universal robot (7B) serves as a tray pushing and pulling device (6B-3), the tray (3) on the goods lattice inner rail (6B-1) is pulled out to the goods lattice outer rail (6B-2), or the tray (3) on the goods lattice outer rail (6B-2) is pushed back to the goods lattice inner rail (6B-1).
7. A pallet system according to claim 6, characterised in that the palletizer (4-4) places empty assembly pallets (3A) in assembly pallets (4A-2) adjacent to the turnaround pallets (4B-2), parts to be picked (5-1B) are placed on the turnaround pallets (3B) in the turnaround pallets (4B-2), the truss robot (7A) pulls out the turnaround pallets (3B) and the assembly pallets (3A) in the pallets (4-2) to the outside of the pallets (4-2), the parts to be picked (5-1B) on the turnaround pallets (3B) are picked by the truss robot (7A) and placed on the assembly pallets (3A), the turnaround pallets (3B) and the assembly pallets (3A) are pushed back into the pallets (4-2) by the truss robot (7A), the stacker (4-4) takes out the assembly tray (3A) in the assembly grid (4A-2) and the parts (5-1A) to be assembled and places the assembly tray in the assembly tray warehouse (4A).
8. A pallet system according to claim 6, characterised in that the pallet system (1-2) comprises a pallet plane storage area (8), the plane storage area (8) comprising a number of plane carriers (8-1), that the assembled pallets (3A) and the turnaround pallets (3B) are placed on the plane carriers (8-1), that the plane storage area (8) holds the pallets (3) at the bottom of the pallets (3) by means of a pallet RGV transport (2R) or a pallet AGV transport (2A), or the tray (3) is grabbed from the upper part of the tray (3) through a truss robot (7A), so that the operation of the tray (3) among the tray stereoscopic warehouse (4), the tray plane storage area (8), the assembly operation station (1A-1) in the assembly production operation area (1A) and the picking operation station (1B-1) in the picking production operation area (1B) is realized.
9. A pallet system according to claim 7 or 8, characterised in that the assembly area (1A) is a roller assembly line (9), the roller assembly line (9) is composed of a number of assembly stations (9-1) including a three-dimensional roller assembly line (9A), a planar roller assembly line (9B) and a hybrid roller assembly line (9C), one side of the three-dimensional roller assembly line (9A) comprises an assembly pallet magazine (4A) which uses a universal robot (7B) assembly mode: the general robot (7B) pulls out the assembly tray (3A) in the assembly goods grid (4A-2) to the outside of the assembly goods grid (4A-2), the general robot (7B) assembles parts (5-1) on the assembly tray (3A) outside the assembly goods grid (4A-2) to the product (5), then the general robot (7B) pushes the assembly tray (3A) outside the assembly goods grid (4A-2) into the assembly goods grid (4A-2), the stacker (4-4) takes away the empty assembly tray (3A), and the assembly tray (3A) with the parts (5-1) is placed in the empty assembly goods grid (4A-2); the edge of plane formula roll table assembly line (9B) includes tray plane storage area (8), and it adopts the manual assembly operation mode:
an operator (1-3-1) assembles parts (5-1) on an assembly tray (3A) placed on a plane bracket (8-1) onto a product (5) through a small traveling crane (1-3-4), takes away the empty assembly tray (3A) through a tray RGV delivery wagon (2R), a tray AGV delivery wagon (2A) or a truss robot (7A), and places the assembly tray (3A) with the parts (5-1) on the empty plane bracket (8-1); the mixed roller way assembly line (9C) comprises an assembly tray library (4A) and a tray plane storage area (8), and the automatic assembly operation mode is as follows:
1) the truss robot (7A) pulls out the assembly tray (3A) with the parts (5-1) in the assembly lattice (4A-2) to the outside of the assembly lattice (4A-2);
2) the truss robot (7A) places an assembly tray (3A) which is provided with parts (5-1) and outside the assembly lattice (4A-2) on the empty plane bracket (8-1);
3) the universal robot (7B) takes away the parts (5-1) on the assembly tray (3A) placed on the plane bracket (8-1) and assembles the parts on the product (5);
4) the truss robot (7A) takes away the empty assembly tray (3A) on the plane bracket (8-1) and places the empty assembly tray on an empty telescopic track (6A-1) outside the assembly cargo grid (4A-2) or an empty cargo grid outer track (6B-2);
5) the truss robot (7A) pushes the empty assembly tray (3A) outside the assembly cargo grid (4A-2) into the assembly cargo grid (4A-2);
6) taking the empty assembly tray (3A) in the assembly goods grid (4A-2) away through a stacker (4-4);
7) the stacker (4-4) places the assembly tray (3A) with the parts (5-1) in the empty assembly grid (4A-2).
10. The tray system as claimed in claim 9, wherein the assembly and production work area (1A) is a multi-layer parallel flexible assembly line (10), the flexible assembly line (10) comprises a high-level tray stereoscopic warehouse (410) from the basement to two layers, one layer (10-1), two layers (10-2), the basement (10-3), a half-layer platform (10-4), a product tray (10-5) and a large-piece tray (10-6), the high-level stereoscopic warehouse (410) comprises an assembly tray stereoscopic warehouse (4A) located on one side of the assembly work station (9-1), a stacker (4-4), and the one layer (10-1) comprises a plurality of assembly work stations (9-1), an assembly tray stereoscopic warehouse (4A), a general robot (7B), a layer truss robot (7 a 1) and a large-piece storage position (10-1) of the large-piece tray (10-6) -1), the assembly work station (9-1) comprises a product tray (10-5), the product tray (10-5) comprises a product (5), and the universal robot (7B) takes out the parts (5-1) on the assembly tray (3A) in the assembly tray stereo library (4A) and installs the parts in the product (5) on the product tray (10-5); the second layer (10-2) comprises a plurality of selecting and picking operation stations (1B-1), a turnover tray three-dimensional library (4B), a large piece storage area (82) of a large piece tray (10-6), a two-layer truss robot (7A 2), a longitudinal truss robot (7A 3) and a two-layer assembly operation area (11), the selecting and picking operation stations (1B-1) comprise assembly trays (3A) and turnover trays (3B), the two-layer truss robot (7A 2) takes out the turnover trays (3B) with parts (5-1) in the turnover tray three-dimensional library (4B) and places the turnover trays (3B) on the selection and picking operation stations (1B-1) through the two-layer truss robot (7A 2) and places the parts (5-1) on the turnover trays (3B) on the empty assembly trays (3A), the assembly tray (3A) with the parts (5-1) is moved from the selecting and picking operation station (1B-1) to the second-layer assembly operation area (11) through the second-layer truss robot (7A 2), then the empty assembly tray (3A) in the second-layer assembly operation area (11) is moved to the selecting and picking operation station (1B-1), and the assembly tray (3A) with the parts (5-1) in the second-layer assembly operation area (11) is placed on the plane storage area (84) in the half-layer platform (10-4) through the longitudinal truss robot (7A 3); the basement (10-3) comprises a bottom layer RGV conveying vehicle (2R-1) positioned below the assembly operation stations (9-1), and the product trays (10-5) are conveyed between the assembly operation stations (9-1) randomly through the bottom layer RGV conveying vehicle (2R-1);
the half-layer platform (10-4) is positioned between the first layer (10-1) and the second layer (10-2) and comprises a platform cache region (84) of a product tray (10-5) and a large tray (10-6), a pedestrian passageway is arranged below the half-layer platform (10-4), and the second-layer floor plate (10-2-1) above the half-layer platform (10-4) comprises a hole (10-2-2) for the product tray (10-5) and the large tray (10-6) to go in and out; the longitudinal truss robot (7A 3) hoists and places product trays (10-5) in the two-layer assembly operation area (11) in the platform cache area (84), the first-layer truss robot (7A 1) hoists and places the product trays (10-5) in the platform cache area (84) in the assembly operation station (9-1) for assembly operation, or hoists and places the product trays (10-5) in the assembly operation station (9-1) in the platform cache area (84), and then the longitudinal truss robot (7A 3) hoists and places the product trays (10-5) in the platform cache area (84) in the two-layer assembly operation area (11) for assembly operation; a longitudinal truss robot (7A 3) hoists and places large pallets (10-6) in a large storage area (82) in a platform cache area (84), a first-layer truss robot (7A 1) hoists the large pallets (10-6) in the platform cache area (84) to a large storage position (10-1-1), a general robot (7B) takes out large pallets (5-1-1) in the large pallets (10-6) in the large storage position (10-1-1) and loads the large pallets (5) on product pallets (10-5) in an assembly operation station (1A-1), a first-layer truss robot (7A 1) hoists and places empty large pallets (10-6) in the large storage position (10-1-1) in the platform truss area (84), and a longitudinal truss robot (7A 3) hoists and places the empty large pallets (10-6) in the platform cache area (84) and transports and places the empty large pallets (10-6) in the platform cache area (84) Is arranged in a large storage area (82).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010689755.2A CN111689114A (en) | 2020-07-17 | 2020-07-17 | Tray system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010689755.2A CN111689114A (en) | 2020-07-17 | 2020-07-17 | Tray system |
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| CN111689114A true CN111689114A (en) | 2020-09-22 |
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Application publication date: 20200922 |