CN114919938A

CN114919938A - Feeding and discharging system of plate loading and unloading robot

Info

Publication number: CN114919938A
Application number: CN202210517376.4A
Authority: CN
Inventors: 钟昇; 濮雍; 徐朝忠; 于翔; 张�荣
Original assignee: Yangzhou Antil Automation Technology Co ltd
Current assignee: Yangzhou Antil Automation Technology Co ltd
Priority date: 2022-05-12
Filing date: 2022-05-12
Publication date: 2022-08-19

Abstract

The invention relates to the technical field of robot blanking systems, in particular to a feeding and discharging system of a plate loading and unloading robot. The invention provides a plate loading and unloading robot loading and unloading system, which comprises: the multi-station rotary table comprises a multi-station rotary table, a labeling part, a compaction reinforcing part, a blanking conveying part, a loading conveying part and a detection conveying part; the workpieces are sequentially placed on the feeding conveying part, and the feeding conveying part drives the workpieces to horizontally move and sequentially conveys the workpieces to the corresponding placing stations; when the workpiece moves to the labeling part, the labeling part can attach the label to the upper end of the workpiece; when the workpiece moves to the compaction reinforcing part, the compaction reinforcing part can compact the label at the upper end of the workpiece; when the workpiece moves to the blanking conveying part, the blanking conveying part clamps the workpiece and conveys the blanking; when the workpiece moves to the discharging end of the discharging conveying part, the detecting and conveying part detects whether the workpiece is qualified or not and adsorbs dust on the outer wall of the workpiece. Through the setting that detects transport portion, can adsorb the work piece on the unloading conveyer belt to whether detect the work piece qualified.

Description

Feeding and discharging system of plate loading and unloading robot

Technical Field

The invention relates to the technical field of robot blanking systems, in particular to a feeding and discharging system of a plate loading and unloading robot.

Background

With the deepening of the intelligent essence of the robot technology, the robot technology is continuously permeating into various fields of human activities. In combination with the application characteristics of these fields, people develop various special robots and various intelligent robots with sensing, decision-making, action and interaction capabilities.

In the industrial production process, especially in the assembly process, different parts are combined and fixed on one workpiece by the industrial robot, the fixed stability among the parts needs to be detected for the assembled workpiece, unqualified products are removed, and the unqualified products which are detected can be mixed into qualified products due to misoperation in the prior art. Therefore, it is necessary to develop a cantilever type loading and unloading robot.

Disclosure of Invention

The invention aims to provide a feeding and discharging system of a plate loading and unloading robot, which aims to solve the problems.

In order to solve the technical problem, the invention provides a feeding and discharging system of a plate loading and unloading robot, which comprises: the multi-station rotary table is rotatably arranged on the workbench, and a plurality of placing stations are arranged on the multi-station rotary table at equal intervals in the circumferential direction;

the feeding conveying part is fixed on one side of the multi-station turntable and is suitable for conveying workpieces and carrying the workpieces onto the multi-station turntable;

the labeling part is fixed on one side of the multi-station turntable and is suitable for labeling the upper surface of a workpiece;

the compaction reinforcing part is fixed on the workbench and arranged above the multi-station turntable;

the blanking conveying part is arranged on one side of the feeding conveying part and is suitable for conveying and blanking workpieces on the multi-station turntable;

the detection conveying part is arranged at the blanking end of the blanking conveying part and is suitable for detecting workpieces and conveying blanking; wherein

When the automatic feeding device works, workpieces are sequentially placed on the feeding conveying part, and the feeding conveying part drives the workpieces to horizontally move and sequentially conveys the workpieces to corresponding placing stations;

when the workpiece moves to the labeling part, the labeling part can attach the label to the upper end of the workpiece;

when the workpiece moves to the compaction and reinforcement part, the compaction and reinforcement part can compact the label at the upper end of the workpiece;

when the workpiece moves to the blanking conveying part, the blanking conveying part clamps the workpiece and conveys the blanking;

when the workpiece moves to the discharging end of the discharging conveying part, the detecting and conveying part detects whether the workpiece is qualified or not and adsorbs dust on the outer wall of the workpiece.

Further, the material loading conveying part comprises: the feeding mechanism comprises a feeding conveyer belt, a feeding support, a feeding cylinder, a feeding clamping cylinder and a feeding mechanical clamping hand, wherein the feeding conveyer belt is fixed on the workbench, and the discharging end of the feeding conveyer belt is close to the multi-station turntable;

the feeding support is arranged above the feeding conveying belt, the feeding cylinder is fixed at the upper end of the feeding support, the feeding clamp taking cylinder is vertically fixed at the movable end of the feeding cylinder, the feeding mechanical clamping hand is fixed at the movable end of the feeding clamping cylinder, and the feeding mechanical clamping hand faces the feeding conveying belt; wherein

When the device works, the feeding cylinder is suitable for driving the feeding clamping cylinder to be positioned above a workpiece;

the feeding clamp taking cylinder is suitable for driving the feeding mechanical clamping hands to clamp workpieces and convey the workpieces to the placing station.

Furthermore, a plurality of positioning clamps are arranged on the multi-station turntable at equal intervals along the circumferential direction, and the positioning clamps are suitable for fixing workpieces;

a speed regulation driving motor is arranged below the multi-station turntable and is suitable for driving the multi-station turntable to rotate in the circumferential direction.

Further, the labeling part includes: the label sticking device comprises a labeling vertical plate, an upper supporting plate, a lower supporting plate, a unreeling roller, a label taking platform, a label taking assembly and a reeling assembly, wherein the labeling vertical plate is vertically fixed on a workbench, the upper supporting plate and the lower supporting plate are respectively and vertically fixed at two ends of the labeling vertical plate, the upper supporting plate is arranged above the workbench, and the lower supporting plate is arranged below the workbench;

the unwinding roller is rotatably arranged on the side wall of the labeling vertical plate;

the mark taking component is arranged on the upper supporting plate in a sliding way;

the label taking platform is vertically fixed on the side wall of the labeling vertical plate, and is arranged below the label taking assembly;

the winding assembly is rotatably arranged on the lower supporting plate; wherein

When the label taking device works, the label tape is placed on the unwinding roller, extends to the winding assembly after passing through the label taking platform and is wound on the winding assembly;

the label taking assembly moves horizontally to adsorb and attach the label on the label taking platform to the upper surface of the workpiece.

Further, the label fetching component comprises: the lifting device comprises a sliding cylinder, a lifting cylinder and a vacuum chuck, wherein the sliding cylinder is fixed on the upper supporting plate;

the lifting cylinder is vertically fixed at the movable end of the sliding cylinder, the vacuum chuck is fixed at the movable end of the lifting cylinder, the vacuum chuck through-hole air pipe is communicated with the vacuum air pump, and the vacuum chuck faces the mark-taking platform; wherein

And the sliding cylinder drives the vacuum chuck to move to the label taking platform, and the lifting cylinder drives the vacuum chuck to move downwards to adsorb labels.

Further, the rolling subassembly includes: the winding device comprises a winding motor, a winding roller, a tension cylinder and a tension roller, wherein the winding motor is fixed on the lower supporting plate, and the winding roller is fixed at the end part of a rotating shaft of the winding motor;

the tension cylinder is fixed on the lower supporting plate, the tension roller is fixed at the movable end of the tension cylinder, and the tension roller and the winding roller are parallel to each other; wherein

The label tape is wound on the outer wall of the winding roller, and the winding motor drives the winding roller to rotate circumferentially to wind the label tape;

the tension cylinder drives the tension roller to be close to or far away from the winding roller so as to adjust the tension of the adhesive tape when the winding roller is wound.

Further, the compaction reinforcement portion: the device comprises a compaction support, a compaction air cylinder, a compaction block and a positioning sensor, wherein the compaction support is fixed on one side of the multi-station turntable, the compaction air cylinder is fixed at the upper end of the compaction support, and the compaction air cylinder is arranged above the multi-station turntable;

the compaction block is fixed at the movable end of the compaction cylinder, and the positioning sensor is fixed on the side wall of the compaction support; wherein

When the multi-station turntable drives the workpiece to move below the compaction block, the compaction cylinder drives the compaction block to move downwards so as to compact the label on the upper surface of the workpiece.

Further, the blanking conveying part includes: the blanking conveying belt is fixed on the workbench, and one end of the blanking conveying belt is close to the multi-station turntable;

the two stop bars are respectively fixed on two sides of the blanking conveying belt, and the distance between the two stop bars is not less than the width of a workpiece;

the blanking conveying assembly is arranged above the blanking conveying belt and is suitable for clamping workpieces; wherein

During operation, the work piece clamp on the positioning fixture is clamped and carried to the blanking conveying belt by the blanking carrying assembly.

Further, the unloading transport subassembly includes: the blanking device comprises a blanking support, a blanking cylinder, a blanking clamping cylinder and a blanking mechanical clamping hand, wherein the blanking support is fixed above a blanking conveying belt, the blanking cylinder is horizontally fixed at the upper end of the blanking support, the blanking clamping cylinder is vertically fixed at the movable end of the blanking cylinder, and the blanking mechanical clamping hand is fixed at the movable end of the blanking clamping cylinder; wherein

And the blanking clamping cylinder drives the blanking mechanical clamping hand to move downwards to clamp the workpiece after the blanking mechanical clamping hand is driven to be above the workpiece.

Further, the detection conveyance unit includes: the detection head is arranged at the upper end of the blanking conveying belt and is suitable for detecting whether the smoothness of the outer wall of a workpiece is qualified or not;

the blanking slope is fixed on one side of the blanking conveying belt, and the blanking slope is perpendicular to the blanking conveying belt;

the detection cylinder is horizontally fixed on the workbench and arranged along the length direction of the blanking slope;

the vertical cylinder is fixed at the movable end of the detection cylinder;

the fixed block is fixed at the movable end of the vertical cylinder and is arranged above the blanking slope;

the fixing block is of the 'clamping device' type, the negative pressure sucking disc is fixed on the fixing block, and the negative pressure sucking disc is arranged downwards;

the top push plate is vertically fixed on the side wall of the fixed block and faces the negative pressure sucker;

the two sliding plates are slidably arranged at the lower end of the fixed block, and a through groove matched with the pushing plate is formed in the side wall of one sliding plate;

the lower end of each sliding plate is provided with a limit groove; wherein

When the blanking conveying belt drives the workpiece to move below the detection head, the detection head is suitable for detecting whether the workpiece is qualified or not;

when the detection is qualified, the detection cylinder drives the fixed block to move towards the blanking conveying belt until the negative pressure sucker abuts against the workpiece, and the fixed block continues to move downwards so that the two sliding plates can adsorb dust on the outer wall of the workpiece under negative pressure;

when the detection is unqualified, the detection cylinder drives the fixed block to move towards the blanking conveying belt until the negative pressure sucker abuts against the workpiece, the limit grooves at the lower ends of the two sliding plates are mutually inserted with the protruding blocks at the blanking end of the blanking conveying belt, and the detection cylinder continues to drive the fixed block to horizontally move, so that the pushing plate protrudes out of the side wall of the sliding plate and props up the groove in the side wall of the workpiece.

The feeding and discharging system has the beneficial effects that the label can be pasted on the surface of the workpiece through the arrangement of the labeling part. Through the setting that detects transport portion, can adsorb the work piece on the unloading conveyer belt to whether detect the work piece qualified. The qualified workpiece detection and conveying part can directly suck the workpieces for dust removal and then perform blanking. For unqualified workpieces, the detection conveying part can extrude grooves in the side walls of the workpieces to mark the workpieces.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a perspective view of a preferred embodiment of a loader/unloader system of a panel loading robot of the present invention;

FIG. 2 is a perspective view of the infeed conveyor of the present invention;

FIG. 3 is a perspective view of the multi-station turntable of the present invention;

fig. 4 is a perspective view of the labeling part of the present invention;

FIG. 5 is a perspective view of the consolidated portion of the present invention;

FIG. 6 is a perspective view of the blanking conveyor and the inspection conveyor of the present invention;

fig. 7 is a perspective view of the fixing block of the present invention.

In the figure:

1. a multi-station turntable; 11. positioning a clamp; 12. a speed-adjustable driving motor;

2. a labeling part; 21. labeling a vertical plate; 22. an upper support plate; 23. a lower support plate; 24. unwinding rollers; 25. a label taking platform; 26. a label taking component; 261. a slide cylinder; 262. a lifting cylinder; 263. a vacuum chuck; 27. a winding component 271 and a winding motor; 272. a wind-up roll; 273. a tension cylinder; 274. a tension roller;

3. a compaction reinforcement section; 31. compacting the support; 32. a compaction cylinder; 33. compacting the block; 34. a positioning sensor;

4. a blanking conveying part; 41. blanking a conveying belt; 411. a convex block; 42. a stop bar; 43. a blanking support; 44. a blanking cylinder; 45. a blanking clamping cylinder; 46. a blanking mechanical clamping arm;

5. a feeding and conveying part; 51. a feeding conveyer belt; 52. a feeding support; 53. a feeding cylinder; 54. a feeding clamping cylinder; 55. feeding mechanical clamping hands;

6. a detection conveyance unit; 61. a detection head; 62. detecting a cylinder; 63. a vertical cylinder; 64. a negative pressure sucker; 641. pushing a spring; 65. pushing the plate; 66. a fixed block; 67. a sliding plate; 671. a return spring; 672. a suction hole; 68. a blanking slope; 681. and a limiting block.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

As shown in fig. 1 to 7, the loading and unloading system of a plate loading and unloading robot of the present invention includes: the automatic labeling machine comprises a multi-station turntable 1, a labeling part 2, a compaction and reinforcement part 3, a blanking conveying part 4, a loading conveying part 5 and a detection conveying part 6. The multi-station turntable 1 is suitable for placing a plurality of workpieces. The loading conveyor 5 is adapted to convey workpieces onto the multi-station carousel 1. The labeling section 2 is adapted to label the upper surface of the workpiece. The compacting and reinforcing portion 3 is adapted to compact the label on the upper end of the work piece. The blanking conveying part 4 is suitable for conveying and blanking the workpieces on the multi-station turntable 1. The detection and conveyance unit 6 is adapted to detect a workpiece and convey a material. With respect to the above components, a detailed description is given below.

Multi-station turntable

The multi-station turntable 1 is rotatably arranged on the workbench, a plurality of placing stations are circumferentially arranged on the multi-station turntable 1 at equal intervals, and one placing station corresponds to one workpiece. The circumferential rotation of the multi-station turntable 1 can drive the workpiece to sequentially pass through the labeling part 2, the compaction reinforcing part 3 and the discharging conveying part 4 so as to sequentially label the workpiece, compact the label and discharge the workpiece.

In order to achieve the effect, the multi-station turntable 1 is provided with a plurality of positioning clamps 11 at equal intervals along the circumferential direction, and the positions formed by the positioning clamps 11 and suitable for clamping and fixing the workpiece are the placing stations. A speed-regulating driving motor 12 is arranged below the multi-station turntable 1, and the speed-regulating driving motor 12 is suitable for driving the multi-station turntable 1 to rotate circumferentially.

Feeding and conveying part

The feeding conveying part 5 is fixed on one side of the multi-station turntable 1, the feeding conveying part 5 is suitable for conveying workpieces to move horizontally, and the feeding conveying part 5 can convey the workpieces to corresponding placing stations on the multi-station turntable 1.

The following describes the structure of the feeding conveyor 5, and the feeding conveyor 5 includes: the device comprises a feeding conveyer belt 51, a feeding bracket 52, a feeding cylinder 53, a feeding clamp taking cylinder 54 and a feeding mechanical clamping hand 55. The feeding conveyer belt 51 is fixed on the workstation, and the feeding conveyer belt 51 radially extends along the multistation carousel 1, just the unloading end of feeding conveyer belt 51 is close to the multistation carousel 1. The feeding support 52 is fixed on the workbench, the feeding support 52 is arranged above the feeding conveyor belt 51, and the feeding support 52 is suitable for supporting the feeding cylinder 53. The feeding cylinder 53 is fixed at the upper end of the feeding bracket 52, and the movable end of the feeding cylinder 53 horizontally faces the multi-station turntable 1. The feeding clamping cylinder 54 is vertically fixed at the movable end of the feeding cylinder 53, the movable end of the feeding clamping cylinder 54 is vertically arranged downwards, the feeding mechanical clamping hand 55 is fixed at the movable end of the feeding clamping cylinder 54, and the feeding mechanical clamping hand 55 faces the feeding conveying belt 51. When the workpiece moves to one end close to the multi-station turntable 1 along with the feeding conveyer belt 51, the feeding cylinder 53 drives the feeding clamp taking cylinder 54 to move to the upper part of the workpiece, the feeding clamp taking cylinder 54 drives the feeding mechanical clamping hand 55 to clamp the workpiece, and the feeding cylinder 53 drives the feeding mechanical clamping hand 55 to carry the workpiece to the corresponding placing station.

Labeling part

Labeling part 2 is fixed on one side of the multi-station turntable 1, and labeling part 2 can attach labels to the upper end of a workpiece.

The structure of the labeling part 2 will be described in detail below, and the labeling part 2 includes: labeling vertical plate 21, upper supporting plate 22, lower supporting plate 23, unwinding roller 24, labeling platform 25, labeling component 26 and winding component 27. The labeling vertical plate 21 is vertically fixed on the workbench, and the labeling vertical plate 21 is suitable for bearing an upper supporting plate 22, a lower supporting plate 23, an unwinding roller 24 and a labeling platform 25. Go up backup pad 22 with bottom suspension fagging 23 vertical fixation respectively the both ends of subsides mark riser 21, just go up backup pad 22 and set up in the workstation top, bottom suspension fagging 23 sets up in the workstation below, is suitable for bearing on the last backup pad 22 and gets mark subassembly 26, is suitable for bearing on the bottom suspension fagging 23 and gets rolling component 27. The unwinding roller 24 is rotatably arranged on the side wall of the labeling vertical plate 21, and the unwinding roller 24 is provided with a labeling belt. The label taking platform 25 is vertically fixed on the side wall of the label sticking vertical plate 21, the label taking platform 25 is arranged below the label taking assembly 26, and the label taking platform 25 is horizontally arranged. The free end of the label tape passes over the label taking platform 25, and is bent and extended outwards at the tail end of the label taking platform 25, and finally is wound on the winding component 27. The label taking component 26 is slidably arranged on the upper support plate 22, and the label taking component 26 can adsorb the labels moving to the position above the label taking platform 25 and adhere to the upper surface of the workpiece.

In order to achieve the above-mentioned effect that the label taking assembly 26 adsorbs and sticks to the upper surface of the workpiece, the label taking assembly 26 includes: a slide cylinder 261, a lift cylinder 262 and a vacuum chuck 263. The sliding cylinder 261 is fixed on the upper supporting plate 22, and the movable end of the sliding cylinder 261 horizontally faces the multi-station turntable 1. Lift cylinder 262 vertical fixation is in the expansion end of slip cylinder 261, the vertical setting down of expansion end of lift cylinder 262, vacuum chuck 263 fixes the expansion end of lift cylinder 262, vacuum chuck 263 through-hole trachea and vacuum air pump intercommunication, just vacuum chuck 263 orientation mark platform 25 is got. Through the arrangement, the sliding cylinder 261 drives the vacuum chuck 263 to move to the label taking platform 25, the lifting cylinder 262 drives the vacuum chuck 263 to move downwards to adsorb labels, and after adsorption is completed, the sliding flagpole driving vacuum chuck 263 drives the labels to move to the position above the placing station, and the lifting cylinder 262 drives the vacuum chuck 263 to stick the labels to the upper surface of a workpiece.

In order to achieve the effect of recycling the label tape, the winding assembly 27 comprises: a winding motor 271, a winding roller 272, a tension cylinder 273 and a tension roller 274. The winding motor 271 is fixed on the lower supporting plate 23, the winding roller 272 is fixed at the end part of the rotating shaft of the winding motor 271, when the winding motor 271 is started, the winding roller 272 can be driven to rotate circumferentially synchronously, and because the free end of the label tape is wound on the winding roller 272, the label tape can be pulled when the winding roller 272 rotates, and the label tape is wound on the winding roller 272 under the action of tension. The tension cylinder 273 is fixed on the lower support plate 23, the tension roller 274 is fixed at the movable end of the tension cylinder 273, and the tension roller 274 and the take-up roller 272 are parallel to each other. The tension cylinder 273 drives the tension roller 274 to be close to or far from the winding roller 272 so as to adjust the tension of the label tape when the winding roller 272 winds, so that the winding roller 272 can be driven to continuously wind the label tape when the winding motor 271 is started.

Compacting reinforcement

The compaction reinforcing part 3 is fixed on the workbench, and the compaction reinforcing part 3 is arranged above the multi-station turntable 1. When the workpiece moves to the lower part of the compaction reinforcing part 3 along with the multi-station turntable 1, the compaction reinforcing part 3 can compact the label at the upper end of the workpiece.

The structure of the consolidated portion 3 is described in detail below, the consolidated portion 3 being: a compacting support 31, a compacting cylinder 32, a compacting block 33 and a positioning sensor 34. The compaction support 31 is fixed on one side of the multi-station rotary table 1, and the compaction support 31 is suitable for carrying a compaction air cylinder 32 and a positioning sensor 34. The compaction air cylinder 32 is fixed at the upper end of the compaction support 31, the compaction air cylinder 32 is arranged above the multi-station turntable 1, and the movable end of the compaction air cylinder 32 is arranged downwards vertically. The compaction block 33 is fixed at the movable end of the compaction cylinder 32, and the compaction cylinder 32 can drive the compaction block 33 to abut against the upper surface of the workpiece, so that the label is compacted on the workpiece. The positioning sensor 34 is fixed on the side wall of the compaction support 31, and the positioning sensor 34 can detect whether a workpiece exists below the compaction block 33. With the arrangement, when the multi-station turntable 1 drives the workpiece to move below the compaction block 33, the compaction air cylinder 32 drives the compaction block 33 to move downwards so as to compact the label on the upper surface of the workpiece.

Blanking conveying part

The unloading conveying part 4 sets up one side of material loading conveyer belt 51, and when the multistation drove corresponding work piece and rotates to unloading conveying part 4 below, unloading conveying part 4 can press from both sides the work piece clamp on the multistation carousel 1 and carry the unloading.

The structure of the feeding conveyor 4 is described in detail below, and the feeding conveyor 4 includes: blanking conveyer belt 41, two shelves 42 and blanking transport subassembly. The unloading conveyer belt 41 is fixed on the workstation, unloading conveyer belt 41 one end is close to multistation carousel 1, unloading conveyer belt 41 can be carried the work piece to the one end of keeping away from multistation carousel 1 from the one end that is close to multistation carousel 1. The two stop bars 42 are respectively fixed on two sides of the blanking conveying belt 41, the distance between the two stop bars 42 is not smaller than the width of the workpiece, and the two stop bars 42 can limit the workpiece to prevent the workpiece from falling off from the blanking conveying belt 41. The blanking conveying assembly is arranged above the blanking conveying belt 41, and can clamp and convey the workpiece on the positioning fixture 11 to the blanking conveying belt 41.

In order to achieve the above-mentioned effect, the unloading transport subassembly includes: a blanking bracket 43, a blanking cylinder 44, a blanking clamping cylinder 45 and a blanking mechanical clamping hand 46. The blanking support 43 is fixed above the blanking conveying belt 41, and the blanking support 43 is suitable for supporting a blanking cylinder 44. The blanking cylinder 44 is horizontally fixed at the upper end of the blanking support 43, the blanking clamping cylinder 45 is vertically fixed at the movable end of the blanking cylinder 44, and the movable end of the blanking clamping cylinder 45 is vertically arranged downwards. The blanking mechanical clamping hand 46 is fixed at the movable end of the blanking clamping cylinder 45. Through the arrangement, after the blanking air cylinder 44 drives the blanking mechanical clamping hand 46 to be above the workpiece, the blanking clamping air cylinder 45 drives the blanking mechanical clamping hand 46 to move downwards to clamp the workpiece.

Detection conveying part

The detection conveying part 6 is arranged at the blanking end of the blanking conveying part 4, and when the workpiece moves to the blanking end of the blanking conveying part 4, the detection conveying part 6 detects whether the workpiece is qualified and adsorbs dust on the outer wall of the workpiece.

The following describes specifically the structure of the detection and conveyance unit 6, and the detection and conveyance unit 6 includes: the device comprises a detection head 61, a detection air cylinder 62, a vertical air cylinder 63, a negative pressure suction cup 64, a pushing plate 65, a fixed block 66, two sliding plates 67 and a blanking slope 68. The detection head 61 is arranged at the upper end of the blanking conveying belt 41, and the detection head 61 is suitable for detecting whether the smoothness of the outer wall of the workpiece is qualified or not. Specifically, when the blanking conveyor belt 41 drives the workpiece to move below the detection head 61, the detection head 61 detects whether the workpiece is qualified. The blanking slope 68 is fixed on one side of the blanking conveyer belt 41, the blanking slope 68 is perpendicular to the blanking conveyer belt 41, and the blanking slope 68 is suitable for guiding qualified workpiece blanking. The level of the detection cylinder 62 is fixed on the workbench, the detection cylinder 62 is arranged on one side of the blanking slope 68, the detection cylinder 62 is arranged along the length direction of the blanking slope 68, and the movable end of the detection cylinder 62 horizontally faces the blanking conveying belt 41. The vertical cylinder 63 is fixed at the movable end of the detection cylinder 62, and the movable end of the vertical cylinder 63 is vertically arranged upwards. The fixed block 66 is fixed at the movable end of the vertical cylinder 63, and the fixed block 66 is arranged above the blanking slope 68. The detection cylinder 62 and the vertical cylinder 63 can drive the fixing block 66 to move horizontally and vertically, respectively, so that the fixing block 66 can move between the blanking conveyer belt 41 and the blanking slope 68. The type of "is on the fixed block 66, the negative pressure suction cup 64 is fixed on the fixed block 66, and the negative pressure suction cup 64 is arranged on the lower side. An air pump is arranged in the negative sucker 64, and when the negative sucker 64 moves to abut against the upper surface of the workpiece, the air pump can pump air between the negative sucker 64 and the workpiece away, so that the negative sucker 64 can suck the workpiece. After the workpiece is adsorbed, the detection cylinder 62 and the vertical cylinder 63 can transfer the workpiece from the blanking conveyer belt 41 to the blanking slope 68 by the fixing plate. The top pushing plate 65 is vertically fixed on the side wall of the fixing block 66, and the top pushing plate 65 faces the negative pressure suction cup 64. The two sliding plates 67 are slidably arranged at the lower end of the fixed block 66, a through groove matched with the pushing plate 65 is formed in the side wall of one of the sliding plates 67, and when the inner side wall of the fixed block 66 of the sliding plate 67 slides horizontally, the pushing plate 65 can protrude out of the sliding plate 67. When the detection head 61 detects that the workpiece is qualified, the detection cylinder 62 drives the fixed block 66 to transfer the workpiece to the blanking slope 68, and the workpiece is blanked by matching with the blanking slope 68. When the detection head 61 detects that the workpiece is unqualified, the detection cylinder 62 drives the fixing block 66 to horizontally move on the blanking conveying belt 41, so that the pushing plate 65 is inserted into the side wall of the workpiece, and the workpiece forms a groove, so that an operator can conveniently identify the unqualified workpiece.

In order to achieve the effect of marking the workpiece, a limiting groove is formed in the lower end of each sliding plate 67, the limiting grooves are formed in the length direction of the sliding plates 67, two protruding blocks 411 are fixedly arranged on two sides of one end, close to the detection head 61, of the lower conveying belt, the two protruding blocks 411 are arranged oppositely, and the two protruding blocks 411 are respectively matched with the two limiting grooves. When the detection cylinder 62 drives the fixing block 66 to move downwards and adsorb the workpiece, the sliding plate 67 is inserted into the corresponding protruding block 411 through the limiting groove, so that the two sliding blocks are limited, and if the workpiece is qualified, the negative pressure suction cup 64 adsorbs the workpiece and carries the workpiece. If the workpiece is not qualified, after the sliding plates 67 are inserted into the corresponding protruding blocks 411 through the limiting grooves, the workpiece moves between the two sliding plates 67, and the two sliding plates 67 limit the workpiece. The detection cylinder 62 drives the fixed block 66 to slide towards the feeding slope 68, the fixed block 66 drives the pushing plate 65 to slide synchronously, and the two sliding plates 67 are inserted into the protruding block 411 because the workpiece is between the two sliding plates 67, so that the pushing plate 65 is inserted into the side wall of the workpiece and forms a groove. In order to further drive the sliding plate 67 to reset, a reset spring 671 is fixed on the inner side wall of the fixed plate, the other end of the reset spring 671 is fixed with the side wall of the sliding plate 67, and after the bump block 411 is separated from the limiting groove, the reset spring 671 can push the sliding plate 67 to reset so that the pushing plate 65 retracts into the sliding plate 67. After the unqualified workpiece identification is completed, the vertical cylinder 63 drives the fixing block 66 to be far away from the workpiece, and an operator can take the unqualified workpiece off the blanking conveying belt 41.

Inside a plurality of air flues that are provided with of negative pressure suction cup 64, the inside cavity of sliding plate 67, and a plurality of suction holes 672 have been seted up to the inside wall of sliding plate 67, suction holes 672 and air flue intercommunication, the air flue can communicate with negative pressure suction cup 64. When the vertical cylinder 63 drives the negative pressure suction cup 64 to abut against the workpiece, the vertical cylinder 63 drives the fixing block 66 to continuously move downwards, so that the workpiece pushes the negative pressure suction cup 64 to slide upwards, so that the air passage is communicated with the negative pressure suction cup 64, the air pump in the negative pressure suction cup 64 can suck air in the sliding plate 67 through the air passage to form negative pressure in the sliding plate 67, and the sliding plate 67 sucks air to the outer wall of the workpiece through the air suction holes 672, so that dust on the outer wall of the workpiece is adsorbed. A pushing spring 641 is further fixed between the negative pressure sucker 64 and the inner top wall of the fixing block 66, and after the negative pressure sucker 64 is separated from the workpiece, the pushing spring 641 can push the negative pressure sucker 64 downward so as to reset the negative pressure sucker 64.

In addition, in order to further detect whether the workpiece is qualified or not on the blanking slope 68, a platform is arranged at the upper end of the blanking slope 68, a limiting block 681 is arranged on the platform, the limiting block 681 is matched with a limiting groove, when the detection cylinder 62 drives the negative pressure suction cup 64 to move the workpiece to the blanking slope 68, the limiting groove corresponding to the sliding plate 67 on one side connected with the pushing plate 65 is inserted into the limiting block 681, the detection cylinder 62 drives the fixing block 66 to slide in the direction away from the blanking conveying belt 41, if the workpiece is qualified, the pushing plate 65 extends out of the sliding plate 67 and pushes the sliding plate 67 to enter the slope surface of the blanking slope 68 along with the movement of the fixing block 66. If the workpiece is unqualified, the pushing plate 65 extends out of the sliding plate 67 and is inserted into the groove along with the fixing and opening movement, namely, the pushing plate 65 cannot push the workpiece to enter the slope surface of the blanking slope 68, so as to remind an operator to take the unqualified workpiece away in time.

In light of the foregoing description of the preferred embodiment of the present invention, it is intended that the present invention cover modifications and variations of this invention provided they fall within the scope of the following claims. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides a unloading system in panel loading and unloading robot which characterized in that includes:

the automatic labeling machine comprises a multi-station turntable (1), a labeling part (2), a compacting and reinforcing part (3), a blanking conveying part (4), a loading conveying part (5) and a detecting and conveying part (6), wherein the multi-station turntable (1) is rotatably arranged on a workbench, and a plurality of placing stations are arranged on the periphery of the multi-station turntable (1) at equal intervals;

the feeding conveying part (5) is fixed on one side of the multi-station turntable (1), and the feeding conveying part (5) is suitable for conveying workpieces and conveying the workpieces onto the multi-station turntable (1);

the labeling part (2) is fixed on one side of the multi-station turntable (1), and the labeling part (2) is suitable for labeling the upper surface of a workpiece;

the compaction reinforcing part (3) is fixed on the workbench, and the compaction reinforcing part (3) is arranged above the multi-station turntable (1);

the blanking conveying part (4) is arranged on one side of the feeding conveying part (5), and the blanking conveying part (4) is suitable for conveying and blanking workpieces on the multi-station turntable (1);

the detection conveying part (6) is arranged at the blanking end of the blanking conveying part (4), and the detection conveying part (6) is suitable for detecting workpieces and conveying blanking; wherein

When the automatic feeding device works, workpieces are sequentially placed on the feeding conveying part (5), the feeding conveying part (5) drives the workpieces to horizontally move and sequentially convey the workpieces to corresponding placing stations;

when the workpiece moves to the labeling part (2), the labeling part (2) can attach the label to the upper end of the workpiece;

when the workpiece moves to the compaction and reinforcement part (3), the compaction and reinforcement part (3) can compact the label at the upper end of the workpiece;

when the workpiece moves to the blanking conveying part (4), the blanking conveying part (4) clamps the workpiece and conveys the blanking;

when the workpiece moves to the discharging end of the discharging conveying part (4), the detecting and conveying part (6) detects whether the workpiece is qualified or not and adsorbs dust on the outer wall of the workpiece.

2. The loading and unloading system of a plate handling robot as recited in claim 1,

the feeding and conveying part (5) comprises: the automatic feeding device comprises a feeding conveying belt (51), a feeding support (52), a feeding cylinder (53), a feeding clamping cylinder (54) and a feeding mechanical clamping hand (55), wherein the feeding conveying belt (51) is fixed on the workbench, and the discharging end of the feeding conveying belt (51) is close to the multi-station turntable (1);

the feeding support (52) is arranged above the feeding conveying belt (51), the feeding cylinder (53) is fixed at the upper end of the feeding support (52), the feeding clamping cylinder (54) is vertically fixed at the movable end of the feeding cylinder (53), the feeding mechanical clamping hand (55) is fixed at the movable end of the feeding clamping cylinder (54), and the feeding mechanical clamping hand (55) faces the feeding conveying belt (51); wherein

When the device works, the feeding air cylinder (53) is suitable for driving the feeding clamping air cylinder (54) to be positioned above a workpiece;

the feeding clamping cylinder (54) is suitable for driving the feeding mechanical clamping hand (55) to clamp the workpiece and convey the workpiece to the placing station.

3. The loading and unloading system of a plate handling robot as recited in claim 2,

a plurality of positioning clamps (11) are arranged on the multi-station turntable (1) at equal intervals along the circumferential direction, and the positioning clamps (11) are suitable for fixing workpieces;

a speed regulation driving motor (12) is arranged below the multi-station turntable (1), and the speed regulation driving motor (12) is suitable for driving the multi-station turntable (1) to rotate in the circumferential direction.

4. The loading and unloading system of a plate handling robot as recited in claim 3,

the labeling part (2) comprises: the labeling device comprises a labeling vertical plate (21), an upper supporting plate (22), a lower supporting plate (23), an unwinding roller (24), a labeling platform (25), a labeling component (26) and a winding component (27), wherein the labeling vertical plate (21) is vertically fixed on a workbench, the upper supporting plate (22) and the lower supporting plate (23) are respectively and vertically fixed at two ends of the labeling vertical plate (21), the upper supporting plate (22) is arranged above the workbench, and the lower supporting plate (23) is arranged below the workbench;

the unwinding roller (24) is rotatably arranged on the side wall of the labeling vertical plate (21);

the marking assembly (26) is slidably arranged on the upper supporting plate (22);

the label taking platform (25) is vertically fixed on the side wall of the labeling vertical plate (21), and the label taking platform (25) is arranged below the label taking assembly (26);

the winding component (27) is rotatably arranged on the lower supporting plate (23); wherein

When the label taking device works, the label tape is placed on the unreeling roller (24), extends to the winding component (27) after passing through the label taking platform (25) and is wound on the winding component (27);

the label taking assembly (26) moves horizontally to adsorb and attach the labels on the label taking platform (25) to the upper surface of the workpiece.

5. The loading and unloading system of a plate handling robot as recited in claim 4,

the tagging assembly (26) comprises: the device comprises a sliding cylinder (261), a lifting cylinder (262) and a vacuum chuck (263), wherein the sliding cylinder (261) is fixed on the upper supporting plate (22);

the lifting cylinder (262) is vertically fixed at the movable end of the sliding cylinder (261), the vacuum chuck (263) is fixed at the movable end of the lifting cylinder (262), the through-hole air pipe of the vacuum chuck (263) is communicated with the vacuum air pump, and the vacuum chuck (263) faces the mark-taking platform (25); wherein

After the sliding cylinder (261) drives the vacuum sucker (263) to move to the label taking platform (25), the lifting cylinder (262) drives the vacuum sucker (263) to move downwards to adsorb labels.

6. The loading and unloading system of a plate handling robot as recited in claim 5,

the take-up assembly (27) comprises: the winding device comprises a winding motor (271), a winding roller (272), a tension cylinder (273) and a tension roller (274), wherein the winding motor (271) is fixed on the lower supporting plate (23), and the winding roller (272) is fixed at the end part of a rotating shaft of the winding motor (271);

the tension cylinder (273) is fixed on the lower supporting plate (23), the tension roller (274) is fixed at the movable end of the tension cylinder (273), and the tension roller (274) and the winding roller (272) are parallel to each other; wherein

The label tape is wound on the outer wall of the winding roller (272), and the winding motor (271) drives the winding roller (272) to rotate circumferentially to wind the label tape;

the tension air cylinder (273) drives the tension roller (274) to be close to or far away from the winding roller (272) so as to adjust the tension of the label tape when the winding roller (272) winds the label tape.

7. The loading and unloading system of a plate handling robot as recited in claim 6,

the compaction reinforcement (3): the device comprises a compacting support (31), a compacting cylinder (32), a compacting block (33) and a positioning sensor (34), wherein the compacting support (31) is fixed on one side of the multi-station turntable (1), the compacting cylinder (32) is fixed at the upper end of the compacting support (31), and the compacting cylinder (32) is arranged above the multi-station turntable (1);

the compaction block (33) is fixed at the movable end of the compaction cylinder (32), and the positioning sensor (34) is fixed on the side wall of the compaction support (31); wherein

When the multi-station turntable (1) drives the workpiece to move below the compaction block (33), the compaction air cylinder (32) drives the compaction block (33) to move downwards so as to compact the label on the upper surface of the workpiece.

8. The loading and unloading system of a plate handling robot as recited in claim 7,

the blanking conveying part (4) comprises: the automatic feeding device comprises a blanking conveying belt (41), two shelves (42) and a blanking carrying assembly, wherein the blanking conveying belt (41) is fixed on the workbench, and one end of the blanking conveying belt (41) is close to the multi-station turntable (1);

the two stopping strips (42) are respectively fixed on two sides of the blanking conveying belt (41), and the distance between the two stopping strips (42) is not less than the width of a workpiece;

the blanking conveying assembly is arranged above the blanking conveying belt (41) and is suitable for clamping a workpiece; wherein

When the blanking conveying component works, the workpiece on the positioning clamp (11) is clamped and conveyed to the blanking conveying belt (41).

9. The loading and unloading system of a plate handling robot as recited in claim 8,

the unloading transport subassembly includes: the automatic feeding device comprises a feeding support (43), a feeding cylinder (44), a feeding clamping cylinder (45) and a feeding mechanical clamping hand (46), wherein the feeding support (43) is fixed above a feeding conveying belt (41), the feeding cylinder (44) is horizontally fixed at the upper end of the feeding support (43), the feeding clamping cylinder (45) is vertically fixed at the movable end of the feeding cylinder (44), and the feeding mechanical clamping hand (46) is fixed at the movable end of the feeding clamping cylinder (45); wherein

After the blanking cylinder (44) drives the blanking mechanical clamping hand (46) to be above the workpiece, the blanking clamping cylinder (45) drives the blanking mechanical clamping hand (46) to move downwards to clamp the workpiece.

10. The loading and unloading system of a plate handling robot as recited in claim 9,

the detection conveyance unit (6) includes: the device comprises a detection head (61), a detection cylinder (62), a vertical cylinder (63), a negative pressure sucker (64), a pushing plate (65), a fixed block (66), two sliding plates (67) and a blanking slope (68), wherein the detection head (61) is arranged at the upper end of the blanking end of a blanking conveying belt (41), and the detection head (61) is suitable for detecting whether the smoothness of the outer wall of a workpiece is qualified or not;

the blanking slope (68) is fixed on one side of the blanking conveying belt (41), and the blanking slope (68) is perpendicular to the blanking conveying belt (41);

the detection cylinder (62) is horizontally fixed on the workbench, and the detection cylinder (62) is arranged along the length direction of the blanking slope (68);

the vertical cylinder (63) is fixed at the movable end of the detection cylinder (62);

the fixed block (66) is fixed at the movable end of the vertical cylinder (63), and the fixed block (66) is arranged above the blanking slope (68);

the clamping device is characterized in that the fixed block (66) is of the type of' the size, the negative pressure sucking disc (64) is fixed on the fixed block (66), and the negative pressure sucking disc (64) is arranged downwards;

the pushing plate (65) is vertically fixed on the side wall of the fixing block (66), and the pushing plate (65) faces the negative pressure sucker (64);

the two sliding plates (67) are slidably arranged at the lower end of the fixed block (66), and a through groove matched with the pushing plate (65) is formed in the side wall of one sliding plate (67);

the lower end of each sliding plate (67) is provided with a limit groove; wherein

When the blanking conveying belt (41) drives the workpiece to move below the detection head (61), the detection head (61) is suitable for detecting whether the workpiece is qualified or not;

when the detection is qualified, the detection air cylinder (62) drives the fixed block (66) to move towards the blanking conveying belt (41) until the negative pressure suction disc (64) is abutted against the workpiece, and the fixed block (66) continues to move downwards so that the two sliding plates (67) can adsorb dust on the outer wall of the workpiece under negative pressure;

when the detection is unqualified, the detection air cylinder (62) drives the fixed block (66) to move towards the blanking conveyer belt (41) until the negative pressure sucker (64) is abutted against a workpiece, at the moment, the limiting grooves at the lower ends of the two sliding plates (67) are mutually inserted with the protruding blocks at the blanking end of the blanking conveyer belt (41), and the detection air cylinder (62) continues to drive the fixed block (66) to horizontally move, so that the pushing plate (65) protrudes out of the side walls of the sliding plates (67) and props open grooves in the side walls of the workpiece.