CN115973749A

CN115973749A - Automatic tray loading station and method

Info

Publication number: CN115973749A
Application number: CN202310280790.2A
Authority: CN
Inventors: 段徽庆; 韩鹏; 马朋
Original assignee: Jiangsu Kerian Technology Co ltd
Current assignee: Jiangsu Kerian Technology Co ltd
Priority date: 2023-03-22
Filing date: 2023-03-22
Publication date: 2023-04-18
Anticipated expiration: 2043-03-22
Also published as: CN115973749B

Abstract

The invention relates to the technical field of workpiece tray loading, and discloses an automatic tray loading station and an automatic tray loading method. The automatic tray loading station comprises a workbench, and a tray feeding mechanism, a plate separating and discharging mechanism and a material taking mechanism which are respectively arranged on the workbench; the plate-dividing discharging mechanism comprises an unqualified material receiving module and a plurality of discharging modules, the unqualified material receiving module is used for placing unqualified workpieces, each discharging module is used for respectively placing the workpieces which are qualified in inspection but have different workpiece batches, and the unqualified material receiving module is positioned at the output end of the tray feeding mechanism; the material taking mechanism is used for respectively grabbing the trays of the tray feeding mechanism onto each material placing module and scanning the workpieces and placing the workpieces on the trays of each material placing module or unqualified material receiving module according to the scanning information in a classified mode. The beneficial effects are that: can be automatically with in each tray of work piece classification packing, work efficiency is high, and the dress mistake can not appear or neglected loading.

Description

Automatic tray loading station and method

Technical Field

The invention relates to the technical field of workpiece tray loading, in particular to an automatic tray loading station and an automatic tray loading method.

Background

In the production process of the workpieces, the workpieces need to be shipped and inspected so as to classify the workpieces and avoid shipping the workpieces with unqualified quality. After the workpieces are shipped and inspected, the workpieces need to be loaded into corresponding trays according to specific inspection result classification. The workpiece is specifically a circuit board.

At present, each workpiece after being inspected is loaded into each corresponding tray in a classified manner by adopting a manual tray loading manner, the tray loading efficiency is low, and the problem of wrong loading or neglected loading is easy to occur due to the difference of manual operation; in addition, due to the adoption of the manual classification tray loading mode, when the problem of wrong loading or neglected loading occurs, the information of the workpiece is difficult to be directly traced.

Therefore, there is a need for an automatic disc loading station and method that can solve the above problems.

Disclosure of Invention

The invention aims to provide an automatic tray loading station which can automatically load workpieces into each tray in a classified manner, has high working efficiency, does not generate wrong loading or missing loading and can easily trace the information of the workpieces.

In order to achieve the purpose, the invention adopts the following technical scheme:

automatic sabot workstation for the tray is packed into to work piece classification after will going out cargo inspection, includes:

a work table;

the tray feeding mechanism is arranged on the workbench;

the plate separating and discharging mechanism and the tray feeding mechanism are arranged on the workbench at intervals, the plate separating and discharging mechanism comprises an unqualified material receiving module and a plurality of material discharging modules, the unqualified material receiving module is used for placing unqualified workpieces, each material discharging module is used for respectively placing the workpieces which are qualified in inspection but different in workpiece batches, and the unqualified material receiving module is positioned at the output end of the tray feeding mechanism;

and the material taking mechanism is arranged on the workbench and is used for respectively grabbing the trays of the tray feeding mechanism onto each material placing module and scanning the workpieces and placing the workpieces onto the trays of each material placing module or the unqualified material receiving module in a classified manner according to scanning information.

Further, along X axle set gradually material loading level, divide the material level and decide the material level on the workstation, the material loading level is used for receiving the supplied materials, the supplied materials is for by a plurality of the tray is folded and is established the tray of establishing the folding that forms, unqualified material receiving module is located decide the low reaches of material level, tray feeding mechanism includes:

the material distributing part is positioned at the material distributing position and used for singly separating the stacked trays;

the setting element, set up in the material level, the setting element be used for the location by divide the material piece to divide single the tray, so that extracting mechanism snatchs the tray.

Furthermore, the plurality of discharging modules comprise a first discharging module for placing mixed batch workpieces, a second discharging module for placing non-main batch workpieces and a third discharging module for placing main batch workpieces, which are sequentially arranged in parallel along the Y axis;

divide the version drop feed mechanism still includes:

and the discharging conveying piece is positioned at the downstream of the third discharging module and can convey the trays on the first discharging module, the second discharging module and the third discharging module out.

Further, the automatic tray loading station further comprises:

the unqualified material receiving module can move downwards along the Z axis to the unqualified conveying module so as to convey the trays on the unqualified material receiving module to the unqualified conveying module, and the unqualified conveying module is used for stacking a plurality of trays and conveying the trays out.

Further, the material taking mechanism comprises:

the manipulator body, one end of the said manipulator body is set up in the said work level;

the manipulator comprises a chuck piece and a workpiece, wherein the workpiece is sucked on the inner side of the chuck piece, one end of the chuck piece and one end of the workpiece are both in driving connection with the other end of the manipulator body, and the other end of the chuck piece and the other end of the workpiece can respectively adsorb the tray and the workpiece.

Further, after shipment inspection the work piece is located the carrier, the top end face lid of carrier is equipped with the apron, automatic sabot worker station still includes:

tear lid mechanism open, with tray feeding mechanism set up relatively in the workstation, extracting mechanism be located by tray feeding mechanism divide the version drop feed mechanism with tear open in the inboard space that lid mechanism encloses and establish, tear open lid mechanism and be used for receiving the carrier can be unpacked the apron, so that extracting mechanism snatchs in the carrier the work piece.

Further, tear open lid mechanism slide along the X axle set up in the workstation, tear open lid mechanism include along X axle side by side set up tear lid subassembly and jacking subassembly open, jacking subassembly is used for receiving the carrier can follow Z axial uplift the carrier, tear open the lid subassembly and be used for snatching on the jacking subassembly the apron of carrier.

Further, the jacking assembly comprises:

the first substrate is arranged on the workbench in a sliding mode along an X axis;

the material receiving conveying belts are arranged opposite to the two material receiving conveying belts of the first substrate, the conveying direction of the material receiving conveying belts is in the Y-axis direction, the material receiving conveying belts are used for conveying the carriers, and the distance between the two material receiving conveying belts is adjustable;

jacking piece, set up in first base plate just is located two connect between the material conveyer belt, jacking piece is close to tear the lid subassembly setting open, jacking piece can follow Z axle rebound, in order to incite somebody to action the carrier is followed connect the material conveyer belt to go up to hold in the palm and leave.

Further, the cap removing assembly includes:

a second substrate connected to the first substrate in parallel and capable of sliding on the table along an X-axis;

the connecting piece is arranged on the second substrate in a sliding mode along the X axis;

the cover detaching piece is arranged on the connecting piece in a sliding mode along the Z axis, and the other end of the cover detaching piece is provided with a cover absorbing piece used for absorbing the cover plate.

Further, the automatic tray loading station further comprises:

the buffer platform is arranged on the workbench and positioned between the plate separating and feeding mechanism and the material taking mechanism, and a first buffer area for buffering the main batch of workpieces, a second buffer area for buffering the non-main batch of workpieces, a third buffer area for buffering the mixed batch of workpieces and an unqualified buffer area for buffering the unqualified workpieces are arranged on the buffer platform in parallel.

Another object of the present invention is to provide an automatic tray loading method, which can automatically load workpieces into each tray in a classified manner, has high work efficiency, does not cause wrong loading or missing loading, and can easily trace back information of the workpieces.

the automatic disc loading method is based on the automatic disc loading station and comprises the following steps:

s1: enabling the tray feeding mechanism to feed the tray to a preset position;

s2: enabling the material taking mechanism to respectively grab the tray at the preset position to each material placing module, and enabling the tray at the preset position to be conveyed to the unqualified material receiving module;

s3: and enabling the material taking mechanism to scan the workpieces and put the workpieces on the trays of the material putting modules or the unqualified material receiving modules in a classified mode according to scanning information.

The invention has the beneficial effects that:

the automatic tray loading station can be used together with a plurality of production lines of similar products, and a tray feeding mechanism for feeding trays, a plate separating and discharging mechanism for placing workpieces in a classified mode and a material taking mechanism for grabbing the workpieces or the trays are arranged on the workbench respectively; after the shipment inspection is finished, a material taking mechanism is used for respectively grabbing the trays loaded by the tray feeding mechanism to each material discharging module in the plate separating material discharging mechanism, and the trays of the tray feeding mechanism are directly conveyed to the unqualified material collecting modules; the material taking mechanism is used for scanning the workpieces to obtain scanning information of inspection results of the workpieces during shipment inspection, and the material taking mechanism can sort the workpieces to be placed on trays of each material placing module or each unqualified material receiving module according to the scanning information, namely the trays on the unqualified material receiving modules are used for placing unqualified and unqualified workpieces to be inspected, and the trays of the material placing modules are used for respectively placing the workpieces which are qualified in inspection but have different workpiece batches, so that the workpieces are automatically classified and placed on the trays; in this way, the purpose of classifying and loading each workpiece after shipment inspection into each tray can be achieved, and the tray loading efficiency is high; meanwhile, the problem of wrong installation or neglected installation is avoided due to the elimination of the difference of manual operation; and because the picking mechanism can directly scan and obtain the scanning information of the workpiece, when a problem occurs in the tray loading process, the information of the workpiece can be directly and quickly traced back according to the scanning information.

Drawings

FIG. 1 is a schematic structural view of an automatic disc loading station (excluding a cabinet) provided by the present invention;

FIG. 2 is a schematic view of a tray feeding mechanism provided in the present invention from a perspective;

FIG. 3 is a schematic structural view of a tray feeding mechanism provided by the present invention from another perspective;

FIG. 4 is a schematic structural diagram of a first jacking module according to the present invention;

FIG. 5 is a schematic structural view of a distributing member provided by the present invention;

FIG. 6 is a schematic structural diagram of a second jacking module according to the present invention;

FIG. 7 is a schematic structural view of a branching member provided by the present invention;

FIG. 8 is a schematic structural view of a pallet belt according to the present invention;

FIG. 9 is a schematic view of a take-out mechanism provided by the present invention;

FIG. 10 is a schematic view of the structure of the suction cup member and the suction piece provided by the present invention;

FIG. 11 is an enlarged partial schematic view at C of FIG. 10;

FIG. 12 is a schematic structural view of a cover removing mechanism provided in the present invention;

FIG. 13 is a schematic structural view of a jacking assembly provided by the present invention;

FIG. 14 is a schematic structural view of a tear-away cover assembly provided by the present invention;

FIG. 15 is a schematic structural view of a plate-separating discharging mechanism (excluding unqualified material collecting modules) provided by the present invention;

FIG. 16 is a schematic structural view of a third dispensing module provided by the present invention at an initial position;

FIG. 17 is a schematic structural view of the third discharging module provided by the present invention when it is lifted;

fig. 18 is a schematic structural view of the plate-separating discharging mechanism provided by the invention when conveying a tray on the first discharging module;

FIG. 19 is a schematic diagram of a cache table according to the present invention;

FIG. 20 is a schematic structural view of a defective conveying module and a tray feeding mechanism according to the present invention;

FIG. 21 is a schematic view of a structure of an unqualified material receiving module provided in the present invention;

fig. 22 is a schematic structural view of a cabinet provided by the present invention;

fig. 23 is a schematic flow chart of an automatic disc loading method provided by the present invention.

Reference numerals:

10-a workbench; 101-a loading level; 102-a split level; 103-a dosing position; 104-a moving module; 20-a tray; 201-grooves; 30-stacking trays;

1-a tray feeding mechanism; 11-a distributing part; 111-a second jacking module; 1111-distributing jacking plate; 1112-a first suction cup; 112-disc separation; 1121-telescopic cylinder; 1122-fork blade; 1123-vertical cylinder; 1124-material pressing plate; 1125-middle block; 121-positioning a jacking plate; 13-a pallet conveyor belt; 131-a guide rail; 132-a screw mandrel; 133-a feed screw nut; a 134-U-shaped frame; 135-a support member; 14-a first jacking module; 141-a bottom plate; 142-a support column; 143-intermediate plate; 144-guide pillars; 145-jacking cylinder; 146-a loading jacking plate; 147-convex top blocks; 148-a guide sleeve; 15-a barrier module; 151-blocking cylinder; 152-a stop block;

2-a plate separating and discharging mechanism; 21-unqualified material collecting module; 211-receiving conveyer belt; 212-a lift motor; 22-a first emptying module; 23-a second discharging module; 24-a third discharging module; 241-a lifting cylinder; 242-upper conveying structure; 243-lower layer conveying structure; 244-a transfer conveyor belt; 25-a discharge transport; 251-a discharge conveyor belt;

3-a material taking mechanism; 31-a manipulator body; 311-an output shaft; 32-a sucker member; 321-a material taking frame; 322-a second suction cup; 33-sucking the workpiece; 331-a frame; 332-an adsorption rack; 333-sliding bar; 334-rodless cylinders; 335-a linkage;

4-unqualified conveying module; 41-recovery conveyer belt; 42-stacking pieces;

5-cover removing mechanism; 51-a carrier; 52-a cover plate; 53-disassembling the cover assembly; 531 — a second substrate; 532-connecting piece; 533-decapping member; 54-a jacking assembly; 541-a first substrate; 542-material receiving conveying belt; 5431-carrier lift plate; 5432-carrier alignment pins;

6, a cabinet; 7-inner space;

8-a cache platform; 81-a first cache region; 82-a second cache area; 83-third cache area; 84-unqualified buffer.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings, and are only for convenience of description and simplification of operation, but do not indicate or imply that the structures or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

This embodiment provides an automatic sabot workstation for the tray is packed into to the work piece classification after will going out the goods inspection, that is to say that this automatic sabot workstation can place the work piece automation in the tray that corresponds with it according to the shipment inspection result of work piece when the shipment inspection, thereby realizes the automatic classification sabot to the work piece, and the sabot efficiency is higher, and the loading is wrong or neglected loading can not appear, and can trace back the information of work piece easily. The workpiece in this embodiment may be specifically a circuit board or other workpieces that need to be sorted and palletized.

Specifically, as shown in fig. 1 and fig. 2, the automatic tray loading station includes a workbench 10, and a tray feeding mechanism 1, a plate separating and discharging mechanism 2, and a material taking mechanism 3 respectively disposed on the workbench 10; wherein, the tray feeding mechanism 1 is used for feeding the tray 20; the plate-dividing discharging mechanism 2 comprises an unqualified material receiving module 21 and a plurality of discharging modules arranged in parallel in sequence, the unqualified material receiving module 21 is used for placing unqualified workpieces which are unqualified in shipment inspection, each discharging module is used for placing workpieces which are qualified in shipment inspection and have different workpiece batches, and the unqualified material receiving module 21 is positioned at the output end of the tray feeding mechanism 1, so that the tray 20 of the tray feeding mechanism 1 can be directly conveyed to the unqualified material receiving module 21; the material taking mechanism 3 is used for grabbing the trays 20 loaded by the tray feeding mechanism 1 onto each material placing module respectively, and the material taking mechanism 3 can also scan the workpieces and put the workpieces on the trays 20 of each material placing module or the unqualified material receiving module 21 according to the scanning information in a classified mode.

A tray feeding mechanism 1 for feeding trays 20, a plate separating and placing mechanism 2 for classifying and placing workpieces, and a material taking mechanism 3 for grabbing the workpieces or the trays 20 are respectively arranged on a workbench 10; after the shipment inspection is finished, the material taking mechanism 3 is firstly used for respectively grabbing the trays 20 loaded by the tray feeding mechanism 1 onto each discharging module in the plate separating discharging mechanism 2, and the trays 20 of the tray feeding mechanism 1 are directly conveyed to the unqualified material receiving module 21; the material taking mechanism 3 is used for scanning the workpieces to obtain scanning information of the inspection results of the workpieces during shipment inspection, and the material taking mechanism 3 can sort the workpieces to the trays 20 of the material placing modules or the unqualified material receiving modules 21 according to the scanning information, namely the trays 20 on the unqualified material receiving modules 21 are used for placing the unqualified and unqualified workpieces to be inspected, and the trays 20 of the material placing modules are used for respectively placing the workpieces which are qualified to be inspected but have different workpiece batches, so that the workpieces are automatically sorted and placed on the trays 20; in this way, the purpose of loading each workpiece after shipment inspection into each tray 20 in a classified manner can be achieved, and the tray loading efficiency is high; meanwhile, the problem of wrong installation or neglected installation is avoided due to the elimination of the difference of manual operation; and, because the scanning information that extracting mechanism 3 can direct scanning obtained the work piece, when the sabot in-process goes wrong, can directly carry out fast back to the information of work piece according to scanning information.

It is worth explaining that the two-dimensional codes can be arranged on each workpiece, basic information of the workpieces and information of a detection result during shipment detection are embedded in the two-dimensional codes, and the material taking mechanism 3 can directly scan the two-dimensional codes on the workpieces to obtain the basic information of the workpieces and the scanning information of the detection result during shipment detection, so that the workpieces can be traced quickly.

The detailed structure of the tray supply mechanism 1 will be described in detail below with reference to fig. 1 to 8.

Specifically, as shown in fig. 1-3, a loading position 101, a distributing position 102 and a material fixing position 103 are sequentially arranged on the worktable 10 in parallel along the X axis, the loading position 101 is used for receiving incoming materials, the incoming materials are stacked trays 30 formed by stacking a plurality of trays 20 up and down in sequence, and it should be noted here that the stacked trays 30 are loaded by a transfer device such as an RGV after the previous process is completed, and the trays 20 are stacked for accelerating the transfer efficiency; the tray feeding mechanism 1 comprises two tray conveying belts 13, a material distributing part 11 and a positioning part which are oppositely arranged; the tray conveyer belt 13 extends along the X axis and penetrates through the loading position 101, the distributing position 102 and the fixing position 103, the tray conveyer belt 13 is used for sequentially conveying the trays 20 at the loading position 101 to the distributing position 102 and the fixing position 103, and the length direction of the trays 20 is perpendicular to the conveying direction of the tray conveyer belt 13, that is, two end parts of the trays 20 in the length direction are respectively placed on the two tray conveyer belts 13; the material distribution part 11 is arranged at the material distribution position 102 and positioned at one side of the tray conveying belt 13, and the material distribution part 11 is used for singly separating the stacked trays 30 conveyed by the material loading position 101 into single trays 20; a positioning member is provided at the positioning position 103 between the two tray conveyors 13, and the positioning member is used to position a single tray 20 separated by the separating member 11, so that the taking mechanism 3 can grasp the tray 20 on the positioning member. The X axis is parallel to the width direction of the table 10, and the X axis is specifically indicated by an arrow X in fig. 1.

Specifically, as shown in fig. 2 to 4, a first jacking module 14 is arranged at the loading position 101, the first jacking module 14 is located between two tray conveyer belts 13, and the first jacking module 14 is used for jacking the stacked trays 30 on the tray conveyer belts 13 in the Z-axis direction so as to separate the stacked trays 30 at the loading position 101 from the tray conveyer belts 13; when the distribution position 102 is provided with the trays 20 to be distributed, the first jacking module 14 jacks up the stacked trays 30 at the upper material position 101 along the Z-axis direction, so that the problem that the stacked trays 30 at the upper material position 101 move to the distribution position 102 to interfere with the trays 20 at the distribution position 102 can be avoided, and the stacked trays 30 at the upper material position 101 can be guaranteed to move to the distribution position 102 for distribution through the tray conveyer belt 13 when no tray 20 is located at the distribution position 102. The tray 20 specifically refers to one tray 20, and the stacked tray 30 refers to a plurality of trays 20 stacked one on another. In this embodiment, the stacking tray 30 is specifically formed by stacking ten trays 20. In this embodiment, the Z axis is specifically shown by an arrow Z in fig. 1.

Further, as shown in fig. 4, the first jacking module 14 includes a bottom plate 141, a supporting pillar 142, an intermediate plate 143, a guide pillar 144, a jacking cylinder 145, and a loading jacking plate 146; the bottom plate 141 is fixedly connected to the workbench 10, the middle plate 143 is fixedly arranged above the bottom plate 141, two ends of the supporting column 142 are respectively fixedly connected with the bottom plate 141 and the middle plate 143, the feeding jacking plate 146 is arranged above the middle plate 143, and a convex top block 147 is arranged on the top end surface of the feeding jacking plate 146; a guide sleeve 148 is arranged on the middle plate 143 along the Z axis, one end of the guide post 144 is fixedly connected with the feeding jacking plate 146, the other end of the guide post 144 passes through the guide sleeve 148 and is positioned above the bottom plate 141 at intervals, and the guide post 144 can slide in the guide sleeve 148 along the Z axis; the fixed end of the jacking cylinder 145 is arranged on the middle plate 143, and the driving end of the jacking cylinder 145 is in driving connection with the feeding jacking plate 146.

When the stacked tray 30 at the loading position 101 needs to be jacked, the jacking cylinder 145 drives the loading jacking plate 146 to move upwards along the Z-axis, and meanwhile, the guide post 144 moves in the guide sleeve 148, so that the convex jacking block 147 on the loading jacking plate 146 can abut against the stacked tray 30 upwards along the Z-axis, and the stacked tray 30 continues to move upwards along the Z-axis until the stacked tray 30 is completely separated from the tray conveyor belt 13.

Further, as shown in fig. 2 and 5, the distributing member 11 includes a second jacking module 111 and two oppositely disposed distributing members 112, the distributing members 112 are disposed on the supporting members 135 of the tray conveyer belts 13, and the second jacking module 111 is located between the two tray conveyer belts 13; the second jacking module 111 can jack up the stacked tray 30 at the material distribution position 102 along the Z-axis direction so as to separate the stacked tray 30 from the tray conveyer belt 13, namely, the whole stacked tray 30 is supported by the second jacking module 111; the tray dividing member 112 can be inserted to the bottom end surface of the penultimate tray 20 in the stacked trays 30 to support the stacked tray 30 except for the bottommost tray 20, that is, the bottommost tray 20 in the stacked tray 30 is located on the second jacking module 111 at this time, and all other trays 20 in the stacked tray 30 are supported by two tray dividing members 112; the second jacking module 111 drives the tray 20 at the bottom layer to move downwards along the Z-axis to the tray conveyer belt 13, so that the tray conveyer belt 13 conveys the tray 20 at the bottom layer to the positioning part, thereby completing the purpose of single tray separation of the stacked trays 30.

Specifically, as shown in fig. 5 and 6, the structure of the second jacking module 111 is substantially the same as that of the first jacking module 14, except that the second jacking module 111 includes a sub-material jacking plate 1111, and a plurality of first suction cups 1112 are disposed on the sub-material jacking plate 1111, and the first suction cups 1112 are configured to suck the tray 20 at the bottommost layer, so as to ensure the stability of the tray 20 at the bottommost layer on the sub-material jacking plate 1111 of the second jacking module 111 when the tray separating piece 112 is inserted to the bottom end surface of the tray 20 at the penultimate layer in the stacked trays 30. Wherein, the jacking principle of the second jacking module 111 can refer to the jacking principle of the first jacking module 14, and here, the jacking principle of the second jacking module 111 is not described in detail again.

Further, as shown in fig. 5 and 7, the tray distributing member 112 includes a telescopic cylinder 1121 and a fork material plate 1122, a fixed end of the telescopic cylinder 1121 is disposed on the support 135 of the tray conveying belt 13, a driving end of the telescopic cylinder 1121 is drivingly connected to the fork material plate 1122, and the telescopic cylinder 1121 can drive the fork material plate 1122 to move along the Y axis, so that the fork material plate 1122 can be horizontally inserted to the bottom end surface of the tray 20 on the second to last layer of the stacked trays 30 at the distributing position 102, so as to separate the tray 20 on the lowest layer from the other trays 20 through the fork material plate 1122.

Specifically, as shown in fig. 1 to fig. 3 and fig. 7, the branching plate 112 further includes a vertical cylinder 1123 and a pressure plate 1124, a fixed end of the vertical cylinder 1123 is connected to a driving end of the telescopic cylinder 1121 through an intermediate block 1125, the driving end of the vertical cylinder 1123 is in driving connection with the pressure plate 1124, and the pressure plate 1124 is disposed opposite to the material fork plate 1122; the telescopic cylinder 1121 can synchronously drive the vertical cylinder 1123 and the pressing plate 1124 to move along the Y axis while driving the fork material plate 1122 to move along the Y axis; the vertical cylinder 1123 is used for driving the material pressing plate 1124 to move on the Z axis, so that the material pressing plate 1124 can press against the top end surface of the tray 20 at the uppermost layer while the material fork plate 1122 is inserted to the bottom end surface of the tray 20 at the penultimate layer, thereby avoiding the problem that the tray 20 at the penultimate layer and above the tray 20 at the penultimate layer incline or even tilt when the material fork plate 1122 is inserted to the bottom end surface of the tray 20 at the penultimate layer. In this embodiment, the Y axis is specifically shown by an arrow Y in fig. 1.

Further, as shown in fig. 3, the structure of the positioning element is substantially the same as that of the first jacking module 14, and the difference is that the positioning element includes a positioning jacking plate 121, the positioning jacking plate 121 is provided with not only the above-mentioned protruding jacking block 147 but also a tray positioning pin, and the tray positioning pin can be inserted into the tray positioning hole on the bottom end face of the tray 20, so as to position the tray 20 on the positioning jacking plate 121 of the positioning element, which is beneficial for the material taking mechanism 3 to stably grab the tray 20 on the positioning jacking plate 121 of the positioning element. Wherein, the jacking principle of first jacking module 14 can be referred to the jacking principle of setting element, here, no longer gives detailed description to the jacking principle of setting element.

Specifically, as shown in fig. 2 and 3, a blocking module 15 is disposed on one side of the loading lifting plate 146 of the first lifting module 14, one side of the distributing lifting plate 1111 of the second lifting module 111, and one side of the positioning lifting plate 121 of the positioning member, and the blocking module 15 can move upward along the Z-axis to block the tray 20 on the tray conveyor 13, so as to prevent the tray 20 from moving further downstream on the tray conveyor 13.

For example, when it is not desired that the stacked trays 30 at the loading position 101 continue to move on the tray conveyor 13 toward the dispensing position 102, the blocking module 15 is moved upward along the Z-axis to block the trays 20 on the tray conveyor 13; meanwhile, the first jacking module 14 can work to separate the stacked trays 30 at the loading position 101 from the tray conveyer belt 13 along the Z-axis direction; in addition, the blocking module 15 can also limit the stacked trays 30 on the feeding jacking plate 146 of the first jacking module 14, so as to avoid the problem that the stacked trays 30 on the feeding jacking plate 146 are inclined or even toppled.

Specifically, as shown in fig. 3, the blocking module 15 includes a blocking cylinder 151 and a blocking block 152, a fixed end of the blocking cylinder 151 is disposed at a bottom end face of the U-shaped frame 134, a driving end of the blocking cylinder 151 is drivingly connected to the blocking block 152, and the blocking cylinder 151 can drive the blocking block 152 to move in the Z-axis direction, so that the blocking block 152 can block the tray 20 or unblock the tray 20.

Further, the interval between two tray conveyer belts 13 can be adjusted to the adaptation carries the tray 20 of different length size, so that tray feeding mechanism 1 can carry out the material loading to the tray 20 of multiple different length size, thereby makes whole tray feeding mechanism 1's suitability and commonality better. In this embodiment, the pallet 20 having a length of 100mm to 400mm can be transported compatibly.

Specifically, as shown in fig. 2 and 8, the tray feeding mechanism 1 further includes a driving member, a screw 132, a screw nut 133, and a plurality of U-shaped frames 134 spaced along the X-axis, the U-shaped frames 134 are fixedly disposed on the working table 10, two tray conveyer belts 13 are respectively disposed at two ends of the U-shaped frames 134 through the supporting members 135, and the tray conveyer belts 13 can rotate relative to the supporting members 135; a screw rod 132 is rotatably arranged on each U-shaped frame 134, the screw rod 132 extends along the Y axis, a screw rod nut 133 is rotatably sleeved on the screw rod 132 and is fixedly connected with one supporting piece 135, and the other supporting piece 135 is fixedly connected to one end of the U-shaped frame 134; the fixed end of the driving member is arranged on the U-shaped frame 134, and the driving end of the driving member is in driving connection with the screw rod 132. In this embodiment, the driving member may be a motor.

When the distance between the two tray conveying belts 13 needs to be adjusted, the driving member drives the screw rod 132 to rotate, so that the screw rod 132 drives the screw rod nut 133 to move on the screw rod 132 along the Y axis, and the supporting member 135 drives one of the tray conveying belts 13 to integrally move towards the direction close to or away from the other tray conveying belt 13, thereby adjusting the distance between the two tray conveying belts 13. The support 135 specifically refers to a structure capable of supporting the tray conveyor 13 to rotate on the support 135, and the structure of the support 135 is not specifically limited herein.

Further, as shown in fig. 8, a guide rail 131 is further disposed on the U-shaped frame 134, the guide rail 131 is disposed below the screw 132 in parallel, a slider is disposed on the guide rail 131, the slider is fixedly connected with the screw nut 133, and the slider can slide on the guide rail 131 to ensure the guidance and stability of the movement of the screw nut 133 on the screw 132, so as to ensure the movement guidance and stability of one of the tray conveyor belts 13 when approaching or departing from the other tray conveyor belt 13.

The following describes the specific structure of the material taking mechanism 3 in detail according to the attached fig. 1, 9-11 of the specification.

Further, as shown in fig. 1, 9 and 10, the material taking mechanism 3 includes a robot body 31, a suction member 32 and a suction member 33; wherein, one end of the manipulator body 31 is arranged and fixed on the workbench 10; the workpiece sucking part 33 is located on the inner side of the workpiece sucking part 32, one end of the workpiece sucking part 32 and one end of the workpiece sucking part 33 are in driving connection with the other end of the manipulator body 31, and the other ends of the workpiece sucking part 32 and the workpiece sucking part 33 can respectively suck the tray 20 and the workpiece, so that the tray 20 and the workpiece can be grabbed through the material taking mechanism 3. The manipulator body 31 in this embodiment may be a six-axis robot with high flexibility.

Specifically, as shown in fig. 10 and fig. 11, the suction cup member 32 includes a material taking frame 321 and a plurality of second suction cups 322, the plurality of second suction cups 322 are arranged in a square shape, the second suction cups 322 are detachably connected to the material taking frame 321, the material taking frame 321 is connected to the output shaft 311 of the manipulator body 31, and the second suction cups 322 are used for sucking the tray 20. In this embodiment, four second suction cups 322 are uniformly disposed on the material taking frame 321.

Through making second sucking disc 322 detachably be connected to the work or material rest 321 to can adjust the mounted position of second sucking disc 322 on work or material rest 321 according to the size of tray 20, so that the square structure that each second sucking disc 322 formed can with the size phase-match of tray 20, with the tray 20 that can absorb multiple different sizes, make the suitability and the commonality of sucking disc spare 32 better. The second suction cup 322 can be detachably connected to the material taking frame 321 through a bolt and a nut.

Further, as shown in fig. 10 and 11, the suction piece 33 includes a frame 331 and a plurality of suction frames 332, the frame 331 is fixedly disposed inside the material taking frame 321, the plurality of suction frames 332 are disposed in the frame 331 at intervals and in parallel, a plurality of third suction cups are disposed on a bottom end surface of each suction frame 332, and the suction frames 332 can slide in the frame 331 along a length direction of the frame 331, so that a distance between the suction frames 332 can be adjusted, a distance between the third suction cups can be adjusted, the third suction cups can suck a plurality of kinds of pieces of workpieces with different sizes, and the applicability and the versatility of the suction piece 33 are good; in addition, by adjusting the distance between the adsorption frames 332 and the number of the work pieces adsorbed by the adsorption work pieces 33 at one time, only one work piece can be adsorbed at one time, and a plurality of work pieces can be adsorbed at one time, so that the flexibility of adsorbing the work pieces is better. In this embodiment, four third suction cups are uniformly disposed on the bottom end surface of one suction frame 332. The longitudinal direction of the frame 331 is specifically shown by an arrow a in fig. 10.

Specifically, as shown in fig. 10 and 11, the suction workpiece 33 further includes a rodless cylinder 334, a linkage 335, and a plurality of sliding rods 333, the sliding rods 333 are disposed inside the frame 331 at intervals and in parallel to each other, the sliding rods 333 extend along the length direction of the frame 331, the suction frame 332 is slidably disposed on the sliding rods 333, the fixed end of the rodless cylinder 334 is disposed on the frame 331, the driving end of the rodless cylinder 334 is drivingly connected to the linkage 335, and the linkage 335 is respectively connected to the suction frames 332; the rodless cylinder 334 can drive the linkage member 335 to move, so that the linkage member 335 can drive each of the adsorption frames 332 to slide on the sliding rod 333.

Specifically, the linkage 335 includes a plurality of moving blocks connected to each other, and each moving block is connected to each other sequentially by a connecting rod, and the connecting rod is located above the sliding rod 333 and extends along the length direction of the frame 331; one of the moving blocks is connected with the driving end of the rodless cylinder 334, and each moving block is connected with one adsorption frame 332; when the rodless cylinder 334 operates, one of the moving blocks can be driven to move along the length direction of the frame 331, and since the moving blocks are sequentially connected with each other through the connecting rod, the moving blocks can be driven to move, so that the adsorption frames 332 can be driven to move along the length direction of the frame 331 through the moving blocks, and the distance between the adsorption frames 332 can be adjusted. The two ends of the connecting rod can be respectively clamped or connected to the two adjacent moving blocks through bolts so as to connect the moving blocks with each other.

Further, in the width direction of the frame 331, each row includes two mutually connected suction frames 332, and the third suction cups on the two suction frames 332 are disposed close to each other, so that a greater number of suction frames 332 can be disposed in the frame 331, and thus the number of the third suction cups can be increased, which is favorable for adsorbing a greater number of workpieces at a time, and the work efficiency of adsorbing the workpieces can be improved. In this embodiment, four rows of the suction frames 332 are arranged in the width direction of the frame 331, that is, a total of eight suction frames 332 are arranged inside the frame 331, and four third suction cups on each suction frame 332 suck one workpiece, that is, the material taking mechanism 3 can suck eight workpieces at a time. The width direction of the frame 331 is specifically indicated by an arrow B in fig. 10.

Specifically, an elastic member is arranged in the adsorption frame 332, one end of the elastic member is fixedly arranged inside the adsorption frame 332, and the other end of the elastic member can be elastically connected with the third suction cup; when the third sucking disc adsorbs the work piece to can make the elastic component pressurized, so that the elastic component provides the cushion effect, thereby can avoid the third sucking disc can push up the condition of bad work piece when adsorbing the work piece, in order to protect the work piece betterly. The elastic member in this embodiment may be a compression spring.

It should be noted that, since the workpiece is disposed in the groove 201 of the tray 20, the suction surface of the third suction cup is lower than the suction surface of the second suction cup 322, so as to facilitate the respective suction of the workpiece and the tray 20; in addition, the second suction cup 322 and the third suction cup are independently charged with negative pressure to work; for example, when the workpiece needs to be sucked, only the negative pressure needs to be applied to the third suction cup, and the negative pressure does not need to be applied to the second suction cup 322, so that the second suction cup 322 does not interfere with the sucking operation of the third suction cup.

Specifically, the material taking mechanism 3 further includes a code scanning machine, the code scanning machine is disposed on the material taking frame 321, and the code scanning machine is configured to scan a two-dimensional code on the workpiece, so as to obtain basic information of the workpiece and scanning information of a detection result of the shipment inspection.

The specific structure of the lid removing mechanism 5 will be described in detail below with reference to fig. 1, 12 to 14 of the specification.

Further, as shown in fig. 12-14, the work piece after shipment inspection is positioned and placed in the carrier 51, and a cover plate 52 is covered on the top end surface of the carrier 51 to prevent dust or other impurities from entering the carrier 51 from the opening on the top end surface of the carrier 51, so that the work piece can be better protected. In this embodiment, the carrier 51 may be a positioning and fixing structure commonly used in the prior art.

Specifically, as shown in fig. 1, 12-14, the automatic tray loading station further includes a cover detaching mechanism 5, the cover detaching mechanism 5 is disposed on the workbench 10 opposite to the tray feeding mechanism 1, the plate separating and placing mechanism 2 is disposed between the cover detaching mechanism 5 and the tray feeding mechanism 1, the material taking mechanism 3 is disposed in an inner space 7 defined by the tray feeding mechanism 1, the plate separating and placing mechanism 2, and the cover detaching mechanism 5 is configured to receive the carrier 51 conveyed by the shipment inspection streamline and can detach the cover plate 52 of the carrier 51, so that the material taking mechanism 3 can conveniently grasp the workpiece in the carrier 51.

Further, as shown in fig. 1 and 12, the lid removing mechanism 5 is provided on the table 10 so as to slide along the X axis, that is, a guide rail extending along the X axis is provided on the table 10, and a guide block is provided on the lid removing mechanism 5 so as to be slidable on the guide rail so that the lid removing mechanism 5 can move along the X axis with respect to the table 10. The table 10 is provided with a moving module 104, the moving module 104 can drive the lid detaching mechanism 5 to slide on the table 10 along the X-axis, and the moving module 104 may be a conventional moving driving structure.

Specifically, as shown in fig. 12, the cover detaching mechanism 5 includes a cover detaching assembly 53 and a jacking assembly 54 which are arranged in parallel along the X axis, and the jacking assembly 54 is used for receiving the carrier 51 and can lift the carrier 51 upwards along the Z axis, so that the cover detaching assembly 53 can grab the cover plate 52 of the carrier 51 on the jacking assembly 54.

Specifically, as shown in fig. 13, the jacking assembly 54 includes a first substrate 541, a jacking member, and two receiving conveyer belts 542; wherein, the first substrate 541 is slidably disposed on the worktable 10 along the X-axis; the two receiving conveyer belts 542 are oppositely arranged on the first substrate 541, the conveying direction of the receiving conveyer belts 542 is the Y-axis direction, and the receiving conveyer belts 542 are used for receiving and conveying the carrier 51 to the upper part of the jacking piece; the jacking piece is arranged on the first substrate 541 and located between the two receiving conveying belts 542, the jacking piece is arranged close to the cover detaching assembly 53, the jacking piece can move to the carrier 51 on the receiving conveying belt 542 in the butt joint along the Z-axis direction, and the jacking carrier 51 is lifted up to lift the carrier 51 away from the receiving conveying belt 542, so that the cover detaching assembly 53 can be conveniently detached for detaching the cover.

Specifically, after the carrier 51 flows onto the two receiving conveyor belts 542 through the shipment inspection streamline, the receiving conveyor belts 542 can convey the carrier 51 along the Y axis and in the direction close to the jacking piece, and when the carrier 51 is conveyed to a position right above the jacking piece, the jacking piece can move upwards along the Z axis to the bottom end face of the abutting carrier 51, and continue to lift the carrier 51 upwards until the carrier 51 and the receiving conveyor belts 542 are separated from each other.

Specifically, as shown in fig. 13, the structure of the jacking member is substantially the same as that of the first jacking module 14, except that the jacking member includes a carrier jacking plate 5431, and a plurality of carrier positioning pins 5432 are provided on the carrier jacking plate 5431, when the carrier jacking plate 5431 moves up along the Z-axis direction to abut against the bottom end surface of the carrier 51, the carrier positioning pins 5432 can be inserted into carrier positioning holes on the bottom end surface of the carrier 51, so that the carrier 51 can be positioned on the carrier jacking plate 5431 of the jacking member, the accuracy of the placement position of the carrier 51 on the carrier jacking plate 5431 can be ensured, the problem that the carrier 51 moves or shakes on the carrier jacking plate 5431 when the cover plate 52 is removed by the cover assembly disassembly unit 53 can be avoided, and the stability of the carrier 51 on the carrier jacking plate 5431 can be ensured.

Further, the distance between two material receiving conveying belts 542 is adjustable to the adaptation carries the carrier 51 of different length dimension, so that the jacking assembly 54 can receive and carry the carrier 51 of multiple different length dimensions, thereby making the whole suitability and the commonality of uncapping mechanism 5 better. The process of adjusting the distance between the two receiving conveyor belts 542 is basically the same as the process of adjusting the distance between the two tray conveyor belts 13, and the distance between the two receiving conveyor belts 542 can be adjusted by referring to the distance between the two tray conveyor belts 13, which is not described in detail herein.

Specifically, as shown in fig. 13 and 14, the decapping assembly 53 includes a second substrate 531, a coupling member 532, and a decapping member 533; wherein the second substrate 531 is connected to the first substrate 541 in parallel and can slide along the X-axis on the table 10; the connecting member 532 is slidably disposed on the second base plate 531 along the X-axis; one end of the cap-removing member 533 is slidably disposed on the connecting member 532 along the Z-axis, and the other end of the cap-removing member 533 is provided with a cap-sucking member for sucking the cap plate 52. Wherein, the connecting piece 532 can be a connecting block, and the sucking cover piece is a vacuum chuck.

When the cover plate 52 needs to be removed, the carrier 51 is arranged on the carrier lifting plate 5431 and separated from the receiving conveyer belt 542, the connector 532 drives the suction cover component to move on the X axis, then the removal component 533 moves in the Z axis direction relative to the connector 532 to adjust the position of the suction cover component, so that the position of the suction cover component is proper relative to the position of the cover plate 52, and then the suction cover component adsorbs the cover plate 52 and drives the cover plate 52 to be far away from the carrier 51, so as to complete the removal of the cover plate 52; when the work pieces in the carriers 51 are taken away, the cover sucking member is moved to cover the cover plate 52 on the carriers 51, and the carriers 51 without the work pieces are output along the material receiving conveying belt 542.

The detailed structure of the plate discharging mechanism 2 is explained in detail according to the attached drawings 1, 15-18 of the specification.

Further, the workpieces can be divided into mixed batch workpieces, non-main batch workpieces and main batch workpieces according to different workpiece batches, wherein the mixed batch workpieces specifically refer to disordered batches of workpieces, the non-main batch workpieces specifically refer to a small quantity of production order batches of workpieces, and the main batch workpieces specifically refer to main batches of workpieces of a current production order; that is, a plurality of workpieces are placed in the carrier 51 at the same time, and the batch of each workpiece may be the same or different, and the inspection of each workpiece may be qualified or unqualified, and it is necessary to scan the two-dimensional code on the workpiece by using a code scanner to determine the specific batch of workpieces and whether the workpieces are qualified or not according to the obtained scanning information.

Correspondingly, as shown in fig. 1 and 15, the plurality of material placing modules include a first material placing module 22 for placing mixed batch workpieces, a second material placing module 23 for placing non-main batch workpieces, and a third material placing module 24 for placing main batch workpieces, which are arranged in parallel along the Y axis in sequence; the plate separating and discharging mechanism 2 further comprises a discharging conveying piece 25, the discharging conveying piece 25 is located at the downstream of the third discharging module 24, and the discharging conveying piece 25 can convey the tray 20 or the empty tray 20 with the mixed batch workpieces, the non-main batch workpieces and the main batch workpieces out of the workbench 10 on the first discharging module 22, the second discharging module 23 and the third discharging module 24 respectively. The discharging conveying member 25 includes two opposite discharging conveying belts 251, and the conveying direction of the discharging conveying belts 251 is the Y-axis direction.

Specifically, as shown in fig. 16 and 17, the third discharging module 24 includes a lifting cylinder 241 and two layers of conveying structures arranged at intervals up and down, the conveying direction of each layer of conveying structure is the same and is the Y axis direction, the tray 20 is placed on the upper layer of conveying structure 242, and the tray 20 is not placed on the lower layer of conveying structure 243; a lifting cylinder 241 is provided below the lower layer conveying structure 243 for driving the two-layer conveying structure to move in the Z-axis direction to selectively level the upper layer conveying structure 242 or the lower layer conveying structure 243 with the outfeed conveyor belt 251. The upper layer conveying structure 242 and the lower layer conveying structure 243 have the same structure and respectively comprise two transfer conveying belts 244 which are arranged oppositely; in the initial position, the transfer conveyor belt 244 of the upper layer conveying structure 242 in the third discharging module 24 is flush with the discharging conveyor belt 251; after the trays 20 of the third discharging module 24 are filled with the main batch of workpieces, the trays 20 can be directly conveyed to the discharging conveyor 251 by the transfer conveyor 244 of the upper layer conveying structure 242, and then conveyed out by the discharging conveyor 251.

Further, the structure of the second discharging module 23 is substantially the same as that of the third discharging module 24, that is, the second discharging module 23 also includes the above-mentioned lifting cylinder 241 and two-layer conveying structure; as shown in fig. 15 and 16, in the initial position, the transfer belt 244 of the upper layer conveying structure 242 in the second discharging module 23 is flush with the transfer belt 244 of the upper layer conveying structure 242 in the third discharging module 24, and is flush with the discharging belt 251; meanwhile, the transfer belt 244 of the lower conveying structure 243 in the second discharging module 23 is flush with the transfer belt 244 of the lower conveying structure 243 in the third discharging module 24.

Specifically, after the tray 20 on the second discharging module 23 is filled with non-primary batch of workpieces, in the third discharging module 24, the lifting cylinder 241 is used to drive the two-layer conveying structure to move upward along the Z-axis, so that the transfer conveyor belt 244 of the lower-layer conveying structure 243 in the third discharging module 24, the transfer conveyor belt 244 of the upper-layer conveying structure 242 in the second discharging module 23, and the discharging conveyor belt 251 of the discharging conveyor 25 are aligned, so that the tray 20 on the second discharging module 23 can be directly conveyed to the discharging conveyor belt 251 through the transfer conveyor belt 244 of the lower-layer conveying structure 243 in the third discharging module 24, and then the tray 20 on the second discharging module 23 is conveyed out by the discharging conveyor belt 251.

Specifically, first blowing module 22 is including two compounding conveyer belts of relative setting, and two compounding conveyer belts are placed respectively at tray 20's both ends, and the compounding conveyer belt is used for carrying the tray 20 of placing or being filled with the batch work piece of compounding, and when initial position, the compounding conveyer belt, the transfer conveyer belt 244 of upper strata transport structure 242 in the second blowing module 23, the transfer conveyer belt 244 of upper strata transport structure 242 in the third blowing module 24, and ejection of compact conveyer belt 251 flush mutually.

As shown in fig. 17 and 18, after the mixed batch of workpieces is filled in the tray 20 of the first discharging module 22, the two-layer conveying structure is driven by the lifting cylinder 241 to move upward along the Z-axis in the second discharging module 23 and the third discharging module 24 respectively, so that the transfer conveyor belt 244 of the lower layer conveying structure 243 of the second discharging module 23, the transfer conveyor belt 244 of the lower layer conveying structure 243 of the third discharging module 24, and the discharging conveyor belt 251 are aligned, and the tray 20 on the mixed conveyor belt can be conveyed to the discharging conveyor belt 251 through the transfer conveyor belt 244 of the lower layer conveying structure 243 in the second discharging module 23 and the transfer conveyor belt 244 of the lower layer conveying structure 243 in the third discharging module 24 in sequence, and then conveyed out by the discharging conveyor belt 251.

The following describes in detail a specific structure of the buffer stage 8 with reference to fig. 1 and 19.

Further, as shown in fig. 1 and 19, the automatic tray loading station further includes a buffer table 8, the buffer table 8 is disposed on the workbench 10 and located between the second material placing module 23 and the manipulator body 31, and the buffer table 8 extends along the Y axis; a first cache region 81, a second cache region 82, a third cache region 83 and an unqualified cache region 84 are arranged on the cache table 8 in parallel, the first cache region 81, the second cache region 82, the third cache region 83 and the unqualified cache region 84 are respectively in one-to-one correspondence with the third emptying module 24, the second emptying module 23, the first emptying module 22 and the unqualified receiving module 21, the cache table 8 is used for caching workpieces before the workpieces are placed on each tray 20, namely the first cache region 81 is used for caching main batch workpieces, the second cache region 82 is used for caching non-main batch workpieces, and the third cache region 83 is used for caching mixed batch workpieces; on one hand, the working frequency of the material taking mechanism 3 for grabbing and placing the workpiece can be reduced, so that the workpiece can be reasonably and efficiently taken and placed, and the production capacity is improved; on the other hand, when the workpieces are fully placed on each tray 20, the workpieces are cached and placed, and the whole tray loading work is orderly carried out.

For example, when the third suction cup on the suction frame 332 sucks a workpiece for the first time, the workpiece with a larger sucked amount (e.g., a primary lot of workpieces) is directly placed in the tray 20 of the third discharging module 24, and the workpiece with a smaller sucked amount (e.g., a non-primary lot of workpieces) is placed in the second buffer 82 of the buffer stage 8.

Then, when the number of the non-primary batch workpieces in the second buffer area 82 on the buffer table 8 is large (for example, there are six non-primary batch workpieces), at this time, the third suction cup of the suction frame 332 sucks six primary batch workpieces and two non-primary batch workpieces again for the second time, at this time, the robot body needs to directly put the six sucked primary batch workpieces into the tray 20 on the third emptying module 24, then grab the six temporarily-put non-primary batch workpieces in the second buffer area 82 on the buffer table 8, and then make the robot body 31 correspondingly place the eight sucked non-primary batch workpieces in the tray 20 of the second emptying module 23, so that each workpiece can be respectively placed in each corresponding tray 20 with a small number of grabbing times of the material taking mechanism 3.

For another example, when the material taking mechanism 3 respectively grabs two main batch workpieces, two non-main batch workpieces, two material mixing batch workpieces, and two unqualified workpieces in the process of grabbing the workpieces again, at this time, the number of the workpieces that have been temporarily placed on each cache region of the cache table 8 needs to be determined, and if the number of the workpieces placed on one cache region of the cache table 8 is small, the material taking mechanism 3 directly places the grabbed workpiece corresponding to the cache region on the cache region; then, the pickup mechanism 3 is caused to pick up a larger number of workpieces on the other buffer area of the buffer table 8, and the picked workpieces are put together with the workpieces picked from the other buffer area on the tray 20 corresponding to the workpieces by the pickup mechanism 3.

Through setting up buffer platform 8 and dividing version drop feed mechanism 2 to cooperate the use each other, can reduce the work use number of times of feeding agencies 3 to can place each work piece classification in each tray 20 fast high-efficiently, it is high-efficient to save time.

The detailed structure of the rejected material receiving module 21 and the rejected material conveying module 4 will be described in detail with reference to fig. 1, 20 and 21 of the specification.

Further, as shown in fig. 1 and 20, the unqualified material receiving module 21 is located at the downstream of the positioning element and is arranged at one side of the discharging conveying element 25, the automatic tray loading station further comprises an unqualified conveying module 4, the unqualified conveying module 4 is arranged at the bottom end face of the workbench 10 and is located below the tray feeding mechanism 1, the unqualified material receiving module 21 can penetrate through the workbench 10 and downwards move to the unqualified conveying module 4 along the Z axis so as to transfer the tray 20 on the unqualified material receiving module 21 to the unqualified conveying module 4, and the unqualified conveying module 4 is used for stacking and conveying out a plurality of trays 20 with unqualified workpieces.

Specifically, as shown in fig. 20 and fig. 21, the unqualified material receiving module 21 includes two material receiving conveyor belts 211 arranged oppositely, the conveying direction of the material receiving conveyor belts 211 is the X axis direction, and the two material receiving conveyor belts 211 are respectively aligned with the two tray conveyor belts 13, so that the tray 20 at the material determining position 103 can be conveyed to the material receiving conveyor belts 211 through the tray conveyor belts 13, and the tray 20 is loaded onto the unqualified material receiving module 21. The tray 20 at the setting position 103 can also be directly grabbed onto the material receiving conveyer belt 211 of the unqualified material receiving module 21 by the suction disc 32 in the material taking mechanism 3.

Further, as shown in fig. 21, the unqualified material receiving module 21 further includes a lifting motor 212, a fixed end of the lifting motor 212 is disposed on the working table 10, a driving end of the lifting motor 212 is connected to a supporting end of the material receiving conveyer belt 211, and the lifting motor 212 can drive the material receiving conveyer belt 211 to move in the Z-axis direction, so that the material receiving conveyer belt 211 can be flush with the tray conveyer belt 13 or move to the unqualified conveyer module 4. The lifting motor 212 may adopt a transmission structure common in the prior art to drive the material receiving conveyor belt 211 to move in the Z-axis direction.

Specifically, a middle position, a stacking position and a material receiving position are arranged below the workbench 10 in parallel in sequence; unqualified transport module 4 is including folding the recovery conveyer belt 41 of establishing piece 42 and two relative settings, and two recovery conveyer belts 41 are located the relative both sides of intermediate position, pile up position and receipts material position respectively, and the direction of delivery of recovering conveyer belt 41 is the X axial, and it establishes piece 42 to fold and sets up in piling up the position and being located between two recovery conveyer belts 41, and it establishes piece 42 and is used for will filling up single tray 20 that has unqualified work piece and pile up in proper order and establish and form tray 20 layer to fold.

Specifically, when the lifting motor 212 drives the material receiving conveyer belt 211 to move downward along the Z-axis, the material receiving conveyer belt 211 and the recovery conveyer belt 41 can be aligned, so that the tray 20 filled with unqualified workpieces on the material receiving conveyer belt 211 is conveyed to the recovery conveyer belt 41, and the tray 20 is located at a middle position; the recycling conveyer belt 41 drives the trays 20 to be conveyed to a stacking position from the middle position, and the stacking position is provided with the trays 20 in a way that the trays 20 are stacked up and down in sequence through the stacking piece 42 to form a tray 20 layer; when stacking to the number of layers of presetting, carry tray 20 layer to the material receiving position by retrieving conveyer belt 41 is whole again to make the robot or manual work directly take away whole tray 20 layer from the material receiving position, thereby can stack the tray 20 of filling up unqualified work piece and establish the back and carry out.

Further, the stacking member 42 has substantially the same structure as the distributing member 11, except that the stacking member 42 sequentially stacks the trays 20 filled with the defective work pieces to form the layers of the trays 20, which is just opposite to the operation of the distributing member 11.

For example, when the pallet 20 at the intermediate position is conveyed to the stacking position, at this time, two pallets 20 are already stacked on the stacking position, the second jacking module 111 of the stacked component 42 is used to jack up the two pallets 20 already stacked at the stacking position along the Z-axis, jacking is performed until the fork material plate 1122 of the stacked component 42 can be horizontally inserted to the bottom end surface of the pallet 20 at the bottommost layer, and the distance between the bottom end surface of the fork material plate 1122 and the top end surface of the recycling conveyor belt 41 is slightly larger than the thickness of one pallet 20 full of unqualified workpieces, and at this time, the second jacking module 111 of the stacked component 42 moves downward along the Z-axis to the initial position; meanwhile, the tray 20 on the middle position is directly conveyed to the stacking position through the recovery conveyer belt 41, the tray 20 conveyed to the stacking position is positioned on the recovery conveyer belt 41, and two trays 20 stacked before the stacking position are supported by the fork material plate 1122 of the stacking piece 42; then, the second jacking module 111 of the stacked component 42 jacks up the tray 20 on the recovery conveyer belt 41 to the tray 20 at the bottommost layer on the abutting fork material plate 1122 along the Z-axis direction, and simultaneously, the fork material plate 1122 of the stacked component 42 retracts to the initial position; then, the second jacking module 111 of the stacked part 42 continuously jacks the three trays 20 along the Z-axis direction until the fork material plate 1122 of the stacked part 42 can be horizontally inserted into the bottom end face of the bottommost tray 20 of the three trays 20; then, the above process is repeated until the trays 20 are stacked to a predetermined number of layers, and the trays 20 are conveyed to the receiving position by the recovery conveyor 41.

Further, as shown in fig. 22, the cabinet 6 is provided around the outer periphery of the table 10 so that each mechanism on the table 10 can be surrounded inside the cabinet 6, and thus each mechanism on the table 10 can be protected well, and the problem that each mechanism causes accidental injury to outside people during operation can be avoided, so that the safety is high.

In the automatic tray loading station in the embodiment, the tray feeding mechanism 1 and the cover removing mechanism 5 are arranged oppositely; arranging a first discharging module 22, a second discharging module 23, a third discharging module 24 and a discharging conveying piece 25 in the plate separating discharging mechanism 2 between the tray feeding mechanism 1 and the cover removing mechanism 5; meanwhile, the material taking mechanism 3 is arranged in an inner side space 7 which is formed by mutually enclosing the tray feeding mechanism 1, the plate separating and discharging mechanism 2 and the cover removing mechanism 5; and the unqualified conveying modules 4 are arranged below the tray feeding mechanism 1 in parallel, so that the layout of each mechanism is reasonable and compact, and the occupied area of the whole automatic tray loading station is small.

Example two

In this embodiment, an automatic tray loading method is provided, based on the automatic tray loading station in the first embodiment, as shown in fig. 23, the method specifically includes the following steps:

s1: enabling the tray feeding mechanism 1 to feed the tray 20 to a preset position, wherein the preset position is a positioning position 103 on the workbench 10;

s2: the material taking mechanism 3 respectively grabs the trays 20 at the preset positions to each discharging module, and the trays 20 at the preset positions are automatically conveyed to the unqualified material receiving modules 21;

s3: the material taking mechanism 3 scans the workpieces and automatically classifies the workpieces according to the scanning information and puts the workpieces on the tray 20 of each material placing module or the unqualified material receiving module 21.

The specific tray loading process of the automatic tray loading method in this embodiment is as follows:

the single tray 20 loading process is as follows:

firstly, adjusting the distance between two tray conveyer belts 13 to be matched with the length of a tray 20, loading the stacked tray 30 on the tray conveyer belt 13 at the upper material level 101, and then conveying the whole stacked tray 30 to the material distribution level 102 by the tray conveyer belt 13; then, the blocking module 15 on the separating jacking plate 1111 of the second jacking module 111 is operated, so that the blocking cylinder 151 of the blocking module 15 can drive the blocking block 152 to move upwards along the Z-axis, so that the blocking block 152 blocks the stacked trays 30 from moving on the tray conveyer belt 13.

Meanwhile, the second jacking module 111 is operated to make the distributing jacking plate 1111 of the second jacking module 111 abut against the bottom end surface of the stacked tray 30 at the distributing position 102 along the Z-axis direction, that is, the first suction cup 1112 on the distributing jacking plate 1111 sucks the bottom end surface of the tray 20 at the bottom layer; then the material distributing jacking plate 1111 continuously jacks up the stacked pallet 30, so that the stacked pallet 30 and the pallet conveyer belt 13 are separated from each other; then, the telescopic cylinder 1121 drives the fork material plate 1122 to move along the Y axis, so that the fork material plate 1122 is horizontally inserted to the bottom end surface of the penultimate tray 20 of the stacked tray 30, so as to separate the bottommost tray 20 from other trays 20, and simultaneously the pressing plate 1124 is pressed against the top end surface of the topmost tray 20; then, the material-separating jacking plate 1111 of the second jacking module 111 moves downwards along the Z-axis to the initial position, at this time, the tray 20 at the bottommost layer is located on the tray conveyer belt 13, and the blocking block 152 retracts, so that the tray 20 at the bottommost layer can be conveyed to the material-determining position 103 by the tray conveyer belt 13.

Finally, the positioning and lifting plate 121 of the positioning member is moved upward along the Z-axis to abut against the tray 20 at the positioning position 103, and at this time, the convex top block 147 on the positioning and lifting plate 121 contacts the tray 20; at the same time, the tray positioning pin is inserted into the tray positioning hole on the bottom end face of the tray 20 to position the tray 20 on the positioning and lifting plate 121; and then the positioning lifting plate 121 continues to lift the tray 20 upwards along the Z-axis until the tray 20 is separated from the tray conveyer belt 13, so that the material taking mechanism 3 can subsequently grab the tray 20.

The procedure for removing the cover plate 52 is as follows:

firstly, the material receiving conveying belt 542 conveys the carrier 51 along the Y axis and in the direction close to the jacking piece, when the carrier 51 is conveyed to be positioned right above the jacking piece, the carrier jacking plate 5431 of the jacking piece can move upwards along the Z axis to abut against the bottom end face of the carrier 51, and meanwhile, the carrier positioning pin 5432 is inserted into the carrier positioning hole on the bottom end face of the carrier 51, so that the carrier 51 is positioned on the carrier jacking plate 5431; then, the carrier lifting plate 5431 continues to lift the carrier 51 upward until the carrier 51 and the receiving conveyor 542 are separated from each other.

Then, the link 532 is moved in the X-axis direction with the suction cap member, and the detachable cap member 533 is moved in the Z-axis direction with respect to the link 532 to adjust the position of the suction cap member to be suitable for the position of the cover plate 52; then the cover 52 is sucked by the sucking cover piece and the cover 52 is driven to be far away from the carrier 51, so as to detach the cover 52; when the work pieces in the carrier 51 are taken away, the cover sucking member is moved to cover the cover plate 52 on the carrier 51, and the carrier 51 without the work pieces is output along the material receiving conveyer 542 for recycling.

Sorting the work pieces loaded into the pallet 20 is as follows:

firstly, the manipulator body 31 drives the sucking disc piece 32 to move and rotate, so that the second sucking disc 322 of the sucking disc piece 32 adsorbs the trays 20 at the positioning piece, and each tray 20 is respectively placed on the mixing conveyer belt of the first discharging module 22, the transfer conveyer belt 244 of the upper layer conveying structure 242 of the second discharging module 23 and the transfer conveyer belt 244 of the upper layer conveying structure 242 of the third discharging module 24; meanwhile, the material receiving conveyor belt 211 of the unqualified conveying module 4 is flush with the tray conveyor belt 13, so that the tray 20 on the tray conveyor belt 13 can be directly conveyed to the material receiving conveyor belt 211.

Then, the manipulator body 31 drives the workpiece sucking 33 to move and rotate, and a code scanner on the material taking mechanism 3 scans the two-dimensional codes on the workpieces in the carrier 51 to obtain basic information of the workpieces and scanning information of the inspection result of shipment inspection; at the same time, the third suction cup sucking the workpiece 33 sucks the workpiece in the carrier 51, and the robot body 31 directly puts each workpiece into the corresponding tray 20 or each buffer area on the buffer table 8 according to the scanning information and the workpiece buffer amount of each buffer area on the buffer table 8.

Finally, after one of the trays 20 is filled with the workpieces, for example, the trays 20 on the mixing conveyor belt are filled with a batch of mixing workpieces, in the second discharging module 23 and the third discharging module 24, the two-layer conveying structure is driven by the lifting cylinder 241 to move upward along the Z axis respectively, so that the transfer conveyor belt 244 of the lower-layer conveying structure 243 of the second discharging module 23, the transfer conveyor belt 244 of the lower-layer conveying structure 243 of the third discharging module 24, the discharging conveyor belt 251 and the mixing conveyor belt are aligned, and the trays 20 on the mixing conveyor belt can be conveyed to the discharging conveyor belt 251 through the transfer conveyor belt 244 of the lower-layer conveying structure 243 of the second discharging module 23 and the transfer conveyor belt 244 of the lower-layer conveying structure 243 of the third discharging module 24 in sequence and then conveyed out by the discharging conveyor belt 251.

The recycling process of the tray 20 filled with the defective work is as follows:

first, the lifting motor 212 is made to drive the material receiving conveyor belt 211 to move downward along the Z axis, so that the material receiving conveyor belt 211 can carry the tray 20 full of unqualified workpieces to move downward along the Z axis, and the material receiving conveyor belt 211 can be aligned with the middle recovery conveyor belt 41, so that the tray 20 on the material receiving conveyor belt 211 can be transferred onto the recovery conveyor belt 41.

Then, the second jacking module 111 of the stacked part 42 jacks up the two stacked trays 20 at the stacking position along the Z-axis until the second jacking module 111 of the stacked part 42 jacks up to a position where the fork material plate 1122 of the stacked part 42 can be horizontally inserted to the bottom end face of the tray 20 at the bottommost layer, and at this time, the second jacking module 111 of the stacked part 42 moves down to the initial position along the Z-axis; meanwhile, the tray 20 in the middle position is directly conveyed to the stacking position through the recycling conveyor belt 41, the conveyed tray 20 is positioned on the recycling conveyor belt 41, and two trays 20 stacked before the stacking position are supported by the fork material plate 1122 of the stacking piece 42; then, the second jacking module 111 of the stacked piece 42 jacks up the tray 20 on the recovery conveyer belt 41 to the tray 20 at the bottommost layer on the abutting fork material plate 1122 along the Z-axis, and simultaneously retracts the fork material plate 1122 of the stacked piece 42 to the initial position; and then, the second jacking module 111 of the stacked component 42 continuously jacks the third tray 20 along the Z-axis direction until the fork material plate 1122 of the stacked component 42 can be horizontally inserted into the bottom end surface of the bottommost tray 20 of the three trays 20.

And finally, repeating the process until the pallets 20 with the preset number of layers are stacked, and integrally conveying the pallets 20 to a receiving position by a recovery conveying belt 41 so that a robot or a worker can directly take away the whole pallets 20 from the receiving position.

The above description is only a preferred embodiment of the present invention, and it should not be understood that the present invention is limited to the details of the embodiment and the range of applications, which can be changed by those skilled in the art according to the spirit of the present invention.

Claims

1. Automatic sabot workstation for the work piece classification after will go out shipment inspection is packed into tray (20), its characterized in that includes:

a table (10);

the tray feeding mechanism (1) is arranged on the workbench (10);

the plate separating and discharging mechanism (2) and the tray feeding mechanism (1) are arranged on the workbench (10) at intervals, the plate separating and discharging mechanism (2) comprises an unqualified material receiving module (21) and a plurality of material discharging modules, the unqualified material receiving module (21) is used for placing unqualified workpieces, each material discharging module is used for respectively placing the workpieces which are qualified in inspection but different in workpiece batch, and the unqualified material receiving module (21) is located at the output end of the tray feeding mechanism (1);

the material taking mechanism (3) is arranged on the workbench (10), and the material taking mechanism (3) is used for respectively grabbing the trays (20) of the tray feeding mechanism (1) onto the material placing modules and scanning the workpieces and placing the workpieces onto the trays (20) of the material placing modules or the unqualified material receiving modules (21) in a classified mode according to scanning information.

2. The automatic tray loading station according to claim 1, wherein a loading position (101), a distributing position (102) and a setting position (103) are sequentially arranged on the workbench (10) along an X axis, the loading position (101) is used for receiving incoming materials, the incoming materials are stacked trays (30) formed by stacking a plurality of trays (20), the unqualified material receiving module (21) is positioned at the downstream of the setting position (103), and the tray feeding mechanism (1) comprises:

a sorting member (11) located at the sorting position (102), the sorting member (11) being used for individually separating the stacked trays (30);

the locating piece, set up in location material level (103), the locating piece be used for the location by divide material piece (11) the single of branch tray (20), so that extracting mechanism (3) snatch tray (20).

3. The automatic tray loading station as claimed in claim 2, characterized in that the plurality of discharge modules comprise a first discharge module (22) for placing mixed batch workpieces, a second discharge module (23) for placing non-main batch workpieces and a third discharge module (24) for placing main batch workpieces, which are arranged in parallel along the Y axis in sequence;

the plate separating and discharging mechanism (2) further comprises: and the discharging conveying piece (25) is positioned at the downstream of the third discharging module (24), and the discharging conveying piece (25) can convey the trays (20) on the first discharging module (22), the second discharging module (23) and the third discharging module (24) out.

4. The automated disc handling station of claim 3, further comprising:

the unqualified conveying module (4) is arranged below the workbench (10) and located on the tray feeding mechanism (1), the unqualified material receiving module (21) can move downwards along the Z-axis direction to the unqualified conveying module (4) so as to transfer the trays (20) on the unqualified material receiving module (21) to the unqualified conveying module (4), and the unqualified conveying module (4) is used for stacking a plurality of trays (20) and conveying the trays out.

5. The automatic disc-loading station according to any one of claims 1 to 4, characterized in that the material-taking mechanism (3) comprises:

a manipulator body (31), one end of the manipulator body (31) being provided to the table (10);

the mechanical arm comprises a sucking disc piece (32) and a sucking workpiece (33), wherein the sucking workpiece (33) is located on the inner side of the sucking disc piece (32), one end of the sucking disc piece (32) and one end of the sucking workpiece (33) are in driving connection with the other end of the mechanical arm body (31), and the other end of the sucking disc piece (32) and the other end of the sucking workpiece (33) can respectively adsorb the tray (20) and the workpiece.

6. The automated palletizer station according to any one of claims 1 to 4, wherein the workpieces subjected to shipment inspection are located in a carrier (51), a top end surface of the carrier (51) is covered with a cover plate (52), and the automated palletizer station further comprises:

tear lid mechanism (5) open, with tray feeding mechanism (1) set up relatively in workstation (10), extracting mechanism (3) be located by tray feeding mechanism (1) divide version drop feed mechanism (2) with tear open in inboard space (7) that lid mechanism (5) enclose and establish, tear lid mechanism (5) open and be used for receiving carrier (51) can be unpack apron (52), so that extracting mechanism (3) snatch in carrier (51) the work piece.

7. The automatic disc loading station according to claim 6, wherein the cover removing mechanism (5) is slidably disposed on the working table (10) along an X-axis, the cover removing mechanism (5) comprises a cover removing assembly (53) and a jacking assembly (54) which are arranged in parallel along the X-axis, the jacking assembly (54) is used for receiving the carrier (51) and can lift the carrier (51) along a Z-axis, and the cover removing assembly (53) is used for grabbing the cover plate (52) of the carrier (51) on the jacking assembly (54).

8. The automated palletizing station as recited in claim 7, wherein the jacking assembly (54) comprises:

a first substrate (541) provided on the table (10) so as to slide along an X-axis;

the material receiving conveying belts (542) are oppositely arranged on the first substrate (541), the conveying direction of the material receiving conveying belts (542) is the Y-axis direction, the material receiving conveying belts (542) are used for conveying the carriers (51), and the distance between the two material receiving conveying belts (542) is adjustable;

jacking piece, set up in first base plate (541) just is located two connect material conveyer belt (542), jacking piece is close to tear lid subassembly (53) setting open, jacking piece can be followed Z axle rebound, in order to incite somebody to action carrier (51) is followed connect material conveyer belt (542) to go up the support and leave.

9. The automated disc handling station of claim 8, wherein the cover release assembly (53) comprises:

a second substrate (531) connected in parallel to the first substrate (541) and slidable along an X-axis on the table (10);

a connecting member (532) slidably provided on the second substrate (531) along an X-axis;

the cover detaching piece (533), one end of the cover detaching piece (533) is arranged on the connecting piece (532) in a sliding mode along the Z axis, and the other end of the cover detaching piece (533) is provided with a cover absorbing piece used for absorbing the cover plate (52).

10. The automated disc handling station of claim 3, further comprising:

the buffer table (8) is arranged on the workbench (10) and located between the plate separating and feeding mechanism (2) and the material taking mechanism (3), and a first buffer area (81) used for buffering the main batch of workpieces, a second buffer area (82) used for buffering the non-main batch of workpieces, a third buffer area (83) used for buffering the mixed batch of workpieces and an unqualified buffer area (84) used for buffering the unqualified workpieces are arranged on the buffer table (8) in parallel.

11. Automatic disc loading method, characterized in that it is based on an automatic disc loading station according to any of claims 1-10, comprising the following steps:

s1: enabling the tray feeding mechanism (1) to feed the tray (20) to a preset position;

s2: enabling the material taking mechanism (3) to respectively grab the trays (20) at the preset positions to each material placing module, and enabling the trays (20) at the preset positions to be conveyed to the unqualified material receiving modules (21);

s3: enabling the material taking mechanism (3) to scan the workpieces and put the workpieces on the trays (20) of the material putting modules or the unqualified material receiving modules (21) in a classified mode according to scanning information.