CN115973749B

CN115973749B - Automatic palletizing station and method

Info

Publication number: CN115973749B
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: 2023-06-13
Anticipated expiration: 2043-03-22
Also published as: CN115973749A

Abstract

The invention relates to the technical field of workpiece palletizing, and discloses an automatic palletizing station and method. The automatic tray loading workstation comprises a workbench, a tray feeding mechanism, a plate separating and discharging mechanism and a material taking mechanism which are respectively arranged on the workbench; the plate separating and discharging mechanism comprises a disqualified receiving module and a plurality of discharging modules, the disqualified receiving module is used for placing disqualified workpieces, each discharging module is used for respectively placing workpieces which are qualified in inspection and have different workpiece batches, and the disqualified 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 discharging module, scanning the workpieces and sorting the workpieces according to scanning information onto the trays of each material discharging module or the unqualified material collecting module. The beneficial effects are as follows: the automatic sorting machine can automatically sort and load workpieces into trays, has high working efficiency, and can not cause wrong loading or neglected loading.

Description

Automatic palletizing station and method

Technical Field

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

Background

In the production process of the workpieces, the workpieces are required to be checked in shipment so as to classify the workpieces and avoid the shipment of the unqualified workpieces. Wherein, after the work pieces are checked for shipment, each work piece needs to be loaded into a corresponding tray according to the specific classification of the check result. The workpiece is specifically a circuit board.

At present, each workpiece after inspection is classified and loaded into each corresponding tray by adopting a manual classification tray loading mode, so that the tray loading efficiency is low, and the problem of wrong loading or missed loading is easy to occur due to the difference of manual operation; moreover, due to the adoption of a manual classification tray loading mode, when the problem of wrong loading or missing loading occurs, the information of the workpiece is difficult to trace directly.

Therefore, there is a need for an automated palletizing station and method that addresses the above issues.

Disclosure of Invention

The invention aims to provide an automatic palletizing station which can automatically sort and load workpieces into various trays, has high working efficiency, does not cause misplacement or missing loading, and can easily trace the information of the workpieces.

To achieve the purpose, the invention adopts the following technical scheme:

an automatic palletizing station for sorting workpieces after shipment inspection into pallets, comprising:

a work table;

the tray feeding mechanism is arranged on the workbench;

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

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 discharging module, scanning the workpieces and sorting the workpieces according to scanning information onto the trays of each material discharging module or each unqualified material collecting module.

Further, set gradually material loading level, branch material level and decides the material level along the X axle on the workstation, material loading level is used for receiving the incoming material, the incoming material is by a plurality of the tray stacks the stack tray of establishing the formation, unqualified receipts material module is located the low reaches of location material level, tray feeding mechanism includes:

the material distributing piece is positioned at the material distributing position and is used for separating the stacking trays singly;

the positioning piece is arranged at the positioning position and is used for positioning the single tray separated by the material separating piece so that the material taking mechanism can grasp the tray.

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

The plate separating and discharging mechanism further comprises:

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

Further, the automatic palletizing station further comprises:

the unqualified conveying module is arranged on the workbench and located below the tray feeding mechanism, the unqualified receiving module can move downwards to the unqualified conveying module along the Z axis, the trays on the unqualified receiving module are transported to the unqualified conveying module, and the unqualified conveying module is used for stacking a plurality of trays and conveying out.

Further, the take-off mechanism includes:

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

the suction disc piece and the suction workpiece are positioned on the inner side of the suction disc piece, one ends of the suction disc piece and the suction workpiece are in driving connection with the other end of the manipulator body, and the suction disc piece and the other end of the suction workpiece can adsorb the tray and the workpiece respectively.

Further, the workpiece after shipment inspection is located in a carrier, a top end surface cover of the carrier is provided with a cover plate, and the automatic tray loading station further comprises:

The cover removing mechanism is arranged on the workbench opposite to the tray feeding mechanism, the material taking mechanism is positioned in an inner space surrounded by the tray feeding mechanism, the plate separating and discharging mechanism and the cover removing mechanism, and the cover removing mechanism is used for receiving the carrier and can disassemble the cover plate so that the material taking mechanism can grasp the workpieces in the carrier.

Further, the cover removing mechanism is slidably arranged on the workbench along the X axis, the cover removing mechanism comprises a cover removing assembly and a jacking assembly which are arranged in parallel along the X axis, the jacking assembly is used for receiving the carrier and jacking the carrier upwards along the Z axis, and the cover removing assembly is used for grabbing the cover plate of the carrier on the jacking assembly.

Further, the jacking assembly includes:

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

the two material receiving conveyer belts are oppositely arranged on the first substrate, the conveying direction of the material receiving conveyer belts is the Y-axis direction, the material receiving conveyer belts are used for conveying the carrier, and the distance between the two material receiving conveyer belts is adjustable;

the jacking piece is arranged on the first substrate and located between the two receiving conveyer belts, the jacking piece is close to the cover removing assembly, and the jacking piece can move upwards along the Z axis so as to support the carrier away from the receiving conveyer belts.

Further, the cap removing assembly includes:

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

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

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

Further, the automatic palletizing station further comprises:

the buffer table is arranged on the workbench and is positioned between the separating and discharging mechanism and the material taking mechanism, and a first buffer area for buffering the workpieces in the main batch, a second buffer area for buffering the workpieces in the non-main batch, a third buffer area for buffering the workpieces in the mixed batch and a disqualified buffer area for buffering the disqualified workpieces are arranged on the buffer table in parallel.

Another object of the present invention is to provide an automatic loading method capable of automatically sorting and loading workpieces into respective trays, having high work efficiency, free from occurrence of wrong loading or missing loading, and capable of easily tracing information of the workpieces.

To achieve the purpose, the invention adopts the following technical scheme:

An automatic palletizing method based on the automatic palletizing station as described above, comprising the steps of:

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

s2: the material taking mechanism is used for respectively grabbing the trays at the preset positions to each material discharging module, and conveying the trays at the preset positions to the unqualified material receiving module;

s3: and enabling the material taking mechanism to scan the workpieces and sorting the workpieces to be placed on the tray of each material discharging module or each unqualified material receiving module according to scanning information.

The beneficial effects of the invention are as follows:

the automatic tray loading station can be used with a plurality of production lines of similar products, and a tray feeding mechanism for feeding trays, a plate separating and discharging mechanism for sorting and placing workpieces and a material taking mechanism for grabbing the workpieces or the trays are respectively arranged on the workbench; when shipment inspection is completed, firstly, a material taking mechanism is used for respectively grabbing the trays loaded at the tray feeding mechanism onto each discharging module in the plate-separating discharging mechanism, and the trays of the tray feeding mechanism are directly conveyed onto the unqualified receiving modules; scanning the workpieces by using a material taking mechanism to obtain scanning information of a checking result of the workpieces during shipment checking, and enabling the material taking mechanism to sort and place each workpiece on a tray of each material discharging module or a tray of a defective material receiving module according to the scanning information, wherein the tray on the defective material receiving module is used for placing unqualified workpieces which are unqualified for checking, and the tray of each material discharging module is used for respectively placing the workpieces which are qualified for checking and have different workpiece batches, so that automatic sorting and placing of each workpiece on the tray are realized; in this way, the aim of classifying and loading each workpiece after shipment inspection into each tray can be fulfilled, and the tray loading efficiency is high; meanwhile, the problem of wrong mounting or missing mounting is avoided because the difference of manual operation is eliminated; in addition, as the material taking mechanism can directly scan to obtain the scanning information of the workpiece, when a problem occurs in the process of loading, the information of the workpiece can be directly and rapidly traced back according to the scanning information.

Drawings

FIG. 1 is a schematic diagram of an automated palletizing station (cabinet removed) provided by the present invention;

fig. 2 is a schematic structural view of the tray feeding mechanism provided by the invention under a viewing angle;

fig. 3 is a schematic structural view of the tray feeding mechanism provided by the invention under another view angle;

fig. 4 is a schematic structural diagram of a first lifting module provided by the present invention;

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

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

FIG. 7 is a schematic view of a structure of a tray provided by the present invention;

fig. 8 is a schematic structural view of a pallet conveyor belt provided by the invention;

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

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

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

FIG. 12 is a schematic view of a cover removing mechanism according to the present invention;

FIG. 13 is a schematic view of a jacking assembly according to the present invention;

FIG. 14 is a schematic view of the construction of the cap removal assembly provided by the present invention;

FIG. 15 is a schematic view of the structure of the plate separating and discharging mechanism (except for the unqualified receiving module) provided by the invention;

fig. 16 is a schematic structural view of the third discharging module provided by the present invention in an initial position;

FIG. 17 is a schematic view of a third discharge module according to the present invention in a raised configuration;

FIG. 18 is a schematic view of the split discharging mechanism provided by the invention when conveying the 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 diagram of a defective transport module and tray feeding mechanism according to the present invention;

FIG. 21 is a schematic diagram of a defective receiving module according to the present invention;

FIG. 22 is a schematic view of a cabinet according to the present invention;

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

Reference numerals:

10-a workbench; 101-loading material level; 102-dividing the material level; 103-setting the material level; 104-moving the module; 20-a tray; 201-groove; 30-stacking trays;

1-a tray feeding mechanism; 11-a material distributing piece; 111-a second jacking module; 1111-a material-separating lifting plate; 1112-a first suction cup; 112-a tray dividing piece; 1121—a telescopic cylinder; 1122-fork plate; 1123—a vertical cylinder; 1124-a platen; 1125-middle block; 121-positioning a jacking plate; 13-a pallet conveyor belt; 131-a guide rail; 132-screw rod; 133-a lead screw nut; 134-U-shaped frame; 135-support; 14-a first jacking module; 141-a bottom plate; 142-supporting columns; 143-an intermediate plate; 144-guide posts; 145-lifting the cylinder; 146-feeding lifting plates; 147-convex top block; 148-guide sleeve; 15-a blocking module; 151-blocking cylinder; 152-a blocking block;

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

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

4-unqualified conveying modules; 41-recovering the conveyer belt; 42-stacking member;

5-a cover removing mechanism; 51-carrier; 52-cover plate; 53-a cap removal assembly; 531-a second substrate; 532-connectors; 533-cap removal; 54-jacking assembly; 541-a first substrate; 542-a receiving conveyor belt; 5431-carrier lift plate; 5432-carrier locator pins;

6-a cabinet; 7-an inner space;

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

Detailed Description

In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the invention more clear, the technical scheme of the invention is further described below by a specific embodiment in combination with the attached drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are orientation or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of operation, and are not intended to 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 invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

Example 1

According to the automatic tray loading station, workpieces subjected to shipment inspection are classified and loaded into the trays, that is, the automatic tray loading station can automatically place the workpieces in the trays corresponding to the workpieces according to shipment inspection results of the workpieces in shipment inspection, so that automatic classified tray loading of the workpieces is achieved, tray loading efficiency is high, wrong loading or neglected loading cannot occur, and information of the workpieces can be traced easily. The workpiece in this embodiment may be a circuit board or other workpiece that needs to be sorted and palletized.

Specifically, as shown in fig. 1 and 2, the automatic palletizing station comprises a workbench 10, and a pallet feeding mechanism 1, a plate separating and discharging mechanism 2 and a material taking mechanism 3 which are respectively arranged on the workbench 10; wherein the tray feeding mechanism 1 is used for feeding the tray 20; the plate separating and discharging mechanism 2 comprises a disqualified receiving module 21 and a plurality of discharging modules which are sequentially arranged in parallel, wherein the disqualified receiving module 21 is used for placing disqualified workpieces which are unqualified in shipment inspection, each discharging module is used for respectively placing the workpieces which are qualified in shipment inspection and different in workpiece batch, and the disqualified 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 disqualified receiving module 21; the material taking mechanism 3 is used for grabbing the tray 20 loaded by the tray feeding mechanism 1 onto each material discharging module respectively, and the material taking mechanism 3 can also scan workpieces and sort the workpieces onto the tray 20 of each material discharging module or the unqualified material receiving module 21 according to scanning information.

By arranging a tray feeding mechanism 1 for feeding the tray 20, a plate separating and discharging mechanism 2 for sorting and placing the workpieces and a material taking mechanism 3 for grabbing the workpieces or the tray 20 on the workbench 10 respectively; when shipment inspection is completed, firstly, the material taking mechanism 3 is used for respectively grabbing the trays 20 loaded at the tray feeding mechanism 1 onto each discharging module in the plate-dividing discharging mechanism 2, and the trays 20 of the tray feeding mechanism 1 are directly conveyed onto the unqualified material receiving modules 21; scanning the workpieces by using the material taking mechanism 3 to obtain scanning information of the inspection results of the workpieces during shipment inspection, and enabling the material taking mechanism 3 to sort and place the workpieces on the trays 20 of the material discharging 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 unqualified workpieces which are unqualified in inspection, the trays 20 of the material discharging modules are used for respectively placing the workpieces which are qualified in inspection and have different workpiece batches, so that automatic sorting and placing of the workpieces on the trays 20 are realized; in this way, the purpose of sorting the respective workpieces after shipment inspection into the respective trays 20 can be achieved, and the palletizing efficiency is high; meanwhile, the problem of wrong mounting or missing mounting is avoided because the difference of manual operation is eliminated; in addition, as the material taking mechanism 3 can directly scan to obtain the scanning information of the workpiece, when a problem occurs in the process of loading, the information of the workpiece can be directly and rapidly traced back according to the scanning information.

It is worth to say that two-dimensional codes can be set on each workpiece, basic information of the workpiece and information of a checking result in shipment checking are embedded in the two-dimensional codes, and the material taking mechanism 3 can directly scan the two-dimensional codes on the workpiece to obtain the basic information of the workpiece and the scanning information of the checking result in shipment checking, so that quick tracing of the workpiece is facilitated.

The specific structure of the tray feeding mechanism 1 will be described in detail below with reference to fig. 1 to 8 of the accompanying drawings.

Specifically, as shown in fig. 1 to 3, a feeding level 101, a distributing level 102 and a positioning level 103 are sequentially and parallelly arranged on the workbench 10 along the X axis, wherein the feeding level 101 is used for receiving incoming materials, the incoming materials are stacked trays 30 formed by stacking a plurality of trays 20 sequentially, and it should be noted that the stacked trays 30 are fed 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 piece 11 and a positioning piece which are oppositely arranged; the tray conveying belt 13 extends along the X axis and penetrates through the feeding level 101, the distributing level 102 and the positioning level 103, the tray conveying belt 13 is used for sequentially conveying the tray 20 at the feeding level 101 to the distributing level 102 and the positioning level 103, and the length direction of the tray 20 is perpendicular to the conveying direction of the tray conveying belt 13, that is, two ends of the tray 20 in the length direction are respectively placed on the two tray conveying belts 13; a distributing member 11 is provided at the distributing position 102 at one side of the tray conveying belt 13, the distributing member 11 being for individually dividing the stacked trays 30 conveyed to by the loading position 101 into individual trays 20; the locating piece is arranged at the locating position 103 and is located between the two tray conveying belts 13, and the locating piece is used for locating the single tray 20 separated by the separating piece 11 so that the taking mechanism 3 can grasp the tray 20 on the locating piece. The X axis is parallel to the width direction of the table 10, and is specifically shown by an arrow X in fig. 1.

Specifically, as shown in fig. 2 to 4, a first jacking module 14 is disposed at the feeding level 101, the first jacking module 14 is located between the two tray conveying belts 13, and the first jacking module 14 is used for jacking the stacked trays 30 on the tray conveying belts 13 upwards along the Z-axis so as to separate the stacked trays 30 at the feeding level 101 from the tray conveying belts 13; when the tray 20 to be separated is further arranged on the separating level 102, the stacking tray 30 at the feeding level 101 is lifted up along the Z-axis by the first lifting module 14, so that the problem that the stacking tray 30 at the feeding level 101 moves to the separating level 102 to interfere with the tray 20 at the separating level 102 can be avoided, and the stacking tray 30 at the feeding level 101 can be ensured to move to the separating level 102 for separation through the tray conveying belt 13 when the tray 20 at the separating level 102 is not arranged. The tray 20 specifically refers to one tray 20, and the stacked tray 30 refers to a plurality of trays 20 stacked one above the other. In the present embodiment, the stacked trays 30 are specifically formed by stacking ten trays 20. In this embodiment, the Z axis is specifically shown by arrow Z in fig. 1.

Further, as shown in fig. 4, the first jacking module 14 includes a bottom plate 141, a support column 142, a middle plate 143, a guide post 144, a jacking cylinder 145, and a feeding jacking plate 146; wherein, 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 jacking 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 trays 30 at the loading level 101 need to be lifted, the lifting cylinder 145 is made to drive the loading lifting 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 top blocks 147 on the loading lifting plate 146 can abut against the stacked trays 30 upwards along the Z-axis, and the stacked trays 30 continue to move upwards along the Z-axis until all the stacked trays 30 are separated from the tray conveying belt 13.

Further, as shown in fig. 2 and 5, the material separating member 11 includes a second jacking module 111 and two opposite tray separating members 112, the tray separating members 112 are disposed on the supporting members 135 of the tray conveying belts 13, and the second jacking module 111 is located between the two tray conveying belts 13; the second jacking module 111 can jack up the stacked trays 30 at the material dividing position 102 along the Z-axis so as to separate the stacked trays 30 from the tray conveying belt 13, i.e. the entire stacked tray 30 is supported by the second jacking module 111 at this time; the tray dividing members 112 can be inserted into the bottom end surface of the last-last tray 20 in the stacked trays 30 to support the stacked trays 30 except for the bottom tray 20, that is, the bottom tray 20 in the stacked trays 30 is located on the second jacking module 111 at this time, and all other trays 20 in the stacked trays 30 are supported by the two tray dividing members 112; and then the second jacking module 111 drives the bottom tray 20 to move downwards to the tray conveying belt 13 along the Z axis, so that the tray conveying belt 13 conveys the bottom tray 20 to the positioning part, and the single tray separating purpose of stacking the trays 30 is achieved.

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 material-dividing jacking plate 1111, a plurality of first suction cups 1112 are disposed on the material-dividing jacking plate 1111, and the first suction cups 1112 are used for sucking the tray 20 at the bottommost layer, so as to ensure the stability of the tray 20 at the bottommost layer on the material-dividing jacking plate 1111 in the second jacking module 111 when the tray 112 is inserted into the bottom end surface of the tray 20 at the last-second layer in the stacked tray 30. The jacking principle of the second jacking module 111 can refer to the jacking principle of the first jacking module 14, and detailed description of the jacking principle of the second jacking module 111 is omitted.

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

1-3 and 7, the tray 112 further includes a vertical cylinder 1123 and a pressure plate 1124, wherein 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 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 plate 1122 to move along the Y axis; the vertical cylinder 1123 is used for driving the pressing plate 1124 to move on the Z axis, so that the pressing plate 1124 can be pressed against the top end surface of the uppermost tray 20 while the fork material plate 1122 is inserted into the bottom end surface of the penultimate tray 20, and the problem that the penultimate tray 20 and above tilts or even tilts when the fork material plate 1122 is inserted into the bottom end surface of the penultimate tray 20 is avoided. In this embodiment, the Y axis is specifically shown by arrow Y in fig. 1.

Further, as shown in fig. 3, the structure of the positioning member is substantially the same as that of the first jacking module 14, and is different in that the positioning member includes a positioning jacking plate 121, the positioning jacking plate 121 is provided with not only the convex jacking block 147, but also a tray positioning pin, and the tray positioning pin can be inserted into a tray positioning hole on the bottom end surface of the tray 20, so that the tray 20 is positioned on the positioning jacking plate 121 of the positioning member, and the material taking mechanism 3 is facilitated to stably grasp the tray 20 on the positioning jacking plate 121 of the positioning member. The jacking principle of the positioning member may refer to the jacking principle of the first jacking module 14, and detailed description of the jacking principle of the positioning member is omitted.

Specifically, as shown in fig. 2 and 3, a blocking module 15 is disposed on one side of the feeding 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 continuing to move downstream on the tray conveyor 13.

For example, when the stacked trays 30 at the loading level 101 are not required to continue to move on the tray conveyor 13 toward the dispensing level 102, the blocking module 15 is moved upward in the Z-axis direction to block the trays 20 on the tray conveyor 13; meanwhile, the first jacking module 14 can be operated, and the stacked tray 30 at the feeding level 101 is separated from the tray conveying belt 13 upwards along the Z axis; moreover, the blocking module 15 can also limit the stacking tray 30 on the feeding lifting plate 146 of the first lifting module 14, so as to avoid the problem that the stacking tray 30 on the feeding lifting plate 146 is inclined or even toppled.

Specifically, as shown in fig. 3, the blocking module 15 includes a blocking cylinder 151 and a blocking block 152, the fixed end of the blocking cylinder 151 is disposed at the bottom end surface of the U-shaped frame 134, the driving end of the blocking cylinder 151 is in driving connection with 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 release the blocking of the tray 20.

Further, the distance between the two tray conveying belts 13 can be adjusted to adapt to conveying of trays 20 with different length sizes, so that the tray feeding mechanism 1 can feed trays 20 with different length sizes, and the applicability and the universality of the whole tray feeding mechanism 1 are good. In this embodiment, the tray 20 having a length dimension of 100mm to 400mm can be transported in a compatible manner.

Specifically, as shown in fig. 2 and 8, the tray feeding mechanism 1 further includes a driving member, a screw rod 132, a screw rod nut 133, and a plurality of U-shaped frames 134 disposed at intervals along the X-axis, the U-shaped frames 134 are fixedly disposed on the table 10, two tray conveying belts 13 are respectively disposed at two ends of the U-shaped frames 134 through the supporting members 135, and the tray conveying 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 of the supporting pieces 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 piece is arranged on the U-shaped frame 134, and the driving end of the driving piece 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 piece drives the screw rod 132 to rotate, so that the screw rod 132 drives the screw rod nut 133 to move along the Y axis on the screw rod 132, and one tray conveying belt 13 is driven to move in a direction approaching or separating from the other tray conveying belt 13 through the supporting piece 135, and the distance between the two tray conveying belts 13 is adjusted. 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 rod 132 in parallel, a slide block is disposed on the guide rail 131 and is fixedly connected with the screw rod nut 133, and the slide block can slide on the guide rail 131 to ensure the guiding performance and stability of the movement of the screw rod nut 133 on the screw rod 132, thereby ensuring the moving guiding performance and stability of one of the tray conveyor belts 13 when approaching or separating to or from the other tray conveyor belt 13.

The specific structure of the extracting mechanism 3 will be described in detail below with reference to fig. 1 and fig. 9 to 11 of the accompanying drawings.

Further, as shown in fig. 1, 9 and 10, the extracting mechanism 3 includes a manipulator body 31, a sucker member 32 and a sucker member 33; wherein, one end of the manipulator body 31 is fixed on the workbench 10; the suction piece 33 is located at the inner side of the suction disc piece 32, one ends of the suction disc piece 32 and the suction piece 33 are both in driving connection with the other end of the manipulator body 31, and the other ends of the suction disc piece 32 and the suction piece 33 can respectively adsorb the tray 20 and the workpiece, so that the tray 20 and the workpiece can be grasped by the material taking mechanism 3. The manipulator body 31 in this embodiment may be a six-axis robot with good flexibility.

Specifically, as shown in fig. 10 and 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 provided in a square shape, the second suction cups 322 are detachably connected to the material taking frame 321, and the material taking frame 321 is connected to the output shaft 311 of the robot 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 rack 321.

Through making second sucking disc 322 detachably connect to get material frame 321 to can be according to the size of tray 20 adjust the mounted position of second sucking disc 322 on getting material frame 321, so that the square structure that each second sucking disc 322 formed can match with the size of tray 20, in order to be able to absorb the tray 20 of multiple different sizes, make sucking disc spare 32's suitability and commonality better. Wherein the second suction cup 322 may be detachably connected to the take-out rack 321 by a bolt and a nut.

Further, as shown in fig. 10 and 11, the suction workpiece 33 includes a frame 331 and a plurality of suction frames 332, the frame 331 is fixedly disposed at an inner side of 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 at 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 is adjustable, a distance between the suction frames is adjustable, and the suction frames can absorb workpieces with different sizes, so that the suction workpiece 33 has good applicability and universality; in addition, by adjusting the distance between the suction frames 332, the number of the suction workpieces 33 that suck the workpieces at a time is also adjusted, so that only one workpiece can be sucked at a time, and a plurality of workpieces can be sucked at a time, and the flexibility of sucking the workpieces is better. In this embodiment, four third suction cups are uniformly disposed on the bottom end surface of one suction frame 332. The length direction of the frame 331 is specifically shown by 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 slide bars 333, each of the slide bars 333 being disposed inside the frame 331 at intervals and in parallel with each other, the slide bars 333 extending in a length direction of the frame 331, the suction frames 332 being slidably disposed on the slide bars 333, a fixed end of the rodless cylinder 334 being disposed on the frame 331, a driving end of the rodless cylinder 334 being drivingly connected to the linkage 335, and the linkage 335 being connected to each of the suction frames 332, respectively; the rodless cylinder 334 can drive the linkage 335 to move, so that the linkage 335 can drive each adsorption frame 332 to slide on the slide rod 333.

Specifically, the linkage 335 includes a plurality of interconnected moving blocks, each of which is connected in sequence by a connecting rod, the connecting rod being located above the slide rod 333 and extending 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 runs, one of the moving blocks can be driven to move along the length direction of the frame 331, and as the moving blocks are sequentially connected with each other through the connecting rods, the moving blocks can be driven to move, so that the adsorbing frames 332 can be respectively driven to move along the length direction of the frame 331 through the moving blocks, and the distance between the adsorbing 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 column includes two suction frames 332 that are connected to each other, and the third suction cups on the two suction frames 332 are close to each other, so that a larger number of suction frames 332 can be arranged in the frame 331, and thus the number of the third suction cups is larger, so that the suction of a larger number of workpieces at one time can be facilitated, and the work efficiency of sucking the workpieces can be improved. In this embodiment, four rows of suction frames 332 are disposed in the width direction of the frame 331, that is, eight suction frames 332 are disposed in total inside the frame 331, and four third suction cups on each suction frame 332 suck one workpiece, that is, the extracting mechanism 3 can suck eight workpieces at a time at most. The width direction of the frame 331 is specifically shown by an arrow B in fig. 10.

Specifically, an elastic member is disposed in the adsorption frame 332, one end of the elastic member is fixedly disposed 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 sucker adsorbs the workpiece, the elastic piece is pressed to enable the elastic piece to provide buffering force, so that the condition that the third sucker can prop against the workpiece when adsorbing the workpiece can be avoided, and the workpiece can be well protected. The elastic member in this embodiment may be specifically 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 be beneficial to sucking the workpiece and the tray 20 respectively; and, the second suction cup 322 and the third suction cup independently feed negative pressure to work; for example, when the workpiece needs to be sucked, only negative pressure needs to be introduced into the third sucker, and negative pressure does not need to be introduced into the second sucker 322, so that the second sucker 322 does not interfere with the sucking operation of the third sucker.

Specifically, the material taking mechanism 3 further comprises a code scanning machine, the code scanning machine is arranged on the material taking frame 321 and is used for scanning the two-dimensional code on the workpiece so as to obtain the basic information of the workpiece and the scanning information of the inspection result of shipment inspection.

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

Further, as shown in fig. 12-14, the workpiece after shipment inspection is positioned in the carrier 51, and the top end surface of the carrier 51 is covered with the cover plate 52, so as to prevent dust or other impurities from entering the carrier 51 from the opening of the top end surface of the carrier 51, and to better protect the workpiece. 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 and 12-14, the automatic tray loading station further includes a cover removing mechanism 5, the cover removing mechanism 5 and the tray feeding mechanism 1 are disposed on the workbench 10 opposite to each other, the plate separating and discharging mechanism 2 is located between the cover removing mechanism 5 and the tray feeding mechanism 1, the material taking mechanism 3 is located in an inner space 7 surrounded by the tray feeding mechanism 1, the plate separating and discharging mechanism 2 and the cover removing mechanism 5, and the cover removing mechanism 5 is used for receiving the carrier 51 conveyed by the shipment inspection streamline and capable of disassembling a cover plate 52 of the carrier 51, so that the material taking mechanism 3 can be convenient for grabbing workpieces in the carrier 51.

Further, as shown in fig. 1 and 12, the cover removing mechanism 5 is slidably disposed on the table 10 along the X axis, that is, a guide rail extending along the X axis is disposed on the table 10, and a guide block is disposed on the cover removing mechanism 5 and is slidable on the guide rail so that the cover removing mechanism 5 can move along the X axis relative to the table 10. The table 10 is provided with a moving module 104, the moving module 104 can drive the cover removing mechanism 5 to slide along the X axis on the table 10, and the moving module 104 can adopt the existing moving driving structure.

Specifically, as shown in fig. 12, the cover removing mechanism 5 includes a cover removing assembly 53 and a lifting assembly 54 arranged in parallel along the X axis, and the lifting assembly 54 is configured to receive the carrier 51 and to be capable of lifting the carrier 51 up along the Z axis so as to cause the cover removing assembly 53 to grasp the cover plate 52 of the carrier 51 on the lifting assembly 54.

Specifically, as shown in fig. 13, the jacking assembly 54 includes a first base plate 541, a jacking member, and two material receiving conveyor belts 542; wherein the first substrate 541 is slidably disposed on the table 10 along the X axis; the two material receiving conveyer belts 542 are oppositely arranged on the first substrate 541, the conveying direction of the material receiving conveyer belts 542 is the Y-axis, and the material 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 is located between the two material receiving conveyer belts 542, the jacking piece is arranged close to the cover removing assembly 53, and can move upwards to the carrier 51 abutting against the material receiving conveyer belts 542 along the Z axis and jack the carrier 51 so as to support the carrier 51 away from the material receiving conveyer belts 542, and further the cover removing assembly 53 is convenient to remove the cover.

Specifically, after the carriers 51 flow from the shipment inspection line onto the two material receiving conveyor belts 542, the material receiving conveyor belts 542 can convey the carriers 51 along the Y-axis and in a direction close to the lifting member, and when the carriers 51 are conveyed to be located directly above the lifting member, the lifting member can move up to the bottom end surface of the abutment carrier 51 along the Z-axis and continue to lift the carriers 51 upward until the carriers 51 and the material receiving conveyor belts 542 are separated from each other.

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

Further, the distance between the two material receiving conveyor belts 542 can be adjusted to accommodate the conveyance of carriers 51 with different length sizes, so that the lifting assembly 54 can receive and convey carriers 51 with different length sizes, and the applicability and versatility of the whole cover removing mechanism 5 are better. The process of adjusting the distance between the two receiving conveyer belts 542 is substantially the same as the process of adjusting the distance between the two tray conveyer belts 13, and reference may be made to the process of adjusting the distance between the two tray conveyer belts 13, so that detailed description of the process of adjusting the distance between the two receiving conveyer belts 542 is omitted.

Specifically, as shown in fig. 13 and 14, the cap removing assembly 53 includes a second base plate 531, a connecting member 532, and a cap removing member 533; wherein the second substrate 531 is connected to the first substrate 541 in parallel and is capable of sliding along the X axis on the table 10; the connection piece 532 is slidably disposed on the second substrate 531 along the X axis; one end of the cap removing member 533 is slidably provided on the connection 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. The connection piece 532 may be a connection block, and the suction cover piece may be a vacuum chuck.

When the cover plate 52 needs to be removed, the carrier 51 is disposed on the carrier lifting plate 5431 and is separated from the receiving conveyor belt 542, the connecting piece 532 is moved on the X-axis with the suction cover member, the cover removing piece 533 is moved in the Z-axis direction relative to the connecting piece 532 to adjust the position of the suction cover member, the position of the suction cover member is appropriate relative to the position of the cover plate 52, and then the suction cover member 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 piece in the carrier 51 is removed, the suction cover is moved to cover the cover plate 52 on the carrier 51, and the carrier 51 without the work piece is output along the receiving conveyor 542.

The specific structure of the split charging mechanism 2 will be described in detail below with reference to fig. 1 and 15 to 18 of the accompanying drawings.

Further, the workpieces can be divided into mixed batch workpieces, non-main batch workpieces and main batch workpieces according to the difference of workpiece batches, wherein the mixed batch workpieces specifically refer to disordered batch workpieces, the non-main batch workpieces specifically refer to workpieces of a small number of production order batches, and the main batch workpieces specifically refer to workpieces of a main batch of a current production order; that is, a plurality of workpieces are simultaneously placed in the carrier 51, the batches of each workpiece may be the same or different, and the inspection of each workpiece may be qualified or not, and the two-dimensional code on the workpiece needs to be scanned by using a code scanning machine to determine whether the workpiece is qualified or not according to the obtained scanning information.

Correspondingly, as shown in fig. 1 and 15, the plurality of discharging modules include a first discharging module 22 for placing workpieces in a mixed batch, a second discharging module 23 for placing workpieces in a non-main batch, and a third discharging module 24 for placing workpieces in a main batch, which are sequentially arranged in parallel along the Y axis; the plate-separating and discharging mechanism 2 further comprises a discharging and conveying member 25, the discharging and conveying member 25 is located at the downstream of the third discharging module 24, and the discharging and conveying member 25 can respectively place or fill the tray 20 or the empty tray 20 with the mixed batch workpiece, the non-main batch workpiece and the main batch workpiece on the first discharging module 22, the second discharging module 23 and the third discharging module 24, and convey the mixed batch workpiece, the non-main batch workpiece and the empty tray 20 out of the workbench 10. The discharging conveying member 25 includes two discharging conveying belts 251 disposed opposite to each other, and a conveying direction of the discharging conveying belts 251 is a 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 directions of each layer of conveying structures are the same and are all in 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; the lifting cylinder 241 is disposed below the lower conveying structure 243 for driving the two-layer conveying structure to move in the Z-axis direction to selectively level the upper conveying structure 242 or the lower conveying structure 243 with the discharge conveyor 251. Wherein, the upper layer conveying structure 242 and the lower layer conveying structure 243 have the same structure and comprise two oppositely arranged transfer conveying belts 244; and in the initial position, the transfer conveyor 244 of the upper conveyor structure 242 in the third discharging module 24 is flush with the discharge conveyor 251; after the pallet 20 on the third discharging module 24 is fully filled with the workpieces of the main batch, the pallet 20 can be directly conveyed to the discharging conveyor belt 251 by the transferring conveyor belt 244 in the upper conveying structure 242, and then is conveyed by the discharging conveyor belt 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 lifting cylinder 241 and the two-layer conveying structure; as shown in fig. 15 and 16, in the initial position, the transit conveyor 244 of the upper conveyor 242 in the second discharging module 23 is flush with the transit conveyor 244 of the upper conveyor 242 in the third discharging module 24, and is flush with the outfeed conveyor 251; meanwhile, the transfer conveyor belt 244 of the lower conveying structure 243 in the second discharging module 23 is flush with the transfer conveyor 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 fully filled with the 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 upwards along the Z-axis, so that the transfer conveying belt 244 of the lower-layer conveying structure 243 in the third discharging module 24, the transfer conveying belt 244 of the upper-layer conveying structure 242 in the second discharging module 23, and the discharge conveying belt 251 of the discharge conveying member 25 are flush, so that the tray 20 on the second discharging module 23 can be directly conveyed onto the discharge conveying belt 251 through the transfer conveying 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 by the discharge conveying belt 251.

Specifically, the first discharging module 22 includes two mixing conveyor belts that are disposed oppositely, two ends of the tray 20 are respectively disposed on the two mixing conveyor belts, the mixing conveyor belts are used for conveying the tray 20 on which the batch of mixed workpieces are disposed or fully filled, and when in an initial position, the mixing conveyor belts, the transfer conveyor belt 244 of the upper layer conveying structure 242 in the second discharging module 23, the transfer conveyor belt 244 of the upper layer conveying structure 242 in the third discharging module 24, and the discharging conveyor belt 251 are flush.

As shown in fig. 17 and 18, after the pallet 20 on the first discharging module 22 is fully filled with the batch of workpieces, in the second discharging module 23 and the third discharging module 24, the lifting cylinder 241 is used to drive the two-layer conveying structure to move upwards along the Z-axis, so that the transfer conveyor 244 of the lower conveying structure 243 of the second discharging module 23, the transfer conveyor 244 of the lower conveying structure 243 of the third discharging module 24, and the discharge conveyor 251 are flush, and the pallet 20 on the batch conveyor can be sequentially conveyed onto the discharge conveyor 251 by the transfer conveyor 244 of the lower conveying structure 243 in the second discharging module 23 and the transfer conveyor 244 of the lower conveying structure 243 in the third discharging module 24, and then conveyed by the discharge conveyor 251.

The specific structure of the cache table 8 will be described in detail below with reference to fig. 1 and 19 of the accompanying drawings.

Further, as shown in fig. 1 and 19, the automatic palletizing station further includes a buffer table 8, the buffer table 8 is disposed on the workbench 10 and located between the second discharging module 23 and the manipulator body 31, and the buffer table 8 extends along the Y axis; the first buffer area 81, the second buffer area 82, the third buffer area 83 and the reject buffer area 84 are arranged on the buffer table 8 in parallel, the first buffer area 81, the second buffer area 82, the third buffer area 83 and the reject buffer area 84 are respectively in one-to-one correspondence with the third discharging module 24, the second discharging module 23, the first discharging module 22 and the reject receiving module 21, the buffer table 8 is used for buffering workpieces before the workpieces are placed on each tray 20, namely the first buffer area 81 is used for buffering workpieces in a main batch, the second buffer area 82 is used for buffering workpieces in a non-main batch, and the third buffer area 83 is used for buffering workpieces in a mixed batch; on one hand, the work times of grabbing and placing the workpieces by the material taking mechanism 3 can be reduced, so that the workpieces can be reasonably and effectively taken and placed, and the production capacity is improved; on the other hand, when the tray 20 is full of workpieces, the workpieces can be cached, so that the ordered operation of the whole tray loading is facilitated.

For example, when the third chuck on the suction rack 332 sucks the workpieces for the first time, the workpieces with larger sucked number (e.g. the workpieces of the main lot) are directly placed in the tray 20 on the third discharging module 24, and the workpieces with smaller sucked number (e.g. the workpieces of the non-main lot) are placed in the second buffer area 82 on the buffer table 8.

Then, when the number of non-primary batch workpieces in the second buffer area 82 on the buffer table 8 is large (for example, six non-primary batch workpieces are already present), the third suction cup of the suction rack 332 sucks six primary batch workpieces again for the second time, and two non-primary batch workpieces are present, then the robot body needs to directly place the six sucked primary batch workpieces into the tray 20 on the third discharging module 24, then the robot body grabs the six non-primary batch workpieces temporarily placed before the second buffer area 82 on the buffer table 8, and then the robot body 31 correspondingly places the eight sucked non-primary batch workpieces into the tray 20 of the second discharging module 23, so that each workpiece can be placed into each corresponding tray 20 under the condition of less 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 mixed batch workpieces and two unqualified workpieces in the process of grabbing the workpieces again, the material taking mechanism 3 directly places the grabbed workpieces corresponding to one of the buffer areas on the buffer area according to the number of temporarily placed workpieces on each buffer area of the buffer area 8 if the number of the workpieces placed on one buffer area of the buffer area 8 is small; then, the fetching mechanism 3 is made to grasp a large number of workpieces on the other buffer area of the buffer table 8, and then the fetching mechanism 3 is made to put the grasped workpieces and the workpieces grasped from the other buffer area together on the tray 20 corresponding to the workpieces.

Through setting up the cooperation and use each other of buffer memory platform 8 and dividing the version feed mechanism 2, can reduce the work use number of times of feeding mechanism 3 to can be high-efficient place each work piece classification in each tray 20 fast, save time high efficiency.

The specific structures of the reject module 21 and the reject transport module 4 will be described in detail below with reference to fig. 1, 20, and 21 of the specification.

Further, as shown in fig. 1 and 20, the reject receiving module 21 is located at the downstream of the positioning member and is disposed at one side of the discharging conveying member 25, the automatic palletizing station further includes a reject conveying module 4, the reject conveying module 4 is disposed at the bottom end surface of the workbench 10 and is located below the tray feeding mechanism 1, the reject receiving module 21 can pass through the workbench 10 and move down to the reject conveying module 4 along the Z-axis, so that the trays 20 on the reject receiving module 21 are transferred to the reject conveying module 4, and the reject conveying module 4 is used for stacking and conveying out a plurality of trays 20 with reject workpieces.

Specifically, as shown in fig. 20 and 21, the reject receiving module 21 includes two receiving conveyor belts 211 disposed opposite to each other, the conveying direction of the receiving conveyor belts 211 is the X-axis direction, and the two receiving conveyor belts 211 are aligned with the two tray conveyor belts 13, respectively, so that the tray 20 at the positioning position 103 can be conveyed onto the receiving conveyor belts 211 through the tray conveyor belts 13, so as to load the tray 20 onto the reject receiving module 21. The tray 20 at the fixed material position 103 can also be directly grabbed onto the material receiving conveyor belt 211 of the unqualified material receiving module 21 through the suction disc 32 in the material taking mechanism 3.

Further, as shown in fig. 21, the reject receiving module 21 further includes a lifting motor 212, a fixed end of the lifting motor 212 is disposed on the workbench 10, a driving end of the lifting motor 212 is connected to a supporting end of the receiving conveyor belt 211, and the lifting motor 212 can drive the receiving conveyor belt 211 to move in the Z-axis direction, so that the receiving conveyor belt 211 can be flush with the tray conveyor belt 13 or move to the reject conveying module 4. The lifting motor 212 may drive the material receiving conveyor 211 to move in the Z-axis direction by using a transmission structure commonly known in the art.

Specifically, a middle position, a stacking position and a receiving position are sequentially arranged below the workbench 10 in parallel; the disqualified conveying module 4 comprises a stacking part 42 and two opposite recovery conveying belts 41, the two recovery conveying belts 41 are respectively located at the middle position, the stacking position and the opposite sides of the receiving position, the conveying direction of the recovery conveying belts 41 is X-axis, the stacking part 42 is arranged at the stacking position and located between the two recovery conveying belts 41, and the stacking part 42 is used for sequentially stacking the single tray 20 filled with disqualified workpieces to form a tray 20 layer.

Specifically, when the lifting motor 212 drives the receiving conveyor belt 211 to move downwards along the Z axis, the receiving conveyor belt 211 can be aligned with the recovery conveyor belt 41, so that the tray 20 full of unqualified workpieces on the receiving conveyor belt 211 is conveyed onto the recovery conveyor belt 41, and the tray 20 is positioned at the middle position; the recovery conveyor belt 41 drives the trays 20 to be conveyed from the middle to a stacking position, and single trays 20 are sequentially stacked up and down at the stacking position through the stacking piece 42 to form a tray 20 layer; when the number of layers is set up to predetermine, the tray 20 layer is wholly conveyed to the receiving position by the recovery conveyer belt 41 again to make the robot or the manual work directly take away whole tray 20 layer from the receiving position, thereby can be with the tray 20 stack of filling up unqualified work piece and send 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 single tray 20 filled with the unqualified workpieces to form a tray 20 layer, which is just opposite to the working process of the distributing member 11.

For example, when the intermediate tray 20 is conveyed to the stacking position, two trays 20 are stacked at the stacking position, the second jacking module 111 of the stacking member 42 is used to jack up the two stacked trays 20 at the stacking position along the Z-axis, so that the fork plate 1122 of the stacking member 42 can be horizontally inserted to the bottom end surface of the bottommost tray 20, and the distance between the bottom end surface of the fork plate 1122 and the top end surface of the recovery conveyer 41 is slightly larger than the thickness of one tray 20 filled with unqualified workpieces, and the second jacking module 111 of the stacking member 42 is moved down to the initial position along the Z-axis; meanwhile, the pallet 20 on the middle position is directly conveyed to the stacking position by the recovery conveyor belt 41, the pallet 20 conveyed to this time is positioned on the recovery conveyor belt 41, and the two pallets 20 stacked before the stacking position are supported by the fork plate 1122 of the stacker 42; then, the second lifting module 111 of the stacking member 42 lifts the tray 20 on the recovery conveyer 41 up to abut against the tray 20 at the bottommost layer on the fork material plate 1122 along the Z-axis, and simultaneously, the fork material plate 1122 of the stacking member 42 is retracted to the initial position; then, the second lifting module 111 of the stacking piece 42 continuously lifts the three trays 20 along the Z-axis direction until the fork plate 1122 of the stacking piece 42 can be horizontally inserted into the bottom end surface of the bottom tray 20 in the three trays 20; then, the above-described process is repeated again until the number of the trays 20 stacked to the predetermined number of layers is increased, and the whole of the trays 20 is conveyed to the collection position by the recovery conveyor 41.

Further, as shown in fig. 22, the cabinet 6 is disposed around the outer periphery of the workbench 10, so that each mechanism on the workbench 10 can be enclosed inside the cabinet 6, so that each mechanism on the workbench 10 can be well protected, and meanwhile, the problem that each mechanism causes accidental injury to external personnel during working can be avoided, so that the safety is high.

The automatic tray loading station in the embodiment is formed by arranging the tray feeding mechanism 1 and the cover removing mechanism 5 oppositely; the first discharging module 22, the second discharging module 23, the third discharging module 24 and the discharging conveying piece 25 in the plate separating discharging mechanism 2 are arranged between the tray feeding mechanism 1 and the cover removing mechanism 5; meanwhile, the material taking mechanism 3 is arranged in an inner space 7 surrounded by 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 loading method is provided, based on the automatic loading station in the first embodiment, as shown in fig. 23, and specifically includes the following steps:

S1: the tray feeding mechanism 1 is used for feeding 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 is enabled to respectively grab the trays 20 at the preset positions to all the material discharging modules, and the trays 20 at the preset positions are automatically conveyed to the unqualified material receiving modules 21;

s3: the material taking mechanism 3 is enabled to scan the workpieces and automatically sort the workpieces to the trays 20 of the material discharging modules or the unqualified material collecting modules 21 according to the scanning information.

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

the single tray 20 loading process is as follows:

firstly, the distance between two tray conveying belts 13 is adjusted to be matched with the length of a tray 20, a stacked tray 30 is fed onto the tray conveying belt 13 at the upper material position 101, and then the tray conveying belt 13 conveys the whole stacked tray 30 to the material distributing position 102; then, the blocking module 15 on the material distributing and lifting plate 1111 of the second lifting 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 tray 30 from moving on the tray conveying belt 13.

Meanwhile, the second jacking module 111 is operated, so that the material dividing jacking plate 1111 of the second jacking module 111 abuts against the bottom end surface of the stacked tray 30 at the material dividing position 102 along the Z-axis, that is, the first sucking disc 1112 on the material dividing jacking plate 1111 adsorbs the bottom end surface of the bottommost tray 20; the material-distributing lifting plate 1111 is further lifted upwards to separate the stacking tray 30 from the tray conveying belt 13; 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 into the bottom end surface of the penultimate tray 20 of the stacked tray 30, the bottommost tray 20 is separated from other trays 20, and meanwhile, the material pressing plate 1124 is pressed against the top end surface of the uppermost tray 20; then, the material distributing and lifting plate 1111 of the second lifting module 111 is moved down to the initial position along the Z-axis, at this time, the bottom tray 20 is located on the tray conveyor 13, and the blocking block 152 is retracted, so that the bottom tray 20 can be conveyed to the positioning position 103 by the tray conveyor 13.

Finally, the positioning lifting plate 121 of the positioning piece is moved upwards along the Z axis to abut against the tray 20 at the positioning level 103, and at the moment, the convex top blocks 147 on the positioning lifting plate 121 contact with the tray 20; simultaneously, the tray positioning pins are inserted into the tray positioning holes on the bottom end surface of the tray 20 so as to position the tray 20 on the positioning and jacking plate 121; the positioning lifting plate 121 is then made to continuously lift the tray 20 upwards along the Z-axis until the tray 20 is separated from the tray conveyor 13, so that the taking mechanism 3 can grasp the tray 20 later.

The process of removing the cover plate 52 is as follows:

firstly, the carrier 51 is conveyed by the receiving conveyor 542 along the Y-axis and in a direction close to the jack, and when the carrier 51 is conveyed to be located right above the jack, the carrier jack 5431 of the jack can move up to abut against the bottom end face of the carrier 51 along the Z-axis, and meanwhile, the carrier positioning pins 5432 are inserted into the carrier positioning holes on the bottom end face of the carrier 51, so as to position the carrier 51 on the carrier jack 5431; thereafter, the carrier lift plate 5431 is continuously lifted up to the carrier 51 until the carrier 51 and the receiving conveyor 542 are separated from each other.

Then, the connector 532 is moved along the suction cap on the X-axis, and the cap removing member 533 is moved relative to the connector 532 in the Z-axis direction, so as to adjust the position of the suction cap, so that the position of the suction cap is appropriate relative to the position of the cover plate 52; then the cover sucking piece sucks the cover plate 52 and drives the cover plate 52 to be far away from the carrier 51 so as to detach the cover plate 52; when the workpiece in the carrier 51 is removed, the suction cover is moved to cover the cover plate 52 on the carrier 51, and the carrier 51 without the workpiece is output along the receiving conveyor 542 for recycling.

The sorting process of loading the workpieces into the tray 20 is as follows:

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

Then, the manipulator body 31 drives the workpiece sucking 33 to move and rotate, and the code scanner on the material taking mechanism 3 scans the two-dimensional code on the workpiece in the carrier 51 to obtain the basic information of the workpiece and the scanning information of the inspection result of shipment inspection; meanwhile, the third sucking disc for sucking the workpiece 33 sucks the workpiece in the carrier 51, and the manipulator 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 number of each buffer area on the buffer table 8.

Finally, after one of the trays 20 is fully filled with workpieces, for example, the tray 20 on the mixing conveyor belt is fully filled with mixed batch workpieces, in the second discharging module 23 and the third discharging module 24, the lifting cylinder 241 is used to drive the two-layer conveying structure to move upwards along the Z-axis, so that the transfer conveyor belt 244 of the lower conveying structure 243 of the second discharging module 23, the transfer conveyor belt 244 of the lower conveying structure 243 of the third discharging module 24, the discharging conveyor belt 251 and the mixing conveyor belt are flush, and the tray 20 on the mixing conveyor belt can be sequentially conveyed onto the discharging conveyor belt 251 by the transfer conveyor belt 244 of the lower conveying structure 243 of the second discharging module 23 and the transfer conveyor belt 244 of the lower conveying structure 243 of the third discharging module 24 and then conveyed by the discharging conveyor belt 251.

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

first, the lift motor 212 is caused to drive the take-up conveyor 211 to move downward in the Z-axis so that the take-up conveyor 211 can move downward in the Z-axis with the tray 20 full of the reject workpiece, thereby enabling the take-up conveyor 211 to be aligned with the recovery conveyor 41 in the intermediate position so that the tray 20 on the take-up conveyor 211 can be transferred onto the recovery conveyor 41.

Then, the second jacking module 111 of the stacking member 42 jacks up the two stacked trays 20 at the stacking position along the Z-axis until the two stacked trays are jacked up to the bottom end surface of the bottommost tray 20, so that the fork material plate 1122 of the stacking member 42 can be horizontally inserted, and at this time, the second jacking module 111 of the stacking member 42 moves down to the initial position along the Z-axis; meanwhile, the pallet 20 on the middle position is directly conveyed to the stacking position through the recycling conveyor belt 41, the pallet 20 conveyed to the position is positioned on the recycling conveyor belt 41, and two pallets 20 stacked before the stacking position are supported by the fork material plates 1122 of the stacking piece 42; then, the second lifting module 111 of the stacking member 42 lifts the tray 20 on the recovery conveyer 41 up to abut against the tray 20 at the bottommost layer on the fork material plate 1122 along the Z-axis, and simultaneously, the fork material plate 1122 of the stacking member 42 is retracted to the initial position; the second lifting module 111 of the stacking member 42 is then lifted up to the third tray 20 along the Z-axis direction, so that the fork plate 1122 of the stacking member 42 can be horizontally inserted into the bottom end surface of the bottom tray 20 of the three trays 20.

Finally, the above-mentioned processes are repeated until the number of the trays 20 stacked to the preset number of layers is reached, and then the whole tray 20 layers are conveyed to the receiving position by the recovery conveyer belt 41, so that the whole tray 20 layers can be directly taken away from the receiving position by a robot or manually.

The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.

Claims

1. Automatic palletizing station for sorting workpieces subjected to shipment inspection into pallets (20), characterized by comprising:

a work table (10);

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

the plate separating and discharging mechanism (2) is arranged on the workbench (10) at intervals with the tray feeding mechanism (1), the plate separating and discharging mechanism (2) comprises a disqualified collecting module (21) and a plurality of discharging modules, the disqualified collecting modules (21) are used for placing disqualified workpieces, each discharging module is used for respectively placing the qualified workpieces with different workpiece batches, and the disqualified collecting modules (21) are positioned 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 tray (20) of the tray feeding mechanism (1) onto each material discharging module and scanning the workpieces and sorting the workpieces onto the tray (20) of each material discharging module or the unqualified material receiving module (21) according to scanning information;

The plurality of discharging modules comprise a first discharging module (22) for placing workpieces in a mixed batch, a second discharging module (23) for placing workpieces in a non-main batch and a third discharging module (24) for placing workpieces in a main batch, which are sequentially arranged in parallel along a Y axis;

the plate separating and discharging mechanism (2) further comprises: 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 first discharging module (22), the second discharging module (23) and the tray (20) on the third discharging module (24);

the automatic palletizing station further comprises:

unqualified delivery module (4) set up in workstation (10) and be located the below of tray feeding mechanism (1), unqualified receipts material module (21) can follow Z axial down move to unqualified delivery module (4), so that will on unqualified receipts material module (21) tray (20) are transported to unqualified delivery module (4), unqualified delivery module (4) are used for folding and establish a plurality of tray (20) and delivery.

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

A distributing part (11) located at the distributing position (102), wherein the distributing part (11) is used for separating the stacking trays (30) singly;

the positioning piece is arranged at the positioning position (103) and is used for positioning the single tray (20) separated by the material separating piece (11) so that the material taking mechanism (3) can grasp the tray (20).

3. An automatic palletizing station according to claim 1 or 2, wherein the take-off mechanism (3) comprises:

a manipulator body (31), wherein one end of the manipulator body (31) is arranged on the workbench (10);

suction disc piece (32) and inhale work piece (33), inhale work piece (33) and be located suction disc piece (32) inboard, suction disc piece (32) with suction work piece (33) one end all with the other end drive of manipulator body (31) is connected, suction disc piece (32) with suction work piece (33) the other end can adsorb respectively tray (20) with the work piece.

4. The automatic palletizing station according to claim 1 or 2, wherein the workpieces subjected to shipment inspection are located in a carrier (51), a top end face cover of the carrier (51) is provided with a cover plate (52), the automatic palletizing station further comprising:

The cover removing mechanism (5) is arranged opposite to the tray feeding mechanism (1) on the workbench (10), the material taking mechanism (3) is arranged in an inner space (7) surrounded by the tray feeding mechanism (1), the plate separating and discharging mechanism (2) and the cover removing mechanism (5), and the cover removing mechanism (5) is used for receiving the carrier (51) and can be used for removing the cover plate (52), so that the material taking mechanism (3) can grasp workpieces in the carrier (51).

5. The automatic tray loading station according to claim 4, wherein the cover removing mechanism (5) is slidably arranged on the workbench (10) along the 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 jacking the carrier (51) along the 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).

6. The automated palletizing station as in claim 5, wherein the jacking assembly (54) comprises:

a first substrate (541) slidably mounted on the table (10) along the X-axis;

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

the jacking piece is arranged on the first base plate (541) and located between the two receiving conveyer belts (542), the jacking piece is close to the cover removing assembly (53), and the jacking piece can move upwards along the Z axis so as to lift the carrier (51) away from the receiving conveyer belts (542).

7. The automatic palletizing station as in claim 6, wherein the cap removal 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 link (532) slidably provided along the X-axis on the second substrate (531);

the cover removing device comprises a cover removing piece (533), wherein one end of the cover removing piece (533) is arranged on the connecting piece (532) in a sliding mode along the Z axis, and a cover sucking piece for sucking the cover plate (52) is arranged at the other end of the cover removing piece (533).

8. The automated palletizing station as in claim 1, further comprising:

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

9. An automatic palletizing method, characterized by the fact of being based on an automatic palletizing station according to any one of claims 1-8, comprising the following steps:

s1: the tray feeding mechanism (1) is used for feeding the tray (20) to a preset position;

s2: the material taking mechanism (3) is enabled to respectively grasp the trays (20) at the preset positions to the material discharging modules, and the trays (20) at the preset positions are enabled to be conveyed to the unqualified material receiving modules (21);

s3: and enabling the material taking mechanism (3) to scan the workpieces and sorting the workpieces to be placed on the tray (20) of each material discharging module or each unqualified material receiving module (21) according to scanning information.