CN116161436B - Three-station storage stacking disc system and stacking method thereof - Google Patents
Three-station storage stacking disc system and stacking method thereof Download PDFInfo
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- CN116161436B CN116161436B CN202310096738.1A CN202310096738A CN116161436B CN 116161436 B CN116161436 B CN 116161436B CN 202310096738 A CN202310096738 A CN 202310096738A CN 116161436 B CN116161436 B CN 116161436B
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000012546 transfer Methods 0.000 claims description 203
- 238000001514 detection method Methods 0.000 claims description 29
- 239000000463 material Substances 0.000 claims description 27
- 230000000007 visual effect Effects 0.000 claims description 27
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 238000011179 visual inspection Methods 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 239000002699 waste material Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000013072 incoming material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
- B65G57/24—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The invention relates to the technical field of transformer storage and conveying equipment, in particular to a three-station storage and stacking system and a stacking method thereof.
Description
Technical Field
The invention relates to the technical field of transformer storage and conveying equipment, in particular to a visual detection disc stacking machine.
Background
Along with the rapid development of social economy, various automatic equipment is applied to various industries, the transformers need to be stacked and stored in the production process and transported and conveyed through a conveying line, a temporary storage mechanism is not arranged in a stacking unit in the current market, and when backlog of a conveying bus or maintenance and front-end or rear-end working procedures are suspended, the whole production line is stopped, so that the production efficiency is reduced.
Disclosure of Invention
To achieve the above object, the present invention provides a three-station storage palletizing system, comprising:
the first mechanism comprises a first manipulator, a visual detection assembly and at least one first material tray transferring assembly;
the second mechanism comprises a direct vibration transmission rail, a second manipulator and at least one second material tray transfer assembly;
the temporary storage mechanism is arranged between the first mechanism and the second mechanism and comprises a first temporary storage frame and a second temporary storage frame which are arranged in an arrangement mode, and the first temporary storage frame and the second temporary storage frame can stack the trays;
the conveying mechanism comprises a conveying line, a first conveying table and a second conveying table, the first conveying table and the second conveying table can move reciprocally along the conveying line, the conveying line sequentially penetrates through the first mechanism, the temporary storage mechanism and the second mechanism, the first conveying table can move between the first mechanism and the second temporary storage frame, and the second conveying table can move between the second mechanism and the first temporary storage frame;
the first transfer table can move along the conveying line between the visual detection assembly and the first tray transfer assembly, the first manipulator is used for transferring workpieces from a first station to the visual detection assembly and transferring the workpieces from the visual detection assembly to the first transfer table, the second transfer table can move along the conveying line between the second tray transfer assembly and the direct vibration conveying track, and the second manipulator is used for transferring workpieces from the second transfer table to the direct vibration conveying track.
In some possible implementations, the visual detection assembly includes a placement seat and an area array camera, wherein the placement seat and the area array camera are arranged at an upper-lower interval, the area array camera is arranged vertically downwards and is located above the placement seat, two positioning clamping jaws are further arranged at the upper end of the placement seat, and the two positioning clamping jaws are both connected with a clamping driving source.
In some possible implementations, the first tray transfer assembly includes a first bracket, a first push-pull unit and a second push-pull unit, a first sliding rail is disposed on the first bracket, and the first push-pull unit and the second push-pull unit are disposed on the first bracket from bottom to top at intervals.
In some possible implementations, the first push-pull unit includes a first moving plate, one end of the first moving plate is connected with a first horizontal driving source, the other end of the first moving plate is provided with a first vertical driving source, and the first vertical driving source is arranged vertically upwards and the output end of the first vertical driving source is connected with a first push-pull block.
In some possible implementations, the second push-pull unit includes a second moving plate, one end of the second moving plate is connected with a second horizontal driving source, the other end of the second moving plate is provided with a second vertical driving source, and the second vertical driving source is arranged downward along the vertical direction and the output end of the second vertical driving source is connected with a second push-pull block.
In some possible implementations, the second tray transferring assembly includes a second support and a pushing plate, a second sliding rail is disposed on the second support, a third horizontal driving source is disposed on the second support, an output end of the third horizontal driving source is connected with a moving part, a third vertical driving source is fixedly disposed on the moving part, and the pushing plate is connected to an output end of the third vertical driving source.
In some possible implementations, the first temporary storage frame/the second temporary storage frame includes a storage tank that is vertically and rotatably disposed above the conveying line, and lifting plates are disposed on two opposite sides of the storage tank and connected to a two-axis linkage driving source, and the two-axis linkage driving source can drive the lifting plates to reciprocate vertically and reciprocate horizontally.
In some possible implementations, the first transfer table/the second transfer table includes a moving seat and a supporting seat disposed on the moving seat, the moving seat is connected with a linear driving source and driven by the linear driving source to reciprocate on the conveying line, a jacking driving source is connected to the bottom of the supporting seat, a baffle plate and a clamping plate are respectively disposed on two opposite sides of the supporting seat, and the clamping plate is connected with a clamping driving source.
The invention also provides a stacking method which is realized on the three-station storage stacking disc system and comprises the following steps:
s100, the first transfer table takes empty trays from the first temporary storage frame/the second temporary storage frame and transfers the empty trays to a position between the visual detection assembly and the first tray transfer assembly along a conveying line;
s200, the first manipulator takes the workpiece from the first station and transfers the workpiece to the visual detection assembly, and after the visual detection assembly performs visual detection on the workpiece, the first manipulator transfers the workpiece to the first transfer table;
s300, after the trays on the first transfer table are fully loaded, the first tray transfer assembly transfers the fully loaded trays from the first transfer table to the second station or temporarily stores the fully loaded trays to the first temporary storage frame/the second temporary storage frame by the first transfer table, and the first transfer table correspondingly takes empty trays from the second temporary storage frame/the first temporary storage frame;
s400, loading the workpieces on the material trays after the production of the second station is completed, conveying the fully loaded material trays at the second station to a second conveying table by a second material tray conveying assembly, conveying the fully loaded material trays to a position corresponding to one end of a direct vibration conveying rail along a conveying line by the second conveying table, temporarily storing the fully loaded material trays at a second temporary storage frame/a first temporary storage frame by the second conveying table, and receiving the material trays from the second material tray conveying assembly;
s500, the second manipulator transfers the workpiece on the second transfer table to the direct vibration conveying track, and the direct vibration conveying track transfers the workpiece to the third station until the material tray on the second transfer table is an empty material tray;
s600, the second transfer table temporarily stores the empty trays to the first temporary storage frame/the second temporary storage frame.
Compared with the prior art, the invention has the beneficial effects that: the three-station material storage disc system can convey the incoming material workpieces of the first station to the second station through the first material disc conveying component, and also can convey and temporarily store the incoming material workpieces to the first temporary storage frame/the second temporary storage frame through the first conveying table, the incoming material workpieces of the second station are conveyed to the second conveying table through the second material disc conveying component, the second conveying table temporarily stores the workpieces to the second temporary storage frame/the first temporary storage frame, or the workpieces on the second conveying table are conveyed to the third station through the second mechanical arm and the direct vibration conveying rail, the first conveying table can also take empty material discs from the first temporary storage frame/the second temporary storage frame, and the second conveying table can stack the empty material discs to the first temporary storage frame/the second temporary storage frame, so that temporary storage of full-load material discs and automatic recycling of the empty material discs can be realized, the risk of stopping a production line due to suspension of a conveying bus, the front end or the rear end is reduced, and the production efficiency of the production line is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a three-dimensional block diagram of a three-station storage palletizing system provided by an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of a first tray transferring assembly according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a second mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a temporary storage mechanism according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a transfer mechanism according to an embodiment of the present invention.
Reference numerals:
a first mechanism 10; a first robot 11; a visual inspection assembly 12; a placement base 121; an area-array camera 122; positioning the clamping jaw 123; a clamp driving source 124; a first tray transfer assembly 13; a first bracket 131; a first push-pull unit 132; a first movable plate 1321; a first horizontal driving source 1322; a first vertical driving source 1323; a first push-pull block 1324; a second push-pull unit 133; a second moving plate 1331; a second horizontal driving source 1332; a second vertical driving source 1333; a second push-pull block 1334; a first slide rail 134; a first base 14;
a second mechanism 20; a direct-vibration transfer rail 21; a second robot 22; a second tray transfer assembly 23; a second bracket 231; a push plate 232; a second slide rail 233; a third horizontal driving source 234; a mover 235; a third vertical driving source 236; a second base 24;
a temporary storage mechanism 30; a first temporary storage rack 31; a second temporary storage rack 32; a storage tank 301; a lifting plate 302; a biaxial linkage driving source 303;
a first transfer table 41; a second transfer table 42; a conveying line 43; a movable seat 401; a support base 402; a linear drive source 403; a lift-up driving source 404; a baffle 405; a clamping plate 406; clamping drive source 407.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The terms "first" and "second" are used below for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present disclosure, unless otherwise indicated, the meaning of "a plurality" is two or more.
Referring to the three-station stacker tray system shown in fig. 1, it includes first mechanism 10, second mechanism 20, temporary storage mechanism 30 and transfer mechanism, temporary storage mechanism 30 is disposed between first mechanism 10 and second mechanism 20, first mechanism 10 includes first manipulator 11, visual inspection assembly 12 and first tray transfer assembly 13, second mechanism 20 includes second manipulator 22, direct vibration transfer rail 21 and second tray transfer assembly 23, temporary storage mechanism 30 includes first temporary storage shelf 31 and second temporary storage shelf 32 disposed in line, first temporary storage shelf 31 is disposed close to first mechanism 10, second temporary storage shelf 32 is disposed close to second mechanism 20, first temporary storage shelf 31 and second temporary storage shelf 32 can both stack trays, transfer mechanism includes conveying line 43, first transfer shelf 41 and second transfer shelf 42, wherein one end of conveying line 43 extends between visual inspection assembly 12 and first tray transfer assembly 13, another end of conveying line 43 extends between direct vibration transfer rail 21 and second tray transfer assembly 23, first transfer shelf 41 and second transfer shelf 42 can both move temporary storage shelf 31 and second temporary storage shelf 32 along first transfer line 43 and second temporary storage shelf 31/second temporary storage shelf 32 to take out temporary storage shelf 32 from first temporary storage shelf 31/second temporary storage shelf 32; specifically, the first transfer table 41 firstly takes an empty tray from the first temporary storage frame 31/the second temporary storage frame 32 and transfers the empty tray along the conveying line 43 to a position close to the visual detection assembly 12/the first manipulator 11, the first manipulator 11 transfers the workpiece from the first station to the visual detection assembly 12, the visual detection assembly 12 performs visual detection on the workpiece, the first manipulator 11 transfers the workpiece after the detection is completed and places the workpiece at the empty tray on the first transfer table 41, after the tray is full of the workpiece, the first tray transfer assembly 13 can transfer the full tray to the second station, or the first transfer table 41 temporarily stores the full tray at the first temporary storage frame 31/the second temporary storage frame 32, and the first transfer table 41 correspondingly takes the empty tray from the second temporary storage frame 32/the first temporary storage frame 31 for the next working cycle; after the production and assembly of the second station, the workpieces are placed on the trays, the second tray transfer assembly 23 transfers the trays fully loaded on the second station to the second transfer table 42, the second transfer table 42 transfers the fully loaded trays to the position close to the direct vibration transfer rail 21, the second manipulator 22 conveniently grabs the workpieces on the second transfer table 42 and transfers the workpieces to the direct vibration transfer rail 21, the workpieces are transferred to the third station through the direct vibration transfer rail 21, the second manipulator 22 repeatedly works and circulates until the workpieces on the second transfer table 42 are taken, until the trays on the second transfer table 42 are empty trays, and the second transfer table 42 transfers the empty trays along the transfer line 43 and temporarily stores the empty trays to the first temporary storage frame 31/the second temporary storage frame 32, so that the first transfer table 41 is convenient to take and use.
In some possible implementations, referring to the first mechanism 10 shown in fig. 2, it includes a first base 14, a first manipulator 11, a visual detection assembly 12 and a first tray transferring assembly 13 are all installed on the first base 14, the visual detection assembly 12 includes a placement seat 121 and an area array camera 122 that are disposed at intervals up and down, the area array camera 122 is disposed vertically downward and above the placement seat 121, the area array camera 122 may be electrically connected to an external visual detection system, the visual detection system may be of a design that is conventional in industry and is not included in the scope of the present invention, a specific implementation principle is not repeated herein, two positioning clamping jaws 123 are further disposed at an upper end of the placement seat 121, each of the two positioning clamping jaws 123 is connected to a clamping driving source 124, the first manipulator 11 transfers a workpiece onto the placement seat 121, the clamping driving source 124 drives the two positioning clamping jaws 123 to move relatively close to clamp the workpiece, so as to ensure that the area array camera 122 can accurately photograph the workpiece, the positioning clamping jaws 123 release the workpiece after completion, and the first manipulator 11 transfers the workpiece onto the first tray 41.
It should be noted that, the first base 14 should be further provided with a waste storage area, where the waste storage area is disposed on a moving path of the first manipulator 11, and the workpiece with unqualified visual inspection may be transferred to the waste storage area by the first manipulator 11.
In some possible implementations, referring to the first tray transfer assembly 13 shown in fig. 3, the first tray transfer assembly 13 includes a first bracket 131 fixedly installed on the first base 14, a first push-pull unit 132 and a second push-pull unit 133 are disposed on the first bracket 131, the first push-pull unit 132 is located below the second push-pull unit 133, a first slide rail 134 is further disposed on the first bracket 131, the first push-pull unit 132 is used for transferring a tray from the first transfer table 41 to the first slide rail 134, the second push-pull unit 133 transfers the tray from the first slide rail 134 to the second station, specifically, the first push-pull unit 132 includes a first moving plate 1321, one end of the first moving plate 1 is connected with a first horizontal driving source 1322, the other end of the first moving plate 1321 is provided with a first vertical driving source 1323, the first vertical driving source 1323 is disposed vertically upwards, and an output end of the first push-pull block 1324 is connected with the first push-pull block 1323, the first vertical driving source 1323 can drive the first push-pull block 1324 vertically upwards so that the first push-pull block 1324 can be moved from the first slide rail 134 to the second station, and then the first push-pull block 1324 is reset to the first horizontal driving source 1324 to the first slide rail 1324; still further, the second push-pull unit 133 includes a second moving plate 1331, one end of the second moving plate 1331 is connected with a second horizontal driving source 1332, the other end of the second moving plate 1331 is provided with a second vertical driving source 1333, the second vertical driving source 1333 is vertically upwards arranged, the output end of the second vertical driving source 1333 is connected with a second push-pull block 1334, all or part of the material disc is located behind the first sliding rail 134, the first push-pull block 1324 moves downwards to avoid the second push-pull block 1334, the second vertical driving source 1333 drives the second push-pull block 1334 to vertically downwards move, the second push-pull block 1334 can be abutted to the side edge of the material disc, which is close to the first transfer table 41, and the second horizontal driving source 1332 is started and horizontally moves the material disc out of the first sliding rail 134 through the second push-pull block 1334.
In still other cases, the first push-pull block 1324 may also be moved to a side of the tray away from the first transfer table 41, so as to prevent the tray from falling from the first slide rail 134 due to the sliding, and when the tray needs to be transferred from the first slide rail 134 to the second station, the first vertical driving source 1323 drives the first push-pull block 1324 to move downward to avoid the tray, and the second push-pull block 1334 can only move the tray from the first slide rail 134.
In some possible implementations, referring to the second mechanism 20 shown in fig. 4, the second mechanism includes a second base 24, a direct vibration transmission rail 21, a second manipulator 22 and a second tray transfer assembly 23 are all installed on the base, where the second tray transfer assembly 23 includes a second bracket 231 fixedly installed on the second base 24, a second sliding rail 233 is provided on the second bracket 231, a tray can slide on the second sliding rail 233 from a second procedure to the second transfer table 42, a third horizontal driving source 234 is provided on the second bracket 231, an output end of the third horizontal driving source 234 is connected with a moving member 235, a third vertical driving source 236 is fixedly provided on the moving member 235, the third vertical driving source 236 is vertically downward arranged, an output end of the third vertical driving source 236 is connected with a pushing plate 232, the third vertical driving source 236 drives the pushing plate 232 to move downward to one side of the tray, and the third horizontal driving source 234 drives the pushing plate 232 to move horizontally to push the tray on the second sliding rail 233; in this embodiment, the direct vibration transmission rail 21 may be of a conventional design and structure in the industry, and is usually connected to a direct vibrator at the lower end of the conveying rail, and the direct vibrator drives the conveying rail to vibrate reciprocally so as to drive the workpiece to move along the conveying rail.
In some possible implementation manners, referring to the temporary storage mechanism 30 shown in fig. 5, which is disposed above the conveying line 43, the first temporary storage rack 31 and the second temporary storage rack 32 may be disposed in the same structure, each of the first temporary storage rack and the second temporary storage rack includes a vertically penetrating storage tank 301, and lifting plates 302 are disposed on opposite sides of the storage tank 301, specifically, the lifting plates 302 are connected to two-axis linkage driving sources 303, the two-axis linkage driving sources 303 may adopt a conventional design and structure in industry, the two-axis linkage driving sources 303 may drive the lifting plates 302 to reciprocate vertically and reciprocate horizontally, and the two-axis linkage driving sources 303 may be synchronously opened and closed, so as to drive the two lifting plates 302 to synchronously move to lift or discharge a tray.
When empty trays need to be taken out from the first temporary storage frame 31/the second temporary storage frame 32, the first transfer table 41 is transferred to the lower part of the first temporary storage frame 31/the second temporary storage frame 32, the two-axis linkage driving source 303 drives the lifting plates 302 to move downwards, so that the lowest tray of the storage tank 301 is placed on the first transfer table 41, the two lifting plates 302 are far away in the horizontal direction to loosen the lowest tray, the tray is lifted by one tray height distance and the second tray is clamped and lifted from bottom to top, at this time, the lowest tray is separated from the trays stacked in the storage tank 301, and the first transfer table 41 can move downwards along the conveying direction and transfer the empty trays to the first mechanism 10; when it is required to temporarily store full trays or stack empty trays, the two lifting plates 302 are lifted synchronously to make the first transfer table 41/second transfer table 42 move to a space below the first temporary storage frame 31/second temporary storage frame 32, then the two lifting plates 302 are lowered and stack the trays in the storage tank 301 onto the first transfer table 41/second transfer table 42, the lifting plates 302 are lowered by a distance of one tray height, then the lowermost tray is clamped and lifted, so that the tray is separated from the first transfer table 41/second transfer table 42, and the first transfer table 41/second transfer table 42 can move along the conveying line 43.
In some possible implementations, referring to the transfer mechanism shown in fig. 6, the transfer mechanism includes a transfer line 43, a first transfer table 41 and a second transfer table 42, where the transfer line 43 sequentially penetrates the first mechanism 10, the temporary storage mechanism 30 and the second mechanism 20, and the transfer line 43 is located below the temporary storage mechanism 30, where the first transfer table 41 and the second transfer table 42 can reciprocate on the transfer line 43, and the first transfer table 41 and the second transfer table 42 can adopt the same structural design, and each of them includes a moving seat 401 and a support seat 402 disposed on the moving seat 401, where the moving seat 401 is connected with a linear driving source 403, where the linear driving source 403 drives the moving seat 401 to reciprocate on the transfer line 43, and where a jacking driving source 404 is connected to the bottom of the support seat 402, where the jacking driving source 404 is used to drive the support seat 402 to vertically move up and down to adjust the height of the support seat 402, so as to ensure that the tray can be horizontally transferred onto the first slide rail 134 or from the second slide rail 233 onto the support seat 402. Of course, the supporting seat 402 can also lift the trays stacked in the storage tank 301 to cooperate with the lifting plate 302 to take or stack the trays; the two opposite sides of the supporting seat 402 are also provided with a baffle 405 and a clamping plate 406, the clamping plate 406 is connected with a clamping driving source 407, the clamping driving source 407 can drive the clamping plate 406 to move horizontally on the supporting seat 402 towards a direction close to or far away from the baffle 405, and the baffle 405 and the clamping plate 406 are matched so as to clamp and position the material tray on the supporting seat 402, so that the first manipulator 11/the second manipulator 22 can conveniently and accurately transfer workpieces onto the material tray or accurately take workpieces from the material tray.
In some possible implementations, two first tray transfer assemblies 13 are disposed side by side on the first base 14, and two second tray transfer assemblies 23 are disposed side by side on the second base 24, for the purpose of improving the efficiency of tray transfer from the first mechanism 10 to the second station/tray transfer from the second station to the second mechanism 20, and for ensuring that the three-station storage tray system of the present invention can also operate normally in the event of failure of one of the first tray transfer assemblies 13/second tray transfer assemblies 23, avoiding a shutdown.
It should be noted that, in all the embodiments described above, the first manipulator 11 and the second manipulator 22 may be designed and configured conventionally in industry, and a gripper structure is generally used to grip a workpiece, and the gripper structure is connected to the horizontal driving mechanism and the vertical driving mechanism, so that the gripper structure can reciprocate horizontally and reciprocate up and down.
Furthermore, the temporary storage mechanism 30 further comprises a third temporary storage frame, the third temporary storage frame is arranged between the first temporary storage frame 31 and the second temporary storage frame 32, the third temporary storage frame is only used for placing empty trays, the first temporary storage frame 31 can temporarily store trays fully loaded on the first transfer table 41, the second temporary storage frame 32 can temporarily store trays fully loaded on the second transfer table 42, at the moment, the system of the invention has better risk resistance and wire stopping avoidance capability, and can effectively solve the problem that the first station, the second station and the third station stop wires temporarily at one time or two times.
The invention also provides a stacking method which can be realized on the three-station storage stacking disc system, and the stacking method specifically comprises the following steps:
s100, the first temporary storage frame 31/second temporary storage frame 32 is stored with empty trays, the first transfer table 41 moves to the lower part of the first temporary storage frame 31/second temporary storage frame 32 along the conveying line 43, an empty tray is taken from the first temporary storage frame 31/second temporary storage frame 32, then the first transfer table 41 drives the empty tray to move between the visual detection assembly 12 and the first tray transfer assembly 13 along the conveying line 43, and the first manipulator 11 waits for loading workpieces one by one onto the empty tray;
s200, the first manipulator 11 takes the workpiece from the first station and transfers the workpiece to the visual detection assembly 12, the visual detection assembly 12 performs visual detection on the workpiece, after detection, the first manipulator 11 transfers qualified products to a tray of the first transfer table 41, unqualified workpieces are transferred to a waste storage area, and the step S200 can be repeated for a plurality of times until the tray on the first transfer table 41 is fully loaded with the workpiece;
s300, after the tray on the first transfer table 41 is fully loaded, the first transfer table 41 transfers the tray to a position corresponding to the first tray transfer assembly 13 along the conveying line 43, the first transfer assembly transfers the fully loaded tray from the first transfer table 41 to the second station, when the tray to be transferred is still on the first transfer assembly or the second station is suspended, the first transfer table 41 can also transfer the fully loaded tray to the lower part of the first temporary storage frame 31/the second temporary storage frame 32 and temporarily store the fully loaded tray to the bottommost part of the first temporary storage frame 31/the second temporary storage frame 32, and after the second station continues to work or the first transfer assembly is empty, the temporarily stored tray is transferred from the first temporary storage frame 31/the second temporary storage frame 32 to the position corresponding to the first tray transfer assembly 13 through the first transfer table 41, and the fully loaded tray is removed by the first tray transfer assembly 13; when the first station is suspended, the first transfer table 41 can also take the temporarily stored full-load trays from the first temporary storage frame 31/the second temporary storage frame 32, and continuously feed the second station, and when the trays fully loaded after being temporarily stored at the bottommost part of the first temporary storage frame 31/the second temporary storage frame 32, the first transfer table 41 can correspondingly take the empty trays from the bottommost part of the other temporary storage frame, so that the problem of line stop of a production line is avoided;
s400 workpieces are loaded on the trays after the production of the second station is completed, the second tray transfer assembly 23 transfers the trays fully loaded at the second station to the second transfer table 42, the second transfer table 42 transfers the trays fully loaded to one end of the direct vibration transfer rail 21 along the transfer line 43, when the third station is suspended, the second transfer table 42 can also transfer the trays fully loaded to the lower part of the second temporary storage frame 32/the first temporary storage frame 31 and temporarily store the trays fully loaded to the bottommost part of the second temporary storage frame 32/the first temporary storage frame 31, and after the third station continues to work, the second transfer table 42 takes out the trays temporarily stored from the second temporary storage frame 32/the first temporary storage frame 31; or when the second station is suspended, the second transfer table 42 can also take the temporarily stored full-load tray from the second temporary storage frame 32/the first temporary storage frame 31 to continue to feed the third station, and the empty tray can also be correspondingly temporarily stored to another temporary storage frame, so that the problem of line stop of the production line is avoided.
S500, the second manipulator 22 transfers the workpieces on the second transfer table 42 to the direct vibration transfer rail 21 one by one, the workpieces can be transferred from the direct vibration transfer rail 21 to the third station, and the step S500 can be repeated for a plurality of times until a material tray on the second transfer table 42 is empty;
s600, the second transfer table 42 temporarily stores the empty trays to the first temporary storage frame 31/the second temporary storage frame 32, so that the first transfer table 41 is convenient to take, and then the second transfer table 42 receives the full trays from the second tray transfer assembly 23.
It should be noted that, the first mechanism 10 and the second mechanism 20 may work simultaneously, and the present invention adopts two temporary storage frames to effectively solve the problem of stopping one of the first station, the second station, and the third station.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the present invention is not limited thereto, but any changes or substitutions within the technical scope of the present invention should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A three-station storage palletizing system, comprising:
a first mechanism (10) comprising a first manipulator (11), a visual inspection assembly (12) and at least one first tray transfer assembly (13);
a second mechanism (20) comprising a direct-vibration transfer rail (21), a second manipulator (22) and at least one second tray transfer assembly (23);
the temporary storage mechanism (30) is arranged between the first mechanism (10) and the second mechanism (20) and comprises a first temporary storage frame (31) and a second temporary storage frame (32) which are arranged in a row, and the first temporary storage frame (31) and the second temporary storage frame (32) can stack trays;
the conveying mechanism comprises a conveying line (43), a first conveying table (41) and a second conveying table (42), the first conveying table (41) and the second conveying table (42) can move reciprocally along the conveying line (43), the conveying line (43) sequentially penetrates through the first mechanism (10), the temporary storage mechanism (30) and the second mechanism (20), the first conveying table (41) can move between the first mechanism (10) and the second temporary storage frame (32), and the second conveying table (42) can move between the second mechanism (20) and the first temporary storage frame (31);
the first tray transfer assembly (13) comprises a first bracket (131), a first push-pull unit (132) and a second push-pull unit (133), wherein a first sliding rail (134) is arranged on the first bracket (131), and the first push-pull unit (132) and the second push-pull unit (133) are arranged on the first bracket (131) at intervals from bottom to top;
the first push-pull unit (132) comprises a first movable plate (1321), one end of the first movable plate (1321) is connected with a first horizontal driving source (1322), the other end of the first movable plate (1321) is provided with a first vertical driving source (1323), the first vertical driving source (1323) is arranged upwards along the vertical direction, and the output end of the first vertical driving source is connected with a first push-pull block (1324);
the second push-pull unit (133) comprises a second movable plate (1331), one end of the second movable plate (1331) is connected with a second horizontal driving source (1332), the other end of the second movable plate (1331) is provided with a second vertical driving source (1333), the second vertical driving source (1333) is arranged downwards along the vertical direction, and the output end of the second vertical driving source is connected with a second push-pull block (1334);
wherein, first transfer platform (41) can follow conveyer line (43) remove to between visual inspection subassembly (12) and first charging tray transfer subassembly (13), first manipulator (11) are used for with the work piece from first station transfer to visual inspection subassembly (12) and with the work piece from visual inspection subassembly (12) transfer to on first transfer platform (41), second transfer platform (42) can follow conveyer line (43) remove to between second charging tray transfer subassembly (23) and direct vibration transfer track (21), second manipulator (22) are used for with the work piece from second transfer platform (42) transfer to on direct vibration transfer track (21).
2. The three-station storage stacking tray system according to claim 1, wherein the visual detection assembly (12) comprises a placement seat (121) and an area array camera (122) which are arranged at intervals up and down, the area array camera (122) is arranged downwards vertically and is located above the placement seat (121), two positioning clamping jaws (123) are further arranged at the upper end of the placement seat (121), and the two positioning clamping jaws (123) are both connected with a clamping driving source (124).
3. The three-station storage stacking tray system according to claim 1, wherein the second tray transfer assembly (23) comprises a second bracket (231) and a pushing plate (232), a second sliding rail (233) is arranged on the second bracket (231), a third horizontal driving source (234) is arranged on the second bracket (231), the output end of the third horizontal driving source (234) is connected with a moving part (235), a third vertical driving source (236) is fixedly arranged on the moving part (235), and the pushing plate (232) is connected to the output end of the third vertical driving source (236).
4. The three-station storage stacking tray system according to claim 1, wherein the first temporary storage rack (31)/the second temporary storage rack (32) comprises a storage tank (301) which is vertically arranged above the conveying line (43) in a penetrating mode, lifting plates (302) are arranged on two opposite sides of the storage tank (301), the lifting plates (302) are connected with a two-shaft linkage driving source (303), and the two-shaft linkage driving source (303) can drive the lifting plates (302) to reciprocate vertically and reciprocate horizontally.
5. The three-station storage stack tray system according to claim 1, wherein the first transfer table (41)/the second transfer table (42) comprises a movable seat (401) and a supporting seat (402) arranged on the movable seat (401), the movable seat (401) is connected with a linear driving source (403) and driven by the linear driving source (403) to reciprocate on the conveying line (43), a jacking driving source (404) is connected to the bottom of the supporting seat (402), a baffle plate (405) and a clamping plate (406) are respectively arranged on two opposite sides of the supporting seat (402), and the clamping plate (406) is connected with a clamping driving source (407).
6. A stacking method implemented on the three-station storage palletizer system according to any one of claims 1 to 5, comprising:
s100, a first transfer table (41) takes empty trays from the first temporary storage frame (31)/second temporary storage frame (32) and transfers the empty trays to a position between the visual detection assembly (12) and the first tray transfer assembly (13) along a conveying line (43);
s200, the first manipulator (11) takes the workpiece from the first station and transfers the workpiece to the visual detection assembly (12), and after the visual detection assembly (12) performs visual detection on the workpiece, the first manipulator (11) transfers the workpiece to the first transfer table (41);
s300, after the trays on the first transfer table (41) are fully loaded, the first tray transfer assembly (13) transfers the fully loaded trays from the first transfer table (41) to the second station or the first transfer table (41) temporarily stores the fully loaded trays to the first temporary storage frame (31)/second temporary storage frame (32), and the first transfer table (41) correspondingly takes empty trays from the second temporary storage frame (32)/first temporary storage frame (31);
s400 workpieces are loaded on the trays after the production of the second station is finished, the second tray transfer assembly (23) transfers the trays fully loaded at the second station to the second transfer table (42), the second transfer table (42) transfers the trays fully loaded to a position corresponding to one end of the direct vibration transfer rail (21) along the transfer line (43) or the second transfer table (42) temporarily stores the trays fully loaded to the second temporary storage frame (32)/the first temporary storage frame (31), and then the trays are received from the second tray transfer assembly (23);
s500, the second manipulator (22) transfers the workpiece on the second transfer table (42) to the direct vibration conveying track (21), and the direct vibration conveying track (21) transfers the workpiece to the third station until the material tray on the second transfer table (42) is an empty material tray;
s600 the second transfer table (42) temporarily stores the empty trays to the first temporary storage frame (31)/the second temporary storage frame (32).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310096738.1A CN116161436B (en) | 2023-02-06 | 2023-02-06 | Three-station storage stacking disc system and stacking method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310096738.1A CN116161436B (en) | 2023-02-06 | 2023-02-06 | Three-station storage stacking disc system and stacking method thereof |
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| CN116161436A CN116161436A (en) | 2023-05-26 |
| CN116161436B true CN116161436B (en) | 2023-11-14 |
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| US6338607B1 (en) * | 1996-05-03 | 2002-01-15 | Arrowhead Systems Llc | Pallet and top frame handler for a palletizer |
| TW201520535A (en) * | 2013-11-21 | 2015-06-01 | King Yuan Electronics Co Ltd | Automatic checking and packing equipment for trays with chips |
| CN110654856A (en) * | 2019-10-31 | 2020-01-07 | 苏州富强科技有限公司 | Circulation feeding system |
| CN113264382A (en) * | 2021-04-27 | 2021-08-17 | 博众精工科技股份有限公司 | Temporary storage mechanism |
| CN216072066U (en) * | 2021-08-05 | 2022-03-18 | 广东拓斯达科技股份有限公司 | Automatic feeding and discharging equipment for detecting machine |
| CN114408563A (en) * | 2021-12-27 | 2022-04-29 | 深圳市创新特科技有限公司 | Board collecting and releasing machine with temporary storage function and sharing tray and box |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2715455C (en) * | 2009-09-25 | 2015-04-28 | Johnsen Machine Company Ltd. | Palletizing system and method |
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2023
- 2023-02-06 CN CN202310096738.1A patent/CN116161436B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6338607B1 (en) * | 1996-05-03 | 2002-01-15 | Arrowhead Systems Llc | Pallet and top frame handler for a palletizer |
| TW201520535A (en) * | 2013-11-21 | 2015-06-01 | King Yuan Electronics Co Ltd | Automatic checking and packing equipment for trays with chips |
| CN110654856A (en) * | 2019-10-31 | 2020-01-07 | 苏州富强科技有限公司 | Circulation feeding system |
| CN113264382A (en) * | 2021-04-27 | 2021-08-17 | 博众精工科技股份有限公司 | Temporary storage mechanism |
| CN216072066U (en) * | 2021-08-05 | 2022-03-18 | 广东拓斯达科技股份有限公司 | Automatic feeding and discharging equipment for detecting machine |
| CN114408563A (en) * | 2021-12-27 | 2022-04-29 | 深圳市创新特科技有限公司 | Board collecting and releasing machine with temporary storage function and sharing tray and box |
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|---|---|
| CN116161436A (en) | 2023-05-26 |
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