WO2018094680A1

WO2018094680A1 - Full-automatic feeding production line

Info

Publication number: WO2018094680A1
Application number: PCT/CN2016/107204
Authority: WO
Inventors: 吴加富; 缪磊; 陈冉; 马纪飞; 马伟; 胡辉来; 刘成龙; 王友洁; 柳伦
Original assignee: 苏州富强科技有限公司
Priority date: 2016-11-25
Filing date: 2016-11-25
Publication date: 2018-05-31
Also published as: CN108698772A; CN108698772B

Abstract

A full-automatic feeding production line, comprising: a control system; a feeding line (500) and a return line (400) arranged side by side, a carrier (630) being conveyed on both the feeding line (500) and the return line (400); a feeding mechanism (100) for providing a fully loaded tray (115); a pick-up mechanism for taking out the fully loaded tray (115) from the feeding mechanism (100) or putting back the unloaded tray (115); and a mechanical hand mechanism (300) for transferring spare parts from the fully loaded tray (115) of the pick-up mechanism (200) to the mechanical hand mechanism (300) in the carrier (630) on the feeding line (500). The conveying direction of the feeding line (500) is opposite to that of the return line (400). The feeding line (500), the return line (400), the feeding mechanism (100), the pick-up mechanism (200), and the mechanical hand mechanism (300) are electrically connected to the control system. The production line has the effects of improving productivity, reducing the labor intensity of an operator, and ensuring safe production.

Description

Fully automatic feeding line

Technical field

The invention relates to the field of automation equipment, in particular to a fully automatic loading line.

Background technique

Statistics show that in the process of machining and assembly, the cost of the supply, loading and handling of workpieces and parts accounts for more than 1/3 of the total cost, and the labor cost accounts for more than 2/3 of the total working hours. The vast majority of accidents occur in these processes. Especially in the case of mass production, when it is required to have high productivity and short man-hours, loading is a repetitive and arduous task. Therefore, in order to improve productivity, reduce the labor intensity of operators, and ensure safe production, it is necessary to develop a fully automatic loading line to solve the above problems.

Summary of the invention

In view of the deficiencies in the prior art, it is an object of the present invention to provide a fully automatic loading line which can improve productivity, reduce labor intensity of workers, and ensure safe production.

In order to achieve the above objects and other advantages in accordance with the present invention, a fully automatic loading line is provided, comprising:

Control System;

a feeding line and a return line arranged side by side, and a carrier is transmitted on the feeding line and the return line;

a loading mechanism for providing a full loading tray;

a reclaiming mechanism for removing a fully loaded tray from the loading mechanism or returning the empty tray;

a robot mechanism for transferring parts from a full load tray of the reclaiming mechanism to a carrier on the feed line,

Wherein, the conveying direction of the feeding line is opposite to the conveying direction of the return line, and the feeding line, the return line, the feeding mechanism, the reclaiming mechanism, and the robot mechanism are all electrically connected to the control system.

Preferably, the robot mechanism comprises:

support;

a pedestal disposed on the bracket;

At least one mechanical arm rotatably coupled to the base,

Wherein, the mechanical arms are rotatably connected in series and extend above the reclaiming mechanism, and a robot is connected to the end of the mechanical arm farthest from the base.

Preferably, the return line passes under the bracket, and the robot includes:

Mount;

a mounting plate rotatably coupled to the mounting bracket;

At least one set of nozzle assemblies fixed under the mounting plate,

Wherein, the mounting frame is mounted with a photographing assembly, the photographing assembly and the nozzle assembly are disposed opposite to the mounting bracket, and the nozzle assembly and the photographing assembly are electrically connected to the control system.

Preferably, the nozzle assembly comprises:

a lifting cylinder fixed to the mounting plate;

a nozzle driven by the lift cylinder,

Wherein the nozzle comprises a cylinder having an internal gas passage and a mating nozzle integrally contacting the cylinder, the mating nozzle comprising an end portion and a skirt portion, the skirt portion being at the end The end portion integrally joins the end portion and extends downward from the outer circumference of the end portion.

Preferably, the feed line comprises:

Feeding guide rail, the feeding guide rail is provided with a loading station, a waiting station, and a conveying station in sequence along the conveying direction thereof;

a carrier disposed on the feed rail and conveyed by the feed rail;

a positioning jacking mechanism disposed at a loading station of the feeding rail,

Wherein the positioning jacking mechanism is located directly below the feed rail, and the positioning jacking mechanism is electrically connected to the control system.

Preferably, the loading position is provided with a first position sensor, a first blocking cylinder, and the waiting position is provided with a second position sensor, a third position sensor and a second blocking cylinder. a fourth position sensor is disposed on the transfer station, and the first position sensor, the first blocking cylinder, the second position sensor, the third position sensor, the second blocking cylinder, and the fourth position sensor are both Electrically connected to the control system, the first blocking cylinder and the second blocking cylinder are selectively movable up and down.

Preferably, the positioning jacking mechanism comprises:

a positioning frame comprising a bottom wall, front and rear side walls disposed on the front and rear sides of the bottom wall; and

a jacking platform supported by the bottom wall of the positioning frame,

Wherein, the left and right ends of the front side wall and the rear side wall are respectively fixed with a stop block, and the stop block includes a vertical portion and a horizontal portion which are integrally connected, and the level of the four stop blocks The lower surface is on the same level.

Preferably, the first position sensor is located at a side of the jacking platform, and is configured to sense whether there is a carrier on the jacking platform, and the first blocking cylinder is disposed on the jacking platform. The right side is for blocking or releasing the carrier on the jacking platform, and the second position sensor and the third position sensor are used to sense whether there is a carrier on the waiting station, and the second blocking A cylinder is located on the right side of the third position sensor for blocking or releasing the carrier on the waiting station, and the fourth position sensor is for sensing whether there is a carrier on the transfer station.

Preferably, the reclaiming mechanism comprises:

Retrieval rack;

a clamping assembly disposed on the take-up rack,

Wherein the feeding rail passes through the take-up rack.

Compared with the prior art, the invention has the following beneficial effects:

1. Since the feeding line is arranged side by side with the return line, the conveying direction of the feeding line is opposite to the conveying direction of the return line, so that when the carrier placed on the feeding line is filled with the parts to be assembled Can be transported downstream along the feed line until the idle carrier is obtained, and the idle carrier can be transported back along the return line and returned to the feed line for loading and transport;

2. Since the robot includes a nozzle assembly and a photographing assembly, the nozzle assembly can photograph and position the suction position while sucking, so that the suction position can be accurately positioned, and whether the parts to be assembled can be satisfied. The conditions of the suction are judged to further ensure the success rate of the suction;

3. Since there are a plurality of position sensors and blocking cylinders on the loading station, the waiting station, and the transfer station, the transmission position and state of the feeding line carrier can be accurately controlled;

4. Since the lower surfaces of the horizontal portions of the four stop blocks are on the same horizontal surface, the carrier on the jacking platform and the four stop blocks are tightened to accurately adjust the load when the jacking platform is raised. Flat levelness for further feeding accuracy;

5. As the feed rail passes through the take-up rack, thereby improving the overall compactness of the device At the same time, it can further reduce the occupied size of the overall equipment.

DRAWINGS

Figure 1 is a three-dimensional structural view of a fully automatic loading line in accordance with the present invention;

2 is a three-dimensional structural view of another view of the fully automatic loading line according to the present invention;

3 is a three-dimensional structural view of a robot mechanism in a fully automatic loading line according to the present invention;

4 is a three-dimensional structural view of a nozzle assembly and a photographing assembly in a fully automatic loading line according to the present invention;

Figure 5 is a three-dimensional structural view of the inverted mouth of the mating nozzle in the fully automatic loading line according to the present invention;

Figure 6 is a three-dimensional structural view of a feed line in a fully automatic loading line according to the present invention;

Figure 7 is a three-dimensional structural view of the reclaiming mechanism in the fully automatic loading line according to the present invention;

Figure 8 is a three-dimensional structural view of the loading mechanism in the fully automatic loading line according to the present invention;

Figure 9 is an exploded view of the loading mechanism in the fully automatic loading line according to the present invention;

Figure 10 is a three-dimensional structural view of the reclaiming mechanism and the loading mechanism in the fully automatic loading line according to the present invention;

Figure 11 is a three-dimensional structural view of the take-up mechanism of the fully automatic loading line according to the present invention when the take-up mechanism is taken out from the loading mechanism;

Figure 12 is a three-dimensional structural view of the feeding line and the reclaiming mechanism in the fully automatic loading line according to the present invention;

Figure 13 is a three-dimensional structural view of the positioning jacking mechanism in the fully automatic loading line according to the present invention;

Figure 14 is a three-dimensional structural view of a fully automatic loading line stop block in accordance with the present invention.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings, The features, aspects, and advantages will become more apparent so that those skilled in the art can.

Referring to Figures 1, 2 and 10, the fully automatic loading line 10 comprises:

Control System;

Work platform 11;

The feeding line 500 and the return line 400 are arranged side by side, and the carrier 630 is transported on both the feeding line 500 and the return line 400;

a loading mechanism 100 for providing a full loading tray 115;

a reclaiming mechanism 200 for taking out the full loading tray 115 from the loading mechanism 100 or returning it to the empty loading tray 115;

A robot mechanism 300 for transferring components from the full load tray 115 of the take-up mechanism 200 to the carrier 630 on the feed line 500,

The conveying direction of the feeding line 500 is opposite to the conveying direction of the return line 400, and the feeding line 500, the return line 400, the loading mechanism 100, the reclaiming mechanism 200, and the robot mechanism 300 are all electrically connected to the control system.

Referring to Figure 3, the mechanical handset 300 includes:

Bracket 310;

a pedestal 320 disposed on the bracket 310;

At least one mechanical arm rotatably coupled to the base 320,

Wherein, the mechanical arms are rotatably connected in series and extend above the reclaiming mechanism 200, and the robot 350 is connected to the end of the mechanical arm farthest from the pedestal 320. In one embodiment, the mechanical arm is provided with two segments, which are a first mechanical arm 330 and a second mechanical arm 340 in sequence, and a robot 350 is connected to the end of the second mechanical arm 340.

Referring to FIG. 2, the return line 400 passes under the bracket 310. Referring to FIG. 4, the robot 350 includes:

Mount;

a mounting plate 354 rotatably coupled to the mounting bracket;

At least one set of nozzle assemblies 356 secured to the mounting plate 354,

Wherein, the mounting frame 360 is mounted on the mounting bracket, and the shooting assembly 360 and the nozzle assembly 356 are mounted thereon. With respect to the mounting relative arrangement, the nozzle assembly 356 and the imaging assembly 360 are all electrically coupled to the control system. In a preferred embodiment, the mounting bracket includes a vertical plate 351 and a horizontal plate 352 that are perpendicularly connected to each other, and an L-shaped reinforcing rib 353 is fixed at a corner of the vertical plate 351 and the horizontal plate 352, and the horizontal plate 352 A detachable and rotatably connected end is mounted with a mounting plate 354. The left and right ends of the mounting plate 354 are respectively fixed with a vertical downward fixing plate 355. The inner sides of the two fixing plates are respectively fixed with a set of nozzle assemblies 356.

Referring again to Figures 4 and 5, the nozzle assembly 356 includes:

a lifting cylinder fixed to the fixing plate 355 on the mounting plate 354;

a suction nozzle 357 driven by the lifting cylinder,

Wherein, the suction nozzle 357 includes a cylinder 357a having an air passage therein and a mating nozzle 357b integrally contacting the cylinder. The mating nozzle 357b includes an end portion and a skirt portion 357c at which the skirt portion 357c is The end portion integrally joins the end portion and extends downward from the outer circumference of the end portion.

Referring to Figures 6 and 12, the feed line 600 includes:

a carrier 630 disposed on the feed rail and transported by the feed rail;

a positioning jacking mechanism 600 disposed at a loading station of the feeding rail,

Wherein, the positioning jacking mechanism 600 is located directly below the feeding rail, and the positioning jacking mechanism 600 is electrically connected to the control system. In a preferred embodiment, the feeding rail includes a left rail 610 and a right rail 620 which are disposed in parallel with each other and have a certain distance. The left rail 610 and the right rail 620 are respectively provided with a left conveyor belt 612 and a right conveyor belt 622, and a left rail. The end surface 611 of the 610 and the end surface 621 of the right rail 620 are both horizontal planes. The left conveyor belt 612 and the right conveyor belt 622 are synchronously driven by the conveyor motor 650. The carrier 630 is placed on the left conveyor belt 612 and the right conveyor belt 622, and is supported by the left conveyor belt 612. And the right conveyor belt 622 is transmitted together.

Referring to FIG. 6, a first position sensor 671 and a first blocking cylinder 672 are disposed at the loading station, and a second position sensor 673, a third position sensor 674, and a second are disposed on the waiting station. Blocking the cylinder 675, the transfer station is provided with a fourth position sensor 676, a first position sensor 671, a first blocking cylinder 672, a second position sensor 673, a third position sensor 674, and a second blocking cylinder. 675 and the fourth position sensor 676 are electrically connected to the control system, the first blocking cylinder 672 and The second blocking cylinder 675 is selectively movable up and down to block or release the carrier 630 at its respective station.

Referring to Figure 13, the positioning jacking mechanism 600 includes:

a positioning frame comprising a bottom wall 661, front side walls 661b and rear side walls 661a provided on the front and rear sides of the bottom wall 661;

The jacking platform 663 supported by the bottom wall 661 of the positioning frame is driven by the jacking drive 662 to lift and lower.

The left and right ends of the front side wall 661b and the rear side wall 661a are respectively fixed with stop blocks 664, 665, and the stop block includes a vertical portion and a horizontal portion which are integrally connected, and four stop blocks 664 The lower surface of the horizontal portion of 665 is on the same level. Referring to Figure 14, a preferred embodiment of the stop block 665 of Figure 14 includes a vertical portion 665a and a horizontal portion 665b, the lower surface of the horizontal portion 665b being a horizontal surface, and further, the front side of the horizontal portion 665b is integrated The fixed limit arm 665c, the lower surface of the limit arm 665c is at the same level as the lower surface of the horizontal portion 665b, and further, the lower surfaces of the

limit arms

664c, 665c of the four stop blocks are at the same horizontal plane. on.

With reference to FIG. 6 and FIG. 12 , the first position sensor 671 is located on the side of the jacking platform 663 for sensing whether there is a carrier 630 on the jacking platform 663 , and the first blocking cylinder 672 is disposed on the jacking platform 663 . On the right side, it is used to block or release the carrier 630 on the jacking platform 663. The second position sensor 673 and the third position sensor 674 are used to sense whether there is a carrier 630 on the waiting station, and the second block The cylinder 675 is located on the right side of the third position sensor 674 for blocking or releasing the carrier 630 on the waiting station, and the fourth position sensor 676 is for sensing whether there is a carrier 630 on the transfer station. .

Referring to Figures 7 and 12, the reclaim mechanism 200 includes:

a rack 210 having a take-up platform 217,

The left and right ends of the top of the rack 210 are respectively provided with a left rail 215 and a right rail 216. The left rail 215 and the right rail 216 are separated by a certain distance to form a take-out passage 218 between the two, and the take-up passage 218 The width is greater than the width of the tray. The take-up channel 218 is provided with a clamping assembly 220 and a driving assembly 230. The clamping assembly 220 can be reciprocated in the reclaiming channel 218 under the driving of the driving assembly 230, and the clamping assembly 220 and the driving unit are driven. Components 230 are each electrically coupled to the control system. In an embodiment, the frame 210 is composed of a horizontal bottom frame 211, a vertical support frame 212, and a horizontal top frame. The 213 is connected in sequence, and the horizontal bottom frame 211, the vertical support frame 212, and the horizontal top frame 213 are fixed into an integrated U-shaped structure, and the front side of the vertical support frame 212 is also fixed with the reinforcing plate 214. The feeding guide 600 passes through the take-up rack 210, which can further save space, improve the compactness of the overall equipment, reduce the movement stroke of the robot mechanism, and improve the loading efficiency.

Referring again to FIG. 7, the left side rail 215 and the right side rail 216 are respectively provided with a left guiding groove 215a and a right guiding groove 216a. The left guiding groove 215a and the right guiding groove 216a are on the same horizontal plane, and the left guiding groove 215a and the right guiding groove 216a are respectively provided. Used to support and guide the tray to reciprocate in the take-up passage 218.

Referring to Figure 7, the gripping assembly 220 includes:

a clamp rail 221 parallel to the left rail 215 or the right rail 216;

a clamp slider 222 matched with the clamp rail 221;

a clamp mount 223 fixed to the clamp slider 222;

a clamp 224 mounted on the front end of the clamp mount 223,

Wherein, the clamp rail 221 is used for supporting and guiding the clamp slider 222 to reciprocate horizontally. The top surface of the clamp rail 221 is below the plane of the left guide groove 215a and the right guide groove 216a, and the clamp 224 is electrically connected to the control system. In a preferred embodiment, the front and rear ends of the clamp rail 221 are respectively provided with a front buffer column 226 and a rear buffer column 225 opposite to the clamp slider 222, so that the clamp slider 222 can be buffered when moving to the front and rear ends. The force buffers the speed of movement, which can reduce the working life of each component while reducing the running noise. In a preferred embodiment, the front side of the front and rear edges of the clamp rail 221 is respectively provided with a front end position sensor 221a and a rear end position sensor 221b for sensing the position of the clamp slider 222, and the front end position sensor 221a and the rear end position sensor 221b are both The control system is electrically connected so that the position of the movement of the clamp slider 222 can be accurately positioned to ensure the accuracy of the transmission position and braking.

The drive component 230 includes:

a drive guide post 231 disposed on the side of the clamp rail 221;

a drive slider 232 sleeved over the drive guide post 231;

a driver for driving the sliding of the drive slider 232,

The drive guide post 231 is parallel to the clamp rail 221, and the top end of the drive guide post 231 is lower than the plane of the left guide groove 215a and the right guide groove 216a, and the drive slider 232 is fixedly connected to the clamp mounting seat 223. Electrically coupled to the control system.

Referring again to FIG. 7, the front end of the take-up channel 218 is provided with a front end photosensor 228 for sensing the end edge position of the full-load tray or the front end edge position of the empty tray, and the end of the take-up channel 218 is provided. There is a terminal photosensor 227 for sensing the front end edge position of the full load tray or the end edge position of the empty tray. Both the front end photosensor 228 and the end photosensor 227 are electrically connected to the control system.

Referring to Figures 8 and 9, the loading mechanism 100 includes:

a bin tray 120 on which a magazine box 110 is supported; a vertical lifting mechanism 140 for supporting and guiding the bin tray 120 to selectively lift and lower;

a horizontal moving mechanism 130 for supporting and guiding the vertical lifting mechanism 140 to selectively slide horizontally,

Wherein, the magazines 110 are disposed side by side in the horizontal sliding direction of the vertical lifting mechanism 140, and the vertical lifting mechanism 140 and the horizontal moving mechanism 130 are electrically connected to the control system. For ease of marking, only one magazine bin 110 is shown in Figures 1, 2 and 3, but this does not hinder the understanding of those skilled in the art. In one embodiment, the magazine box 110 is a hollow box surrounded by mutually parallel left wall 112, right wall 113, and mutually parallel top wall 111 and bottom wall 117, and the left wall 112 and the right wall 113 are A plurality of horizontally disposed chutes 112a and chutes 113a are disposed on the inner side such that a plurality of trays 115 carrying the components to be assembled are stacked in the magazine compartment 110 from top to bottom. In one embodiment, the discharge opening of the magazine compartment 110 is disposed on the front side of the magazine compartment 110, and the rear side of the magazine compartment 110 is provided with two vertically disposed levers 114.

Referring to Figure 9, the bin tray 120 includes:

a flat tray body 121;

At least two cushions 121a provided on the lower surface of the tray main body 121,

The tray main body 121 is provided with a left placement slot 122 and a right placement slot 123 for placing the magazine compartment 110.

Referring to Figure 9, the horizontal movement mechanism 130 includes:

a flat support plate 131;

At least one horizontal rail disposed on the support plate 131;

At least one driving cylinder disposed on a side of the horizontal rail,

Wherein, the driving direction of the driving cylinder is parallel to the extending direction of the horizontal rail. In In a preferred embodiment, the horizontal rails are provided in parallel and at intervals, which are respectively a front horizontal rail 131b and a right horizontal rail 131a. The structure of the double rails can make the vertical lifting mechanism 140 slip more smoothly. In a preferred embodiment, the driving cylinder is provided with two parallel and mutually parallel, respectively a front driving cylinder 132 and a rear driving cylinder 133. The front driving cylinder 132 and the rear driving cylinder 133 are respectively disposed on the front horizontal rail 131b and the right horizontal level. On the side of the guide rail 131a, a double-drive cylinder can provide a more efficient driving force, and the two cylinders respectively disposed on the side of the front horizontal rail 131b and the right horizontal rail 131a can cause the driving cylinder to push the vertical lifting mechanism 140 more smoothly. . In one embodiment, the front drive cylinder 132 and the rear drive cylinder 133 are respectively fixed to the support plate 131 by two fixing seats 136.

Referring to Figure 9, the vertical lifting mechanism 140 includes:

a top plate 148 mated with the horizontal rail;

a bottom plate 141 disposed under the top plate 148;

a lifting drive assembly for driving the bottom plate 141 to lift; and

At least two guide shafts disposed between the top plate 148 and the bottom plate 141,

Wherein, the guide shaft passes through the top plate 148 and the bottom thereof is fixed to the bottom plate 141, and the top plate 148 is reciprocally slidable on the horizontal rail under the driving of the driving cylinder. In a preferred embodiment, the top plate 148 is mated with the front horizontal rail 131b and the right horizontal rail 131a by four mating sliders 149 attached thereto. In a preferred embodiment, the guide shaft is provided with four guide shafts 142, a guide shaft 143, a guide shaft 144 and a guide shaft 145, and are respectively disposed at four corners of the bottom plate 141. Further, the guide shaft 142 The guide shaft 143, the guide shaft 144 and the guide shaft 145 are respectively sleeved with a sliding sleeve 142a, a sliding sleeve 143a, a sliding sleeve 144a and a sliding sleeve 145a, and the sliding sleeve 142a, the sliding sleeve 143a, the sliding sleeve 144a and the sliding sleeve 145a are respectively The top plate 148 is fixed. In a preferred embodiment, the left side of the top plate 148 is fixed with two front and rear opposing front transmission blocks 148b and a rear transmission block 148a. The power output end 132a of the front drive cylinder 132 and the power output end 133a of the rear drive cylinder 133 are respectively The front drive block 148b and the rear drive block 148a are fixed to each other, so that the front drive cylinder 132 and the rear drive cylinder 133 slide the front drive block 148b and the rear drive block 148a to drive the slip of the top plate 148, thereby driving the entire The slip of the vertical lifting mechanism 140.

Referring to Figure 9, the lift drive assembly includes:

a ball screw shaft 147 connected to the bottom plate 141 after passing through the top plate 148;

a spindle nut 147d and a coupling 147a sleeved on the ball screw shaft 147;

a drive motor 147b for driving the ball screw shaft 147 to rotate about the axis,

The screw nut 147d is fixed to the top plate 148, the coupling 147a is fixed to the bottom plate 141, and the driving motor 147b is connected to the ball screw shaft 147 through the coupling 147a. In a preferred embodiment, the ball screw shaft 147 is disposed at the center of the top plate 148 and the bottom plate 141. Accordingly, the screw nut 147d and the coupling 147a are also disposed at the centers of the top plate 148 and the bottom plate 141, respectively.

Referring to Fig. 9, the support plate 131 is provided with a screw guide groove 131d, a guide shaft guide groove 131c, a guide shaft guide groove 131e, a ball screw shaft 147, and a guide for allowing the ball screw shaft 147 and the guide shaft to pass and horizontally slide. The shaft is supported by the bottom of the bin tray 120 after passing through the support plate 131. In a preferred embodiment, the top end of the ball screw shaft 147 is sleeved with a bearing sleeve 147c, and the bearing sleeve 147c is fixed to the lower surface of the tray body 121. When the driving motor 147b drives the ball screw shaft 147 to rotate about the axis, the ball screw shaft 147 and the spindle nut 147d rotate relative to each other, so that the ball screw shaft 147 moves up and down in the vertical direction due to the ball screw shaft 147 and The bottom plate 141 is fixedly connected, so that the ball screw shaft 147 drives the bottom plate 141 to lift and lower, which in turn drives the lifting and lowering of the guide shaft fixed to the bottom plate 141, and finally causes the material supported by the ball screw shaft 147 and the guide shaft. The lifting and lowering of the box tray 120.

In a preferred embodiment, the left and right ends of the horizontal rail are respectively provided with a left end position sensor 134 and a right end position sensor 135, and the left end position sensor 134 and the right end position sensor 135 are electrically connected to the control system, and the left end position sensor is further connected. A buffer cylinder is provided on both the 134 and the right end position sensor 135.

Referring to FIG. 9, a lifting height sensing assembly is disposed between the bin tray 120 and the bottom plate 141, and the lifting height sensing assembly includes:

An inductor mounting plate 146 coupled between the lower surface of the bin tray 121 and the upper surface of the bottom plate 141;

a top limit sensor 146a, an origin sensor 146b, and a bottom limit sensor 146c disposed on the inductor mounting plate 146 from top to bottom;

An inductive receiver 148c disposed on the top plate 148,

The top limit sensor 146a is disposed at an upper portion of the sensor mounting plate 146, and the bottom end limit sensor 146c is disposed at a lower portion of the sensor mounting plate 146. The top limit sensor 146a, the origin sensor 146b, and the bottom limit sensor 146c are disposed. And an inductive receiver 148c is electrically coupled to the control system.

In a preferred embodiment, if the distance between the top limit sensor 146a and the origin sensor 146b is assumed to be X, and the distance between the bottom limit sensor 146c and the origin sensor 146b is Y, then X>Y, And X: Y = 4: 1 ~ 6: 1. During the lifting process of the vertical lifting mechanism 140, the inductive receiver 148c can selectively sense the top limit sensor 146a, the origin sensor 146b, the bottom limit sensor 146c, and the inductive receiver 148c, and sequentially determine the height, The judgment signal is fed back to the control system, thereby facilitating the control system to make the lift height control.

As described above, the magazine tray 120 is provided with two magazines 110 filled with components to be assembled, and the reclaiming device takes out a tray 115 filled with the components to be assembled each time from the magazine 110. When the left placement slot 122 is in the loading station, the drive motor 147b drives the magazine tray 120 up and fixed each time the take-up device takes out a full load tray 115 and places the empty tray back to the magazine compartment 110. The height is convenient for the take-up device to take out the next full load tray 115, and so on to reciprocate the cycle until all the components to be assembled in the magazine 110 on the left placement slot 122 are taken. At this time, the drive cylinder drives the magazine tray 120. Sliding a certain distance to the left until the right placement slot 123 is at the loading station, repeating the above-described reclaiming operation until all the components to be assembled in the magazine 10 are removed, and the left loading slot 122 is replaced. The magazine 110 is circulated and reciprocated until all the components to be assembled in the magazine 110 are taken.

10 and FIG. 11 each show a three-dimensional structural view of the reclaiming mechanism 200 and the loading mechanism 100 according to the present invention. The gripping assembly 220 of FIG. 2 is located at the front end of the reclaiming passage 218, and is in a material to be reclaimed. In the station, the gripping assembly 220 in Fig. 3 is located at the end of the reclaiming passage 218 and is at the reclaiming completion station.

Referring to FIG. 10 and FIG. 11 , the loading mechanism 100 is provided with a tray 120. The tray 120 is provided with two storage slots, which are a left placement slot 122 and a right placement slot 123, and a left placement slot 122 and a right placement slot 123. A magazine box 110 loaded with a tray 115 to be assembled is placed. For ease of marking, only one magazine box 110 is shown in FIGS. 1, 2 and 3, but this does not hinder this. The understanding of the skilled person in the field. The gripping assembly 220 is moved back and forth between the front end and the end of the take-up channel 218 to selectively remove the tray 115 of the fully loaded component from the magazine bin 110 to a designated station, or to place an empty tray 115. The cycle is repeated until all the components to be assembled in the magazine 110 are completely processed or assembled. When one of the magazines 110 is taken out, for example, the magazine 110 in the left slot 122 is taken out. After that, the loading mechanism 100 transfers the cartridge magazine 110 in the right placement slot 123. Go to the reclaiming station to carry out the reclaiming operation until the end of the retreating, and replace the empty magazines 110 in the left placement slot 122 with the upper and lower full-loading empty magazines 110, so that the reciprocating of all the cartridges is repeated. The parts to be assembled in the tank 110 are taken out.

Referring to FIG. 12, when the loading station of the feed rail detects the carrier 630, the first blocking cylinder 672 is raised to stop the carrier 630, and the positioning jacking mechanism 600 starts to work, and the jacking platform 663 will The carrier 630 thereon is jacked up and clamped with the stop blocks 664, 665. Since the lower surfaces of the stop blocks 664, 665 are at the same level, the upper surface of the carrier 630 can be adjusted to the same horizontal plane. Upper, thereby further improving the feeding accuracy; when the gripping assembly 220 takes out a tray 115 carrying the parts to be assembled, the shooting assembly 360 and the nozzle assembly 356 are rotated a certain angle directly above the tray 115, the tray 115 There are a plurality of acupuncture points for placing the parts, and the photographing component 360 compares the parts on each acupoint while the nozzle assembly 356 is translating, and determines whether the position status of the parts on each acupuncture point is normal, if The normal nozzle assembly 356 begins to pick up the parts on the acupoint and transfer it to the carrier 630 of the feed rail. When the carrier 630 is full, the first blocking cylinder 672 is lowered, and the jacking platform 663 is slowly lowered. Falling straight Reposition the carrier 630 to the

conveyor belt

612 and 622, parts of the carrier loaded with the transmission line 630 for conveyance down assembly, and so forth cycle, until the transfer of all the parts to be assembled to the carrier 630.

The number of devices and processing scales described herein are intended to simplify the description of the present invention. Applicability, modifications, and variations of the present invention will be apparent to those skilled in the art.

Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the embodiments, and are fully applicable to various fields suitable for the present invention, and can be easily made by those skilled in the art. The invention is not limited to the specific details and the details shown and described herein, without departing from the scope of the appended claims.

Claims

A fully automatic loading line, characterized in that it comprises:

Control System;

a feeding line and a return line arranged side by side, and a carrier is transmitted on the feeding line and the return line;

a loading mechanism for providing a full loading tray;

a reclaiming mechanism for removing a fully loaded tray from the loading mechanism or returning the empty tray;

a robot mechanism for transferring parts from a full load tray of the reclaiming mechanism to a carrier on the feed line,

Wherein, the conveying direction of the feeding line is opposite to the conveying direction of the return line, and the feeding line, the return line, the feeding mechanism, the reclaiming mechanism, and the robot mechanism are all electrically connected to the control system.
The fully automatic loading line of claim 1 wherein said robot mechanism comprises:

support;

a pedestal disposed on the bracket;

At least one mechanical arm rotatably coupled to the base,

Wherein, the mechanical arms are rotatably connected in series and extend above the reclaiming mechanism, and a robot is connected to the end of the mechanical arm farthest from the base.
A fully automatic loading line according to claim 2, wherein said return line passes underneath said bracket, said robot comprising:

Mount;

a mounting plate rotatably coupled to the mounting bracket;

At least one set of nozzle assemblies fixed under the mounting plate,

Wherein the mounting frame is mounted with a photographing assembly, the photographing assembly and the nozzle assembly being The mounting brackets are oppositely disposed, and the nozzle assembly and the photographing assembly are electrically connected to the control system.
The fully automatic loading line of claim 3 wherein said nozzle assembly comprises:

a lifting cylinder fixed to the mounting plate;

a nozzle driven by the lift cylinder,

Wherein the nozzle comprises a cylinder having an internal gas passage and a mating nozzle integrally contacting the cylinder, the mating nozzle comprising an end portion and a skirt portion, the skirt portion being at the end The end portion integrally joins the end portion and extends downward from the outer circumference of the end portion.
The fully automatic loading line of claim 1 wherein said feed line comprises:

Feeding guide rail, the feeding guide rail is provided with a loading station, a waiting station, and a conveying station in sequence along the conveying direction thereof;

a carrier disposed on the feed rail and conveyed by the feed rail;

a positioning jacking mechanism disposed at a loading station of the feeding rail,

Wherein the positioning jacking mechanism is located directly below the feed rail, and the positioning jacking mechanism is electrically connected to the control system.
The fully automatic loading line according to claim 5, wherein the loading position is provided with a first position sensor, a first blocking cylinder, and the waiting position is provided with a second position sensor a third position sensor and a second blocking cylinder, wherein the transmitting station is provided with a fourth position sensor, the first position sensor, the first blocking cylinder, the second position sensor, and the third position sensor The second blocking cylinder and the fourth position sensor are both electrically connected to the control system, and the first blocking cylinder and the second blocking cylinder are selectively movable up and down.
A fully automatic loading line according to claim 6 wherein said positioning jacking machine The structure includes:

a positioning frame comprising a bottom wall, front and rear side walls disposed at front and rear sides of the bottom wall;

a jacking platform supported by the bottom wall of the positioning frame,

Wherein, the left and right ends of the front side wall and the rear side wall are respectively fixed with a stop block, and the stop block includes a vertical portion and a horizontal portion which are integrally connected, and the level of the four stop blocks The lower surface is on the same level.
The fully automatic loading line according to claim 7, wherein the first position sensor is located at a side of the jacking platform for sensing whether there is a carrier on the jacking platform. The first blocking cylinder is disposed on a right side of the jacking platform for blocking or releasing a carrier on the jacking platform, and the second position sensor and the third position sensor are configured to sense the waiting Whether there is a carrier on the workstation, the second blocking cylinder is located on the right side of the third position sensor for blocking or releasing the carrier on the waiting station, and the fourth position sensor is used for A sensor is sensed on the transfer station.
A fully automatic loading line according to claim 5, wherein said reclaiming mechanism comprises:

Retrieval rack;

a clamping assembly disposed on the take-up rack,

Wherein the feeding rail passes through the take-up rack.