WO2024036653A1

WO2024036653A1 - Automatic material-preparation system

Info

Publication number: WO2024036653A1
Application number: PCT/CN2022/114275
Authority: WO
Inventors: 江爱民; 储亚飞
Original assignee: 安徽瑞林精科股份有限公司
Priority date: 2022-08-17
Filing date: 2022-08-23
Publication date: 2024-02-22
Also published as: CN115365998A; CN115365998B

Abstract

The present invention relates to the technical field of automated production, and specifically relates to an automatic material-preparation system. The automatic material-preparation system comprises a rack, a transfer manipulator, a material table and a material preparation carrier, wherein the transfer manipulator, the material table and the material preparation carrier are all arranged on the rack; the material table and the material preparation carrier are both used for accommodating materials; and the transfer manipulator is used for transferring the materials on the material table to the material preparation carrier. The automatic material-preparation system further comprises a displacement compensation device, wherein the material preparation carrier and the transfer manipulator are jointly provided with the displacement compensation device, and the displacement compensation device automatically compensates for the position deviation of the materials in a horizontal direction caused by inclination when the transfer manipulator is inclined. In the present invention, a guide post, a pilot hole, a base, a sliding table and a plurality of springs are provided, such that when the transfer manipulator is inclined, the sliding table overcomes an elastic force of the plurality of springs and generates displacement in the horizontal direction during the process of the guide post being inserted into the pilot hole, thereby compensating for horizontal position deviation of the materials.

Description

An automatic material preparation system

Technical field

The invention relates to the technical field of automated production, specifically an automatic material preparation system.

Background technique

Precision grinding is a precision machining method, and its machining allowance is usually between 0.2mm and 0.8mm.

In an automated production line, the mechanical equipment for preparing materials for the fine grinder generally consists of three parts: a handling manipulator, a material truck, and a material preparation carrier. The specific working process of this equipment is: the materials to be finely ground are placed on the material table in advance, and the handling manipulator The material to be finely ground is picked up on the material table and transported to the material preparation carrier to detect the size data. After passing the test, the material preparation is completed and the subsequent loading equipment is waiting to put the material to be finely ground into the automated fine grinding machine.

In the material preparation process of automated production, the handling manipulator needs to accurately dock the materials to the material preparation carrier. To save installation space, the handling manipulator usually adopts a cantilever installation method. However, due to the continuous mechanical vibration and overturning moment of the manipulator installed in this way during operation, the manipulator may tilt during long-term use, thereby reducing the positioning accuracy of the manipulator and causing the material to be transported There is a position offset in the horizontal direction, and because the existing material preparation carrier is usually fixed during the operation of the transport robot, it does not have a compensation effect on the positioning accuracy of the transport robot. Therefore, the positioning accuracy of the transport robot is reduced. It may cause the material to collide and squeeze with the material preparation carrier during the transportation process, so that the material to be finely ground with a small processing margin may be damaged, and thus the accuracy requirements cannot be met in subsequent processing. In particular, This situation is more likely to occur when metal positioning components such as metal guide posts are used in the material preparation carrier, which may directly lead to the scrapping of the material.

For this purpose, an automatic material preparation system is provided.

Contents of the invention

The purpose of the present invention is to provide an automatic material preparation system that automatically compensates for the position deviation of materials in the horizontal direction through a displacement compensation device, so as to solve the problems raised in the above background technology.

In order to achieve the above objects, the present invention provides the following technical solutions:

An automatic material preparation system including:

Rack, handling robot, material table, material preparation vehicle;

The handling manipulator, material table and material preparation carrier are all arranged on the frame. The material table and material preparation carrier are used to hold materials. The handling manipulator is used to carry the materials on the material table to the material preparation carrier. superior;

Also includes:

A displacement compensation device is provided on the material preparation carrier and the transport manipulator. When the transport manipulator tilts, the displacement compensation device automatically compensates for the position deviation of the material in the horizontal direction caused by the tilt.

The displacement compensation device includes a base arranged on the frame. A slide table and a plurality of springs are movably installed in the base, and both ends of each spring are connected to the slide table and the base respectively. The material preparation carrier is installed A plurality of guide posts are installed on the top of the slide table, and a docking table is installed on the handling robot. The docking table is provided with a plurality of guide holes that cooperate with the guide posts.

Based on this solution, the basic working principle of the present invention is: first, the materials are stacked on the material table in advance, and then the materials on the material table are transported by the transport robot to the material preparation carrier, and the materials are placed on the material preparation carrier by the transport robot. During the process, the guide pillar is inserted into the guide hole in the vertical direction, thereby guiding the material preparation carrier to compensate for the horizontal displacement deviation of the material; the compensation method is specifically as follows: when the transport manipulator tilts, the horizontal position deviation of the material exists, and this The docking table is also tilted and forms an angle with its initial working position. Therefore, the axis of the guide hole also forms an angle with the original direction of the axis. At this time, when the guide post is inserted into the guide hole, the top of the guide post first contacts The hole wall of the guide hole, so during the subsequent insertion process, a mutual extrusion force will be formed between the guide hole and the guide pillar. On the one hand, the guide pillar exerts a supporting force to resist tilting of the handling manipulator through the guide hole. Then partially correct the inclination of the handling robot. On the other hand, the handling robot exerts a thrust on the sliding table through the cooperation of the guide hole, guide pillar and sliding table, so the sliding table will overcome the elastic force of multiple springs and move horizontally. The displacement direction is in a direction that makes it easier for the guide pillar to be inserted into the guide hole. This direction is exactly the same as the direction in which the material's horizontal position shifts, thereby compensating for the horizontal position shift of the material.

More specifically, taking the initial working position of the docking table as a horizontal plane and the axis direction of the guide hole as a vertical direction, as an example, when the handling robot tilts, the docking table will form an angle with the horizontal plane, so the guide hole The axis of the guide pole forms an angle with the vertical direction. Therefore, when the guide post is inserted into the guide hole, the hole wall of the guide hole and the guide post squeeze each other, causing the slide table to move against the elastic force of the spring. The slide table then drives the material preparation. When the carrier is displaced, the inclination of the handling robot itself will also be corrected to a certain extent, thereby compensating for the horizontal position deviation of the material.

It should be noted that a plurality of the through holes are arranged along a straight line, and the direction of the straight line is perpendicular to both the vertical direction and the direction of the tilt tendency of the handling robot. The reason is that when the handling robot tilts, the docking platform will also tilt. At this time, any arrangement direction different from the above direction will cause the distance between the multiple through holes to decrease, and because the distance between the guide posts is Fixed, therefore, the reduction of the spacing between the through holes will affect the cooperation between the guide posts and the through holes, and thus the cooperation between the guide posts and the guide holes. Only when multiple through holes are arranged in the above direction, the distance between the through holes will not change, thus protecting the matching relationship between the guide posts and the guide holes and ensuring the reliability and stability of the equipment.

As a preferred solution of the present invention, a through hole is provided in the docking platform, a half ratchet is installed in the through hole, the guide hole is provided on the half ratchet, and the guide hole does not pass through the rotation axis of the half ratchet. There is a groove three on the wall of the through hole, and a pawl that cooperates with the half ratchet is installed in the groove three. The cross-sectional shape of the pawl is L-shaped, and the pawl is connected to the bottom end of the groove three. Cooperate.

In this preferred solution, the rotation fulcrum of the pawl is installed at the L-shaped inflection point, and the pawl is divided into two parts with the L-shaped inflection point as the boundary, which are the claw arm part for engaging the semi-ratchet ratchet teeth and the claw arm part for engaging the semi-ratchet ratchet teeth. At the support arm part that matches the groove three. Among them, the support arm part cooperates with the groove three in such a way that the support arm is close to the side wall surface of the bottom end of the groove three and contacts the groove three. Therefore, the L-shaped shape of the pawl can realize the one-way movement of the pawl. Turn. For example, when the pawl arm of the pawl is set horizontally to the left, the support arm is set vertically downward, and the right side wall of the support arm is in contact with the bottom end of the groove, if the pawl attempts to rotate counterclockwise around its fulcrum , then the support arm will resist the bottom end of the groove so that the rotation cannot occur. On the contrary, if the pawl attempts to rotate clockwise, the rotation will not be hindered and can occur, thus realizing the one-way rotation of the pawl, that is The one-way rotation of the semi-ratchet wheel is realized.

Based on this preferred solution, when the guide post is inserted into the guide hole when the transport robot is tilted, the top of the guide post will squeeze the hole wall of the guide hole, causing the semi-ratchet to rotate in one direction until the axis direction of the guide hole is in line with the direction of the guide hole. The vertical direction is parallel. At this time, the top of the guide post no longer squeezes the hole wall of the guide hole, so the guide post can be smoothly inserted into the guide hole.

The benefit of this solution is that it can gradually adjust the axis direction of the guide hole as the handling robot gradually tilts during its work, so that the axis direction of the guide hole is always parallel to the vertical direction, which is beneficial to the guide hole. The post is inserted into the guide hole and threaded into the guide hole. If this design is not adopted, when the axis direction of the guide hole changes due to the tilt of the handling robot, since the axis direction of the guide post is always vertical, there will be an angle between the axis of the guide hole and the axis of the guide post, and The non-parallel relationship results in the guide post always having an insertion angle during the insertion into the guide hole, which affects the cooperation between the guide post and the guide hole.

It is worth mentioning that, in order to enable the pawl to be reset after the half ratchet wheel rotates, so as to realize the limiting effect on the half ratchet wheel again, a counterweight block for resetting the pawl can be installed on the bottom end of the pawl. The specific installation position of the counterweight block is the end of the support arm of the pawl away from the L-shaped inflection point. Therefore, under the gravity of the counterweight block itself, the pawl arm part of the pawl will engage with the ratchet teeth of the semi-ratchet wheel and limit At the same time, when the half ratchet rotates under the action of the guide post, the pawl also rotates. At this time, also through the gravity of the counterweight, the pawl will fall back to the position before the rotation. position to achieve reset. For example, when the semi-ratchet wheel rotates a distance of one ratchet tooth, the pawl is pushed open first, so the counterweight block rises in height through rotation, accumulating gravitational potential energy. When the semi-ratchet wheel stops rotating, the gravitational potential energy of the counterweight block drives the Its fall causes the pawl to return to its original position.

In order to explain the feasibility of using a counterweight as a reset device, it needs to be added that the tilting process of the handling manipulator occurs gradually. This process is slow and continuous. Therefore, the semi-ratchet rotates under the action of the guide column. The actions have certain intervals in time and are not frequent actions. Obviously, the reset of the pawl must occur when the guide post is inserted into the guide hole and when the handling manipulator places the material on the material preparation carrier. During the process, in order to ensure the accuracy of placement, the handling manipulator usually needs to stay above the material preparation carrier for a short period of time after placing the materials. At this time, the guide posts are still inserted into the guide holes. This residence time is about 1 to 2 seconds, which is enough time for the counterweight to fall back under the action of gravity, thereby realizing the reset of the pawl.

In addition, the reset of the pawl can also be achieved by a torsion spring. At this time, the torsion spring is sleeved and installed at the rotation fulcrum of the pawl, and the two ends of the torsion spring are connected to the bottom end of the groove and the pawl respectively. Therefore, When the pawl is pushed by the half ratchet to rotate, the torsion spring will accumulate elastic potential energy. When the half ratchet rotates a tooth distance, the pawl will rebound under the influence of the elastic potential energy of the torsion spring to achieve reset.

A lever is installed on the pawl, and a groove 1 is provided on the docking platform to cooperate with the lever. The bottom end of the groove 1 is connected with the groove 3.

By setting the lever, a way to manually release the pawl limit is provided. At this time, by moving the lever, the pawl will rotate, and the rotation of the half-ratchet will no longer be restricted. At this time, the half-ratchet can rotate on its own Under the action of gravity or manual operation by the operator, the semi-ratchet can be reset to facilitate the adjustment and maintenance of the equipment.

As a preferred solution of the present invention, the top end of the guide pillar adopts a rounded design.

The outer surface of the guide post and the wall surface of the guide hole are treated by cold work hardening process.

For the guide post and the guide hole, their matching method determines that their surfaces must frequently bear friction. Especially when the guide post pushes the semi-ratchet to rotate through the guide hole, there will also be a gap between the guide post and the guide hole during the pushing process. Concentrated and larger friction is generated in the contact area. This concentrated friction may cause damage to the surface quality of the outer surface of the guide post and the guide hole wall. When the guide post is in contact with the guide hole, it will affect the matching accuracy of the guide post and the guide hole. , resulting in shortening the life of the device of the present invention, and further causing the accuracy of the device of the present invention to compensate for horizontal position deviation to decrease, and reducing the working effect of the device.

Therefore, a chamfer design is used on the top of the guide post. On the one hand, the guide post can more easily fit with the guide hole. On the other hand, the chamfer design can prevent the guide post from pushing the half ratchet to rotate by squeezing the guide hole. During the process, the cutting effect is produced on the wall of the guide hole. At the same time, the strength of the outer surface of the guide pillar and the wall of the guide hole is improved by cold work hardening treatment on the guide pillar and guide hole, so that they can be used for a longer period of time during frequent friction fit. life.

In this preferred solution, what needs to be further introduced is that through the design of rounded corners, when the handling robot tilts, when the top of the guide post squeezes the guide hole, the squeeze between the guide post and the wall of the guide hole will The direction of the pressure is perpendicular to the wall of the guide hole and does not produce forces in other directions on the wall of the guide hole, thus avoiding the occurrence of cutting phenomena.

It is worth adding that although with the support of the above technical solutions, the displacement deviation of the material in the horizontal direction caused by the tilt of the handling robot can be compensated, however, out of consideration of the service life and working effect of the equipment, The tilt amount of the handling robot cannot exceed a specific range, that is, the tilt amount of the handling robot cannot be allowed to increase without limit. To this end, there is a groove two on the inner wall of the through hole, an alarm switch is provided in the groove two, a trigger rod that cooperates with the alarm switch is installed on the half ratchet, and the alarm switch and the control System electrical connections.

By setting the trigger rod and the alarm switch, when the angle of the half ratchet wheel exceeds the set value under the action of the guide column, the trigger rod triggers the alarm switch. At this time, the alarm switch transmits a signal to the control system, and then to the staff through the control system. An alarm is issued to remind the staff to come to perform maintenance on the handling robot and correct the tilt of the handling robot manually.

Compared with existing equipment, the present invention has the following advantages:

1. By arranging guide posts, guide holes, bases, sliding tables and multiple springs, when the handling robot tilts, during the process of inserting the guide posts into the guide holes, the top of the guide posts first contacts the wall of the guide holes, and then During the subsequent insertion process, a mutual extrusion force will be formed between the guide hole and the guide post. On the one hand, the guide post exerts a supporting force against tilting to the handling manipulator through the guide hole, thereby partially correcting the tilt of the handling manipulator. , On the other hand, the handling manipulator exerts a thrust on the sliding table through the cooperation between the guide hole, the guide pillar and the sliding table, so the sliding table will overcome the elastic force of multiple springs and shift in the horizontal direction, thereby compensating for the material horizontal position offset.

2. By arranging the half ratchet and the pawl, the present invention can gradually adjust the axis direction of the guide hole along with the gradual inclination of the handling robot during the working process, so that the axis direction of the guide hole is always parallel to the vertical direction. Therefore, it is convenient for the guide post to be inserted into the guide hole and penetrated into the guide hole.

3. Through the design of the rounded corners, when the top of the guide post is squeezing the guide hole, the direction of the extrusion force between the guide post and the guide hole wall is perpendicular to the guide hole wall and does not interfere with the guide hole wall. The guide hole wall generates forces in other directions, thus avoiding the cutting phenomenon caused by the top of the guide post on the guide hole wall, extending the life of the equipment. Furthermore, by using cold work hardening treatment on the guide post and guide hole, the guide The strength of the outer surface of the column and the wall of the guide hole enables them to obtain a longer service life during frequent friction fit processes.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention;

Figure 2 is a plan front view of the present invention;

Figure 3 is an enlarged view of part A in Figure 1;

Figure 4 is an enlarged view of part B in Figure 1;

Figure 5 is an enlarged cross-sectional view of the first specific embodiment of part C in Figure 2;

Figure 6 is an enlarged cross-sectional view of the second specific embodiment of part C in Figure 2;

Figure 7 is an observation record sheet of the first specific embodiment of the present invention;

Figure 8 is a data recording diagram of the third specific embodiment of the present invention.

In the picture: 1. Handling manipulator; 2. Material table; 3. Material preparation carrier; 4. Guide column; 5. Base; 6. Spring; 7. Docking table; 51. Slide table; 71. Pawl; 72. Concave Slot one; 73, counterweight; 74, half ratchet; 75, groove two; 76, through hole; 77, torsion spring; 711, lever; 712, groove three; 741, guide hole; 742, trigger lever ; 751, alarm switch.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

As shown in Figures 1 to 5, a first specific embodiment of the present invention is shown.

Before introducing the installation method of the present invention, a few points need to be explained: first, the handling manipulator 1 uses an existing three-axis cantilever industrial robot, and the material table 2 uses an existing material trolley; second, the handling manipulator 1 and the material table 2 and the installation position of the material preparation carrier 3 shall be arranged according to the actual production needs. Specifically, the arrangement shall be based on the handling manipulator 1 being able to transport materials from the material table 2 to the material preparation carrier 3; thirdly, the following introduction method Among them, except for the specially limited fixed installation methods, the fixed installation methods used are all threaded connections; fourthly, in order to facilitate installation, the base 5 is provided with installation slots for installing multiple springs 6 and the sliding table 51; 5. The docking station 7 adopts a split design, which is divided into two parts: the cover body and the main body, and the separation point is located at the through hole 76. The number of cover bodies is determined according to the number of through holes 76. In this embodiment, the number of cover bodies The number of through holes 76 is the same as the number of through holes 76. When the cover is separated from the main body, the through holes 76, groove one 72, groove two 75 and groove three 712 are all separated to expose the internal space to facilitate the installation of the half ratchet 74. , pawl 71 and alarm switch 751. In addition, the mounting brackets of the half ratchet 74 and the pawl 71 are pre-fabricated in the through hole 76 and the groove three 712 respectively; sixthly, the trigger rod 742 is pre-installed by welding. On the half ratchet 74, the lever 711 and the pawl 71 are manufactured together; seventhly, in this embodiment, the device for driving the pawl 71 to reset uses a counterweight block 73, and the counterweight block 73 is fixedly installed on the pawl 71 in advance. .

When the present invention is installed, first, the frame is pre-installed on the ground, then, the transport robot 1 is fixedly installed on the rack, the material table 2 is pushed to a working position where the transport robot 1 can clamp materials, and then the base is 5 is fixedly installed on the frame, and then multiple springs 6 are evenly and symmetrically installed on the side wall of the installation groove on the base 5, and then the slide 51 and the multiple springs 6 are fixedly connected at the other end of the base 5, and then, The material preparation carrier 3 is fixedly connected to the top of the slide table 51, and then the two guide pillars 4 are fixedly connected to the base 5, and the two guide pillars 4 are located on both sides of the material preparation carrier 3. At this point, the invention is completed except for the docking. Installation outside Taiwan 7.

For the docking station 7, separate the main body cover of the docking station 7, then install the alarm switch 751 into the second groove 75, and then install the pawl 71 and the half ratchet 74 to their corresponding installation supports respectively. The above operations are repeated at each through hole 76 to complete the installation of each through hole 76 and its internal components. At this point, the installation of the docking table 7 is completed. Finally, the docking table 7 is fixedly installed on the handling robot 1 , At this point, all installation of the present invention is completed.

The overall working process of the present invention is as follows: first, the handling robot 1 extends downward to the material table 2, and then, after the material on the material table 2 is clamped stably, the handling robot 1 retracts upward to a certain height, and then, The handling robot 1 then moves horizontally to the top of the material preparation carrier 3, and then extends downward to place the clamped materials on the material preparation carrier 3. During this downward extension process of the handling robot 1, the guide The column 4 is inserted into the guide hole 741, so that the slide table 51 automatically compensates for the horizontal position deviation of the material, and finally the transport robot 1 accurately places the material on the material preparation carrier 3. After completing all the above operations, the transport robot 1 times Go to the initial position and prepare for the next work cycle.

The purpose of this embodiment is to observe the resetting effect of the counterweight 73 on the pawl 71. Therefore, in order to facilitate the observation of the resetting process of the pawl 71, all cover parts of the docking station 7 are made of transparent plastic material. At the same time, The transport manipulator 1 was actively tilted in advance, and the tilt angles were set to 2°, 3°, and 4° respectively to ensure that the half ratchet 74 and the pawl 71 could rotate during the experiment. In addition, under different tilt angles, Carry out multiple material handling operations continuously so that the observation and recording results are not affected by accidental factors. The vertical arm length of the handling robot 1 is 1500mm.

The observation and recording results of the experiment are shown in Figure 7. The meanings of each symbol in the figure are:

α——the tilt angle of the handling robot 1;

x——the position offset of the material in the horizontal direction;

k——the number of teeth the half ratchet 74 rotates when the guide post 4 is inserted into the guide hole 741 .

It can be seen from the records in Figure 7 that no matter α is 2°, 3° or 4°, the pawl 71 can be reset smoothly. However, when α=4°, x=2.5mm, at this time, the horizontal displacement of the material reaches The invention presets the displacement compensation limit, so the equipment alarms to remind maintenance.

It should be noted that the counterweight 73 only relies on gravity to drive the pawl 71 to reset, so the fall time is long and the reset speed is slow. The reason is that the acceleration direction of the counterweight 73 when it falls is in the direction of the rotation speed of the pawl 71 There is an included angle between them, so the efficiency of the counterweight 73 in driving the pawl 71 to accelerate is not high.

As shown in FIGS. 1 to 4 and 6 , a second specific implementation mode of the present invention is shown. The difference between this embodiment and the first specific embodiment is that in this embodiment, the device for driving the pawl 71 to reset uses a torsion spring 77. The torsion spring 77 is sleeved and installed at the rotation fulcrum of the pawl 71, and the torsion spring The two ends of 77 are connected to the bottom end of groove three 712 and the pawl 71 respectively.

Since other experimental parameters have not changed, the observation and recording results of the experiment are the same as those in the first embodiment. However, compared to the reset scheme using the counterweight block 73, in this embodiment, the torsion spring 77 accumulates elasticity. The characteristics of potential energy, and because during the resetting process of the pawl 71, the acceleration direction provided by the torsion spring 77 to the pawl 71 is always the same as the rotation direction of the pawl 71, therefore, the torsion spring 77 drives the pawl 71 to accelerate with high efficiency. , so the resetting speed of the pawl 71 is faster. At the same time, by selecting torsion springs 77 with different elastic moduli, the resetting speed of the pawl 71 can also be set.

The third specific embodiment of the present invention is intended to explore the difference between the reset scheme of the present invention using the torsion spring 77 and the scheme using the counterweight block 73. Therefore, the tilt angle is divided more finely, respectively. Take 2°, 2.5°, 3°, 3.5° and 4° to conduct experiments on the two reset schemes respectively.

In the experiment, two devices in the first specific implementation mode and the second specific implementation mode were respectively used. The equipment in the first specific implementation mode was used as experimental group one, and the equipment in the second specific implementation mode was used as experimental group one. Group 2 conducted experiments separately. For each value of different tilt angles, multiple experiments were conducted and averaged to reduce the chance of the experiment. The data were then recorded and organized. The resulting diagram is shown in Figure 8. The meanings of the symbols in the diagram refer to the first specific embodiment of the present invention.

It can be seen from Figure 8 that when α = 2.5°, k = 3 in experimental group one, and k = 2 in experimental group two. This shows that the equipment of experimental group one uses the counterweight block 73 as the reset scheme. , which is less difficult to trigger. The reason is that in the experimental group one, in the limited space of groove three 712, the volume of the counterweight 73 is limited. Therefore, the gravity that the counterweight 73 can provide is also limited. Therefore, the half ratchet 74 overcomes It is less difficult for the pawl 71 to rotate; and the advantage of the torsion spring 77 is its small size and large torque, which can provide greater torque in the limited space of the groove three 712. Therefore, in the experimental group 2, the semi-ratchet The difficulty of 74 overcoming the pawl 71 and rotating will increase accordingly.

In this way, it can be found that the sensitivity of the experimental group 1 in responding to the tilt of the handling robot 1 is higher. Therefore, the equipment of the experimental group 1 is suitable for applications that have strict requirements on the posture of the handling robot 1, that is, the allowable tilt angle of the handling robot 1 is small. Scenes. For those scenarios where the requirements for the position and posture of the handling manipulator are not strict, the equipment of experimental group 2 can be used.

Claims

An automatic material preparation system including:

Rack, handling robot (1), material table (2), material preparation carrier (3);

The handling robot (1), material table (2) and material preparation carrier (3) are all arranged on the frame, and the material table (2) and material preparation carrier (3) are used to hold materials. The transport robot (1) is used to transport materials on the material table (2) to the material preparation carrier (3);

It is also characterized by:

A displacement compensation device is provided on the material preparation carrier (3) and the transport robot (1). When the transport robot (1) tilts, the displacement compensation device automatically compensates for the movement of the material due to the tilt. Position deviation in the horizontal direction.
An automatic material preparation system according to claim 2, characterized in that: the displacement compensation device includes a base (5) arranged on the frame, and a sliding table (51) is movably installed in the base (5). There are a plurality of springs (6), and both ends of each spring (6) are connected to the sliding table (51) and the base (5) respectively. The material preparation carrier (3) is installed on the top of the sliding table (51), so A plurality of guide posts (4) are installed on the top of the sliding table (51), a docking table (7) is installed on the transport robot (1), and a plurality of guide posts (4) are provided on the docking table (7). ) mutually matched guide holes (741).
An automatic material preparation system according to claim 2, characterized in that: a through hole (76) is provided in the docking platform (7), and a half ratchet (74) is installed in the through hole (76). The guide hole (741) is opened on the half ratchet (74), and the guide hole (741) does not pass through the rotation axis of the half ratchet (74). There are three grooves (712) on the wall of the through hole (76). , a pawl (71) that cooperates with the half ratchet (74) is installed in the groove three (712), the cross-sectional shape of the pawl (71) is L-shaped, and the pawl (71) and the groove Three (712) bottom fits.
An automatic material preparation system according to claim 3, characterized in that a plurality of the through holes (76) are arranged along a straight line, and the direction of the straight line is perpendicular to both the vertical direction and the inclination of the transport robot (1). The direction of the trend.
An automatic material preparation system according to claim 3, characterized in that a counterweight (73) for resetting the pawl (71) is installed at the bottom end.
An automatic material preparation system according to claim 3, characterized in that a torsion spring (77) is installed on the pawl (71) for resetting it.
An automatic material preparation system according to claim 5 or 6, characterized in that: a lever (711) is installed on the pawl (71), and a lever (711) is provided on the docking table (7). ) mutually matching groove one (72), the bottom end of the groove one (72) is connected with the groove three (712).
An automatic material preparation system according to claim 3, characterized in that: there are two grooves (75) on the inner wall of the through hole (76), and an alarm switch (75) is provided in the two grooves (75). 751), the half ratchet (74) is equipped with a trigger rod (742) that cooperates with the alarm switch (751), and the alarm switch (751) is electrically connected to the control system.
An automatic material preparation system according to claim 2, characterized in that: the outer surface of the guide post (4) and the wall surface of the guide hole (741) are processed by a cold work hardening process.
An automatic material preparation system according to claim 2, characterized in that the top of the guide post (4) adopts a rounded design.