CN108861543A - A kind of loading and unloading system and method - Google Patents
A kind of loading and unloading system and method Download PDFInfo
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- CN108861543A CN108861543A CN201810689772.9A CN201810689772A CN108861543A CN 108861543 A CN108861543 A CN 108861543A CN 201810689772 A CN201810689772 A CN 201810689772A CN 108861543 A CN108861543 A CN 108861543A
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- chain type
- pallet
- line equipment
- pipeline unit
- type flow
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Specific Conveyance Elements (AREA)
Abstract
This application provides a kind of loading and unloading system and methods, for improving the efficiency of product loading and unloading.This method includes pallet, and for carrying product, the shape of the pallet is adapted with the fixture of robot device；The robot device, for clamping the pallet, being moved in test device and unload the pallet in the test device for the pallet, wherein the test device is used to test the performance of the product.
Description
Technical field
This application involves loading and unloading technical field more particularly to a kind of loading and unloading system and methods.
Background technique
Currently, some products need to be tested by test device, to determine whether product closes after completing production
Lattice, this just needs for product to be transferred to from assembly line in corresponding test device, which is the feeding process of product, is surveying
Trial assembly is set to after product test completion, may also be moved again to product on assembly line from test device, which is
The blanking process of product, here it is the loading and unloading processes of product.For example, needing after air-conditioner control box production by air-conditioning
Control box is transferred in test device from assembly line, and test device tests air-conditioner control box, determines air-conditioner control box
It is whether qualified, after testing, also air-conditioner control box is moved again on assembly line from test device.Wherein, empty
Regulating and controlling box processed is the product for controlling air-conditioning.
Currently, the loading and unloading process of product is realized mainly by manual type.Continue by taking air-conditioner control box as an example,
After air-conditioner control box produces, air-conditioner control box is lifted down from assembly line by manual type, and place test device
On, after testing, then pass through manual type and take off the air-conditioner control box that test is completed from test device, again
It is placed on assembly line and transports, this just completes the loading and unloading of air-conditioner control box test process.
Obviously, for the loading and unloading process of existing product by being accomplished manually, efficiency is lower.
Summary of the invention
The embodiment of the present application is by providing a kind of loading and unloading system and method, for improving the efficiency of product loading and unloading.
In a first aspect, a kind of loading and unloading system is provided, including：
Pallet, for carrying product, the shape of the pallet is adapted with the fixture of robot device；
The robot device, for clamping the pallet, being moved in test device and unload institute for the pallet
State the pallet in test device, wherein the test device is used to test the performance of the product.
In the embodiment of the present application, the fixture of robot device and the shape of pallet are adapted, in this way, the folder of robot device
Tool can get up tray clamps, possibly even move pallet, can place product on pallet, then robot device can pass through
The mode of mobile pallet realizes the movement of product, product can be moved in test device, or by product from test device
On unload, realize automation product is moved in test device, without human intervention, improve the effect of product loading and unloading process
Rate, while saving human cost.
Optionally, the pallet includes mating hole, and the mating hole is used to be embedded in the fixture of the robot device, so that
It obtains the robot device and clamps the pallet.
In the embodiment of the present application, fixture is placed in mating hole, and mating hole can reduce the materials of pallet relatively, to drop
The cost of low pallet.
Optionally, the pallet further includes limited block, and the limited block is used to fix the product of the pallet carrying.
Limited block is added, product is fixed on pallet by limited block, and product is avoided to slide or fall on pallet.
Optionally, the loading and unloading system further includes at least one chain type flow-line equipment for transporting the pallet,
Wherein, each chain type flow-line equipment at least one described chain type flow-line equipment includes the first chain type stream disposed in parallel
Waterline component and the second chain type pipeline unit, the first chain type pipeline unit and the second chain type pipeline unit are done
The linear motion of opposite direction.
Chain type flow-line equipment can reduce manual labor within the scope of the clamping of palletized transport to robot device,
The recycling of pallet, while chain type flowing water may be implemented in the first chain type pipeline unit and the second chain type pipeline unit simultaneously
Line apparatus can preferably limit the position of pallet compared to existing belt flow-line equipment.
Optionally, the both ends of each chain type flow-line equipment at least one described chain type flow-line equipment are bonded respectively
It is provided with lifting part, the lifting part is used for the first chain type assembly line portion of each chain type flow-line equipment
The pallet on part is transferred on the second chain type pipeline unit of each chain type flow-line equipment, or by institute
It states the pallet on the second chain type pipeline unit of each chain type flow-line equipment and is transferred to each chain type stream
On the first chain type pipeline unit of production line apparatus.
Pallet may be implemented between the first chain type pipeline unit and the second chain type pipeline unit by lifting part
Transfer, to reduce the manual labor in transfer process.
Optionally, all chain type flow-line equipments at least one described chain type flow-line equipment are arranged in parallel, in institute
It states and is provided with lifting device on the first chain type pipeline unit of each chain type flow-line equipment, wherein the promotion dress
It sets for turning the pallet on one of chain type flow-line equipment in every two adjacent chain type flow-line equipments
It moves on on another chain type flow-line equipment therein.
In the embodiment of the present application, it is provided with corresponding lifting device on chain type flow-line equipment, two chains may be implemented
The automation of pallet on formula flow-line equipment is shifted, to reduce manual labor, saves human cost.
Second aspect provides a kind of loading and unloading method, including：
The pallet on chain type flow-line equipment is clamped by robot device, wherein product, institute are carried on the pallet
The shape for stating pallet is adapted with the fixture of the robot device；
The pallet is moved in test device from the chain type flow-line equipment by the robot device,
In, the test device is used to test the performance of the product；
The pallet is moved to the chain type flow-line equipment from the test device by the robot device
On.
Optionally, the pallet is being moved to by the robot device by the chain type stream from the test device
After on production line apparatus, further include：
By the first chain type pipeline unit of the chain type flow-line equipment by the palletized transport to first position,
In, the first position is the terminal position of the first chain type pipeline unit；
Wherein, the chain type flow-line equipment includes the first chain type pipeline unit disposed in parallel and the second chain type
Pipeline unit, the first chain type pipeline unit and the second chain type pipeline unit do the straight line fortune of opposite direction
It is dynamic.
Optionally, in the first chain type pipeline unit by the chain type flow-line equipment by the palletized transport to
After on one position, further include：
The pallet is transferred on the second chain type pipeline unit by the first lifting part, wherein described
One end of the second chain type pipeline unit is arranged in one lifting part；
By the second chain type pipeline unit by the palletized transport to the second position, wherein the second position
It is the terminal position of the second chain type pipeline unit；
The pallet is transferred to the second chain type pipeline unit from the second position by the second lifting part
On, wherein the other end of the second chain type pipeline unit is arranged in second lifting part.
Optionally, before clamping the pallet on chain type flow-line equipment by robot device, including：
By lifting device by one of those described chain type stream in every two adjacent chain type flow-line equipments
The pallet on production line apparatus is transferred on another described chain type flow-line equipment therein；
Wherein, two chain type flow-line equipments are arranged in parallel, lifting device setting it is described one of those
On the first chain type pipeline unit of the chain type flow-line equipment.
The third aspect provides a kind of loading and unloading system, including：
At least one processor, and
The memory being connect at least one described processor communication；
Wherein, the memory is stored with the instruction that can be executed by least one described processor, described at least one
It manages device and the method realized as described in second aspect and any optional embodiment is instructed by the execution memory storage.
Fourth aspect, provides a kind of computer readable storage medium, and the computer-readable recording medium storage has calculating
Machine instruction, when the computer instruction is run on computers, so that computer executes such as second aspect and any optional
Method described in embodiment.
To sum up, the embodiment of the present application completes the loading and unloading process of product by robot device, to improve product
The efficiency of loading and unloading.
Detailed description of the invention
Fig. 1 is a kind of structure chart of loading and unloading system provided by the embodiments of the present application；
Fig. 2 is a kind of structure chart of pallet provided by the embodiments of the present application；
Fig. 3 is a kind of structure chart of pallet provided by the embodiments of the present application；
Fig. 4 is the structure chart placed on pallet after product in Fig. 3 provided by the embodiments of the present application；
Fig. 5 is a kind of structure chart of chain type flow-line equipment provided by the embodiments of the present application；
Fig. 6 is a kind of structure chart of chain type flow-line equipment provided by the embodiments of the present application；
Fig. 7 is a kind of structure chart of chain type flow-line equipment provided by the embodiments of the present application；
Fig. 8 is a kind of component distribution figure of loading and unloading system provided by the embodiments of the present application；
Fig. 9 is a kind of flow chart of loading and unloading method provided by the embodiments of the present application；
Figure 10 is a kind of structure chart of loading and unloading system provided by the embodiments of the present application.
Specific embodiment
Technical solution provided by the embodiments of the present application in order to better understand, below in conjunction with Figure of description and specifically
Embodiment be described in detail.
In order to improve the efficiency of product loading and unloading, the embodiment of the present application provides a kind of loading and unloading system, the loading and unloading system
It unites feeding for realizing product and blanking, wherein " material " in " feeding " and " blanking " refers to product herein, feeding,
It can be understood as product being moved in test device, blanking then can be understood as unloading product from test device.
Fig. 1 is please referred to, which includes pallet 110 and robot device 130.Wherein, pallet 110, for holding
Product 120 is carried, the shape of pallet 110 is adapted with the fixture 131 of robot device 130；Robot device 130, for clamping
Pallet 110 is moved in test device by pallet 110, and the pallet 110 in the test device is unloaded, wherein test
Device is used for the performance of test product 120.Product 120 can be fixed on pallet 110, then robot device 130 passes through clamping
Product 120 can be moved in test device by pallet 110 to realize clamping product 120.
Wherein, product 120 can be complete product, wherein complete product can directly be brought after referring to user's purchase
The product of exclusive use, such as mobile phone alternatively, product 120 is also possible to components, that is, cannot bring the production of exclusive use
Product, it usually needs could be after being assembled again with other component used in user, such as a kind of components are air-conditioner control box, air-conditioning
After control box combine with the other component of air-conditioning equipment, it is just able to achieve the function of controlling air-conditioning, alternatively, product 120 can be with
It is raw material, the raw material not being processed e.g., such as timber.The concrete type of product 120 is not limited herein
System.Correspondingly, test device is used for the performance of test product 120, such as of different types, the then corresponding test of fruit product 120
Device also may be different.
Because the shape of product 120 is designed according to needs of production, product 120 may not be able to be with machine
Tool arm device 130 is adapted, that is to say, that the shape of the fixture 131 of robot device 130 is fixed, robot device 130
Product 120 compatible with fixture 131 can only be clamped, therefore, product 120 might not be adapted to robot device 130, if
Product 120 is not adapted to robot device 130, then robot device 130 is different surely directly clamps product 120, in addition, some
Product 120 is frangible, if clamped using robot device 130, may be caught broken the product 120.Therefore, for machinery
Arm device 130 can mobile product 120, and do not have to directly touch product 120, the embodiment of the present application is additionally arranged pallet 110, machinery
Arm device 130 realizes the movement of the product 120 on pallet 110 by mobile pallet 110.That is, can be on pallet 110
The product 120 of carrying, then robot device 130 all realizes the movement of product 120 by clamping pallet 110, to expand
The use scope of robot device 130, in addition, robot device 130 realizes the product on pallet 110 by pallet 110
120, can directly exert a force to product 120 to avoid robot device 130, and caused by the impaired problem of product 120.
In order to realizing that robot device 130 clamps pallet 110, then the shape of pallet 110 and robot device 130
Fixture 131 is adapted, and is adapted, it can be understood as and the fixture 131 of robot device 130 can directly exert a force to pallet 110, or
Person is interpreted as, and the shape of the fixture 131 of robot device 130 and the shape of pallet 110 are coincide, thus robot device 130
Fixture 131 can clamp pallet 110.Pallet 110 during fabrication, need to guarantee that shape and 131 phase of fixture of robot device 130 are suitable
Match, the fixture 131 of such robot device 130 can clamp pallet 110, therefore, if the manipulator dress that pallet 110 is applicable in
The structure for setting 130 fixture 131 is different, then the structure of corresponding pallet 110 is also just different.In order to be more convenient manipulator dress
130 clamping pallets 110 are set, clamping point is provided on pallet 110, fixture 131 can clamp pallet 110 by clamping point.
Wherein, during the mobile pallet 110 of robot device 130, need to control the mobile direction of robot device 130 and
Destination etc., therefore in the embodiment of the present application, controller can also be added, controller is real for controlling robot device 130
Now corresponding function, corresponding function include the moving direction for controlling robot device 130, when control robot device 130
It moves and when stops mobile etc..Wherein, controller can be mutually independently fills with robot device 130 and pallet 110 etc.
It sets, that is to say, that controller is individual equipment, then loading and unloading system provided by the embodiments of the present application can also include control
Device, controller can be communicated with robot device 130, and communication mode can be wireless mode and be also possible to wired mode.Alternatively,
The not independent device of controller is arranged in robot device 130, that is to say, that loading and unloading system still includes support
Disk 110 and robot device 130 are provided with controller in robot device 130.The implementation of controller is not made herein
Concrete restriction, as long as controller can control robot device 130 and realize corresponding function.Controller can be by many kinds
Implementation, controller are, for example, central processing unit (Central Processing Unit, CPU) or specific integrated circuit
(Application Specific Intergrated Circuit, ASIC), or be arranged to implement the application implementation
One or more integrated circuits of example, such as one or more microprocessors (digital singnal processor, DSP),
Or, one or more field programmable gate array (Field Programmable Gate Array, FPGA).
According to the structure of the fixture 131 of robot device 130 in Fig. 1, Fig. 2 is referred to, is provided by the embodiments of the present application
A kind of schematic diagram of pallet 110 compatible with the fixture 131, in addition in Fig. 2, which can also include mating hole
200, mating hole 200 is used to be embedded in the fixture 131 of robot device 130, to realize that the fixture 131 of robot device 130 presss from both sides
Take pallet 110.
Mating hole 200 is adapted with the fixture 131 of robot device 130, such as mating hole 200 can accommodate fixture just
131 part-structure, part-structure are, for example, bulge-structure, then the bulge-structure can be embedded in mating hole 200, Zhi Houji
Tool arm device 130 can exert a force to pallet 110, to clamp pallet 110, pallet can also be moved after clamping pallet 110
110.There are many kinds of set-up modes on pallet 110 for mating hole 200, such as please continue to refer to Fig. 2, pallet 110 includes chassis, bottom
Convex block is provided on disk, mating hole 200 may be provided on the convex block, and mating hole 200 is arranged on convex block, can be convenient fixture
131 determine the position of mating hole 200, and on the other hand, convex block can also play a degree of position-limiting action to product 120,
Position of the product 120 on pallet 110 is exactly limited, product 120 is avoided to skid off pallet 110.Alternatively, mating hole 200 can also be with
It is arranged on the chassis of pallet 110, such as is arranged on the side on chassis, mating hole 200, Ke Yijian is set directly on chassis
Change the structure of pallet 110, and no setting is required the convex block of pallet 110, it can be with the cost of relative reduction pallet 110.
Wherein, the quantity of mating hole 200 can be one, be also possible to multiple, not make herein to the quantity of mating hole 200
Concrete restriction.In order to enable robot device 130, when clamping pallet 110, pallet 110 is more uniformly stressed, in fixture 131
On uniform multiple clamping points can be set, wherein each clamping point can be corresponding with a mating hole 200 on pallet 110,
In, correspondence refers to that a clamping point can be embedded in a mating hole 200, in this case, the mating hole on pallet 110
200 quantity can be identical as the quantity of the clamping of fixture 131 point.Alternatively, in order to enable the more convenient searching pallet of fixture 131
Mating hole 200 on 110, the quantity of the mating hole 200 on pallet 110 can also be greater than the quantity of the clamping point of fixture 131.Example
There are two fixtures 131 as shown in figure 1 clamps point, 110 settable 4 mating holes 120 of pallet in Fig. 2, as long as then fixture 131 is embedding
Enter two mating holes 120 in 4 mating holes 120, can exert a force to pallet 110, to clamp pallet 110.
Convex block hereinbefore has certain position-limiting action to product 120, but product 120 can not be fixed on pallet
On 110, that is to say, that even if being provided with convex block, but product 120 still may slide on pallet 110, therefore in order to incite somebody to action
Product 120 is more stably mounted on pallet 110, referring to figure 3., limited block 300 is provided on pallet 110, limited block 300 is used
In the product 120 that fixed tray 110 carries.
Specifically, limited block 300 may be provided at the other positions on pallet 110 other than mating hole 200.But if
Product 120 is placed on to the non-central region of pallet 110, during clamping pallet 110, product 120 is easy to incline fixture 131
Tiltedly, it or even falls, therefore in order to avoid the inclination of product 120, product 120 is generally placed on to the central area of pallet 110, in order to
Limited block 300 is allowed preferably to fix product 120, therefore limited block 300 can also be set around the central point of pallet 110
It sets, wherein fixed product 120 refers to, by limited block 300, so that product 120 will not be slided and be fallen on pallet 110,
But what product 120 still can be lifted down from pallet 110, and do not imply that and be fixed on product 120 by modes such as bondings
On pallet 110.The quantity of limited block 300 can be one or more, and in general, the quantity of limited block 300 is more, can incite somebody to action
Product 120 is fixed more steady, but the quantity of limited block 300 is more, and the cost of pallet 110 is also higher, therefore comprehensive pallet
110 cost and product 120 is fixed on the consideration of the factors such as the stability on pallet 110, and limited block 300 is settable 4 general,
It can not only be slided to avoid product 120 in pallet 110 with continued reference to Fig. 3,4 limited blocks 300, can also relatively reduce support
The cost of disk 110.It is noted that the embodiment of the present application does not limit the quantity of limited block 300.
Wherein, the structure of limited block 300 can be adapted with the structure of product 120, for example, limited block 300 have it is multiple, this
Each limited block 300 in multiple limited blocks 300 is used to limit the different location of product 120, then the structure of each limited block 300
The structure that can be the part being in contact with product 120 and the limited block 300 is adapted, that is to say, that the structure of limited block 300
The structure of product 120 can be depended on, then, if pallet 110 includes multiple limited blocks 300, the knot of multiple limited blocks 300
Structure may be all the same, perhaps may be some of limited blocks 300 structure it is identical or be also likely to be equal not phase two-by-two
Together.Such as referring to figure 4., the pallet 110 in figure includes 4 limited blocks, this 4 limited blocks 300 are respectively used to fixed product 120
4 angles, the structure at 4 angles of product 120 is not exactly the same, thus the structure of corresponding 4 limited blocks 300 also just not exclusively
It is identical.
In general, the ontology of robot device 130 fixes on the ground, robot device 130 by flexible or
Person's partial rotational adjusts the position of the fixture 131 of robot device 130, that is to say, that the clamping range of robot device 130
It is limited, wherein clamping range, which refers to, is set to center with the fixed bit of robot device 130, the folder of the robot device 130
The distance range that the nearest distance and farthest distance that tool 131 can clamp are constituted.Robot device 130 will realize folder
It takes, then pallet 110 needs within the scope of the clamping of robot device 130, in order to which pallet 110 is transported manipulator dress
It sets within the scope of 130 clamping, referring to figure 5., the embodiment of the present application adds chain type flow-line equipment 500, chain type flow-line equipment
500 can be used for conveying tray 110.Wherein, the quantity of chain type flow-line equipment 500 can be one or more, not make to have herein
Body limitation.
The pallet 110 that placed product 120 first passes through the folder that chain type flow-line equipment 500 transports robot device 130
It takes in range, the pallet 110 that placed product 120 is moved to test device by robot device 130, and test device is by product
After 120 tests are completed, the pallet 110 that placed product 120 is moved to chain type flow-line equipment by robot device 130 again
500, chain type flow-line equipment 500 need to transport product 120 to next production station, and next production station is, for example, to assemble work
Position, personnel the product 120 and other component such as can will assemble on assembling station, but generally only need product 120
Pallet 110 need to be separated with product 120 before entering next station into next station, therefore in product 120.
Wherein, it is related to controller and needs to judge when to control the clamping chain type flow-line equipment of robot device 130
The pallet 110 that placed product 120 on 500, can be realized by position sensor, specifically, traditional thread binding in chain type flowing water
It sets and is provided with first position sensor on 500, when first position sensor sensing placed product 120 to presence in this position
After pallet 110, then corresponding signal can be issued, after controller receives the signal, to control robot device 130
It placed the pallet 110 of product 120 to clamping in this position.Likewise, after product 120 is tested by test device, control
Device processed is also required to judge when clamp the pallet 110 that placed product 120 in test device, can also be passed by position
Sensor is realized, specifically, second position sensor is provided in test device, when second position sensor sensing to the position
After upper presence placed the pallet 110 of product 120, then corresponding signal can be issued, after controller receives the signal,
It placed the pallet 110 of product 120 to control robot device 130 to clamping in this position.Certainly, how controller judges
When controlling the clamping of robot device 130, also there are many kinds of implementation methods, are not listed one by one herein.
In order to enable the pallet 110 after separation can be recycled, the pallet 110 after referring to separation is recycled again can be with
It is put on chain type flow-line equipment 500, continues for placing product 120, chain type flow-line equipment 500 includes disposed in parallel the
One chain type pipeline unit 510 and the second chain type pipeline unit 520, the first chain type pipeline unit 510 and the second chain type stream
Waterline component 520 does the linear motion of opposite direction.
Since the first chain type pipeline unit 510 and the second chain type pipeline unit 520 do the linear motion of opposite direction,
Therefore the pallet 110 after separating can be transported again by the second chain type pipeline unit 520 to the first chain type pipeline unit 510
Front end, thus by pallet 110 after separation be used to place product 120, achieve the purpose that be recycled pallet 110.
Specifically, the pallet 110 that placed product 120 tested is placed into the first chain type in robot device 130
After pipeline unit 510, the first chain type pipeline unit 510 transports the pallet 110 that placed product 120 to the first chain type
Then the terminal position of pipeline unit 510 is separated pallet 110 and product 120 by artificial or equipment, pallet after separation
110 can be by being manually transferred on the terminal position of the second chain type pipeline unit 520, then the second chain type pipeline unit
520 again transport pallet 110 to the front position of the second chain type pipeline unit 520, then again by manually shifting pallet 110
To the front position of the first chain type pipeline unit 510, to realize the recycling of pallet 110.Wherein, the first chain type flowing water
Any end in 510 both ends of line component can be understood as the terminal position of the first chain type pipeline unit 510, not right herein
Terminal position carries out concrete restriction, but for the convenience of description, front position hereinafter is with the first chain type pipeline unit
For the starting point of 510 transport, terminal position is by taking the terminating point of the transport of the second chain type assembly line 520 as an example.
As it was noted above, pallet 110 is between the first chain type pipeline unit 510 and the second chain type pipeline unit 520
Transfer process needs are operated by manually, labor intensive, therefore in order to save manpower, please refer to Fig. 6, the embodiment of the present application is added
Lifting part 600.Lifting part 600 is bonded the both ends that chain type flow-line equipment 500 is arranged in, traditional thread binding in order to distinguish chain type flowing water
Set the lifting part 600 at 500 both ends, the front position that the first chain type pipeline unit 510 is arranged in fitting is described as the
One lifting part 601, the terminal position that the first chain type pipeline unit 510 is arranged in fitting are described as the second lifting part
602.First lifting part 601 is used for the pallet 110 on the second chain type pipeline unit 520 of chain type flow-line equipment 500
It is transferred on the first chain type pipeline unit 510 of chain type flow-line equipment 500, the second lifting part 602 is used for chain type stream
Pallet 110 on first chain type pipeline unit 510 of production line apparatus is transferred to the second chain type stream of chain type flow-line equipment 500
On waterline component 520.
Specifically, being illustrated below to the cyclic process of pallet 110.Please continue to refer to Fig. 6, the first chain type assembly line portion
Part 510 will test after the transport of pallet 110 terminal position extremely that placed product 120 on, manually by pallet 110 and produce
Product 120 separate, and pallet 110 will continue to forward according to inertia, then be moved on the first lifting part 601, the first lifting part
601 drive pallet 110 to decline, and until pallet 110 is flushed with the second chain type pipeline unit 520, the first lifting part 601 again will
Pallet 110 is transferred on the terminal position of the second chain type pipeline unit 520, and then the second chain type pipeline unit 520 again will
In the transport to the front position on the second chain type pipeline unit 520 of pallet 110 on terminal position, likewise, 110, pallet
It can be moved on the second lifting part 602 according to inertia, then the second lifting part 602 drives pallet 110 to rise, until pallet
110 flush with the first chain type pipeline unit 510, and then pallet 110 is transferred to the first chain type stream again by the second lifting part 602
The front position of waterline component 510.
Wherein, the structure of the first lifting part 601 is identical with the structure of the second lifting part 602, the first lifting part 601
Corresponding functions can be realized with the second lifting part 602, herein not to the first lifting part 601 and the second lifting part
602 specific structure is limited, for example, the structure of the first lifting part 601 and the structure of the second lifting part 602 can be with
The structure of existing elevator is identical.
Due to added lifting component 600 in the embodiment of the present application, the first lifting part 601 is may be implemented in lifting part 600
And the second mutual transfer between lifting part 602, realize the recycling of pallet 110, without manually moving pallet 110, from
And reduce manual labor.
Because chain type flow-line equipment 500 can transport multiple pallets 110 simultaneously placed the pallet 110 of product 120, but
It is that robot device 130 is different surely in time to move the pallet 110 that placed product 120 on chain type flow-line equipment 500
It moves in test device, once robot device 130 will not placed product 120 on chain type flow-line equipment 500 in time
Pallet 110 be moved in test device, then the portioned product 120 that may cause on chain type flow-line equipment 500 does not pass through
Test device test, then enter next station, cause the qualification rate of product 120 lower.Therefore in order to avoid a chain type stream
The excessive situation of the pallet 110 that placed product 120 of production line apparatus 500, please refers to Fig. 7, adds in the embodiment of the present application more
A chain type flow-line equipment 500, and each chain type flow-line equipment 500 is provided with lifting device 700.Wherein, multiple chain types
Flow-line equipment 500 is arranged in parallel, and lifting device 700 is by therein one in every two adjacent chain type flow-line equipments 500
The pallet 110 that placed product 120 on a chain type flow-line equipment 500 is transferred to another chain type flow-line equipment therein
On 500.
Specifically, structure per each chain type flow-line equipment 500 in two adjacent chain type flow-line equipments 500 with
Effect is referred to foregoing description, and details are not described herein again.In general, for product 120 in a upper station, product 120 is not
It is fixed on pallet 110, is that manually product 120 is placed on the pallet 110 of chain type flow-line equipment 500, that is to say, that
It is actually to need a staff's in the front position of each chain type flow-line equipment 500, it is clear that if chain type flowing water
If line apparatus 500 is more, the quantity of the staff needed is also just relatively more.Therefore in order to reduce the quantity of staff,
The length of a chain type flow-line equipment 500 in each adjacent two chain type flow-line equipment 500 is to be longer than each adjacent two chain
The length of another chain type flow-line equipment 500 in formula flow-line equipment 500.
Specifically, the length of a chain type flow-line equipment 500 in per two adjacent chain type flow-line equipments 500 is set
Set longer, the length of another chain type flow-line equipment 500 in every two adjacent chain type flow-line equipments 500 is arranged
It is shorter, wherein the length of chain type flow-line equipment 500 refers to the first chain type pipeline unit 510 of chain type flow-line equipment 500
Transportation lengths.Infra for two different chain type flow-line equipments 500 of length are distinguished, please continue to refer to Fig. 7, transport length
It spends longer chain type flow-line equipment 500 and is described as the first chain type flow-line equipment 501, on the first chain type flow-line equipment 501
Lifting device 700 be described as the first lifting device 701, the shorter chain type flow-line equipment 500 of transportation lengths is described as second
Chain type flow-line equipment 502, the lifting device 700 on the second chain type flow-line equipment 502 are described as the second lifting device 702.
Product 120 is fixed on the first chain type stream by front position of the staff on the first chain type flow-line equipment 501
On the pallet 110 that placed product 120 of production line apparatus 501, product then will be placed by the first chain type flow-line equipment 501
120 pallet 110 transports to the first lifting device 701 on the first chain type flow-line equipment 501 that first chain type flowing water is traditional thread binding
Setting 501 part placed the pallet 110 of product 120 and is transferred on the second chain type flow-line equipment 502, that is to say, that two
One staff of chain type flow-line equipment 501 needs, to reduce the quantity of staff.
Wherein, there are many kinds of implementations for lifting device 700, such as can be realized by the combination of guide rail and pedestal,
Guide rail is set on the first chain type flow-line equipment 501 setting two sides, pedestal can slide up and down on guide rail, when some placement
When the pallet 110 of product 120 needs to shift, then pedestal rising is controlled, then placed the pallet 110 of product 120 with pedestal
Rise and rise, continues to move forward since pallet 110 placed the inertia of the pallet 110 of product 120, then placed product
120 pallet 110 can be transferred on the second chain type flow-line equipment 502, not do herein to the specific structure of lifting device 700
Limitation.
In the embodiment of the present application, lifting device 700 can by chain type flow-line equipment 500 it is excessive placed product 120
Pallet 110 be transferred on other chain type flow-line equipments 500, to avoid on some chain type flow-line equipment 500
It placed the excessive problem of the pallet 110 of product 120.
In order to which the distribution to all parts in above-described loading and unloading system further explains, Fig. 8, chain type are please referred to
Flow-line equipment 500 includes the first chain type flow-line equipment 501 and the second chain type flow-line equipment 502, the first chain type assembly line
The side of device 501 is placed with the first robot device 130, and the first robot device 130 is provided with 6 test devices,
The side for being relatively distant from the first chain type flow-line equipment 501 of second chain type flow-line equipment 502 is provided with the second manipulator dress
130 are set, the second robot device 130 is provided with 6 test devices.
On the basis of the content for the loading and unloading system being described above, the embodiment of the present application also provides a kind of loading and unloading side
Method, this method can be executed by control device, and control device can be through controller and realize, the controller and institute above
The controller stated can be identical controller or the controller can be realized the function that previously described controller is realized
It can, moreover it is possible to it realizes some other functions, or can be realized by terminal device, terminal device such as mobile phone etc., herein not
Make concrete restriction.Fig. 9 is please referred to, the process of this method is described as follows.
S901, the pallet 110 on chain type flow-line equipment 500 is clamped by robot device 130, wherein on pallet 110
Product 120 is carried, the shape of pallet 110 is adapted with the fixture 131 of robot device 130；
S902, pallet 110 is moved in test device from chain type flow-line equipment 200 by robot device 130,
In, test device is used for the performance of test product 120；
S903, pallet 110 is moved on chain type flow-line equipment 500 from test device by robot device 130.
Specifically, robot device 130, fixture 131, pallet 110, product 120, chain type flow-line equipment 500 and test
Device is referred to the content discussed above, and details are not described herein again.Control device by robot device 130 by pallet 110 from
Chain type flow-line equipment 500 is moved in test device, and after device under test tests product 120, control device leads to again
It crosses robot device 130 pallet 110 is moved on chain type flow-line equipment 500.
Optionally, after pallet is moved on chain type flow-line equipment from test device by robot device,
Further include：
By the first chain type pipeline unit of chain type flow-line equipment by palletized transport to first position, wherein first
Position is the terminal position of the first chain type pipeline unit；
Wherein, chain type flow-line equipment includes the first chain type pipeline unit disposed in parallel and the second chain type assembly line portion
Part, the first chain type pipeline unit and the second chain type pipeline unit do the linear motion of opposite direction.
Optionally, will be in palletized transport to first position by the first chain type pipeline unit of chain type flow-line equipment
Later, further include：
Pallet is transferred on the second chain type pipeline unit by the first lifting part, wherein the first lifting part is set
It sets in one end of the second chain type pipeline unit；
By the second chain type pipeline unit by palletized transport to the second position, wherein the second position is the second chain type stream
The terminal position of waterline component；
Pallet is transferred on the second chain type pipeline unit from the second position by the second lifting part, wherein second
The other end of the second chain type pipeline unit is arranged in lifting part.
Optionally, before clamping the pallet on chain type flow-line equipment by robot device, including：
By lifting device by one of chain type flow-line equipment in every two adjacent chain type flow-line equipments
On pallet be transferred on another chain type flow-line equipment therein；
Wherein, two chain type flow-line equipments are arranged in parallel, and the chain type flowing water that lifting device is disposed therein is traditional thread binding
On the first chain type pipeline unit set.
Referring to figure 5., above-mentioned loading and unloading method is described in detail below.Chain type flow-line equipment 500 includes first
Chain type pipeline unit 510 and the second chain type pipeline unit 520, control device pass through robot device 130 for the first chain type
The pallet 110 that placed product 120 on pipeline unit 510 is moved in test device, test device test product 120
After performance, then may determine that whether product is qualified, if fruit product 120 is qualified, then control device then passes through robot device
130 are placed into product 120 on first chain type pipeline unit 510, can be manually by product if fruit product 120 is unqualified
120 place other positions, so that processing is further processed.Wherein, the first chain type pipeline unit 510 and the second chain type assembly line
Component 520 is referred to the content discussed above, and details are not described herein again.
Specifically, control device can will placed product 120 by robot device 130 as fruit product 120 is qualified
Pallet 110 be moved to the first chain type pipeline unit 510, then the pallet 110 that placed product 120 is transported to first
It sets, manually separates pallet 110 and product 120, wherein first position is the terminal position of the first chain type pipeline unit 510,
After separation, please continue to refer to Fig. 6, control device passes through the second lifting part 602 again and pallet 110 is transferred to the second chain type stream
Waterline component 520, control device pass through the second chain type pipeline unit 520 again and transport pallet 110 to the second position, wherein
The second position is the terminal position of the second chain type pipeline unit 520, then, by the first lifting part 601 by 110 turns of pallet
Move on to the front position on the first chain type pipeline unit 510.If fruit product 120 is unqualified, then after testing is complete, manually
Pallet 110 is separated with product 120 directly in test device, after separation, control device passes through robot device 130 again will
Pallet 110 is moved to the first chain type pipeline unit 510, is then transported pallet 110 by the first chain type pipeline unit 510
To first position, the subsequent treatment process to pallet 110 is identical as the transportational process of pallet 110 under 120 Qualification of product,
Details are not described herein again.
As it was noted above, chain type flow-line equipment 500 can be set it is multiple.Please continue to refer to Fig. 7, chain type flowing water is traditional thread binding
Setting 500 includes the first chain type flow-line equipment 501 and the second chain type flow-line equipment 502.When the first chain type flow-line equipment 501
On when thering is more pallet 110 to placed the pallet 110 of product 120, a part of pallet 110 placed the pallet 110 of product 120
Upper to be moved in test device by the first robot device 130, then product 120 passes through after test, then the first manipulator
The pallet 110 that placed product 120 can be moved to the first chain type flow-line equipment again by clamping pallet 110 by device 130
501, the pallet 110 that another part placed product 120 then can be moved to the second chain type flowing water by the first lifting device 701
On line apparatus 502, then the product 120 on the second chain type flow-line equipment 502 is after test device test, by second
Mobile the 110 to the second chain type of the pallet flow-line equipment 502 that placed product 120 of robot device 130, using the second chain type
The second lifting device 702 on flow-line equipment 502, by the support that placed product 120 on the second chain type flow-line equipment 502
Disk 110 is transferred on the first chain type flow-line equipment 501, to complete the process of loading and unloading.Wherein, the first chain type flowing water is traditional thread binding
Setting the 501, second chain type flow-line equipment 502, lifting device 700, the first lifting device 701, the second lifting device 702 can join
According to the content discussed above, details are not described herein again.
On the basis of the content for the loading and unloading method being described above, the embodiment of the present application also provides a kind of loading and unloading system
System, please refers to Figure 10, which includes at least one processor 1001, and communicate at least one processor 1001
The memory 1002 of connection；
Wherein, memory 1002 is stored with the instruction that can be executed by least one processor 1001, at least one processor
1001 realize loading and unloading method as shown in Figure 9 by executing the instruction that memory 1002 stores.
In Figure 10 by taking 1 processor 1001 as an example, but actually processor 1001 can have it is multiple.
On the basis of the content for the loading and unloading method being described above, the embodiment of the present application also provides a kind of computer-readable
Storage medium, computer-readable recording medium storage have computer instruction, when computer instruction is run on computers, so that
Computer executes loading and unloading method as shown in Figure 9.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (12)
1. a kind of loading and unloading system, which is characterized in that including：
Pallet, for carrying product, the shape of the pallet is adapted with the fixture of robot device；
The robot device for clamping the pallet, the pallet is moved to test device, and unloads the survey
The pallet that trial assembly is set, wherein the test device is used to test the performance of the product.
2. loading and unloading system as described in claim 1, which is characterized in that the pallet includes mating hole, and the mating hole is used
In the fixture for being embedded in the robot device, so that the robot device clamps the pallet.
3. loading and unloading system as claimed in claim 1 or 2, which is characterized in that the pallet further includes limited block, the limit
Block is used to fix the product of the pallet carrying.
4. loading and unloading system as claimed in claim 1 or 2, which is characterized in that the loading and unloading system further includes for transporting
At least one chain type flow-line equipment of the pallet, wherein each chain type at least one described chain type flow-line equipment
Flow-line equipment includes the first chain type pipeline unit disposed in parallel and the second chain type pipeline unit, the first chain type stream
Waterline component and the second chain type pipeline unit do the linear motion of opposite direction.
5. loading and unloading system as claimed in claim 4, which is characterized in that every at least one described chain type flow-line equipment
The both ends of a chain type flow-line equipment are bonded respectively is provided with lifting part, and the lifting part is used for each chain type stream
The pallet on the first chain type pipeline unit of production line apparatus is transferred to the institute of each chain type flow-line equipment
It states on the second chain type pipeline unit, or will be on the second chain type pipeline unit of each chain type flow-line equipment
The pallet be transferred on the first chain type pipeline unit of each chain type flow-line equipment.
6. loading and unloading system as claimed in claim 4, which is characterized in that the institute at least one described chain type flow-line equipment
There is chain type flow-line equipment to be arranged in parallel, is set on the first chain type pipeline unit of each chain type flow-line equipment
It is equipped with lifting device, wherein the lifting device is used for one of those in every two adjacent chain type flow-line equipments
The pallet on chain type flow-line equipment is transferred on another chain type flow-line equipment therein.
7. a kind of loading and unloading method, which is characterized in that including：
The pallet on chain type flow-line equipment is clamped by robot device, wherein product, the support are carried on the pallet
The shape of disk is adapted with the fixture of the robot device；
The pallet is moved in test device from the chain type flow-line equipment by the robot device, wherein institute
Test device is stated for testing the performance of the product；
The pallet is moved on the chain type flow-line equipment from the test device by the robot device.
8. loading and unloading method as claimed in claim 7, which is characterized in that by the robot device by the pallet from
After being moved in the test device on the chain type flow-line equipment, further include：
By the first chain type pipeline unit of the chain type flow-line equipment by the palletized transport to first position, wherein
The first position is the terminal position of the first chain type pipeline unit；
Wherein, the chain type flow-line equipment includes the first chain type pipeline unit and the second chain type flowing water disposed in parallel
Line component, the first chain type pipeline unit and the second chain type pipeline unit do the linear motion of opposite direction.
9. loading and unloading method as claimed in claim 8, which is characterized in that in the first chain by the chain type flow-line equipment
Formula pipeline unit further includes by after in the palletized transport to first position：
The pallet is transferred on the second chain type pipeline unit by the first lifting part, wherein described first liter
One end of the second chain type pipeline unit is arranged in drop component；
By the second chain type pipeline unit by the palletized transport to the second position, wherein the second position is institute
State the terminal position of the second chain type pipeline unit；
The pallet is transferred on the second chain type pipeline unit from the second position by the second lifting part,
In, the other end of the second chain type pipeline unit is arranged in second lifting part.
10. loading and unloading method as claimed in claim 8, which is characterized in that clamping chain type assembly line by robot device
Before pallet on device, including：
By lifting device by one of those described chain type assembly line in every two adjacent chain type flow-line equipments
The pallet on device is transferred on another described chain type flow-line equipment therein；
Wherein, two chain type flow-line equipments are arranged in parallel, and lifting device setting is described described in one of those
On the first chain type pipeline unit of chain type flow-line equipment.
11. a kind of loading and unloading system, which is characterized in that including：
At least one processor, and
The memory being connect at least one described processor communication；
Wherein, the memory is stored with the instruction that can be executed by least one described processor, at least one described processor
The method as described in any one of claim 7-10 is realized in instruction by executing the memory storage.
12. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer to refer to
It enables, when the computer instruction is run on computers, so that computer is executed as described in any one of claim 7-10
Method.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810689772.9A CN108861543B (en) | 2018-06-28 | 2018-06-28 | Feeding and discharging system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810689772.9A CN108861543B (en) | 2018-06-28 | 2018-06-28 | Feeding and discharging system and method |
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| CN108861543B CN108861543B (en) | 2021-02-09 |
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| CN201810689772.9A Active CN108861543B (en) | 2018-06-28 | 2018-06-28 | Feeding and discharging system and method |
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Cited By (1)
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|---|---|---|---|---|
| CN113233126A (en) * | 2021-04-06 | 2021-08-10 | 宁波韵升股份有限公司 | Full-automatic magnetic steel feeding and discharging integrated machine |
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| CN108861543B (en) | 2021-02-09 |
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