CN106081623A - Automatically the device of bin is shifted for product - Google Patents

Abstract

The present invention provides a kind of device automatically shifting bin for product, including automatic hoisting mechanism and automatic bay mechanism, also include the first mechanical hand being arranged on automatic hoisting mechanism, the charging tray overlaying in automatic hoisting mechanism, and be independently arranged at the orientating and conveying mechanisms in automatic bay mechanism, the second mechanical hand and bin, this device also include respectively with automatic hoisting mechanism, automatic bay mechanism, the first mechanical hand, orientating and conveying mechanisms, the second mechanical hand, the task driven mechanism of electric connection；Under the driving of task driven mechanism, the charging tray jacking making automatic hoisting mechanism will be equipped with product specifies position to first, the product of charging tray is moved by the first mechanical hand in this position to be put to orientating and conveying mechanisms front end, it is delivered to rear end by orientating and conveying mechanisms again, finally by the second mechanical hand, product is inserted in bin.The present invention is capable of the product automatic transfer of different directions, the effect play and improve production efficiency, reducing manual operation risk between charging tray and bin.

Description

Automatically the device of bin is shifted for product

Technical field

The present invention relates to machinery field, a kind of device automatically shifting bin for product.

Background technology

In touch panel process technology, commonly used charging tray and bin are placed to be processed or machined complete Product.Wherein, the room in charging tray is generally horizontal accommodation space, make touch panel can horizontal positioned wherein；Bin Room is generally vertical accommodation space, makes touch panel to be vertically placed on wherein.When touch panel need charging tray with When shifting between bin, it is common that use manually-operated mode, it may be assumed that by manually the touch panel in charging tray being taken It is inserted in bin after going out.

But in large-scale industrial production, the touch panel quantity of batch production is very big, this work of will asking for help Constantly, repeatedly carry out touch panel taking-up and update, to realize touch panel between charging tray and bin Transfer.But, there is time-consuming, laborious drawback in this manually-operated mode, and due to manually-operated action stability Low, be easily generated fatigue, the scuffing of touch panel may be caused in operation, affect product quality.

Summary of the invention

The present invention is by providing a kind of automatic hoisting mechanism and automatically shifting the device of bin for product, to replace utilizing Manual operation realizes the mode that product carries out shifting between different bins, solves time-consuming, laborious, the product that manual operation exists The problems such as easy scuffing.

Specifically, the present invention provides a kind of device automatically shifting bin for product, including automatic hoisting mechanism and from Dynamic bay mechanism, described automatically shift for product that the device of bin also includes being arranged on described automatic hoisting mechanism first Mechanical hand, the charging tray overlayed in described automatic hoisting mechanism, and be respectively and independently arranged in described automatic bay mechanism Orientating and conveying mechanisms, the second mechanical hand and bin, the described device automatically shifting bin for product also includes respectively with described Automatic hoisting mechanism, described automatic bay mechanism, described first mechanical hand, described orientating and conveying mechanisms, described second mechanical hand, The task driven mechanism being electrically connected with, wherein:

Described automatic hoisting mechanism for will be equipped with under the driving of described task driven mechanism the described charging tray of product by First desired guiding trajectory jacking specifies position to first；Described first mechanical hand is used under the driving of described task driven mechanism will The product being positioned in the described charging tray of described first specified location is moved by the second desired guiding trajectory to be put to described orientating and conveying mechanisms Front end；Described orientating and conveying mechanisms is fixed for described product is delivered under the driving of described task driven mechanism described conveying Position mechanism rear end；Described second mechanical hand is for will be located in described orientating and conveying mechanisms under the driving of described task driven mechanism The product of rear end is inserted in described bin by the 3rd desired guiding trajectory.

Further, the product being positioned in the described charging tray of described first specified location is all moved to be put to described conveying Behind the front end of detent mechanism, described charging tray becomes empty described charging tray, and described automatic hoisting mechanism is additionally operable to drive in described work Under the driving of motivation structure, empty described charging tray is moved by the 4th desired guiding trajectory and put to the second appointment position.

Further, described automatic hoisting mechanism includes framework, fixed lifting shaft on said frame and sets respectively Feeding material component on described lifting shaft and charging tray clamp assemblies, described task driven mechanism respectively with described feeding material component, institute State charging tray clamp assemblies to be electrically connected with, make described feeding material component, described charging tray clamp assemblies be respectively relative to described lifting shaft and move Dynamic.

Further, described framework is enclosed by some sheths and is formed, along level side in the middle part of the trailing flank of described framework Being formed with the first horizontal frame to extending forward, described first horizontal frame specifies position corresponding to described first, from described frame The trailing flank top of frame extends the most forward and is formed with the second horizontal frame, and described second horizontal frame is corresponding to described Second specifies position.

Further, described lifting shaft includes the most fixed the first lifting shaft on said frame, the second lifting Axle and the 3rd lifting shaft, wherein, the short transverse along described framework is seen, under described first lifting shaft is positioned in described framework Portion, described second lifting shaft and described 3rd lifting shaft are respectively positioned on the middle and upper part of described framework；Length direction along described framework Seeing, described first lifting shaft is positioned at the centre of described framework, described second lifting shaft and described 3rd lifting shaft and lays respectively at institute State left side and the right side of framework.

Further, described first lifting shaft is provided with the first slide rail, makes described feeding material component by described first slide rail It is arranged on described first lifting shaft；It is respectively equipped with the second slide rail and the 3rd on described second lifting shaft and described 3rd lifting shaft Slide rail, makes described charging tray clamp assemblies be arranged on described second lifting shaft and institute by described second slide rail and described 3rd slide rail State on the 3rd lifting shaft.

Further, described feeding material component includes supporting part and material conveying platform, and one end of described supporting part is by described the One slide rail is movably connected on described first lifting shaft, makes described supporting part axially moving up and down along described first lifting shaft, institute The other end stating supporting part is free end；Described material conveying platform is horizontal panel, and described material conveying platform is vertically located in described On supporting part, described material conveying platform is provided with vertically through the blow vent of described material conveying platform, from described material conveying platform The edge extension that raises up is formed with limited block.

Further, described charging tray clamp assemblies includes that connecting portion and clamping limb, described connecting portion are string configuration, institute State the two ends that connecting portion extends along its length direction and be movably connected on institute by described second slide rail, described 3rd slide rail respectively State the second lifting shaft, described 3rd lifting shaft, make described connecting portion along described second lifting shaft and the axle of described 3rd lifting shaft To moving up and down；Described clamping limb is installed at the two ends that described connecting portion extends along its length direction respectively, and from described Forward extend out in the horizontal direction at the two ends that connecting portion extends along its length direction.

Alternatively, the medial surface of the connecting portion of the medial surface of described first horizontal frame, described charging tray clamp assemblies is respectively It is provided with locating part, when described charging tray clamp assemblies drops to be generally in same level position with described first horizontal frame, Locating part on the medial surface of described first horizontal frame and the locating part on the connecting portion medial surface of described charging tray clamp assemblies Relatively setting, described locating part is collectively forming the first spacing space, and described first spacing space is in described first horizontal pane The horizontal position of frame limits the locus of described charging tray.

Alternatively, on described second horizontal frame, the trailing flank region near described framework is installed with across fixture, Described across fixture along described second horizontal frame length direction across two frameworks being arranged on described second horizontal frame On bar, the described medial surface across fixture, the medial surface of described second horizontal frame are respectively equipped with locating part, and described second Locating part on the medial surface of horizontal frame is relative with described locating part on the medial surface of fixture and sets, described spacing Part is collectively forming the second spacing space, and described second spacing space limits for the horizontal position at described second horizontal frame The locus of described charging tray.

Preferably, described locating part is arc-shaped limit part or right angle locating part.

Further, the clamping limb of described charging tray clamp assemblies is provided with unidirectional supporting parts, described unidirectional supporting parts bag Including supporting parts body and the support block being flexibly connected relative to described supporting parts body, described supporting parts body is towards therein Depression is formed with the storage tank of size and described support Block-matching, make described support block from described storage tank protruding or It is housed in described storage tank；When described support block is protruding from described storage tank, the support of described support block towards upper, When described support block is housed in described storage tank, the outer surface of described support block and described supporting parts body outer surface are in same One plane.

Further, being provided with connecting shaft in described storage tank, described support block is by described connecting shaft and described supporting parts Body is flexibly connected.

Preferably, the surface of described storage tank, described support block inner surface in be all embedded with Magnet, and be embedded in described The Magnet on the surface of storage tank and both the Magnet being embedded in described support block inner surface relative to magnetic pole be that magnetic is identical.

It is understood that according to the principle repelled mutually with magnetic in electromagnetism, different magnetic attracts mutually, not to described When support block applies pressure, owing to same magnetic is repelled mutually, described support block is mutually exclusive with described storage tank, makes described support block From described storage tank protruding；When described support block applies pressure, owing to applying pressure more than described support block and institute State the repulsive force between storage tank, make described support block be contained in described storage tank.

Preferably, it is provided with between the inner surface of the surface of described storage tank and described support block and can recover the bullet of deformation Spring, makes elastic between described storage tank with described support block connection.

It is understood that owing to being connected for elasticity between surface and the inner surface of described support block of described storage tank, The most not when described support block applies pressure, described support block is protruding from described storage tank, executes to described support block During plus-pressure, spring contraction, described support block is contained in described storage tank.

Preferably, on described second horizontal frame, described on fixture, described unidirectional supporting parts it also is provided with.

Further, described framework being installed with horizontal stand outside described framework, described first mechanical hand is arranged On described horizontal stand, described first mechanical hand includes the first mechanical arm being arranged in a mutually vertical manner and the second mechanical arm and sets Put the first crawl section on described second mechanical arm；Wherein, described first mechanical arm is fixedly installed on described horizontal stand, Described second mechanical arm is flexibly connected relative to described first mechanical arm, lives relative to described second machinery in described first crawl section It is dynamically connected.

Further, described first mechanical arm is provided with the first slide unit, and described second mechanical arm passes through described first slide unit It is slidably connected with described first mechanical arm, makes described second mechanical arm move back and forth along the length direction of described first mechanical arm； Described second mechanical arm is provided with the second slide unit, and described first crawl section is sliding with described second mechanical arm by described second slide unit It is dynamically connected, makes described first crawl section move back and forth along the length direction of described second mechanical arm.

In the present invention, can realize respectively in orthogonal both direction due to the second mechanical arm and the first crawl section Linear mobile, therefore, it is possible to make the first crawl section can grab any point position on horizontal plane, historical facts or anecdotes is existing to all positions The crawl of the product in charging tray.

Preferably, described first crawl section is vacuum slot.

Further, described charging tray includes the network of hollow out and for enclosing the frame of described network, described Frame protrudes out downwards and is provided with a bracer, is made shape between the frame of neighbouring two the described charging trays stacked by described bracer Become gap, make the support block of the described unidirectional supporting parts of described automatic hoisting mechanism be inserted in described gap.

Preferably, described frame is round rectangle frame, rectangular shaped rim, square frame, circular frame, oval frame Or the one in hexagon frame.

Further, described charging tray overlays on the material conveying platform of described automatic hoisting mechanism or the second spacing space In.

Further, described automatic bay mechanism includes mechanism body, upwardly extends from described mechanism body posterior region The support formed and the 3rd slide unit being installed in described mechanism body, described orientating and conveying mechanisms is arranged on described mechanism Main body is near the side of described automatic hoisting mechanism, and described second mechanical hand is arranged on the bracket, and described bin activity is led to Cross described 3rd slide unit and be movably connected on described mechanism body.

Further, described second mechanical hand includes orthogonal three-mechanical arm, the 4th mechanical arm and is arranged on The second crawl section bottom described 4th mechanical arm, described three-mechanical arm is installed on the support of described automatic bay mechanism, Described 4th mechanical arm is flexibly connected relative to described three-mechanical arm, and described second crawl section is relative to described 4th mechanical arm It is flexibly connected.

Further, described three-mechanical arm is provided with the 4th slide unit, and described 4th mechanical arm passes through described 4th slide unit It is slidably connected with described three-mechanical arm, enables described 4th mechanical arm to move along the length direction of described three-mechanical arm.

Preferably, described second mechanical hand also includes the Fibre Optical Sensor being arranged on described 4th mechanical arm.

Preferably, described second crawl section is vacuum slot.

Further, described bin is enclosed by some sheet frames and is formed, and is provided with in described bin and is parallel to described automatically insert Some positioning strips of the 3rd slide unit length direction of frame mechanism, described positioning strip two ends are connected to two institutes set relatively State between sheet frame.

Preferably, described positioning strip includes being parallel to each other the first positioning strip, the second positioning strip, the 3rd positioning strip, the 4th Positioning strip, the 5th positioning strip and the 6th positioning strip, and six described positioning strips are on a side and set serrate positioning strip.

Preferably, described first positioning strip and described second positioning strip are positioned at the top area of described bin, and interval Distance is arranged, and the sawtooth of described first positioning strip, the sawtooth of described second positioning strip relatively set and all towards in described bin Portion, the sawtooth of described first positioning strip and the sawtooth size of described second positioning strip, shape, position are the most corresponding；Described Three positioning strips are positioned at the bottom section of described bin, and the projection that described 3rd positioning strip is in the horizontal plane is positioned at described first Positioning strip and the centre of described second positioning strip, the sawtooth of described 3rd positioning strip is offered the most upward.

Preferably, described 4th positioning strip and described 5th positioning strip are positioned at the top area of described bin, and interval Distance is arranged, and the sawtooth of described 4th positioning strip, the sawtooth of described 5th positioning strip relatively set and all towards in described bin Portion, the sawtooth of described 4th positioning strip and the sawtooth size of described 5th positioning strip, shape, position are the most corresponding；Described Six positioning strips are positioned at the bottom section of described bin, and the projection that described 6th positioning strip is in the horizontal plane is positioned at the described 4th Positioning strip and the centre of described 5th positioning strip, the sawtooth of described 6th positioning strip is offered the most upward.

Further, connect and have the sheet frame of described positioning strip horizontal-extending along own edges towards described bin internal bend It is formed with distance adjustable plate, described distance adjustable plate spaced apart is provided with some perforates, the position of described perforate correspondence respectively In described positioning strip.

Preferably, a kind of or combination of two kinds during described perforate is strip perforate or round hole.

Preferably, it is spirally connected between described perforate and described positioning strip.

Further, it is respectively equipped with reinforcing strip in the internal close described sheet frame lower edge of described sheet frame.

Compared with prior art, beneficial effects of the present invention is as follows:

First, the automatic hoisting mechanism of the present invention can automatically will be equipped with the charging tray jacking of product and specify position to first, Thus carry out cooperative mechanical hands product in charging tray is pipetted.After product is all pipetted, when charging tray becomes empty charging tray, from Empty charging tray can also be reclaimed by dynamic elevating mechanism in time, does not the most affect the first mechanical hand for the next one equipped with the material of product Dish carries out product and pipettes operation, thus repetitive cycling operation, it is achieved efficient product pipettes work and charging tray recovery operation, removes from Substantial amounts of manual operation, time saving and energy saving, improve work efficiency.

Secondly, the present invention is by developing the part of a kind of unidirectional supporting parts, by itself and other knots in automatic hoisting mechanism Structure coordinates, and finally effectively support can be positioned at the charging tray above unidirectional supporting parts, enable charging tray to be reclaimed smoothly.

Finally, the device automatically shifting bin for product that the present invention is developed, by the first mechanical hand, conveying location Cooperation between mechanism, the second mechanical hand, it is possible to automatically by the transferred product that lies in a horizontal plane in charging tray to bin and complete Become the vertical update of product, the automatization of this transferred product bin process, substantial amounts of handling time will be saved, both Production efficiency can be effectively improved, be avoided that again and cause product to be scratched because of manually-operated unstability or occur that other quality are asked The phenomenon of topic.

Accompanying drawing explanation

Fig. 1 is the structural representation that embodiment two automatically shifts the device of bin for product；

Fig. 2 is the front view of the device automatically shifting bin in Fig. 1 for product；

Fig. 3 is the top view of the device automatically shifting bin in Fig. 1 for product；

Fig. 4 is the right view of the device automatically shifting bin in Fig. 1 for product；

Fig. 5 (a) is the structural representation of automatic hoisting mechanism in embodiment two；

Fig. 5 (b) is that the structural representation of automatic hoisting mechanism in embodiment two (omits the second horizontal frame and across fixing Part)；

Fig. 6 is the front view of automatic hoisting mechanism in Fig. 5 (a)；

Fig. 7 is the top view of automatic hoisting mechanism in Fig. 5 (a)；

Fig. 8 is the left view of automatic hoisting mechanism in Fig. 5 (a)；

Fig. 9 is the structural representation of unidirectional supporting parts in embodiment two；

Figure 10 is the front view of unidirectional supporting parts in Fig. 9；

Figure 11 (a) is the right view (support block stretches out from storage tank) of unidirectional supporting parts in Fig. 9；

Figure 11 (b) is the right view (support block is housed in storage tank) of unidirectional supporting parts in Fig. 9；

Figure 12 is the structural representation of the first mechanical hand in embodiment two；

Figure 13 is the top view of the first mechanical hand in Figure 12；

Figure 14 is the right view of the first mechanical hand in Figure 12；

Figure 15 is the structural representation of charging tray in embodiment two；

Figure 16 is the structure after automatic bay mechanism in embodiment two, orientating and conveying mechanisms, the second mechanical hand, bin combination Schematic diagram；

Figure 17 is the top view of structure in Figure 16；

Figure 18 is the structural representation of the second mechanical hand in embodiment two；

Figure 19 is the structural representation of bin in embodiment two；

Figure 20 is the top view of bin in Figure 19.

Detailed description of the invention

In the present invention, term " on ", D score, "left", "right", "front", "rear", " top ", " end ", " interior ", " outward ", In " ", " vertically ", " level ", " laterally ", the orientation of the instruction such as " longitudinally " or position relationship be based on orientation shown in the drawings or Position relationship, is merely to illustrate the relative position relation between each parts or ingredient, is not particularly limited each parts or group Become the concrete installation position of part.

Further, above-mentioned part term is in addition to can be used to indicate that orientation or position relationship, it is also possible to be used for representing it His implication, such as term " on " also be likely used in some cases representing certain relations of dependence or annexation.For ability For the those of ordinary skill of territory, these terms concrete meaning in the present invention can be understood as the case may be.

Additionally, term " is installed ", " setting ", " being provided with ", should be interpreted broadly " connection ", " being connected ".For example, it may be it is solid Fixed connection, removably connects, or monolithic construction；Can be to be mechanically connected, or electrical connection；Can be to be joined directly together, or Be indirectly connected to by intermediary, or be two devices, connection internal between element or ingredient.For this area For those of ordinary skill, above-mentioned term concrete meaning in the present invention can be understood as the case may be.

Additionally, term " first ", " second " etc. are mainly used for distinguishing different parts or ingredient, it is not intended to table Bright or indicated parts of hint or the relative importance of ingredient and quantity.Except as otherwise noted, the implication of " multiple " is two Individual or two or more.

Below in conjunction with embodiment and accompanying drawing, technical scheme is further described.

Embodiment one

The present embodiment provides a kind of device automatically shifting bin for product, including automatic hoisting mechanism and automatic bay Mechanism, described automatically shifts the first machinery that the device of bin also includes being arranged on described automatic hoisting mechanism for product Hands, the charging tray overlayed in described automatic hoisting mechanism, and it is respectively and independently arranged at the conveying in described automatic bay mechanism Detent mechanism, the second mechanical hand and bin, the described device automatically shifting bin for product also include respectively with described automatically The work that elevating mechanism, described first mechanical hand, described orientating and conveying mechanisms, described second mechanical hand, described bin are electrically connected with Make drive mechanism, wherein:

Described automatic hoisting mechanism for will be equipped with under the driving of described task driven mechanism the described charging tray of product by First desired guiding trajectory jacking specifies position to first；Described first mechanical hand is used under the driving of described task driven mechanism will The product being positioned in the described charging tray of described first specified location is moved by the second desired guiding trajectory to be put to described orientating and conveying mechanisms Front end；Described orientating and conveying mechanisms is fixed for described product is delivered under the driving of described task driven mechanism described conveying Position mechanism rear end；Described second mechanical hand is for will be located in described orientating and conveying mechanisms under the driving of described task driven mechanism The product of rear end is inserted in described bin by the 3rd desired guiding trajectory.

Embodiment two

The present embodiment provides a kind of device automatically shifting bin for product, and in conjunction with shown in Fig. 1 to Fig. 4, this is used for producing Product automatically shift the device of bin and include automatic hoisting mechanism 1 and be positioned at the automatic bay mechanism on the right side of this automatic hoisting mechanism 1 2.In automatic hoisting mechanism 1, it is respectively equipped with the first mechanical hand 3 and charging tray 4, automatic bay mechanism 2 is independently provided with defeated Send detent mechanism the 5, second mechanical hand 6 and bin 7.This be used for product automatically shift the device of bin also include respectively with automatically rise The task driven that descending mechanism 1, automatic bay mechanism the 2, first mechanical hand 3, orientating and conveying mechanisms the 5, second mechanical hand 6 are electrically connected with Mechanism's (not shown).

Wherein, automatic hoisting mechanism 1 is pre-by first for the charging tray 4 that will be equipped with product under the driving of task driven mechanism If track jacking specifies position to first；First mechanical hand 3 is for will be located in the first appointment under the driving of task driven mechanism Product in the charging tray 4 of position is moved by the second desired guiding trajectory to be put to orientating and conveying mechanisms 5 front end；Orientating and conveying mechanisms 5 is used for Under the driving of task driven mechanism, product is delivered to orientating and conveying mechanisms 5 rear end；Second mechanical hand 6 is in task driven The product that will be located in orientating and conveying mechanisms 5 rear end under the driving of mechanism is inserted in bin 7 by the 3rd desired guiding trajectory, automatic bay Mechanism 2 moves for driving bin 7 under the driving of task driven mechanism.Additionally, when the charging tray 4 being positioned at the first specified location In product all moved and put to the front end of orientating and conveying mechanisms 5, charging tray 4 becomes empty charging tray 4, and automatic hoisting mechanism 1 is also Put to the second appointment position for empty charging tray 4 being moved by the 4th desired guiding trajectory under the driving of task driven mechanism.

In the present embodiment, after being all moved out of equipped with all over products in the charging tray of product, empty charging tray can be by automatically Reclaiming, the new charging tray meeting automatic lifting equipped with product is to the first mechanical hand position, and the circulation thus achieving product moves Take the automatic recovery with charging tray, then by the cooperation of the parts such as orientating and conveying mechanisms, the second mechanical hand, so circulation repeats work Make, finally realize product and be automatically transferred to the purpose of bin from charging tray.

Specifically, in conjunction with Fig. 5 (a) to shown in Fig. 8, automatic hoisting mechanism 1 includes framework 11, lifting shaft 12, feeding material component 13 and charging tray clamp assemblies 14.Wherein, framework 11 is to be enclosed by some sheths to be formed, and is used for supporting whole automatic hoisting mechanism And integrate other parts being fixedly installed on the frame 11.Before the middle part of the trailing flank 111 of framework 11 and top are respectively facing Just (i.e. towards the right side in Fig. 8) is horizontal-extending defines the first horizontal frame 112 and the second horizontal frame 113, the first horizontal frame 112 Corresponding roughly to the first specified location, the second horizontal frame 113 corresponds roughly to the second specified location.

Wherein, lifting shaft 12 is installed on the trailing flank 111 of framework 11, lifting shaft 12 include respectively the first lifting shaft 121, Second lifting shaft 122 and the 3rd lifting shaft 123.From the short transverse (i.e. above-below direction Fig. 6) of trailing flank 111, first Lifting shaft 121 is fixedly installed on the middle and lower part of trailing flank 111, and the second lifting shaft 122 and the 3rd lifting shaft 123 are all fixedly installed on The middle and upper part of trailing flank 111.From the length direction (i.e. left and right directions Fig. 6) of trailing flank 111, the first lifting shaft 121 is solid Being located at the centre of trailing flank 111, the second lifting shaft 122 and the 3rd lifting shaft 123 are installed in the left and right two of trailing flank 111 respectively Side.First lifting shaft the 121, second lifting shaft the 122, the 3rd lifting shaft 123 is correspondingly provided with the first slide rail, the second cunning respectively Rail, the 3rd slide rail.

Wherein, feeding material component 13 is slidably arranged on the first lifting shaft 121, and feeding material component 13 includes supporting part 131 and send Material platform 132.One end of supporting part 131 is slidably connected by the first slide rail and the first lifting shaft 121, thus drives whole feeding Assembly 13 is relative to the lifting moving of the first lifting shaft 121, and the other end of supporting part 131 is free end.Material conveying platform 132 is water Surface plate, is fixedly installed on supporting part 131, for bearing the charging tray equipped with product.In order on material conveying platform simultaneously Stack multiple charging tray equipped with product, and ensure that the product in the position of charging tray and charging tray will not be at the lifting process of feeding material component In arbitrarily mobile or drop, be respectively equipped with some extensions that raises up in the edge of material conveying platform 132 and be formed as limited block 1321, the charging tray that be will be equipped with product by limited block 1321 is fixed on material conveying platform 132.It addition, in the present embodiment, feeding Being additionally provided with the blow vent 1322 vertically running through self in platform 132, these blow vents had both included that the circle that aperture area is bigger was opened Mouth also includes the circular aperture that aperture area is less.

In conjunction with Fig. 5 (b) Suo Shi, charging tray clamp assemblies 14 is slidably arranged in the second lifting shaft 122 and the 3rd lifting shaft 123 On, charging tray clamp assemblies 14 includes connecting portion 141 and clamping limb 142.Connecting portion 141 is string configuration, and connecting portion 141 is along certainly The two ends that body length direction extends are sliding by the second slide rail, the 3rd slide rail and the second lifting shaft the 122, the 3rd lifting shaft 123 respectively It is dynamically connected, thus drives the charging tray clamp assemblies 14 lifting moving relative to the second lifting shaft the 122, the 3rd lifting shaft 123.From even The length direction two ends meeting portion 141 respectively define a clamping limb 142 towards front horizontal extension, and at every clamping limb 142 On be equipped with two unidirectional supporting parts 15 towards the direction within automatic hoisting mechanism 1.

In the present embodiment, the charging tray that unidirectional supporting parts is positioned above for support.In conjunction with Fig. 9 to Figure 11 (b) Suo Shi, The most unidirectional supporting parts 15 includes supporting parts body 151 and support block 152.The middle part of supporting parts body 151 towards Therein depression forms a storage tank 153, and the bottom of storage tank 153 is along its length direction (i.e. left and right directions in Figure 10) Being provided with a connecting shaft 154, support block 152 is flexibly connected with supporting parts body 151 by this connecting shaft 154.At storage tank 153 Surface, support block 152 inner surface in be all embedded with Magnet 155, and be embedded in storage tank 153 surface Magnet be embedded in Both the Magnet of the inner surface of support block 152 relative to magnetic pole be that magnetic is identical.Owing to same polarity is repelled mutually, such as Figure 11 (a) Shown in, make support block 152 protruding from storage tank 153, now the support face 1521 of support block 152 is upwards, it is possible to support The charging tray being positioned above.When the external world applies the repulsive force that pressure is more than between support block 152 and storage tank 153, such as Figure 11 B, shown in (), support block 153 houses to storage tank 153, now the outer surface 1522 of support block 152 and supporting parts body 151 Outer surface 1511 is in same plane.

Additionally, combine Fig. 5 (a) to Fig. 8, in the first specified location, in order to accurately define charging tray position, in the first level Framework 112 medial surface, charging tray clamp assemblies connecting portion 141 side relative with the first horizontal frame 112 on be respectively equipped with a left side Right two arc-shaped limit parts 16, when charging tray clamp assemblies 12 drops to be generally in same level position with the first horizontal frame 112 When putting, these four arc-shaped limit parts 16 are collectively forming the first spacing space that can mate charging tray shape.Limited by four arcs Jacking to first can be specified the charging tray of position to be limited in this first spacing space by position part.Similarly, at the second horizontal frame On 113, trailing flank 111 region near framework is installed with across fixture 17, should be across fixture along the second horizontal frame 113 Length direction on two sheths being arranged on the second horizontal frame 113, the second horizontal frame 113 medial surface, across Also two the arc-shaped limit parts 16 in left and right, these four arcs it are respectively equipped with on the side that fixture 17 is relative with the second horizontal frame 113 Shape locating part 16 is collectively forming the second spacing space that can mate charging tray shape.When position is specified in charging tray jacking to second, Charging tray can be limited in this second spacing space by four arc-shaped limit parts.Meanwhile, in order to enable charging tray to stablize Be contained in the second spacing space, four arc-shaped limit part adjacent position in the second spacing space are also respectively equipped with unidirectional Supporting parts, four unidirectional supporting parts act on by charging tray support above it jointly.

It addition, in order to coordinate the first mechanical hand to pipette product, at the front side frame bar of the first horizontal frame 113 of framework 11 On towards the outside fixed horizontal stand 114 of framework 11, the first mechanical hand 1 is arranged on this horizontal stand 114.

Specifically, in conjunction with shown in Figure 12 to Figure 14, the first mechanical hand 3 includes the first mechanical arm 31 He being arranged in a mutually vertical manner Second mechanical arm 32, and the first crawl section 33 being arranged on the second mechanical arm 32.Wherein, the first mechanical arm 31 is fixedly installed On the horizontal stand 114 of automatic hoisting mechanism 1, the first mechanical arm 31 is provided with the first slide unit 311, and the second mechanical arm 32 passes through First slide unit 311 is slidably connected with the first mechanical arm 31, and the second mechanical arm 32 (i.e. can be schemed along the length direction of the first mechanical arm 31 Left and right directions in 1) move back and forth.Second mechanical arm 32 is provided with the second slide unit 321, and the first crawl section 33 is by the second slide unit 321 are slidably connected with the second mechanical arm 32, and the first crawl section 33 can be along the length direction of the second mechanical arm 32 (i.e. in Fig. 1 Above-below direction) move back and forth, so that the first crawl section can realize the crawl of any point position on horizontal plane.At the present embodiment In, owing to the first mechanical hand finally needs to be transported on orientating and conveying mechanisms product, therefore first in the first mechanical hand grabs Take portion's direction setting towards orientating and conveying mechanisms, to realize the function of the first mechanical hand.Further, since product to be pipetted For touch panel, therefore the first crawl section uses vacuum slot, thus completes the shifting of product on the premise of not scratching product Take or transport.It practice, the product pipetted needed for Dang is other products, such as spherical product or the square products of Wear-resistant scratch-resistant flower Time, the first crawl section uses other common crawl structure also dependent on shape and the characteristic of product, and such as claw type captures fixture Deng.

Shown in Fig. 1, Figure 15, charging tray 4 is arranged in automatic hoisting mechanism 1.Specifically, the charging tray 4 equipped with product is put It is placed on the material conveying platform 132 of feeding material component 13, after the product in charging tray 4 is all pipetted by the first mechanical hand 3, makes charging tray 4 Becoming empty charging tray 4, empty charging tray 4 is placed in the second spacing space.Charging tray 4 in the present embodiment includes the grid knot of hollow out Structure 41 and for enclosing the round rectangle frame 42 of this network, this charging tray for product (not shown) is lain in wherein, Pipette for the first mechanical hand.Wherein, at four fillets of round rectangle frame 42, it is provided with the bracer 43 protruded out downwards, logical Cross these bracers 43 can make to form certain gap between the round rectangle frame of neighbouring two charging trays stacked, thus The unidirectional supporting parts 15 making automatic hoisting mechanism 1 can effective support charging tray 4.Specifically, pass through in uphill process when charging tray During unidirectional supporting parts, owing to the round rectangle frame of charging tray can cause extruding by support block outwardly directed to unidirectional supporting parts, make Support block houses to the storage tank of unidirectional supporting parts.When charging tray rises to leave bottom lucky charging tray unidirectional supporting parts, now Unidirectional supporting parts is not affected by the impact of extraneous force, and support block repels mutually due to same polarity and stretches out from storage tank, and stretches out Position is just in the gap between neighbouring two charging trays stacked, and is achieved in being pointed to holding of the charging tray above support block Torr effect.

In the present embodiment, in conjunction with shown in Figure 16 to Figure 17, automatic bay mechanism 2 includes mechanism body 21, from mechanism master Support 22 that body 21 posterior region upwardly extends formation and the 3rd slide unit 23 being installed in mechanism body 21, conveying location Mechanism 5 is arranged on the mechanism body 21 side near automatic hoisting mechanism, and the second mechanical hand 6 is arranged on support 22, and bin 7 leads to Cross the 3rd slide unit 23 and be movably connected on mechanism body 21.

Specifically, in the present embodiment, orientating and conveying mechanisms 5 is located in mechanism body 21 region of the lateral edges that keeps left, and makes First crawl section 33 of the first mechanical hand 3 can capture product and move it on orientating and conveying mechanisms 5.In conjunction with Figure 16 to Figure 17 Shown in, orientating and conveying mechanisms 5 includes that transfer assembly 51, positioning cylinder 52 and location are by angle 53.Wherein, transfer assembly 51 includes solid Surely (figure is not for the fixed pulley being arranged in mechanism body 21 edge area that keeps left and the conveyer belt mating combination with fixed pulley Show), this transfer assembly 51 is for transmitting the product placed on a moving belt, the length direction of transfer assembly 51 and the first mechanical hand The second mechanical arm 32 in 3 is parallel, so that product can be pipetted to conveyer belt by the crawl section 23 of the first mechanical hand 3 smoothly. Positioning cylinder 52 and location are all provided close in the region on rear side of transfer assembly 51 by angle 53, wherein positioning cylinder 52 and transmission group Fixed pulley on rear side of part 51 is connected, for the motion of transfer assembly carries out the control of start and stop.Specifically at positioning cylinder 52 On be additionally provided with and sensor that positioning cylinder is electrically connected with, positioning cylinder 52 is controlled the startup of transfer assembly by sensor and is stopped Only, when the product on transfer assembly is transported to the tail end of transfer assembly, transfer assembly is automatically stopped work.Location is by 53, angle In the right side of transfer assembly 51, and location is controlled by actuating unit by angle 53, enables location to lean on angle along being perpendicular to transmission group Part length direction moves back and forth, for limiting and correcting the product space being positioned on transfer assembly.

In the present embodiment, support 22 be the rear vertical from mechanism body 21 upwardly extend formation across mechanism body The support of 21.Shown in Figure 16 and Figure 18, the second mechanical hand 6 includes orthogonal three-mechanical arm the 61, the 4th mechanical arm 62 and be arranged on the second crawl section 63 bottom the 4th mechanical arm 62 and Fibre Optical Sensor 64.Wherein, three-mechanical arm 61 edge Horizontal direction is installed on support 22, is provided with the 4th slide unit on three-mechanical arm 61, and the 4th mechanical arm 62 is by the 4th slide unit It is slidably connected with three-mechanical arm 61, makes the 4th mechanical arm 62 can move horizontally along the length direction of three-mechanical arm 61.This Outward, being additionally provided with, on the 4th mechanical arm 62, the lifting connecting portion moved relative to the 4th mechanical arm, wherein lifting connecting portion passes through Actuating unit drives and can carry out lifting moving, and the lower end of lifting connecting portion is rotated even with the second crawl section 63 by rotary shaft Connect, drive the lifting moving of the second crawl section 63 from there through the lifting moving lifting connecting portion.It addition, in the present embodiment Two crawl sections 63 can carry out 90 ° of rotations around rotary shaft, makes the second crawl section 63 can carry out pipetting the behaviour of product downwards Make, it is also possible to face forward carries out pipetting the operation of product.The second crawl section 63 in the present embodiment include rotary cylinder and The vacuum slot being connected with this rotary cylinder, makes vacuum slot realize 90 ° of rotations by rotary cylinder.Fibre Optical Sensor 64 is solid It is located on the 4th mechanical arm 62, position product vertically inserted for sensing the second crawl section 63.

In the present embodiment, product is primarily referred to as smart mobile phone or the touch panel of panel computer screen, bin 7 It it is the bin for vertically plugging touch panel.Shown in Figure 16, Figure 19 and Figure 20, at the 3rd slide unit 23 in the present embodiment Being provided with two identical bins of structure, this two bin is fixed in a rectangle bin frame.Arbitrary bin 7 is by the first sheet frame 71, the second sheet frame the 72, the 3rd sheet frame 73 and the 4th sheet frame 74 enclose formation jointly, and internal near sheet frame lower limb at each sheet frame Place is respectively equipped with reinforcing strip 76, for reinforcing the overall structure of bin.This bin 7 also includes that length extends (i.e. along the longitudinal direction In Figure 20 vertically extending) and two ends be connected to the first sheet frame 71 and the first positioning strip 751 of the 3rd sheet frame 73, Two positioning strip the 752, the 3rd positioning strip the 754, the 4th positioning strip the 754, the 5th positioning strip 755 and the 6th positioning strips 756, above-mentioned six Positioning strip is on a side and sets serrate structure, and six positioning strips are parallel to each other.

Wherein, the first positioning strip 751 and the second positioning strip 752 are positioned at the top area of bin 7, and keep at a certain distance away Arrange.The sawtooth of the first positioning strip 751, the sawtooth of the second positioning strip 752 set and relatively all towards bin 7 internal (i.e. first The sawtooth of positioning strip 751 is towards the right side in Figure 20, and the sawtooth of the second positioning strip 752 is towards the left side in Figure 20), the first location The sawtooth of bar and the sawtooth size of the second positioning strip, shape, position are the most corresponding, are used for fixing so that being formed therebetween Place the draw-in groove of product, can fixed placement product in draw-in groove in the lateral direction.3rd positioning strip 753 is positioned at bin 7 In bottom section, and in terms of vertical direction (i.e. Figure 20 towards paper outwardly direction in terms of), it is fixed that the 3rd positioning strip 753 is positioned at first Position bar 751 and the centre of the second positioning strip 752.The sawtooth of the 3rd positioning strip 753 offer the most upward (i.e. in Figure 20 towards paper to Outward), formed for fixing the draw-in groove placing product, can be in the upper fixed placement of fore-and-aft direction (i.e.) in card in Figure 20 along the vertical direction Product in groove.In conjunction with above-mentioned first positioning strip and the effect of the second positioning strip so that product is securely inserted at bin 7 In.Similarly, the 4th positioning strip the 754, the 5th positioning strip 755 and the structure of the 6th positioning strip 756 and arrange position the most respectively with First positioning strip the 751, second positioning strip the 752, the 3rd positioning strip 753 is identical, therefore repeats no more.

Additionally, in order to distance between each positioning strip of flexible, in the present embodiment, the upside of the first sheet frame 71 Edge is towards bin 7 internal bend and horizontal-extending is formed with distance adjustable plate 711, is spaced and offers on distance adjustable plate 711 Having four strip perforates 712, the position of these four strip perforates 712 corresponds respectively to the first positioning strip 751, second and positions Article the 752, the 4th positioning strip 753 and the 5th positioning strip 754.First positioning strip and distance regulation are now described as a example by the first positioning strip Structural relation between plate and regulative mode, the structural relation between other positioning strips and distance adjustable plate with regulative mode is also Identical, therefore repeat no more.One end that first positioning strip 751 is connected with the first sheet frame 71 is located at below distance adjustable plate 711, This end of first positioning strip 751 is provided with screwed hole, and the position of screwed hole exactly corresponds to below strip perforate 712, spiral shell Bolt (not shown) can be threadeded with the screwed hole of the first positioning strip after strip perforate, so that the first location Bar and the fixing connection of the first sheet frame.It is understood that the upper edge at the 3rd sheet frame extends also towards bin internal bend It is formed with distance to connect also by screw connection manner is fixing between adjustable plate, and the first positioning strip and the 3rd sheet frame.When needs regulate During spacing between the first positioning strip and other positioning strips, only need to looser a bolt, bolt be taken out from screwed hole, i.e. scalable The position of the first positioning strip, the regulation of spacing between the different positioning strip of final realization.

It addition, in the present embodiment, except being provided with strip perforate on distance adjustable plate, be additionally provided with some independent little circles Shape perforate, these round holes can be equally used for regulating the spacing between different positioning strip.

Automatically the device shifting bin for product of the present embodiment, its work process generally comprises two processes: will produce Process that product take out from charging tray and product is inserted into the process of bin.

The process taken out from charging tray by product is specific as follows:

First, some charging trays 4 equipped with product are placed in the feeding material component 13 of automatic hoisting mechanism 1, drive in work Under the driving of motivation structure, feeding material component 13 moves from the bottom to top, until will be located in charging tray 4 jacking of feeding material component 13 the top extremely First specifies position (the most substantially jacking is to the first horizontal frame 112 location), and now to be fixed in first spacing for charging tray In space；Secondly, the second mechanical arm 32 of the first mechanical hand 3 moves to product position according to movement locus, and first captures Product is held by the vacuum slot in portion 33, and product is moved by the second mechanical arm 32 and the first crawl section 33 according still further to another movement locus Deliver on orientating and conveying mechanisms 5, thus complete the process taken out from charging tray by product.

It addition, after all over products is transferred to orientating and conveying mechanisms 5 by the first mechanical hand 3, it is positioned at feeding material component 13 The charging tray 4 of top becomes empty charging tray 4, now can carry out the process reclaimed by empty charging tray 4.Specifically, at task driven machine Under the driving of structure, the charging tray clamp assemblies 14 in the first elevating mechanism 1 drops to the first specified location, makes to be positioned at charging tray clamping Unidirectional supporting parts 15 inside assembly 14 is located just at the charging tray 4 of sky and below in gap between charging tray, so that unidirectional Support block in supporting parts 15 stretches out from storage tank because same polarity repels mutually, and the most unidirectional supporting parts is by empty charging tray torr Rise.After charging tray lifts up, charging tray clamp assemblies 14 specifies position to ramp up from first, until jacking specifies position to second Place, makes the charging tray 4 of sky be positioned in the second spacing space, and makes the charging tray 4 of sky be positioned at the unidirectional supporting parts in this second spacing space Top, so that unidirectional supporting parts support lives empty charging tray, acts on corresponding unidirectional supporting parts jointly in the second spacing space Under, make the charging tray of sky deposit in this second spacing space and be positioned at above unidirectional supporting parts.

The process that product is inserted into bin is specific as follows:

After product is transferred on orientating and conveying mechanisms 5, first, under the driving of task driven mechanism, conveying location Product is delivered to the tail end of transfer assembly by mechanism 5, and transfer assembly stops transmitting work, and now the second mechanical hand 6 is according to motion Track moves to corresponding to product position, and the second crawl section 63 on the second mechanical hand 6 turns to lower section, makes the second crawl section The vacuum slot of 63 declines in the face of product, lifting connecting portion 66, the vacuum slot adsorption production of the second crawl section 63, after absorption, Lifting connecting portion 66 rises；Then, the 4th mechanical arm 62 of the second mechanical hand 6 moves to bin relevant position according to movement locus Place, the second crawl section 63 carries out 90 ° of rotations, makes product face forward, lifting connecting portion 66 decline, according to the sense of Fibre Optical Sensor Answering position, product is inserted in the bin of relevant position by the second crawl section 63, thus completes product and is inserted into the process of bin.

Repeat the process that product takes out from charging tray and the process that product is inserted into bin, until all products from Charging tray is transferred in bin, it is achieved product shifts the purpose of bin automatically.

It addition, the task driven mechanism in the present embodiment can use prior art to drive each parts in system Dynamic control, this is no longer going to repeat them.

Embodiment three

The present embodiment is different, specifically from the structure differing only in unidirectional supporting parts of embodiment two: at support block Inner surface and the surface of storage tank no longer embed Magnet, but arranges between the inner surface and the surface of storage tank of support block The spring of deformation can be recovered, make elastic between support block and storage tank connection.In the case of there is no extraneous applying pressure, due to The elasticity of spring, makes support block protruding from storage tank, and now the support of support block is towards upper, it is possible to support position is thereon The charging tray of side.When the external world applies the elastic force that pressure is more than between support block and storage tank, support block houses to storage tank, this Time support block the outer surface of outer surface and supporting parts body in same plane.

Claims (19)

1. the device automatically shifting bin for product, it is characterised in that: include automatic hoisting mechanism and automatic bay machine Structure, described device also includes the first mechanical hand being arranged on described automatic hoisting mechanism, overlays described automatic hoisting mechanism In charging tray, and be respectively and independently arranged at orientating and conveying mechanisms, the second mechanical hand and the bin in described automatic bay mechanism, Described device also include respectively with described automatic hoisting mechanism, described automatic bay mechanism, described first mechanical hand, described conveying Detent mechanism, described second mechanical hand, the task driven mechanism of electric connection, wherein:

Described automatic hoisting mechanism is for will be equipped with the described charging tray of product by first under the driving of described task driven mechanism Desired guiding trajectory jacking specifies position to first；Described first mechanical hand is for will be located under the driving of described task driven mechanism Product in the described charging tray of described first specified location is moved by the second desired guiding trajectory to be put to described orientating and conveying mechanisms front end； Described orientating and conveying mechanisms for being delivered to described conveying localization machine under the driving of described task driven mechanism by described product Structure rear end；Described second mechanical hand is for will be located in described orientating and conveying mechanisms rear end under the driving of described task driven mechanism Product be inserted in described bin by the 3rd desired guiding trajectory.

Device the most according to claim 1, it is characterised in that: it is positioned in the described charging tray of described first specified location Product is all moved to be put to the front end of described orientating and conveying mechanisms, and described charging tray becomes empty described charging tray, described automatic liter Descending mechanism is additionally operable under the driving of described task driven mechanism move empty described charging tray by the 4th desired guiding trajectory put to second Specify position.

Device the most according to claim 2, it is characterised in that: described automatic hoisting mechanism include framework, be installed in described Lifting shaft on framework and be respectively provided at the feeding material component on described lifting shaft and charging tray clamp assemblies, described task driven machine Structure is electrically connected with described feeding material component, described charging tray clamp assemblies respectively, makes described feeding material component, described charging tray clamp assemblies It is respectively relative to described lifting shaft move.

Device the most according to claim 3, it is characterised in that: described framework is enclosed by some sheths and is formed, from described Extending the most forward in the middle part of the trailing flank of framework and be formed with the first horizontal frame, described first horizontal frame corresponds to institute State the first appointment position, extend the most forward from the trailing flank top of described framework and be formed with the second horizontal frame, institute State the second horizontal frame and specify position corresponding to described second.

Device the most according to claim 3, it is characterised in that: described lifting shaft includes independently being installed in described framework On the first lifting shaft, the second lifting shaft and the 3rd lifting shaft, wherein, the short transverse along described framework is seen, described first liter Fall axle is positioned at the middle and lower part of described framework, and described second lifting shaft and described 3rd lifting shaft are respectively positioned in described framework Portion；Length direction along described framework is seen, described first lifting shaft is positioned at the centre of described framework, described second lifting shaft and institute State the 3rd lifting shaft and lay respectively at left side and the right side of described framework.

Device the most according to claim 5, it is characterised in that: described first lifting shaft is provided with the first slide rail, by institute Stating the first slide rail makes described feeding material component be arranged on described first lifting shaft；Described second lifting shaft and described 3rd lifting shaft On be respectively equipped with the second slide rail and the 3rd slide rail, make described charging tray clamp assemblies by described second slide rail and described 3rd slide rail It is arranged on described second lifting shaft and described 3rd lifting shaft.

Device the most according to claim 6, it is characterised in that: described feeding material component includes supporting part and material conveying platform, institute The one end stating supporting part is movably connected on described first lifting shaft by described first slide rail, makes described supporting part along described first Axially moving up and down of lifting shaft, the other end of described supporting part is free end；Described material conveying platform is horizontal panel, and described Material conveying platform is vertically located on described supporting part, is provided with vertically leading to through described material conveying platform on described material conveying platform QI KOU, the extension that raises up from the edge of described material conveying platform is formed with limited block.

Device the most according to claim 6, it is characterised in that: described charging tray clamp assemblies includes connecting portion and clamping limb, Described connecting portion is string configuration, and the two ends that described connecting portion extends along its length direction are sliding by described second respectively Rail, described 3rd slide rail are movably connected on described second lifting shaft, described 3rd lifting shaft, make described connecting portion along described second Axially moving up and down of lifting shaft and described 3rd lifting shaft；Described clamping limb is installed in described connecting portion respectively along its length At the two ends that direction extends, and forward extend out in the horizontal direction at the two ends that described connecting portion extends along its length direction.

Device the most according to claim 3, it is characterised in that: the medial surface of described first horizontal frame, described charging tray press from both sides The medial surface of the connecting portion holding assembly is respectively equipped with locating part, when described charging tray clamp assemblies drops to and described first horizontal pane When frame is generally in same level position, the locating part on the medial surface of described first horizontal frame and described charging tray clamp assemblies Connecting portion medial surface on locating part relatively set, described locating part is collectively forming the first spacing space, described first spacing Space for limiting the locus of described charging tray in the horizontal position of described first horizontal frame.

Device the most according to claim 3, it is characterised in that: near described framework on described second horizontal frame Trailing flank region is installed with across fixture, described across fixture along described second horizontal frame length direction across being arranged on On two sheths of described second horizontal frame, the described medial surface across fixture, the inner side of described second horizontal frame The locating part that face is respectively equipped with on locating part, and the medial surface of described second horizontal frame and the described medial surface across fixture On locating part relatively set, described locating part is collectively forming the second spacing space, and described second spacing space is for described The horizontal position of the second horizontal frame limits the locus of described charging tray.

11. according to the device described in any one of claim 1 to 10, it is characterised in that: in the clamping of described charging tray clamp assemblies Arm is provided with unidirectional supporting parts, and described unidirectional supporting parts includes supporting parts body and is flexibly connected relative to described supporting parts body Support block, described supporting parts body is formed with the storage tank of size and described support Block-matching towards therein depression, makes Described support block is protruding or be housed in described storage tank from described storage tank；Described support block is from described storage tank In protruding time, the support of described support block is towards upper, when described support block is housed in described storage tank, described support block Outer surface and described supporting parts body outer surface be in same plane.

12. devices according to claim 11, it is characterised in that: the surface of described storage tank, the interior table of described support block Face is all embedded with Magnet, and is embedded in the Magnet on the surface of described storage tank and the Magnet being embedded in described support block inner surface The two relative magnetic pole is that magnetic is identical；Or, set between the inner surface of the surface of described storage tank and described support block There is the spring that can recover deformation, make elastic between described storage tank with described support block connection.

13. according to the device described in any one of claim 1 or 2, it is characterised in that: towards outside described framework on described framework Being installed with horizontal stand, described first mechanical hand is arranged on described horizontal stand, and described first mechanical hand includes being mutually perpendicular to Arrange the first mechanical arm and the second mechanical arm and be arranged on the first crawl section on described second mechanical arm；Wherein, described First mechanical arm is fixedly installed on described horizontal stand, and described second mechanical arm is relative to described first mechanical arm activity even Connecing, described first crawl section connects relative to described second mechanical activity.

14. according to the device described in any one of claim 1 or 2, it is characterised in that: described charging tray includes the network of hollow out With the frame for enclosing described network, described frame is protruded out downwards and is provided with a bracer, made up and down by described bracer Gap is formed between the frame of two described charging trays of adjacent one another.

15. according to the device described in any one of claim 1 or 2, it is characterised in that: described automatic bay mechanism includes mechanism master Body, the support upwardly extending formation from described mechanism body posterior region and the 3rd cunning being installed in described mechanism body Platform, described orientating and conveying mechanisms is arranged on the described mechanism body side near described automatic hoisting mechanism, described second machinery Hands is arranged on the bracket, and described bin activity is movably connected on described mechanism body by described 3rd slide unit.

16. devices according to claim 15, it is characterised in that: described second mechanical hand includes orthogonal 3rd machine Mechanical arm, the 4th mechanical arm and be arranged on the second crawl section bottom described 4th mechanical arm, described three-mechanical arm is installed in On the support of described automatic bay mechanism, described 4th mechanical arm is flexibly connected relative to described three-mechanical arm, and described second Crawl section is flexibly connected relative to described 4th mechanical arm.

17. devices according to claim 16, it is characterised in that: described second mechanical hand also includes being arranged on the described 4th Fibre Optical Sensor on mechanical arm.

18. devices according to claim 15, it is characterised in that: described bin is enclosed by some sheet frames and is formed, and described Bin is provided with some positioning strips of the 3rd slide unit length direction being parallel to described automatic bay mechanism, described positioning strip two ends It is connected to relatively and between two the described sheet frames set.

19. according to the device described in any one of claim 1-17, it is characterised in that: connect the sheet frame having described positioning strip along certainly Edge is formed with distance adjustable plate towards described bin internal bend is horizontal-extending at one's side, is spaced and offers on described distance adjustable plate Some perforates, the position of described perforate is had to correspond respectively to described positioning strip.