CN106966167A - Automatic loading and unloading system - Google Patents
Automatic loading and unloading system Download PDFInfo
- Publication number
- CN106966167A CN106966167A CN201710317956.8A CN201710317956A CN106966167A CN 106966167 A CN106966167 A CN 106966167A CN 201710317956 A CN201710317956 A CN 201710317956A CN 106966167 A CN106966167 A CN 106966167A
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- China
- Prior art keywords
- station
- supporting rack
- feeding
- drive
- workpiece
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
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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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The invention discloses automatic loading and unloading system, including frame, frame is provided with feeding station, feeding station, positional stations, discharge station and slotting hopper position；First conveying mechanism, feed mechanism, including clamping device and supporting mechanism；Material fetching mechanism, for gripping the workpiece on the material supporting rack at feeding station to positional stations；Cutting agency；Detent mechanism, the detent mechanism is used to position workpiece；Material pluging machine tool hand, for gripping the workpiece at positional stations and being overturn to workpiece so that the workpiece after upset is inserted to the slot of slotting bin.The automatic loading and unloading system of the present invention, its feeding for being automatically performed workpiece, feeding, positioning, slotting material and blanking, and empty material supporting rack can automatically be stacked, automaticity is high.
Description
Technical field
The present invention relates to machining technology field, more particularly to a kind of automatic loading and unloading system.
Background technology
With the raising of scientific and technological level, electronic equipment is widely used in every field, thus the production of electronic equipment
Efficiency, which also seems, to become more and more important.And various electronic devices have glass screen, and the cleannes of glass screen determine electronics
The key of equipment quality, if if the cleannes of glass screen are inadequate, then electronic equipment screen can be caused to there is light leak etc. and lacked
Fall into, thus in the production process of electronic equipment, the cleaning of glass screen is most important.And on a production line, typically produce
Multiple glass screen material supporting rack horizontal positioneds and install, then glass screen is removed from glass screen, and it is carried out
Upset makes it be in vertical state, the glass screen of vertical state is inserted into the slotting bin with slot（That is rack for cleaning）On, from
And the glass screen placed vertically is cleaned, so it is easy to cleaning；And the material supporting rack after removing glass screen can by after
Continuous conveying.
But, existing equipment loading and unloading efficiency is low, the transfer efficiency of glass screen, and by the glass screen on material supporting rack
After curtain is removed, remaining empty material supporting rack is all often directly to be transported to discharging area by conveying mechanism, by manually by sky
Material supporting rack is stacked, and whole process automaticity is low.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of automatic loading and unloading system, its is automatic
Feeding, feeding, positioning, slotting material and the blanking of workpiece are completed, and empty material supporting rack can automatically be stacked, automaticity is high.
The purpose of the present invention is realized using following technical scheme：
Automatic loading and unloading system, including,
Frame, frame is provided with feeding station, feeding station, positional stations, discharge station and slotting hopper position；Feeding station
Place is provided with space is stacked, and stacking space is used to highly stack multiple material supporting racks for being mounted with workpiece along its own；Stack space
Bottom forms discharging opening；Retainer space is provided with discharge station, the bottom in retainer space is provided with feeding mouth；Provided with use at feeding mouth
In the stop station for stopping empty material supporting rack；Inserting hopper position is used to place the slotting bin with slot；
First conveying mechanism, the initiating terminal of first conveying mechanism is connected in discharging opening and for receiving the support exported by discharging opening
Bin, the end of the first conveying mechanism is connected in feeding mouth；
Feed mechanism, including clamping device and supporting mechanism, clamping device are used to clamp or unclamp positioned at stacking space most bottom
The material supporting rack at end；Supporting mechanism is used to abut to positioned at the retainer for stacking space lowermost end when towards close to discharging opening motion
Frame；
Material fetching mechanism, for gripping the workpiece on the material supporting rack at feeding station to positional stations；
Cutting agency, including material jacking mechanism and blocking mechanism, material jacking mechanism be located at the lower section of feeding mouth and can towards close or
Person moves away from feeding mouth；Material jacking mechanism is used for the material supporting rack of the top pressure sky when being moved towards feeding mouth so that material supporting rack is moved to
In retainer space；Blocking mechanism can be moved towards the direction close to or away from stop station；And blocking mechanism be used for towards
Stop material supporting rack during close to stop station motion；
Detent mechanism, the detent mechanism is used to position workpiece；
Material pluging machine tool hand, for grip the workpiece at positional stations and workpiece overturn with by after upset workpiece insert
In to the slot for inserting bin.
It is preferred that, supporting mechanism includes the first drive cylinder, the first supporting plate and support bar, and the first supporting plate is fixed in
On the piston rod of first drive cylinder, the bottom of support bar is fixed in the first supporting plate, and the top of support bar forms support end,
Support end is used to move towards close to or away from discharging opening.
It is preferred that, clamping device includes multiple second drive cylinders and multiple grip blocks, multiple second drive cylinder peaces
Loaded in frame and around the central axis circumference array for stacking space, multiple grip blocks one-to-one corresponding are fixed in multiple second drivings
On the piston rod of cylinder, each grip block can be moved towards close to or away from stacking interior volume.
It is preferred that, blocking mechanism includes multiple stoppers, multiple stoppers located at stop at station and can towards close or
Person is away from the direction motion for stopping station；Multiple stoppers are used to stop material supporting rack when towards close to stop station motion；Respectively
Individual stopper is articulated on the side wall of feeding mouth, and each stopper can be under external force towards close or remote feeding mouth
Direction rotate；The bottom of stopper is provided with a compression inclined-plane, and the compression inclined-plane is from top to bottom gradually away from feeding mouth
Direction is tilted；The compression inclined-plane is used for by external force top pressure so that stopper is rotated away from the direction of feeding mouth.
It is preferred that, material fetching mechanism includes multiple feeding part, the first drive mechanism and the second drivings for drawing workpiece
Mechanism, the first drive mechanism is used to drive width of multiple feeding parts along frame to transport towards close to or away from feeding station
It is dynamic；Second drive mechanism is used to drive short transverse of multiple feeding parts along frame to transport towards close to or away from feeding station
It is dynamic.
It is preferred that, backgauge station and stock stop are additionally provided with frame, backgauge station is located at feeding station and blankers
Between position, stock stop can be moved towards close to or away from backgauge station, and stock stop is used for towards close to backgauge work
Material supporting rack is blocked during the motion of position；Backgauge station is provided with limit sensors, and the limit sensors are for detecting the position of material supporting rack simultaneously
A position signalling is sent to stock stop, stock stop is used to move to block support towards close to backgauge station according to position signalling
Bin.
It is preferred that, the automatic loading and unloading system also includes guiding mechanism, and the guiding mechanism is used to guide material supporting rack along first
The conveying direction motion of conveying mechanism；Guiding mechanism includes multiple guide rollers, and the both sides of the first conveying mechanism are equipped with multiple
Guide roller, conveying direction of multiple guide rollers along the first conveying mechanism, which is arranged and be used to roll with the edge of material supporting rack, matches somebody with somebody
Close.
It is preferred that, material pluging machine tool hand includes clamp device, vision positioning device, first driving means and the second driving dress
Put；Clamp device is used for the workpiece for gripping feeding station；First driving means are used to drive clamp device to overturn；Vision positioning is filled
Put for a picture signal to be taken pictures and sent to discharge station to the second drive device, the second drive device is used to be believed according to picture
Number drive clamp device discharge station is moved to by feeding station.
It is preferred that, the automatic loading and unloading system also includes material carrying mechanism, and the material carrying mechanism is located at the lower section for inserting hopper position, and
For towards close to or away from slotting hopper position internal motion.
It is preferred that, the automatic loading and unloading system also includes the transport platform and second conveyor structure being installed in frame, defeated
Platform is sent to be provided with multiple conveying platform frames, multiple conveying platform frames are intervally arranged along the short transverse of frame；Conveying platform frame is used to place
Slotting bin with slot；Multiple conveying platform frames can be moved along the short transverse of transport platform；Second conveyor structure, for that will convey
Slotting bin on stand is delivered to slotting hopper position.
Compared with prior art, the beneficial effects of the present invention are：
1st, multiple material supporting racks are stacked in stacking space by it in advance, and the first conveying mechanism is connected going out in stacking space
At material mouth, so in feeding, clamping device is unclamped material supporting rack can be such that material supporting rack falls on the first conveying mechanism and by the
One conveying mechanism is delivered to next station, is rapidly completed automatic charging.
2nd, it is after feeding, and motion that can be by multiple feeding parts in bracket height direction once completes to remove multiple works
Part, and multiple feeding parts width can be moved along in frame, may be implemented in the diverse location feeding of feeding station, feeding efficiency
It is high；And workpiece transfer to positional stations can be positioned in the presence of detent mechanism after feeding, it is easy to material pluging machine tool
The positioning feeding of hand.
3rd, material is inserted after material pluging machine tool hand can take the workpiece of positional stations away automatically and it is overturn, is automatically performed slotting
Expect operation.
4th, it is delivered at feeding mouth by the empty material supporting rack of the first conveying mechanism, and now material jacking mechanism is towards close to pan feeding
Mouthful motion, can the empty material supporting rack of top pressure, at the same time blocking mechanism can be moved away from the direction for stopping station, it is so empty
Material supporting rack is moved in retainer space.Hereafter, blocking mechanism is made to be moved towards the close direction for stopping station and sky can be stopped
Material supporting rack, i.e. material supporting rack can be blocked means block, not fall out.So repeatedly, by the empty of the first conveying mechanism conveying
Material supporting rack can be entered by feeding mouth one by one to be stacked in retainer space, is rapidly completed blanking operation.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is one of partial structural diagram of the present invention；
Fig. 3 is the two of the partial structural diagram of the present invention；
Fig. 4 is the three of the partial structural diagram of the present invention；
Fig. 5 is the four of the partial structural diagram of the present invention；
Fig. 6 is the structural representation of the material carrying mechanism of the present invention；
Fig. 7 is the structural representation of the detent mechanism of the present invention；
Fig. 8 is the structural representation of the material pluging machine tool hand of the present invention；
Fig. 9 is the structural representation of the material fetching mechanism of the present invention；
Figure 10 is the structural representation of the supporting mechanism of the present invention；
Figure 11 is the structural representation of the material jacking mechanism of the present invention；
Figure 12 is the structural representation of the stock stop of the present invention.
In figure：100th, frame；110th, material supporting rack；111st, workpiece；120th, bin is inserted；121st, slot；10th, feed mechanism；11、
Stack space；12nd, supporting mechanism；13rd, the first height sensor；14th, the first drive cylinder；15th, grip block；16th, support bar；
17th, the second drive cylinder；18th, the 3rd drive cylinder；20th, feeding station；21st, material fetching mechanism；211st, feeding part；212nd, first drive
Motivation structure；213rd, the second drive mechanism；241st, the first fixed mount；22nd, stock stop；221st, striker plate；222nd, the 5th driving gas
Cylinder；30th, cutting agency；31st, retainer space；32nd, material jacking mechanism；33rd, push rod；34th, stopper；35th, the 4th drive cylinder；40、
Detent mechanism；41st, locating piece；42nd, the first limited block；43rd, the second limited block；44th, the first guide groove；45th, the second guide groove；
46th, the 3rd manipulator；47th, the 4th manipulator；50th, material pluging machine tool hand；51st, first driving means；511st, motor；512nd, drive
The rotating shaft of dynamic motor；52nd, articulated robot；53rd, clamp device；531st, the second fixed mount；532nd, the second vacuum cup；54th, take the photograph
As head；61st, hopper position is inserted；62nd, second conveyor structure；621st, the 3rd drive mechanism；622nd, conveying arm；63rd, material carrying mechanism；631、
6th drive cylinder；632nd, link；633rd, supporting spring；64th, elastomeric element；65th, position limiter；66th, top-pressure mechanism；70th, it is defeated
Send platform；71st, conveying platform frame；80th, the first conveying mechanism；90th, guiding mechanism.
Embodiment
Below, with reference to accompanying drawing and embodiment, the present invention is described further：
Automatic loading and unloading system as Figure 1-5, including frame 100, the first conveying mechanism 80, feed mechanism 10, reclaimer
Structure 21, cutting agency 30, detent mechanism 40, material pluging machine tool hand 50, frame 100 is provided with feeding station, feeding station 20, positioning
Station, discharge station and slotting hopper position 61.Feeding station, feeding station 20 and discharge station can be along the first conveying mechanisms
80 conveying direction is set gradually.
Provided with space 11 is stacked at feeding station, stacking space 11 is used to stack multiple retainers for being mounted with workpiece 111
Frame 110, and short transverse stacking of the material supporting rack 110 along stacking space 11.Discharging opening is formed with the bottom for stacking space 11.With
This is provided with retainer space 31 at discharge station simultaneously, is provided with feeding mouth in the bottom in retainer space 31 accordingly；And feeding mouth
Place is provided with the stop station for the material supporting rack 110 for being used to stop sky.The initiating terminal of above-mentioned first conveying mechanism 80 is set to be connected in stacking
The discharging opening of the bottom of space 11, and for receiving the material supporting rack 110 exported by discharging opening, and the end of the first conveying mechanism 80 is then
It can be connected in the feeding mouth of the bottom of retainer space 31.The initiating terminal of above-mentioned first conveying mechanism 80 is set to be connected in the stacking bottom of space 11
The discharging opening at end, and for receiving the material supporting rack 110 that is exported by discharging opening, and the end of the first conveying mechanism 80 can then be connected in
The feeding mouth of the bottom of retainer space 31.In addition, inserting hopper position 61 is used to place the slotting bin with slot 121（That is rack for cleaning）.
Above-mentioned feed mechanism 10 specifically may be mounted at feeding station, and feed mechanism 10 includes clamping device and support
Mechanism 12, clamping device can be used for clamping or unclamp the material supporting rack 110 for being located at and stacking the lowermost end of space 11.And supporting mechanism 12 can
Moved towards close to or away from the discharging opening, and when supporting mechanism 12 is towards close to discharging opening motion, support machine
Structure 12 is abutted to the material supporting rack 110 for being located at the stacking lowermost end of space 11.
In addition, above-mentioned material fetching mechanism 21 is arranged on feeding station 20, and material fetching mechanism 21 is used to grip at feeding station 20
Material supporting rack 110 on workpiece 111 to positional stations.Detent mechanism 40 can be arranged at positional stations, for material fetching mechanism
The workpiece 111 that 21 transfers come is positioned.At the same time, material pluging machine tool hand 50 can be used for gripping by the workpiece at positional stations
111, and workpiece 111 is overturn, the workpiece 111 after upset is inserted to the slot 121 of slotting bin 120.
Cutting agency 30 includes material jacking mechanism 32 and blocking mechanism, and above-mentioned material jacking mechanism 32 is located at the lower section of feeding mouth,
, can be upward when material jacking mechanism 32 is being moved towards feeding mouth and material jacking mechanism 32 can be moved towards close to or away from feeding mouth
The empty material supporting rack 110 of top pressure, so that empty material supporting rack 110 is moved in retainer space 31.In addition, blocking mechanism can be towards close
Or away from the direction motion for stopping station, and when blocking mechanism is towards close to stop station motion, the retainer of sky can be stopped
Frame 110.
The present embodiment is specific to be mounted with multiple glass screens on material supporting rack 110, and the automatic system up and down is used to remove many
Individual glass screen, and glass screen is overturn so that the slot 121 that glass screen is inserted in bin 120 with vertical state
It is interior.
On the basis of said structure, multiple material supporting racks 110 for being mounted with multiple glass screens can be stacked on stacking in advance
In space 11, when not carrying out feeding operation, gripper mechanism grips are on the side positioned at the material supporting rack 110 for stacking the least significant end of space 11
Edge, prevents material supporting rack 110 from dropping.When starting feeding operation, supporting mechanism 12 can be made to be moved towards the direction close to discharging opening, this
When supporting mechanism 12 can abut to positioned at the material supporting rack 110 for stacking the least significant end of space 11, material supporting rack 110 will not fall from discharging opening
Fall.At the same time, make clamping device unclamp be located at stack the least significant end of space 11 material supporting rack 110, then make supporting mechanism 12 to
The direction away from discharging opening to move, material supporting rack 110 is understood in the presence of self gravitation as supporting mechanism 12 is away from discharging opening,
Clamping device is set to be held on the material supporting rack 110 adjacent with the material supporting rack 110 positioned at the stacking least significant end of space 11 again, therefore in support
Mechanism 12 continues away from during discharging opening, and only one of which material supporting rack 110 can drop down onto rising for the first conveying mechanism 80 down therewith
On top, so repeatedly, sustainable feeding.
After the falling on the initiating terminal of the first conveying mechanism 80 of the material supporting rack 110 of multiple glass screens is mounted with, first
Material supporting rack 110 can be delivered to feeding station 20 by conveying mechanism 80, and material fetching mechanism 21 can be by multiple glass screens on material supporting rack 110
Curtain is removed, and the glass screen removed is transferred into positional stations, and the detent mechanism 40 being provided with positional stations can be to glass
Screen is positioned, and it is put neatly, is easy to the accurate crawl of material pluging machine tool hand 50.Material pluging machine tool hand 50 captures glass screen
Afterwards, it can be overturn, it is in vertical state to make its upset, and afterwards, material pluging machine tool hand 50 can be by the glass screen after upset
Insert to the slot 121 of the slotting bin 120 at slotting hopper position 61, complete to insert material operation.So repeatedly, inserted in slotting bin 120
After full glass screen, then unify to be cleaned.
In addition, while above-mentioned operation, i.e., after material fetching mechanism 21 removes multiple glass screens, being left empty retainer
Frame 110 can continue on to discharge station in the presence of the first conveying mechanism 80, and remaining empty material supporting rack 110 can be delivered to
At the feeding mouth of the bottom of retainer space 31, now by making the motion upwards of material jacking mechanism 32, i.e., moved towards the direction of feeding mouth,
I.e. the upward above-mentioned empty material supporting rack 110 of top pressure of the meeting of material jacking mechanism 32, at the same time, can make stop station away from feeding mouth
Direction is moved, and so empty material supporting rack 110 can be moved in retainer space 31 by feeding mouth.After this, make blocking mechanism to
And moved close to the direction for stopping station, and make material jacking mechanism 32 away from the direction of feeding mouth（It is i.e. downward）Motion, now
Blocking mechanism can stop that the material supporting rack 110 of sky, i.e. empty material supporting rack 110 can be blocked means block, will not be because of self gravitation
Drop.So repeatedly, it is empty that the empty material supporting rack 110 conveyed by the first conveying mechanism 80 can enter retainer by feeding mouth one by one
Between stacked in 31, be rapidly completed blanking operation, automaticity height.
It is preferred that, referring to Figure 10, supporting mechanism 12 includes the first drive cylinder 14, the first supporting plate and support bar 16,
The first supporting plate is set to be fixed on the piston rod of the first drive cylinder 14, while the bottom of support bar 16 is fixed in the first supporting plate
On, the top of support bar 16 forms support end, and support end is used to move towards close to or away from the discharging opening.In this structure
On the basis of, drive the first supporting plate to stretch by the piston rod of the first drive cylinder 14, during the first supporting plate is flexible,
Drive the close of support end or away from above-mentioned discharging opening, complete the support operation to material supporting rack 110 in above-mentioned feeding process.
Certainly, support bar 16 can be provided with multiple, and supporting construction is more stablized.
Further, above-mentioned supporting mechanism 12 also includes the 3rd drive cylinder 18 and the second supporting plate, by the 3rd driving
The cylinder body of cylinder 18 is arranged in frame 100, the affixed connection of piston rod and the second supporting plate of the 3rd drive cylinder 18.Tie herein
On the basis of structure, the cylinder body of the first drive cylinder 14 is arranged in the second supporting plate.In addition, the movement travel of the 3rd drive cylinder 18
Less than the movement travel of first drive cylinder 14.So can be by the phase of the first drive cylinder 14 and the second drive cylinder 17
Mutually coordinate, just start driving support bar 16 close to material supporting rack 110 move when, the first drive cylinder 14 and the 3rd driving gas can be passed through
The collective effect of cylinder 18, increases the move distance of first support bar 16.And when support bar 16 is moved away from material supporting rack 110, due to
Period clamping device in need is clamped after a material supporting rack 110 again, could be moved, and now can first make the 3rd drive cylinder 18
Piston rod shrink, drive support bar 16 to move a small distance away from discharging opening, and after making gripper mechanism grips stable, then
The piston rod of the first drive cylinder 14 is shunk, material supporting rack 110 is fallen on the first conveying mechanism 80, such above-mentioned feeding process
Follow it is progressive, movement travel more flexibly it is adjustable.
Further, in the present embodiment, referring to Fig. 3, clamping device includes multiple second drive cylinders 17 and multiple
Grip block 15, multiple second drive cylinders 17 are installed in frame 100 and around the central axis circumference array for stacking space 11, many
Individual grip block 15 is corresponded and is fixed on the piston rod of multiple second drive cylinders 17, particularly, the second drive cylinder 17
Provided with four, corresponding grip block 15 sets four, and this four the second drive cylinders 17, which set up separately, is stacking the corner in space 11.
When also not starting to work, four grip blocks 15 can be under the drive of four the second drive cylinders 17 towards close to stacking space 11
Internal motion, makes four grip blocks 15 be located at the lower section of material supporting rack 110, holds material supporting rack 110, completes clamping operation.And upper
During material, supporting mechanism 12 first withstands material supporting rack 110, makes four grip blocks 15 away from stacking inside space 11, material supporting rack 110 can be with
Fall, complete feeding.So repeatedly.Certainly, each grip block 15 also can be during towards the stacking internal motion of space 11
Abut to the edge of material supporting rack 110, equally can also complete clamping operation.
It is preferred that, referring to Fig. 3, blocking mechanism includes multiple stoppers 34, and multiple stoppers 34, which are located at, to be stopped at station, and
Multiple stoppers 34 can stop work in multiple stoppers 34 towards close to or away from stop that the direction of station is moved towards close
During the motion of position, the material supporting rack 110 of sky can be stopped.On the basis of this mechanism, in the above-mentioned empty retainer of the upward top pressure of material jacking mechanism 32
During frame 110, above-mentioned multiple stoppers 34 can be made to be moved away from the direction of feeding mouth, so empty material supporting rack 110 can be by entering
Material mouth is moved in retainer space 31.After this, multiple stoppers 34 are made to be moved towards close to the direction for stopping station, and
Material jacking mechanism 32 is set to be moved away from the direction of feeding mouth, now stopper 34 can stop the material supporting rack 110 of sky, i.e. empty support
Bin 110, which can be blocked block 34, to be stopped, will not be dropped because of self gravitation, so repeatedly.
It is preferred that, each above-mentioned stopper 34 can be specifically articulated on the side wall of feeding mouth, and each stopper 34 can be
Rotated under external force effect towards the direction close to or away from feeding mouth.In this way, in material jacking mechanism 32 towards close to feeding mouth
When direction is moved, i.e., the empty material supporting rack 110 of upward top pressure, empty material supporting rack 110 can upward top pressure institute during moving upwards
Stopper 34 is stated, stopper 34 is rotated away from the direction of feeding mouth, so empty material supporting rack 110 smoothly can enter to start going to a nursery
Stacked in material space 31.Hereafter, can stopper 34 can be resetted under self gravitation, towards close to feeding mouth direction transport
It is dynamic, so as to complete to stop operation, the material supporting rack 110 of sky is stacked in retainer space 31.Certainly, in the present embodiment, stop
Block 34 is to be articulated in by rotating shaft on the side wall of feeding mouth, stopper 34 is interference fitted with rotating shaft, with certain damping
Power, such stopper 34 can only could be rotated in the sufficiently large situation of external force, and can be automatically reset to level under self gravitation
State.Certainly, stopper 34 can also, by the flexible of cylinder, be protruded into feeding mouth, or the interior side for being reduced to feeding mouth
In wall, above-mentioned operation equally can be also realized.
It is preferred that, the bottom of stopper 34 is provided with a compression inclined-plane, and compression inclined-plane is from top to bottom gradually away from pan feeding
The direction of mouth is tilted；The compression inclined-plane is by external force top pressure so that stopper 34 is moved away from the direction of feeding mouth.I other words,
When empty material supporting rack 110 is by 32 upward top pressure of material jacking mechanism, the above-mentioned compression inclined-plane of top pressure is understood at the edge of empty material supporting rack 110,
The level that stress can be decomposed into the vertical force for making stopper 34 move upwards and inside contract stopper 34 by such compression inclined-plane
Power, is easy to driving.
In the present embodiment, referring to Figure 11, above-mentioned material jacking mechanism 32 includes the 4th drive cylinder 35, connecting plate and multiple
Push rod 33.Specific connecting plate is fixed in the top of the 4th drive cylinder 35, and the piston rod of the 4th drive cylinder 35 can be towards close
The direction away from feeding mouth is moved, and multiple push rods 33 are fixed in material supporting rack 110 on connecting plate and empty for top pressure.Herein
Mechanism basis, by starting the 4th drive cylinder 35, can drive the up and down motion of piston rod, can so drive above and below connecting plate
Motion, so as to drive multiple push rods 33 on connecting plate to move towards close to or away from feeding mouth, completes to push empty retainer
The effect of frame 110.And multiple push rods 33 are used, being more uniformly stressed for empty material supporting rack 110 can be made.
It is preferred that, referring to Fig. 9, material fetching mechanism 21 includes multiple feeding parts 211, first for being used to draw workpiece 111 and driven
The drive mechanism 213 of mechanism 212 and second, and the first drive mechanism 212 can drive width of multiple feeding parts 211 along frame 100
Direction is spent, is moved towards close to or away from feeding station 20.At the same time, the second drive mechanism 213 can drive multiple feedings
Short transverse of the part 211 along frame 100, is moved towards close to or away from feeding station 20.The second driving machine can so be passed through
Structure 213 drives multiple feeding parts 211 in the motion of the short transverse of frame 100, once completes to remove multiple glass on material supporting rack 110
Glass screen.Drive multiple feeding parts 211 width can be moved along in frame 100 thereafter through the first drive mechanism 212, so
Multiple glass screens of another location on material supporting rack 110 can be removed, you can realize the diverse location feeding in feeding station 20.
It should be noted that above-mentioned feeding part 211 can specifically select multiple first vacuum cups, and make multiple first vacuum cup edges
The width of frame 100 is intervally arranged, and can make workpiece 111 by the way of multiple first vacuum cups draw workpiece 111
Smooth transfer, and the surface of workpiece 111 will not be caused to damage.Certainly, feeding part 211 also can also can individually select clamping jaw, it is pneumatic
Finger etc. has the part replacement that gripping is acted on.
In addition, above-mentioned first drive mechanism 212 is the first manipulator, the second drive mechanism 213 is the second manipulator, and many
Individual feeding part 211 is fixed in the clutch end of the second manipulator by one first fixed mount 241, and the second manipulator is installed on institute
State the power delivery end of the first manipulator.In this way, can be moved up and down by second the first fixed mount of mechanical hand-motion 241（That is machine
The short transverse of frame 100）, so as to drive multiple feeding parts 211 to draw workpiece 111, then pass through the first mechanical hand-motion second
Manipulator is moved forward and backward（That is the width of frame 100）Just multiple feeding parts 211 can be driven to be moved to feeding station 20 not
Same position, completes above-mentioned material extracting operation.Certainly, the first drive mechanism 212 and the second drive mechanism 213 also can select cylinder, oil
Other transmission mechanisms such as cylinder or slide device are replaced.
It is preferred that, referring to Fig. 3 and Figure 12, backgauge station and stock stop 22 are additionally provided with frame 100, makes backgauge
Station is located between feeding station 20 and discharge station, and stock stop 22 can be moved towards close to or away from backgauge station, and
Stock stop 22 is used to block material supporting rack 110 when towards close to the motion of backgauge station.It is many being mounted with this architecture basics
When conveying direction of the material supporting rack 110 of individual glass screen along the first conveying mechanism 80 is conveyed, material supporting rack 110 can pass through backgauge work
Position, can now make stock stop 22 towards close to the motion of backgauge station, stock stop 22 is blocked above-mentioned material supporting rack 110, prevent
Workpiece 111 conveys excessive, you can the position of material supporting rack 110 is defined, and realizes positioning.Multiple glass on material supporting rack 110
After glass screen is removed, multiple stock stop 22 can be made to be moved away from the direction of backgauge station, can make to take after part
Empty material supporting rack 110 continues on to next station.So repeatedly, each material supporting rack 110 is delivered to feeding station 20 can quilt
Stock stop 22 is blocked and let pass again after a period of time, you can realize the positioning feeding of material supporting rack 110, and automaticity is high, feeding
Efficiency high.
It is preferred that, position sensor can be also provided with backgauge station, the position of workpiece 111 is detected by position sensor,
And a position signalling is sent to stock stop 22, stock stop 22 can be kept off according to position signalling towards close to the motion of backgauge station
Firmly workpiece 111, are so easy to control, in real time positioning.
It is preferred that, in the present embodiment, referring to Figure 12, stock stop 22 may include the 5th drive cylinder 222 and backgauge
Plate 221, the position signalling that specific 5th drive cylinder 222 is used to be sent according to position sensor drives striker plate 221 along machine
The short transverse of frame 100 realizes backgauge operation towards close to the motion of backgauge station.Certainly, striker plate 221 also can be by linear electric motors
Or manipulator drives.
It is preferred that, the automatic loading and unloading mechanism 30 also includes being installed on the first height sensor 13 in frame 100 and the
Two height sensors（It is not shown）, the first height sensor 13 is arranged at feeding station, for detecting in stacking space 11
Multiple material supporting racks 110 equipped with workpiece 111 height and send one first altitude signal.In this way, material supporting rack 110 successively by
During discharging opening is exported, stacking the height of the material supporting rack 110 in space 11 can gradually decrease, and reduce to certain height
During value, the first height sensor 13 can detect the height of now multiple material supporting racks 110, be less than in the height of multiple material supporting racks 110
During certain value, the first altitude signal can be transmitted, to remind the quantity situation of operator's material supporting rack 110, is easy to operator to mend in time
Material supporting rack 110 is filled, material supporting rack 110 is remained certain quantity, realizes and continues automatic transport, journey is automated
Degree is high.
In addition, above-mentioned second height sensor is at discharge station, and for detecting empty in the retainer space 31
The height of material supporting rack 110 simultaneously sends one second altitude signal.I.e. in the lasting entrance retainer space 31 of multiple empty material supporting racks 110
Afterwards, the height of the empty material supporting rack 110 in retainer space 31 can gradually increase, and be reached in the height of multiple empty material supporting racks 110
During to certain value, the second altitude signal can be transmitted, is removed, kept away with the empty material supporting rack 110 for reminding operator in time to fold heap
Exempt from because empty material supporting rack 110 is stacked excessively, and situation about turning over occur.
Certainly, a controller can be provided with frame 100, above-mentioned first altitude signal and second are received by the controller
Altitude signal, and above-mentioned height value can be set in advance.In addition, in the case of no controller, the first height of transmission is believed
Number and the second altitude signal can be alarm signal, can send the sound, remind operator.It should be noted that above-mentioned height is passed
Sensor can be passed using potentiometric transducer in the prior art, grating type angle sensor, magnetic-grid-type angular transducer, Weight and disk type
One kind in sensor.
It is preferred that, the automatic loading and unloading mechanism 30 also includes guiding mechanism 90, and the guiding mechanism 90 can be used for guiding retainer
Conveying direction conveying of the frame 110 along the first conveying mechanism 80, motion process is more smooth.Particularly, guiding mechanism 90 can be wrapped
Multiple guide rollers are included, multiple guide rollers are specifically equipped with the both sides of the first conveying mechanism 80, multiple guide rollers are along
The conveying direction arrangement of one conveying mechanism 80, when material supporting rack 110 is conveyed by the first conveying mechanism 80, above-mentioned multiple guide rollers
It can roll and coordinate with the edge of material supporting rack 110, so that material supporting rack 110 can be conveyed steadily, course of conveying is more smooth.
It is preferred that, in the present embodiment, referring to Fig. 8, material pluging machine tool hand 50 specifically includes clamp device 53, vision positioning dress
Put, the drive device of first driving means 51 and second.Clamp device 53 is used for the gripping workpiece 111 for gripping feeding station, the
One drive device 51 is used to drive clamp device 53 to overturn, that is, drives the workpiece 111 on clamp device 53 to be overturn.It is same with this
When, vision positioning device is used to take pictures to discharge station and send a picture signal, and above-mentioned second drive device can be according to picture
Signal drives clamp device 53 to move to discharge station by feeding station.
On the basis of said structure, the glass screen that clamp device 53 grips positional stations is first passed through, then passes through first
Drive device 51 drives the clamp device 53 to overturn, you can to drive glass screen to be overturn by horizontality to vertical state.
At the same time, the position of slot 121 for inserting bin 120 can be taken pictures by vision positioning device and sends picture signal, in detection
To after the position of slot 121 of slotting bin 120, the second drive device is set to drive clamp device 53 to move to slotting material by positional stations
The slot 121 of frame 120, you can drive glass screen to insert to the slot 121 of slotting bin 120, completes to insert material operation.I other words,
Above-mentioned manipulator can complete the upset operation of workpiece 111 and it is accurately transferred in slot 121, improve efficiency.
It is preferred that, in the present embodiment, the second drive device is articulated robot 52, and articulated robot 52 is used to receive institute
State picture signal.In addition, clamp device 53 includes the second fixed mount 531 and multiple second vacuum cups 532, by multiple second
Vacuum cup 532 is installed on the second fixed mount 531, while making the second fixed mount 531 be installed on the power of articulated robot 52
Output end, and first driving means 51 then can be used for driving the second fixed mount 531 to overturn., can be by many on this architecture basics
Individual second vacuum cup 532 draws workpiece 111, then starts first driving means 51, overturns the second fixed mount 531, the
Two fixed mounts 531 can drive multiple second vacuum cups 532 for drawing workpiece 111 to overturn during overturning, so as to complete work
The upset operation of part 111.Hereafter, articulated robot 52 can move to slotting according to above-mentioned picture signal the second fixed mount 531 of drive
At groove 121, transfer tasks are completed.It should be noted that can by the way of multiple second vacuum cups 532 draw workpiece 111
So that the smooth transfer of workpiece 111, and the surface of workpiece 111 will not be caused to damage.And gripping can be made using articulated robot 52
The freedom of movement with more multiple directions of device 53, is easy to be changed according to picture signal.Specific articulated robot
52 can select five axles or six axis joint robots 52, and flexibility ratio is higher.Certainly, clamp device 53 is in addition to above-mentioned implementation, also
Can be individually from clamping jaw etc..Being capable of multiple driving machines for being capable of linear movement output likewise, the second drive device is also optional
Structure is realized.
It is preferred that, first driving means 51 are motor 511, the body of motor 511 is fixed on joint machine
On the clutch end of people 52, and the rotating shaft 512 of motor is fixedly connected with fixed mount 531241.Thus by motor
511 drive fixed mounts 531241 are rotated, and then drive multiple second vacuum cups 532 to rotate, so as to realize above-mentioned upset operation.
Certainly, the first driving means 51 can also be replaced using gear mechanism or other drive mechanisms that can export rotary motion.
It is preferred that, vision positioning device is camera 54, and the camera 54 is fixed on articulated robot 52, passes through shooting
First 54 pairs of slots 121 carry out positioning of taking pictures, and are then transported on picture signal to articulated robot 52.Certainly, it can also be used
The induction mechanisms such as his equipment such as inductor carry out vision positioning.
It is preferred that, in the present embodiment, the longitudinal cross-section interception of above-mentioned first vacuum cup and the second vacuum cup 532
Its own outer surface institute into curve be wave, i other words, the outer surface of the first vacuum cup and the second vacuum cup 532 can be set
There are multiple folds, because the first vacuum cup and the second vacuum cup 532 are typically made up of quality of rubber materials, thus provided with multiple pleats
Wrinkle more preferably, can will not produce absorption by buffering effect in the first vacuum cup and the second vacuum cup 532 draw operation process
Mechanism occurs directly to hit, it is to avoid workpiece 111 is damaged.
It is preferred that, referring to Fig. 4 and Fig. 6, the automatic loading and unloading system may also include material carrying mechanism 63, the material carrying mechanism 63
Lower section positioned at slotting hopper position 61, and be used for towards close or 61 internal motions of remote slotting hopper position.In this way, inserting material operation
When, it can make material carrying mechanism 63 first towards 61 internal motions of slotting hopper position, material carrying mechanism 63 can stretch into the slot 121 of slotting bin 120
Workpiece 111 is inside first held, material carrying mechanism 63 is gradually moved away from slotting hopper position 61, drives workpiece 111 slowly to enter
Enter in slot 121, thus workpiece 111 can be inserted smoothly, i.e., material pluging machine tool hand 50 need not be fully inserted into inside slot 121 just
It can complete to insert material operation, it is to avoid material pluging machine tool hand 50 collides with slotting bin 120.
Material carrying mechanism 63 in the present embodiment includes the 6th drive cylinder 631, link 632 and multiple supporting springs 633, will
Multiple supporting springs 633 are fixed on link 632, the 6th drive cylinder 631 be used for drive link 632 towards close to or it is remote
The slotting hopper position 61 is moved, so that the multiple supporting spring 633 is stretched into or the slot 121 away from slotting bin 120.I other words,
When insert material operation, multiple supporting springs 633 can be driven to be moved towards close to slotting hopper position 61 by the 6th drive cylinder 631,
Multiple supporting springs 633 can stretch into the bottom that slot 121, the i.e. height of supporting spring 633 are higher than slot 121, and such material pluging machine tool hand 50 will
Workpiece 111 is placed in slot 121, makes the bottom of workpiece 111 and the top contact of supporting spring 633, therefore material pluging machine tool hand 50
It need not enter in slot 121.Hereafter multiple supporting springs 633 are made to be moved away from slotting hopper position 61, in the process, workpiece 111
It can fall into slot 121, complete to fix.
It is preferred that, referring to Fig. 4 and Fig. 5, the automatic loading and unloading system also includes the transport platform 70 being installed in frame 100
And second conveyor structure 62, multiple conveying platform frames 71 are provided with transport platform 70, make multiple conveying platform frames 71 along frame 100
Short transverse is intervally arranged, and the conveying platform frame 71 can be used for placing the slotting bin 120 with slot 121.In addition, above-mentioned multiple defeated
Stand 71 is sent to be moved along the short transverse of the transport platform 70.And second conveyor structure 62 can be used on conveying platform frame 71
Slotting bin 120 be delivered to slotting hopper position 61.
On the basis of said structure, it can be placed in advance on each conveying platform frame 71 of transport platform 70 with slot 121
Insert bin 120, can second conveyor structure 62 by its be located at top conveying platform frame 71 on slotting bin 120 be delivered to slotting hopper
In position 61, and workpiece 111 is inserted to slot 121 to complete automatic slotting material by material pluging machine tool hand 50.Inserted completing one
After the slotting material operation of bin 120, slotting bin 120 can be delivered on conveying platform frame 71 again by second conveyor structure 62,
Hereafter, short transverse of multiple conveying platform frames 71 along frame 100 is made to move upwards, i.e., empty slotting bin 120, which is gone up, comes, now
Slotting bin 120 is delivered to by slotting hopper position 61 by second conveyor structure 62 again, completes to insert material operation, so repeatedly, automation
Degree is higher.
In the present embodiment, second conveyor structure 62 specifically includes the drive mechanism 621 of conveying arm 622 and the 3rd, passes through
3rd drive mechanism 621 drives conveying arm 622 to be moved towards the direction close to or away from transport platform 70, and in conveying arm 622
During towards close to the transport platform 70 motion, conveying arm 622 can stretch into the lower section of conveying platform frame 71 to hold the slotting bin
120.And conveying arm 622 can drive slotting bin 120 to move to slotting hopper position 61 when being moved away from the transport platform 70.Tool
Body, when insert material operation, can drive conveying arm 622 to be transported towards close to transport platform 70 by the 3rd drive mechanism 621
Dynamic, conveying arm 622 is when moving to the lower section of conveying platform frame 71, but multiple conveying platform frames 71 are moved downward, and so inserts bin
120 can fall on conveying arm 622, conveying arm 622 is moved away from the direction of transport platform 70, just can drive slotting bin
120 move towards slotting hopper position 61.And after material completion is inserted, conveying arm 622 can be made to be transported towards the direction close to transport platform 70
Dynamic, so now conveying arm 622 can drive the slotting bin 120 for sticking with workpiece 111 to move to the top of conveying platform frame 71, now many
Individual conveying platform frame 71 can be moved upwards, and inserting bin 120 can depart from conveying arm 622.So repeatedly, multiple conveying platform frames 71 are completed
On slotting bin 120 slotting material operation.
It is preferred that, elastomeric element 64 is provided with 61 sides away from transport platform 70 of slotting hopper position, drives and inserts in conveying arm 622
During bin 120 is moved away from transport platform 70, the meeting top pressure of bin 120 elastomeric element 64 is inserted, can so avoid inserting bin 120
Occurs hard collision between frame 100.Certainly, after slotting material is finished, above-mentioned elastomeric element 64 resets also can be to slotting bin
120 provide an acceleration, are easy to driving.In the present embodiment, elastomeric element 64 can specifically select spring.
More particularly, top-pressure mechanism 66 can be provided with the side for inserting hopper position 61, the top-pressure mechanism 66 can be towards close
Or moved away from slotting hopper position 61, in slotting bin 120 on slotting hopper position 61, prepare slotting when expecting, can make top-pressure mechanism 66 to
When close to slotting 61 motion of hopper position, such top-pressure mechanism 66 can be abutted to the side of slotting bin 120, make to insert the stabilization of bin 120
Be located at insert hopper position 61 in, prevent its insert material during there is deflection.Above-mentioned top-pressure mechanism 66 may include abut plate and
Drive cylinder, drives the direction for abutting plate towards the close or remote slotting hopper 61 to move by drive cylinder.
It is preferred that, position limiter 65 is additionally provided with close to the side of transport platform 70 in slotting hopper position 61, the position limiter
65 for detecting the position of slotting bin 120 and sending a signal, so after slotting hopper position 61 is completely into slotting hopper position 61,
One signal can occur for position limiter 65 to above-mentioned material pluging machine tool hand 50, reclaimer robot is started operation.
Referring to Fig. 7, the detent mechanism 40 in the present embodiment includes positioning table, the first limited block 42, the second limited block 43, the
One guide groove 44 and the second guide groove 45；First limited block 42, the second limited block 43, the first guide groove 44 and second are oriented to
Groove 45 is mountable on positioning table.Locating slot position is formed with positioning table, locating slot position can be used for installing workpiece 111.
Specific first limited block 42 can be moved along the width of positioning table towards locating slot position, while the second limited block 43 can be along positioning
The length direction of platform is moved towards locating slot position.And above-mentioned first guide groove 44 is used to guide the first limited block 42 along positioning table
Length direction is towards the direction motion close to locating slot position, likewise, the second guide groove 45 can be used for the second limited block 43 of guiding
Moved along the width of positioning table.
After the feeding of material fetching mechanism 21, glass screen can be placed in locating slot position, move the first limited block 42
To the end of workpiece 111, the second limiting section moves to sidepiece, can so make workpiece 111 end face and side and locating slot
The end wall and side wall of position are abutted, you can realized that workpiece 111 is put neatly in locating slot position, be easy to the accurate of material pluging machine tool hand 50
Crawl.And first the direction of motion of limited block 42 and the second limited block 43 be two vertical directions completely, you can make to be arranged on fixed
Glass screen in the groove position of position is in complete fit-state, will not occur the situation of deflection during crawl, and crawl effect is more preferable.
It should be noted that in the present embodiment, above-mentioned locating slot position can be provided at the groove on positioning table, and this is recessed
Groove has an end wall and a side wall.Based on this, the above-mentioned limited block 43 of first limited block 42 and second abut to
During glass screen, the first limited block 42 and the second limited block 43 can form another end wall and opposite side wall of groove.Certainly, it is fixed
Position groove position also can be only an open station, the first limited block 42 is provided with two, while the second limited block
43 are also provided with two, can so make the first relative motion two-by-two of limited block 42 two-by-two, while making two-by-two that the second limited block 43 is two-by-two
Relative motion, two-by-two the first limited block 42 and the second limited block 43 equally can also surround above-mentioned locating slot position jointly two-by-two.Certainly,
Above-mentioned locating slot position also can select other formed.
Further, multiple locating pieces 41, length direction row of multiple locating pieces 41 along positioning table are provided with positioning table
Cloth, and the top end face formation locating slot position of each locating piece 41.I other words, can provided with multiple locating slots position on the positioning table
The positioning work of multiple glass screens is completed simultaneously.Certainly, on this architecture basics, homogeneous a pair on each above-mentioned locating piece 41
Above-mentioned first limited block 42, the second limited block 43, the first guide groove 44 and the second guide groove 45 should be provided with, is easy to each to position
Block 41 can not influenced each other with complete independently positioning operation.
Further, the 3rd manipulator 46 is additionally provided with positioning table, the 3rd manipulator 46 is used to drive the first limited block
42 move along the width of the positioning table, and driving structure is stable and simple.Likewise, being additionally provided with the 4th machinery on positioning table
Hand 47, the 4th manipulator 47 is used to drive the second limited block 43 to move along the length direction of positioning table, and same driving structure is stable
And it is simple, it is easy to driving.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (10)
1. automatic loading and unloading system, it is characterised in that including,
Frame, frame is provided with feeding station, feeding station, positional stations, discharge station and slotting hopper position；Feeding station
Place is provided with space is stacked, and stacking space is used to highly stack multiple material supporting racks for being mounted with workpiece along its own；Stack space
Bottom forms discharging opening；Retainer space is provided with discharge station, the bottom in retainer space is provided with feeding mouth；Provided with use at feeding mouth
In the stop station for stopping empty material supporting rack；Inserting hopper position is used to place the slotting bin with slot；
First conveying mechanism, the initiating terminal of first conveying mechanism is connected in discharging opening and for receiving the support exported by discharging opening
Bin, the end of the first conveying mechanism is connected in feeding mouth；
Feed mechanism, including clamping device and supporting mechanism, clamping device are used to clamp or unclamp positioned at stacking space most bottom
The material supporting rack at end；Supporting mechanism is used to abut to positioned at the retainer for stacking space lowermost end when towards close to discharging opening motion
Frame；
Material fetching mechanism, for gripping the workpiece on the material supporting rack at feeding station to positional stations；
Cutting agency, including material jacking mechanism and blocking mechanism, material jacking mechanism be located at the lower section of feeding mouth and can towards close or
Person moves away from feeding mouth；Material jacking mechanism is used for the material supporting rack of the top pressure sky when being moved towards feeding mouth so that material supporting rack is moved to
In retainer space；Blocking mechanism can be moved towards the direction close to or away from stop station；And blocking mechanism be used for towards
Stop material supporting rack during close to stop station motion；
Detent mechanism, the detent mechanism is used to position workpiece；
Material pluging machine tool hand, for grip the workpiece at positional stations and workpiece overturn with by after upset workpiece insert
In to the slot for inserting bin.
2. automatic loading and unloading system according to claim 1, it is characterised in that supporting mechanism includes the first drive cylinder, first
Supporting plate and support bar, the first supporting plate are fixed on the piston rod of the first drive cylinder, and the bottom of support bar is fixed in
In one supporting plate, the top of support bar forms support end, and support end is used to move towards close to or away from discharging opening.
3. automatic loading and unloading system as claimed in claim 1, it is characterised in that clamping device include multiple second drive cylinders and
Multiple grip blocks, multiple second drive cylinders are installed in frame and around the central axis circumference array for stacking space, multiple folders
Hold block one-to-one corresponding to be fixed on the piston rod of multiple second drive cylinders, each grip block can be towards close or remote stacking
Interior volume is moved.
4. automatic loading and unloading system as claimed in claim 1, it is characterised in that blocking mechanism includes multiple stoppers, multiple stops
Block, which is located at, to be stopped at station and can be moved towards the direction close to or away from stop station；Multiple stoppers be used for towards by
Stop material supporting rack during nearly stop station motion；Each stopper is articulated on the side wall of feeding mouth, and each stopper can be outside
Rotated under power effect towards the direction close to or away from feeding mouth；The bottom of stopper is provided with a compression inclined-plane, and the compression is oblique
Face is from top to bottom gradually tilted away from the direction of feeding mouth；The compression inclined-plane be used for by external force top pressure so that stopper towards
Direction away from feeding mouth is rotated.
5. automatic loading and unloading system as claimed in claim 1, it is characterised in that material fetching mechanism includes multiple for drawing taking for workpiece
Materials and parts, the first drive mechanism and the second drive mechanism, the first drive mechanism are used to drive width of multiple feeding parts along frame
Moved towards close to or away from feeding station in direction；Second drive mechanism is used to drive height side of multiple feeding parts along frame
Moved to towards close to or away from feeding station.
6. automatic loading and unloading system as claimed in claim 1, it is characterised in that backgauge station and backgauge machine are additionally provided with frame
Structure, backgauge station is located between feeding station and discharge station, and stock stop can be moved towards close to or away from backgauge station,
And stock stop is used to block material supporting rack when towards close to the motion of backgauge station；Backgauge station is provided with limit sensors, the limit
Level sensor is used for the position for detecting material supporting rack and sends a position signalling to stock stop, and stock stop is used to be believed according to position
Number towards close to the motion of backgauge station to block material supporting rack.
7. automatic loading and unloading system as claimed in claim 1, it is characterised in that the automatic loading and unloading system also includes guiding mechanism,
The guiding mechanism is used to guide conveying direction of the material supporting rack along the first conveying mechanism to move；Guiding mechanism includes multiple orienting rolls
Wheel, the both sides of the first conveying mechanism are equipped with multiple guide rollers, conveying direction of multiple guide rollers along the first conveying mechanism
Arrange and be used to roll with the edge of material supporting rack and coordinate.
8. automatic loading and unloading system as claimed in claim 1, it is characterised in that material pluging machine tool hand includes clamp device, vision positioning
Device, first driving means and the second drive device；Clamp device is used for the workpiece for gripping feeding station；First driving means
For driving clamp device to overturn；Vision positioning device is used to take pictures to discharge station and send a picture signal to the second driving
Device, the second drive device is used to drive clamp device to move to discharge station by feeding station according to picture signal.
9. automatic loading and unloading system as claimed in claim 1, it is characterised in that the automatic loading and unloading system also includes material carrying mechanism,
The material carrying mechanism is used for towards close or remote slotting hopper position internal motion positioned at the lower section for inserting hopper position.
10. automatic loading and unloading system as claimed in claim 1, it is characterised in that the automatic loading and unloading system also includes being installed on machine
Transport platform and second conveyor structure on frame, transport platform are provided with multiple conveying platform frames, height of multiple conveying platform frames along frame
Degree direction is intervally arranged；Conveying platform frame is used to place the slotting bin with slot；Multiple conveying platform frames can along transport platform height
Move in direction；Second conveyor structure, for the slotting bin on conveying platform frame to be delivered into slotting hopper position.
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| CN201710317956.8A CN106966167B (en) | 2017-05-08 | 2017-05-08 | Automatic feeding and discharging system |
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| CN201710317956.8A CN106966167B (en) | 2017-05-08 | 2017-05-08 | Automatic feeding and discharging system |
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