CN107363497B - Multi-disc overturning feeding machine - Google Patents
Multi-disc overturning feeding machine Download PDFInfo
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- CN107363497B CN107363497B CN201710593701.4A CN201710593701A CN107363497B CN 107363497 B CN107363497 B CN 107363497B CN 201710593701 A CN201710593701 A CN 201710593701A CN 107363497 B CN107363497 B CN 107363497B
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- 230000007246 mechanism Effects 0.000 claims description 37
- 238000007405 data analysis Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 9
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- 238000004458 analytical method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims 1
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- 240000002836 Ipomoea tricolor Species 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
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- 230000009977 dual effect Effects 0.000 description 2
- 239000012776 electronic material Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
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Abstract
The invention relates to a multi-tray overturning feeding machine which comprises a main frame, an XYZR shaft movement device, a tray pushing device, a material taking and overturning device, a double-tray cross conveying device, a full tray lifting device, an empty tray lifting device and a control system, wherein the XYZR shaft movement device is arranged at the upper part of the main frame, a full tray station and an empty tray station are arranged in the middle of the main frame, the full tray lifting device and the empty tray lifting device are arranged at the lower part of the main frame, when the multi-tray overturning feeder is used, a plurality of full trays can be stacked on the full tray station at one time, the material taking and overturning device clamps overturning materials to reach the double-tray cross conveying device by +/-90 degrees, the XYZR shaft movement device, the tray pushing device, the full tray lifting device and the empty tray lifting device are matched, the empty tray lifting device is driven to move from the full tray station to the empty tray station after the material taking, normal feeding of the full tray is not influenced, the feeding quantity of the full tray is sufficient, the feeding quantity of the feeding is not required to be replaced by a plurality of times, and the production efficiency is high.
Description
Technical Field
The invention relates to the field of mechanical equipment, in particular to a multi-disc overturning feeding machine.
Background
In the field of SMT and DIP electronic industry, because the labor intensity of manually assembling electronic materials is high, the production speed is low, the cost is high, the electronic materials are gradually replaced by mechanical equipment such as a plug-in machine, a chip mounter and the like, the mechanical equipment has the advantages of high automation degree, high qualification rate and the like, the traditional feeding mode of the machine is that materials are put on a feeding disc in advance, the feeding disc is conveyed to a material taking area, after the grabbing of a mechanical arm is finished, an empty feeding disc is manually moved out and replaced by a new feeding disc for continuous feeding, the feeding mode has the defects that firstly, the feeding quantity of a single disc is extremely limited, and the feeding disc needs to be replaced within 5-10 minutes for mechanical equipment for high-speed production, the production efficiency is low, and the manpower resource is wasted; secondly, the traditional material conveying mode is parallel feeding, does not have the function of overturning and changing angles, is not applicable to special-shaped materials, multi-angle discharging conditions and the like, is narrow in application range, lacks universality and flexibility, influences normal production, and meets production requirements.
Disclosure of Invention
Aiming at the technical problems of low efficiency, no overturning function, low application range and the like of single-disc feeding in the prior art, the invention provides a multi-disc overturning feeding machine, which comprises the following specific technical scheme:
the utility model provides a multi-disc upset feeding machine, which comprises a main frame, XYZR axle motion device, the charging tray pusher, get the material turning device, double-disc cross conveyor, full charging tray elevating gear, empty charging tray elevating gear and control system, the main frame divide into upper and lower triplex, XYZR axle motion device installs in main frame upper portion, install charging tray pusher below the XYZR axle motion device, get the material turning device, double-disc cross conveyor installs in the main frame avris, the main frame middle part is equipped with full charging tray station and empty charging tray station, full charging tray elevating gear, empty charging tray elevating gear installs in the main frame lower part and respectively with full charging tray station, empty charging tray station's position corresponds, XYZR axle motion device drives the motion of getting the material turning device, the material turning device snatchs or absorbs the material on the full charging tray station and reach double-disc cross conveyor, double-disc cross conveyor carries the material to the next station, after the material on the full charging tray station is carried, the corresponding high stagger charging tray motion device of charging tray pusher of full charging tray lifting device, empty charging tray lifting device is started to the corresponding one charging tray station, the empty charging tray motion device gets into the empty charging tray station.
As a preferable scheme of the invention, the material taking turnover device comprises a turnover cylinder, a connecting block, a rack, a gear, a turnover shaft, a turnover frame and a material taking element, wherein a piston rod of the turnover cylinder downwards extends out of the connecting block, the connecting block is fixedly connected with the rack, the rack is meshed with the gear, the gear is fixedly arranged in the middle of the turnover shaft, one end of the turnover shaft is fixedly arranged on the turnover frame, the material taking element is fixedly arranged below the turnover frame, and the material taking element is a pneumatic manipulator or a suction nozzle.
As a preferred scheme of the invention, the XYZR shaft movement device comprises an X shaft movement mechanism, a Y shaft movement mechanism, a Z shaft movement mechanism and an R shaft rotation mechanism, wherein the X shaft movement mechanism comprises an X shaft servo motor, an X shaft belt pulley assembly, an X shaft screw rod, an X shaft screw nut and an X shaft sliding rail, the Y shaft movement mechanism comprises a Y shaft cross beam, a Y shaft servo motor, a Y shaft belt pulley assembly, a Y shaft screw rod, a Y shaft screw nut and a Y shaft sliding rail, the Z shaft movement mechanism comprises a Z shaft fixing frame, a Z shaft servo motor, a Z shaft screw rod and a Z shaft screw nut, the R shaft rotation mechanism comprises an R shaft servo motor, an R shaft belt pulley assembly and an R shaft, the X shaft servo motor is fixedly arranged on the upper part of the main frame, the X shaft servo motor drives the X shaft screw rod to rotate through the X shaft belt pulley assembly, the X shaft screw rod is in threaded connection with the X shaft screw rod nut, the X shaft screw rod nut is fixedly arranged at the bottom of the Y shaft cross beam, the X-axis sliding rails are slidably connected with the front side and the rear side of the Y-axis beam, the X-axis sliding rails are fixedly arranged on the front side and the rear side of the upper part of the main frame, the Y-axis servo motor is fixedly arranged above the Y-axis beam, the Y-axis servo motor drives the Y-axis screw rod to rotate through the Y-axis belt pulley assembly, the Y-axis screw rod is in threaded connection with the Y-axis screw rod nut, the Y-axis screw rod nut is fixedly arranged behind the Z-axis fixing frame, the Z-axis fixing frame is slidably connected with the Y-axis sliding rails, the Y-axis sliding rails are fixedly arranged on the upper side and the lower side of the Y-axis beam, the Z-axis servo motor is fixedly arranged above the Z-axis fixing frame, the Z-axis servo motor extends downwards to drive the Z-axis screw rod to rotate, the Z-axis screw rod nut is fixedly arranged behind the material taking and overturning device, the material disc pushing device is fixedly connected below the Z-axis fixing frame and is positioned behind the material taking and overturning device, and an R-axis rotating mechanism is arranged on the tray pushing device, and an R-axis servo motor drives the R-axis rotating shaft to rotate through an R-axis belt pulley assembly.
As a preferable scheme of the invention, the full tray lifting device and the empty tray lifting device have the same structure, the full tray lifting device comprises a first mounting bottom plate, a full tray motor, a full tray belt pulley assembly, a full tray screw rod nut, a full tray lifting plate, a first connecting column and a full tray supporting plate, the first mounting bottom plate is arranged below the main frame, the full tray motor is fixedly arranged on the first mounting bottom plate, the full tray motor drives the full tray screw rod to rotate through the full tray belt pulley assembly, the full tray screw rod is in threaded connection with the full tray screw rod nut, the full tray screw rod nut is arranged on the full tray lifting plate, four corners of the full tray lifting plate are fixedly connected with the lower part of the first connecting column, the first connecting column upper portion fixed connection full tray layer board, empty charging tray elevating gear includes the second mounting plate, empty charging tray motor, empty charging tray belt pulley assembly, empty charging tray lead screw, empty charging tray wire pole nut, empty charging tray lifter plate, second spliced pole and empty tray layer board, second mounting plate installs in the main frame below, empty charging tray motor fixed mounting is in the second mounting plate, empty charging tray motor passes through empty charging tray belt pulley assembly drive empty charging tray wire pole rotation, empty charging tray wire pole threaded connection empty charging tray wire pole nut, empty charging tray wire pole nut installs in empty charging tray lifter plate, empty charging tray lifter plate four corners fixed connection second spliced pole's lower part, empty charging tray layer board of second spliced pole upper portion fixed connection.
As a preferable scheme of the invention, the tray pushing device comprises a pushing down cylinder and an L-shaped pushing plate, and a piston rod of the pushing down cylinder is fixedly connected with the L-shaped pushing plate.
As a preferable scheme of the invention, the overturning angle of the material taking overturning device is +/-90 degrees.
As a preferable mode of the present invention, the main frame is provided with a housing on an outer peripheral side thereof.
As a preferable scheme of the invention, the double-disc cross conveying device comprises a horizontal moving plate, a parabolic moving plate, a mounting vertical plate, a mounting bottom plate, a first sliding rail, a second sliding rail, a first rodless cylinder, a second rodless cylinder, a limiting plate, guide posts and limiting wedge blocks, wherein two material disc jigs are distributed and placed on the horizontal moving plate and the parabolic moving plate, the mounting vertical plate is provided with two mounting vertical plates which are arranged at intervals, the bottom of the mounting vertical plate is provided with the mounting bottom plate, the first sliding rail is arranged above the inner cavities of the two mounting vertical plates, the second sliding rail is arranged in the middle of the two mounting vertical plates, the first rodless cylinder drives the horizontal moving plate to horizontally move left and right along the first sliding rail, the second sliding rail is connected with the limiting plate in a sliding manner, the parabolic moving plate is arranged above the limiting plate, two guide posts are arranged at the bottom of the parabolic moving plate, the left side and right side of the upper part of the mounting bottom plate are respectively provided with limiting wedge blocks corresponding to the positions of the guide posts, the guide posts penetrate through the limiting plate and are connected with the limiting wedge blocks, the middle of the mounting bottom plate is provided with empty slots, the second rodless cylinder drives the limiting plate to horizontally move left and right along the second sliding rail, the upper side is matched with the guide posts, and the parabolic moving plate to horizontally move along the empty-direction.
As a preferable scheme of the invention, the pneumatic manipulator comprises a cylinder, a sliding seat and clamping fingers, a gas channel is arranged on the cylinder body of the cylinder, a reset spring is arranged between the piston of the cylinder and the cylinder body, a piston rod is arranged at the lower end of the piston, the sliding seat is symmetrically arranged at the left side and the right side of the lower end of the piston rod, the lower end of the sliding seat is fixedly provided with the clamping fingers, the lower end of the piston rod is provided with a reverse round table capable of pushing the left sliding seat and the right sliding seat to slide, two inclined guide grooves are arranged at the left side and the right side of the reverse round table, the left sliding seat and the right sliding seat are provided with guide rods capable of sliding in the inclined guide grooves, the piston rod capable of moving up and down drives the left and the right clamping fingers to move inwards or outwards together through the cooperation of the inclined guide grooves and the guide rods, the suction nozzle comprises a flying disc seat, a buffer spring, a suction nozzle head and a pin are arranged below the flying disc seat, the upper end of the suction nozzle is a cylinder matched with the aperture of the installation hole, the buffer spring is arranged in the installation hole and contacts with the end face of the cylinder, the outer circumference of the cylinder seat is fixedly arranged on the flying disc seat, the tail end of the reverse round table is arranged in the groove, the middle of the flying disc, the flying disc is cylindrical, the flying disc, the up and the flying disc is in the cylindrical step type and the flying disc round step type and the flying disc and the flying down round step, and the flying down round and the flying.
As a preferred scheme of the invention, the control system comprises an industrial personal computer, a controller, a control board card and a bar code recognition gun, wherein the industrial personal computer is provided with a man-machine interaction communication module, a data analysis processing module, a database module, a data output module, a quality detection module and a program optimizing module, the controller comprises a motor control module, an air cylinder control module and an electromagnetic valve control module, an operator inputs signals such as instructions and set parameters through the man-machine interaction communication module, the man-machine interaction communication module transmits the signals to the data analysis processing module, the bar code recognition gun detects bar code identification on a recognition material and transmits the signals to the data analysis processing module, the data analysis processing module acquires a corresponding program from the database module according to the model, the data analysis processing module comprehensively analyzes and calculates an input signal, the controller controls the XYZR shaft movement device, the material disc pushing device, the material taking device, the double disc cross conveying device, the full material disc lifting device and the empty material disc lifting device to act cooperatively, and production data, abnormal data, fault detection and analysis are generated and reported to a client terminal through the data output module for storage or call, the quality detection module detects whether a material is in a missing clamp or a material or a poor condition, and the program is written and optimized.
The invention has the beneficial effects that: the multi-tray overturning feeder is reasonable in structural design, when the multi-tray overturning feeder is used, a plurality of full trays can be stacked on the full tray station at one time through the control of the control system, the material taking overturning device clamps overturning materials by +/-90 degrees to reach the double-tray cross conveying device, the multi-tray overturning feeder is particularly suitable for feeding special-shaped materials such as USB (universal serial bus), RJ45 and the like, pins can be protected from being deformed and damaged, the XYZR shaft moving device, the tray pushing device, the full tray lifting device and the empty tray lifting device are cooperatively matched, the empty tray after material taking is driven to move from the full tray station to the empty tray station, normal feeding of the full tray below is not influenced, the feeding quantity is sufficient, the tray is not required to be replaced for many times, the production efficiency is high, and the production requirement is met.
Drawings
FIG. 1 is a perspective view of the multiple tray reverse feeder of the present invention after mounting the housing;
FIG. 2 is a perspective view of the multiple tray inversion feeder of the present invention with the housing removed;
FIG. 3 is a perspective view of the multi-tray reverse feeder of the present invention in another orientation after removal of the housing;
FIG. 4 is a perspective view of the XYZR axis movement device, the tray pushing device and the material taking and turning device of the invention when integrally assembled;
FIG. 5 is a perspective view of the Z-axis moving mechanism, R-axis rotating mechanism and material taking and turning device of the present invention as an integral unit;
FIG. 6 is a perspective view of the Z-axis shifting mechanism, R-axis rotating mechanism, and take-off and inverting mechanism of the present invention in another orientation when installed in one piece;
FIG. 7 is a perspective view of the X-axis moving mechanism, Y-axis moving mechanism, Z-axis moving mechanism of the present invention as installed integrally;
FIG. 8 is a perspective view of the full tray lift device and the empty tray lift device of the present invention installed in a general frame for operation;
FIG. 9 is a perspective view of the full tray lift device and the empty tray lift device of the present invention mounted on the main frame;
FIG. 10 is a side view of the full tray lift of the present invention;
FIG. 11 is a perspective view of a dual tray cross conveyor of the present invention;
FIG. 12 is a perspective view of the dual tray cross conveyor of the present invention after the mounting riser is extracted;
FIG. 13 is a schematic representation of the evolution of the horizontal motion plate and parabolic motion plate of the present invention in cross-indexing;
FIG. 14 is a schematic view of the installation of the quick connector and pneumatic manipulator of the present invention;
FIG. 15 is a perspective view of the pneumatic manipulator of the present invention;
FIG. 16 is a cross-sectional view of the pneumatic manipulator of the present invention;
FIG. 17 is an exploded view of the pneumatic manipulator of the present invention;
FIG. 18 is a schematic view of the installation of the quick connector and suction nozzle of the present invention;
fig. 19 is a perspective view of the suction nozzle of the present invention;
FIG. 20 is a cross-sectional view of a suction nozzle hand of the present invention;
fig. 21 is an exploded view of the suction nozzle of the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the accompanying drawings:
in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have specific directions, be configured and operated in specific directions, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
As shown in fig. 1-4, a multi-tray overturning feeding machine comprises a main frame 1, an XYZR shaft moving device 2, a tray pushing device 3, a material taking overturning device 4, a double-tray cross conveying device 5, a full tray lifting device 6, an empty tray lifting device 7 and a control system, wherein a shell is arranged on the periphery side of the main frame 1, the main frame 1 is divided into an upper part, a middle part and a lower part, the XYZR shaft moving device 2 is arranged on the upper part of the main frame 1, the tray pushing device 3 and the material taking overturning device 4 are arranged below the XYZR shaft moving device 2, the double-tray cross conveying device 5 is arranged on the side of the main frame 1, a full tray station 11 and an empty tray station 12 are arranged in the middle of the main frame 1, the full tray station 11 is used for placing full trays (full trays are filled with materials), the empty tray station 12 is used for placing empty trays (trays are empty trays are filled with no materials), the full tray lifting device 6 and the empty tray lifting device 7 are arranged at the lower part of the main frame 1 and correspond to the positions of the full tray station 11 and the empty tray station 12 respectively, the XYZR shaft movement device 2 drives the material taking and overturning device 4 to move to the full tray station 11, the material taking and overturning device 4 grabs or absorbs materials on the full tray and overturns to +/-90 degrees to reach the double-tray cross conveying device 5, a jig is arranged on the double-tray cross conveying device 5, the materials are conveyed to the next station by a motor after being placed in the jig, after the materials loaded on the full tray on the outermost surface of the full tray station 11 are conveyed, the full tray lifting device 6 and the empty tray lifting device 7 are correspondingly started to stagger the height of one tray, the XYZR shaft movement device 2 drives the tray pushing device 3 to push the tray to enter the empty tray station, so as not to hinder the material taking and turning device 4 from taking the material from the underlying full tray.
As shown in fig. 5 and 6, the material taking and turning device 4 comprises a turning cylinder 41, a connecting block 42, a rack 43, a gear 44, a turning shaft 45, a turning frame 46 and a material taking element 47, wherein a piston rod of the turning cylinder extends downwards to be fixedly connected with the connecting block 42, the connecting block 42 is fixedly connected with the rack 43, the rack 43 is meshed with the gear 44, the gear 44 is fixedly arranged in the middle of the turning shaft 45, one end of the turning shaft 45 is fixedly arranged on the turning frame 46, the material taking element 47 is fixedly arranged below the turning frame 46, the material taking element 47 is a pneumatic manipulator 47a or a suction nozzle 47b, the turning cylinder 41 drives the connecting block 42 to move downwards, the connecting block 42 drives the rack 43 to move downwards, the gear 44 drives the gear 44 to rotate clockwise, the gear 44 drives the material taking element 47 to rotate clockwise by +90 degrees through the turning shaft 45, and the material taking element 47 clamps the material to rotate clockwise by +90 degrees and is placed on the double-disc cross conveying device 5; the overturning cylinder 41 drives the connecting block 42 to move upwards, the connecting block 42 drives the rack 43 to move upwards, the rack 43 drives the gear 44 to rotate anticlockwise, the gear 44 drives the material taking element 47 to rotate anticlockwise by 90 degrees through the overturning shaft 45, the material taking element 47 clamps the material to rotate anticlockwise by 90 degrees and is placed on the double-disc cross conveying device 5, abnormal materials such as USB, RJ45 and the like overturn +/-90 degrees to reach the double-disc cross conveying device 5, pins at the bottoms of the materials are prevented from directly colliding downwards to the double-disc cross conveying device 5, the pins are protected from being damaged easily, the device is applicable to conventional materials and abnormal materials, the application range is wide, the universality is strong, and the flexibility is good.
As shown in fig. 4 to 7, the XYZR-axis movement device 2 includes an X-axis movement mechanism 21, a Y-axis movement mechanism 22, a Z-axis movement mechanism 23, and an R-axis rotation mechanism 24, the X-axis movement mechanism 21 includes an X-axis servo motor 21a, an X-axis pulley assembly, an X-axis screw rod 21b, an X-axis screw nut, and an X-axis slide rail 21c, the Y-axis movement mechanism 22 includes a Y-axis beam 22a, a Y-axis servo motor 22b, a Y-axis pulley assembly, a Y-axis screw rod 22c, a Y-axis slide rail 22d, the Z-axis movement mechanism 23 includes a Z-axis fixing frame 23a, a Z-axis servo motor 23b, a Z-axis screw rod 23c, and a Z-axis screw nut, and the R-axis rotation mechanism 24 includes an R-axis servo motor 24a, an R-axis pulley assembly, an X-axis pulley assembly, and an R-axis pulley assembly respectively composed of two pulleys and a timing belt (not shown in the figure), the pulley assembly is a power transmission mechanism commonly used in the market.
The X-axis servo motor 21 is fixedly arranged on the upper portion of the main frame 1, the X-axis servo motor 21 drives the X-axis screw 21b to rotate through an X-axis belt pulley assembly, the X-axis screw 21b is in threaded connection with an X-axis screw nut, the X-axis screw nut is fixedly arranged at the bottom of the Y-axis beam 22a, the front side and the rear side of the Y-axis beam 22a are in sliding connection with X-axis sliding rails 21c, the X-axis sliding rails 21c are fixedly arranged on the front side and the rear side of the upper portion of the main frame 1, the Y-axis servo motor 22b is fixedly arranged above the Y-axis beam 22a, the Y-axis servo motor 22b drives the Y-axis screw 22c to rotate through a Y-axis belt pulley assembly, the Y-axis screw 22c is in threaded connection with a Y-axis screw nut, the Y-axis screw nut is fixedly arranged behind the Z-axis fixing frame 23a is in threaded connection with a Y-axis sliding rail 22d, the Y-axis sliding rail 22d is fixedly arranged on the upper side and lower side of the Y-axis beam 22a, the Z-axis servo motor 23b is fixedly arranged above the Z-axis fixing frame 23a, the Z-axis servo motor 23b extends downwards to drive the Z-axis screw 23c to rotate, the Z-axis screw 23c is fixedly arranged on the Z-axis 23c is in connection with a Z-axis shaft 23b, and the Z-axis screw nut 24R 4 is fixedly arranged below the material taking device is arranged on the material taking device, and the material taking device is arranged on the material taking device is in a rotary shaft 24R 24, and the material taking device is arranged on the lower side of the rotary shaft 24R 3, and the rotary shaft is arranged.
Working principle of XYZR axis movement device 2: the X-axis servo motor 21a drives the X-axis screw 21b to rotate, the X-axis screw 21b drives the X-axis screw nut to move, the X-axis screw nut drives the Y-axis beam 22a to move along the X-axis sliding rail 21c, the Y-axis servo motor 22b drives the Y-axis screw 22c to rotate, the Y-axis screw 22c drives the Y-axis screw nut to move, the Y-axis screw nut drives the Z-axis fixing frame 23a to move along the Y-axis sliding rail 22, the Z-axis servo motor 23b drives the Z-axis screw 23c to rotate, the Z-axis screw 23c drives the Z-axis screw nut to move, the Z-axis screw nut drives the overturning cylinder 41 to move up and down, the R-axis servo motor 24a drives the R-axis rotating shaft 24b to rotate, and the R-axis rotating shaft 24b drives the material taking element 47 to rotate to clamp materials.
As shown in fig. 8 to 10, the full tray lifting device 6 and the empty tray lifting device 7 have the same structure, the full tray lifting device 6 comprises a first mounting base plate 61, a full tray motor 62, a full tray pulley assembly, a full tray screw rod 63, a full tray screw rod nut, a full tray lifting plate 64, a first connecting column 65 and a full tray supporting plate 66, the first mounting base plate 61 is mounted below the main frame 1, the full tray motor 62 is fixedly mounted on the first mounting base plate 61, the full tray motor 62 drives the full tray screw rod 63 to rotate through the full tray pulley assembly, the full tray screw rod nut is mounted on the full tray lifting plate 64, four corners of the full tray lifting plate 64 are fixedly connected with the lower parts of the first connecting column 65, the first connecting column 65 is provided with 4, the first connecting column 65 is fixedly connected with the full tray 66, the empty tray lifting device 7 comprises a second mounting base plate 71, an empty tray motor 72, a tray pulley assembly, an empty tray screw rod 73, an empty tray motor 73, an empty tray screw rod 74 and a second connecting column 75 are fixedly connected with the empty tray lifting plate 73, the empty tray motor 74 is mounted on the empty tray 75 through the empty tray pulley assembly, the empty tray screw rod 75 is fixedly connected with the empty tray lifting plate 73, the empty tray motor 72 is fixedly mounted on the empty tray lifting plate 75, and the empty tray lifting plate is fixedly connected with the empty tray lifting plate 72, and the empty tray lifting plate is fixedly connected with the empty tray lifting plate 75, and the empty tray lifting plate 75 is mounted on the empty tray lifting plate 75, and the empty tray lifting plate is fixedly connected with the empty tray lifting plate 75, and the empty tray lifting plate is mounted by the empty tray lifting plate and the empty tray lifting device.
The full tray lifting device 6 and the empty tray lifting device 7 have the following working principles: the full tray station 11 is provided with a plurality of full trays, the XYZR shaft movement device 2 and the material taking turnover device 4 cooperatively act to take the material turnover clamp on the full tray on the uppermost layer to the double-tray cross conveying device 5, the full tray is changed into an empty tray after the material on the full tray on the uppermost layer is completely conveyed, the empty tray motor 72 drives the empty tray wire rod 73 to rotate through the empty tray belt pulley assembly, the empty tray wire rod screw rod 73 drives the empty tray wire rod nut to move upwards, the empty tray wire rod nut drives the empty tray lifting plate 74 to lift, the empty tray lifting plate 74 is lifted to a height lower than that of the left empty tray through the second connecting column 75, the empty tray supporting plate 76 and the left empty tray are staggered to a height of one tray, the XYZR shaft movement device 2 and the tray pushing device 3 cooperatively act to push the empty tray from the full tray station 11 to the empty tray 76, and the turnover device 4 continues to lift the empty tray on the lower layer when the total height of the left empty tray is lower than that of the full tray 6, and the empty tray is continuously lifted to a height lower tray is staggered to the height lower than that of the full tray is lifted to be convenient to lift.
In addition, as shown in fig. 5 and 6, the tray pushing device 3 includes a pushing down cylinder 31 and an L-shaped push plate 32, a piston rod of the pushing down cylinder 31 is fixedly connected with the L-shaped push plate 32, the pushing down cylinder 31 pushes the L-shaped push plate 32 to move down and fasten the tray, and the X-axis moving mechanism 21 and the Y-axis moving mechanism 22 drive the tray pushing device 3 to move along two directions of X, Y axes.
As shown in fig. 11 and 12, the double-tray cross conveying device 5 includes a horizontal moving plate 501, a parabolic moving plate 502, a mounting vertical plate 503, a mounting bottom plate 504, a first sliding rail 505, a second sliding rail 506, a first rodless cylinder 507, a second rodless cylinder 508, a limiting plate 509, guide posts 511, and limiting wedge blocks 512, wherein two tray jigs 513 are distributed and placed on the horizontal moving plate 501 and the parabolic moving plate 502, two mounting vertical plates 503 are installed at intervals, a mounting bottom plate 504 is installed at the bottom of the mounting vertical plate 503, a first sliding rail 505 is installed above the inner cavity of the two mounting vertical plates 503, a second sliding rail 506 is installed at the middle part of the inner cavity of the two mounting vertical plates 503, the first rodless cylinder 508 drives the horizontal moving plate 501 to horizontally move along the first sliding rail 505, the second sliding rail 506 is connected with the limiting plate 509, the parabolic moving plate 502 is placed above the limiting plate 509, two guide posts 511 are installed at the bottom of the parabolic moving plate 502, limiting wedge blocks 512 corresponding to the positions of the guide posts 511 are respectively installed at the left and right sides above the mounting bottom of the mounting bottom plate 504, the limiting wedge blocks 512 share 4 wedge blocks, the guide posts 511 penetrate through the limiting plate 509 to contact with the middle part 512, and an empty groove 514 is formed.
The working principle of the double-disc cross conveying device 5 is as follows: as shown in fig. 13, in the initial state, when the parabolic motion plate 502 is on the left side and the horizontal motion plate 501 is on the right side, and the material taking turnover device 4 fills the tray fixture 513 on the horizontal motion plate 501, the first rodless cylinder 508 drives the horizontal motion plate 501 to horizontally move leftwards along the first sliding rail 505, the second rodless cylinder 508 drives the limiting plate 509 to horizontally move rightwards along the second sliding rail 506, the limiting plate 509 passes through the guide post 511, because the guide post 511 gradually moves away from the left limiting wedge block 512 to reach the empty groove 514, the guide post 511 drives the parabolic motion plate 502 to descend, the parabolic motion plate 502 descends to avoid collision with the horizontal motion plate 501, the guide post 511 gradually moves to the limit wedge block 512 on the left side from the empty groove 514, the guide post 511 drives the parabolic motion plate 502 to ascend to the right side, at the moment, the heights of the parabolic motion plate 502 and the horizontal motion plate 501 are equal, the positions of the parabolic motion plate 502 and the horizontal motion plate 501 are interchanged, the material taking and overturning device 4 continuously discharges materials to the material tray jig 513 on the parabolic motion plate 502, the horizontal motion plate 501 and the parabolic motion plate 502 realize cross transposition, interference and collision cannot occur, the material taking and overturning device 4 always has a material discharging area, the automation degree is high, the production speed is high, the production is accurate, manual operation is not needed, and the user requirements are met.
Specifically, as shown in fig. 14 to 17, the pneumatic manipulator 47a or the suction nozzle 47b is quickly mounted on the R rotary shaft 24b through a quick connector 47c, the pneumatic manipulator 47a comprises an air cylinder 4701, a sliding seat 4702 and a clamping finger 4703, an air channel 4704 is arranged in the cylinder body of the air cylinder, the cylinder body comprises an upper end cover 4705 and a lower cylinder 4706, the piston 4707 is arranged in the lower cylinder 4706, one end of a return spring 4708 is in contact with the upper end cover 4705, the other end of the return spring contacts with the piston 4707, a piston rod 4709 is arranged at the lower end of the piston 4707, the sliding seat is symmetrically mounted at the left side and the right side of the lower end of the piston rod 4709, the clamping finger is mounted at the lower end of the sliding seat, an inverted circular table capable of pushing the left sliding seat and the right sliding seat is arranged at the left side and the right side of the inverted circular table, two oblique guide grooves are arranged at the left side and the right side of the inverted circular table, the left sliding seat and the right sliding seat is provided with a guide rod capable of sliding in the oblique guide groove, the left and right clamping is driven by the left and right side of the upper sliding rod and the guide rod through the oblique guide groove and the guide of the guide rod, the right of the piston 47 moves together, the left and the right clamp, the working principle of the pneumatic manipulator 47 a: when the material is required to be grabbed, a positive pressure air source is conveyed into the cylinder body through the air channel, the piston 4708 is driven to move upwards, so that a piston rod 4709 connected with the piston 4707 is driven to move upwards, the inverted circular table of the piston rod 4709 moves upwards, the inclined guide groove on the inverted circular table and the guide rod on the slide block seat relatively move, and the left slide seat moves rightwards and the right slide seat moves leftwards at the moment because of the wide upper part and the narrow lower part of the inverted circular table, so that clamping fingers are driven to clamp electronic components, otherwise, when the electronic components are required to be released, the positive pressure air source is removed, the piston 4707 moves downwards under the action of the elastic force of the reset spring 4708, the inverted circular table moves downwards, the inclined guide groove on the inverted circular table and the guide rod on the slide block seat relatively move outwards, and clamping fingers 4703 move outwards to loosen the electronic components, and the pneumatic manipulator has the advantages of low production cost, wide application range, good clamping effect and the like, and can clamp the electronic components with 20 g-150 g or 3X 4 mm-35 mm area, and the matching of the inclined guide groove on the inverted circular table and the guide rod can well convert the vertical movement of the piston rod into the transverse movement of the slide seat, so that the clamping fingers can achieve the accurate and precise clamping patterns of the sliding fingers of 0.02 mm.
Specifically, as shown in fig. 18 to 21, the suction nozzle 47b includes a flying saucer seat 4721, a buffer spring 4722, a suction nozzle head 4723 and a pin 4724, a mounting hole is provided below the flying saucer seat 4721, the upper end of the suction nozzle head 4723 is a cylinder 4725 matched with the aperture of the mounting hole, the buffer spring 4722 is placed in the mounting hole and contacts with the end face of the cylinder 4725, a groove is provided on the outer periphery of the cylinder 4725, the pin 4724 is fixedly mounted on the flying saucer seat 4721 and the tail end is placed in the groove, the middle of the flying saucer seat 4721 is cylindrical, a circular step surface 4726 and a shading surface 4727 are surrounded on the outer periphery of the cylinder, the step surface 4726 is positioned above the shading surface 4727, and the suction nozzle 4723 has the following working principle: when the suction nozzle head 4723 moves downwards to contact materials when the materials are adsorbed, the suction nozzle head 4723 moves into the mounting hole under the action of pressure and compresses the buffer spring 4722, the buffer spring 4722 plays a role in buffering the suction nozzle head 4723, at the moment, the pin 4724 at the tail end of the buffer spring 4722 is arranged in the groove to limit the suction nozzle head 4723 to move upwards, the buffer spring 4722 above the suction nozzle head 4723 can well protect the suction nozzle to avoid damaging the suction nozzle due to the fact that the suction nozzle is damaged by large impact force in a short time, the tail end of the pin is arranged in the groove to limit the suction nozzle head, and in addition, the step surface of the flying saucer seat 4721 is favorable for connecting the suction nozzle with the quick connector 47c, and the shading surface 4727 is convenient for various sensors to identify the shape characteristics of various electronic components.
Specifically, the control system comprises an industrial personal computer, a controller, a control panel card and a bar code recognition gun, wherein the industrial personal computer is provided with a man-machine interaction communication module, a data analysis processing module, a database module, a data output module, a quality detection module and a program optimizing module, the controller comprises a motor control module, an air cylinder control module and an electromagnetic valve control module, an operator inputs signals such as instructions and set parameters through the man-machine interaction communication module, the man-machine interaction communication module transmits the signals to the data analysis processing module, the bar code recognition gun detects bar code identification on a recognition material and transmits the signals to the data analysis processing module, the data analysis processing module acquires a corresponding program according to the model, the data analysis processing module comprehensively analyzes and calculates the input signals, the controller controls the XYZR shaft motion device, the material disc pushing device, the material taking and overturning device, the double-disc cross conveying device, the full material disc lifting device and the empty material disc lifting device to act cooperatively, and when the machine operates, production data, abnormal data, fault detection and analysis are generated by the data output module and report forms to be uploaded to a customer database terminal to be saved or called, the quality detection module detects whether the material is in a clamping state or not, and the program is optimized by the data analysis module is checked and the program itself.
While the invention has been described in detail in connection with specific preferred embodiments, it is not to be construed as limited to the specific embodiments of the invention, but rather as a matter of course, it will be understood by those skilled in the art that various modifications and substitutions can be made without departing from the spirit and scope of the invention.
Claims (8)
1. A multi-disc overturning feeding machine is characterized in that: the device comprises a main frame, an XYZR shaft movement device, a tray pushing device, a material taking and overturning device, a double-tray cross conveying device, a full tray lifting device, an empty tray lifting device and a control system, wherein the main frame is divided into an upper part, a middle part and a lower part; the material taking and overturning device comprises an overturning cylinder, a connecting block, a rack, a gear, an overturning shaft, an overturning frame and a material taking element, wherein a piston rod of the overturning cylinder downwards extends out of the connecting block, the connecting block is fixedly connected with the rack, the rack is meshed with the gear, the gear is fixedly arranged in the middle of the overturning shaft, one end of the overturning shaft is fixedly arranged on the overturning frame, the material taking element is fixedly arranged below the overturning frame, and the material taking element is a pneumatic manipulator or a suction nozzle; the pneumatic manipulator comprises a cylinder, a sliding seat and clamping fingers, wherein a gas channel is formed in the cylinder body of the cylinder, a reset spring is arranged between the piston of the cylinder and the cylinder body, a piston rod is arranged at the lower end of the piston, the sliding seat is symmetrically arranged at the left side and the right side of the lower end of the piston rod, the lower end of the sliding seat is fixedly provided with clamping fingers, a reverse round table capable of pushing the left sliding seat and the right sliding seat to slide is arranged at the left side and the right side of the reverse round table, two inclined guide grooves are formed in the left side and the right side of the reverse round table, the left sliding seat and the right sliding seat are provided with guide rods capable of sliding in the inclined guide grooves, the piston rod capable of moving up and down drives the left and the right clamping fingers to move inwards or outwards together through the cooperation of the inclined guide grooves and the guide rods, the suction nozzle comprises a flying disc seat, a buffer spring, a suction nozzle head and a pin are arranged below the flying disc seat, the upper end of the suction nozzle is a cylinder matched with the aperture of the mounting hole, the buffer spring is arranged in the mounting hole and contacts with the end face of the cylinder, a groove is formed in the outer periphery of the cylinder, the pin is fixedly arranged on the flying disc seat and the middle of the groove is cylindrical step face and the shading face is located above the shading face.
2. A multi-pan roll-over feeder according to claim 1, wherein: the XYZR shaft movement device comprises an X shaft movement mechanism, a Y shaft movement mechanism, a Z shaft movement mechanism and an R shaft rotation mechanism, wherein the X shaft movement mechanism comprises an X shaft servo motor, an X shaft belt pulley assembly, an X shaft screw rod, an X shaft screw nut and an X shaft sliding rail, the Y shaft movement mechanism comprises a Y shaft cross beam, a Y shaft servo motor, a Y shaft belt pulley assembly, a Y shaft screw rod, a Y shaft screw nut and a Y shaft sliding rail, the Z shaft movement mechanism comprises a Z shaft fixing frame, a Z shaft servo motor, a Z shaft screw rod and a Z shaft screw nut, the R shaft rotation mechanism comprises an R shaft servo motor, an R shaft belt pulley assembly and an R shaft, the X shaft servo motor is fixedly arranged on the upper part of the main frame, the X shaft servo motor drives the X shaft screw rod to rotate through the X shaft belt pulley assembly, the X shaft screw rod is in threaded connection with the X shaft screw rod nut, the X shaft screw rod nut is fixedly arranged at the bottom of the Y shaft cross beam, the X-axis sliding rail is connected with the front and back sides of the Y-axis beam in a sliding way, the X-axis sliding rail is fixedly arranged on the front and back sides of the upper part of the main frame, the Y-axis servo motor is fixedly arranged above the Y-axis beam, the Y-axis servo motor drives the Y-axis screw rod to rotate through the Y-axis belt pulley assembly, the Y-axis screw rod is in threaded connection with the Y-axis screw rod nut, the Y-axis screw rod nut is fixedly arranged behind the Z-axis fixing frame, the Z-axis fixing frame is in sliding connection with the Y-axis sliding rail, the Y-axis sliding rail is fixedly arranged on the upper and lower sides of the Y-axis beam, the Z-axis servo motor is fixedly arranged above the Z-axis fixing frame, the Z-axis servo motor extends downwards to drive the Z-axis screw rod to rotate, the Z-axis screw rod nut is fixedly arranged behind the material taking and overturning device, the material disc pushing device is arranged behind the material disc overturning device, the R-axis rotating mechanism is arranged on the material disc pushing device, the R-axis servo motor drives the R-axis rotating shaft to rotate through the R-axis belt pulley assembly.
3. A multi-pan roll-over feeder according to claim 1, wherein: the full tray elevating gear is the same with empty tray elevating gear structure, full tray elevating gear includes first mounting plate, full tray motor, full tray belt pulley assembly, full tray lead screw, full tray wire rod nut, full tray lifter plate, first spliced pole and full tray layer board, first mounting plate installs in the main frame below, full tray motor fixed mounting is in first mounting plate, full tray motor passes through full tray belt pulley assembly drive full tray wire rod and rotates, full tray wire rod threaded connection full tray wire rod nut, full tray wire rod nut installs in full tray lifter plate, the lower part of full tray lifter plate four corners fixed connection first spliced pole, first spliced pole upper portion fixed connection full tray layer board, empty tray elevating gear includes second mounting plate, empty tray motor, empty tray belt pulley assembly, empty tray lead screw, empty tray wire rod nut, empty tray lifter plate, second spliced pole and tray, second mounting plate installs in motor main frame below, empty tray motor fixed mounting plate is in second mounting plate wire rod nut fixed connection empty tray wire rod nut, empty tray wire rod nut fixed connection is in empty tray wire rod nut fixed connection of second mounting plate.
4. A multi-pan roll-over feeder according to claim 1, wherein: the tray pushing device comprises a pushing downward moving cylinder and an L-shaped pushing plate, and a piston rod of the pushing downward moving cylinder is fixedly connected with the L-shaped pushing plate.
5. A multi-pan roll-over feeder according to claim 1 or 2, wherein: the turning angle of the material taking turning device is +/-90 degrees.
6. A multi-pan roll-over feeder according to claim 1, wherein: and a shell is arranged on the outer periphery side of the main frame.
7. A multi-pan roll-over feeder according to claim 1, wherein: the double-disc cross conveying device comprises a horizontal moving plate, a parabolic moving plate, a mounting vertical plate, a mounting bottom plate, a first sliding rail, a second sliding rail, a first rodless cylinder, a second rodless cylinder, a limiting plate, guide posts and limiting wedge blocks, wherein the two material disc jigs are distributed and placed on the horizontal moving plate and the parabolic moving plate, the mounting vertical plate is provided with two mounting vertical plates which are arranged at intervals, the mounting bottom plate is arranged at the bottom of the mounting vertical plate, the first sliding rail is arranged above the inner cavities of the two mounting vertical plates, the second sliding rail is arranged in the middle of the inner cavities of the mounting vertical plate, the first rodless cylinder drives the horizontal moving plate to horizontally move left and right along the first sliding rail, the second sliding rail is in sliding connection with the limiting plate, the parabolic moving plate is placed above the limiting plate, the two guide posts are installed at the bottom of the parabolic moving plate, the limiting wedge blocks corresponding to the positions of the guide posts are respectively installed at the left side and the right side above the mounting bottom plate, the guide posts penetrate through the limiting plate to be connected with the limiting wedge blocks, empty slots are arranged in the middle of the mounting bottom plate, the second rodless cylinder drives the limiting plate to horizontally move left and right along the second sliding rail, the limiting plate is matched with the parabolic moving plate through the guide posts and the limiting wedge blocks, and the empty slots to mutually matched with each other to drive the parabolic moving plate to horizontally to move along the parabolic moving plate to realize cross conversion.
8. A multi-pan roll-over feeder according to claim 1, wherein: the control system comprises an industrial personal computer, a controller, a control panel card and a bar code recognition gun, wherein the industrial personal computer is provided with a man-machine interaction communication module, a data analysis processing module, a database module, a data output module, a quality detection module and a program optimizing module, the controller comprises a motor control module, an air cylinder control module and an electromagnetic valve control module, an operator inputs signals such as instructions and set parameters through the man-machine interaction communication module, the man-machine interaction communication module transmits the signals to the data analysis processing module, the bar code recognition gun detects bar code marks on recognition materials and transmits the signals to the data analysis processing module, the data analysis processing module acquires corresponding programs from the database module according to the models, the data analysis processing module comprehensively analyzes and calculates the input signals, the controller controls the XYZR shaft motion device, the material disc pushing device, the material taking and overturning device, the double-disc cross conveying device, the full material disc lifting device and the empty material disc lifting device to act cooperatively, and when the machine operates, production data, abnormal data, fault detection and analysis are generated through the data output module and report form to be uploaded to a customer database terminal for storage or call, and the quality detection module detects whether materials are clamped or not good in quality, and the program is written and optimized by the optimizing modules.
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| CN201710593701.4A CN107363497B (en) | 2017-07-20 | 2017-07-20 | Multi-disc overturning feeding machine |
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| CN201710593701.4A CN107363497B (en) | 2017-07-20 | 2017-07-20 | Multi-disc overturning feeding machine |
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