CN110712994A - Automatic loading attachment of tray material supply type - Google Patents

Automatic loading attachment of tray material supply type Download PDF

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Publication number
CN110712994A
CN110712994A CN201911006798.XA CN201911006798A CN110712994A CN 110712994 A CN110712994 A CN 110712994A CN 201911006798 A CN201911006798 A CN 201911006798A CN 110712994 A CN110712994 A CN 110712994A
Authority
CN
China
Prior art keywords
tray
automatic
frame
fixed
linear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911006798.XA
Other languages
Chinese (zh)
Inventor
陈乐朋
左肖雄
余瑞铭
杨伟
余潜跃
尚智宇
闫宇恒
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China Three Gorges University CTGU
Original Assignee
China Three Gorges University CTGU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Three Gorges University CTGU filed Critical China Three Gorges University CTGU
Priority to CN201911006798.XA priority Critical patent/CN110712994A/en
Publication of CN110712994A publication Critical patent/CN110712994A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08Control devices operated by article or material being fed, conveyed or discharged
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • B65G2201/0235Containers
    • B65G2201/0258Trays, totes or bins
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04Detection means
    • B65G2203/042Sensors

Abstract

The invention relates to the technical field of automatic processing, and provides a tray feeding type automatic feeding device which comprises a conveying line body and an electric control cabinet, wherein an automatic lifting table is installed at the end part of the conveying line body, a rack is installed at the feed end of the conveying line body in parallel, the rack is mainly formed by connecting a left support body and a right support body which are arranged in parallel through reinforcing rods, the lower side of each support body is horizontally connected with a square rod, a translation mechanism is installed between the tops of the left support body and the right support body and the square rod, a lifting mechanism is connected between moving pairs of the translation mechanism, grabbing mechanisms are symmetrically fixed on the moving pairs of the lifting mechanism, and the grabbing mechanisms move synchronously; the invention replaces manual operation, saves labor cost and greatly promotes the automation degree of production.

Description

Automatic loading attachment of tray material supply type
Technical Field
The invention relates to the technical field of automatic processing, in particular to a tray feeding type automatic feeding device.
Background
With the rapid development of economic technology, the automation of equipment is also developed at a high speed, and when multiple parts are searched for in production and processing, the parts need to be placed on an automatic production line for transportation, substitute processing and placement after processing by using a tray as a bearing unit of the parts; the tray is used for accepting the unfinished semi-finished product after the last process is processed, and the prior art is being equipped with the tray of semi-finished product part, when placing on the automated production line, is being equipped with a staff who is used for placing the tray specially through the feed end at the production line mostly, and the cost of labor is high, and efficiency is comparatively low, and degree of automation is lower.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the tray feeding type automatic feeding device, which can automatically complete the feeding action of a large batch of trays, reduce the production cost, improve the production efficiency and quality and greatly improve the automation degree of production.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides an automatic loading attachment of tray material supply type, including the transfer chain body and automatically controlled cabinet, the tip install automatic lifting platform, the feed end parallel mounting of the transfer chain body has the frame, the frame mainly passes through the stiffener by parallel arrangement left supporter and right supporter and connects to form, the downside horizontally connected with square bar of supporter, install translation mechanism between the top of left supporter and right supporter and the square bar, be connected with lifting mechanism between translation mechanism's the removal is vice, the symmetry is fixed with the mechanism of snatching on lifting mechanism's the removal is vice, snatch synchronous motion between the mechanism.
Furthermore, the translation mechanism comprises a linear module, a linear slide rail and a linear guide rail, wherein the linear module and the linear slide rail are respectively fixed at the tops of the left support body and the right support body, and the linear guide rail is symmetrically fixed on the opposite inner walls of the two square rods.
Furthermore, a support seat is fixed on the slide block of the linear guide rail, and connecting blocks are fixed on the moving body of the linear module and the sliding table of the linear slide rail.
Furthermore, the lifting mechanism comprises a stepping motor, a ball screw and a ball guide rail, the screw rod of the ball screw is vertically rotated and clamped between the supporting seat and the connecting block on one side, the guide shaft of the ball guide rail is vertically fixed between the supporting seat and the connecting block on the other side, and the top of the screw rod is connected with the stepping motor through a coupler.
Furthermore, the grabbing mechanism comprises an electric rotary table, a mounting frame and a hook body, the mounting frame is symmetrically fixed on a moving pair of the ball screw and the ball guide rail respectively, a straight rod is fixed between the mounting frames, ear parts are fixed at two ends of the upper side of the mounting frame, the electric rotary table is fixed on the ear part on one side, the other ear part is rotatably connected with a rotating shaft, the rotating shaft is coaxial with the rotating pair of the electric rotary table, and the axis of the rotating shaft is perpendicular to the axis of the screw rod.
Furthermore, the hook body consists of a group of S-shaped rods and connecting rods, the upper ends of the S-shaped rods are respectively fixed on the rotating shaft and a rotating pair of the electric rotating platform, and the lower ends of the S-shaped rods are connected together through the connecting rods.
Furthermore, a bracket is obliquely fixed on the inner side of the middle part of the S-shaped rod, and a proximity sensor is vertically fixed on the bracket.
Furthermore, a front travel switch and a rear travel switch are respectively installed at two ends of the linear slide rail, and an upper travel switch and a lower travel switch are respectively fixed at the top of the supporting seat and the bottom of the connecting block.
Furthermore, the front end of the frame is provided with a material shortage alarm device which comprises a correlation type photoelectric switch and an audible and visual alarm which are arranged on the inner walls of the lower sides of the left supporting body and the right supporting body.
The invention provides a tray feeding type automatic feeding device, which has the following beneficial effects compared with the prior known technology: the automatic feeding device is arranged at the feeding end of an automatic production line, stacked trays are respectively grabbed by the grabbing mechanism, the tray moving up and down and in the front and back directions is realized by matching with the translation mechanism and the lifting mechanism, and the grabbed trays are placed on the automatic production line; the manual operation is replaced, the labor cost is saved, and the automation degree of production is greatly promoted.
Drawings
FIG. 1 is a front perspective view of an automated loading apparatus of the present invention;
FIG. 2 is a rear perspective view of the automated loading unit of the present invention;
FIG. 3 is a side view of the overall structure of the present invention;
FIG. 4 is a front view of the gripping mechanism gripping tray of the present invention
FIG. 5 is a perspective view of the gripping mechanism of the present invention;
FIG. 6 is a schematic view of the initial state of the grasping mechanism of the present invention;
fig. 7 is a schematic view of the connection relationship between the electrical components according to the present invention.
The reference numerals in the drawings denote: 1-a conveyor line body; 2, an electric control cabinet; 3-automatic lifting platform; 4-a frame; 5-a translation mechanism; 6-a lifting mechanism; 7-a gripping mechanism; 8-a support seat; 9-connecting blocks; 11-a proximity sensor; 12-a photoelectric switch; 13-audible and visual alarm; 14-straight rod; 15-a tray; a front travel switch 101; a rear travel switch 102; an upper limit switch 103; a lower travel switch 104; 401-left support; 402-right support; 403-a reinforcing bar; 404-square pole; 501-linear module; 502-linear slide rail; 503-linear guide; 601-a stepper motor; 602-ball screw; 603-ball guides; 701-an electric turntable; 702-a mounting frame; 703-a hook body; 7301-S shaped rod; 7302 connecting rod.
Detailed Description
A tray feeding type automatic feeding device, refer to fig. 1-2: including the transfer line body 1 and automatically controlled cabinet 2, 1 feed end of the transfer line body installs automatic lifting platform 3 and is provided with frame 4 (automatic lifting platform 3 is one kind and uses the cylinder as drive power, can realize the platform that reciprocates), frame 4 includes parallel arrangement left supporter 401 and right supporter 402, through stiffener 403 fixed connection between left supporter 401 and the right supporter 402, the equal horizontally connect of downside of left supporter 401 and right supporter 402 has square pole 404, translation mechanism 5 is installed at 4 tops of frame, be connected with lifting mechanism 6 on the translation mechanism 5 removal is vice, install two on the lifting mechanism 6 removal is vice and snatch mechanism 7, two snatch synchronous motion between the mechanism 7.
The translation mechanism 5 comprises a linear module 501, a linear slide rail 502 and two linear guide rails 503, the linear module 501 and the linear slide rail 502 are respectively fixed at the tops of the left support body 401 and the right support body 402, and the two linear guide rails 503 are respectively fixed on the two square rods 404, so that the linear module 501 is used as a driving force to drive the lifting mechanism 6 to move back and forth along the linear slide rail 502 and the linear guide rails 503.
The slide block of each linear guide rail 503 is fixed with a support base 8, and the moving body of the linear module 501 and the sliding table of the linear slide rail 502 are fixed with a connecting block 9.
Lifting mechanism 6 includes step motor 601, ball 602 and ball guide 603, the vertical rotation joint of ball 602 is between the supporting seat 8 and the connecting block 9 of one side, the guiding axle of ball guide 603 is vertical to be fixed between the supporting seat 8 and the connecting block 9 of opposite side, the top of lead screw is passed through the shaft coupling and is connected with the step motor 601 transmission of installing on connecting block 9, cooperate ball 602 as power structure through step motor 601, the drive snatchs mechanism 7 and reciprocates.
Referring to fig. 5: the grabbing mechanism 7 comprises an electric turntable 701, a mounting frame 702 and a hook body 703, the mounting frame 702 is symmetrically fixed on a sliding pair of a ball screw 602 and a ball guide rail 603 respectively, ears are fixed at two ends of the upper side of the mounting frame 702, a straight rod 14 is fixed between the mounting frames 702, the ears are fixed on the ears on one side, the other ear is rotatably connected with a rotating shaft, the rotating shaft is coaxial with the rotating pair of the electric turntable 701, and the axis of the rotating shaft is perpendicular to the axis of the screw rod.
The straight rod 14 not only enables a group of grabbing mechanisms 7 to synchronously displace in the up-and-down direction of the lifting mechanism 6, but also enables the ball screw 602 and the ball guide rail 603 of the lifting mechanism 6 to synchronously displace on the translation mechanism 5.
The hook 703 is composed of a set of S-shaped rods 7301 and a connecting rod 7302, the upper ends of the S-shaped rods 7301 are respectively fixed on the rotating shaft and the rotating pair of the electric rotating table 701, and the lower ends are connected together through the connecting rod 7302. A bracket is obliquely fixed on the inner side of the middle part of the S-shaped rod 7301, a proximity sensor 11 is vertically fixed on the bracket, wherein the bracket which is obliquely fixed is used for enabling the proximity sensor 11 to be just in a vertical state when the lower end of the hook body 703 is unfolded outwards, so that the detection tray 15 is convenient.
The two ends of the linear slide rail 502 are respectively provided with a front travel switch 101 and a rear travel switch 102, and the top of the supporting seat 8 and the bottom of the connecting block 9 are respectively fixed with an upper travel switch 103 and a lower travel switch 104. The use of four travel switches 10 serves as a signal point for the forward and backward movement of the translation mechanism 5 to the forward and backward travel, and a signal point for the upward travel and a guard point formed downward of the lifting mechanism 6.
The front end of the frame 4 is provided with a material shortage alarm device which comprises a correlation photoelectric switch 12 and an acousto-optic alarm 13 which are arranged on the lower inner walls of the left and right supporting bodies 402; whether the stacked trays 15 are completely carried or not is detected by the correlation type photoelectric switch 12, and the audible and visual alarm 13 gives an alarm when the stacked trays are completely carried.
The working principle is as follows: the grabbing mechanism 7 is used for grabbing the stacked trays 15, wherein the hook body 703 is used for grabbing the edges of two sides of the tray 15, and the hook part at the lower end of the hook body 703 is used for unfolding outwards in a rotating way through the rotating driving action of the electric rotary table 701 to serve as a preset clamping position and used for loosening the grabbed trays 15.
A right-angle motion system is formed between the translation mechanism 5 and the lifting mechanism 6, and the tray 15 is moved to an automatic production line from a stacking point by the grabbing mechanism 7.
Installation description: the electric control cabinet 2 adopts a control cabinet based on PLC control, wherein the PLC is S7 series PLC, four travel switches 10 (YBLX-K3), a group of proximity sensors 11 (E2E 2-X7D 1) arranged on the hook body 703, the proximity sensors 11 (E2E 2-X3D 1) at the top of the automatic lifting platform 3 and a photoelectric switch 12 (E3Z-T66) are connected to a digital quantity input terminal of the PLC; wherein, the servo motor matching driver, the stepping motor 601 matching driver, the rotating motor and the acousto-optic alarm 13 of the linear module 501 are connected to the digital output terminal of the PLC.
The working process is as follows: (refer to FIG. 6: wherein in the initial state, the grasping mechanism 7 is positioned at the top of the front side, i.e., just above the tray 15, with the lower end of the hook body 703 in an outward-spreading posture)
Referring to fig. 3 and 4: after the stacked trays 15 are placed at the designated position, the photoelectric switch 12 detects that the trays 15 are arranged; the stepping motor 601 rotates reversely to drive the grabbing mechanism 7 to move downwards, and when the proximity sensor 11 arranged on the hook body 703 detects the tray 15 at the uppermost side; the action of the rotating motor causes the hook body 703 to retract inwards to the correct posture, so that the lower part of the hook body 703, namely the connecting rod 7302 part is hooked under the edge of the tray 15; after the rotation is in place, the stepping motor 601 rotates forwards to drive the grabbing mechanism 7 and the tray 15 to move upwards to the upper travel switch 10; the linear module 501 acts to drive the lifting mechanism and the clamped tray 15 to move towards the direction of the automated line; when the position reaches the rear travel switch 102, the automatic lifting platform 3 ascends, and the stepping motor 601 reverses the tray 15 to descend; after the proximity sensor 11 at the top of the automatic lifting table 3 is powered on (the bottom of the tray 15 contacts the top of the automatic lifting table 3), the rotating motor drives the hook body 703 to be unfolded outwards, and the tray 15 is placed on the lifting table; the grabbing mechanism 7 is reset after short time delay, and the lifting platform moves downwards to enable the tray 15 to fall on the automatic line body.

Claims (8)

1. The utility model provides an automatic loading attachment of tray material supply type, includes the conveying line body (1) and automatically controlled cabinet (2), automatic lifting platform (3) and be provided with frame (4) are installed to the feed end of the conveying line body (1), its characterized in that, and translation mechanism (5) are installed at frame (4) top, and translation mechanism (5) remove vice be connected with lifting mechanism (6), install on lifting mechanism (6) the removal is vice to have two to snatch mechanism (7).
2. The automatic tray feeding type feeding device according to claim 1, wherein the translation mechanism (5) comprises a linear module (501), a linear slide rail (502) and two linear guide rails (503) which are installed on the frame (4), a support seat (8) is fixed on a slide block of each linear guide rail (503), and a connecting block (9) is fixed on a moving body of the linear module (501) and a sliding table of the linear slide rail (502).
3. The automatic tray feeding type feeding device according to claim 2, wherein the lifting mechanism (6) comprises a stepping motor (601), a ball screw (602) and a ball guide (603), the ball screw (602) and the ball guide (603) are respectively connected with the support seats (8) and the connecting blocks (9) at both sides of the frame (4); the top of the ball screw (602) is connected with a stepping motor (601) through a coupler.
4. The automatic feeding device of a tray feeding type according to claim 1, wherein the gripping mechanism (7) comprises an electric rotary table (701), a mounting frame (702) and a hook (703), each mounting frame (702) of the two gripping mechanisms (7) is fixedly mounted on a ball screw (602) moving pair and a ball guide rail (603) moving pair respectively, and the electric rotary table (701) mounted on the mounting frame (702) by the electric rotary table (701) is connected with the hook (703) connected to the mounting frame (702) by a shaft.
5. A tray feeding type automatic loading apparatus according to claim 4, wherein the hook body (703) is composed of a set of S-shaped bars (7031) and a connecting rod (7032), the upper ends of the S-shaped bars (7031) are fixed to the rotary pair of the rotary shaft and the electric turntable (701), respectively, and the lower ends thereof are connected together by the connecting rod (7032).
6. A tray-feed type automatic loading apparatus according to claim 5, wherein a bracket is obliquely fixed to the inside of the middle portion of the S-shaped bar (7031), and a proximity sensor (11) is vertically fixed to the bracket.
7. The tray feeding type automatic feeding device according to claim 5, wherein a front travel switch (101) and a rear travel switch (102) are respectively installed at both ends of the linear slide rail (502), and an upper travel switch (103) and a lower travel switch (104) are respectively fixed to the top of the supporting base (8) and the bottom of the connecting block (9).
8. The automatic feeding device of the tray feeding type according to claim 1, wherein a short-feeding alarm device is installed at the front end of the frame (4), and the short-feeding alarm device comprises a photoelectric switch (12) and an audible-visual alarm (13) installed on the frame.
CN201911006798.XA 2019-10-22 2019-10-22 Automatic loading attachment of tray material supply type Pending CN110712994A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911006798.XA CN110712994A (en) 2019-10-22 2019-10-22 Automatic loading attachment of tray material supply type

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911006798.XA CN110712994A (en) 2019-10-22 2019-10-22 Automatic loading attachment of tray material supply type

Publications (1)

Publication Number Publication Date
CN110712994A true CN110712994A (en) 2020-01-21

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112276505A (en) * 2020-09-17 2021-01-29 昆明理工大学 Automatic unloader that goes up of thin slice

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0197972A1 (en) * 1984-09-28 1986-10-22 Bell Telephone Mfg Element moving device.
US5984621A (en) * 1997-12-23 1999-11-16 Viking Engineering & Development Incorporated Pallet stacking machine
CN201330082Y (en) * 2009-01-06 2009-10-21 洛阳昌兴机电设备工程有限公司 Electric skid stacking/unstacking machine and its stacking/unstacking support device
CN103419207A (en) * 2013-08-08 2013-12-04 上海星路机械设备有限公司 Robot self-adaptation hand grab for stacking box piece
CN103586873A (en) * 2013-12-04 2014-02-19 苏州怡丰工业设备有限公司 Automatic tracking material grasping mechanical hand device
CN104786220A (en) * 2015-03-20 2015-07-22 江苏南铸科技股份有限公司 Robot arm used for handling LCD screens
CN204802654U (en) * 2015-06-29 2015-11-25 王子桥 Hacking machine pallet means
CN206288725U (en) * 2016-11-27 2017-06-30 康迪电动汽车(上海)有限公司 A kind of frock for carrying batteries of electric automobile bag
CN207973238U (en) * 2018-03-10 2018-10-16 四川匹菲特科技有限公司 Material frame automatic separating apparatus
CN109502359A (en) * 2018-12-17 2019-03-22 云南昆船机械制造有限公司 A kind of smoke box cardboard recycles Palletizer

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0197972A1 (en) * 1984-09-28 1986-10-22 Bell Telephone Mfg Element moving device.
US5984621A (en) * 1997-12-23 1999-11-16 Viking Engineering & Development Incorporated Pallet stacking machine
CN201330082Y (en) * 2009-01-06 2009-10-21 洛阳昌兴机电设备工程有限公司 Electric skid stacking/unstacking machine and its stacking/unstacking support device
CN103419207A (en) * 2013-08-08 2013-12-04 上海星路机械设备有限公司 Robot self-adaptation hand grab for stacking box piece
CN103586873A (en) * 2013-12-04 2014-02-19 苏州怡丰工业设备有限公司 Automatic tracking material grasping mechanical hand device
CN104786220A (en) * 2015-03-20 2015-07-22 江苏南铸科技股份有限公司 Robot arm used for handling LCD screens
CN204802654U (en) * 2015-06-29 2015-11-25 王子桥 Hacking machine pallet means
CN206288725U (en) * 2016-11-27 2017-06-30 康迪电动汽车(上海)有限公司 A kind of frock for carrying batteries of electric automobile bag
CN207973238U (en) * 2018-03-10 2018-10-16 四川匹菲特科技有限公司 Material frame automatic separating apparatus
CN109502359A (en) * 2018-12-17 2019-03-22 云南昆船机械制造有限公司 A kind of smoke box cardboard recycles Palletizer

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112276505A (en) * 2020-09-17 2021-01-29 昆明理工大学 Automatic unloader that goes up of thin slice

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Application publication date: 20200121

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