CN110902292A - Automatic loading and unloading device for machining outer shell of refrigerator door and working method of automatic loading and unloading device - Google Patents
Automatic loading and unloading device for machining outer shell of refrigerator door and working method of automatic loading and unloading device Download PDFInfo
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- CN110902292A CN110902292A CN201911328563.2A CN201911328563A CN110902292A CN 110902292 A CN110902292 A CN 110902292A CN 201911328563 A CN201911328563 A CN 201911328563A CN 110902292 A CN110902292 A CN 110902292A
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
Abstract
The invention discloses an automatic loading and unloading device for processing a refrigerator door shell and a working method thereof, the loading and unloading device comprises an aggregate device and a positioning device, the aggregate device comprises an aggregate rack, a vehicle track is laid at the bottom of the aggregate rack, a material collecting vehicle is arranged on the vehicle track, a plate transferring manipulator is fixed on the aggregate rack, the plate transferring manipulator is used for grabbing a plate on the aggregate vehicle and then placing the plate on a conveying conveyor belt at one side of the aggregate rack, one discharging end of the conveying conveyor belt is connected with the positioning device, the positioning device comprises a positioning rack, a pressing device, a material grabbing manipulator and two first position adjusting cylinders which are oppositely arranged are fixedly arranged on the positioning rack, the automatic positioning can be realized during loading and unloading, the positioning time of a processing device is saved, the production efficiency is improved, the positioned plate is transferred to the aggregate vehicle for stacking and transportation during unloading, the stability of piling up has been promoted, and then the conveying efficiency of finished product refrigerator door shell has been promoted.
Description
Technical Field
The invention belongs to the technical field of refrigeration equipment processing, and particularly relates to an automatic loading and unloading device for processing a refrigerator door shell and a working method thereof.
Background
The refrigerator is a local space refrigerating device, is the domestic electrical apparatus commonly used for food fresh-keeping of family at present, and the refrigerator is a box structure, mainly includes curb plate, backplate, roof and refrigerator door.
The processing of the refrigerator door shell mainly comprises bending and cutting, so that a single door shell raw material plate needs to be transferred to a processing device for processing, in the prior art, batch raw material plates are transferred to one side of the processing device, then a mechanical arm transfers a block of plate to the processing device, on one hand, when feeding is carried out, the raw material plates with smooth surfaces are difficult to separate, the continuity of material transfer and raw material processing of a multi-shaft mechanical arm is influenced, when discharging is carried out, the multi-shaft mechanical arm is also required to transfer to ensure the stacking position accuracy of the door shells, the situation that the position angle difference between adjacent shells in the stacked refrigerator door shell is large, the stacking quantity of single finished products is not facilitated, the transfer efficiency is reduced, in addition, because of the position relation of the stacked materials, after the multi-shaft mechanical arm takes the materials, the positioning is also required one by one to, the production efficiency is greatly reduced, and in order to solve the problems, the invention provides the following solutions.
Disclosure of Invention
The invention aims to provide an automatic loading and unloading device for machining a refrigerator door shell and a working method thereof.
The technical problems to be solved by the invention are as follows:
1. in the refrigerator door shell course of working among the prior art, during the material loading, the degree of difficulty is great when separating in the smooth raw materials panel in surface, influences the material transfer of multi-axis manipulator and the continuity of raw materials processing, during the unloading, also needs the multi-axis manipulator to shift just can guarantee the position accuracy that the refrigerator door shell piled up, and the position angle difference between the adjacent refrigerator door shell is great in avoiding the refrigerator door shell that piles up, is unfavorable for the single finished product to pile up quantity, has reduced transfer efficiency.
2. In the refrigerator door shell course of working among the prior art, when the material loading, owing to pile up the position relation of material, the multiaxis manipulator is got the material after, still needs to fix a position one by one, greatly reduced production efficiency.
The purpose of the invention can be realized by the following technical scheme:
an automatic loading and unloading device for processing a refrigerator door shell comprises an aggregate device and a positioning device, wherein the aggregate device comprises an aggregate rack, a vehicle running track is laid at the bottom of the aggregate rack, a material collecting vehicle is arranged on the vehicle running track and can reciprocate on the vehicle running track, a plate transferring manipulator is fixed on the aggregate rack and used for grabbing plates on the aggregate vehicle and then placing the plates on a material conveying conveyor belt on one side of the aggregate rack, one discharging end of the material conveying conveyor belt is connected with the positioning device, the positioning device comprises a positioning rack, a roller conveyor is arranged at one end of the positioning rack, which is connected with the aggregate device, two positioning conveyor belts which are parallel to each other are further arranged on the positioning rack, the positioning conveyor belts are driven by a conveying motor to rotate, a material pressing device, a material grabbing manipulator and two first position adjusting cylinders which are arranged oppositely are further fixedly arranged on the positioning rack, the first position adjusting cylinder is arranged between the roller conveyor and the material pressing device, a roller is rotatably connected to a cylinder shaft of the first position adjusting cylinder, the axial direction of the roller is parallel to the upper surface of the positioning rack, a first material lifting device is arranged below the material pressing device, a second material lifting device is arranged below the material grabbing manipulator, and the first material lifting device and the second material lifting device are both fixedly mounted on the positioning rack.
As a further scheme of the invention, the aggregate vehicle comprises a fixed underframe, a plurality of moving rollers are mounted at the bottom of the fixed underframe, a driving motor is further fixedly mounted on the fixed underframe, a shaft extension end of the driving motor is connected with a gear, the gear is in transmission connection with the moving rollers through a chain, the fixed underframe is connected with a material placing top frame through a fork shearing frame, and the fork shearing frame is driven by a lifting cylinder to change the angle of the fork shearing frame.
As a further scheme of the invention, the plate transfer manipulator comprises two sliding guide rails which are fixedly arranged on an aggregate rack and are parallel to each other, the sliding guide rails are connected with an upper plate rack in a sliding manner through sliders sleeved on the sliding guide rails, the upper plate rack is perpendicular to the sliding guide rails, a belt driving motor and a belt mounting fixing seat are also fixedly arranged on the aggregate rack, a driving belt is sleeved between a shaft extension end of the belt driving motor and the belt mounting fixing seat, and the driving belt is fixedly connected with the upper plate rack through the part of the upper plate rack;
fixed mounting gets the material cylinder perpendicularly on the grillage of upper strata, gets the cylinder axle and the bottom grillage fixed connection of material cylinder perpendicularly, go back the one end of a plurality of first spacing slide bars of fixedly connected with on the grillage of bottom, the other end and the upper plate frame sliding connection of first spacing slide bar, the fixed a plurality of vacuum suction heads that are provided with in bottom surface of bottom grillage.
As a further scheme of the invention, the first material lifting device comprises a first mounting frame, the first mounting frame is fixedly connected with the positioning rack through a mounting connecting plate, an adjusting cylinder mounting frame is fixedly arranged on the first mounting frame, two second position adjusting cylinders which are oppositely arranged are fixedly arranged on the adjusting cylinder mounting frame, a position adjusting plate is fixedly connected with a cylinder shaft of the first position adjusting cylinder, a rubber layer is arranged on one surface of the two position adjusting plates which is opposite to each other, a first material lifting cylinder is also fixedly arranged on the first mounting frame, a first material lifting plate is fixedly connected with the cylinder shaft of the first material lifting cylinder, the first material lifting plate is horizontally arranged, a plurality of second limiting slide bars are fixedly connected with the bottom of the first material lifting plate, the second limiting slide bars are slidably connected with the first mounting frame, and the first material lifting cylinder can drive the first material lifting plate to reciprocate in the vertical direction, and when the first material lifting cylinder drives the first material lifting plate to move vertically upwards, the first material lifting plate can pass through the space between the two positioning conveyor belts to reach the upper surface of the positioning rack.
As a further scheme of the invention, the pressing device comprises a pressing base plate, the pressing base plate is fixedly mounted on the positioning rack through a support rod, a pressing cylinder is fixedly mounted on the pressing base plate, a cylinder shaft of the pressing cylinder is fixedly connected with a connecting plate, the connecting plate is fixedly connected with one end of a plurality of third limiting slide bars, the third limiting slide bars are slidably connected with the pressing base plate, a roller mounting frame is fixedly mounted on the bottom surface of the connecting plate, and a row of rollers is rotatably mounted on the roller mounting frame.
As a further scheme of the invention, the material grabbing manipulator comprises two oppositely arranged rotating mounting frames fixedly mounted on a positioning rack, clamping motors are rotatably mounted on the two rotating mounting frames through bearings, an angle adjusting motor is also fixedly mounted on one rotating mounting frame, a rotating driving motor drives the corresponding clamping motor on the rotating mounting frame to rotate through a belt, a limiting plate is fixedly mounted on a motor wall of each clamping motor, the two limiting plates are fixedly connected through a connecting rod, a positioning plate is fixedly connected to an axial extension end of each clamping motor, and a rubber layer is arranged on one surface, opposite to the two positioning plates, of each positioning plate.
As a further scheme of the invention, the second material lifting device comprises a second mounting frame fixedly mounted on the positioning rack, a second material lifting cylinder is fixedly mounted on the second mounting frame, a cylinder shaft of the second material lifting cylinder is fixedly connected with a second material lifting plate, the second material lifting plate is fixedly connected with one end of a plurality of fourth limiting slide bars, and the fourth limiting slide bars are slidably connected with the second mounting frame.
The working method of the automatic loading and unloading device comprises the following steps:
transferring the stacked plates to a material placing top frame of a material collecting vehicle through a conveying device, wherein the distance between a fixed bottom frame of the material collecting vehicle and the material placing top frame is smaller at the moment, and then transferring the stacked plates to the lower part of a plate transferring manipulator by the material collecting vehicle;
the belt driving motor drives the vacuum suction head to reciprocate along the sliding guide rail in the horizontal direction, and the vertical material taking cylinder drives the vacuum suction head to reciprocate in the vertical direction, so that the plates stacked on the material collecting vehicle are transferred to the material conveying conveyor belt one by one, the separated plates are conveyed to the roller conveyor on the positioning device one by one through the material conveying conveyor belt, and then the separated plates are transferred to the positioning conveyor belt on the positioning rack by the roller conveyor;
when a plate passes through the first position adjusting cylinders, the distance between the rollers on the cylinder shafts of the two first position adjusting cylinders is adjusted, so that the position of the plate on the positioning conveyor belt is preliminarily corrected, when the plate passes above the first material lifting device, the first material lifting cylinder drives the first material lifting plate to move upwards, so that the plate is separated from the positioning conveyor belt, the roller mounting rack is driven to move downwards by the material pressing cylinder, the plate on the first material lifting plate is pressurized by the roller mounting rack, and finally the position adjusting plates are driven to approach each other by the two first position adjusting cylinders, so that the plate on the first material lifting plate is positioned;
the first material lifting cylinder drives the first material lifting plate to move downwards, so that the plate is in contact with the positioning conveyor belt, the positioning conveyor belt is in a standing state before the plate is in contact with the positioning conveyor belt, and the positioning conveyor belt is started after the plate is completely separated from the first material lifting plate;
when panel removed to the below of grabbing material manipulator, the second was lifted material cylinder drive second and is lifted the flitch rebound, makes panel break away from the location conveyer belt and lifts to predetermineeing the height, then is close to each other through two locating plates of clamp motor drive, presss from both sides tightly the panel, adjusts the angle of panel through the drive of angle accommodate motor at last again, makes things convenient for the manipulator centre gripping or adsorbs fixed the transfer to the processing position.
The invention has the beneficial effects that:
when the plate transferring machine works, firstly, stacked plates are transferred to a material placing top frame of a material collecting vehicle through a conveying device, the distance between a fixed bottom frame of the material collecting vehicle and the material placing top frame is smaller, and then the stacked plates are transferred to the lower part of a plate transferring mechanical arm by the material collecting vehicle; the belt driving motor drives the vacuum suction head to reciprocate along the sliding guide rail in the horizontal direction, the vertical material taking cylinder drives the vacuum suction head to reciprocate in the vertical direction, so that plates stacked on the material collecting vehicle are transferred to the material conveying conveyor belt one by one, the separated plates are conveyed to the roller conveyor on the positioning device one by one through the material conveying conveyor belt, the separated plates are transferred to the positioning conveyor belt on the positioning rack through the roller conveyor, the plates are positioned through the positioning devices on the positioning device, the plates reach the position below the material grabbing manipulator according to the preset angle, and then the materials are grabbed through the material grabbing manipulator to realize positioning, so that the positioned plates are conveniently transferred to the processing device by the multi-shaft manipulator to be processed, the positioning time of the processing device is saved, the production efficiency is improved, in addition, the whole process is an integrated assembly line process, even if the separation of one plate causes a problem, the delay time can not be influenced, particularly, during positioning, when the plate passes through the first position adjusting cylinder, the distance between the rollers on the cylinder shafts of the two first position adjusting cylinders is adjusted, so as to primarily correct the position of the plate on the positioning conveyor belt, when the plate passes through the upper part of the first lifting device, the first lifting cylinder drives the first lifting plate to move upwards, so that the plate is separated from the positioning conveyor belt, then the pressing cylinder drives the roller mounting rack to move downwards, the roller mounting rack is used for pressurizing the plate on the first lifting plate, finally the two first position adjusting cylinders drive the position adjusting plates to mutually approach, so as to position the plate on the first lifting plate, and similarly, during blanking, the positioned plate is conveyed to the material collecting device through the positioning conveyor belt, and finally, the refrigerator door shells are transferred to an aggregate vehicle for stacking and transporting, and the finished refrigerator door shells after being positioned are stacked one by one, so that the stacking stability is improved, and the transporting efficiency of the finished refrigerator door shells is further improved.
Drawings
The invention is described in further detail below with reference to the figures and specific embodiments.
FIG. 1 is a schematic diagram of a hub device;
FIG. 2 is a schematic structural diagram of the positioning device;
FIG. 3 is a schematic structural view of the material collecting vehicle;
FIG. 4 is a schematic structural view of a plate transfer robot;
FIG. 5 is a schematic structural view of a first material lifting device;
FIG. 6 is a schematic structural view of a pressing device;
FIG. 7 is a schematic structural view of a material grabbing manipulator;
fig. 8 is a schematic structural view of the second lifting device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An automatic loading and unloading device for processing a refrigerator door shell comprises an aggregate device 1 and a positioning device 2, wherein the aggregate device 1 comprises an aggregate rack 11, a vehicle running track 13 is laid at the bottom of the aggregate rack 11, a material collecting vehicle 4 is arranged on the vehicle running track 13, the material collecting vehicle 4 can reciprocate on the vehicle running track 13, a plate transferring manipulator 3 is fixed on the aggregate rack 11, the plate transferring manipulator 3 is used for placing plates on the aggregate vehicle on a conveying conveyor belt 12 on one side of the aggregate rack 11 after being grabbed, one discharging end of the conveying conveyor belt 12 is connected with the positioning device 2, the conveying conveyor belt 12 is used for conveying the separated plates to the positioning device 2 one by one for positioning, the positioning device 2 comprises a positioning rack 22, and a roller conveyor 21 is arranged at one end of the positioning rack 22, which is connected with the aggregate rack 11, the positioning rack 22 is further provided with two positioning conveyor belts 25 which are parallel to each other, the positioning conveyor belts 25 are driven by a conveyor motor 24 to rotate, the positioning rack 22 is further fixedly provided with a pressing device 6, a material grabbing manipulator 7 and two first position adjusting cylinders 23 which are oppositely arranged, the first position adjusting cylinders 23 are arranged between the roller conveyor 21 and the pressing device 6, the cylinder shafts of the first position adjusting cylinders 23 are rotatably connected with rollers, the axial directions of the rollers are parallel to the upper surface of the positioning rack 22, a first material lifting device 5 is arranged below the pressing device 6, a second material lifting device 8 is arranged below the material grabbing manipulator 7, and the first material lifting device 5 and the second material lifting device 8 are both fixedly mounted on the positioning rack 22;
as shown in fig. 3, the material collecting cart 4 includes a fixed chassis 41, a plurality of moving rollers 42 are installed at the bottom of the fixed chassis 41, a driving motor 43 is further fixedly installed on the fixed chassis 41, a shaft extension end of the driving motor 43 is connected with a gear, the gear is in transmission connection with the moving rollers 42 through a chain, so as to control the moving direction, speed and stop position of the material collecting cart 4 on the cart running track 13, the fixed chassis 41 is connected with a material placing top frame 46 through a fork shearing frame 44, the fork shearing frame 44 is driven by a lifting cylinder 45 to change the fork shearing angle, and further, the distance between the fixed chassis 41 and the material placing top frame 46 is adjusted;
as shown in fig. 4, the plate transferring manipulator 3 includes two sliding guide rails 31 fixedly mounted on the aggregate rack 11 and parallel to each other, the sliding guide rails 31 are slidably connected with the upper plate rack 32 through sliders 34 sleeved on the sliding guide rails 31, the upper plate rack 32 is perpendicular to the sliding guide rails 31, the aggregate rack 11 is further fixedly provided with a belt driving motor 35 and a belt mounting fixing seat 39, a driving belt 36 is sleeved between a shaft extension end of the belt driving motor 35 and the belt mounting fixing seat 39, and the driving belt 36 is fixedly connected with the upper plate rack 32 through a part of the upper plate rack 32, so that the upper plate rack 32 can be driven to reciprocate on the sliding guide rails 31 through the belt driving motor;
a vertical material taking cylinder 38 is fixedly mounted on the upper plate frame 32, a cylinder shaft of the vertical material taking cylinder 38 is fixedly connected with the bottom plate frame 33, one end of a plurality of first limiting slide bars 310 is also fixedly connected to the bottom plate frame 33, the other end of the first limiting slide bars 310 is slidably connected with the upper plate frame 32, and a plurality of vacuum suction heads 37 are fixedly arranged on the bottom surface of the bottom plate frame 33;
when the automatic material conveying device works, the belt driving motor 35 drives the vacuum suction head 37 to reciprocate along the sliding guide rail 31 in the horizontal direction, the vertical material taking cylinder 38 drives the vacuum suction head to reciprocate in the vertical direction, so that plates stacked on the material collecting vehicle 4 are transferred to the material conveying conveyor belt 12 one by one, the separated materials are conveyed to the roller conveyor 21 on the positioning device 2 one by one through the material conveying conveyor belt 12, and then the roller conveyor 21 transfers the separated materials to the positioning conveyor belt 25 on the positioning rack 22 one by one;
as shown in fig. 5, the first material lifting device 5 includes a first mounting frame 51, the first mounting frame 51 is fixedly connected with the positioning frame 22 through a mounting connection plate 52, an adjusting cylinder mounting frame 53 is fixedly arranged on the first mounting frame 51, two second position adjusting cylinders 54 which are oppositely arranged are fixedly arranged on the adjusting cylinder mounting frame 53, a position adjusting plate 55 is fixedly connected to a cylinder shaft of the first position adjusting cylinder 54, a rubber layer is arranged on one surface of the two position adjusting plates 55 which is opposite to each other to prevent the position adjusting plate 55 and the plate from being deformed due to serious scraping, a first material lifting cylinder 56 is also fixedly arranged on the first mounting frame 51, a first material lifting plate 57 is fixedly connected to a cylinder shaft of the first material lifting cylinder 56, the first material lifting plate 57 is horizontally arranged, and a plurality of second limiting slide rods 58 are fixedly connected to the bottom of the first material lifting plate 57, the second limiting slide rod 58 is connected with the first mounting frame 51 in a sliding manner, the first material lifting cylinder 56 can drive the first material lifting plate 57 to reciprocate in the vertical direction, and specifically, when the first material lifting cylinder 56 drives the first material lifting plate 57 to move vertically upwards, the first material lifting plate can penetrate through the space between the two positioning conveyor belts 25 to reach the upper surface of the positioning rack 22;
in operation, when a plate passes above the first lifting device 5, the first lifting cylinder 56 drives the first lifting plate 57 to move upwards, so that the plate is separated from the positioning conveyor belt 25, and then the two first position adjusting cylinders 54 drive the position adjusting plates 55 to approach each other, so that the plate on the first lifting plate 57 is positioned;
as shown in fig. 6, the pressing device 6 includes a pressing substrate 61, the pressing substrate 61 is fixedly mounted on the positioning frame 22 through a support rod 65, a pressing cylinder 64 is fixedly mounted on the pressing substrate 61, a cylinder shaft of the pressing cylinder 64 is fixedly connected with a connecting plate 62, the connecting plate 62 is fixedly connected with one end of a plurality of third limiting slide bars 66, the third limiting slide bars 66 are slidably connected with the pressing substrate 61, a roller mounting bracket 63 is fixedly mounted on a bottom surface of the connecting plate 62, and a row of rollers are rotatably mounted on the roller mounting bracket 63, preferably, the rollers are rubber rollers;
during operation, the first material lifting device 5 enables a plate to be separated from the positioning conveyor belt 25 and to stay on the first material lifting plate 57, then the roller mounting frame 63 is driven to move downwards by the material pressing cylinder 64, the plate on the first material lifting plate 57 is pressurized by the roller mounting frame, and when the two first position adjusting cylinders 54 are used for positioning the plate, the plate is prevented from generating an inclination angle with the horizontal direction due to different shapes of the plate or positions between the two first position adjusting cylinders, so that the positioning effect is prevented from being influenced;
as shown in fig. 7, the material grabbing manipulator 7 includes two opposite rotation mounting frames 71 fixedly mounted on the positioning frame 22, a clamping motor 74 is rotatably mounted on each of the two rotation mounting frames 71 through a bearing, an angle adjusting motor 73 is also fixedly mounted on one of the rotation mounting frames 71, the rotation driving motor 73 drives the clamping motor 74 on the corresponding rotation mounting frame 71 to rotate through a belt, a limiting plate 75 is fixedly mounted on a motor wall of the clamping motor 74, the two limiting plates 75 are fixedly connected through a connecting rod 77, a positioning plate 76 is fixedly connected to an axial extension end of the clamping motor 74, and a rubber layer is disposed on one of the two positioning plates 76, so that a contact area and a friction force between the positioning plate and a plate can be increased, and a clamping effect can be improved;
as shown in fig. 8, the second lifting device 8 includes a second mounting bracket 81 fixedly mounted on the positioning frame 22, a second lifting cylinder 83 is fixedly mounted on the second mounting bracket 81, a cylinder shaft of the second lifting cylinder 83 is fixedly connected to a second lifting plate 84, the second lifting plate 84 is fixedly connected to one end of a plurality of fourth limiting slide rods 82, and the fourth limiting slide rods 84 are slidably connected to the second mounting bracket 81, during operation, the second lifting cylinder 83 drives the second lifting plate 84 to move upward, so that the plate is separated from the positioning conveyor belt 25 and lifted to a proper height, then the two positioning plates 76 are driven by the clamping motor 74 to approach each other, the plate is clamped, and then the angle of the plate is driven by the angle adjusting motor 73 to be adjusted, so that the plate is conveniently clamped or fixedly transferred to a processing position by a manipulator.
The working method of the automatic loading and unloading device comprises the following steps:
transferring the stacked plates to a material placing top frame 46 of the material collecting vehicle 4 through a plate conveying device such as a forklift, wherein the distance between a fixed bottom frame 41 of the material collecting vehicle 4 and the material placing top frame 46 is smaller, and then transferring the stacked plates to the lower part of the plate transferring manipulator 3 by the material collecting vehicle 4;
the belt driving motor 35 drives the vacuum suction head 37 to reciprocate along the sliding guide rail 31 in the horizontal direction, and the vertical material taking cylinder 38 drives the vacuum suction head to reciprocate in the vertical direction, so that the plates stacked on the material collecting trolley 4 are transferred to the material conveying conveyor belt 12 one by one, the separated plates are conveyed to the roller conveyor 21 on the positioning device 2 one by one through the material conveying conveyor belt 12, and then the separated plates are transferred to the positioning conveyor belt 25 on the positioning rack 22 one by one through the roller conveyor 21;
when a plate passes through the first position adjusting cylinders 23, the distance between the rollers on the cylinder shafts of the two first position adjusting cylinders 23 is adjusted, so that the position of the plate on the positioning conveyor belt 25 is preliminarily corrected, when the plate passes above the first material lifting device 5, the first material lifting cylinder 56 drives the first material lifting plate 57 to move upwards, so that the plate is separated from the positioning conveyor belt 25, the material pressing cylinder 64 drives the roller mounting frame 63 to move downwards, the plate on the first material lifting plate 57 is pressurized through the roller mounting frame, and finally the two first position adjusting cylinders 54 drive the position adjusting plates 55 to approach each other to position the plate on the first material lifting plate 57;
the first material lifting cylinder 56 drives the first material lifting plate 57 to move downwards, so that the plate is in contact with the positioning conveyor belt 25, the positioning conveyor belt 25 is in a standing state before the plate is in contact with the positioning conveyor belt 25, and the positioning conveyor belt 25 is started after the plate is completely separated from the first material lifting plate 57, so that the plate is prevented from being deviated again due to relative sliding between the plate and the positioning conveyor belt 25 when the plate is not completely in contact with the positioning conveyor belt 25;
when the plate moves to the position below the material grabbing manipulator 7, the second material lifting cylinder 83 drives the second material lifting plate 84 to move upwards, so that the plate is separated from the positioning conveyor belt 25 and lifted to a preset height, then the two positioning plates 76 are driven to approach each other through the clamping motor 74 to clamp the plate, and finally the angle of the plate is adjusted through the driving of the angle adjusting motor 73, so that the manipulator is convenient to clamp or adsorb and fixedly transfer to a processing position.
When the material is unloaded, the processed plates are transferred to the positioning conveyor belt 25 through the mechanical arm, other processes are carried out according to the reverse steps of the feeding process except that the material grabbing mechanical arm 7 and the second material lifting device 8 do not work, and finally the processed refrigerator door shell is transferred to the material collecting vehicle 4 for transmission.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (8)
1. The utility model provides an automatic loading and unloading device of refrigerator door shell processing, includes device (1) and positioner (2) that gathers materials, its characterized in that, device (1) that gathers materials includes frame (11) that gathers materials, and the bottom of frame (11) that gathers materials has laid car capable track (13), is provided with on the car capable track (13) and gathers materials car (4), gather materials car (4) can be on the rail (13) reciprocating motion that walks, be fixed with panel transfer manipulator (3) on frame (11) that gathers materials, panel transfer manipulator (3) are used for arranging defeated material conveyer belt (12) of frame (11) one side that gathers materials in after snatching the panel on the car that gathers materials, positioner (2) are connected to the ejection of compact one end of defeated material conveyer belt (12), positioner (2) are including frame (22), and frame (22) and the one end of device (11) that meets are provided with cylinder conveyer (21), the positioning frame (22) is also provided with two positioning conveyor belts (25) which are parallel to each other, the positioning conveyor belts (25) are driven by a conveying motor (24) to rotate, the positioning rack (22) is also fixedly provided with a material pressing device (6), a material grabbing manipulator (7) and two first position adjusting cylinders (23) which are arranged oppositely, the first position adjusting cylinders (23) are arranged between the roller conveyor (21) and the material pressing device (6), and a roller is rotatably connected on a cylinder shaft of the first position adjusting cylinder (23), the axial direction of the roller is parallel to the upper surface of the positioning frame (22), a first material lifting device (5) is arranged below the material pressing device (6), a second material lifting device (8) is arranged below the material grabbing mechanical arm (7), the first material lifting device (5) and the second material lifting device (8) are both fixedly arranged on the positioning rack (22).
2. The automatic loading and unloading device for machining the refrigerator door shell as claimed in claim 1, wherein the material collecting vehicle (4) comprises a fixed chassis (41), a plurality of moving rollers (42) are mounted at the bottom of the fixed chassis (41), a driving motor (43) is further fixedly mounted on the fixed chassis (41), a gear is connected to the shaft extension end of the driving motor (43), the gear is in transmission connection with the moving rollers (42) through a chain, the fixed chassis (41) is connected with a material placing top frame (46) through a fork shearing frame (44), and the fork shearing frame (44) is driven by a lifting cylinder (45) to change the angle of the fork shearing.
3. The automatic loading and unloading device for machining the refrigerator door shell as claimed in claim 1, wherein the plate transferring mechanical arm (3) comprises two sliding guide rails (31) which are fixedly mounted on the material collecting rack (11) and are parallel to each other, the sliding guide rails (31) are slidably connected with the upper plate rack (32) through sliding blocks (34) sleeved on the sliding guide rails (31), the upper plate rack (32) is perpendicular to the sliding guide rails (31), the material collecting rack (11) is also fixedly provided with a belt driving motor (35) and a belt mounting fixing seat (39), a driving belt (36) is sleeved between a shaft extension end of the belt driving motor (35) and the belt mounting fixing seat (39), and the driving belt (36) is fixedly connected with the upper plate rack (32) through a part of the upper plate rack (32);
fixed mounting has perpendicularly to get material cylinder (38) on upper grillage (32), perpendicularly gets the cylinder axle and bottom grillage (33) fixed connection of material cylinder (38), the one end of a plurality of first spacing slide bars of fixedly connected with (310) is gone up in bottom grillage (33), the other end and upper grillage (32) sliding connection of first spacing slide bar (310), the fixed a plurality of vacuum suction heads (37) that are provided with in bottom grillage (33) bottom surface.
4. The automatic loading and unloading device for machining the refrigerator door shell according to claim 1, wherein the first material lifting device (5) comprises a first mounting frame (51), the first mounting frame (51) is fixedly connected with the positioning rack (22) through a mounting connecting plate (52), an adjusting cylinder mounting frame (53) is fixedly arranged on the first mounting frame (51), two second position adjusting cylinders (54) which are oppositely arranged are fixedly mounted on the adjusting cylinder mounting frame (53), a position adjusting plate (55) is fixedly connected to a cylinder shaft of the first position adjusting cylinder (54), a rubber layer is arranged on one surface of the two position adjusting plates (55) which is opposite to each other, a first material lifting cylinder (56) is also fixedly mounted on the first mounting frame (51), and a first material lifting plate (57) is fixedly connected to the cylinder shaft of the first material lifting cylinder (56), the first material lifting plate (57) is horizontally arranged, a plurality of second limiting slide rods (58) are fixedly connected to the bottom of the first material lifting plate (57), the second limiting slide rods (58) are slidably connected with the first mounting frame (51), the first material lifting cylinder (56) can drive the first material lifting plate (57) to reciprocate in the vertical direction, and when the first material lifting cylinder (56) drives the first material lifting plate (57) to vertically move upwards, the first material lifting plate can penetrate through the space between the two positioning conveyor belts (25) to reach the upper surface of the positioning rack (22).
5. The automatic loading and unloading device for machining the refrigerator door shell according to claim 1, wherein the pressing device (6) comprises a pressing base plate (61), the pressing base plate (61) is fixedly mounted on the positioning rack (22) through a support rod (65), a pressing cylinder (64) is fixedly mounted on the pressing base plate (61), a connecting plate (62) is fixedly connected to a cylinder shaft of the pressing cylinder (64), the connecting plate (62) is fixedly connected with one end of a plurality of third limiting slide bars (66), the third limiting slide bars (66) are slidably connected with the pressing base plate (61), a roller mounting frame (63) is fixedly mounted on the bottom surface of the connecting plate (62), and a row of rollers are rotatably mounted on the roller mounting frame (63).
6. The automatic loading and unloading device for refrigerator door shell processing according to claim 1, the material grabbing manipulator (7) comprises two opposite rotary mounting frames (71) fixedly arranged on the positioning rack (22), clamping motors (74) are rotatably arranged on the two rotary mounting frames (71) through bearings, one of the rotary mounting frames (71) is also fixedly provided with an angle adjusting motor (73), the rotary driving motor (73) drives a clamping motor (74) on the corresponding rotary mounting frame (71) to rotate through a belt, the clamping motor is characterized in that limiting plates (75) are fixedly mounted on the motor wall of the clamping motor (74), the two limiting plates (75) are fixedly connected through a connecting rod (77), a positioning plate (76) is fixedly connected with the shaft extension end of the clamping motor (74), and a rubber layer is arranged on one opposite surface of the two positioning plates (76).
7. The automatic loading and unloading device for machining the refrigerator door shell according to claim 1, wherein the second lifting device (8) comprises a second mounting frame (81) fixedly mounted on the positioning rack (22), a second lifting cylinder (83) is fixedly mounted on the second mounting frame (81), a cylinder shaft of the second lifting cylinder (83) is fixedly connected with a second lifting plate (84), the second lifting plate (84) is fixedly connected with one end of a plurality of fourth limiting slide bars (82), and the fourth limiting slide bars (84) are slidably connected with the second mounting frame (81).
8. The method of operating an automatic loading and unloading device according to claim 1, comprising the steps of:
transferring the stacked plates to a material placing top frame (46) of a material collecting vehicle (4) through a conveying device, wherein the distance between a fixed bottom frame (41) of the material collecting vehicle (4) and the material placing top frame (46) is smaller, and then transferring the stacked plates to the lower part of a plate transferring manipulator (3) through the material collecting vehicle (4);
the belt driving motor (35) drives the vacuum suction head (37) to reciprocate along the sliding guide rail (31) in the horizontal direction, the vertical material taking cylinder (38) drives the vacuum suction head to reciprocate in the vertical direction, so that the plates stacked on the material collecting vehicle (4) are transferred to the material conveying conveyor belt (12) one by one, the separated plates are conveyed to the roller conveyor (21) on the positioning device (2) one by one through the material conveying conveyor belt (12), and the separated plates are transferred to the positioning conveyor belt (25) on the positioning rack (22) one by one through the roller conveyor (21);
when a plate passes through the first position adjusting cylinders (23), the distance between rollers on cylinder shafts of the two first position adjusting cylinders (23) is adjusted, so that the position of the plate on the positioning conveyor belt (25) is preliminarily corrected, when the plate passes above the first material lifting device (5), the first material lifting cylinder (56) drives the first material lifting plate (57) to move upwards, so that the plate is separated from the positioning conveyor belt (25), then the material pressing cylinder (64) drives the roller mounting frame (63) to move downwards, the plate on the first material lifting plate (57) is pressurized through the roller mounting frame, and finally the two first position adjusting cylinders (54) drive the position adjusting plates (55) to approach each other, so that the plate on the first material lifting plate (57) is positioned;
the first material lifting cylinder (56) drives the first material lifting plate (57) to move downwards, so that the plate is in contact with the positioning conveyor belt (25), the positioning conveyor belt (25) is in a standing state before the plate is in contact with the positioning conveyor belt (25), and the positioning conveyor belt (25) is started after the plate is completely separated from the first material lifting plate (57);
when the plate is moved to the position below the material grabbing manipulator (7), the second material lifting cylinder (83) drives the second material lifting plate (84) to move upwards, so that the plate is separated from the positioning conveyor belt (25) and lifted to a preset height, then the two positioning plates (76) are driven to be close to each other through the clamping motor (74), the plate is clamped, finally the angle of the plate is adjusted through the driving of the angle adjusting motor (73), and the manipulator is convenient to clamp or adsorb, fix and transfer to a machining position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911328563.2A CN110902292B (en) | 2019-12-20 | 2019-12-20 | Automatic loading and unloading device for machining outer shell of refrigerator door and working method of automatic loading and unloading device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911328563.2A CN110902292B (en) | 2019-12-20 | 2019-12-20 | Automatic loading and unloading device for machining outer shell of refrigerator door and working method of automatic loading and unloading device |
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| CN110902292A true CN110902292A (en) | 2020-03-24 |
| CN110902292B CN110902292B (en) | 2021-03-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111731740A (en) * | 2020-07-10 | 2020-10-02 | 苏州浦一电子商务有限公司 | Cargo carrying operation equipment for logistics storage |
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| CN110902292B (en) | 2021-03-23 |
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