CN110937402A - Automatic balance equipment - Google Patents

Automatic balance equipment Download PDF

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Publication number
CN110937402A
CN110937402A CN201911324706.2A CN201911324706A CN110937402A CN 110937402 A CN110937402 A CN 110937402A CN 201911324706 A CN201911324706 A CN 201911324706A CN 110937402 A CN110937402 A CN 110937402A
Authority
CN
China
Prior art keywords
empty tray
product
pushing
disposed
longitudinal
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
CN201911324706.2A
Other languages
Chinese (zh)
Inventor
谢鸿彬
蔡志雄
龙年香
刘剑
李飞斌
薛奎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dongguan Precision Mold Ltd Co Workshop
Original Assignee
Dongguan Precision Mold Ltd Co Workshop
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 Dongguan Precision Mold Ltd Co Workshop filed Critical Dongguan Precision Mold Ltd Co Workshop
Priority to CN201911324706.2A priority Critical patent/CN110937402A/en
Publication of CN110937402A publication Critical patent/CN110937402A/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
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers 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
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/68Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
    • B65G47/69Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor lane and to transfer them in individual layers to more than one conveyor lane or to one broader conveyor lane, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor the articles being accumulated temporarily
    • 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
    • B65G47/82Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • 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

Abstract

The invention discloses automatic tray placing equipment which comprises a machine table, a product feeding mechanical arm, a product tray placing mechanical arm, a product temporary placing device arranged on the machine table, a product tray placing area arranged on the machine table and positioned at the side edge of the product temporary placing device, an empty tray feeding and pushing device arranged on the machine table and positioned at the side edge of the product tray placing area, and a discharging device arranged below the product tray placing area. The automatic tray placing equipment provided by the invention realizes automatic tray placing of products, the action coordination among all devices is tight, smooth and stable, the efficiency is obviously improved, the products are not scratched, and the products can be orderly, quickly, accurately and tidily placed in corresponding trays in a correct direction.

Description

Automatic balance equipment
Technical Field
The invention relates to the field of automation equipment, in particular to automatic balance placing equipment.
Background
After the parts are processed, the parts need to be packaged. In order to prevent the parts from being stacked together and from being scratched, scratched and abraded, the parts are usually placed on specific slots of an empty tray one by one, so that the parts are independent from one another, and the product quality is guaranteed.
In the existing packaging mode, a manual operation mode is adopted, an empty tray is firstly placed at a specific position, then a plurality of products are directly gripped by hands and placed on the empty tray, and then the products are moved to corresponding slot positions in a correct direction; alternatively, the products are manually placed one by one in the correct orientation in the slots of an empty tray. The manual operation mode not only wastes time and labor, but also consumes a large amount of manpower and has low efficiency; moreover, there is still a risk of scratching the product.
Disclosure of Invention
In view of the above-mentioned shortcomings, the present invention provides an automatic tray-placing device, which realizes automatic tray placing of products, and the actions of the devices are closely, smoothly and stably matched, so that the efficiency is obviously improved, the products are not scratched, and the products can be orderly, rapidly, accurately and neatly placed on corresponding trays in a correct direction.
The technical scheme adopted by the invention to achieve the aim is as follows:
the utility model provides an automatic balance equipment, includes a board, a product material loading manipulator and a product balance manipulator, its characterized in that still including set up a product on the board and put the device temporarily, set up on the board and lie in the product and put a product balance dish district of device side temporarily, set up on the board and lie in a product balance dish district side empty dish material loading pusher and set up in a unloader of product balance dish district below.
As a further improvement of the present invention, the product temporary placing device comprises a fixed plate disposed on the machine platform, and at least one temporary transferring and placing mechanism disposed on the fixed plate, wherein the temporary transferring and placing mechanism comprises a fixed temporary placing component and a plurality of telescopic temporary placing components disposed above the fixed temporary placing component; the fixed temporary placing assembly comprises a fixed support arranged on the fixed plate and a first supporting plate arranged on the front end part of the fixed support, wherein at least one first supporting groove is formed on the first supporting plate, and first supporting blocks which are in one-to-one correspondence with the first supporting grooves are arranged at the front end part of the first supporting plate in an extending manner; the telescopic temporary placing assembly comprises a telescopic cylinder arranged on the fixing plate and a second supporting plate arranged on the output end of the telescopic cylinder, wherein at least one second supporting groove is formed in the second supporting plate, and second supporting blocks in one-to-one correspondence with the second supporting grooves are arranged at the front end of the second supporting plate in an extending mode.
As a further improvement of the invention, the number of the telescopic temporary placing assemblies is at least two groups which are arranged up and down, and the telescopic cylinders of every two adjacent groups of the telescopic temporary placing assemblies are separated by a cushion block.
As a further improvement of the invention, an empty tray stacking area is formed on the machine platform; the empty tray loading and pushing device comprises an empty tray longitudinal pushing mechanism arranged on the side edge of the empty tray stacking area and an empty tray transverse pushing mechanism arranged on one side of the upper end of the empty tray stacking area, wherein the empty tray longitudinal pushing mechanism comprises a longitudinal pushing driving assembly arranged on the empty tray stacking area and longitudinal pushing assemblies respectively arranged on two sides of the empty tray stacking area and connected to the longitudinal pushing driving assembly, and the empty tray is arranged between the longitudinal pushing assemblies on the two sides of the empty tray stacking area; the empty tray transverse pushing mechanism comprises a transverse pushing driving assembly arranged on one side of the upper end of the empty tray stacking area and a transverse pushing rod connected to the transverse pushing driving assembly and extending to one side of the empty tray.
As a further improvement of the present invention, the longitudinal pushing assembly includes a first transmission shaft disposed on the inner side wall of the empty tray stacking area and connected to the longitudinal pushing driving assembly, a second transmission shaft disposed on the inner side wall of the empty tray stacking area and located above or below the first transmission shaft, at least one transmission structure connected between the first transmission shaft and the second transmission shaft, and a plurality of empty tray supporting plates disposed outside the transmission structure, wherein the transmission structure mainly includes a first sprocket disposed on the first transmission shaft, a second sprocket disposed on the second transmission shaft, and a longitudinal synchronization chain surrounding the first sprocket and the second sprocket and extending along the height direction of the empty tray stacking area, and the empty tray supporting plates are connected to the outer side of the longitudinal synchronization chain; a clamping position for embedding one end of the empty tray is formed on the empty tray supporting plate; and a plurality of longitudinal guide sliding rails corresponding to the longitudinal synchronous chains are arranged on the inner side wall of the empty tray stacking area, and the longitudinal synchronous chains move longitudinally along the longitudinal guide sliding rails.
As a further improvement of the present invention, the longitudinal pushing driving assembly comprises a longitudinal pushing driving motor installed on the inner wall of the empty tray stacking area, a driving sprocket arranged on the output end of the longitudinal pushing driving motor and located at one side of the empty tray stacking area, a driven sprocket arranged at the opposite side of the empty tray stacking area, and a transverse synchronous chain surrounding the driving sprocket and the driven sprocket, wherein the first transmission shaft of the longitudinal pushing assembly on one side of the empty tray stacking area is connected with the output end of the longitudinal pushing driving motor; a driving gear is arranged on the side edge of the driven chain wheel, and a driven gear is arranged on the first transmission shaft of the longitudinal pushing assembly on the other side of the empty tray stacking area and meshed with the driving gear.
As a further improvement of the invention, the transverse pushing driving assembly comprises a mounting substrate arranged on one side of the upper end of the empty tray stacking area, a transverse pushing driving motor arranged at one end of the mounting substrate, a transverse pushing driving wheel arranged on the output end of the transverse pushing driving motor, a transverse pushing driven wheel arranged at the other end of the mounting substrate, and a synchronous belt enclosed between the transverse pushing driving wheel and the transverse pushing driven wheel; meanwhile, a transverse guide sliding rail extending along the length direction of the synchronous belt is arranged on the mounting substrate, a transverse guide sliding block is arranged on the transverse guide sliding rail in a sliding mode, the transverse push rod is connected with the synchronous belt through a connecting seat, and the connecting seat is fixedly connected with the transverse guide sliding block.
As a further improvement of the invention, the blanking device comprises a blanking lifting mechanism and a blanking conveying mechanism, wherein the blanking lifting mechanism comprises an installation support connected to the machine platform and positioned below the product placing area, a connecting plate arranged below the installation support, an installation plate connected below the installation support, a lifting driving motor arranged on the installation plate, a screw rod connected between the output end of the lifting driving motor and the installation support and penetrating through the connecting plate, a nut arranged on the connecting plate and sleeved on the periphery of the screw rod, a plurality of lifting driving rods with lower ends connected to the connecting plate and upper ends penetrating through the installation support, and at least one supporting plate arranged on the upper ends of the lifting driving rods and extending to the product placing area; the blanking conveying mechanism comprises a conveying driving motor, a blanking conveying driving wheel arranged on the output end of the conveying driving motor, a plurality of conveying rollers arranged in parallel, a blanking conveying driven wheel arranged at the end part of one of the conveying rollers, a driving belt surrounding the periphery of the blanking conveying driving wheel and the periphery of the blanking conveying driven wheel, and a blanking conveying belt wound on the periphery of the plurality of conveying rollers and positioned above the mounting bracket.
As a further improvement of the invention, the product swing plate manipulator comprises a material taking manipulator arm, a fixed seat arranged on the material taking manipulator arm, at least one material taking suction rod arranged on the fixed seat, and a material taking suction cup arranged at the end part of the material taking suction rod; the product material loading manipulator comprises a product material loading mechanical arm, an installation side plate arranged on the product material loading mechanical arm, and at least one pneumatic clamp group arranged on the installation side plate, wherein the pneumatic clamp group mainly comprises a plurality of pneumatic clamps, and the pneumatic clamps mainly comprise a pneumatic finger arranged on the installation side plate and two clamping arms oppositely arranged on the pneumatic finger.
The invention further improves the structure, and further comprises an empty tray positioning mechanism arranged on the product placing area, wherein the empty tray positioning mechanism mainly comprises two groups of empty tray positioning components which are oppositely arranged on two sides of the product placing area, each empty tray positioning component comprises a positioning push motor arranged on one side edge of the product placing area, a plurality of side slide rails arranged on one side edge of the product placing area, a plurality of side slide blocks arranged on the side slide rails, and a positioning seat arranged on the side slide blocks and connected to the output end of the positioning push motor, and an empty tray positioning clamping groove is formed in the side edge of the positioning seat.
The invention has the beneficial effects that: the automatic feeding device has the advantages that the automatic feeding structure is combined with the automatic discharging structure to replace manual operation, the automatic product placing mechanical arm is realized, the product placing mechanical arm, the product temporary placing device, the empty tray feeding pushing device and the automatic discharging device are combined, the action fit among the devices is tight, smooth and stable, the efficiency is obviously improved, the products cannot be scratched, and the products can be orderly, quickly, accurately and tidily placed on corresponding trays in the correct direction.
The above is an overview of the technical solutions of the present invention, and the present invention is further described below with reference to the accompanying drawings and the detailed description thereof.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a product placement device according to the present invention;
fig. 3 is a schematic structural view of the blank tray feeding and pushing device of the present invention disposed on a machine platform;
FIG. 4 is a schematic structural diagram of the blank tray feeding and pushing device of the present invention;
FIG. 5 is a schematic structural view of the horizontal pushing mechanism of the blank tray in the present invention;
FIG. 6 is a schematic structural view of the longitudinal pushing mechanism of the blank tray in the present invention;
FIG. 7 is a schematic structural view of a longitudinal pushing assembly according to the present invention;
FIG. 8 is a schematic structural view of a blanking device according to the present invention;
FIG. 9 is a schematic structural view of a blanking lifting mechanism according to the present invention;
FIG. 10 is a schematic structural view of the positioning mechanism of the blank tray of the present invention disposed on the tray placing area of the product;
FIG. 11 is a schematic structural view of a product placement robot of the present invention;
fig. 12 is a schematic structural view of a product loading robot according to the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined purposes, the following detailed description of the embodiments of the present invention is provided with the accompanying drawings and the preferred embodiments.
Referring to fig. 1, an embodiment of the present invention provides an automatic tray placing apparatus, which includes a machine table 1, a product feeding manipulator 2, a product tray placing manipulator 3, a product temporary placing device 4 disposed on the machine table 1, a product tray placing region 5 disposed on the machine table 1 and located at a side of the product temporary placing device 4, an empty tray feeding and pushing device 6 disposed on the machine table 1 and located at a side of the product tray placing region 5, and a discharging device 7 disposed below the product tray placing region 5. The product feeding manipulator 2 feeds the product 30 to the product temporary placing device 4, and meanwhile, the empty tray feeding pushing device 6 pushes the empty tray 20 to the product swing tray area 5; then, the product placing manipulator 3 places the products 30 on the empty trays 20 on the product placing area 5 in order in the correct direction; finally, the loading tray full of the products 30 is blanked by a blanking device 7; and the automatic and quick tray placing operation of the product 30 is realized continuously and repeatedly.
In the present embodiment, as shown in fig. 2, the product temporarily placing device 4 includes a fixing plate 41 disposed on the machine table 1, and at least one transferring temporarily placing mechanism 42 disposed on the fixing plate 41, wherein the transferring temporarily placing mechanism 42 includes a fixed temporarily placing assembly 421, and a plurality of sets of telescopic temporarily placing assemblies 422 disposed above the fixed temporarily placing assembly 421; the fixed temporary placing assembly 421 includes a fixed bracket 4211 disposed on the fixed plate 41, and a first supporting plate 4212 disposed on the front end portion of the fixed bracket 4211, wherein at least one first supporting groove 42121 is formed on the first supporting plate 4212, and first supporting blocks 4213 corresponding to the first supporting grooves 42121 one by one are extended from the front end portion of the first supporting plate 4212; the telescopic temporary placing assembly 422 includes a telescopic cylinder 4221 disposed on the fixing plate 41, and a second supporting plate 4222 disposed on an output end of the telescopic cylinder 4221, wherein at least one second supporting groove 42221 is formed on the second supporting plate 4222, and second supporting blocks 4223 corresponding to the second supporting grooves 42221 one by one are extended from a front end portion of the second supporting plate 4222.
After the product loading manipulator 2 puts the products 30 into the second supporting groove 42221 of the telescopic temporary placing component 422 and the first supporting groove 42121 of the fixed temporary placing component 421 one by one, the product placing manipulator 3 first takes out the products 30 in the second supporting groove 42221 of the telescopic temporary placing component 422, after taking out the products, the telescopic cylinder 4221 in the telescopic temporary placing component 422 drives the second supporting plate 4222 to retract, so that the product placing manipulator 3 takes out the products 30 in the second supporting groove 42221 of the lower telescopic temporary placing component 422, and after taking out the products, the telescopic cylinder 4221 in the telescopic temporary placing component 422 also drives the second supporting plate 4222 to correspondingly retract; after the products 30 on the telescopic temporary placement component 422 are taken out, the products 30 on the fixed temporary placement component 421 below the telescopic temporary placement component 422 are taken out again. From this, realize taking out the purpose of product with the balance in order, the telescopic design of subassembly 422 is put temporarily to telescopic, provides the space of stepping down when taking out the below product, collides telescopic subassembly 422 of putting temporarily when preventing 3 actions of product balance manipulator, is convenient for improve each structure action complex compactness, makes the orderly smooth and easy going on of each process.
After all the products 30 on the fixed temporary placing assembly 421 are taken out, the telescopic cylinder 4221 in the telescopic temporary placing assembly 422 drives the second supporting plate 4222 to extend, so that the product loading manipulator 2 can conveniently place the next batch of products 30, and the circular operation is realized.
Specifically, the number of the transfer pause mechanisms 42 in the present embodiment is two, as shown in fig. 2. Meanwhile, the number of the telescopic temporary placing assemblies 422 is at least two groups which are arranged up and down, the telescopic cylinders 4221 of every two adjacent groups of telescopic temporary placing assemblies 422 are separated by a cushion block 423, and specifically, the number of the telescopic temporary placing assemblies 422 is 3; the number of the first receiving grooves 42121 in the first support plate 4212 and the number of the second receiving grooves 42221 in the second support plate 4222 are both two. Thereby, it is achieved that 16 products can be placed per batch by the product staging device 4.
In the present embodiment, as shown in fig. 3, an empty tray stacking area 10 is formed on the machine 1, and empty trays 20 are stacked on the empty tray stacking area 10. In this embodiment, the empty tray loading and pushing device 6 includes an empty tray longitudinal pushing mechanism 61 disposed on the side of the empty tray stacking area 10, and an empty tray transverse pushing mechanism 62 disposed on the upper end side of the empty tray stacking area 10. The empty trays 20 are sequentially lifted upwards by the empty tray longitudinal pushing mechanism 61, and after the empty trays are lifted to the upper side of the empty tray stacking area 10, the empty trays 20 are pushed to the product placing area 5 by the empty tray transverse pushing mechanism 62.
In this embodiment, as shown in fig. 4, the empty tray longitudinal pushing mechanism 61 includes a longitudinal pushing driving component 611 disposed on the empty tray stacking area 10, and a longitudinal pushing component 612 disposed on both sides of the empty tray stacking area 10 and connected to the longitudinal pushing driving component 611, respectively, and the empty tray 20 is disposed between the longitudinal pushing components 612 on both sides of the empty tray stacking area 10.
Specifically, as shown in fig. 6 and 7, the longitudinal pushing assembly 612 includes a first transmission shaft 6121 disposed on the inner sidewall of the empty tray stacking area 10 and connected to the longitudinal pushing driving assembly 611, a second transmission shaft 6122 disposed on the inner sidewall of the empty tray stacking area 10 and located above or below the first transmission shaft 6121, at least one transmission structure 6123 connected between the first transmission shaft 6121 and the second transmission shaft 6122, and a plurality of empty tray support plates 6124 disposed on the outer side of the transmission structure 6123, wherein the transmission structure 6123 mainly includes a first sprocket 61231 disposed on the first transmission shaft 6121, a second sprocket 61232 disposed on the second transmission shaft 6122, and a longitudinal synchronization chain 61233 disposed around the peripheries of the first sprocket 61231 and the second sprocket 61232 and extending along the height direction of the empty tray stacking area 10, and the empty tray support plate 6124 is connected to the outer side of the longitudinal synchronization chain 61233; a stopper 61241 is formed on the blank support plate 6124 for inserting one end of the blank 20.
In this embodiment, two sets of transmission structures 6123 are disposed between the first transmission shaft 6121 and the second transmission shaft 6122, as shown in fig. 7, the empty tray support plate 6124 is connected to the longitudinal synchronization chain 61233 of the two sets of transmission structures 6123, so as to ensure stability of the empty tray support plate 6124.
Specifically, as shown in fig. 6, the longitudinal pushing driving assembly 611 includes a longitudinal pushing driving motor 6111 installed on the inner wall of the empty tray stacking area 10, a driving sprocket 6112 disposed at the output end of the longitudinal pushing driving motor 6111 and located at one side of the empty tray stacking area 10, a driven sprocket 6113 disposed at the opposite other side of the empty tray stacking area 10, and a transverse synchronous chain 6114 surrounding the peripheries of the driving sprocket 6112 and the driven sprocket 6113, wherein a first transmission shaft 6121 of the longitudinal pushing assembly 612 on one side of the empty tray stacking area 10 is connected to the output end of the longitudinal pushing driving motor 6111; a driving gear 6115 is disposed on the side of the driven sprocket 6113, a driven gear 6116 is disposed on the first transmission shaft 6121 of the longitudinal pushing assembly 612 on the other side of the empty tray stacking area 10, and the driven gear 6116 is engaged with the driving gear 6115.
The driving force provided by the longitudinal pushing driving motor 6111 of the longitudinal pushing driving assembly 611 drives the first driving shaft 6121 of the longitudinal pushing assembly 612 on one side of the empty tray stacking area 10 to rotate, and meanwhile, the driving sprocket 6112, the transverse synchronous chain 6114, the driven sprocket 6113, the driving gear 6115 and the driven gear 6116 are combined to transmit the power to the first driving shaft 6121 of the longitudinal pushing assembly 612 on the other side of the empty tray stacking area 10. Therefore, the first transmission shafts 6121 of the longitudinal pushing assemblies 612 on the two sides of the empty tray stacking area 10 rotate synchronously, and the second transmission shafts 6122 and the transmission structure 6123 are combined, so that the longitudinal synchronization chains 61233 rotate longitudinally around the first transmission shafts 6121 and the second transmission shafts 6122 to drive the empty tray support plates 6124 on the longitudinal synchronization chains 61233 to move up and down, and the longitudinal pushing assemblies 612 on the two sides of the empty tray stacking area 10 drive the empty tray support plates 6124 to move up, so that the empty trays 20 clamped on the empty tray support plates 6124 are lifted to the upper side of the empty tray stacking area 10.
Due to the adoption of the conveying mode of the chain wheel and the chain, the chain moves one grid by one grid, and the empty tray 20 can be driven to ascend one grid by one grid, so that the empty tray 20 can ascend orderly and stably.
In order to further improve the stability of the longitudinal movement of the longitudinal synchronization chain 61233 and prevent it from derailing, as shown in fig. 4, in this embodiment, a plurality of longitudinal guide sliding rails 6125 corresponding to the longitudinal synchronization chain 61233 are disposed on the inner side wall of the empty tray stacking area 10, and the longitudinal synchronization chain 61233 moves longitudinally along the longitudinal guide sliding rails 6125. Meanwhile, the longitudinal guide slide rail 6125 is connected to the side wall of the machine table 1 through a plurality of connecting blocks 61251. The longitudinal guide slide rail 6125 provides a longitudinal rail for the longitudinal synchronization chain 61233 to move, so that the longitudinal synchronization chain 61233 can move longitudinally along the longitudinal guide slide rail 6125, and the verticality and stability of the longitudinal synchronization chain 61233 in longitudinal movement are improved.
In this embodiment, as shown in fig. 4, the empty tray lateral pushing mechanism 62 includes a lateral pushing driving element 621 disposed at one side of the upper end of the empty tray stacking area 10, and a lateral pushing rod 622 connected to the lateral pushing driving element 621 and extending to one side of the empty tray 20. The horizontal pushing driving component 621 provides a driving force to drive the horizontal pushing rod 622 to move horizontally, so as to push the empty tray 20 ascending to the upper side of the empty tray stacking area 10 to the product swing area 5.
Specifically, as shown in fig. 5, the lateral pushing driving assembly 621 includes a mounting substrate 6211 disposed on one side of the upper end of the empty tray stacking area 10, a lateral pushing driving motor 6212 disposed at one end of the mounting substrate 6211, a lateral pushing driving wheel 6213 disposed at an output end of the lateral pushing driving motor 6212, a lateral pushing driven wheel 6214 disposed at the other end of the mounting substrate 6211, and a synchronization belt 6215 enclosed between the lateral pushing driving wheel 6213 and the lateral pushing driven wheel 6214; meanwhile, a transverse guide sliding rail 6216 extending along the length direction of the synchronous belt 6215 is arranged on the mounting base plate 6211, a transverse guide sliding block 6217 is arranged on the transverse guide sliding rail 6216 in a sliding manner, the transverse pushing rod 622 is connected with the synchronous belt 6215 through a connecting seat 6218, and the connecting seat 6218 is fixedly connected with the sliding block 6217. The transverse pushing driving motor 6212 provides a driving force to move the synchronous belt 6215 around the transverse pushing driving wheel 6213 and the transverse pushing driven wheel 6214, so as to drive the transverse pushing rod 622 connected to the synchronous belt 6215 to move transversely, and push the empty tray 20 lifted above the empty tray stacking area 10 to the product swing area 5.
In this embodiment, as shown in fig. 8, the blanking device 7 includes a blanking lifting mechanism 71 and a blanking conveying mechanism 72. Specifically, as shown in fig. 9, the discharging lifting mechanism 71 includes a mounting bracket 711 connected to the machine platform 1 and located below the product swing area 5, a connecting plate 712 disposed below the mounting bracket 711, a mounting plate 713 connected below the mounting bracket 711, a lifting driving motor 714 disposed on the mounting plate 713, a screw 715 connected between an output end of the lifting driving motor 714 and the mounting bracket 711 and penetrating through the connecting plate 712, a nut 716 disposed on the connecting plate 712 and sleeved on the periphery of the screw 715, a plurality of lifting driving rods 717 having lower ends connected to the connecting plate 712 and upper ends penetrating through the mounting bracket 711, and at least one supporting plate 718 disposed on the upper ends of the lifting driving rods 717 and extending to the product swing area 5, wherein the empty tray 20 (or the tray filled with the product 30) is located on the supporting plate 718. The lifting driving motor 714 provides driving force to drive the screw 715 to rotate forward, and since the screw 715 is fixed on the mounting bracket 711, the screw 715 does not generate longitudinal displacement, the nut 716 is driven to drive the connecting plate 712 and the lifting driving rod 717 to descend along the screw 715, and the supporting plate 718 on the lifting driving rod 717 drives the empty tray 20 to descend. Similarly, when the lifting driving motor 714 drives the screw 715 to rotate in the opposite direction, the nut 716 drives the supporting plate 718 on the lifting driving rod 717 to ascend.
Specifically, as shown in fig. 8, the blanking conveying mechanism 72 includes a conveying driving motor 721, a blanking conveying driving wheel 722 disposed at an output end of the conveying driving motor 721, a plurality of driving rollers 723 disposed in parallel, a blanking conveying driven wheel 724 disposed at an end of one of the driving rollers 723, a driving belt 725 surrounding the periphery of the blanking conveying driving wheel 722 and the blanking conveying driven wheel 724, and a blanking conveying belt 726 wound around the periphery of the plurality of driving rollers 723 and located above the mounting bracket 711. The conveying driving motor 721 provides driving force, and the blanking conveying driving wheel 722, the blanking conveying driven wheel 724, the driving belt 725 and the plurality of driving rollers 723 drive each other, so that the blanking conveying belt 726 moves around the plurality of driving rollers 723. When the empty tray 20 is filled with the products 30, the empty tray is driven by the blanking lifting mechanism 71 to descend onto the blanking conveyor 726, and the carrier tray filled with the products 30 is conveyed out by the movement of the blanking conveyor 726, so that the blanking operation is completed.
In this embodiment, as shown in fig. 11, the product tray placing manipulator 3 includes a material taking manipulator 31, a fixing base 32 disposed on the material taking manipulator 31, at least one material taking suction rod 33 disposed on the fixing base 32, and a material taking suction cup 34 disposed at an end of the material taking suction rod 33. In particular applications, the take-off suction wand 33 is connected to a vacuum pump by a vacuum line. The product 30 on the product temporary placing device 4 is sequentially and rapidly adsorbed and transferred to the slot 201 on the empty tray 20 of the product swing tray area 5 by the material taking sucker 34 by adopting the vacuum adsorption principle, as shown in fig. 10, the tray swing operation is completed, the adsorption is stable, the transfer is rapid, the tray swing position is accurate, and the efficiency is high.
In this embodiment, as shown in fig. 12, the product loading manipulator 2 includes a product loading manipulator arm 21, a mounting side plate 22 disposed on the product loading manipulator arm 21, and at least one pneumatic clamp group 23 disposed on the mounting side plate 22, wherein the pneumatic clamp group 23 mainly includes a plurality of pneumatic clamps 231, and the pneumatic clamps 231 mainly includes a pneumatic finger 2311 disposed on the mounting side plate 22 and two clamping arms 2312 disposed on the pneumatic finger 2311 in an opposite manner. The finished product 30 is gripped by the pneumatic gripper 231 onto the product depositing device 4.
In this embodiment, in order to prevent the empty tray 20 on the product swing tray area 5 from moving, which is not beneficial for the product swing tray robot 3 to accurately place the product 30 in the slot 201 of the empty tray 20, as shown in fig. 10, in this embodiment, an empty tray positioning mechanism 8 is disposed on the product swing tray area 5, specifically, the empty tray positioning mechanism 8 mainly comprises two sets of empty tray positioning components 81 disposed on two sides of the product swing tray area 5, the empty tray positioning component 81 includes a positioning push motor 811 disposed on one side of the product swing tray area 5, a plurality of side sliding rails 812 disposed on one side of the product swing tray area 5, a plurality of side sliding blocks 813 disposed on the side sliding rails 813, and a positioning seat 814 disposed on the side sliding blocks 813 and connected to the output end of the positioning push motor 811, and an empty tray positioning slot 8141 is disposed on the side of the positioning seat 814.
When the transverse pushing rod 622 on the empty tray transverse pushing mechanism 62 pushes the empty tray 20 towards the product swing tray area 5, the empty tray 20 is just pushed into the empty tray positioning slot 8141 of the positioning seat 814 in the empty tray positioning component 81, and the empty tray 20 is positioned by the positioning seat 814 and prevented from moving, so that the product swing tray mechanical arm 3 can accurately place the product 30 into the slot 201 of the empty tray 20. When the product 30 is full, the positioning pushing motor 811 provides driving force to drive the positioning seat 814 to move outwards along the sliding rail 812, so as to release the positioning of the tray filled with the product 30, and the tray filled with the product 30 falls onto the supporting plate 718 of the blanking lifting mechanism 71, as shown in fig. 8, and finally the blanking process is completed by the blanking device 7.
It should be noted that the automatic balance device disclosed by the invention is an improvement on the specific structure of the device, and specific control system software is not the innovation point of the invention. Meanwhile, for the product loading manipulator 2 and the product swinging manipulator 3 involved in the equipment, the control modes of the two are conventional control modes in the field. The structural components of the cylinder, the motor and the like related to the invention can be all universal standard components or components known by those skilled in the art, and the structure and the principle of the structural components are known by the technical manual or by the conventional experimental method.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that other structures obtained by using the same or similar technical features as the above-described embodiments of the present invention are within the protection scope of the present invention.

Claims (10)

1. The utility model provides an automatic balance equipment, includes a board, a product material loading manipulator and a product balance manipulator, its characterized in that still including set up a product on the board and put the device temporarily, set up on the board and lie in the product and put a product balance dish district of device side temporarily, set up on the board and lie in a product balance dish district side empty dish material loading pusher and set up in a unloader of product balance dish district below.
2. The automatic balance device according to claim 1, wherein the product temporarily placing device comprises a fixed plate disposed on the machine platform and at least one temporary transferring and placing mechanism disposed on the fixed plate, wherein the temporary transferring and placing mechanism comprises a fixed temporary placing assembly and a plurality of telescopic temporary placing assemblies disposed above the fixed temporary placing assembly; the fixed temporary placing assembly comprises a fixed support arranged on the fixed plate and a first supporting plate arranged on the front end part of the fixed support, wherein at least one first supporting groove is formed on the first supporting plate, and first supporting blocks which are in one-to-one correspondence with the first supporting grooves are arranged at the front end part of the first supporting plate in an extending manner; the telescopic temporary placing assembly comprises a telescopic cylinder arranged on the fixing plate and a second supporting plate arranged on the output end of the telescopic cylinder, wherein at least one second supporting groove is formed in the second supporting plate, and second supporting blocks in one-to-one correspondence with the second supporting grooves are arranged at the front end of the second supporting plate in an extending mode.
3. The automatic balance device according to claim 2, wherein the number of the telescopic temporary placing assemblies is at least two groups which are arranged up and down, and the telescopic cylinders of every two adjacent groups of the telescopic temporary placing assemblies are separated by a cushion block.
4. The automatic balance device according to claim 1, wherein an empty tray stacking area is formed on the machine table; the empty tray loading and pushing device comprises an empty tray longitudinal pushing mechanism arranged on the side edge of the empty tray stacking area and an empty tray transverse pushing mechanism arranged on one side of the upper end of the empty tray stacking area, wherein the empty tray longitudinal pushing mechanism comprises a longitudinal pushing driving assembly arranged on the empty tray stacking area and longitudinal pushing assemblies respectively arranged on two sides of the empty tray stacking area and connected to the longitudinal pushing driving assembly, and the empty tray is arranged between the longitudinal pushing assemblies on the two sides of the empty tray stacking area; the empty tray transverse pushing mechanism comprises a transverse pushing driving assembly arranged on one side of the upper end of the empty tray stacking area and a transverse pushing rod connected to the transverse pushing driving assembly and extending to one side of the empty tray.
5. The automatic balance device according to claim 4, wherein the longitudinal pushing assembly comprises a first transmission shaft disposed on the inner side wall of the empty tray stacking area and connected to the longitudinal pushing driving assembly, a second transmission shaft disposed on the inner side wall of the empty tray stacking area and located above or below the first transmission shaft, at least one transmission structure connected between the first transmission shaft and the second transmission shaft, and a plurality of empty tray support plates disposed outside the transmission structure, wherein the transmission structure mainly comprises a first sprocket disposed on the first transmission shaft, a second sprocket disposed on the second transmission shaft, and a longitudinal synchronization chain surrounding the first sprocket and the second sprocket and extending in the height direction of the empty tray stacking area, and the empty tray support plates are connected to the outer side edges of the longitudinal synchronization chain; a clamping position for embedding one end of the empty tray is formed on the empty tray supporting plate; and a plurality of longitudinal guide sliding rails corresponding to the longitudinal synchronous chains are arranged on the inner side wall of the empty tray stacking area, and the longitudinal synchronous chains move longitudinally along the longitudinal guide sliding rails.
6. The automatic balance device according to claim 5, wherein the longitudinal pushing driving assembly comprises a longitudinal pushing driving motor mounted on the inner wall of the empty tray stacking area, a driving sprocket arranged at the output end of the longitudinal pushing driving motor and located at one side of the empty tray stacking area, a driven sprocket arranged at the opposite side of the empty tray stacking area, and a transverse synchronous chain surrounding the driving sprocket and the driven sprocket, wherein the first transmission shaft of the longitudinal pushing assembly at one side of the empty tray stacking area is connected with the output end of the longitudinal pushing driving motor; a driving gear is arranged on the side edge of the driven chain wheel, and a driven gear is arranged on the first transmission shaft of the longitudinal pushing assembly on the other side of the empty tray stacking area and meshed with the driving gear.
7. The automatic balance device according to claim 4, wherein the transverse pushing driving assembly comprises a mounting base plate arranged on one side of the upper end of the empty tray stacking area, a transverse pushing driving motor arranged at one end of the mounting base plate, a transverse pushing driving wheel arranged on the output end of the transverse pushing driving motor, a transverse pushing driven wheel arranged at the other end of the mounting base plate, and a synchronous belt enclosed between the transverse pushing driving wheel and the transverse pushing driven wheel; meanwhile, a transverse guide sliding rail extending along the length direction of the synchronous belt is arranged on the mounting substrate, a transverse guide sliding block is arranged on the transverse guide sliding rail in a sliding mode, the transverse push rod is connected with the synchronous belt through a connecting seat, and the connecting seat is fixedly connected with the transverse guide sliding block.
8. The automatic balance device according to claim 1, wherein the blanking device comprises a blanking lifting mechanism and a blanking conveying mechanism, wherein the blanking lifting mechanism comprises a mounting bracket connected to the machine platform and located below the product balance area, a connecting plate arranged below the mounting bracket, a mounting plate connected below the mounting bracket, a lifting driving motor arranged on the mounting plate, a screw rod connected between an output end of the lifting driving motor and the mounting bracket and penetrating through the connecting plate, a nut arranged on the connecting plate and sleeved on the periphery of the screw rod, a plurality of lifting driving rods with lower ends connected to the connecting plate and upper ends penetrating through the mounting bracket, and at least one supporting plate arranged on the upper ends of the lifting driving rods and extending to the product balance area; the blanking conveying mechanism comprises a conveying driving motor, a blanking conveying driving wheel arranged on the output end of the conveying driving motor, a plurality of conveying rollers arranged in parallel, a blanking conveying driven wheel arranged at the end part of one of the conveying rollers, a driving belt surrounding the periphery of the blanking conveying driving wheel and the periphery of the blanking conveying driven wheel, and a blanking conveying belt wound on the periphery of the plurality of conveying rollers and positioned above the mounting bracket.
9. The automatic tray arrangement device according to any one of claims 1 to 8, wherein the product tray arrangement manipulator comprises a material taking manipulator arm, a fixed seat arranged on the material taking manipulator arm, at least one material taking suction rod arranged on the fixed seat, and a material taking suction cup arranged at the end part of the material taking suction rod; the product material loading manipulator comprises a product material loading mechanical arm, an installation side plate arranged on the product material loading mechanical arm, and at least one pneumatic clamp group arranged on the installation side plate, wherein the pneumatic clamp group mainly comprises a plurality of pneumatic clamps, and the pneumatic clamps mainly comprise a pneumatic finger arranged on the installation side plate and two clamping arms oppositely arranged on the pneumatic finger.
10. The automatic balance device according to any one of claims 1 to 8, further comprising an empty tray positioning mechanism disposed on the product balance area, wherein the empty tray positioning mechanism is mainly composed of two sets of empty tray positioning components disposed on two sides of the product balance area, the empty tray positioning components include a positioning pushing motor disposed on one side of the product balance area, a plurality of side slide rails disposed on one side of the product balance area, a plurality of side slide blocks disposed on the side slide rails, and a positioning base disposed on the side slide blocks and connected to an output end of the positioning pushing motor, and an empty tray positioning slot is disposed on a side of the positioning base.
CN201911324706.2A 2019-12-20 2019-12-20 Automatic balance equipment Pending CN110937402A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911324706.2A CN110937402A (en) 2019-12-20 2019-12-20 Automatic balance equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911324706.2A CN110937402A (en) 2019-12-20 2019-12-20 Automatic balance equipment

Publications (1)

Publication Number Publication Date
CN110937402A true CN110937402A (en) 2020-03-31

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911324706.2A Pending CN110937402A (en) 2019-12-20 2019-12-20 Automatic balance equipment

Country Status (1)

Country Link
CN (1) CN110937402A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112047083A (en) * 2020-09-19 2020-12-08 上海富驰高科技股份有限公司 Full-automatic goods of furniture for display rather than for use machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112047083A (en) * 2020-09-19 2020-12-08 上海富驰高科技股份有限公司 Full-automatic goods of furniture for display rather than for use machine

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