CN110980268A - Tray-dividing feeding process and device - Google Patents
Tray-dividing feeding process and device Download PDFInfo
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- CN110980268A CN110980268A CN201911246453.1A CN201911246453A CN110980268A CN 110980268 A CN110980268 A CN 110980268A CN 201911246453 A CN201911246453 A CN 201911246453A CN 110980268 A CN110980268 A CN 110980268A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008569 process Effects 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 151
- 239000000463 material Substances 0.000 claims abstract description 111
- 238000009434 installation Methods 0.000 claims abstract description 28
- 238000002360 preparation method Methods 0.000 claims abstract description 27
- 238000003860 storage Methods 0.000 claims abstract description 25
- 238000003825 pressing Methods 0.000 claims description 46
- 238000003384 imaging method Methods 0.000 claims description 28
- 238000005096 rolling process Methods 0.000 claims description 13
- 230000000670 limiting effect Effects 0.000 claims description 11
- 239000000758 substrate Substances 0.000 claims description 10
- 238000011084 recovery Methods 0.000 claims description 7
- 238000004064 recycling Methods 0.000 claims description 6
- 241000239290 Araneae Species 0.000 claims description 4
- 230000036961 partial effect Effects 0.000 abstract description 9
- 238000007599 discharging Methods 0.000 description 16
- 230000009471 action Effects 0.000 description 7
- 238000004806 packaging method and process Methods 0.000 description 6
- 238000012858 packaging process Methods 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
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- 238000000429 assembly Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
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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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention discloses a sub-disc feeding process and a device, wherein the sub-disc feeding process comprises the following steps: sequentially transferring the trays from the material storage station to the material loading station through a transfer mechanism; sequentially transferring the cover plate from the material preparation station to the installation station through a transfer mechanism; and sequentially grabbing the to-be-packaged body to the mounting station from the tray at the feeding station through a grabbing mechanism, and mounting the to-be-packaged body to the containing groove of the cover plate. In the invention, the first channel and the second channel are arranged in parallel, so that the feeding processes of the tray and the cover plate can be simultaneously and independently carried out, and mutual interference is avoided; move and carry mechanism, transfer mechanism and snatch the respective work of mechanism through setting up, realize treating the intelligent automation of body partial shipment process, help improving partial shipment efficiency and overcome the reliance to manual operation, reduce the operation error rate.
Description
Technical Field
The invention relates to the technical field of product packaging, in particular to a tray-dividing feeding process and a tray-dividing feeding device.
Background
Take the package of the body to be packed in the shape of a cake as an example, the cake comprises common commemorative coins, medals, foods and other consumer varieties. The package of the cake-shaped body has a general package structure, as shown in the chinese utility model patent publication No. CN207524275U, the package is divided into a cover plate and a base plate, wherein the cover plate is provided with a groove for accommodating the coin body, and the cover plate and the base plate are butted together to form a complete packaging container. The two plate surfaces of the package having such a structure are bonded to each other by high frequency melting. The fused two plate assemblies may typically be made of plastic or cardboard as the primary material.
Packages of this type are being chosen by more and more manufacturers as premium packages for gifting or storing.
The prior art is generally direct to be stacked and wait that the body installs to the recess of apron one by one through the manual work, and partial shipment efficiency is lower.
Disclosure of Invention
The invention mainly aims to provide a tray-dividing feeding process and a tray-dividing feeding device, and aims to solve the problem of low sub-packaging efficiency of a traditional installation mode.
In order to achieve the purpose, the invention provides a tray-dividing feeding process, which comprises the following steps:
sequentially transferring the trays from the material storage station in the first channel to the material loading station through the transfer mechanism;
sequentially transferring the cover plate from the material preparation station in the second channel to the installation station through a transfer mechanism;
sequentially grabbing the to-be-packaged body to the mounting station from the tray at the feeding station through a grabbing mechanism, and mounting the to-be-packaged body to the containing groove of the cover plate;
wherein the first channel and the second channel are arranged in parallel.
Optionally, the step of sequentially transferring the cover plate from the preparation station in the second channel to the installation station by the transfer mechanism includes:
clamping and limiting the two transverse sides of the cover plate through the clamping pieces;
guiding and limiting one longitudinal side of the cover plate through a flexible rolling mechanism;
pressing and limiting the upper side of the cover plate through a pressing rod;
the gripper member is driven by a first drive to move from the preparation station to the installation station.
Optionally, the to-be-packaged body is sequentially grabbed to the installation station from the tray at the feeding station through the grabbing mechanism, and the to-be-packaged body is installed in the accommodating groove of the cover plate, and the step includes:
shooting a tray at the feeding station through first imaging equipment, and obtaining first image information;
determining a grabbing path of a grabbing mechanism according to the first image information, so that the grabbing mechanism grabs the to-be-loaded body in the tray along the grabbing path;
shooting the to-be-packaged body grabbed by the grabbing mechanism through second imaging equipment, and obtaining second image information;
and adjusting the grabbing angle of the grabbing mechanism according to the second image information so that the grabbing mechanism can install the to-be-packaged body into the containing groove of the cover plate according to the grabbing angle.
Optionally, the grabbing mechanism sequentially grabs the to-be-packaged objects from the tray at the loading station to the installation station, and after the step of installing the to-be-packaged objects in the containing groove of the cover plate, the method further includes:
removing the cover plate from the mounting station by a transfer mechanism;
the pressing part on the adjusting pressing plate is aligned with the containing groove of the cover plate and presses the to-be-packaged body in the containing groove downwards.
In addition, the invention also provides a tray-dividing and feeding device, which comprises:
the device comprises a base, a first connecting piece and a second connecting piece, wherein the base is provided with a first channel and a second channel which extend along the transverse direction and are arranged in parallel, the first channel is sequentially provided with a material storage station and a material loading station, and the second channel is sequentially provided with a material preparation station and an installation station;
the transfer mechanism is arranged on the base and used for sequentially transferring the trays from the material storage station to the feeding station;
the transfer mechanism is arranged on the base and used for sequentially transferring the cover plate from the material preparation station to the installation station; and the number of the first and second groups,
and the grabbing mechanism is arranged on the base and used for grabbing the to-be-loaded body in the tray of the loading station to the installation station in sequence and installing the to-be-loaded body in the containing groove of the cover plate.
Optionally, the transfer mechanism and the transfer mechanism each include:
the clamping piece comprises two clamping parts for clamping and limiting the tray or the cover plate, is movably arranged on the base and has a transverse movable stroke; and the number of the first and second groups,
the first driver is arranged on the machine base and connected with the clamping piece.
Optionally, the tray dividing and feeding device further comprises a pressing rod arranged above the base at intervals, and the pressing rod and the base at the position of the pressing rod jointly define the second channel.
Optionally, the frame comprises a mounting plate located at one side of the second channel in the longitudinal direction;
the sub-disc feeding device further comprises a flexible rolling mechanism, the flexible rolling mechanism comprises a plurality of rollers arranged at intervals along the transverse direction, the rollers are rotatably arranged on the mounting plate along the vertical axis and are elastically and telescopically arranged along the longitudinal direction, and the cover plate in the second channel is in a guiding limit position.
Optionally, the sub-tray feeding device further comprises a pressing plate, a pressing portion is convexly arranged on the pressing plate, the pressing plate is movably mounted above the second channel and has a moving stroke along the vertical direction, so that when the to-be-loaded body is loaded into the containing groove of the cover plate, the to-be-loaded body is pressed downwards.
Optionally, a plurality of trays and/or a plurality of cover plates are stacked at the stock station and/or the preparation station correspondingly to form a stacked material, wherein the stacked material comprises a bottom substrate material and a sub-material adjacent to the bottom substrate material;
the depiler loading attachment still includes discharge mechanism, discharge mechanism includes:
the two carrier plates are used for carrying the stacked materials and are alternately and telescopically arranged on the machine base along the direction close to and far away from the stacked materials; and the number of the first and second groups,
and the second driver is arranged on the machine base and connected with the two carrier plates so as to drive the other carrier plate to retract from the lower end of the bottom material when the other carrier plate is driven to extend into the lower end of the secondary material.
Optionally, the discharging mechanism further comprises:
the two racks are oppositely arranged and correspondingly connected with the two carrier plates, are movably arranged on the machine base and have moving strokes close to and far away from the stacked materials; and the number of the first and second groups,
the gear is positioned between the two racks and is meshed with the two racks;
wherein the second driver is connected with the rack or the gear.
Optionally, a recycling station is further arranged at one end, away from the material storage station, of the first channel;
the machine base comprises a clamping structure arranged at the recovery station;
the clamping piece is used for transferring the tray upwards to the position clamping structure at the recovery station and then moves downwards to give way.
Optionally, the tray dividing and feeding device further comprises a plurality of stop structures, and the stop structures are arranged along the circumferential direction of the material storage station and/or the material preparation station to limit the tray in the material storage station and/or the cover plate in the material preparation station together; and/or the presence of a gas in the gas,
the grabbing mechanism comprises a spider manipulator.
Optionally, the plate-dividing and feeding device further comprises:
the imaging device is arranged on the base corresponding to the moving area of the grabbing mechanism and is used for shooting the image information of the object to be loaded; and the number of the first and second groups,
and the controller is electrically connected with the imaging equipment and the grabbing mechanism and used for controlling the grabbing mechanism to work according to the image information.
In the technical scheme provided by the invention, the first channel and the second channel are arranged in parallel, so that the feeding processes of the tray and the cover plate can be simultaneously and independently carried out, and mutual interference is avoided; move and carry mechanism, transfer mechanism and snatch the respective work of mechanism through setting up, realize treating the intelligent automation of body partial shipment process, help improving partial shipment efficiency and overcome the reliance to manual operation, reduce the operation error rate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a first embodiment of a tray-dividing feeding process provided by the present invention;
FIG. 2 is a schematic flow chart of a second embodiment of the tray-dividing feeding process provided by the present invention;
fig. 3 is a schematic perspective view of a tray-dividing and feeding device provided by the present invention;
FIG. 4 is a schematic view of the first channel of FIG. 3;
FIG. 5 is a schematic structural view of the transfer mechanism in FIG. 4;
FIG. 6 is a schematic view of a first embodiment of the take-off mechanism of FIG. 4;
FIG. 7 is a schematic diagram of the second channel of FIG. 3;
FIG. 8 is an enlarged view of the structure at A in FIG. 7;
FIG. 9 is a schematic structural view of the transfer mechanism of FIG. 7;
fig. 10 is a schematic view of a second embodiment of the take-off mechanism of fig. 7.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | Tray-dividing |
51 | |
| 1 | |
52 | |
| 11 | |
521 | |
| 111 | |
53 | |
| 112 | |
531 | |
| 113 | Recovery station | 6 | Discharging |
| 12 | The |
61 | |
| 121 | |
62 | |
| 122 | |
63 | |
| 13 | |
64 | |
| 2 | Transfer mechanism | 7 | |
| 21 | |
8 | |
| 211 | |
200 | |
| 22 | |
300 | |
| 3 | |
301 | Containing |
| 4 | Grabbing mechanism |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Take the package of the body to be packed in the shape of a cake as an example, the cake comprises common commemorative coins, medals, foods and other consumer varieties. The package of the cake-shaped body has a general package structure, as shown in the chinese utility model patent publication No. CN207524275U, the package is divided into a cover plate and a base plate, wherein the cover plate is provided with a groove for accommodating the coin body, and the cover plate and the base plate are butted together to form a complete packaging container. The two plate surfaces of the package having such a structure are bonded to each other by high frequency melting. The fused two plate assemblies may typically be made of plastic or cardboard as the primary material.
Packages of this type are being chosen by more and more manufacturers as premium packages for gifting or storing.
The prior art is generally direct to be stacked and wait that the body installs to the recess of apron one by one through the manual work, and partial shipment efficiency is lower.
In view of this, the present invention provides a tray-dividing loading process, and fig. 1 to 2 are specific embodiments of the tray-dividing loading process provided by the present invention.
Firstly, the tray-dividing feeding process provided by the invention is mainly applied to the packaging process of the body to be packaged, the packaging structure of the body to be packaged at least comprises a cover plate 300 and a base plate, a plurality of accommodating grooves 301 are concavely arranged on the cover plate 300, and the arrangement mode of the accommodating grooves 301 on the cover plate 300 can be adjusted according to the actual situation; the shape and size of the plurality of accommodating grooves 301 are adapted to the shape and size of the to-be-packaged body, and the shape and size of the to-be-packaged body are not limited in the present design, but for convenience of description, the to-be-packaged body is described as a pie shape as an example, and the to-be-packaged body is a commemorative coin, for example; when the plurality of to-be-packaged bodies are sequentially arranged in the accommodating groove 301 of the cover plate 300 in a split manner, the cover plate 300 and the substrate are mutually jointed to limit the to-be-packaged bodies together, so that the to-be-packaged bodies are packaged.
Referring to fig. 1 and 4, in a first embodiment of the tray-dividing loading process provided by the present invention, the tray-dividing loading process includes the following steps:
step S10: sequentially transferring the trays 200 from the storage station 111 in the first channel 11 to the feeding station 112 by the transferring mechanism 2;
it should be noted that, a plurality of the bodies to be packaged are orderly arranged in the tray 200, and because the specifications of the bodies to be packaged are consistent in the same batch of products, the bodies to be packaged in each tray 200 are generally the same in number and arrangement, and a plurality of the trays 200 are stacked up and down on the material storage station 111 and sequentially discharged from the bottom through the discharging mechanism 6; the transfer mechanism 2 transfers the trays 200 sequentially discharged to the loading station 112 one by one, and strictly ensures that the parking positions of the trays 200 at the loading station 112 are accurate and error-free through program control.
Step S20: sequentially transferring the cover plate 300 from the preparation station 121 in the second passage 12 to the mounting station 122 by the transfer mechanism 3; wherein the first channel 11 and the second channel 12 are arranged in parallel;
it should be noted that a plurality of cover plates 300 are stacked up and down at the material preparation station 121, and the notches of the accommodating grooves 301 of the cover plates 300 are ensured to be uniformly arranged upward, so as to facilitate the direct loading of the to-be-loaded body; under the action of the discharging mechanism 6, the cover plates 300 are sequentially discharged from the bottom; the transfer mechanism 3 transfers the cover plates 300 sequentially discharged to the mounting station 122 one by one. The second channel 12 and the first channel 11 are arranged in parallel in this embodiment, which helps to reduce the mutual interference between the first channel 11 and the second channel 12 in space, and also helps to simplify the grabbing path of the subsequent grabbing mechanism 4. The independent operation of the first channel 11 and the second channel 12 can effectively improve the feeding speed of the cover plate 300 and the tray 200, and ensure the coordination of the feeding actions of the cover plate and the tray, thereby improving the sub-packaging efficiency of the objects to be packaged.
Step S30: the objects to be packaged are sequentially grabbed from the tray 200 at the loading station 112 to the mounting station 122 through the grabbing mechanism 4, and are mounted in the containing groove 301 of the cover plate 300.
It should be noted that the grasping mechanism 4 intersects the first passage 11 and the second passage 12. An optimal grabbing path of the grabbing mechanism 4 is planned through a controller, so that the grabbing mechanism 4 grabs the to-be-packaged bodies in the tray 200 one by one or batch by batch, and then the to-be-packaged bodies are sequentially installed in the accommodating groove 301 of the cover plate 300, and the to-be-packaged bodies are sequentially subpackaged. Compared with the technical scheme of subpackaging by manual operation, the grabbing mechanism 4 which is intelligently controlled has the grabbing action and the grabbing path which are highly accurate through strict calculation and are not influenced by subjective factors such as personal ability and the like, the subpackaging efficiency can be obviously improved, and the subpackaging error rate is obviously reduced.
In the technical scheme provided by the invention, the first channel 11 and the second channel 12 are arranged in parallel, so that the feeding processes of the tray 200 and the cover plate 300 can be simultaneously and independently carried out, and mutual interference is avoided; through setting move carry mechanism 2 move transfer mechanism 3 with snatch mechanism 4 work separately, realize waiting the intelligent automation of body partial shipment process, help improving partial shipment efficiency and overcome the reliance to manual operation, reduce the operation error rate.
Further, referring to fig. 2, in a second embodiment of the tray-dividing and feeding process provided by the present invention, the step S20 includes:
step S21: the two transverse sides of the cover plate 300 are clamped and limited by the clamping pieces 21;
it should be noted that, in the sub-packaging process, the mounting position of each to-be-packaged body is required to be strictly consistent with the position of the receiving groove 301 of the cover plate 300, so that the accuracy of the position of the cover plate 300 on the mounting station 122 needs to be improved. In order to increase the number of the cover plates 300 transferred on the second channel 12 each time, in this embodiment, it is preferable that the width direction of the cover plates 300 is the same as the extending direction of the first channel 11, taking the cover plates 300 as a longitudinal length, for example, the cover plates 300 are defined to have two long sides with a longer dimension and two short sides with a shorter dimension, at this time, the clamping members 21 clamp the two long sides of the cover plates 300, which helps to limit the displacement of the cover plates 300 in the transverse direction, and is beneficial to the adjacent two cover plates 300 to be separated from each other without interference.
Step S22: guiding and limiting one longitudinal side of the cover plate 300 through the flexible rolling mechanism 52;
next, in this embodiment, the flexible rolling mechanisms 52 are arranged to extend in parallel along the extending direction of the first channel 11, and the flexible rolling mechanism 52 is arranged corresponding to at least one of two short sides of the cover plate 300 to limit the deviation of the cover plate 300 in the longitudinal direction and help to guide and correct the traveling process of the cover plate 300.
Step S23: the upper side of the cover plate 300 is pressed and limited by a pressure lever 51;
in the present embodiment, the pressing rod 51 is disposed above the cover plate 300, the pressing rod 51 is not limited to directly abut against the cover plate 300, and the pressing rod 51 may be disposed at a distance from the cover plate 300, and the distance between the pressing rod 51 and the cover plate 300 does not exceed the height of the cover plate 300 when the cover plate 300 is laterally tilted, so that the cover plate 300 can be prevented from laterally tilting during the transfer process.
Step S24: the gripper 21 is driven by the first drive 22 to move from the preparation station 121 to the mounting station 122.
In this embodiment, the first driver 22 is connected to the clamping member 21, and drives the clamping member 21 to move from the material preparing station 121 to the installation station 122, so as to drive each cover plate 300 to perform synchronous movement; the travel, specific travel path, specific travel distance, dwell, etc. of the cover plate 300 may be achieved by operation of the first drive 22, which facilitates accurate positioning of the cover plate 300 at the mounting station 122.
Further, in the second embodiment, the step S30 includes:
step S31: the tray 200 at the feeding station 112 is shot through a first imaging device, and first image information is obtained;
it should be noted that the imaging device includes a first imaging device, which is, for example, a panoramic camera, and the first imaging device may be disposed above the gripping mechanism 4 and used for capturing first image information in the tray 200; the first image information at least includes the remaining number of the objects to be packaged in the tray 200, the remaining placement positions of the objects to be packaged, the front and back conditions of the objects to be packaged, and the like.
Step S32: determining a grabbing path of the grabbing mechanism 4 according to the first image information, so that the grabbing mechanism 4 grabs the to-be-loaded object in the tray 200 along the grabbing path;
it should be noted that, the controller receives the first image information, and performs recognition based on the existing image recognition technology, and when the tray 200 is empty, that is, there is no remaining body to be loaded, the controller may control the grabbing mechanism 4 to pause grabbing, and drive the tray 200 to move out of the loading station 112, and drive the next tray 200 to enter the loading station 112; when the rest to-be-loaded bodies in the tray 200 are placed in vacant positions or are placed in disorder, the controller confirms the current placing condition of the to-be-loaded bodies, and then generates an optimal grabbing path of the grabbing mechanism 4, so that the grabbing mechanism 4 can feed and grab along the optimal grabbing path. The optimal grabbing path needs to consider that the stroke is shortest and that a plurality of grabbing arms of the grabbing mechanism 4 are not interfered with each other; when the part of the objects to be packaged in the tray 200 is placed in the reverse direction, the controller controls the grabbing mechanism 4 to correct the placing direction of the objects to be packaged before grabbing along the optimal grabbing path.
Step S33: shooting the to-be-packaged body grabbed by the grabbing mechanism 4 through second imaging equipment, and obtaining second image information;
it should be noted that, in this embodiment, in addition, the imaging device may further include a second imaging device, the second imaging device is, for example, a flying camera, the second imaging device may be disposed on the base 1, and a shooting end of the second imaging device faces upward and is disposed toward the grabbing arm of the grabbing mechanism 4, so as to shoot the pattern of the object to be mounted grabbed on the grabbing arm. The second image information at least comprises the current grabbing angle of the object to be mounted.
Step S34: and adjusting the grabbing angle of the grabbing mechanism 4 according to the second image information, so that the grabbing mechanism 4 can install the to-be-packaged body into the accommodating groove 301 of the cover plate 300 according to the grabbing angle.
Similarly, the controller identifies and compares the second image information, for example, compares the current position of a certain pattern of the object to be mounted with a preset position, and when the current position of the pattern of the object to be mounted is found to be consistent with the preset position, controls the gripping mechanism 4 to directly mount the object to be mounted according to the current gripping angle; on the contrary, when the current position of the pattern of the body to be assembled is found to have a deviation from the preset position, a specific deviation angle is determined, then the grabbing angle of the grabbing mechanism 4 is adjusted according to the deviation angle, and the body to be assembled is installed according to the adjusted grabbing angle.
Further, in the second embodiment, after the step S30, the method further includes:
step S41: removing the cover plate 300 from the mounting station 122 by the transfer mechanism 3;
it should be noted that, after all the accommodating grooves 301 on each cover plate 300 are installed with the to-be-packaged objects, the cover plate 300 is moved out of the installation station 122 by the above-mentioned transfer mechanism 3, so as not to interfere with the next sub-packaging process of the to-be-packaged objects by the cover plate 300.
Step S42: the pressing portion 531 of the adjusting press plate 53 aligns with the receiving groove 301 of the cover plate 300, and presses the object to be loaded in the receiving groove 301 downward.
It should be noted that the controller controls the pressure plate 53 to feed to the position of the cover plate 300, and precisely adjusts the pressing portion 531 on the pressure plate 53 to align with the receiving groove 301 of the cover plate 300; then, the pressing plate 53 is operated to feed downwards to press the to-be-packaged body in the accommodating groove 301, so as to ensure that the to-be-packaged body is mounted in place in the accommodating groove 301. The feeding distance of the pressing plate 53 is adjustable, so that the pressing action of the pressing part 531 on the object to be mounted is suitable, and deformation and damage of the object to be mounted or the cover plate 300 caused by excessive pressing force are avoided.
In addition, the invention further provides a sub-tray feeding device, and fig. 3 to 10 show specific embodiments of the sub-tray feeding device provided by the invention.
Referring to fig. 3, 4 and 7, in the present embodiment, the tray loading device 100 includes a base 1, a transfer mechanism 2, a transfer mechanism 3 and a grabbing mechanism 4, where the base 1 has a first channel 11 and a second channel 12 extending along a transverse direction and arranged in parallel, the first channel 11 is sequentially provided with a storage station 111 and a loading station 112, and the second channel 12 is sequentially provided with a material preparation station 121 and an installation station 122; the transfer mechanism 2 is arranged on the base 1 and is used for sequentially transferring the trays 200 from the storage station 111 to the feeding station 112; the transfer mechanism 3 is disposed on the base 1, and is configured to sequentially transfer the cover plates 300 from the material preparation station 121 to the installation station 122; the grabbing mechanism 4 is arranged on the base 1, and is used for sequentially grabbing the to-be-packaged objects from the tray 200 of the loading station 112 to the installation station 122, and installing the to-be-packaged objects into the containing groove 301 of the cover plate 300.
The specific expression form of the base 1 is not limited by the design, and the base 1 can be box-shaped so as to improve the support stability and reserve a storage space for other structural equipment to store; or the machine base 1 can be in a frame body shape, so that the structure is simplified and the material consumption is light and saved. In this embodiment, the machine base 1 is a frame-shaped configuration example, and the specific shape and size of the frame are adapted to the first channel 11, the second channel 12, and the transfer mechanism 2.
In addition, the transverse direction, the longitudinal direction and the up-down direction in the present design do not constitute a limitation on the specific arrangement orientation of the tray loading device 100, but are relative orientations with the transverse direction, the longitudinal direction and the up-down direction of the rack body as references.
Since the transferring mechanism 2 is used for transferring the tray 200 from the storage station 111 to the loading station 112, the transferring mechanism 3 is used for transferring the cover plate 300 from the material preparation station 121 to the installation station 122, the first channel 11 and the second channel 12 are arranged in parallel, and the tray 200 and the cover plate 300 have the same shape, the transferring mechanism 2 and the transferring mechanism 3 can be arranged differently or directly identically, in this embodiment, the transferring mechanism 2 and the transferring mechanism 3 are arranged identically, please refer to fig. 5 and 9, in this embodiment, the transferring mechanism 2 and the transferring mechanism 3 both include the clamping member 21 and the first driver 22, the clamping member 21 includes two clamping portions 221 for clamping and limiting the tray 200 or the cover plate 300, and the clamping member 21 is movably installed on the base 1, and has a moving stroke along the transverse direction; the first driver 22 is disposed on the base 1 and connected to the clamping member 21. The specific form of the first driver 22 is adapted to the specific movement of the clamping member 21, and the specific form of the clamping member 21 is adapted to the shape of the tray 200 or the cover 300.
Specifically, referring to fig. 5, in the transfer mechanism 2, since the tray 200 is made of a hard material and has a certain thickness, correspondingly, the clamping portion 221 may be configured as clamping plates respectively disposed at two lateral sides of the tray 200, and the two clamping plates are abutted against two lateral ends of the tray 200 to perform a clamping and limiting function on the tray 200; with reference to fig. 9, in the transfer mechanism 3, since the cover plate 300 is generally made of hard paper, and is made of a relatively soft material and has a relatively thin thickness, correspondingly, the clamping portion 221 may be configured as a plurality of clamping arms respectively disposed at two lateral sides of the cover plate 300, the clamping arm corresponding to each side may be disposed at intervals, an upper end portion of each clamping arm may be bent toward the position of the cover plate 300 to form a buckling section, and the buckling section may limit the cover plate 300 from being pulled out upward to some extent. The first driver 22 may then be arranged as a servo motor. It should be noted that, taking the transfer mechanism 2 as an example, each transfer mechanism 2 may be provided with a plurality of the clamping members 21 at intervals along the transverse direction; the moving path of the transfer mechanism 2 may be arranged in a closed loop, so that in the upper end area of the machine base 1, the plurality of clamping members 21 are moved from the material storage station 111 to the material loading station 112; in the lower end region of the machine base 1, a plurality of the grippers 21 are returned from the loading station 112 to the magazine station 111. Of course, the moving path of the transfer mechanism 2 may also be arranged in a linear reciprocating manner, so that the plurality of clamping members 21 can reciprocate between the storage station 111 and the loading station 112.
Further, referring to fig. 7 and 8, in this embodiment, the tray dividing and feeding device 100 further includes a pressing rod 51 disposed above the machine base 1 at an interval, and the pressing rod 51 and the machine base 1 at the position define the second channel 12 together. The pressing rods 51 may be disposed to directly abut against the upper end surfaces of the cover plates 300, but in order not to interfere with the travel of each of the cover plates 300 in the lateral direction, the pressing rods 51 are preferably disposed at positions of the frame 1 at intervals to define the second passages 12 at the intervals through which the cover plates 300 pass; the spacing distance between the press rod 51 and the base 1 at the position is set to be not more than the height of the cover plate 300 when the cover plate 300 turns on one side, so that the cover plate 300 is prevented from turning on one side in the transverse moving process.
Next, in the present embodiment, the housing 1 includes a mounting plate 13 located on one side of the second passage 12 in the longitudinal direction; the material feeding device 100 further comprises a flexible rolling mechanism 52, the flexible rolling mechanism 52 comprises a plurality of rollers 521 arranged at intervals along the transverse direction, the rollers 521 are rotatably mounted on the mounting plate 13 along the vertical axis and are arranged in a longitudinally elastic telescopic manner so as to guide and limit the cover plate 300 in the second channel 12. The present embodiment is not limited to the specific installation manner of the plurality of rollers 521, and the rollers 521 may be installed on an elastic body, such as a spring or a leaf spring. Specifically, the flexible rolling mechanism 52 further includes a plurality of connecting members and a plurality of return springs, and the plurality of connecting members and the plurality of return springs are arranged in one-to-one correspondence with the plurality of rollers 521. The middle part of the connecting piece is hinged to the mounting plate 13, one end of the connecting piece is connected with the roller 521, the other end of the connecting piece is connected with the return spring, the spiral central line of the return spring and the length direction of the connecting piece are not collinear and are arranged to form a certain included angle, and thus, the roller 521 can be flexibly abutted against the cover plate 300; in addition, the plurality of rollers 521 collectively define a flexible abutment surface for guiding the cover 300, ensuring that the cover 300 travels in a precise direction, and helping to limit the displacement of the cover 300 in the longitudinal direction.
Next, in this embodiment, the tray loading device 100 further includes a pressing plate 53, the pressing plate 53 is convexly provided with a pressing portion 531, the pressing plate 53 is movably installed above the second channel 12, and has a moving stroke along the vertical direction, so as to press the to-be-loaded body downwards when the to-be-loaded body is loaded in the accommodating groove 301 of the cover plate 300. The specific shape and size of the pressing plate 53 can be adapted to the cover plate 300, for example, when the cover plate 300 is disposed in a longitudinal shape, the pressing plate 53 is disposed in a substantially longitudinal shape; when the plurality of receiving grooves 301 of the cover plate 300 are arranged in an array, the plurality of pressing portions 531 of the pressing plate 53 are arranged in a corresponding array. The arrangement is such that each downward feeding of the pressing plate 53 can simultaneously press the to-be-packaged objects on the cover plate 300, and the pressing force applied to each to-be-packaged object is ensured to be uniform, which facilitates the installation and positioning of the to-be-packaged objects in the accommodating groove 301.
In order to ensure the orderly discharge of the trays 200 at the stock station 111 and the cover plate 300 at the preparation station 121, please refer to figures 6 and 10, in this embodiment, the tray loading device 100 further includes a discharging mechanism 6, which, in the same way as described above, the discharging mechanism 6 on the stock station 111 and the discharging mechanism 6 on the preparation station 121 can be set to be the same or different, taking the arrangement of the two as an example, first, for the sake of understanding, the stacking arrangement of the plurality of trays 200 on the stock station 111, the stacking arrangement of the plurality of cover plates 300 on the stock station 121 are defined below as unified into a stacked material, the stacked materials comprise a bottom substrate material and a secondary material adjacent to the bottom substrate material, and a gap with a proper size is reserved between every two adjacent materials in the stacked materials. Based on this, the discharging mechanism 6 comprises two carrier plates 61 and a second driver 62, wherein the two carrier plates 61 are arranged at intervals along the up-down direction, are used for carrying the stacked materials, and are alternately telescopically arranged on the machine base 1 along the direction close to and far away from the stacked materials; the second driver 62 is disposed on the machine base 1 and connected to the two carrier plates 61, so as to drive one of the carrier plates 61 to extend into the lower end of the secondary material, and drive the other carrier plate 61 to retract from the lower end of the bottom material. Since the stacked materials are sequentially discharged from the bottom, when one of the carrier plates 61 extends to the lower end of the secondary material to carry the stacked materials except the substrate material, the other carrier plate 61 retracts from the lower end of the bottom material, so that the bottom material is not supported and falls down into the clamping area defined between the two clamping portions 221, and the clamping member 21 transfers the bottom material to the next station. At this time, the secondary material becomes a substrate material in the next discharging operation, and the material adjacent to the secondary material becomes a secondary material in the next discharging operation, so that the circulation is facilitated to realize the sequential discharging of the stacked materials from the bottom.
Specifically, referring to fig. 10, in the present embodiment, the discharging mechanism 6 further includes two racks 63 and a gear 64, which are oppositely disposed, wherein the two racks 63 are correspondingly connected to the two carrier plates 61, and the two racks 63 are movably mounted on the base 1 and have a moving stroke close to and far from the stacked materials; the gear 64 is located between the two racks 63 and is meshed with both of the two racks 63; wherein the second driver 62 is connected with the rack 63 or the gear 64. The gear teeth of the two racks 63 are arranged oppositely, and the same side of the two racks 63 is correspondingly connected with one of the support plates 61, so as to respectively link the two support plates 61. For convenience of description, the carrier plate 61 located above is hereinafter referred to as an upper carrier plate, the carrier plate 61 located below is referred to as a lower carrier plate, an upper rack is connected to the upper carrier plate, and a lower rack is connected to the lower carrier plate. When in use, the second driver 62 drives the upper rack and/or the lower rack to move linearly, or drives the gear 64 to rotate, taking the example that the second driver 62 drives the upper rack to move linearly. Specifically, in an initial state, the lower gear 64 is close to the stacked materials, so that the lower carrier plate extends into the lower end of the bottom material to support N materials; then, the upper rack moves towards the direction close to the stacked materials under the driving of the second driver 62 so as to extend into the lower end of the secondary materials to support (N-1) materials; then, the lower rack is retracted away from the stacked materials under the engagement of the gear 64, so that the substrate materials fall down, and the linkage of the two carrier plates 61 is realized.
Of course, the two carrier plates 61 may be laterally close to and away from the stacked material, longitudinally close to and away from the stacked material, or vertically close to and away from the stacked material, as in the embodiment shown in fig. 6, one carrier plate 61 (the same as the above upper carrier plate) is laterally close to and away from the stacked material, and the other carrier plate 61 (the same as the above lower carrier plate) is vertically close to and away from the stacked material, and the specific discharging principle is equivalent to that described above, and is not described herein again.
Further, referring to fig. 4, in this embodiment, a recycling station 113 is further disposed at one end of the first channel 11 away from the material storage station 111; the machine base 1 comprises a clamping structure 7 arranged at the recovery station 113, wherein the clamping structure 7 can be an additionally arranged clamping groove or a clamping plate and the like, and can also be arranged to be equivalent to the upper loading plate structure. The clamping member 21 further has a moving stroke along the vertical direction, and the clamping member 21 is used for moving the tray 200 upwards to the blocking structure 7 at the recovery station 113 and then moving downwards to give way. It should be noted that, in this embodiment, the recycling operation at the recycling station 113 may be the reverse of the above-mentioned discharging operation, for example, the blocking structure 7 includes the upper carrier plate and the lower carrier plate as described above. When the clamping member 21 clamps a tray 200 and moves to the recycling station 113, the upper loading plate supports N trays 200; next, the grippers 21 are operated to transfer the tray 200 upward, the lower carrier is operated to extend to the lower end of the tray 200, and simultaneously, the upper carrier is retracted so that the lower carrier holds (N +1) trays 200.
In addition, referring to fig. 4 and fig. 7, in the embodiment, the disc separating and feeding device 100 further includes a plurality of stop structures 8, and the stop structures 8 are arranged along the circumferential direction of the material storage station 111 and/or the material preparation station 121 to limit the tray 200 in the material storage station 111 and/or the cover plate 300 in the material preparation station 121 together. The stopping structures 8 are, for example, baffles or stoppers, and under the combined action of the stopping structures 8, the plurality of cover plates 300 or the plurality of trays 200 stacked in a stack are stacked in order without being loosened; in addition, the stop structures 8 are matched with the discharging mechanism 6, so that a better discharging effect can be realized. And/or, snatch mechanism 4 and include spider manipulator, spider manipulator is current product, including a plurality of arms, and under the control of procedure, the action of a plurality of arms is quick and mutually noninterfere, helps improving partial shipment efficiency.
Further, in this embodiment, the tray feeding device 100 further includes an imaging device (not shown in the drawings) and a controller (not shown in the drawings), wherein the imaging device is disposed on the base 1 corresponding to the moving area of the grabbing mechanism 4 and is configured to capture image information of the object to be loaded; the controller is electrically connected with the imaging device and the grabbing mechanism 4 and used for controlling the grabbing mechanism 4 to work according to the image information. Wherein, the imaging device may be a camera or a video camera, and the active area of the gripping mechanism 4 refers to an area through which the gripping mechanism 4 passes from the loading station 112 to the installation station 122; the controller can refer to the prior art, such as a switch circuit or a control chip, and the specific structure is not described in detail herein.
Specifically, the imaging device includes a first imaging device, which is, for example, a panoramic camera, and which may be disposed above the gripping mechanism 4 for taking first image information in the tray 200; the first image information at least includes the remaining number of the objects to be packaged in the tray 200, the remaining placement positions of the objects to be packaged, the front and back conditions of the objects to be packaged, and the like. The controller receives the first image information, recognizes the first image information based on the existing image recognition technology, and when the tray 200 is empty, that is, there is no remaining body to be loaded, the controller may control the grabbing mechanism 4 to pause the grabbing action, drive the tray 200 to move out of the loading station 112, and drive the next tray 200 to enter the loading station 112; when the rest to-be-loaded bodies in the tray 200 are placed in vacant positions or are placed in disorder, the controller confirms the current placing condition of the to-be-loaded bodies, and then generates an optimal grabbing path of the grabbing mechanism 4, so that the grabbing mechanism 4 can feed and grab along the optimal grabbing path. The optimal grabbing path needs to consider that the stroke is shortest and that a plurality of grabbing arms of the grabbing mechanism 4 are not interfered with each other; when the part of the objects to be packaged in the tray 200 is placed in the reverse direction, the controller controls the grabbing mechanism 4 to correct the placing direction of the objects to be packaged before grabbing along the optimal grabbing path.
In addition, the imaging device may further include a second imaging device, for example, a flying camera, the second imaging device may be disposed on the base 1, and a shooting end of the second imaging device faces upward and is disposed toward the grabbing arm of the grabbing mechanism 4, so as to shoot the pattern of the object to be loaded grabbed on the grabbing arm. The second image information at least comprises the current grabbing angle of the object to be mounted. Similarly, the controller identifies and compares the second image information, for example, compares the current position of a certain pattern of the object to be mounted with a preset position, and when the current position of the pattern of the object to be mounted is found to be consistent with the preset position, controls the gripping mechanism 4 to directly mount the object to be mounted according to the current gripping angle; on the contrary, when the current position of the pattern of the body to be assembled is found to have a deviation from the preset position, a specific deviation angle is determined, then the grabbing angle of the grabbing mechanism 4 is adjusted according to the deviation angle, and the body to be assembled is installed according to the adjusted grabbing angle.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (14)
1. A tray-dividing feeding process is characterized by comprising the following steps:
sequentially transferring the trays from the material storage station in the first channel to the material loading station through the transfer mechanism;
sequentially transferring the cover plate from the material preparation station in the second channel to the installation station through a transfer mechanism;
sequentially grabbing the to-be-packaged body to the mounting station from the tray at the feeding station through a grabbing mechanism, and mounting the to-be-packaged body to the containing groove of the cover plate;
wherein the first channel and the second channel are arranged in parallel.
2. The tray loading process of claim 1, wherein the step of sequentially transferring the cover plate from the preparation station to the installation station in the second lane by the transfer mechanism comprises:
clamping and limiting the two transverse sides of the cover plate through the clamping pieces;
guiding and limiting one longitudinal side of the cover plate through a flexible rolling mechanism;
pressing and limiting the upper side of the cover plate through a pressing rod;
the gripper member is driven by a first drive to move from the preparation station to the installation station.
3. The tray-dividing feeding process of claim 1, wherein the step of sequentially grabbing the to-be-packaged bodies from the tray at the feeding station to the mounting station through a grabbing mechanism and mounting the to-be-packaged bodies in the accommodating groove of the cover plate comprises the following steps of:
shooting a tray at the feeding station through first imaging equipment, and obtaining first image information;
determining a grabbing path of a grabbing mechanism according to the first image information, so that the grabbing mechanism grabs the to-be-loaded body in the tray along the grabbing path;
shooting the to-be-packaged body grabbed by the grabbing mechanism through second imaging equipment, and obtaining second image information;
and adjusting the grabbing angle of the grabbing mechanism according to the second image information so that the grabbing mechanism can install the to-be-packaged body into the containing groove of the cover plate according to the grabbing angle.
4. The tray-dividing loading process according to claim 1, wherein after the step of sequentially grabbing the to-be-loaded objects from the tray at the loading station to the mounting station and mounting the to-be-loaded objects in the accommodating groove of the cover plate by the grabbing mechanism, the tray-dividing loading process further comprises:
removing the cover plate from the mounting station by a transfer mechanism;
the pressing part on the adjusting pressing plate is aligned with the containing groove of the cover plate and presses the to-be-packaged body in the containing groove downwards.
5. The utility model provides a depiler loading attachment which characterized in that includes:
the device comprises a base, a first connecting piece and a second connecting piece, wherein the base is provided with a first channel and a second channel which extend along the transverse direction and are arranged in parallel, the first channel is sequentially provided with a material storage station and a material loading station, and the second channel is sequentially provided with a material preparation station and an installation station;
the transfer mechanism is arranged on the base and used for sequentially transferring the trays from the material storage station to the feeding station;
the transfer mechanism is arranged on the base and used for sequentially transferring the cover plate from the material preparation station to the installation station; and the number of the first and second groups,
and the grabbing mechanism is arranged on the base and used for grabbing the to-be-loaded body in the tray of the loading station to the installation station in sequence and installing the to-be-loaded body in the containing groove of the cover plate.
6. The pallet loading apparatus according to claim 5, wherein said transfer mechanism and said transfer mechanism each comprise:
the clamping piece comprises two clamping parts for clamping and limiting the tray or the cover plate, is movably arranged on the base and has a transverse movable stroke; and the number of the first and second groups,
the first driver is arranged on the machine base and connected with the clamping piece.
7. The apparatus according to claim 5, further comprising a press bar spaced above the base, wherein the press bar and the base at the location define the second channel.
8. The apparatus according to claim 5, wherein said housing includes a mounting plate located on one longitudinal side of said second channel;
the sub-disc feeding device further comprises a flexible rolling mechanism, the flexible rolling mechanism comprises a plurality of rollers arranged at intervals along the transverse direction, the rollers are rotatably arranged on the mounting plate along the vertical axis and are elastically and telescopically arranged along the longitudinal direction, and the cover plate in the second channel is in a guiding limit position.
9. The disc-dividing feeding device according to claim 5, further comprising a pressing plate, wherein the pressing plate is provided with a pressing portion in a protruding manner, and the pressing plate is movably mounted above the second channel and has a moving stroke along the vertical direction so as to press the object to be loaded downwards when the object to be loaded is loaded into the containing groove of the cover plate.
10. The disc separating and feeding device according to claim 5, wherein a plurality of trays and/or a plurality of cover plates are stacked corresponding to the stock station and/or the stock station to form a stacked material, and the stacked material comprises a substrate material at the lowermost end and a sub-material adjacent to the substrate material;
the depiler loading attachment still includes discharge mechanism, discharge mechanism includes:
the two carrier plates are used for carrying the stacked materials and are alternately and telescopically arranged on the machine base along the direction close to and far away from the stacked materials; and the number of the first and second groups,
and the second driver is arranged on the machine base and connected with the two carrier plates so as to drive the other carrier plate to retract from the lower end of the bottom material when the other carrier plate is driven to extend into the lower end of the secondary material.
11. The apparatus of claim 10, wherein the discharge mechanism further comprises:
the two racks are oppositely arranged and correspondingly connected with the two carrier plates, are movably arranged on the machine base and have moving strokes close to and far away from the stacked materials; and the number of the first and second groups,
the gear is positioned between the two racks and is meshed with the two racks;
wherein the second driver is connected with the rack or the gear.
12. The disc-dividing feeding device as claimed in claim 6, wherein a recycling station is further provided at one end of the first channel away from the material storage station;
the machine base comprises a clamping structure arranged at the recovery station;
the clamping piece is used for transferring the tray upwards to the position clamping structure at the recovery station and then moves downwards to give way.
13. The disc-dividing feeding device according to claim 5, further comprising a plurality of stopping structures arranged along the circumferential direction of the material storing station and/or the material preparing station to commonly limit the tray in the material storing station and/or the cover plate in the material preparing station; and/or the presence of a gas in the gas,
the grabbing mechanism comprises a spider manipulator.
14. The apparatus of claim 5, further comprising:
the imaging device is arranged on the base corresponding to the moving area of the grabbing mechanism and is used for shooting the image information of the object to be loaded; and the number of the first and second groups,
and the controller is electrically connected with the imaging equipment and the grabbing mechanism and used for controlling the grabbing mechanism to work according to the image information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911246453.1A CN110980268A (en) | 2019-12-06 | 2019-12-06 | Tray-dividing feeding process and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911246453.1A CN110980268A (en) | 2019-12-06 | 2019-12-06 | Tray-dividing feeding process and device |
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| CN110980268A true CN110980268A (en) | 2020-04-10 |
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| CN201911246453.1A Pending CN110980268A (en) | 2019-12-06 | 2019-12-06 | Tray-dividing feeding process and device |
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