CN111731854A - Loading and unloading device and automatic loading method thereof - Google Patents
Loading and unloading device and automatic loading method thereof Download PDFInfo
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- CN111731854A CN111731854A CN202010779612.0A CN202010779612A CN111731854A CN 111731854 A CN111731854 A CN 111731854A CN 202010779612 A CN202010779612 A CN 202010779612A CN 111731854 A CN111731854 A CN 111731854A
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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
- B65G57/00—Stacking of articles
- B65G57/30—Stacking of articles by adding to the bottom of the stack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
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Abstract
The invention discloses a loading and unloading device and an automatic loading method thereof, and the loading and unloading device comprises a loading and unloading platform, wherein the loading and unloading platform is provided with a hot plate stacking device arranged at a first side, a hot plate transfer mechanism arranged at the middle part and a hot plate tooling device arranged at a second side; the hot plate tooling device is provided with a tooling lifting mechanism and a fixture mounting table for mounting a hot plate tooling fixture, and the tooling lifting mechanism is in transmission connection with the fixture mounting table; the hot plate transfer mechanism is provided with a moving mechanism, a turnover mechanism arranged on the moving mechanism and a hot plate grabbing mechanism arranged on the turnover mechanism. The feeding and discharging device can avoid manual feeding and discharging, and is time-saving and labor-saving.
Description
Technical Field
The invention relates to the technical field of hardware processing equipment, in particular to a loading and unloading device and an automatic loading method thereof.
Background
In the hot plate processing process, the hot plate is often required to be subjected to feeding and discharging transfer, specifically, the hot plates are transferred to a set carrier or a processing jig one by one from a hot plate stack for processing treatment such as cleaning or electroplating; or the hardware workpiece after being processed is taken out from the carrier or the processing jig and is orderly stacked so as to carry out next processing preparation or packaging preparation. Because, the hot plate is the slice, and ordinary manipulator equipment is difficult to go up the unloading centre gripping to the hot plate, and moreover, the hot plate need be the interval and align the dress and put in carrier or processing tool, consequently, in prior art, the last unloading of hot plate shifts and generally accomplishes through the manual work. When the hot plates are in a normal state, the hot plates in a stacked state or the hot plates arranged in the carriers or the processing jigs are manually taken and placed one by one, the loading and unloading method is time-consuming, and the labor cost is high. Therefore, an apparatus capable of automatically loading and unloading metal workpieces such as hot plates is urgently needed to be developed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the loading and unloading device and the automatic loading method thereof, which can be used for quickly and automatically loading and unloading thin plate type workpieces such as hot plates and the like, avoid manual loading and unloading, save time and labor and improve the production efficiency of a workshop.
In order to achieve the purpose, the invention adopts the technical scheme that: a feeding and discharging device comprises a feeding and discharging platform, wherein the feeding and discharging platform is provided with a hot plate stacking device located on a first side, a hot plate transfer mechanism located in the middle and a hot plate tooling device located on a second side, the hot plate stacking device is provided with a hot plate stacking support used for stacking hot plates, the hot plate stacking support is provided with a plurality of hot plate stacking sections at intervals along the longitudinal direction, and each hot plate stacking section is provided with a hot plate stacking space along the vertical direction and used for stacking a plurality of hot plates; the hot plate tooling device is provided with a tooling lifting mechanism and a tooling mounting table for mounting a hot plate tooling fixture, the tooling lifting mechanism is in transmission connection with the tooling mounting table, the hot plate tooling fixture is provided with a plurality of hot plate tooling areas at intervals along the longitudinal direction, and each hot plate tooling area is provided with a plurality of hot plate tooling clamping positions at intervals along the vertical direction; the hot plate transfer mechanism is provided with a moving mechanism, a turnover mechanism arranged on the moving mechanism and a hot plate grabbing mechanism arranged on the turnover mechanism so as to take out an upper hot plate superposed on the hot plate stacking support, and the hot plate is inserted or clamped in a hot plate tool clamping position after being turned.
In further technical scheme, the hot plate stacking support comprises a stacking bottom plate and a plurality of limiting vertical rods fixedly connected to the stacking bottom plate, the plurality of limiting vertical rods are distributed along the edge profile of the hot plate to form a hot plate stacking space in the hot plate stacking interval, each limiting vertical rod in the hot plate stacking interval surrounds the hot plate stacking space, the hot plate stacking quantity of each hot plate stacking space is the same when the hot plates are stacked, and the edge of each hot plate is in limiting fit with the inner side of the corresponding limiting vertical rod.
In a further technical scheme, the hot plate stacking device is provided with a feeding lifting mechanism, the feeding lifting mechanism comprises a movable carrier plate and a carrier plate driving device in transmission connection with the movable carrier plate, the movable carrier plate is provided with a plurality of through holes, the movable carrier plate is movably sleeved on each limiting vertical rod through each through hole, the movable carrier plate is in up-and-down sliding fit with each limiting vertical rod, and a hot plate stack stacked in each hot plate stacking space is in bearing fit with the top surface of the movable carrier plate; the top of each hot plate stacking space is provided with a set feeding height, the hot plate stacks stacked in each hot plate stacking space during feeding and discharging are under the supporting effect of the movable carrier plate, and the hot plate positioned at the topmost end of the hot plate stack is always at the feeding height.
In a further technical scheme, the jig mounting table is provided with a jig tool structure for positioning the hot plate tool jig by using the tool, the hot plate tool is movably mounted on the jig tool structure during feeding and discharging, and each hot plate tool area of the hot plate tool is respectively transversely aligned with the hot plate overlapping area one by one so as to realize feeding and discharging cooperation between the hot plate overlapping area and the hot plate tool area.
In a further technical scheme, hot plate frock tool includes the frock basket, each hot plate frock district sets up in the inner chamber of frock basket along longitudinal direction interval respectively, the both sides in every hot plate frock district symmetry respectively are provided with a preceding location rack, the inboard is provided with back location rack, a plurality of preceding location tooth's socket has been seted up to preceding location rack, the relative orientation setting of tooth's socket direction of two preceding location racks in same hot plate frock district, a plurality of back location tooth's sockets have been seted up to back location rack, each preceding location tooth's socket aligns and forms hot plate frock screens with each back location tooth's socket level one by one respectively, preceding location tooth's socket and back location tooth's socket cooperation screens frock hot plate in the same hot plate frock screens.
In a further technical scheme, hot plate tool clamping positions of hot plate tool areas are longitudinally aligned one by one respectively to form tool layers which are arranged at intervals in the vertical direction; the hot plate tooling device is provided with a set tooling height, the tooling basket moves upwards or downwards under the drive of the jig mounting table during feeding and discharging, and each tooling layer of the tooling basket is aligned one by one from top to bottom or from bottom to top and positioned at the tooling height so as to realize that each hot plate tooling clamping position of each tooling layer simultaneously carries out hot plate tooling or hot plate discharging.
In a further technical scheme, the moving mechanism comprises linear servo driving devices which are symmetrically arranged on two sides of the feeding and discharging platform respectively, the two linear servo driving devices are respectively provided with a linear servo base, the two linear servo bases are matched with the feeding and discharging platform in a synchronous reciprocating motion along the transverse direction, the turnover mechanism is respectively and fixedly connected with the two linear servo bases, and the linear servo driving devices select servo electric cylinders or servo air cylinders.
In a further technical scheme, the turnover mechanism comprises a rotary driving device, a driving rotating rod, a rotary servo base and two polished rod fixing bases, wherein the two polished rod fixing bases are symmetrically fixed on two linear servo bases respectively; the driving rotating rod is longitudinally assembled, two ends of the driving rotating rod are respectively installed on corresponding polished rod fixing seats, and the driving rotating rod is rotationally arranged around the axis of the driving rotating rod; the rotary driving device is in transmission connection with the driving rotating rod; the rotary servo base is fixed in the middle of the driving rotating rod and is matched with the rotary servo base in a clockwise or anticlockwise rotating mode during feeding and discharging.
In a further technical scheme, the hot plate grabbing mechanism comprises a gripping apparatus lifting driving device and a transverse plate arranged on the gripping apparatus lifting driving device, and the gripping apparatus lifting driving device is fixedly connected to the rotary servo base; the transverse plate is provided with a plurality of suction plates in an extending mode, a negative pressure channel is formed in the suction plates, a plurality of negative pressure suction holes are formed in the grabbing surfaces of the suction plates, the negative pressure channels are communicated with the negative pressure suction holes, a main negative pressure channel is formed in the transverse plate and is respectively communicated with the negative pressure channels, the feeding and discharging device is provided with a negative pressure source, and the negative pressure source is communicated with the main negative pressure channel so that the plurality of suction plates of the same transverse plate can grab materials or discharge materials simultaneously.
An automatic feeding method comprises the following steps:
1) and the thin plate type hot plates are orderly stacked and are respectively positioned in a plurality of hot plate stacking sections which are arranged on the first side of the feeding and blanking platform at intervals, and the stacking heights of the hot plates in the hot plate stacking sections are the same.
2) And the suction plates arranged at intervals through the transverse plate respectively and the topmost hot plate in the stacking interval of the hot plates are simultaneously adsorbed and grabbed.
3) The material grabbing plate arm with the plurality of hot plates is clamped in an adsorption mode to move transversely and/or rotate, each hot plate is transferred to the second side of the feeding and discharging platform and matched with the hot plate tooling device in tooling feeding, the hot plate tooling device is provided with a plurality of hot plate tooling clamping positions, and the hot plates clamped by the suction plates are simultaneously positioned in the corresponding hot plate tooling clamping positions.
4) And after each hot plate tool is positioned in the corresponding hot plate tool clamping position, each suction plate of the transverse plate simultaneously releases the corresponding hot plate so as to complete single hot plate automatic feeding work.
5) And (4) repeating the steps 1 to 4 until all the hot plates in the stacking interval of the hot plates finish the loading of the tooling from top to bottom in sequence.
After adopting the structure, compared with the prior art, the invention has the advantages that: the invention provides a feeding and discharging device, which realizes automatic tool feeding and automatic stacking and discharging of sheet-type hot plate material stacking through the cooperative matching of feeding and discharging of a movably arranged hot plate transfer mechanism, a hot plate stacking device and a hot plate tool device, avoids manual feeding and discharging operation, is time-saving and labor-saving, improves the production efficiency of enterprises, and increases the income of the enterprises.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of the present invention.
Figure 2 is a schematic diagram of the action of the thermal plate stacking apparatus of the present invention.
FIG. 3 is a schematic diagram of the operation of the hot plate tooling device of the present invention.
FIG. 4 is a schematic structural view of a hot plate transfer mechanism of the present invention.
Fig. 5 is a schematic structural view of the cross plate of the present invention.
Fig. 6 is a schematic diagram of the action of the invention when the drop arm grabs the material.
Fig. 7 is a schematic diagram of the operation of the present invention in the arm lifting and material holding.
FIG. 8 is a schematic diagram of the operation of the present invention in material holding and transferring.
Fig. 9 is a schematic diagram of the operation of the present invention in the process of material holding and turning.
Fig. 10 is a schematic diagram of the operation of the present invention in arm raising tool preparation.
Fig. 11 is a schematic diagram of the operation of the present invention during tool insertion.
FIG. 12 is a schematic view of the operation of the present invention in the case of discharging by a drop arm.
In the figure:
1-a loading and unloading platform.
2-hot plate transfer mechanism, 211-linear servo driving device, 212-linear servo base, 221-driving rotating rod, 222-polished rod fixing base, 223-rotary servo motor, 224-rotary servo base, 231-lifting driving cylinder, 232-lifting base, 24-transverse plate, 241-suction plate, 242-sealing ring, 243-negative pressure suction hole and 24-silica gel layer.
3-hot plate stacking device, 31-stacking bottom plate, 32-movable carrier plate, 33-hot plate stacking interval, 330-hot plate stacking space and 331-limiting vertical rod.
4-hot plate tooling device, 41-front positioning rack, 410-front positioning tooth groove, 42-rear positioning rack, 420-rear positioning tooth groove and 43-hot plate tooling area.
5-hot plate.
Detailed Description
The following are merely preferred embodiments of the present invention, and do not limit the scope of the present invention.
The utility model provides a loading and unloading device, as shown in fig. 1-5, loading and unloading device includes unloading platform 1, its characterized in that: the loading and unloading platform 1 is provided with a hot plate stacking device 3 positioned on a first side, a hot plate transfer mechanism positioned in the middle and a hot plate tooling device 4 positioned on a second side, the hot plate stacking device 3 is provided with a hot plate stacking support for stacking hot plates, the hot plate stacking support is provided with a plurality of hot plate stacking sections 33 at intervals along the longitudinal direction, and each hot plate stacking section 33 is provided with a hot plate stacking space 330 along the vertical direction for stacking a plurality of hot plates; the hot plate tooling device 4 is provided with a tooling lifting mechanism and a tooling mounting table for mounting a hot plate tooling fixture, the tooling lifting mechanism is in transmission connection with the tooling mounting table, the hot plate tooling fixture is provided with a plurality of hot plate tooling areas 43 at intervals along the longitudinal direction, and each hot plate tooling area 43 is provided with a plurality of hot plate tooling clamping positions at intervals along the vertical direction; the hot plate transfer mechanism 2 is provided with a moving mechanism, a turnover mechanism arranged on the moving mechanism and a hot plate grabbing mechanism arranged on the turnover mechanism so as to take out the upper hot plate superposed on the hot plate stacking support, and the hot plate is inserted or clamped in a hot plate tool clamping position after being turned. The hot plate transfer mechanism 2 comprises one or two hot plate grippers for gripping workpieces, the hot plate grippers are provided with material gripping parts which are used for gripping the hot plates 5 and have the same number as that of the hot plate stacking sections 33, and the material gripping parts move back and forth between the corresponding hot plate stacking sections 33 and the hot plate tooling areas 43; when feeding, the material grabbing part is matched with the material grabbing part of the corresponding hot plate stacking area 33, the hot plate 5 at the topmost end is grabbed through the hot plate stacking space 330 of the hot plate stacking area 33, the material grabbing part grabbing the hot plate 5 is transferred to the corresponding hot plate tooling area 43 and matched with the hot plate tooling area 43 for tooling and feeding, and the heat releasing plate 5 is clamped to the set hot plate tooling position to finish tooling and feeding; during blanking, the material grabbing part is matched with the corresponding hot plate tooling area 43 in a material grabbing manner, the hot plate 5 positioned in a hot plate tooling clamping position set in the hot plate tooling area 43 is grabbed, the material grabbing part with the hot plate 5 is transferred to the corresponding hot plate stacking area 33 and matched with the hot plate stacking area 33 in a stacking and blanking manner, and the hot plate 5 is released to the hot plate stacking space 330 of the hot plate stacking area 33 to complete stacking and blanking. The loading and unloading device can automatically transfer the sheet materials in a stacked state to a hot plate tool clamping position corresponding to the tool fixture, so as to realize automatic loading; and the processed sheet type materials in the tool fixture can be automatically transferred to the stacking fixture, so that automatic blanking is realized. The manual work is avoided to carry out the work piece and shifts, and labour saving and time saving improves enterprise production efficiency, increases enterprise income.
Specifically, the hot plate stacking support comprises a stacking bottom plate 31 and a plurality of limiting vertical rods 331 fixedly connected to the stacking bottom plate 31, a hot plate stacking section 33 is formed by the distribution of the plurality of limiting vertical rods 331 along the edge profile of a hot plate, each limiting vertical rod 331 in the hot plate stacking section 33 surrounds and forms a hot plate stacking space 330, the hot plate stacking quantity of each hot plate stacking space 330 is the same when the hot plates are stacked, and the edge of each hot plate is in limit fit with the inner side of the corresponding limiting vertical rod 331 respectively.
Specifically, the hot plate stacking device 3 is provided with a feeding lifting mechanism, the feeding lifting mechanism comprises a movable carrier plate 32 and a carrier plate driving device in transmission connection with the movable carrier plate 32, the movable carrier plate 32 is provided with a plurality of through holes, the movable carrier plate 32 is movably sleeved on each limit vertical rod 331 through each through hole, the movable carrier plate 32 is in up-and-down sliding fit with each limit vertical rod 331, and a hot plate stack stacked in each hot plate stacking space 330 is in bearing fit with the top surface of the movable carrier plate 32; the top of each hot plate stacking space 330 is provided with a set feeding height, the hot plate stacks stacked in each hot plate stacking space 330 during feeding and discharging are supported by the movable carrier plate 32, and the hot plate positioned at the topmost end of the hot plate stacks is always at the feeding height.
Specifically, the tool mounting table is provided with a tool tooling structure for tooling and positioning the hot plate tool, the hot plate tool is movably mounted on the tool tooling structure during feeding and discharging, and each hot plate tooling area 43 of the hot plate tool is respectively transversely aligned with the hot plate overlapping area 33 one by one so as to realize feeding and discharging cooperation between the hot plate overlapping area 33 and the hot plate tooling area 43.
Specifically, hot plate frock tool includes the frock basket, each hot plate frock district 43 sets up in the inner chamber of frock basket along longitudinal direction interval respectively, the both sides of every hot plate frock district 43 are symmetrical respectively and are provided with a preceding location rack 41, the inboard is provided with back location rack 42, a plurality of preceding location tooth's socket 410 have been seted up to preceding location rack 41, the relative orientation setting of tooth's socket direction of two preceding location racks 41 in same hot plate frock district 43, a plurality of back location tooth's sockets 420 have been seted up to back location rack 42, each preceding location tooth's socket 410 aligns and forms hot plate frock screens with each back location tooth's socket 420 level one by one respectively, preceding location tooth's socket 410 and back location tooth's socket 420 cooperation screens frock in the same hot plate frock screens. The clamping position of the hot plate tool consisting of the front positioning tooth grooves 410 and the rear positioning tooth grooves 420 can realize that a hot plate material is transversely inserted into the clamping position, and the material grabbing part drives the hot plate material to transversely insert into the clamping position of the hot plate tool, so that the hot plate material can be reversely separated downwards, and the condition that the hot plate material is accidentally collided to influence the tool state of the hot plate material is avoided.
Specifically, the tooth sockets of the positioning tooth socket 410 and the rear positioning tooth socket 420 are both triangular, the working state of the tooling basket is that the opening is upward, each workpiece can be clamped at the bottom corner of the rear positioning tooth socket 420 under the action of gravity, and the tooling structure has the advantages of stability, reliability, quick replacement and assembly and no damage to the workpiece.
Specifically, each hot plate tooling clamp position of each hot plate tooling area 43 is longitudinally aligned one by one and forms tooling layers arranged at intervals along the vertical direction; hot plate tooling device 4 is provided with a frock height of setting for, and the frock basket goes on going upward or downstream under the drive of tool mount table during unloading, and each frock layer of frock basket aligns one by one and is located the frock height from the top down or from the bottom up respectively to each hot plate frock screens that realize each frock layer carry out hot plate frock or hot plate unloading simultaneously.
Specifically, the moving mechanism comprises linear servo driving devices 211 respectively symmetrically arranged on two sides of the feeding and discharging platform 1, the two linear servo driving devices 211 are respectively provided with a linear servo base 212, the two linear servo bases 212 are matched with each other in a synchronous reciprocating motion along the transverse direction of the feeding and discharging platform 1, the turnover mechanism is respectively and fixedly connected with the two linear servo bases 212, and the linear servo driving devices 211 are servo electric cylinders or servo air cylinders.
Specifically, the turnover mechanism includes a rotation driving device, a driving rotating rod 221, a rotation servo base 224 and two polished rod fixing bases 222, and the two polished rod fixing bases 222 are symmetrically fixed to the two linear servo bases 212 respectively; the driving rotating rod 221 is longitudinally assembled, two ends of the driving rotating rod 221 are respectively installed on the corresponding polished rod fixing seats 222, and the driving rotating rod 221 is rotationally arranged around the axis of the driving rotating rod 221; the rotary driving device is in transmission connection with a driving rotating rod 221; the rotary servo base 224 is fixed at the middle position of the driving rotary rod 221, and the rotary servo base 224 is rotated clockwise or counterclockwise during loading and unloading.
Specifically, two lateral plates 24 are respectively installed on two sides of the rotary servo base 224, the two lateral plates 24 are respectively provided with a front working position and a rear working position which are opposite to each other, the working positions of the two lateral plates 24 are respectively in mutual rotary exchange fit around the driving rotating rod 221, and when the lateral plates 24 are located at the front working position, the lateral plates 24 rotate around the driving rotating rod 221 to one side close to the hot plate stacking jig device 3 and are in grabbing fit or stacking blanking fit with the hot plate stacking jig device 3; when the transverse plate 24 is located at the rear working position, the transverse plate 24 rotates around the driving rotating rod 221 to a side close to the hot plate tooling fixture device 4, and is in grabbing cooperation or tooling feeding cooperation with the hot plate tooling fixture device 4. The double-side transverse plate turnover structure can avoid the reset stroke, shorten the feeding and discharging period and improve the feeding and discharging efficiency.
Specifically, the hot plate gripping mechanism comprises a gripper lifting driving device and a transverse plate 24 arranged on the gripper lifting driving device, and the gripper lifting driving device is fixedly connected to the rotary servo base 224; the transverse plate 24 is provided with a plurality of suction plates 241 in an extending manner, negative pressure channels are formed in the suction plates 241, a plurality of negative pressure suction holes 243 are formed in the grabbing surface of the suction plates 241, the negative pressure channels are communicated with the negative pressure suction holes 243, main negative pressure channels are formed in the transverse plate 24 and are respectively communicated with the negative pressure channels, a negative pressure source is configured on the feeding and discharging device, and the negative pressure source is communicated with the main negative pressure channels, so that the plurality of suction plates 241 of the same transverse plate 24 can grab materials or discharge materials at the same time. Of course, the suction plate 241 may also have an electromagnetic material grabbing structure, where the electromagnetic material grabbing structure includes an electromagnet and an electromagnet control circuit, and the electromagnets of the material grabbing portions are respectively used as an electromagnetic material for adsorbing the hot plate material, and are connected to the electromagnet control circuit, so as to realize that the transverse plate 24 can grab and release multiple hot plate materials at the same time. The clamping and releasing of the hot plate material with metal properties are realized by controlling the starting or stopping of the electromagnets of each material grabbing part.
Specifically, two sides of the rotary servo base 224 are respectively provided with a lifting driving cylinder 231 with opposite directions, the two lifting driving cylinders 231 are respectively provided with a lifting piston push rod, the end part of the lifting piston push rod is fixedly connected with a lifting base 232, a transverse plate 24 is fixedly connected to the lifting base 232, the transverse plate 24 is provided with a material grabbing surface, the material grabbing surface is provided with a plurality of material grabbing parts, and the material grabbing surface of the transverse plate 24 faces to the corresponding lifting driving cylinders 231; when the transverse plate 24 is matched with the hot plate stacking jig device 3 for material grabbing or material stacking, the material grabbing surface of the transverse plate 24 faces downwards; when the transverse plate 24 is matched with the hot plate tooling device 4 in material grabbing or tooling material loading, the material grabbing surface of the transverse plate 24 faces upwards.
Specifically, the top surface and/or the bottom surface of each suction plate 241 is/are provided with a material grabbing portion, the material grabbing portion comprises a negative pressure material grabbing structure, the negative pressure material grabbing structure comprises a sealing ring 242 fixedly connected to the top surface and/or the bottom surface of the suction plate 241 and a negative pressure suction hole 243 arranged in the circle of the sealing ring 242, and each negative pressure suction hole 243 of the same transverse plate 24 is connected with a negative pressure air extractor respectively; when the heat plate material is gripped, the suction plates 241 and the sealing rings 242 respectively movably abut against the surfaces of the corresponding heat plate materials, the negative pressure air exhaust device exhausts air through the negative pressure suction holes 243, and the sealing rings 242 respectively form negative pressure with a sealing space formed by surrounding of the gripping action surfaces of the corresponding heat plate materials so as to realize that the heat plate materials are gripped by the suction plates 241 at the same time under the negative pressure; when the tooling is used for loading or stacking and unloading, the negative pressure air exhaust device stops exhausting air, and each sealing ring 242 and the corresponding clamping action surface of the hot plate material surround to form a sealing space and are communicated with the atmosphere at the same time, so that each suction plate 241 releases the hot plate material at the same time. The transverse plate 24 with the negative-pressure material grabbing structure is selected according to the shape of a workpiece, the transverse plate 24 with the material grabbing parts with the matched shapes is selected according to workpieces with different shapes, the closed shape of the sealing ring 242 of the material grabbing part is matched with the workpiece, the sealing ring 242 has the copying closed shape, a negative-pressure space as large as possible can be formed on the surface of the workpiece, the material grabbing acting force is improved, and the material grabbing stability is further improved.
Specifically, the absorption surface of each absorption plate 241 is provided with a silica gel layer 244. The stability of the workpiece grasping structure is improved, and the silicon rubber layer 244 is soft and elastic, so that the outer surface of the workpiece can be prevented from being scratched.
The transverse, longitudinal and vertical directions described in this document are referred to by the coordinate system in fig. 1, respectively, the X-axis direction is the transverse direction, the Y-axis direction is the longitudinal direction and the Z-axis direction is the vertical direction.
The embodiment also provides a hot plate feeding method which needs to be completed through the feeding and discharging device and comprises the following steps,
1) the thin plate type hot plates 5 are stacked orderly and are respectively positioned in a plurality of hot plate stacking sections 33 which are arranged at intervals on the first side of the feeding and blanking platform 1, and the stacking heights of the hot plates 5 in the hot plate stacking sections 33 are the same;
2) respectively and simultaneously carrying out adsorption grabbing on the topmost hot plate 5 in each hot plate stacking interval 33 through the grabbing parts arranged at intervals of the hot plate grabbing tool;
3) the transverse plate 24 holding the plurality of hot plates 5 in an adsorption manner moves transversely and/or rotationally, each hot plate 5 is transferred to the second side of the loading and unloading platform 1 and is matched with the hot plate tooling device 4 for tooling and loading, the hot plate tooling device 4 is provided with a plurality of hot plate tooling clamping positions arranged at intervals transversely, and the hot plates 5 held by each material holding part are simultaneously positioned in the corresponding hot plate tooling clamping positions in a tooling manner;
4) after each hot plate 5 tooling is positioned in the corresponding hot plate tooling clamping position, each material grabbing part of the hot plate gripping tool releases the corresponding hot plate 5 at the same time so as to complete single hot plate automatic feeding work.
The concrete feeding action steps of the feeding and discharging device are as follows,
1. the falling arm grabs the material, as shown in fig. 6, the empty transverse plate 24 falls to abut against the top surface of the topmost hot plate 5 under the driving action of the lifting driving cylinder 231, and the material grabbing part performs electromagnetic adsorption or negative pressure adsorption on the hot plate 5 to finish material taking.
2. The cross plate 24 holding the hot plate 5 is driven by the lifting drive cylinder 231 to move upward and retreat from the hot plate stacking jig device 3 as shown in fig. 7.
3. In the material transfer, as shown in fig. 8, the horizontal plate 24 holding the hot plate 5 is moved in the direction of the second side of the upper feeding table 1 by the driving of the linear servo driving device 211.
4. And (3) material holding and turning, as shown in fig. 9, when the transverse plate 24 holding the hot plate 5 moves to the middle position or reaches the front of the hot plate tooling device 4, the transverse plate 24 and the hot plate 5 are turned to the second side of the loading and unloading platform 1 under the driving action of the rotary servo motor 223, and the material holding and turning state is formed between the hot plate 5 and the transverse plate 24. (No-load cross plate 24 on the other side is turned over to the first side of the loading and unloading platform 1 for preparation of material taking)
5. And (3) starting arm tooling preparation, as shown in fig. 10, a transverse plate 24 with the hot plate 5 lifted is driven by a lifting driving cylinder 231 to move upwards to a tooling insertion height, so that tooling preparation is completed.
6. And (3) inserting the tooling, as shown in fig. 11, continuously moving the transverse plate 24 with the hot plate 5 lifted towards the hot plate tooling device 4 under the driving action of the linear servo driving device 211 so as to realize that the hot plate 5 tooling is inserted into the corresponding hot plate tooling clamping position.
7. And (3) discharging by a falling arm, as shown in fig. 12, after the hot plate 5 is completely inserted into the clamping position of the hot plate tooling, releasing the hot plate 5 by the material grabbing part, and allowing the transverse plate 24 to fall and separate from the hot plate 5 under the driving action of the lifting driving cylinder 231 so as to complete the loading of the tooling.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (10)
1. The utility model provides a go up unloader, unloader includes last unloading platform (1), its characterized in that: the loading and unloading platform (1) is provided with a hot plate stacking device (3) positioned at the first side, a hot plate transfer mechanism positioned at the middle part and a hot plate tooling device (4) positioned at the second side,
the hot plate stacking device (3) is provided with a hot plate stacking support for stacking hot plates, the hot plate stacking support is provided with a plurality of hot plate stacking sections (33) at intervals along the longitudinal direction, and each hot plate stacking section (33) is provided with a hot plate stacking space (330) along the vertical direction and used for stacking a plurality of hot plates (5);
the hot plate tooling device (4) is provided with a tooling lifting mechanism and a tooling mounting table for mounting the hot plate tooling fixture, the tooling lifting mechanism is in transmission connection with the tooling mounting table, the hot plate tooling fixture is provided with a plurality of hot plate tooling areas (43) at intervals along the longitudinal direction, and each hot plate tooling area (43) is provided with a plurality of hot plate tooling clamping positions at intervals along the vertical direction;
the hot plate transfer mechanism (2) is provided with a moving mechanism, a turnover mechanism arranged on the moving mechanism and a hot plate grabbing mechanism arranged on the turnover mechanism so as to take out the upper hot plate superposed on the hot plate stacking support, and the hot plate is inserted or clamped in a hot plate tool clamping position after being turned over.
2. The loading and unloading device of claim 1, wherein: the hot plate stacks the support including a stack bottom plate (31) and many rigid couplings spacing montant (331) stacking bottom plate (31), the hot plate superposes interval (33) and sets up the formation by many spacing montants (331) along the edge profile distribution of hot plate (5), and each spacing montant (331) in the hot plate superposes interval (33) surrounds and forms hot plate superpose space (330), and the hot plate superpose quantity of each hot plate superpose space (330) is the same during the superpose hot plate to the edge of each hot plate respectively with the inboard spacing cooperation of corresponding spacing montant (331).
3. The loading and unloading device of claim 2, wherein: the hot plate stacking device (3) is provided with a feeding lifting mechanism, the feeding lifting mechanism comprises a movable carrier plate (32) and a carrier plate driving device in transmission connection with the movable carrier plate (32), the movable carrier plate (32) is provided with a plurality of through holes, the movable carrier plate (32) is movably sleeved on each limiting vertical rod (331) through each through hole, the movable carrier plate (32) is in up-and-down sliding fit with each limiting vertical rod (331), and a hot plate stack stacked in each hot plate stacking space (330) is in bearing fit with the top surface of the movable carrier plate (32);
the top of each hot plate stacking space (330) is respectively provided with a set feeding height, the hot plate stacks stacked in each hot plate stacking space (330) during feeding and discharging are under the supporting action of the movable carrier plate (32), and the hot plate positioned at the topmost end of each hot plate stack is always at the feeding height.
4. The loading and unloading device of claim 1, wherein: the jig mounting table is provided with a jig tool structure used for positioning the hot plate tool, the hot plate tool is movably mounted on the jig tool structure during feeding and discharging, and each hot plate tool area (43) of the hot plate tool is respectively transversely aligned with the hot plate overlapping area (33) one by one so as to realize feeding and discharging cooperation between the hot plate overlapping area (33) and the hot plate tool area (43).
5. The loading and unloading device of claim 4, wherein: the hot plate tooling fixture comprises a tooling basket, each hot plate tooling area (43) is arranged in an inner cavity of the tooling basket at intervals along the longitudinal direction respectively, two sides of each hot plate tooling area (43) are symmetrically provided with a front positioning rack (41) respectively, the inner side of each hot plate tooling area is provided with a rear positioning rack (42), a plurality of front positioning tooth sockets (410) are arranged on the front positioning racks (41), the tooth sockets of two front positioning racks (41) in the same hot plate tooling area (43) are oppositely arranged towards each other, a plurality of rear positioning tooth sockets (420) are arranged on the rear positioning racks (42), each front positioning tooth socket (410) is horizontally aligned with each rear positioning tooth socket (420) respectively one by one and forms the hot plate tooling clamping position, the front positioning tooth sockets (410) in the same hot plate tooling clamping position and the rear positioning tooth sockets (420) are matched with the clamping position.
6. The loading and unloading device of claim 5, wherein: the hot plate tool clamping positions of the hot plate tool areas (43) are longitudinally aligned one by one respectively and form tool layers which are arranged at intervals in the vertical direction; hot plate tooling device (4) are provided with a frock height of setting for, and during last unloading the frock basket is in go on upward or downstream under the drive of tool mount table, each frock layer of frock basket aligns one by one and is located the frock height from the top down or from the bottom up respectively to realize that each hot plate frock screens on each frock layer carries out hot plate frock or hot plate unloading simultaneously.
7. The loading and unloading device as claimed in any one of claims 1 to 6, wherein: the moving mechanism comprises linear servo driving devices (211) which are respectively and symmetrically arranged at two sides of the feeding and discharging platform (1), the two linear servo driving devices (211) are respectively provided with a linear servo base (212), the two linear servo bases (212) are matched with each other in a synchronous reciprocating motion along the transverse direction of the feeding and discharging platform (1), the turnover mechanisms are respectively and fixedly connected with the two linear servo bases (212),
the linear servo driving device (211) selects a servo electric cylinder or a servo air cylinder.
8. The loading and unloading device of claim 7, wherein: the turnover mechanism comprises a rotary driving device, a driving rotating rod (221), a rotary servo base (224) and two polished rod fixing seats (222),
the two polished rod fixing seats (222) are symmetrically fixed on the two linear servo bases (212) respectively; the driving rotating rod (221) is longitudinally assembled, two ends of the driving rotating rod (221) are respectively installed on corresponding polished rod fixing seats (222), and the driving rotating rod (221) is rotationally arranged around the axis of the driving rotating rod; the rotary driving device is in transmission connection with a driving rotating rod (221); the rotary servo base (224) is fixed in the middle of the driving rotary rod (221), and the rotary servo base (224) is matched with the rotary servo base in a clockwise or anticlockwise rotating mode during feeding and discharging.
9. The loading and unloading device of claim 8, wherein: the hot plate grabbing mechanism comprises a grabbing tool lifting driving device and a transverse plate (24) arranged on the grabbing tool lifting driving device, and the grabbing tool lifting driving device is fixedly connected to the rotary servo base (224); the utility model discloses a material cooperation or blowing cooperation, including diaphragm (24), diaphragm (24) extend and are provided with a plurality of suction disc (241), and negative pressure passageway has been seted up to the inside of suction disc (241), and the face of grabbing of suction disc (241) has seted up a plurality of negative pressures and has inhaled hole (243), and negative pressure passageway communicates each negative pressure and inhales hole (243), and main negative pressure passageway has been seted up to the inside of diaphragm (24), and main negative pressure passageway communicates each negative pressure passageway respectively, unloader disposes the negative pressure source, and negative pressure source intercommunication main negative pressure passageway to a plurality of suction disc (241) of realizing same diaphragm (24) grab the material cooperation or the blowing cooperation simultaneously.
10. An automatic feeding method is characterized in that: comprises the following steps of (a) carrying out,
1) the thin plate type hot plates (5) are stacked orderly and are respectively positioned at a plurality of hot plate stacking sections (33) which are arranged at the first side of the feeding and blanking platform (1) at intervals, and the stacking heights of the hot plates (5) in the hot plate stacking sections (33) are the same;
2) the suction plates (241) arranged at intervals through the transverse plate (24) and the topmost hot plate (5) in each hot plate overlapping section (33) are adsorbed and grabbed simultaneously;
3) the material grabbing plate arm (24) which is used for holding a plurality of hot plates (5) in an adsorption grabbing mode carries out transverse movement and/or rotary movement, each hot plate (5) is transferred to the second side of the loading and unloading platform (1) and is matched with a hot plate tooling device (4) in tooling and loading, the hot plate tooling device (4) is provided with a plurality of hot plate tooling clamping positions, and the hot plates (5) grabbed by each suction plate (241) are simultaneously positioned in the corresponding hot plate tooling clamping positions in a tooling mode;
4) after the hot plate (5) tools are positioned in the corresponding hot plate tool clamping positions, the corresponding hot plates (5) are released by the suction plates (241) of the transverse plate (24) at the same time, so that the single hot plate automatic feeding work is completed;
5) and (5) repeating the steps 1 to 4 until all the hot plates (5) in each hot plate overlapping interval (33) finish the loading of the tool from top to bottom in sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010779612.0A CN111731854A (en) | 2020-08-05 | 2020-08-05 | Loading and unloading device and automatic loading method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010779612.0A CN111731854A (en) | 2020-08-05 | 2020-08-05 | Loading and unloading device and automatic loading method thereof |
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| CN111731854A true CN111731854A (en) | 2020-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010779612.0A Pending CN111731854A (en) | 2020-08-05 | 2020-08-05 | Loading and unloading device and automatic loading method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318365A (en) * | 2020-10-28 | 2021-02-05 | 博众精工科技股份有限公司 | Metal ring blanking equipment |
| CN112850177A (en) * | 2020-12-31 | 2021-05-28 | 布莱凯特设备(苏州)有限公司 | Automatic blade plate stacking device |
-
2020
- 2020-08-05 CN CN202010779612.0A patent/CN111731854A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318365A (en) * | 2020-10-28 | 2021-02-05 | 博众精工科技股份有限公司 | Metal ring blanking equipment |
| CN112318365B (en) * | 2020-10-28 | 2022-02-15 | 博众精工科技股份有限公司 | Metal ring blanking equipment |
| CN112850177A (en) * | 2020-12-31 | 2021-05-28 | 布莱凯特设备(苏州)有限公司 | Automatic blade plate stacking device |
| CN112850177B (en) * | 2020-12-31 | 2024-04-02 | 布莱凯特设备(苏州)有限公司 | Automatic cutting edge plate stacking device |
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