CN113060549B

CN113060549B - Intelligent product discharging and tray loading equipment

Info

Publication number: CN113060549B
Application number: CN202110612339.7A
Authority: CN
Inventors: 阮文强; 包文龙; 武希涛
Original assignee: Kunshan Jiahua Jierui Intelligent Technology Co ltd
Current assignee: Kunshan Jiahua Jierui Intelligent Technology Co ltd
Priority date: 2021-06-02
Filing date: 2021-06-02
Publication date: 2021-08-17
Anticipated expiration: 2041-06-02
Also published as: CN113060549A

Abstract

The application discloses material sabot equipment is arranged to product intelligence, snatch module, diaxon module, the module of snatching and interval adjustment module shift including the multiaxis of mutually supporting. The multi-axis grabbing module comprises a multi-axis moving platform capable of moving in multiple axis directions and a plurality of first clamping jaw members combined on the multi-axis moving platform. The two-axis displacement module comprises a bearing seat, a base and a supporting seat, wherein the bearing seat is rotatably connected with the base, the base is rotatably connected with the supporting seat, and a rotating shaft of the bearing seat is vertical to a rotating shaft of the base. The shifting grabbing module comprises a plurality of second clamping jaw members and a multi-axis moving module, and the second clamping jaw members are rotatably combined with the multi-axis moving module. The spacing adjustment module comprises a bearing platform, a plurality of carriers and linkage members, wherein the carriers are combined on the bearing platform in a sliding mode, the carriers are linked through the linkage members, and the carriers can slide on the bearing platform to be relatively close to or far away from each other. The product can be automatically adjusted and carried.

Description

Intelligent product discharging and tray loading equipment

Technical Field

The application relates to a material sabot equipment is arranged to product intelligence.

Background

In the automatic production process, due to the shape and structural factors of the product, the placing process of the semi-finished product in the carrying tray/carrier, the placing process of the product in the mold for reprocessing, and the tray loading process of the final finished product all need to consider the distance between the product and the product, the front and back sides of the product, and the angular relationship between adjacent products. The purpose is that each charging tray can high density take in the product when in order to carry, need ensure simultaneously that the product can not damage.

The relative position relationship between the semi-finished product placed on the carrier and the relative position relationship between the processed finished product placed on the finished product tray in the prior art are often different. Therefore, in the processes, the angle, the front side and the back side of the product need to be adjusted, the tray loading of the common finished product is completed manually, the cost is high, and the efficiency is not high.

Therefore, it is necessary to design an intelligent discharging and tray loading device to solve the above problems.

Disclosure of Invention

An object of this application is to provide a material sabot equipment is arranged to product intelligence lets the intellectuality that the sabot of product becomes, improves production efficiency.

The purpose of the application is realized by the following technical scheme:

an intelligent product discharging and tray loading device comprises a multi-shaft grabbing module, a two-shaft displacement module, a displacement grabbing module and a spacing adjusting module which are matched with each other;

the multi-axis grabbing module comprises a multi-axis moving platform capable of moving in multi-axis directions and a plurality of first clamping jaw members combined on the multi-axis moving platform;

the two-axis displacement module comprises a bearing seat, a base and a supporting seat, the first clamping jaw component clamps a product and then positions and places the product on the bearing seat, the bearing seat is rotatably connected with the base, the base is rotatably connected with the supporting seat, and a rotating shaft of the bearing seat is perpendicular to a rotating shaft of the base;

the shifting grabbing module comprises a plurality of second clamping jaw members and a multi-axis moving module, and the second clamping jaw members are rotatably combined with the multi-axis moving module;

the distance adjusting module comprises a bearing platform, a plurality of carriers and linkage members, the carriers are slidably combined on the bearing platform, the carriers are linked through the linkage members, the second clamping jaw members can rotate after clamping products from the two-axis displacement module and are positioned and placed on the carriers after being driven to displace by the multi-axis moving module, and the carriers can slide on the bearing platform and are relatively close to or far away.

Furthermore, the base is recessed to form an accommodating groove, the outer contour of the bearing seat is columnar, the bearing seat is rotatably accommodated in the accommodating groove, the bearing seat is linked with a driving assembly, and the driving assembly drives the bearing seat to rotate in the accommodating groove.

Further, still including a plurality of spacing clamps, be formed with a plurality of product holding tanks on bearing the seat, spacing clamp swing joint in bear the seat, each spacing clamp corresponds with a product holding tank respectively, spacing clamp is used for spacing the product that holds in the product holding tank.

Further, still include torsion spring, the spacing clamp combines with the seat of bearing through torsion spring, works as when the relative base of the seat of bearing is rotatory, the inside wall restriction spacing clamp of base rotates and makes the spacing clamp be the closed condition with the seat of bearing, works as when the relative base of the seat of bearing reverse rotation, torsion spring self elastic force orders about the spacing clamp and bears the seat relatively and be the open mode, the cross-section of product holding tank is fan-shaped to the opening direction from inside, works as when the spacing clamp is the closed condition with the seat of bearing, the product holding tank can only be put into the product from a direction.

Further, bear the seat in each both sides of product holding tank are formed with and press from both sides and get the groove of stepping down, and is same two of product holding tank both sides are got the groove of stepping down and are linked together with the product holding tank along the direction of rotation that bears the seat.

Furthermore, the base corresponds to the clamping abdicating groove and is formed with a clamping abdicating notch.

Furthermore, a plurality of carriers are connected in series through at least one sliding shaft, and a containing groove for containing products is formed in a concave mode on each carrier.

Furthermore, the plurality of linkage members are limited between the plurality of carriers and the bearing platform, one linkage member corresponds to two limiting carriers, and when the two carriers are separated from each other to a certain distance, the corresponding linkage member limits the two carriers to be excessively separated.

Furthermore, one carrier positioned at one end of the sliding shaft is driven to slide by the driving component, and the other carrier positioned at the other end of the sliding shaft is fixed with the bearing platform.

Furthermore, a damping piece is assembled between two adjacent carriers positioned at the other end of the sliding shaft, the damping piece is of a columnar or tubular structure with at least one periphery having elasticity, the damping piece is fixed with one carrier positioned at the other end of the sliding shaft, and a damping hole matched with the damping piece is formed on the carrier adjacent to the carrier positioned at the other end of the sliding shaft.

Compared with the prior art, the method has the following beneficial effects: the product can be automatically adjusted and carried.

Drawings

Fig. 1 is a schematic perspective view of an intelligent discharging and tray loading device for products, wherein a limiting clamp and a bearing seat are in an open state.

Fig. 2 is a perspective view of fig. 1 from another angle.

Fig. 3 is an enlarged view of the portion within the dashed circle in fig. 2.

Fig. 4 is an enlarged view of a portion within the dashed box of fig. 1.

Fig. 5 is a schematic perspective view of the carrier in fig. 4 rotated to another state, specifically, the carrier is rotated to a state where the position-limiting clamp and the carrier are closed.

Fig. 6 is a schematic perspective view illustrating that the base of the intelligent product discharging and tray loading device shown in fig. 1 rotates to another state, and in addition, the limiting clamp and the bearing seat in fig. 6 are in a closed state.

Fig. 7 is an enlarged view of a portion within the dashed box of fig. 6.

Fig. 8 is a perspective view of the carrier base in fig. 7 rotated to another state, specifically, the carrier base is rotated to the open state of the position-limiting clamp and the carrier base.

Fig. 9 is a perspective view of fig. 1 from another angle.

Fig. 10 is an enlarged view of a portion of the dashed box in fig. 9.

Fig. 11 is a perspective view of the second jaw member of fig. 10 rotated to another state.

Fig. 12 is a schematic perspective view of a spacing adjustment module of the product intelligent discharging and tray loading device of the present application.

Fig. 13 is an enlarged view of the portion within the dashed circle in fig. 12.

Fig. 14 is a partially exploded perspective view of a spacing adjustment module of the product intelligent discharging and tray loading device of the present application.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the application may be combined with each other without conflict. The following detailed description will refer to the accompanying drawings in conjunction with embodiments.

Throughout the description of the application, it is to be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the application can be understood in a specific context by those of ordinary skill in the art.

In the description of the application, it is to be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Please refer to fig. 1 to 14, which illustrate an intelligent discharging and tray loading device for products disclosed in the present application. This product intelligence is arranged material sabot equipment and is snatched module 1, diaxon module 2, is shifted and snatchs module 3 and interval adjustment module 4 including the multiaxis that mutually supports. The product intelligent discharging and tray loading equipment is used for adjusting the positions of the products 200 placed on the carrying tray 5 according to a certain rule, and comprises a relative angle, a spacing distance, a forward direction, a reverse direction and the like, so that the products 200 placed on the carrying tray 5 can be automatically placed in another carrying tray/material tray (not shown) in another arrangement mode, and the full-automatic carrying and product discharging and tray placing actions of the products 200 on an automatic production line are completed.

Please refer to fig. 4 and 5 in combination with fig. 1, 7 and 8 in combination with fig. 6. The multi-axis grabbing module 1 comprises a multi-axis moving platform 11 capable of moving in multiple axes and a plurality of first clamping jaw members 12 combined on the multi-axis moving platform 11. The multi-axis movement of the multi-axis mobile platform 11 in the present application is specifically three-axis movement in the X-axis, Y-axis, and Z-axis directions shown in fig. 1, but in other embodiments, the multi-axis movement of the multi-axis mobile platform 11 may also refer to only two axes thereof, and may be adjusted according to the function requirement of the device.

The two-axis displacement module 2 includes a bearing seat 21, a base 22 and a supporting seat 23, the first clamping jaw member 12 clamps the product 200 from the loading tray 5 and then positions and places the product on the bearing seat 21, the bearing seat 21 is rotatably connected with the base 22, the base 22 is rotatably connected with the supporting seat 23, and a rotating shaft of the bearing seat 21 is perpendicular to a rotating shaft of the base 22. The two-axis displacement module 2 is mainly used for rotating a product in two axial dimensions to adjust the position.

As shown with reference to fig. 9, 10 and 11. The shift grabbing module 3 comprises a plurality of second jaw members 31 and a multi-axis moving module 32, wherein the second jaw members 31 are rotatably combined with the multi-axis moving module 32; the shifting grabbing module 3 is used for clamping the product 200 from the bearing seat 21 of the two-axis shifting module 2, and meanwhile, the second clamping jaw member 31 can rotate and can also adjust the angle of the clamped product 200. In addition, the multi-axis moving module 32 in the present application can actually move along three axes, i.e. X-axis, Y-axis, and Z-axis directions, as shown in fig. 1, but in other embodiments, the multi-axis moving module 32 can also refer to only two axes, and can be implemented and adjusted according to the functional requirements of the device.

As shown with reference to fig. 9-14. The spacing adjustment module 4 includes a supporting platform 41, a plurality of carriers 42 slidably coupled to the supporting platform 41, and a linkage member 43, the plurality of carriers 42 are linked by the linkage member 43, the second jaw member 31 can rotate after gripping the product 200 and is driven by the multi-axis moving module 32 to move, and then is positioned on the carriers 42, and the plurality of carriers 42 can slide on the supporting platform 41 to be relatively close to or far away from each other. The spacing adjustment module 4 is mainly used for adjusting the spacing distance between two adjacent products 200, and can be adaptively adjusted according to the accommodating position of the product 200 on a carrier tray (not shown) for finally carrying the product 200.

In this application the material sabot equipment is arranged to product intelligence passes through: the multi-axis grabbing module 1, the two-axis displacement module 2, the displacement grabbing module 3 and the spacing adjustment module 4 perform position adjustment on the products 200 (refer to the placement form of the products 200 in fig. 1) originally positioned on the carrying tray 5, and then the products (refer to the placement arrangement form of the products 200 in fig. 12 and 13) finally presented on the carrying tool 42 on the spacing adjustment module 4 after the position adjustment are finally carried to a final carrying tray/material tray (not shown) through a manipulator, so that the automatic position adjustment and carrying of the whole products 200 are completed. The labor is saved, the production efficiency is improved, and meanwhile, the error of manual operation is reduced.

Please refer to fig. 4 and 5 in combination with fig. 1, 7 and 8 in combination with fig. 6. The base 22 is recessed to form a receiving cavity 220, the outer contour of the bearing seat 21 is cylindrical, the bearing seat 21 can be rotatably received in the receiving cavity 220 (the bearing seat 21 rotates along the axis of the cylindrical bearing seat 21 as a rotating shaft), the bearing seat 21 is linked with a driving component 211, and the driving component 211 drives the bearing seat 21 to rotate in the receiving cavity 220. The driving assembly 211 is a rotating motor and is matched with a set of gears to drive the bearing seat 21 to rotate.

The two-axis displacement module 2 further includes a plurality of limiting clamps 213, a plurality of product accommodating grooves 212 are formed in the bearing seat 21, the limiting clamps 213 are movably combined on the bearing seat 21, each limiting clamp 213 corresponds to one product accommodating groove 212, and the limiting clamps 213 are used for limiting the products accommodated in the product accommodating grooves 212. Specifically, the two-axis displacement module 2 further includes a torsion spring (not labeled), and the limit clamp 213 is coupled to the carrier base 21 through the torsion spring. When the carrying seat 21 rotates relative to the base 22, the inner sidewall of the base 22 (i.e. the inner wall of the containing groove 220) limits the rotation of the position-limiting clamp 213, so that the position-limiting clamp 213 and the carrying seat 21 are in a closed state; when the bearing seat 21 rotates reversely relative to the base 22, the elastic force of the torsion spring drives the position-limiting clamp 213 to be opened relative to the bearing seat 21 (specifically, as shown in fig. 4 and fig. 5, in which the position-limiting clamp 213 is opened in fig. 4, and the position-limiting clamp 213 is closed in fig. 5).

In this application, the cross-section of product holding tank 212 is fan-shaped (in this application, contained angle is 90 degrees between the fan-shaped both sides, is convenient for product 200 to put into the back from fan-shaped one limit place direction, takes out from fan-shaped another limit place direction), works as spacing clamp 213 is closed state with bearing seat 21, product 200 can only be put into from a direction to product holding tank 212 (please refer to fig. 5 or fig. 7 specifically, can understand the above-mentioned fan-shaped one limit place direction). The fan-shaped product-receiving slot 212 also enables the product 200 to be removed from the product-receiving slot 212 from another direction when the retention clip 213 is open relative to the carrier 21 (specifically referring to fig. 4 or 8, it can be understood that the other side of the fan-shaped slot is in the other direction). The position-limiting clips 213 are arranged to prevent the product 200 from being separated from or thrown out of the product-accommodating groove 212 when the carrying seat 21 rotates from the closed state position (the state position shown in fig. 5 and 7) to the open state position (the state position shown in fig. 4), so as to ensure the position stability of the product 200 in the product-accommodating groove 212 during the entire rotation process of the carrying seat 21.

Please refer to fig. 4 and 5 in combination with fig. 1, 7 and 8 in combination with fig. 6. The carrying seat 21 is formed with two gripping and abdicating grooves 215 (see fig. 4 and 5) on two sides of each product accommodating groove 212, and the two gripping and abdicating grooves 215 on two sides of the same product accommodating groove 212 are communicated with the product accommodating groove 212 along the rotation direction of the carrying seat 21. In addition, the base 22 is formed with a gripping and abdicating notch 225 corresponding to the gripping and abdicating slot 215 (see fig. 4 and 5). The gripping abdicating groove 215 and the gripping abdicating notch 225 are disposed to facilitate the first jaw member 12 and the second jaw member 31 to place and grip the product 200, thereby achieving the abdicating function.

Referring to fig. 9 to 14, a plurality of carriers 42 are connected in series by at least one sliding shaft 44, and each carrier 42 is recessed to form a receiving groove 420 for receiving a product. The plurality of linking members 43 are limited between the plurality of carriers 42 and the carrying platform 41, one linking member 43 correspondingly limits two carriers 42, and when the two carriers 42 are separated to a certain distance, the corresponding linking member 43 limits the two carriers 42 to be excessively separated. One of the carriers 42 at one end of the sliding shaft 44 is driven to slide by the driving member 6, and the other carrier 42 at the other end of the sliding shaft 44 is fixed to the carrying platform 41. As described above, when the driving member 6 drives the carriers 42 fixed thereto to move in the X-axis forward direction (refer to the direction shown in fig. 1, that is, the forward direction of the extending direction of the sliding shaft 44), each carrier 42 is distanced to a specific pitch position through the linkage of the linkage member 43; when the driving member 6 drives the carriers 42 fixed thereto to move in the direction opposite to the X axis (refer to the direction shown in fig. 1, that is, the direction of extension of the slide shaft 44 is opposite), the carriers 42 are pushed in contact with each other, so that the carriers 42 are sequentially close to each other. For adjusting the spacing of the products 200 carried on each carrier 42. In the present application, the driving member 6 may be a linear motor, a cylinder, an oil cylinder, or other components, and is mainly used for providing linear motion.

Referring to fig. 9 to 14, a damping member 45 is disposed between two adjacent carriers 42 at the other end of the sliding shaft 44, the damping member 45 is a column-shaped structure or a tubular structure with elasticity at the periphery, the damping member 45 is fixed to one carrier 42 at the other end of the sliding shaft 44 (or fixed to a specific position of the sliding shaft 44), and a damping hole (not numbered) matched with the damping member 45 is formed on the carrier 42 adjacent to the carrier 42 at the other end of the sliding shaft 44. The damping piece 45 is arranged, so that the carriers 42 can be more gradually close to each other to the final contraction state, and the carriers 42 are prevented from being damaged by mutual impact.

The above description is only a part of the embodiments of the present application, and not all embodiments, and any equivalent changes to the technical solutions of the present application, which are made by those skilled in the art through reading the present specification, are covered by the claims of the present application.

Claims

1. The utility model provides a product intelligence is arranged material sabot equipment, snatchs module (1), diaxon module (2) that shifts, shifts and snatchs module (3) and interval adjustment module (4) including the multiaxis of mutually supporting, its characterized in that:

the multi-axis grabbing module (1) comprises a multi-axis moving platform (11) capable of moving in multiple axis directions and a plurality of first clamping jaw members (12) combined on the multi-axis moving platform (11);

the two-axis displacement module (2) comprises a bearing seat (21), a base (22) and a supporting seat (23), the first clamping jaw component (12) clamps a product and then positions the product on the bearing seat (21), the bearing seat (21) is rotatably connected with the base (22), the base (22) is rotatably connected with the supporting seat (23), and a rotating shaft of the bearing seat (21) is vertical to a rotating shaft of the base (22);

the displacement grabbing module (3) comprises a plurality of second clamping jaw members (31) and a multi-axis moving module (32), wherein the second clamping jaw members (31) are rotatably combined with the multi-axis moving module (32);

the distance adjusting module (4) comprises a bearing platform (41), a plurality of carriers (42) and linkage members (43), wherein the carriers (42) are slidably combined on the bearing platform (41), the carriers are linked through the linkage members (43), the second clamping jaw members (31) can rotate after clamping products from the two-axis displacement module (2) and are driven by the multi-axis moving module (32) to displace and then positioned on the carriers (42), and the carriers (42) can slide on the bearing platform (41) to be relatively close to or far away.

2. The product intelligent discharging and palletizing device as set forth in claim 1, wherein: the base (22) is recessed to form a containing groove (220), the outer contour of the bearing seat (21) is columnar, the bearing seat (21) can be rotatably contained in the containing groove (220), the bearing seat (21) is linked with a driving component (211), and the driving component (211) drives the bearing seat (21) to rotate in the containing groove (220).

3. The product intelligent discharging and palletizing device as set forth in claim 2, wherein: still include a plurality of spacing clamps (213), bear and form a plurality of product holding tank (212) on seat (21), spacing clamp (213) swing joint in bear seat (21), each spacing clamp (213) correspond with a product holding tank (212) respectively, spacing clamp (213) are used for the spacing product that holds in product holding tank (212).

4. The intelligent product discharging and palletizing device as recited in claim 3, wherein: still include torsion spring, stop clip (213) combine through torsion spring and carrier seat (21), work as when carrier seat (21) is rotatory relative base (22), the inner wall restriction stop clip (213) of storage tank (220) rotate and make stop clip (213) and carrier seat (21) be the closed condition, work as when carrier seat (21) is relative base (22) antiport, the elastic force of torsion spring self orders about stop clip (213) and is the open mode relatively carrier seat (21), the cross-section of product holding tank (212) is fan-shaped from inside to opening direction, works as when stop clip (213) is the closed condition with carrier seat (21), product holding tank (212) only can be put into the product from a direction.

5. The intelligent product discharging and palletizing device as recited in claim 4, wherein: bear seat (21) in each both sides of product holding tank (212) are formed with and get abdicating groove (215), same two that product holding tank (212) both sides are got abdicating groove (215) along the direction of rotation that bears seat (21) with product holding tank (212) intercommunication.

6. The intelligent product discharging and palletizing device as recited in claim 5, wherein: the base (22) is provided with a clamping abdicating notch (225) corresponding to the clamping abdicating groove (215).

7. The product intelligent discharging and palletizing device as set forth in claim 1, wherein: a plurality of carriers (42) are connected in series through at least one sliding shaft (44), and a containing groove (420) for containing products is formed in a concave mode on each carrier (42).

8. The product intelligent discharging and palletizing device as set forth in claim 7, wherein: the linkage members (43) are limited between the carriers (42) and the bearing platform (41), one linkage member (43) correspondingly limits the two carriers (42), and when the two carriers (42) are separated to a certain distance, the corresponding linkage member (43) limits the two carriers (42) to be excessively separated.

9. The product intelligent discharging and palletizing device as set forth in claim 7, wherein: the carrier (42) at the extreme end of one end of the sliding shaft (44) is driven to slide by the driving component (6), and the carrier (42) at the extreme end of the other end of the sliding shaft (44) is fixed with the bearing platform (41).

10. The product intelligent discharging and palletizing apparatus as recited in claim 9, wherein: a damping piece (45) is assembled between every two adjacent carriers (42) located at the extreme end of the other end of the sliding shaft (44), the damping piece (45) is of a cylindrical or tubular structure with at least elasticity on the periphery, the damping piece (45) is fixed with one carrier (42) of every two adjacent carriers (42) located at the extreme end of the other end of the sliding shaft (44), and a damping hole matched with the damping piece (45) is formed in the other carrier (42) of every two adjacent carriers (42) located at the extreme end of the other end of the sliding shaft (44).