CN113233176A - Efficient loading and unloading mechanism for tray - Google Patents
Efficient loading and unloading mechanism for tray Download PDFInfo
- Publication number
- CN113233176A CN113233176A CN202110558952.5A CN202110558952A CN113233176A CN 113233176 A CN113233176 A CN 113233176A CN 202110558952 A CN202110558952 A CN 202110558952A CN 113233176 A CN113233176 A CN 113233176A
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- China
- Prior art keywords
- tray
- module
- base
- connecting rod
- unloading mechanism
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000006978 adaptation Effects 0.000 claims description 4
- 238000007599 discharging Methods 0.000 abstract description 14
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 240000000528 Ricinus communis Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
Images
Classifications
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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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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention aims to provide the efficient loading and unloading mechanism of the tray, which has a simple structure and can greatly improve the working efficiency. The automatic feeding and discharging device comprises a feeding and discharging manipulator and two tray transport trolleys, wherein the two tray transport trolleys are respectively positioned on the left side and the right side of the feeding and discharging manipulator, the feeding and discharging manipulator comprises a clamping jaw module, an X-axis linear module and a Z-axis linear module, the X-axis linear module is arranged at the movable end of the Z-axis linear module, the clamping jaw module comprises a connecting rod and two pneumatic clamping jaws, the connecting rod is arranged at the movable end of the X-axis linear module, the two pneumatic clamping jaws are symmetrically arranged at two ends of the connecting rod, two clamping blocks are arranged on the lower end face of a tray, and the pneumatic clamping jaws are matched with the clamping blocks. The invention is applied to the technical field of tray feeding and discharging.
Description
Technical Field
The invention is applied to the technical field of tray feeding and discharging, and particularly relates to a high-efficiency feeding and discharging mechanism for a tray.
Background
At present, new energy automobiles develop more and more rapidly, and technology is updated more and more rapidly, wherein an automobile ECU (electronic control Unit), also called a driving computer of the automobile, is a very important part in an automobile control system, mainly utilizes data acquisition and exchange of various sensors and buses to judge the state of the automobile and the intention of a driver, and controls the automobile through an actuator. At present, the automobile ECU loading and unloading mode in production mainly adopts manual swinging plate loading and unloading, but the mode has low efficiency and high labor intensity, uncontrollable factors of manual operation easily interfere the production quality of products, and the method is not suitable for large-scale production of factories. If a high-efficiency loading and unloading mechanism of the tray, which is simple in structure and can greatly improve the working efficiency, can be designed, the problems can be well solved.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides the efficient loading and unloading mechanism of the tray, which is simple in structure and capable of greatly improving the working efficiency.
The technical scheme adopted by the invention is as follows: the automatic feeding and discharging device comprises a feeding and discharging manipulator and two tray transport trolleys, wherein the two tray transport trolleys are respectively positioned on the left side and the right side of the feeding and discharging manipulator, the feeding and discharging manipulator comprises a clamping jaw module, an X-axis linear module and a Z-axis linear module, the X-axis linear module is arranged at the movable end of the Z-axis linear module, the clamping jaw module comprises a connecting rod and two pneumatic clamping jaws, the connecting rod is arranged at the movable end of the X-axis linear module, the two pneumatic clamping jaws are symmetrically arranged at two ends of the connecting rod, two clamping blocks are arranged on the lower end face of a tray, and the pneumatic clamping jaws are matched with the clamping blocks.
According to the scheme, the two tray transport trolleys are respectively a first tray transport trolley and a second tray transport trolley which are respectively in full-load and no-load states, the tray on the first tray transport trolley is an empty tray, the clamping jaw module moves to the position below the empty tray under the drive of the X-axis linear module, the two clamping blocks are respectively clamped through the drive of the two pneumatic clamping jaws, the clamping jaw module moves the empty tray out of the first tray transport trolley through the drive of the X-axis linear module again, the empty tray is positioned between the two tray transport trolleys, after the empty tray is filled with products, the full-load tray is moved to the second tray transport trolley through the drive of the X-axis linear module again for placing, and then the empty tray is driven by the cooperation of the X-axis linear module and the Z-axis linear module, and when the second tray transport trolley is fully loaded, the second tray transport trolley is pushed away to replace another transport trolley with an empty tray, and the process of loading and unloading the tray is continued. Therefore, the automatic feeding device has the advantages of simple structure and high automation degree, greatly improves the working efficiency, lightens the labor intensity, avoids the problem that the production quality of products is influenced by uncontrollable factors of manual operation, and is suitable for mass production of factories.
Further, the tray travelling bogie comprises a frame, a plurality of brackets and a plurality of casters, wherein the casters are arranged at the bottom of the frame, the brackets are arranged on the frame at intervals along the Z-axis direction, the brackets comprise two supporting plates, the two supporting plates are respectively fixed at the front side and the rear side of the frame, and the tray supports are arranged on the two supporting plates. Therefore, the tray transport trolley is convenient to push by the castors, and is flexible; the tray transport trolley is longitudinally provided with the plurality of brackets, so that the trays can be conveniently placed at one time, and the working efficiency is improved.
Further, the X-axis linear module comprises a base, a belt transmission assembly and a sliding rail assembly, the belt transmission assembly is arranged on the base, the sliding rail assembly comprises a sliding rail, a sliding block and a connecting block, the sliding rail is arranged on the base, the sliding block is in sliding fit with the sliding rail, the connecting block is arranged on the sliding block, and the sliding block is connected with a toothed belt on the belt transmission assembly through the connecting block. Therefore, the toothed belt drives the sliding block to be in sliding fit with the sliding rail through the driving of the belt transmission assembly, and therefore the clamping jaw module can linearly move in the X-axis direction.
Furthermore, the belt transmission assembly comprises a first motor, a driving gear, a driven gear, a toothed belt and two supporting blocks, the two supporting blocks are respectively arranged at the left end and the right end of the base, the driving gear and the driven gear are respectively matched on the two supporting blocks in a rotating mode, the first motor is in transmission connection with the driving gear, the driving gear and the driven gear are both meshed with the toothed belt, and the sliding block is connected with the toothed belt through the connecting block. Therefore, the two gears are in meshed transmission with the toothed belt through the driving of the first motor, so that the sliding block is driven to be in sliding fit with the sliding rail, and the clamping jaw module can linearly move in the X-axis direction.
Furthermore, the Z-axis linear module comprises a supporting plate, a second motor and a screw rod, the second motor is arranged on the supporting plate and is in transmission connection with the screw rod of the screw rod, the nut of the screw rod is connected with the base, and the base is in sliding fit with the supporting plate. Therefore, the base is in sliding fit with the supporting plate through the driving of the second motor, so that the clamping jaw module can linearly move in the Z-axis direction.
Furthermore, both ends all are provided with cell type photoelectric sensor about the base, be provided with the response piece on the connecting rod, the response piece with cell type photoelectric sensor's recess looks adaptation. Therefore, when the induction sheet is matched with the groove of the groove-shaped photoelectric sensor, the groove-shaped photoelectric sensor sends out an induction signal to prompt that the clamping jaw module is in place, and the X-axis linear module is stopped being driven.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of the jaw module;
FIG. 3 is a perspective view of the loading and unloading robot;
FIG. 4 is a perspective view of the pallet track;
fig. 5 is a perspective view of the tray.
Detailed Description
As shown in fig. 1 to 5, in this embodiment, the present invention includes a feeding and discharging manipulator and two tray transport carts 1, the two tray transport carts 1 are respectively located at the left and right sides of the feeding and discharging manipulator, the feeding and discharging manipulator includes a clamping jaw module 2, an X-axis linear module 3 and a Z-axis linear module 4, the X-axis linear module 3 is disposed at the movable end of the Z-axis linear module 4, the clamping jaw module 2 includes a connecting rod 21 and two pneumatic clamping jaws 22, the connecting rod 21 is disposed at the movable end of the X-axis linear module 3, the two pneumatic clamping jaws 22 are symmetrically disposed at two ends of the connecting rod 21, two clamping blocks 6 are disposed on the lower end surface of the tray 5, and the pneumatic clamping jaws 22 are adapted to the clamping blocks 6.
In this embodiment, tray travelling bogie 1 includes frame 11, a plurality of bracket and a plurality of truckle 12, a plurality of truckle 12 all sets up the bottom of frame 11, a plurality of the bracket sets up along Z axle direction interval on the frame 11, the bracket includes two layer boards 13, two layer boards 13 are fixed respectively frame 11 front and back both sides, and tray 5 holds in the palm puts two on layer board 13.
In this embodiment, the X-axis linear module 3 includes a base 31, a belt transmission assembly and a slide rail assembly, the belt transmission assembly is disposed on the base 31, the slide rail assembly includes a slide rail 32, a slider 33 and a connecting block 34, the slide rail 32 is disposed on the base 31, the slider 33 is slidably fitted on the slide rail 32, the connecting block 21 is disposed on the slider 33, and the slider 33 is connected to a toothed belt on the belt transmission assembly through the connecting block 34.
In this embodiment, the belt transmission assembly includes a first motor 35, a driving gear 36, a driven gear 37, a toothed belt 38 and two supporting blocks 39, the two supporting blocks 39 are respectively disposed at the left and right ends of the base 31, the driving gear 36 and the driven gear 37 are respectively rotatably fitted on the two supporting blocks 39, the first motor 35 is in transmission connection with the driving gear 36, the driving gear 36 and the driven gear 37 are both engaged with the toothed belt 38, and the slider 33 is connected with the toothed belt 38 through the connecting block 34.
In this embodiment, the Z-axis linear module 4 includes a supporting plate 41, a second motor 42 and a screw rod 43, the second motor 42 is disposed on the supporting plate 41, the second motor 42 is in transmission connection with a screw rod of the screw rod 43, a nut of the screw rod 43 is connected with the base 31, and the base 31 is in sliding fit with the supporting plate 41.
In this embodiment, both ends all are provided with cell type photoelectric sensor 7 about base 31, be provided with response piece 8 on the connecting rod 21, response piece 8 with cell type photoelectric sensor 7's recess looks adaptation.
In the present embodiment, the working principle of the present invention is as follows:
the two tray transport trolleys 1 are respectively in a full-load state and an idle-load state and respectively comprise a first tray transport trolley and a second tray transport trolley, the tray 5 on the first tray transport trolley is an empty tray, the clamping jaw module 2 moves to the position below the empty tray through the driving of the X-axis linear module 3, the two clamping blocks 6 are respectively clamped through the driving of the two pneumatic clamping jaws 22, the empty tray is moved out of the first tray transport trolley through the driving of the X-axis linear module 3 again, the empty tray is positioned between the two tray transport trolleys 1, after the empty tray is filled with products, the full-load tray is moved to the second tray transport trolley through the driving of the X-axis linear module 3 again, and then the full-load tray is moved to the second tray transport trolley through the cooperative driving of the X-axis linear module 3 and the Z-axis linear module 4, the clamping jaw module 2 moves to the next layer of the first tray transport trolley and is positioned below the empty tray of the next layer, and the loading and unloading process of the tray 5 is completed according to the same operation. And after the second tray transport trolley is fully loaded, pushing away the second tray transport trolley, replacing another transport trolley with an empty tray, and continuing to perform the loading and unloading process of the tray.
Therefore, the automatic feeding device has the advantages of simple structure and high automation degree, greatly improves the working efficiency, lightens the labor intensity, avoids the problem that the production quality of products is influenced by uncontrollable factors of manual operation, and is suitable for mass production of factories.
Claims (6)
1. The utility model provides a go up unloading mechanism in high efficiency of tray which characterized in that: it includes last feeding mechanical arm and two tray travelling bogie (1), two tray travelling bogie (1) is located respectively go up feeding mechanical arm's the left and right sides, go up feeding mechanical arm includes clamping jaw module (2), X axle sharp module (3) and Z axle sharp module (4), X axle sharp module (3) set up the expansion end of Z axle sharp module (4), clamping jaw module (2) are including connecting rod (21) and two pneumatic clamping jaw (22), connecting rod (21) set up the expansion end of X axle sharp module (3), two pneumatic clamping jaw (22) symmetry sets up the both ends of connecting rod (21), the lower terminal surface of tray (5) is provided with two grip blocks (6), pneumatic clamping jaw (22) and grip block (6) looks adaptation.
2. The efficient loading and unloading mechanism for the tray as claimed in claim 1, wherein: tray travelling bogie (1) includes frame (11), a plurality of bracket and a plurality of truckle (12), a plurality of truckle (12) all set up the bottom of frame (11), a plurality of the bracket sets up along Z axle direction interval on frame (11), the bracket includes two layer boards (13), two layer board (13) are fixed respectively both sides around frame (11), and tray (5) hold in the palm puts two on layer board (13).
3. The efficient loading and unloading mechanism for the tray as claimed in claim 1, wherein: x axle straight line module (3) includes base (31), belt drive subassembly and slide rail set spare, the belt drive subassembly sets up on base (31), slide rail set spare includes slide rail (32), slider (33) and connecting block (34), slide rail (32) set up on base (31), slider (33) sliding fit is in on slide rail (32), connecting rod (21) set up on slider (33), slider (33) pass through connecting block (34) with the cingulum on the belt drive subassembly links to each other.
4. The efficient loading and unloading mechanism for the tray as claimed in claim 3, wherein: the belt transmission assembly comprises a first motor (35), a driving gear (36), a driven gear (37), a toothed belt (38) and two supporting blocks (39), the two supporting blocks (39) are respectively arranged at the left end and the right end of the base (31), the driving gear (36) and the driven gear (37) are respectively matched on the two supporting blocks (39) in a rotating mode, the first motor (35) is in transmission connection with the driving gear (36), the driving gear (36) and the driven gear (37) are both meshed with the toothed belt (38), and the sliding block (33) is connected with the toothed belt (38) through the connecting block (34).
5. The efficient loading and unloading mechanism for the tray as claimed in claim 4, wherein: z axle straight line module (4) are including backup pad (41), second motor (42) and lead screw (43), second motor (42) set up on backup pad (41), second motor (42) with the screw rod transmission of lead screw (43) is connected, the nut of lead screw (43) with base (31) link to each other, base (31) sliding fit is in on backup pad (41).
6. The efficient loading and unloading mechanism for the tray as claimed in claim 3, wherein: both ends all are provided with cell type photoelectric sensor (7) about base (31), be provided with response piece (8) on connecting rod (21), response piece (8) with the recess looks adaptation of cell type photoelectric sensor (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110558952.5A CN113233176B (en) | 2021-05-21 | 2021-05-21 | High-efficient unloading mechanism of going up of tray |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110558952.5A CN113233176B (en) | 2021-05-21 | 2021-05-21 | High-efficient unloading mechanism of going up of tray |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113233176A true CN113233176A (en) | 2021-08-10 |
| CN113233176B CN113233176B (en) | 2024-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110558952.5A Active CN113233176B (en) | 2021-05-21 | 2021-05-21 | High-efficient unloading mechanism of going up of tray |
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| KR101481055B1 (en) * | 2014-06-18 | 2015-01-14 | 안광태 | An automation system for feed sac transfer |
| CN107954181A (en) * | 2017-11-14 | 2018-04-24 | 湖南艾博特机器人系统有限公司 | A kind of cell piece gaily decorated basket automatically delivers feeding feeding system |
| CN109230475A (en) * | 2017-07-11 | 2019-01-18 | 浙江国自机器人技术有限公司 | Pallet deviation correction method and device |
| CN208746975U (en) * | 2018-08-22 | 2019-04-16 | 广东互赢智能装备科技有限公司 | A kind of core palletizer |
| CN211865869U (en) * | 2020-02-28 | 2020-11-06 | 深圳新益昌科技股份有限公司 | Material collecting device and lithium battery aging and sorting equipment |
| CN212449642U (en) * | 2020-09-18 | 2021-02-02 | 深圳市运泰利自动化设备有限公司 | Feeding and discharging mechanism for material tray |
| CN213201861U (en) * | 2020-07-13 | 2021-05-14 | 珠海科瑞思科技股份有限公司 | Discharging, wire arranging and arranging mechanism of winding machine |
| CN215709909U (en) * | 2021-05-21 | 2022-02-01 | 珠海达明科技有限公司 | Efficient loading and unloading mechanism for tray |
-
2021
- 2021-05-21 CN CN202110558952.5A patent/CN113233176B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502252A (en) * | 2011-10-27 | 2012-06-20 | 天津大学 | Turning carrying device for workpieces |
| KR101481055B1 (en) * | 2014-06-18 | 2015-01-14 | 안광태 | An automation system for feed sac transfer |
| CN109230475A (en) * | 2017-07-11 | 2019-01-18 | 浙江国自机器人技术有限公司 | Pallet deviation correction method and device |
| CN107954181A (en) * | 2017-11-14 | 2018-04-24 | 湖南艾博特机器人系统有限公司 | A kind of cell piece gaily decorated basket automatically delivers feeding feeding system |
| CN208746975U (en) * | 2018-08-22 | 2019-04-16 | 广东互赢智能装备科技有限公司 | A kind of core palletizer |
| CN211865869U (en) * | 2020-02-28 | 2020-11-06 | 深圳新益昌科技股份有限公司 | Material collecting device and lithium battery aging and sorting equipment |
| CN213201861U (en) * | 2020-07-13 | 2021-05-14 | 珠海科瑞思科技股份有限公司 | Discharging, wire arranging and arranging mechanism of winding machine |
| CN212449642U (en) * | 2020-09-18 | 2021-02-02 | 深圳市运泰利自动化设备有限公司 | Feeding and discharging mechanism for material tray |
| CN215709909U (en) * | 2021-05-21 | 2022-02-01 | 珠海达明科技有限公司 | Efficient loading and unloading mechanism for tray |
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| Publication number | Publication date |
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| CN113233176B (en) | 2024-06-11 |
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Effective date of registration: 20220907 Address after: 519000 type B plant in Xinqing Science and Technology Industrial Park, Doumen District, Zhuhai City, Guangdong Province Applicant after: INTELLIGENT AUTOMATION (ZHUHAI) Co.,Ltd. Address before: 519000 building 4, No.5, Keji 8th Road, Tangjiawan Town, high tech Zone, Zhuhai City, Guangdong Province Applicant before: ZHUHAI DAMING TECHNOLOGY Co.,Ltd. |
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