CN113233176B - High-efficient unloading mechanism of going up of tray - Google Patents
High-efficient unloading mechanism of going up of tray Download PDFInfo
- Publication number
- CN113233176B CN113233176B CN202110558952.5A CN202110558952A CN113233176B CN 113233176 B CN113233176 B CN 113233176B CN 202110558952 A CN202110558952 A CN 202110558952A CN 113233176 B CN113233176 B CN 113233176B
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- China
- Prior art keywords
- tray
- axis linear
- linear module
- base
- feeding
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- 238000007599 discharging Methods 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000006978 adaptation Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 2
- 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
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
-
- 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)
- Warehouses Or Storage Devices (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention aims to provide a high-efficiency loading and unloading mechanism of a tray, which has a simple structure and can greatly improve the working efficiency. The automatic feeding and discharging device comprises an feeding and discharging manipulator and two tray conveying trolleys, wherein the two tray conveying trolleys are respectively positioned at 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 the two ends of the connecting rod, two clamping blocks are arranged at 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 feeding and discharging of trays.
Description
Technical Field
The invention is applied to the technical field of feeding and discharging of trays, and particularly relates to a high-efficiency feeding and discharging mechanism of a tray.
Background
At present, new energy automobiles are rapidly developed, technology is updated, an automobile ECU (electronic controller unit), also called a driving computer of an automobile, is an important part of an automobile control system, and 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 feeding and discharging modes of the automobile ECU in production mainly adopt manual swaying plates for feeding and discharging, but the mode has low efficiency and high labor intensity, and uncontrollable factors of manual operation easily interfere with the production quality of products, so that the method is not suitable for large-scale production of factories. If a high-efficiency loading and unloading mechanism of the tray with simple structure and greatly improved working efficiency can be designed, the problem can be well solved.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and providing the efficient loading and unloading mechanism of the tray, which has a simple structure and can greatly improve the working efficiency.
The technical scheme adopted by the invention is as follows: the automatic feeding and discharging device comprises an feeding and discharging manipulator and two tray conveying trolleys, wherein the two tray conveying trolleys are respectively positioned at 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 the two ends of the connecting rod, two clamping blocks are arranged at 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 transportation trolleys are respectively a first tray transportation trolley and a second tray transportation trolley, the trays on the first tray transportation trolleys are in full-load and empty-load states, the trays are empty trays, the trays are driven by the X-axis linear modules, the clamping jaw modules are moved to the lower portion of the empty trays, the two clamping blocks are respectively clamped by the driving of the pneumatic clamping jaws, the two clamping blocks are driven by the X-axis linear modules again, the empty trays are moved out of the first tray transportation trolleys by the clamping jaw modules, at the moment, the empty trays are positioned between the two tray transportation trolleys, after the empty trays are fully filled with products, the full-load trays are moved to the second tray transportation trolleys to be placed on the same tray transportation trolleys through the driving of the X-axis linear modules, and the clamping jaw modules are moved to the lower layer of the first tray transportation trolleys through the cooperative driving of the X-axis linear modules, the second tray transportation trolleys are continuously moved to the empty trays according to the second tray transportation trolleys, and the empty trays are continuously moved to the second tray transportation trolleys. Therefore, the invention has the advantages of simple structure, high degree of automation, greatly improved working efficiency, reduced labor intensity, and no influence on the production quality of products due to uncontrollable factors of manual operation, and is suitable for mass production of factories.
Further, the tray travelling bogie includes frame, a plurality of bracket and a plurality of truckle, and a plurality of the truckle all sets up the bottom of frame, a plurality of the bracket is followed Z axle direction interval and is set up in the frame, the bracket includes two layer boards, two the layer boards are fixed respectively the front and back both sides of frame, the tray holds in the palm and puts on two the layer boards. Therefore, the casters are arranged, so that the pallet transportation trolley can be conveniently pushed, and the flexibility is realized; the tray transportation trolley is longitudinally provided with a plurality of brackets, so that a plurality of trays can be placed at one time conveniently, and the working efficiency is improved.
Further, the X-axis linear module comprises a base, a belt transmission assembly and a sliding rail assembly, wherein 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 rod 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, through the driving of the belt transmission assembly, the toothed belt drives the sliding block to be in sliding fit with the sliding rail, so that the clamping jaw module can linearly move in the X-axis direction.
Further, the belt transmission assembly comprises a first motor, a driving gear, a driven gear, a toothed belt and two supporting blocks, wherein 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 in running fit with the two supporting blocks, the first motor is in transmission connection with the driving gear, the driving gear and the driven gear are engaged with the toothed belt, and the sliding block is connected with the toothed belt through the connecting block. Therefore, through the driving of the first motor, the two gears and the toothed belt are in meshed transmission, 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.
Further, the Z-axis linear module comprises a supporting plate, a second motor and a screw rod, wherein the second motor is arranged on the supporting plate and is connected with the screw rod of the screw rod in a transmission manner, a nut of the screw rod is connected with the base, and the base is in sliding fit with the supporting plate. Therefore, through the driving of the second motor, the base is in sliding fit with the supporting plate, so that the clamping jaw module can linearly move in the Z-axis direction.
Further, the left end and the right end of the base are both provided with groove-type photoelectric sensors, the connecting rod is provided with sensing pieces, and the sensing pieces are matched with grooves of the groove-type photoelectric sensors. Therefore, when the sensing piece is matched with the groove of the groove-type photoelectric sensor, the groove-type photoelectric sensor sends out a sensing signal to prompt that the clamping jaw module is in place, so that 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 manipulator;
FIG. 4 is a perspective view of the pallet truck;
Fig. 5 is a perspective view of the tray.
Detailed Description
As shown in fig. 1 to 5, in this embodiment, the invention includes a loading and unloading manipulator and two pallet transport trolleys 1, the two pallet transport trolleys 1 are respectively located at the left and right sides of the loading and unloading manipulator, the loading and unloading 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 at the lower end surface of the pallet 5, and the pneumatic clamping jaws 22 are adapted to the clamping blocks 6.
In this embodiment, the pallet truck 1 includes a frame 11, a plurality of brackets and a plurality of casters 12, the casters 12 are all disposed at the bottom of the frame 11, the brackets are disposed on the frame 11 along the Z-axis direction at intervals, the brackets include two pallets 13, the two pallets 13 are respectively fixed on the front and rear sides of the frame 11, and the pallet 5 is supported on the two pallets 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 slide block 33 and a connection block 34, the slide rail 32 is disposed on the base 31, the slide block 33 is slidably fitted on the slide rail 32, the connection rod 21 is disposed on the slide block 33, and the slide block 33 is connected with a toothed belt on the belt transmission assembly through the connection 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, where the two supporting blocks 39 are respectively disposed at left and right ends of the base 31, the driving gear 36 and the driven gear 37 are respectively rotationally matched with 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 meshed 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 support plate 41, a second motor 42 and a screw rod 43, where the second motor 42 is disposed on the support plate 41, the second motor 42 is connected with the screw rod of the screw rod 43 in a transmission manner, a nut of the screw rod 43 is connected with the base 31, and the base 31 is slidably fitted on the support plate 41.
In this embodiment, the left and right ends of the base 31 are provided with the groove-shaped photoelectric sensors 7, the connecting rod 21 is provided with the sensing piece 8, and the sensing piece 8 is adapted to the groove of the groove-shaped photoelectric sensor 7.
In this embodiment, the working principle of the present invention is as follows:
The two pallet transportation trolleys 1 are respectively in full load and empty load states, namely a first pallet transportation trolley and a second pallet transportation trolley, a pallet 5 on the first pallet transportation trolley is an empty pallet, the full pallet is moved to the second pallet transportation trolley to be placed on the second pallet transportation trolley 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 pallet is moved out of the first pallet transportation trolley through the clamping jaw module 2 again through the driving of the X-axis linear module 3, at the moment, the empty pallet is positioned between the two pallet transportation trolleys 1, after the empty pallet is fully filled with products, the full pallet is moved to the second pallet transportation trolley through the driving of the X-axis linear module 3, the clamping jaws 2 are moved to the first pallet transportation trolley through the cooperative driving of the X-axis linear module 3 and the Z-axis linear module 4, and the empty pallet is positioned on the same layer below the pallet transportation trolley according to the upper layer 5. And after the second tray conveying trolley is fully loaded, pushing away the second tray conveying trolley, replacing another conveying trolley provided with an empty tray, and continuing the loading and unloading procedures of the tray.
Therefore, the invention has the advantages of simple structure, high degree of automation, greatly improved working efficiency, reduced labor intensity, and no influence on the production quality of products due to uncontrollable factors of manual operation, and is suitable for mass production of factories.
Claims (3)
1. High-efficient unloading mechanism in tray, its characterized in that: the automatic feeding and discharging device comprises an feeding and discharging manipulator and two tray conveying trolleys (1), wherein the two tray conveying trolleys (1) are respectively positioned at the left side and the right side of the feeding and discharging manipulator, the feeding and discharging manipulator comprises 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 arranged at the movable end of the Z-axis linear module (4), the clamping jaw module (2) comprises a connecting rod (21) and two pneumatic clamping jaws (22), the connecting rod (21) is arranged at the movable end of the X-axis linear module (3), the two pneumatic clamping jaws (22) are symmetrically arranged at the two ends of the connecting rod (21), and two clamping blocks (6) are arranged on the lower end face of the tray (5), and the pneumatic clamping jaws (22) are matched with the clamping blocks (6); the tray transportation trolley (1) comprises a frame (11), a plurality of brackets and a plurality of casters (12), wherein the casters (12) are arranged at the bottom of the frame (11), the brackets are arranged on the frame (11) at intervals along the Z-axis direction, the brackets comprise two supporting plates (13), the two supporting plates (13) are respectively fixed on the front side and the rear side of the frame (11), and the tray (5) is supported on the two supporting plates (13); the X-axis linear module (3) comprises a base (31), a belt transmission assembly and a sliding rail assembly, wherein the belt transmission assembly is arranged on the base (31), the sliding rail assembly comprises a sliding rail (32), a sliding block (33) and a connecting block (34), the sliding rail (32) is arranged on the base (31), the sliding block (33) is in sliding fit with the sliding rail (32), the connecting rod (21) is arranged on the sliding block (33), and the sliding block (33) is connected with a toothed belt on the belt transmission assembly through the connecting block (34); both ends all are provided with groove type photoelectric sensor (7) about base (31), be provided with on connecting rod (21) response piece (8), response piece (8) with the recess looks adaptation of groove type photoelectric sensor (7).
2. The efficient loading and unloading mechanism of the tray according to claim 1, 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), wherein 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 in running fit with 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 meshed with the toothed belt (38), and the sliding block (33) is connected with the toothed belt (38) through the connecting block (34).
3. The efficient loading and unloading mechanism of the tray according to claim 2, wherein: the Z-axis linear module (4) comprises a supporting plate (41), a second motor (42) and a screw rod (43), wherein the second motor (42) is arranged on the supporting plate (41), the second motor (42) is connected with the screw rod of the screw rod (43) in a transmission manner, 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).
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 CN113233176A (en) | 2021-08-10 |
| CN113233176B true 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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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 |
| 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 |
Also Published As
| Publication number | Publication date |
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| CN113233176A (en) | 2021-08-10 |
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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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