CN114919989A

CN114919989A - Disc changer

Info

Publication number: CN114919989A
Application number: CN202210567833.0A
Authority: CN
Inventors: 杨艳; 谷春光; 沈鹭; 刘国强
Original assignee: Shenzhen Kaileshi Jiechuangjia Logistics Equipment Co ltd; Zhejiang Galaxis Technology Group Co Ltd
Current assignee: Anhui Kaileshi Technology Co ltd
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2022-08-19

Abstract

The application relates to the technical field of material transportation, and the embodiment of the application provides a disc changing device. This trade a set device is equipped with material loading station and upset station along the first direction in proper order, trades a set device at least including snatching the mechanism and locating the tilting mechanism of upset station, snatchs the mechanism and is used for snatching the material at the material loading station to place this material in the tilting mechanism that is located the upset station, tilting mechanism is used for overturning this material. Can be at material loading station and upset station reciprocating motion's the mechanism that snatchs through the setting to through tilting mechanism upset material, make only just can accomplish the action of material loading, snatch and upset through setting up two stations, improved material conveying efficiency.

Description

Disc changer

Technical Field

The application relates to the technical field of material transportation, in particular to a disc replacing device.

Background

Changing trays is the process of transferring material from one tray to another. When the placing mode of the materials needs to be changed, the materials can be placed on the corresponding material discs through manual operation in the transferring process. Thereby affecting the efficiency of the material transport.

Disclosure of Invention

Based on this, it is necessary to provide a disc changer to improve the material conveying efficiency.

The embodiment of the application provides a disc changing device, which is sequentially provided with a feeding station and a turning station along a first direction;

the disc changer includes:

the grabbing mechanism comprises a first base and a plurality of grabbing units which are arranged on the first base and are arranged at intervals; the first base is configured to reciprocate along a second direction and reciprocate between the loading station and the overturning station along the first direction; and

the turnover mechanism is arranged at the turnover station;

the grabbing mechanism is positioned at the feeding station and used for grabbing materials on a first tray positioned at the feeding station;

the grabbing mechanism is located at the overturning station and used for placing grabbed materials on the overturning mechanism, and the overturning mechanism is used for overturning the materials.

In one embodiment, a plurality of the grasping units are two-dimensionally arranged at intervals from each other in the first direction and the third direction; at least some of the plurality of gripper units are configured to be capable of rotational movement about an axis;

the axis and the second direction are parallel to each other, and the first direction, the second direction, and the third direction are perpendicular to each other.

In one embodiment, along the first direction, at least one of the two adjacent gripping units is configured to reciprocate along the first direction; and/or

At least one of the gripper units of two adjacent gripper units is configured to be capable of reciprocating in the third direction.

In one embodiment, the turnover mechanism comprises a second base and a plurality of turnover pieces rotatably arranged on the second base; each overturning piece is provided with a plurality of adsorption pieces;

the overturning part is provided with a first limit position and a second limit position in the rotating process;

the overturning mechanism is arranged at the first limit position, the grabbing mechanism places materials on the overturning mechanism, and the overturning mechanism adsorbs the materials by means of the adsorption pieces;

the turnover piece is turned over from the first limit position to the second limit position after receiving the materials.

In one embodiment, the turnover mechanism further comprises a plurality of buffering members;

when the turnover piece is located at the first limit position, a space for containing materials is formed between the buffer piece and the turnover piece.

In one embodiment, the buffer member is configured to reciprocate along the second direction, so that when the turnover member is at the first limit position, the buffer member and the turnover member are oppositely arranged to form the space.

In one embodiment, the buffer member comprises a first buffer plate and a second buffer plate which are oppositely arranged, and an elastic member arranged between the first buffer plate and the second buffer plate;

the first buffer plate is closer to the turnover piece than the second buffer plate;

the second buffer plate is configured to be capable of reciprocating in the second direction to move the first buffer plate by means of the elastic member.

In one embodiment, a disc changing station is further arranged on the disc changing device along the first direction, and the disc changing station is located downstream of the overturning station;

the disc changer also comprises a transfer mechanism;

the transfer mechanism is configured to reciprocate in a second direction and to reciprocate in the first direction between the flipping station and the tray changing station for transferring material from the flipping mechanism to a second tray at the tray changing station.

In one embodiment, a buffer storage station is further arranged on the disc changer along the first direction, and the buffer storage station is located between the turning station and the disc changing station;

the transfer mechanism comprises a first transfer unit and a second transfer unit; the first transfer unit is configured to reciprocate along a second direction and reciprocate between the overturning station and the caching station along the first direction; the second transfer unit is configured to reciprocate along a second direction and reciprocate between the buffer storage station and the disc changing station along the first direction;

the disc replacing device also comprises a conveying mechanism arranged at the cache station;

the first transfer unit is used for transferring materials on the turnover mechanism to the conveying mechanism, the conveying mechanism is used for conveying the materials along the first direction, and the second transfer unit is used for transferring the materials on the conveying mechanism to the second material tray located at the tray changing station.

In one embodiment, the disc changer further comprises a feeding mechanism arranged at the feeding station and a jacking mechanism positioned below the feeding mechanism;

the feeding mechanism is used for conveying the first material tray provided with the material, and the first material tray is provided with a through hole corresponding to the material;

the jacking mechanism is configured to reciprocate along the second direction, and the jacking mechanism penetrates through the through hole to enable the corresponding material height to rise.

Among the above-mentioned trade a set device, trade a set device and be equipped with material loading station and upset station along the first direction in proper order, trade a set device at least including snatching the mechanism and locating the tilting mechanism of upset station, snatch the mechanism and be used for snatching the material at the material loading station to place this material in the tilting mechanism that is located the upset station, tilting mechanism is used for overturning this material. Can be at material loading station and upset station reciprocating motion's the mechanism that snatchs through the setting to through tilting mechanism upset material, make only just can accomplish the action of material loading, snatch and upset through setting up two stations, improved material conveying efficiency.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

Fig. 1 is a schematic structural diagram of a material being a battery cell in one embodiment of the present application;

FIG. 2 is a schematic structural diagram of a disc changer in an embodiment of the present application;

FIG. 3 is a schematic diagram of a grasping mechanism according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a material placed in a first tray according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a turnover mechanism in an embodiment of the present application;

FIG. 6 is a schematic side view of a turnover mechanism according to an embodiment of the present disclosure;

FIG. 7 is a schematic view of a flipping panel in a first extreme position in one embodiment of an embodiment of the present application;

FIG. 8 is a schematic view of a second extreme position of the roll-over panel in an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a conveying mechanism in one embodiment of an embodiment of the present application;

FIG. 10 is a schematic structural view of a first transfer unit in one embodiment of the examples of the present application;

FIG. 11 is a schematic structural view of a second transfer unit in one embodiment of the examples of the present application;

fig. 12 is a schematic structural diagram of a jacking mechanism in an implementation manner of an embodiment of the present application.

Simple description of the reference symbols:

the device comprises a grabbing mechanism 100, a first base 110, a grabbing unit 120, a mounting part 121, a pneumatic claw 122, a clamping plate 123, a first driving part 130, a second driving part 140, a first sliding assembly 150, a first sliding rail 151, a first sliding block 152 and a connecting part 160;

the turnover mechanism 200, the second base 210, the turnover member 220, the adsorption member 221, the buffer member 230, the first buffer plate 231, the second buffer plate 232, the elastic member 233, the fixing plate 240, the second sliding assembly 250, the second sliding rail 251, the second slider 252, the third driving member 260, the mounting seat 270, the rotating shaft 280, and the fourth driving member 290;

the transfer mechanism 300, the first transfer unit 310, the second transfer unit 320 and the adsorption unit 301;

a feed mechanism 400;

a conveying mechanism 500;

the lifting mechanism 600, the third base 610, the lifting piece 620, the lifting cylinder plate 631 and the first module 640;

a frame 700;

a second module 810, a third module 820, and a fourth module 830;

a first driving device 910, a second driving device 920, and a third driving device 930;

the device comprises a first tray p1, a second tray p2, a material q, a tab q1 and a bar code q 2;

the device comprises a loading station a, a turning station b, a caching station c and a disc changing station d;

a first direction F1, a second direction F2, a third direction F3;

an axis x;

a first extreme position L1, a second extreme position L2;

the buffer space h.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth to provide a thorough understanding of embodiments of the present application. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. The embodiments of this application can be implemented in many different ways than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the invention and therefore the embodiments of this application are not limited to the specific embodiments disclosed below.

It is to be understood that the terms "first," "second," and the like as used herein may be used herein to describe various terms of art, and are not to be construed as indicating or implying relative importance or implicit ly indicating a number of technical features being indicated. However, these terms are not intended to be limiting unless specifically stated. These terms are only used to distinguish one term from another. For example, the first direction, the second direction, and the third direction are different directions without departing from the scope of the present application. In the description of the embodiments of the present application, "a plurality" or "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

In the description of the embodiments of the present application, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser level than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

In the disk changing device disclosed in the embodiment of the application, the materials to be replaced can be materials which need to be stacked or materials which do not need to be stacked. The material may be oriented differently or may be oriented differently. The following description will be made by taking a battery cell in which the material is a square.

Fig. 1 shows a schematic structural diagram of a material q as a battery cell in an implementation manner of an embodiment of the present application; for convenience of explanation, only portions related to the embodiments of the present application are shown.

Referring to fig. 1, in some embodiments, when the material q is a square battery cell, one end of the battery cell is provided with a tab q1 and one side surface of the battery cell is provided with a bar code q 2. In the previous process of the tray changing operation, a plurality of battery cells are generally placed on the first tray p 1. When the single battery needs to be flatly placed, the single battery needs to be overturned and flatly placed.

FIG. 2 is a schematic structural diagram of a disc changer in an implementation manner of an embodiment of the present application; FIG. 3 illustrates a schematic diagram of the grasping mechanism 100 according to an embodiment of the present application; for ease of illustration, only portions relevant to the embodiments of the present application are shown.

In some embodiments, referring to fig. 2 and 3, the present application provides a disc changer, which is sequentially provided with a feeding station a and an overturning station b along a first direction F1. The disc changer includes a gripping mechanism 100 and a turnover mechanism 200. The grasping mechanism 100 includes a first base 110 and a plurality of grasping units 120 disposed on the first base 110 and spaced apart from each other. The first base 110 is configured to reciprocate along the second direction F2 and along the first direction F1 between the loading station a and the turning station b to move the plurality of grabbing units 120. Turnover mechanism 200 is located turnover station b. More specifically, the disc changer may further include a first driving device 910, and the first driving device 910 drives the first base 110 to reciprocate along the second direction F2. The first driving device 910 may be configured as a module structure as shown in fig. 2, or may be configured as another mechanism such as a linear cylinder, which is not limited in this embodiment of the present application. The component for driving the first base 110 to reciprocate between the feeding station a and the turning station b along the first direction F1 may refer to the second module 810 illustrated later, or may adopt other structures such as a linear cylinder, which may be selected according to actual use conditions, and the embodiment of the present application does not specifically limit this.

In the above case, the grabbing mechanism 100 is located at the loading station a, and the grabbing mechanism 100 is used for grabbing the material q on the first tray p1 of the loading station a. The grabbing mechanism 100 is located at the turning station b, the grabbing mechanism 100 is used for placing the grabbed material q on the turning mechanism 200, and the turning mechanism 200 is used for turning the material q.

From this, can be at material loading station a and the mechanism 100 that snatchs of upset station past b reciprocating motion through the setting to material q overturns through tilting mechanism 200, make only just can accomplish the action of material loading, snatching and overturning through setting up two stations, improved material conveying efficiency.

FIG. 4 shows a schematic structural diagram of a material q placed on a first tray p1 in one implementation mode of the embodiment of the application; for convenience of explanation, only portions related to the embodiments of the present application are shown. For example, fig. 4 shows only two differently oriented materials q.

The inventor of the present application has also noted that, as shown in fig. 4, among the plurality of battery cells placed in the first tray p1, there may be battery cells in different orientations. The tab q1 of the battery cell on the left side shown in fig. 4 faces inward, the tab q1 of the battery cell on the right side shown in fig. 4 faces outward, and the surfaces of the two battery cells on the sides having the bar code q2 face each other. Therefore, the operation of rotating 180 degrees is performed on one of the two battery cells, so that the orientation of the tab q1 and the orientation of the bar code q2 of the two battery cells are consistent, and the subsequent overturning and flat-laying operation is facilitated. In this process, if the material q is reversed through grabbing, rotating, overturning, flatly placing and other operations, the process is complex, and the conveying efficiency of the material q is affected.

To further improve the conveying efficiency, please continue to refer to fig. 3, at least some of the plurality of gripper units 120 are configured to rotate around an axis x. The axis x and the second direction F2 are parallel to each other.

Therefore, at least part of the grabbing units 120 on the grabbing mechanism 100 are arranged to be capable of rotating, so that grabbing and rotating actions can be completed only through the grabbing mechanism 100, a rotating station does not need to be arranged between the material loading station a and the overturning station b, and the conveying efficiency of the material q is further improved.

Referring to fig. 3, in some embodiments, the plurality of grabbing units 120 are arranged in two dimensions along the first direction F1 and the third direction F3. The first direction F1, the second direction F2, and the third direction F3 are perpendicular to each other. Taking fig. 3 as an example, a situation is illustrated in which two rows of the grabbing units 120 are arranged at intervals along the first direction F1, and two rows of the grabbing units 120, i.e., four grabbing units 120, are arranged at intervals along the third direction F3. It is understood that fig. 3 illustrates a schematic diagram of the grabbing mechanism 100 on a plane formed by intersecting the second direction F2 and the third direction F3, and two grabbing units 120 are arranged on the back side of the two grabbing units 120 in fig. 3 in a one-to-one correspondence manner along the first direction F1. Thus, the grasping efficiency can be further improved by the arrangement form of the grasping units 120 and the increase in the number of the grasping units 120.

Further, of the four gripper units 120 in fig. 3, two gripper units 120 on the right side are illustrated as being configured to be respectively capable of rotational movement about an axis x. Of course, the two gripper units 120 on the left side in fig. 4 may be configured to be respectively capable of rotating around an axis x. The selection can be performed according to the actual use situation, and the embodiment of the present application does not specifically limit this. It should be noted that the axis x refers to a rotation axis of the corresponding gripper unit 120, and the rotation axes of different gripper units 120 are different.

In some embodiments, as shown in fig. 3, the gripping mechanism 100 further includes at least one first driving member 130, and each first driving member 130 is used for driving one gripping unit 120 to rotate around an axis x. The first driving member 130 is connected to the first base 110, and the grabbing unit 120 which needs to rotate is connected to the output end of the corresponding first driving member 130. The number of the first driving members 130 is the same as the number of the gripper units 120 required to perform the rotational movement. Taking fig. 3 as an example, illustrating a situation where two first driving members 130 are provided, two grabbing units 120 located at the right side are provided in one-to-one correspondence with the two first driving members 130. In particular to some embodiments, the first driver 130 may be provided as a rotary cylinder. Of course, the first driving element 130 may be other devices that can realize the rotation of the grabbing unit 120, and the embodiment of the present application is not limited in particular. In this way, a rotational movement of at least part of the gripper unit 120 may be achieved.

The inventor of the present application has also noticed that for a material q with a larger size, interference is easily generated between the gripping actions of the plurality of gripping units 120, affecting the action of the gripping mechanism 100. As such, the adaptability of the grasping mechanism 100 is to be improved.

To improve the adaptability of the grasping mechanism 100, in some embodiments, in the first direction F1, at least one grasping unit 120 of two adjacent grasping units 120 is configured to be capable of reciprocating in the first direction F1; and/or, in the third direction F3, at least one gripper unit 120 of two adjacent gripper units 120 is configured to be capable of reciprocating along the third direction F3. That is, since at least one of the two adjacent gripper units 120 is capable of reciprocating in a corresponding direction, the distance between the two adjacent gripper units 120 is adjustable. The grabbing unit 120 capable of reciprocating may be arranged according to actual use, and this is not particularly limited by the embodiment of the present application. Therefore, interference when the grabbing unit 120 grabs the material q can be avoided, a rotation space can be provided for the grabbing unit 120 which needs to rotate, corresponding rotation of the grabbing unit 120 is facilitated, and the adaptability of the grabbing mechanism 100 is improved.

In particular, in some embodiments, the grabbing mechanism 100 further comprises at least one second driving element 140, and each second driving element 140 is used for driving one grabbing unit 120 to reciprocate along a corresponding direction. The second driver 140 is mounted on the first base 110. The grasping units 120 to be reciprocated are connected to the output ends of the corresponding second driving members 140. The number of the second driving members 140 is the same as the number of the grasping units 120 required to reciprocate. Taking fig. 4 as an example, illustrating a situation where two second driving members 140 are provided, two grabbing units 120 located at the right side are provided in one-to-one correspondence with the two second driving members 140. In particular, in some embodiments, the second drive member 140 can be provided as a linear cylinder. Of course, the second driving element 140 may be other devices that can realize the reciprocating motion of the grabbing unit 120, and the embodiment of the present application is not particularly limited. In this manner, a reciprocating motion of at least part of the grasping unit 120 can be achieved.

With continued reference to fig. 3, in some embodiments, the grasping mechanism 100 further includes a first slide assembly 150 and a link 160. The first sliding assembly 150 includes a first sliding rail 151 and a first sliding block 152, the first sliding rail 151 is disposed on the first base 110, and the first sliding block 152 is slidably connected to the first sliding rail 151. One of the two opposite sides of the connecting member 160 is connected to the first sliding block 152, and the other side is connected to the first driving member 130 in some embodiments. The output end of the second driving element 140 is connected to the connecting element 160. When the second driving member 140 drives the connecting member 160 to reciprocate, the second driving member 140 is driven to move, so as to drive the grabbing unit 120 connected to the second driving member 140 to move. And since the first slider 152 is coupled to the link 160, the link 160 moves along the first slide rail 151 by means of the first slider 152. Thus, by providing the first sliding assembly 150, the stability and reliability of the grabbing unit 120 in reciprocating motion can be improved.

With continued reference to fig. 3, in some embodiments, the grasping unit 120 includes a mounting member 121 coupled to the first base 110, and a gas claw 122 coupled to the mounting member 121, and a clamping plate 123 coupled to the gas claw 122. Through setting up splint 123, can increase and the material q between area of contact for the process of snatching is more stable. The number of the gas claw 122 and the clamping plate 123 may be set according to a specific use case as long as a clamping space can be formed between the clamping plates 123 by means of the gas claw 122. It should be noted that the action principle of the gas claw 122 is prior art, and is not the important point claimed in the embodiments of the present application, and the detailed description of the specific structure and the operation principle of the gas claw 122 is not repeated here.

FIG. 5 illustrates a schematic diagram of a configuration of canting mechanism 200 in one implementation of an embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a side-view configuration of turnover mechanism 200 in one embodiment of an example of the present application;

FIG. 7 is a schematic view of the flip board in a first extreme position L1 in one embodiment of the present application; FIG. 8 is a schematic view of the flip board in a second limit position L2 in one embodiment of the present application; for convenience of explanation, only portions related to the embodiments of the present application are shown.

In some embodiments, referring to fig. 5 to 8, the turnover mechanism 200 includes a second base 210 and a plurality of turnover members 220 rotatably disposed on the second base 210. Each of the turnover members 220 is provided with a plurality of suction members 221. The flip 220 has a first limit position L1 and a second limit position L2 during the rotation. The turnover member 220 is located at the first limit position L1, the grabbing mechanism 100 places the material q on the turnover mechanism 200, and the turnover mechanism 200 adsorbs the material q by means of the adsorption members 221. The flipper 220 flips from the first limit position L1 to the second limit position L2 upon receiving the material q. Specifically, in some embodiments, the rotation angle of the tilting member 220 from the first limit position L1 to the second limit position L2 is 90 °. Of course, a required rotation angle may also be set according to actual use requirements, and this is not particularly limited in the embodiment of the present application.

It should be noted that the number of the turning members 220 may be the same as or different from the number of the grabbing units 120. For example, on the basis of some of the foregoing embodiments, when the grasping units 120 are two-dimensionally arranged in the first direction F1 and the third direction F3, and four grasping units 120 are provided, the flippers 220 are also provided in four, and the plurality of flippers 220 are also two-dimensionally arranged in the first direction F1 and the third direction F3. Thus, the turnover mechanism 200 can be adapted to the grasping mechanism 100, which facilitates the disc exchange process.

The inventor of the present application further studies and finds that when the turning part 220 is located at the first limit position L1 and adsorbs and fixes the material q, when the grabbing unit 120 drives the material q to be close to the corresponding turning part 220, when the turning part 220 rotates to the corresponding position, the material q is easily collided, and then the material q is damaged.

In order to reduce the damage to the material q, in some embodiments, with continuing reference to fig. 7 and 8 in combination with fig. 5 and 6, the turnover mechanism 200 further includes a plurality of buffer members 230, and each buffer member 230 corresponds to one turnover member 220. The turning member 220 is located at the first limit position L1, and a space h for accommodating the material q is formed between the buffer member 230 and the turning member 220. So, owing to be provided with bolster 230, when material q is close to corresponding upset piece 220, if material q collides bolster 230, then bolster 230 can play the effect of buffering to material q, can avoid the damage to material q.

In some embodiments, with continued reference to fig. 7 and 8, the buffering element 230 is configured to reciprocate along the second direction F2, so that a space h is formed between the buffering element 230 and the flip element 220 when the flip element 220 is at the first limit position L1. That is, before the gripped material q descends along the second direction F2, the buffer member 230 ascends along the second direction F2, and a space h is formed between the buffer member 230 and the turnover member 220. When the adsorption member 221 on the turnover member 220 contacts and sucks the material q, and the grasping unit 120 grasping the material q drops the material q and ascends in the second direction F2, the buffer member 230 descends in the second direction F2. So, can be at upset 220 pivoted in-process, cooperation bolster 230 action realizes upset 220 to the absorption of material q and the process that drives the upset of material q.

When the space h is formed between the buffer member 230 and the turnover member 220, the buffer member 230 and the turnover member 220 may be completely opposed to each other or partially opposed to each other, and the space h may be formed if there is an opposed portion. The buffer member 230 can be moved according to the size of the material q and the actual use condition, so as to obtain the required space h, which is not specifically limited in the embodiment of the present application.

To facilitate the buffering function of the buffering member 230, please refer to fig. 7 and 8 in combination with fig. 5 and 6, in some embodiments, the buffering member 230 includes a first buffering plate 231 and a second buffering plate 232 disposed oppositely, and an elastic member 233 disposed between the first buffering plate 231 and the second buffering plate 232. The first buffer plate 231 is closer to the flipper 220 than the second buffer plate 232. The second buffer plate 232 is configured to be capable of reciprocating in the second direction F2 to move the first buffer plate 231 by means of the elastic member 233. Alternatively, the elastic member 233 may be provided as a spring, the first buffer plate 231 and the second buffer plate 232 may be connected by a connecting shaft, and the elastic member 233 may be sleeved on the connecting shaft. Of course, the elastic member 233 may also be provided with other elastic structures, and the embodiment of the present invention does not limit this to any particular way.

To further facilitate engagement between the flipping mechanism 200 and the grasping mechanism 100, in some embodiments, referring to fig. 5 and 6, the flipping mechanism 200 further includes a fixing plate 240 and a second sliding assembly 250. The second plurality of flippers 220 can be rotatably disposed on the fixed plate 240. The second sliding assembly 250 includes a second sliding rail 251 disposed on the second base 210 and a second sliding block 252 connected to the fixing plate 240, wherein the second sliding block 252 is slidably connected to the second sliding rail 251. The fixed plate 240 is slidably coupled to the second base 210 by means of a second sliding assembly 250. Taking fig. 5 as an example, a situation that the second slider 252 is slidably connected to the second slide rail 251 along the first direction F1 is illustrated. The sliding direction of the second sliding assembly 250 may be set according to the use condition and the action process of the grabbing mechanism 100, which is not limited in this embodiment of the application.

In this process, when the grabbing unit 120 brings the material q close to the corresponding turning member 220, the turning mechanism 200 may also correspondingly adjust the position in the first direction F1, so that the turning member 220 may be aligned to the corresponding material q. Meanwhile, when the material q is placed in the space h in some of the aforementioned embodiments, the position of the turnover mechanism 200 in the first direction F1 may be further adjusted to achieve the adsorption of the material q by the turnover member 220. So, not only be convenient for tilting mechanism 200 with snatch linking between the mechanism 100, can also further reduce the damage to material q, realize flexible absorption.

To facilitate control of the buffer 230, please continue to refer to fig. 6, in some embodiments, the tilting mechanism 200 further includes a third driving member 260. The third driving member 260 may be disposed at a bottom side of the second base 210, and an output end of the third driving member 260 is connected to the second buffer plate 232. Correspondingly, openings may be formed in the fixing plate 240 and the second base 210, so that the buffer 230 reciprocates along the second direction F2 through the corresponding openings. In particular to some embodiments, the third driver 260 may rotate a linear cylinder. Of course, other mechanisms capable of driving the buffer 230 to reciprocate may be selected for the third driving element 260, and the embodiment of the present application is not particularly limited thereto.

To facilitate controlling the rotation of the turnover member 220, please continue to refer to fig. 5, in some embodiments, the turnover mechanism 200 further includes a plurality of mounting seats 270, a plurality of rotating shafts 280, and a plurality of fourth driving members 290, which are disposed on the plurality of mounting seats 270 of the fixed plate 240. A plurality of mounting seats 270 are fixed to the fixing plate 240. A rotating shaft 280 may be rotatably disposed between two adjacent mounting seats 270, the rotating shaft 280 is disposed through the turning member 220, and an output end of a fourth driving member 290 corresponding to the rotating shaft 280 is connected to the rotating shaft 280. In this way, the fourth driving member 290 can drive the turning member 220 to rotate through the rotation of the rotating shaft 280. Alternatively, the fourth driving member 290 may be provided as a driving motor.

It should be noted that the arrangement form of the turnover part 220 may be correspondingly set according to the number of the materials q and the arrangement form of the grabbing units 120 in the grabbing mechanism 100. The rotating shaft 280, the mounting seat 270, and the fourth driving member 290 may be correspondingly disposed according to the arrangement of the flip 220. Taking fig. 5 as an example, illustrating a case where four flip pieces 220 are two-dimensionally arranged in the first direction F1 and the third direction F3, the flip pieces 220 may be provided in a plate-like structural form. Wherein two flip pieces 220 adjacent in the third direction F3 are driven by the same rotation shaft 280. The axis of rotation of the flipper 220 is parallel to the third direction F3. The method can be set according to actual use conditions, and the method is not particularly limited in the embodiment of the application.

With continued reference to fig. 2, in some embodiments, a disc changer d is further provided on the disc changer in the first direction F1, and the disc changer d is located downstream of the flipping station b. The disc changer further comprises a transfer mechanism 300. The transfer mechanism 300 is configured to be capable of reciprocating in the second direction F2 and to be capable of reciprocating in the first direction F1 between the flipping station b and the tray changing station d for transferring material q from the flipper 200 to a second tray p2 located at the tray changing station d. Thus, after the material q is turned over by the turning mechanism 200, the material q can be changed through the transferring mechanism 300.

FIG. 9 is a schematic diagram of a conveying mechanism 500 in one embodiment of an embodiment of the present application; for ease of illustration, only portions relevant to the embodiments of the present application are shown.

In order to further increase the operation speed, in some embodiments, with continuing reference to fig. 2 in combination with fig. 9, a buffer station c is further disposed on the disc changer along the first direction F1, and the buffer station c is located between the flipping station b and the disc changing station d. The transfer mechanism 300 includes a first transfer unit 310 and a second transfer unit 320. The first transfer unit 310 is configured to be capable of reciprocating in the second direction F2 and to be capable of reciprocating in the first direction F1 between the flipping station b and the buffer station c. The second transfer unit 320 is configured to be capable of reciprocating in the second direction F2, and to be capable of reciprocating in the first direction F1 between the buffer station c and the disc changer station d. The disc changer further comprises a transport mechanism 500 arranged at the buffer station c. The first transfer unit 310 is used for transferring the material q on the turnover mechanism 200 to the conveying mechanism 500, the conveying mechanism 500 is used for conveying the material q along the first direction F1, and the second transfer unit 320 is used for transferring the material q on the conveying mechanism 500 to the second tray p2 located at the tray changing station d. Therefore, by arranging the conveying mechanism 500 and cooperatively using the first transfer unit 310 and the second transfer unit 320, the material q can be cached on the conveying mechanism 500, the time of each station can be optimized, and the running speed is increased. Alternatively, the conveying mechanism 500 may be a chain conveyor. Of course, other mechanisms with a conveying function may be selected as the conveying mechanism 500, and this is not particularly limited in the embodiments of the present application.

In particular, in some embodiments, the disc changer may further include a second driving device 920 and a third driving device 930. The second driving device 920 drives the first transferring unit 310 to reciprocate in the second direction F2. The second driving device 920 may be configured as a module structure as shown in fig. 2, or may be configured as another mechanism such as a linear cylinder, which is not limited in this embodiment of the present application. The component for driving the first transfer unit 310 to reciprocate between the flipping station b and the buffering station c along the first direction F1 may refer to a third module 820 illustrated later, or may adopt other structures such as a linear cylinder, which may be selected according to actual use conditions, and this embodiment of the present application does not specifically limit this. The third driving device 930 drives the second transfer unit 320 to reciprocate along the second direction F2. The third driving device 930 may be configured as a module as shown in fig. 2, or may be configured as another mechanism such as a linear cylinder, which is not limited in this embodiment of the present invention. The component for driving the second transfer unit 320 to reciprocate between the buffer station c and the disk changing station d along the first direction F1 may refer to a fourth module 830 illustrated later, or may adopt other structures such as a linear cylinder, which may be selected according to actual use conditions, and this embodiment of the present application does not specifically limit this.

Fig. 10 shows a schematic structural diagram of the first transfer unit 310 in one implementation of the embodiment of the present application; fig. 11 shows a schematic structural diagram of a second transfer unit 320 in one implementation of an embodiment of the present application; for convenience of explanation, only portions related to the embodiments of the present application are shown.

In order to further improve the conveying efficiency, referring to fig. 10 and 11, a plurality of adsorption units 301 are respectively disposed on each of the first transfer unit 310 and the second transfer unit 320. Each adsorption unit 301 correspondingly adsorbs a material q. The first transferring unit 310 may be provided with the same number of adsorption units 301 as the number of grippers. Due to the fact that the conveying mechanism 500 is arranged, the materials q can be buffered and conveyed. As such, the number of adsorption units 301 on the second transfer unit 320 may be greater than the number of adsorption units 301 on the first transfer unit 310. Furthermore, the number of the adsorption units 301 arranged on the first transfer unit 310 and the second transfer unit 320 can be used for realizing the number of the materials q required to be transferred, increasing the running speed and further optimizing the time of each station. Taking fig. 10 and fig. 11 as an example, a case where four adsorption units 301 are provided on the first transfer unit 310 and six adsorption units 301 are provided on the second transfer unit 320 is illustrated. The selection can be performed according to the actual use situation, and the embodiment of the present application does not specifically limit this.

It should be noted that the arrangement of the suction units 301 on the first transfer unit 310 may be combined with the arrangement of the flipper 220 on the flipping mechanism 200. The arrangement form of the adsorption unit 301 on the second transfer unit 320 may be set in combination with the structural form of the second tray p 2. Taking fig. 10 and fig. 11 as an example, fig. 10 illustrates a case where the adsorption units 301 on the first transfer unit 310 are arranged in a matrix, and fig. 11 illustrates a case where the adsorption units 301 on the second transfer unit 320 are arranged in a straight line. The selection can be performed according to the actual use situation, and the embodiment of the present application does not specifically limit this.

FIG. 12 illustrates a schematic diagram of a jacking mechanism 600 in one implementation of an embodiment of the present application; for convenience of explanation, only portions related to the embodiments of the present application are shown.

To facilitate the grabbing mechanism 100 to grab the material q from the first tray p1, in some embodiments, referring to fig. 12 in combination with fig. 2, the tray changer further includes a loading mechanism 400 disposed at the loading station a and a lifting mechanism 600 disposed below the loading mechanism 400. The feeding mechanism 400 is used for conveying a first tray p1 loaded with a material q, and a through hole corresponding to the material q is arranged on the first tray p 1. The lift mechanism 600 is configured to reciprocate in the second direction F2, and the lift mechanism 600 raises the corresponding material q level through the through hole.

It should be noted that the feeding mechanism 400 may be a mechanism having a conveying function, such as a conveyor, and this embodiment of the present application does not specifically limit this.

To improve the adaptability of the jacking mechanism, in particular to some embodiments, the jacking mechanism is further configured to be capable of reciprocating in the first direction F1. So, climbing mechanism can move to the material of equidimension not and different positions. More specifically, with continued reference to fig. 12, the jacking mechanism 600 includes a third base 610, a jacking member 620, a lifting cylinder 630 and a first module 640. The first module 640 is disposed on the third base 610. Lift cylinder board 631 is connected to the slider of first module 640, installs lift cylinder 630 at the both ends of installing lift cylinder 630 on lift cylinder board 631, and jacking 620 is connected to the output of lift cylinder 630. In this way, the lifting element 620 can realize the reciprocating motion in the first direction F1 by means of the first module 640, and realize the reciprocating motion in the second direction F2 by means of the lifting cylinder, so as to lift the corresponding material q according to the action of the grabbing mechanism 100.

Alternatively, the number and position of the jacking pieces 620 may be set according to the number and arrangement of the grasping units on the grasping mechanism 100. Taking fig. 12 as an example, a case where four lifters 620 are provided is illustrated. Wherein, two lifting cylinder plates 631 are provided, and the two lifting cylinder plates 631 are arranged at intervals along the third direction F3. Each lifting cylinder plate 631 has a lifting cylinder 630 at both ends in the first direction F1, and a lifting member 620 is connected to an output end of each lifting cylinder 630. The method can be set according to actual use conditions, and the method is not particularly limited in the embodiment of the application.

In order to better realize the cooperation of the actions of the mechanisms, in some embodiments, referring to fig. 2, the disc changer further includes a rack 700, and a second module 810, a third module 820 and a fourth module 830 disposed on the rack 700. The first base 110 of the grabbing mechanism 100 is connected to the second module 810 by means of a connecting member, the first transferring unit 310 is connected to the third module 820, and the second transferring unit 320 is connected to the fourth module 830. In this way, the gripping mechanism 100 reciprocates between the feeding station a and the turning station b in the first direction F1 by the second module 810, the first transfer unit 310 reciprocates between the turning station b and the buffer station c in the first direction F1 by the third module 820, and the second transfer unit 320 reciprocates between the buffer station c and the disc changer station d in the first direction F1 by the fourth module 830.

More specifically, in combination with the foregoing embodiments, the first driving device 910 may be connected to the second module 810, the output end of the first driving device 910 is connected to the grabbing mechanism 100, and the grabbing mechanism 100 is driven by the first driving device 910 to reciprocate along the first direction. The second driving device 920 may be connected to the third module 820, an output end of the second driving device 920 is connected to the first transferring unit 310, and the first transferring unit 310 is driven by the second driving device 920 to reciprocate along the first direction. The third driving device 930 may be connected to the fourth module 830, an output end of the third driving device 930 is connected to the second transferring unit 320, and the second transferring unit 320 reciprocates in the first direction under the driving of the third driving device 930.

It should be noted that, in some embodiments described above, the suction member 221 and the suction unit 301 may adopt a structure such as a suction cup and a suction nozzle, and the suction member and the suction unit may perform a function of sucking and fixing the material q by using a vacuum suction manner. Of course, other components having an adsorption function may also be provided, and this is not particularly limited in the embodiments of the present application.

To sum up, this application embodiment can be through setting up snatching mechanism 100 at material loading station a and upset station b reciprocating motion to set up on snatching mechanism 100 and can rotate and the unit 120 that snatchs that removes, not only can improve action efficiency, can also be applicable to the material q of different grade type. Through setting up conveying mechanism 500, can carry out the buffer memory to material q, increase the quantity of the material q of snatching at every turn, improve the functioning speed, optimize each station time. By providing the buffer member 230 on the turnover mechanism 200, the damage of the material q can be avoided. Therefore, through the mutual matching of the parts in the embodiments, the disc changing device provided by the embodiment of the application not only improves the disc changing efficiency, but also increases the application range and the buffering protection.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The disc changing device is characterized in that a feeding station and a turning station are sequentially arranged along a first direction;

the disc changer includes:

the turnover mechanism is arranged at the turnover station;

the grabbing mechanism is positioned at the feeding station and used for grabbing materials on a first material tray positioned at the feeding station;

2. The disc changer according to claim 1, wherein a plurality of the grasping units are two-dimensionally arranged at intervals from each other in the first direction and the third direction; at least some of the plurality of gripper units are configured to be capable of rotational movement about an axis;

the axis and the second direction are parallel to each other, and the first direction, the second direction and the third direction are perpendicular to each other.

3. The disc changer according to claim 2, wherein at least one of the gripper units of adjacent two of the gripper units is configured to be capable of reciprocating in the first direction; and/or

4. The disc changer according to any one of claims 1 to 3, wherein the turnover mechanism includes a second base, and a plurality of turnover members rotatably provided on the second base; each overturning piece is provided with a plurality of adsorption pieces;

the overturning part has a first limit position and a second limit position in the rotating process;

5. The disc changer of claim 4, wherein the turnover mechanism further comprises a plurality of buffers;

6. The disc changer according to claim 5, wherein the buffer member is configured to reciprocate in the second direction to form the space between the buffer member and the reversing member when the reversing member is in the first limit position.

7. The disc changer according to claim 6, wherein the buffer member includes a first buffer plate and a second buffer plate disposed opposite to each other, and an elastic member disposed between the first buffer plate and the second buffer plate;

8. A disc changer according to any one of claims 1 to 3, wherein a disc changing station is further provided on the disc changer in the first direction, the disc changing station being located downstream of the reversing station;

the disc replacing device also comprises a transferring mechanism;

the transfer mechanism is configured to reciprocate in a second direction and to reciprocate in the first direction between the flipping station and the disc changing station for transferring material from the flipping mechanism to a second tray at the disc changing station.

9. The disc changer according to claim 8, further comprising a buffer station disposed along the first direction, the buffer station being located between the flipping station and the disc changing station;

the transfer mechanism comprises a first transfer unit and a second transfer unit; the first transfer unit is configured to reciprocate along a second direction and reciprocate between the overturning station and the caching station along the first direction; the second transfer unit is configured to reciprocate in a second direction and reciprocate between the buffer storage station and the disc changing station in the first direction;

10. A disc changer according to any one of claims 1 to 3, further comprising a feed mechanism provided at the feed station and a lift mechanism located below the feed mechanism;

the feeding mechanism is used for conveying the first material tray provided with materials, and the first material tray is provided with through holes corresponding to the materials;