CN114955526B

CN114955526B - Manipulator swinging tray and turning tray stacking machine

Info

Publication number: CN114955526B
Application number: CN202210623166.3A
Authority: CN
Inventors: 苏坤; 李日旺
Original assignee: Zhuhai Richuang Industrial Automation Equipment Co ltd
Current assignee: Zhuhai Richuang Industrial Automation Equipment Co ltd
Priority date: 2022-06-02
Filing date: 2022-06-02
Publication date: 2023-01-24
Anticipated expiration: 2042-06-02
Also published as: CN114955526A

Abstract

The invention discloses a manipulator swinging tray and turning tray stacker crane which comprises a rack, a feeding mechanism, a tray stacking mechanism, a tray transferring mechanism and a clamping mechanism, wherein the feeding mechanism comprises a base and a linear vibration rail, the base is arranged on the rack, and the linear vibration rail is arranged on the base; the tray stacking mechanism comprises a guide seat and a plurality of trays, the guide seat is mounted on the rack, the plurality of trays are distributed in the guide seat along the vertical direction, and the trays can vertically move relative to the guide seat; the material tray transfer mechanism comprises a horizontal guide rail and a material tray positioning plate, the horizontal guide rail is arranged on the rack, and the material tray positioning plate is connected with the horizontal guide rail in a sliding manner; the clamping mechanism comprises six mechanical arms, a first mechanical arm and a second mechanical arm, the six mechanical arms are arranged in the frame, and the first mechanical arm and the second mechanical arm are arranged at the tail ends of the six mechanical arms. The manipulator swinging tray and tray overturning tray stacking machine can realize swinging tray of a transformer coil and tray overturning transfer actions of a tray on one device, reduce the space occupied by the device and reduce the cost.

Description

Manipulator swinging tray and turning tray stacking machine

Technical Field

The invention relates to the technical field of intelligent manufacturing, in particular to a manipulator swinging tray and turning tray stacker crane.

Background

In the process of processing and manufacturing the transformer coil, a series of processes such as winding, encapsulation, soldering and the like need to be carried out, and finally, the transformer coil needs to be placed on a material tray, and then the material tray with the placed material tray is transferred to a detection mechanism for detection. In the related art, for the swinging of the transformer coil and the tray-turning transfer of the charging tray, two independent devices are needed to be adopted, so that the occupied space of the devices is large, each independent device needs to be provided with an independent driving mechanism, a grabbing mechanism and the like, and the overall cost is high.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide a manipulator tray-swinging tray-overturning tray-stacking machine, which can realize the tray-swinging and tray-overturning transfer actions of a transformer coil on one piece of equipment, reduce the space occupied by the equipment and reduce the cost.

In order to solve the problems, the technical scheme adopted by the invention is as follows: a manipulator pendulum plate tilting tray palletizer comprises: a frame; the feeding mechanism comprises a base and a linear vibration rail, the base is installed on the rack, and the linear vibration rail is installed on the base and used for conveying the transformer coil in a vibration mode; the tray stacking mechanism comprises a guide seat and a plurality of trays, the guide seat is mounted on the rack, the plurality of trays are distributed in the guide seat along the vertical direction, and the trays can vertically move relative to the guide seat; the charging tray transfer mechanism comprises a horizontal guide rail and a charging tray positioning plate, the horizontal guide rail is installed on the rack and extends to the lower part of the guide seat and the side part of the feeding mechanism, the charging tray positioning plate is connected with the horizontal guide rail in a sliding mode and can slide to the lower part of the guide seat along the horizontal guide rail so as to support an empty charging tray and transfer the empty charging tray to the side part of the feeding mechanism; and fixture, including six arms, first manipulator and second manipulator, six arms install in the frame, first manipulator with the second manipulator all install in the end of six arms, first manipulator is used for the centre gripping the terminal transformer coil of straight line vibrations track, six arms can drive first manipulator is in transformer coil the charging tray locating plate put the dish on the charging tray, the second manipulator is used for the centre gripping to accomplish the charging tray behind the balance, six arms can drive the charging tray behind the balance is accomplished in the upset of second manipulator to shift to next station with the charging tray behind the balance.

Compared with the prior art, the invention has the beneficial effects that: each mechanism of the manipulator swinging and turning tray stacking machine is reasonably arranged, a linear vibration track of a feeding mechanism is communicated with a previous station, a transformer coil which is processed in the previous station is conveyed to the linear vibration track, six mechanical arms can drive a first manipulator to move back and forth between the linear vibration track and a material tray, the first manipulator clamps the transformer coil from the tail end of the linear vibration track and swings the transformer coil on the material tray, after the swinging is completed, the six mechanical arms rotate to make the first manipulator abdicate, the second manipulator clamps the material tray after the swinging is completed, the six mechanical arms further drive a second manipulator to rotate to complete the turning of the material tray, finally, the six mechanical arms further drive the second manipulator and the material tray which is turned over to the next station, at the moment, a material tray positioning plate can horizontally move towards the lower part of a guide seat to receive an empty material tray, and the empty material tray is transferred to the side part of a feeding mechanism to wait for the swinging. Therefore, the manipulator swinging and tray-turning tray stacker can realize the swinging movement of the transformer coil and the tray-turning transfer movement of the tray on one piece of equipment, the action interference can not occur, the space occupied by the equipment can be reduced, and the cost is reduced.

Foretell manipulator pendulum dish tilting tray buttress machine, sharp vibrations track has the vibrations spout, be equipped with supporting platform in the vibrations spout, supporting platform with vibrations spout parallel arrangement, just supporting platform's both sides outer wall respectively with the both sides inner wall of vibrations spout has the clearance, supporting platform has parallel first holding surface and second holding surface, first holding surface upwards protrusion in the second holding surface, just the second holding surface is equipped with two sets ofly, and is two sets of the second holding surface is located respectively the both sides of first holding surface.

Foretell manipulator balance stack tray machine of turning over, orbital pan feeding end of sharp vibrations has the direction inclined plane, the direction inclined plane leans out from top to bottom.

The manipulator swinging and turning tray stacker crane further comprises two sets of relatively arranged tray clamping assemblies, each set of tray clamping assembly comprises a first cylinder, a second cylinder and a clamping plate, the first cylinder is arranged on the rack, the second cylinder is arranged at the output end of the first cylinder, the clamping plate is arranged at the output end of the second cylinder, the first cylinder is used for driving the second cylinder to move up and down, and the second cylinder is used for driving the clamping plate to move horizontally so as to clamp or loosen the tray.

The manipulator swinging and turning tray stacker crane further comprises a positioning block, a pressing plate and a third cylinder, wherein the positioning block and the third cylinder are respectively installed on two opposite sides of the positioning plate of the material tray, the pressing plate is installed at the output end of the third cylinder, and the third cylinder can drive the pressing plate to horizontally move so as to push and press the material tray towards the positioning block and enable the material tray to be abutted against the positioning block.

According to the manipulator swinging and turning tray stacker crane, the first manipulator and the second manipulator are both arranged on the rotating shaft at the tail end of the six-shaft mechanical arm.

Foretell manipulator pendulum dish tilting tray buttress machine, first manipulator includes first clamping jaw cylinder, first clamp splice and second clamp splice, first clamping jaw cylinder install in the terminal pivot of six arms, first clamp splice with the second clamp splice all install in the output of first clamping jaw cylinder, the exposed core of first clamp splice with the exposed core of second clamp splice has first constant head tank and second constant head tank respectively, first clamping jaw cylinder drive first clamp splice with when the second clamp splice opposite movement presss from both sides tightly, first constant head tank with the second constant head tank is location joint respectively the both sides of transformer coil's skeleton.

The first manipulator further comprises a top block, the top block is connected to the non-output end of the first clamping jaw cylinder and located in the first clamping block and the second clamping block, and a distance is reserved between the top pressing surface of the top block and the clamping end of the first clamping block and the clamping end of the second clamping block.

The second manipulator comprises a second clamping jaw cylinder, a third clamping block and a fourth clamping block, the second clamping jaw cylinder is mounted on a rotating shaft at the tail end of the six-axis mechanical arm, the third clamping block and the fourth clamping block are mounted at the output end of the second clamping jaw cylinder, a clamping end of the third clamping block and a clamping end of the fourth clamping block are respectively provided with a first clamping groove and a second clamping groove, a reinforcing plate is arranged on the side portion of the material disc, a through hole is formed in the reinforcing plate, the third clamping block can penetrate through the outer side of the reinforcing plate to the inner side of the reinforcing plate, and the second clamping jaw cylinder can drive the third clamping block and the fourth clamping block to move in opposite directions, so that the first clamping groove and the second clamping groove are clamped with the reinforcing plate.

The third clamping block is a U-shaped block, the non-open end of the U-shaped block is connected with the output end of the second clamping jaw cylinder, the first clamping grooves are two groups, the two groups of first clamping grooves are respectively arranged at the open end of the U-shaped block, the through holes in the reinforcing plate are correspondingly two groups, the open ends of the U-shaped block can penetrate through the two groups of through holes, the two groups of first clamping grooves can be respectively clamped at the upper sides of the two groups of through holes, the fourth clamping block is a linear block, and the length of the second clamping groove is greater than the sum of the lengths of the two groups of first clamping grooves.

The invention is described in further detail below with reference to the drawings and the detailed description.

Drawings

FIG. 1 is a schematic diagram of a transformer coil according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a manipulator pendulum plate tilting tray palletizer in an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a loading mechanism according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

FIG. 5 is a schematic structural view of a tray stacking mechanism and tray transfer mechanism according to an embodiment of the invention;

FIG. 6 is a schematic structural diagram of the tray after the tray placement is completed in the embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention;

FIG. 8 is an enlarged view of a portion of FIG. 7 at B;

FIG. 9 is a schematic diagram of a first robot gripping a transformer coil according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of the second robot gripping the tray according to the embodiment of the present invention.

The reference numbers illustrate:

100 a frame;

200 of a feeding mechanism, 210 of a base, 220 of a linear vibration track, 221 of a vibration chute, 222 of a guide inclined plane, 230 of a support platform, 231 of a first support surface, 232 of a second support surface, 240 of a material pressing sheet and 250 of an infrared sensor;

300 a tray stacking mechanism, 310 guide seats, 320 trays, 321 reinforcing plates, 3211 through holes, 330 tray clamping components, 331 a first air cylinder, 332 a second air cylinder and 333 clamping plates;

the device comprises a 400 tray transfer mechanism, a 410 horizontal guide rail, a 420 tray positioning plate, a 430 positioning block, a 440 pressing plate and a 450 third cylinder;

the clamping device comprises a 500 clamping mechanism, a 510 six-axis mechanical arm, a 520 first mechanical arm, a 521 first clamping jaw air cylinder, a 522 first clamping block, a 5221 first positioning groove, a 523 second clamping block, a 5231 second positioning groove, a 524 top block, a 530 second mechanical arm, a 531 second clamping jaw air cylinder, a 532 third clamping block, a 5321 first clamping groove, a 533 fourth clamping block and a 5331 second clamping groove;

600 transformer coil.

Detailed Description

Describing an embodiment of the present invention in detail, referring to fig. 1, in the embodiment of the present invention, a transformer coil 600 is as shown in fig. 1, and referring to fig. 2 to 10, an embodiment of the present invention provides a manipulator-type tray-tilting tray-overturning tray stacker crane, including a rack 100, a feeding mechanism 200, a tray mechanism 300, a tray transfer mechanism 400, and a clamping mechanism 500, wherein the feeding mechanism 200 includes a base 210 and a linear vibration rail 220, the base 210 is mounted on the rack 100, and the linear vibration rail 220 is mounted on the base 210 for vibration-conveying the transformer coil 600; the tray stacking mechanism 300 comprises a guide seat 310 and a plurality of trays 320, the guide seat 310 is installed on the rack 100, the plurality of trays 320 are distributed in the guide seat 310 along the vertical direction, and the trays 320 can vertically move relative to the guide seat 310; the tray transfer mechanism 400 comprises a horizontal guide rail 410 and a tray positioning plate 420, the horizontal guide rail 410 is installed on the frame 100, the horizontal guide rail 410 extends to the lower part of the guide seat 310 and the side part of the feeding mechanism 200, the tray positioning plate 420 is connected with the horizontal guide rail 410 in a sliding manner, and the tray positioning plate 420 can slide to the lower part of the guide seat 310 along the horizontal guide rail 410 to support an empty tray 320 and transfer the empty tray 320 to the side part of the feeding mechanism 200; the clamping mechanism 500 comprises a six-axis mechanical arm 510, a first mechanical arm 520 and a second mechanical arm 530, the six-axis mechanical arm 510 is installed on the rack 100, the first mechanical arm 520 and the second mechanical arm 530 are installed at the tail end of the six-axis mechanical arm 510, the first mechanical arm 520 is used for clamping the transformer coil 600 at the tail end of the linear vibration track 220, the six-axis mechanical arm 510 can drive the first mechanical arm 520 to place the transformer coil 600 on the material tray 320 of the material tray positioning plate 420, the second mechanical arm 530 is used for clamping the material tray 320 after the placement is completed, and the six-axis mechanical arm 510 can drive the second mechanical arm 530 to overturn the material tray 320 after the placement is completed and transfer the material tray 320 after the placement to the next station.

The arrangement of each mechanism of the manipulator swinging and turning tray stacking machine is reasonable, the linear vibration rail 220 of the feeding mechanism 200 is communicated with a previous station, the transformer coil 600 which is processed in the previous station is conveyed to the linear vibration rail 220, the six-axis manipulator 510 can drive the first manipulator 520 to move back and forth between the linear vibration rail 220 and the material tray 320, the first manipulator 520 clamps the transformer coil 600 from the tail end of the linear vibration rail 220 and swings the transformer coil 600 on the material tray 320, after the swinging is completed, the six-axis manipulator 510 rotates to enable the first manipulator 520 to be abducted, the second manipulator 530 clamps the material tray 320 after the swinging is completed, the six-axis manipulator 510 drives the second manipulator 530 to rotate to complete the turning of the material tray 320, and finally, the six-axis manipulator 510 drives the second manipulator 530 and the turned material tray 320 to be transferred to a next station, at the moment, the positioning plate 420 can horizontally move towards the lower part of the guide seat 310 to receive the empty material tray 320 and transfer the empty material tray 320 to the side part of the feeding mechanism 200 to wait for the swinging. Therefore, the manipulator swinging and tray-turning tray stacker can realize the swinging movement of the transformer coil 600 and the tray-turning transfer movement of the tray 320 on one device, the movement interference can not occur, the occupied space of the device can be reduced, and the cost is reduced.

As shown in fig. 2, in the embodiment of the present invention, the feeding mechanism 200, the stacker mechanism 300, and the gripper mechanism 500 are respectively disposed on three sides of the tray transfer mechanism 400, and the feeding mechanism 200 and the gripper mechanism 500 are respectively disposed on opposite sides of the tray transfer mechanism 400. The positions of all mechanisms on the manipulator swinging and turning tray stacking machine can be set more reasonably, the clamping mechanism 500 is equivalent to a blanking mechanism for the manipulator swinging and turning tray stacking machine, so that the feeding action and the blanking action can be carried out on two opposite sides of the tray transfer mechanism 400, the action interference can be avoided, and the connection between the manipulator swinging and turning tray stacking machine and a previous station and a next station is not influenced.

Further, referring to fig. 3 and 4, the linear vibration rail 220 has a vibration sliding groove 221, a supporting platform 230 is disposed in the vibration sliding groove 221, the supporting platform 230 is disposed in parallel with the vibration sliding groove 221 (specifically, a supporting plane of the supporting platform 230 is parallel to a bottom surface of the vibration sliding groove 221, and a length extending direction of the supporting platform 230 is the same as a length extending direction of the vibration sliding groove 221), two outer side walls of the supporting platform 230 have a gap with two inner side walls of the vibration sliding groove 221, the supporting platform 230 has a first supporting surface 231 and a second supporting surface 232 that are parallel, the first supporting surface 231 protrudes upward from the second supporting surface 232, and the second supporting surface 232 is provided with two groups, and the two groups of second supporting surfaces 232 are disposed on two sides of the first supporting surface 231, respectively. When the material is loaded in a vibrating manner, the supporting platform 230 can support the transformer coil 600, and the gap between the outer wall of the supporting platform 230 and the inner wall of the vibrating chute 221 can accommodate the pins of the transformer coil 600, so that the transformer coil 600 can be smoothly conveyed along the linear vibrating track 220. The first supporting surface 231 and the second supporting surface 232 can respectively support different positions on the bobbin of the transformer coil 600, so that the bobbin of the transformer coil 600 can be more stably supported, the transformer coil 600 can be more smoothly conveyed along the linear vibration rail 220, and the seizure phenomenon is not easy to occur.

Specifically, referring to fig. 4, the feeding end of the linear vibration rail 220 has a guiding inclined surface 222, and the guiding inclined surface 222 inclines outward from top to bottom, so that the transformer coil 600 can contact the guiding inclined surface 222 first after being conveyed from the previous station, and then can smoothly enter the vibration chute 221 from the feeding end of the linear vibration rail 220 under the action of vibration. Specifically, the linear vibration rail 220 may be composed of a linear vibrator plus a guide rail. The feeding mechanism 200 further comprises a material pressing sheet 240 and an infrared sensor 250, wherein the infrared sensor 250 is arranged at the tail end of the linear vibration rail 220, and the material pressing sheet 240 is arranged above the linear vibration rail 220. When the transformer coil 600 is conveyed from the vibration chute 221, the material pressing sheet 240 is pressed down through the position of the material pressing sheet 240, so that the heights of all the transformer coils 600 passing through the lower part of the material pressing sheet 240 are the same, and the subsequent swinging is facilitated. And the infrared sensor 250 can identify whether the transformer coil 600 passes through the end of the linear vibration rail 220, so as to facilitate the clamping and loading of the first manipulator 520. In fig. 3, the dotted line structure at the end of the linear vibration rail 220 is infrared light emitted from the infrared sensor 250.

Specifically, referring to fig. 5 and 6, the tray stacking mechanism 300 further includes two sets of oppositely disposed tray clamping assemblies 330, each set of tray clamping assemblies 330 includes a first cylinder 331, a second cylinder 332, and a clamping plate 333, the first cylinder 331 is installed on the rack 100, the second cylinder 332 is installed at an output end of the first cylinder 331, the clamping plate 333 is installed at an output end of the second cylinder 332, the first cylinder 331 is used for driving the second cylinder 332 to move up and down, and the second cylinder 332 is used for driving the clamping plate 333 to move horizontally to clamp or unclamp the tray 320. During the plate placing, the tray positioning plate 420 is not located below the guide seat 310, so the empty tray 320 in the guide seat 310 needs to be fixed to avoid dropping, at this time, the two sets of second cylinders 332 push inward, so that the two sets of clamping plates 333 clamp the lowermost tray 320 together, and at this time, the tray 320 is fixed in the guide seat 310. When the tray positioning plate 420 moves to the lower part of the guide seat 310 along the horizontal guide rail 410, the first cylinder 331 drives the second cylinder 332 to move downwards so as to stably place the tray 320 on the tray positioning plate 420, so as to prevent the tray 320 from being impacted when falling down, then the second cylinder 332 drives the clamping plate 333 to loosen the tray 320 at the lowest part, the first cylinder 331 drives the second cylinder 332 to move upwards, the second cylinder 332 drives the clamping plate 333 to clamp the second tray 320 positioned below at the moment, and when the tray positioning plate 420 drives the tray 320 to be transferred to the side part of the feeding mechanism 200, all the trays 320 positioned in the guide seat 310 are fixed at the moment.

Specifically, the tray transfer mechanism 400 further includes a positioning block 430, a pressing plate 440 and a third cylinder 450, the positioning block 430 and the third cylinder 450 are respectively installed on two opposite sides of the tray positioning plate 420, the pressing plate 440 is installed at an output end of the third cylinder 450, and the third cylinder 450 can drive the pressing plate 440 to move horizontally, so as to push the tray 320 towards the positioning block 430, and enable the tray 320 to abut against the positioning block 430. After the trays 320 are stably placed in the tray positioning plate 420, the third cylinder 450 drives the pressing plate 440 to move towards the positioning block 430, so that the trays 320 abut against the positioning block 430, and then the position of each tray 320 when being transferred to the side of the feeding mechanism 200 can be ensured to be the same by controlling the stroke of the tray positioning plate 420 moving back and forth on the horizontal guide rail 410.

Further, referring to fig. 7 and 8, the first robot 520 and the second robot 530 are mounted on the rotation shafts at the ends of the six-axis robot arm 510. The first mechanical arm 520 comprises a first clamping jaw cylinder 521, a first clamping block 522 and a second clamping block 523, the first clamping jaw cylinder 521 is mounted on a rotating shaft at the tail end of the six-axis mechanical arm 510, the first clamping block 522 and the second clamping block 523 are both mounted at the output end of the first clamping jaw cylinder 521, a clamping end of the first clamping block 522 and a clamping end of the second clamping block 523 are respectively provided with a first positioning groove 5221 and a second positioning groove 5231, as shown in fig. 9, when the first clamping jaw cylinder 521 drives the first clamping block 522 and the second clamping block 523 to move oppositely and clamp, the first positioning groove 5221 and the second positioning groove 5231 are respectively positioned and clamped at two sides of the framework of the transformer coil 600. The tray 320 may be a magnetic chuck or a plastic chuck, and in order to ensure that the transformer coil 600 is not tilted when being placed on the tray 320, the first positioning groove 5221 and the second positioning groove 5231 of the present invention can be respectively positioned and clamped on two sides of the bobbin of the transformer coil 600, the first positioning groove 5221 and the second positioning groove 5231 are parallel, so as to ensure a relatively fixed position between the transformer coil 600 and the first manipulator 520, and when the transformer coil 600 is placed on the tray 320, the tilting is not caused. Further, the first manipulator 520 further includes a top block 524, the top block 524 is connected to the non-output end of the first clamping jaw cylinder 521 and is located inside the first clamping block 522 and the second clamping block 523, and a top pressing surface of the top block 524 is spaced from the clamping ends of the first clamping block 522 and the second clamping block 523. When the first manipulator 520 clamps the transformer coil 600, the top block 524 presses against the top of the transformer coil 600, and is equivalent to positioning three side portions of the transformer coil 600 by matching with the first positioning groove 5221 and the second positioning groove 5231, so that the position of the transformer coil 600 can be further ensured to be accurate.

Further, with reference to fig. 7 and 8, the second manipulator 530 includes a second clamping jaw cylinder 531, a third clamping block 532, and a fourth clamping block 533, the second clamping jaw cylinder 531 is installed on a rotating shaft at the end of the six-axis robot arm 510, the third clamping block 532 and the fourth clamping block 533 are both installed at an output end of the second clamping jaw cylinder 531, a clamping end of the third clamping block 532 and a clamping end of the fourth clamping block 533 respectively have a first clamping groove 5321 and a second clamping groove 5331, a side portion of the tray 320 has a reinforcing plate 321, a through hole 3211 is formed in the reinforcing plate 321, the third clamping block 532 can pass through the through hole 3211 from an outer side of the reinforcing plate 321 to an inner side of the reinforcing plate 321, and the second clamping jaw cylinder 531 can drive the third clamping block 532 and the fourth clamping block 533 to move oppositely, so that the first clamping groove 5321 and the second clamping groove 5331 are both clamped to the reinforcing plate 321. Referring to fig. 10, after the swinging is completed, the rotating shaft at the output end of the six-axis mechanical arm 510 rotates, so that the first mechanical arm 520 is far away from the tray 320, the second mechanical arm 530 is close to the tray 320, and then the third clamping block 532 can pass through the through hole 3211 in the reinforcing plate 321, at this time, for the reinforcing plate 321, the portion thereof located at the upper side of the through hole 3211 is located just between the third clamping block 532 and the fourth clamping block 533, and exactly between the first clamping slot 5321 and the second clamping slot 5331, and when the first clamping block 522 and the second clamping block 523 are closed, the first clamping slot 5321 and the second clamping slot 5331 can just clamp the portion of the reinforcing plate 321 located at the upper side of the through hole 3211. Two inner walls of first draw-in groove 5321 and two inner walls of second draw-in groove 5331 equally divide two lateral walls of do not butt reinforcing plate 321, drive second manipulator 530 and charging tray 320 when six arms 510 rotate to when realizing the tilting disk action, third clamp splice 532 and fourth clamp splice 533 can firmly press from both sides tight charging tray 320, can not take place to rock or slide, can avoid charging tray 320 to break away from, avoid transformer coil 600 to scatter because of the shake of charging tray 320.

Specifically, the third clamping block 532 is a U-shaped block, the non-open end of the U-shaped block is connected to the output end of the second clamping jaw cylinder 531, the first clamping grooves 5321 are provided in two sets, the two sets of first clamping grooves 5321 are respectively provided at the open end of the U-shaped block, the through holes 3211 on the reinforcing plate 321 are correspondingly provided in two sets, the open ends of the U-shaped block can penetrate through the two sets of through holes 3211, the two sets of first clamping grooves 5321 can be respectively clamped at the upper side portions of the two sets of through holes 3211, the fourth clamping block 533 is a linear block, and the length of the second clamping groove 5331 is greater than the sum of the lengths of the two sets of first clamping grooves 5321. For the third clamping block 532, the structure of the U-shaped block can avoid the second clamping jaw cylinder 531, and more importantly, the structure of the U-shaped block equivalently provides two sets of support arms, which can strengthen the support strength of the third clamping block 532, and further ensure the stable clamping of the third clamping block 532 and the fourth clamping block 533 to the tray 320.

It should be noted that in the description of the present invention, if orientation descriptions such as the directions of up, down, front, back, left, right, etc. are referred to, all the orientations or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed or operated in a specific orientation, and should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If any, are described in the first or second etc. for the purpose of distinguishing technical features, but are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. The utility model provides a manipulator pendulum dish tilting tray machine which characterized in that includes:

a frame (100);

the feeding mechanism (200) comprises a base (210) and a linear vibration track (220), wherein the base (210) is installed on the rack (100), and the linear vibration track (220) is installed on the base (210) and used for conveying the transformer coil (600) in a vibration mode;

the tray stacking mechanism (300) comprises a guide seat (310) and a plurality of trays (320), the guide seat (310) is installed on the rack (100), the trays (320) are distributed in the guide seat (310) along the vertical direction, and the trays (320) can vertically move relative to the guide seat (310);

the tray transfer mechanism (400) comprises a horizontal guide rail (410) and a tray positioning plate (420), the horizontal guide rail (410) is installed on the rack (100), the horizontal guide rail (410) extends to the lower part of the guide seat (310) and the side part of the feeding mechanism (200), the tray positioning plate (420) is connected with the horizontal guide rail (410) in a sliding mode, and the tray positioning plate (420) can slide to the lower part of the guide seat (310) along the horizontal guide rail (410) to support an empty tray (320) and transfer the empty tray (320) to the side part of the feeding mechanism (200); and

the clamping mechanism (500) comprises a six-axis mechanical arm (510), a first mechanical arm (520) and a second mechanical arm (530), the six-axis mechanical arm (510) is installed on the rack (100), the first mechanical arm (520) and the second mechanical arm (530) are installed at the tail end of the six-axis mechanical arm (510), the first mechanical arm (520) is used for clamping a transformer coil (600) at the tail end of the linear vibration track (220), the six-axis mechanical arm (510) can drive the first mechanical arm (520) to swing the transformer coil (600) on the material tray (320) of the material tray positioning plate (420), the second mechanical arm (530) is used for clamping the material tray (320) after the material tray is completely swung, and the six-axis mechanical arm (510) can drive the second mechanical arm (530) to overturn the material tray (320) after the material tray is completely swung and transfer the material tray (320) after the material tray is swung to the next station;

the first mechanical arm (520) and the second mechanical arm (530) are mounted on a rotating shaft at the tail end of the six-axis mechanical arm (510), the first mechanical arm (520) comprises a first clamping jaw cylinder (521), a first clamping block (522) and a second clamping block (523), the first clamping jaw cylinder (521) is mounted on the rotating shaft at the tail end of the six-axis mechanical arm (510), the first clamping block (522) and the second clamping block (523) are mounted at the output end of the first clamping jaw cylinder (521), a clamping end of the first clamping block (522) and a clamping end of the second clamping block (523) are respectively provided with a first positioning groove (5221) and a second positioning groove (5231), and when the first clamping jaw cylinder (521) drives the first clamping block (522) and the second clamping block (523) to move oppositely and clamp, the first positioning groove (5221) and the second positioning groove (5231) are respectively positioned and clamped on two sides of a framework of the transformer coil (600).

2. The manipulator swing-tray and turn-tray stacker according to claim 1, wherein the linear vibration rail (220) has a vibration chute (221), a support platform (230) is arranged in the vibration chute (221), the support platform (230) is parallel to the vibration chute (221), the outer walls of two sides of the support platform (230) respectively have a gap with the inner walls of two sides of the vibration chute (221), the support platform (230) has a first support surface (231) and a second support surface (232) which are parallel, the first support surface (231) protrudes upwards from the second support surface (232), and the second support surfaces (232) are provided with two sets, and the two sets of second support surfaces (232) are respectively arranged on two sides of the first support surface (231).

3. The robotic wobble plate stacker according to claim 2 wherein the infeed end of the linear vibrating track (220) has a guide ramp (222), the guide ramp (222) being inclined outwardly from top to bottom.

4. The manipulator swinging tray and overturning tray stacking machine according to claim 1, wherein the tray stacking mechanism (300) further comprises two sets of oppositely arranged tray clamping assemblies (330), each set of tray clamping assemblies (330) comprises a first air cylinder (331), a second air cylinder (332) and a clamping plate (333), the first air cylinder (331) is installed on the rack (100), the second air cylinder (332) is installed at the output end of the first air cylinder (331), the clamping plate (333) is installed at the output end of the second air cylinder (332), the first air cylinder (331) is used for driving the second air cylinder (332) to move up and down, and the second air cylinder (332) is used for driving the clamping plate (333) to move horizontally so as to clamp or loosen a tray (320).

5. The manipulator swing plate and turn plate stacker crane according to claim 1, wherein the tray transfer mechanism (400) further comprises a positioning block (430), a pressing plate (440) and a third cylinder (450), the positioning block (430) and the third cylinder (450) are respectively installed on two opposite sides of the tray positioning plate (420), the pressing plate (440) is installed at an output end of the third cylinder (450), and the third cylinder (450) can drive the pressing plate (440) to move horizontally so as to push the tray (320) towards the positioning block (430) and enable the tray (320) to abut against the positioning block (430).

6. The robotic swing-out and turn-up palletizer according to claim 1, wherein the first manipulator (520) further comprises a top block (524), the top block (524) is connected to the non-output end of the first jaw cylinder (521) and is located within the first clamp block (522) and the second clamp block (523), and a top pressing surface of the top block (524) is spaced apart from the clamping ends of the first clamp block (522) and the second clamp block (523).

7. The manipulator swing-disc tray stacker according to claim 1, wherein the second manipulator (530) comprises a second clamping jaw cylinder (531), a third clamping block (532) and a fourth clamping block (533), the second clamping jaw cylinder (531) is mounted on a rotating shaft at the end of the six-axis manipulator (510), the third clamping block (532) and the fourth clamping block (533) are mounted on an output end of the second clamping jaw cylinder (531), a clamping end of the third clamping block (532) and a clamping end of the fourth clamping block (533) are respectively provided with a first clamping groove (5321) and a second clamping groove (5331), a side portion of the tray (320) is provided with a reinforcing plate (321), a through hole (3211) is formed in the reinforcing plate (321), the third clamping block (532) can pass through the through hole (3211) from the outer side of the reinforcing plate (321) to the inner side of the reinforcing plate (321), and the second clamping jaw cylinder (321531) can drive the third clamping block (533) and the fourth clamping block (533) to move towards the first clamping groove (5331) and the reinforcing plate (321).

8. The manipulator swing-disc tray tilting tray stacker according to claim 7, wherein the third clamping block (532) is a U-shaped block, the non-open end of the U-shaped block is connected with the output end of the second clamping jaw cylinder (531), two sets of first clamping grooves (5321) are provided, the two sets of first clamping grooves (5321) are respectively provided at the open end of the U-shaped block, two sets of through holes (3211) on the reinforcing plate (321) are correspondingly provided, the open end of the U-shaped block can pass through the two sets of through holes (3211), the two sets of first clamping grooves (5321) can be respectively clamped at the upper side parts of the two sets of through holes (3211), the fourth clamping block (533) is a linear block, and the length of the second clamping groove (5331) is greater than the sum of the lengths of the two sets of first clamping grooves (5321).