CN115043204A - Full-automatic high-speed flexible balance device - Google Patents

Full-automatic high-speed flexible balance device Download PDF

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Publication number
CN115043204A
CN115043204A CN202210705634.1A CN202210705634A CN115043204A CN 115043204 A CN115043204 A CN 115043204A CN 202210705634 A CN202210705634 A CN 202210705634A CN 115043204 A CN115043204 A CN 115043204A
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CN
China
Prior art keywords
tray
plate
plates
adjusting
base support
Prior art date
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Granted
Application number
CN202210705634.1A
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Chinese (zh)
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CN115043204B (en
Inventor
郝剑锋
罗耀辉
马维佳
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Shaanxi Shunxing Zongheng Intelligent Technology Co ltd
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Shaanxi Shunxing Zongheng Intelligent Technology Co ltd
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Priority to CN202210705634.1A priority Critical patent/CN115043204B/en
Publication of CN115043204A publication Critical patent/CN115043204A/en
Application granted granted Critical
Publication of CN115043204B publication Critical patent/CN115043204B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34Sorting according to other particular properties
    • B07C5/342Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • B07C5/362Separating or distributor mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08Control devices operated by article or material being fed, conveyed or discharged
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22Devices influencing the relative position or the attitude of articles during transit by conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • B65G2201/0235Containers
    • B65G2201/0258Trays, totes or bins
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04Detection means
    • B65G2203/041Camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A full-automatic high-speed flexible balance device comprises: the device comprises a base bracket, a fixed bracket and a lifting mechanism, wherein the fixed bracket is arranged above the base bracket, and a robot for taking materials is arranged on the fixed bracket; the material conveying mechanism is arranged on one side above the base and used for conveying materials; the empty tray cache mechanism is arranged on the other side above the base, a tray clamping mechanism is arranged on one side of the empty tray cache mechanism, and the tray clamping mechanism is arranged on one side of the material conveying mechanism; the lifting mechanism is arranged in the base bracket and used for stacking the trays filled with materials and is arranged below the tray clamping mechanism; the conveying mechanism is arranged on one side of the lifting mechanism; a visual inspection mechanism for detecting whether qualified material. This change balance equipment detects out whether qualified through visual detection mechanism, and whether the robot decides to snatch the material according to the testing condition to make and snatch position and mode, thereby can put into the tray with the material according to specific mode fast, avoid appearing the pendulum mistake, the pendulum is anti-, leak the circumstances such as pendulum, and need not manual operation, labour saving and time saving.

Description

Full-automatic high-speed flexible balance device
[ technical field ] A method for producing a semiconductor device
The invention belongs to the field of mechanical automation equipment, and particularly relates to full-automatic high-speed flexible balance equipment.
[ background of the invention ]
In order to protect products during the output of assembly line products in a batch production assembly line, the products need to be arranged in a plastic sucking disc with a positioning hole, namely a tray. The traditional mode is manual balance, and this kind of mode balance speed is slow, puts untidy, and can appear positive and negative dislocation, the direction is put wrong, is neglected to put, puts more scheduling problem, and the staff of balance simultaneously need wait at the station at all times, and work is simple repetition, boring, causes work fatigue easily, inefficiency, problem such as cost of labor.
[ summary of the invention ]
In view of the above problems, an object of the present invention is to provide a full-automatic high-speed flexible tray placing device, which detects whether a material is qualified or not through a visual detection mechanism, and a robot determines whether to grab the material according to a detection condition and makes a grabbing position and a grabbing mode, so that the material can be quickly placed in a tray according to a specific mode, situations such as a wrong swinging, a reversed swinging, and a missed swinging are avoided, and manual operation is not required, thereby saving time and labor.
The invention provides a full-automatic high-speed flexible balance device, which comprises:
the device comprises a base bracket, a fixed bracket and a lifting mechanism, wherein the fixed bracket is arranged above the base bracket, and a robot for taking materials is arranged on the fixed bracket;
the material conveying mechanism is arranged on one side above the base and used for conveying materials;
the empty tray caching mechanism is arranged on the other side above the base and used for storing empty trays, a tray clamping mechanism used for clamping the empty trays is arranged on one side of the empty tray caching mechanism, and the tray clamping mechanism is arranged on one side of the material conveying mechanism;
the lifting mechanism is arranged in the base bracket and used for stacking the trays filled with materials and is arranged below the tray clamping mechanism;
the conveying mechanism is arranged on one side of the lifting mechanism and used for outputting the stacked trays;
locate on the base support, be used for detecting whether qualified visual detection mechanism of material.
In particular, the method also comprises the following steps: locate the tray of keeping in of base top and place the mechanism, it includes: two supporting vertical plates, a drawer type frame and a movable supporting plate;
the two supporting vertical plates are arranged on the base bracket in parallel, and slide rails are respectively arranged on the opposite sides of the two supporting vertical plates;
the drawer-type frame is arranged at the inner sides of the two supporting vertical plates and reciprocates under the action of the slide rail,
the movable supporting vertical plate is fixedly arranged at the top of the drawer type frame, tray positioning blocks are respectively arranged at the diagonal positions of the movable supporting plate, the in-place adsorption magnet is arranged on the inner side of the supporting vertical plate, the in-place magnet and the in-place inductor are arranged on one side of the in-place adsorption magnet, and the tray inductor is arranged on the outer side of the supporting vertical plate.
In particular, the method also comprises the following steps: locate the foreign material recovery dish of material transport mechanism unloading end, it includes: the rotary disc and the first motor are used for providing rotary power for the rotary disc;
a first synchronizing wheel is arranged at the center of the outer side of the bottom of the rotating disc and movably arranged on the base bracket through a rotating shaft;
and a second synchronous wheel is arranged on the first motor rotating shaft, and the first synchronous wheel is connected with the second synchronous wheel belt.
Particularly, a fixed upright post is arranged on one side of the rotating disc, a shifting plate is arranged in the rotating disc, one end of the fixed upright post is arranged at the top of the shifting plate through a connecting block, one side edge of the shifting plate is in contact with the inner wall of the rotating disc, the other end of the fixed upright post is fixedly arranged on the base support, a U-shaped blanking groove is arranged at the blanking end of the material conveying mechanism, and the discharging port end of the U-shaped blanking groove is located in the rotating disc.
Specifically, the empty tray buffer mechanism includes: the tray pushing mechanism comprises two rectangular frames arranged on a base support, two groups of chain transmission mechanisms, a plurality of empty tray placing plates arranged outside the chain transmission mechanisms in parallel, a first servo motor used for providing power for the chain transmission mechanisms, and a tray pushing mechanism arranged between the two rectangular frames;
a first bevel gear is arranged below one side of the rectangular frame, which is far away from the material conveying mechanism, through a gear shaft, and an adjusting hole is arranged at one side of the rectangular frame, which is far away from the first bevel gear;
the chain transmission mechanism is arranged in the rectangular frame, one end of the chain transmission mechanism is provided with an adjusting plate for adjusting the tension of the chain, the adjusting plate is arranged in an adjusting hole, and the gear shaft is arranged at the driving end of the chain transmission mechanism;
the first servo motor is arranged on one side, away from the material conveying mechanism, of the rectangular frame, a rotating shaft of the first servo motor is connected with a spline shaft through a coupler, the spline shaft is arranged on the base support through the spline shaft, two second bevel gears meshed with the first bevel gears are arranged on the spline shaft, and a sensor used for sensing whether the tray is in place or not is arranged on the outer side of the spline shaft;
tray push mechanism includes: the device comprises two L-shaped push plates, a connecting plate for connecting the two L-shaped push plates into a whole, an air cylinder arranged below the connecting plate, a fixed supporting plate vertically arranged on a base support and a drag chain;
the side, facing the L-shaped push plate, of the fixed supporting plate is provided with two idle wheels which are connected with each other, and the fixed supporting plate is provided with a second servo motor used for providing power for the L-shaped push plate and a sensor used for sensing the moving distance of the L-shaped push plate;
the tow chain is arranged on one side of the fixed supporting plate through the tow chain placing plate.
Particularly, one bottom of the two rectangular frames is provided with an X-direction adjusting mechanism, and the other top is provided with a Y-direction adjusting mechanism;
the X-direction adjusting mechanism comprises: the X-direction sliding rail is vertically arranged below the rectangular frame, the X-direction sliding block is sleeved on the X-direction sliding rail, and the X-direction cylinder is used for providing power for the X-direction sliding block;
the X-direction sliding block is fixedly arranged at the bottom of the rectangular frame;
the X-direction cylinder is fixedly arranged on the outer side of a rectangular frame;
the Y-direction adjusting mechanism comprises: the Y-direction sliding rail is arranged at the top of the other rectangular frame, the Y-direction sliding block is sleeved on the Y-direction sliding rail, and the Y-direction cylinder is used for providing power for the Y-direction sliding block;
and a baffle is arranged on the Y-direction sliding block and located between the two rectangular frames, at least two baffle rods are arranged on one side of the baffle, which faces the base support, and the distance from the end part of each baffle rod to the upper surface of the tray clamping mechanism is the distance between the upper empty tray placing plate and the lower empty tray placing plate.
In particular, the tray clamping mechanism comprises: the tray comprises two L-shaped limiting plates, two vertical supporting plates, two movable supporting plates, an adjusting cylinder and an adjusting mechanism, wherein the two L-shaped limiting plates and the two vertical supporting plates are arranged along the conveying direction of the tray;
one of the two vertical supporting plates is fixedly arranged on the base support to form a fixed vertical supporting plate, the other vertical supporting plate is movably arranged on the base support to form a movable vertical supporting plate, the distance between the two vertical supporting plates is greater than the distance between the two L-shaped push plates, and the vertical supporting plates are provided with through grooves along the moving direction of the tray;
the movable support plate is inserted into the through groove and reciprocates in the through groove under the action of the adjusting cylinder, and the upper surface of the movable support plate and the inner surface of the L-shaped limiting plate are positioned on the same horizontal plane;
the adjustment mechanism includes: the device comprises two adjusting slide rails, adjusting slide blocks sleeved on the adjusting slide rails, a slide plate and a driving motor for providing power for the slide plate;
the two adjusting slide rails are vertically arranged at the top of the base support, and one ends of the two adjusting slide rails are fixedly arranged on the movable vertical supporting plate;
the sliding plate is arranged at the top of the adjusting slide block and is arranged outside the movable vertical supporting plate through the supporting upright post;
the two L-shaped limiting plates are arranged at the top of the supporting upright post in a face-to-face mode, and the distance between the two L-shaped limiting plates is matched with the width size of the tray.
In particular, the lifting mechanism comprises:
the plate type support is arranged in the base support and is positioned on one side, away from the L-shaped limiting plate, of the vertical supporting plate, ball screws are arranged on two sides of the plate type support respectively, and a plurality of lifting inductors are arranged on one side of the plate type support from top to bottom;
the tray supporting plate is arranged on one side, facing the L-shaped limiting plate, of the ball screw through a linear bearing, an induction sheet matched with the lifting inductor is arranged on the tray supporting plate, the tray supporting plate is located between the two vertical supporting plates, and two accommodating grooves are formed in the middle of the tray supporting plate;
the second servo motor is arranged on the plate type support and used for providing power for the ball screw, and a rotating shaft of the second servo motor is connected with an end belt of the ball screw;
the model changing cylinder is arranged at the top of the plate type support, and a tray stop block is arranged on a piston rod of the model changing cylinder.
In particular, the conveying means comprise:
one end of each of the two belt conveying mechanisms is positioned in the accommodating groove, and the upper surface of a belt of each belt conveying mechanism is not lower than the upper surface of the corresponding disc supporting plate;
a motor for powering the belt transport mechanism;
the protective metal plates are arranged in the base support and positioned on two sides of the belt conveying mechanism;
locate the ejection of compact inductor of belt conveyor feed end.
In particular, the visual inspection mechanism comprises:
the support rods are symmetrically arranged on two sides of the material conveying mechanism and are arranged on one side, away from the empty tray caching mechanism, of the robot;
the light source, the lens and the camera are arranged on the supporting rod from bottom to top, and the lens and the camera face the side of the conveying mechanism.
Compared with the prior art, according to the full-automatic high-speed flexible tray arranging equipment provided by the invention, the empty tray caching mechanism can cache a plurality of empty trays, the empty trays are pushed to the tray clamping mechanism through the tray pushing mechanism, and the trays can be pushed to the material blanking area without manually taking the trays in the whole process; the visual detection mechanism can detect the condition of the material in real time and feed the condition back to the external controller, the controller sends an instruction to the robot according to a detection result, and the robot grabs the material according to the instruction and puts the material into a positioning hole of the empty tray; the lifting mechanism can stack the tray filled with materials and output the tray through the conveying mechanism 5.
To sum up, this full-automatic high-speed flexible balance equipment whole journey need not the special messenger and guards, and 1 material can be put to the fastest 0.8s, after the material was put the tray, can change the tray automatically, need not artificial intervention to can realize the tray of multiple different specifications through adjustment mechanism etc. the suitability is wider, and elevating system can realize piling up of a plurality of charging trays, piles up the completion back, accessible conveying mechanism 5 automatic transportation to the discharge gate, has reduced cost of labor and intensity of labour, has improved work efficiency.
[ description of the drawings ]
FIG. 1 is a schematic structural diagram of a fully automatic high-speed flexible balance device according to the present invention;
FIG. 2 is another schematic structural diagram of a fully automatic high-speed flexible balance device according to the present invention;
FIG. 3 is a schematic structural diagram of a material conveying mechanism in the fully automatic high-speed flexible balance device according to the present invention;
FIG. 4 is a schematic structural diagram of a hollow tray caching mechanism of a full-automatic high-speed flexible tray arranging device according to the present invention;
FIG. 5 is a schematic structural diagram of a tray pushing mechanism in the full-automatic high-speed flexible tray arranging device according to the present invention;
FIG. 6 is a schematic structural diagram of a tray clamping mechanism in the full-automatic high-speed flexible balance device according to the present invention;
FIG. 7 is a schematic structural diagram of a lifting mechanism in a fully automatic high-speed flexible balance device according to the present invention;
FIG. 8 is another schematic structural diagram of a lifting mechanism in the fully automatic high-speed flexible balance device according to the present invention;
FIG. 9 is a schematic structural diagram of a conveying mechanism in a fully automatic high-speed flexible balance device according to the present invention;
FIG. 10 is a schematic structural diagram of a visual inspection mechanism in a fully automatic high-speed flexible balance device according to the present invention;
FIG. 11 is a schematic structural diagram of a temporary storage tray placing mechanism in the full-automatic high-speed flexible tray arranging device according to the present invention;
fig. 12 is a structural diagram of a foreign material recycling tray in the full-automatic high-speed flexible tray arranging device according to the invention.
In the drawing, 10 base supports, 11U-shaped blanking grooves, 20 fixed supports, 30 robots, 1 material conveying mechanism, 2 empty tray buffer mechanism, 201 rectangular frame, 202 chain transmission mechanism, 203 empty tray placing plate, 204 first servo motor, 205 first bevel gear, 206 adjusting hole, 207 adjusting plate, 208 spline shaft, 209 second bevel gear, 210 sensor, 211L-shaped push plate, 212 connecting plate, 213 air cylinder, 214 fixed supporting plate, 215 drag chain, 216 idle wheel, 217 second servo motor, 218 displacement sensor, 219 drag chain placing plate, 220X-direction slide rail, 221X-direction slide block, 222X-direction air cylinder, 223Y-direction slide rail, 224Y-direction slide block, 225Y-direction air cylinder, 226 baffle plate, 227 baffle rod, 3 tray tightening mechanism, 301L-shaped limiting plate, 302 vertical supporting plate, 303 movable supporting plate, 304 adjusting air cylinder, through groove 305, 306 slide rail, 307 adjusting slide block, 308 sliding plate, 309 supporting upright post, driving motor 310, 4 lifting mechanism, 401 plate type bracket, 402 ball screw, 403 lifting sensor, 404 tray stop, 405 tray supporting plate, 406 sensing piece, 407 holding groove, 408 third servo motor, 409 model changing cylinder, 5 conveying mechanism, 501 belt conveying mechanism, 502 motor, 503 protection sheet metal, 504 discharging sensor, 6 visual detection mechanism, 601 supporting rod, 602 light source, 603 lens, 604 camera, 7 temporary storage tray placing mechanism, 701 supporting upright plate, 702 drawer type frame, 703 movable supporting plate, 704 drawer slide rail, 705 tray positioning block, 706 in-place adsorption magnet, 707 tray sensor, 708 in-place magnet, 709 in-place sensor, 8 special material recovery disc, 801 rotating disc, 802 first motor, 803 stirring plate, 804 second synchronizing wheel and 805 fixed upright post.
[ detailed description ] A
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 11, the present invention provides a fully automatic high-speed flexible wobble plate apparatus, including: the device comprises a base support 10, a fixed support 20, a robot 30, a material conveying mechanism 1, an empty tray caching mechanism 2, a tray clamping mechanism 3, a lifting mechanism 4, a conveying mechanism 5 and a visual detection mechanism 6; wherein
The base support 10 is placed on the ground and used for fixing and supporting other components;
the fixed support 20 is used for fixing and supporting the robot 30 and is arranged above the base support 10;
the robot 30 is used for taking the materials on the material conveying mechanism 1 to the tray on the tray clamping mechanism 3, so that the placement of the tray materials is realized, manual operation is not needed in the whole process, and time and labor are saved;
material transfer mechanism 1 is belt transport mechanism, and it locates one side on base support 10, includes: the material conveying device comprises a driving wheel, a driven wheel and a motor, wherein the driving wheel, the driven wheel and the motor are arranged on a base support 10, the motor is used for providing power for the driving wheel, the driving wheel is connected with a driven wheel belt, the material enters a conveying belt after being processed, the material is conveyed to the lower part of a robot 30, and the robot 30 takes and places the material;
the empty tray caching mechanism 2 is arranged on the other side above the base support 10, can store a plurality of empty trays and can push the placed empty trays to the tray clamping mechanism 3;
the tray clamping mechanism 3 is arranged on the base support 10 and located on one side, facing the material conveying mechanism 1, of the empty tray caching mechanism 2, the center position of the tray clamping mechanism 3 is located at the same position as that of the empty tray caching mechanism 2, the empty tray pushed by the empty tray caching mechanism 2 can be clamped by the tray clamping mechanism 3, and the situation that the empty tray shakes under the working condition of the equipment to influence the robot 30 to accurately place materials is avoided;
the lifting mechanism 4 is arranged in the base support 10, is positioned below the tray clamping mechanism 3 and is used for stacking the trays with the placed materials so as to stack the trays layer by layer, manual operation is not needed in the whole process, and time and labor are saved;
the conveying mechanism 5 is also arranged in the base support 10 and is positioned at the discharging end of the lifting mechanism 4, and when the number of the trays on the lifting mechanism 4 reaches a set number, the conveying mechanism 5 starts to work and outputs the trays from the base support 10;
on base support 10 is located to visual detection mechanism 6, it is used for the position of real-time detection material on material transmission mechanism 1 and whether qualified, if qualified, robot 30 takes according to the material position that detects to make the material put in the tray with the position of setting for, avoid the confusion, if unqualified, robot 30 can not take the material, thereby ensures that the material of putting into in the tray is whole to be qualified product, need not whether qualified of manual detection.
Specially, when the tray on the mechanism 3 is fastened to the tray and is filled with the material, empty tray buffer memory mechanism 2 needs certain time with empty tray propelling movement to the tray when fastening the mechanism 3, and material conveying mechanism 1 can not stop working this moment, in order to avoid the material along the output of material conveying mechanism 1, this equipment still includes: locate the temporary storage tray of base top and place mechanism 7, it includes: two supporting vertical plates 701, a drawer type frame 702 and a movable supporting plate 703;
the two supporting vertical plates 701 are arranged on the base support 10 in parallel, and slide rails 704 are respectively arranged on the opposite sides of the two supporting vertical plates;
the drawer-type frame 702 is disposed inside the two supporting vertical plates 701, and reciprocates under the action of the sliding rail 704,
the movable supporting vertical plate 701 is fixedly arranged at the top of the drawer type frame 702, tray positioning blocks 705 are respectively arranged at the diagonal positions of the movable supporting plate 703, the in-place attracting magnet 70 is arranged on the inner side of the supporting vertical plate 701, the in-place magnet 708 and the in-place sensor 709 are arranged on one side of the in-place attracting magnet 706, and the tray sensor 707 is arranged on the outer side of the supporting vertical plate 701; in the invention, an empty tray is placed on the movable supporting plate 703, when the tray on the tray clamping mechanism 3 is full of materials, the robot 30 takes the qualified materials on the material conveying mechanism 1 to the empty tray on the movable supporting plate 703, and when the empty tray on the tray clamping mechanism 3 is in place, the robot 30 can place the materials on the tray clamping mechanism 3 again, so that the conveying and placing of the materials are not influenced, and the working efficiency is indirectly improved; after the materials on the movable supporting plate 703 are filled, the movable supporting plate 703 is pulled out through the drawer type frame 702, the tray full of the materials is manually taken down, and an empty tray is placed, at the moment, the tray positioning block 705 can limit the empty tray, so that the situation that the empty tray moves due to equipment vibration when the equipment works is avoided, when the in-place sensor 709 senses the drawer type frame 702, the in-place adsorption magnet 706 and the in-place magnet 708 are adsorbed together, the situation that the frame 702 is mistakenly opened due to accidents and the like during the drawer process to influence the placement of the materials is avoided, the tray sensor 707 can sense whether the empty tray is placed on the movable supporting plate 701, and if not, a reminding signal is sent out through an external controller, an alarm and the like.
In particular, since the material may have unassembled or unqualified products after the processing is completed, and the robot 30 does not take the non-qualified material, the non-qualified material will be conveyed along the material conveying mechanism 1, and in order to recover the non-qualified material, the apparatus further includes: locate the foreign material recovery dish 8 of 1 unloading end of material transport mechanism, it includes: a rotating disk 801, a first motor 802 for providing a rotating power to the rotating disk 801;
a first synchronizing wheel (not shown) is arranged at the center of the outer side of the bottom of the rotating disc 801 and movably arranged on the base support 10 through a rotating shaft;
a second synchronous wheel 804 is arranged on the rotating shaft of the first motor 802, and the first synchronous wheel is connected with the second synchronous wheel 804;
in the invention, the rotating disc 801 can store non-qualified materials, and the non-qualified materials are accumulated due to the fact that the non-qualified materials are discharged from the discharge end of the material conveying mechanism 1 for a long time, so that the rotating disc 801 is set to be a rotatable disc body, and can rotate under the action of the first motor 802, so that the materials are evenly paved in the rotating disc 801, and the materials are prevented from being accumulated on the rotating disc 801 and falling off and the like.
Particularly, after some materials are assembled again, the materials can be recovered to be qualified products, and the materials can be touched in the stacking process, so that the materials can be scratched, therefore, a fixed upright column 805 is arranged on one side of the rotating disc 801, a material shifting plate 803 is arranged in the rotating disc 801, the top of the material shifting plate 803 is arranged at one end of the fixed upright column 805 through a connecting block, the edge of one side of the material shifting plate 803 is in contact with the inner wall of the rotating disc 801, the other end of the fixed upright column 805 is fixedly arranged on the base support 10, a U-shaped blanking groove 11 is arranged at the blanking end of the material conveying mechanism 1, and the outlet end of the U-shaped blanking groove 11 is positioned in the rotating disc 801; in the invention, the material shifting plate 803 can be used for shifting non-qualified materials falling from the material conveying mechanism 1 to the middle position of the rotating disc 801, so that the materials are prevented from being accumulated at the edge position of the rotating disc 801, and the materials are prevented from being further accumulated to scratch the surface of the materials, thereby indirectly improving the product percent of pass of the materials.
Specifically, the empty tray buffer mechanism 2 includes: the pallet loading device comprises two rectangular frames 201 arranged on a base support 10, two groups of chain transmission mechanisms 202, a plurality of empty pallet placing plates 203 arranged outside the chain transmission mechanisms 202 in parallel, a first servo motor 204 used for providing power for the chain transmission mechanisms 202, and a pallet pushing mechanism arranged between the two rectangular frames 201;
a first bevel gear 205 is arranged below one side of the rectangular frame 201 far away from the material conveying mechanism 1 through a gear shaft, and an adjusting hole 206 is arranged at one side of the rectangular frame 201 far away from the first bevel gear 205;
the chain transmission mechanism 202 is arranged in the rectangular frame 201, one end of the chain transmission mechanism is provided with an adjusting plate 207 for adjusting chain tensioning, the adjusting plate 207 is arranged in the adjusting hole 206, the position of the adjusting plate 207 in the adjusting hole 206 is changed through screws and the like, the chain tensioning condition can be adjusted, the phenomenon that the transmission of the empty tray placing plate 203 is affected due to the fact that the adjusting chain is loosened is avoided, the empty tray cannot be normally transmitted is avoided, and the gear shaft is arranged at the driving end of the chain transmission mechanism 202;
the first servo motor 204 is arranged on one side of the rectangular frame 201 far away from the material conveying mechanism 1, a rotating shaft of the first servo motor is connected with a spline shaft 208 through a coupler, the spline shaft 208 is arranged on the base support 10 through the spline shaft, two second bevel gears 209 meshed with the first bevel gears 205 are arranged on the spline shaft 208, an inductor 210 used for inducing whether a tray is in place is arranged on the outer side of the spline shaft 208, the inductor 210 is used for inducing whether a tray is in place on an empty tray placing plate 203 in front of the inductor 210, if yes, the chain transmission mechanism 202 stops working, the tray pushing mechanism pushes the empty tray to the tray tightening mechanism, and if not, the chain transmission mechanism 202 continues working until the inductor 210 induces the empty tray;
the tray pushing mechanism includes: two L-shaped push plates 211, a connecting plate 212 for connecting the two L-shaped push plates 211 into a whole, an air cylinder 213 arranged below the connecting plate 212, a fixed support plate 214 vertically arranged on the base support 10, and a drag chain 215;
one side of the fixed supporting plate 214, which faces the L-shaped push plate 211, is provided with two idle wheels 216, the two idle wheels 216 are connected with each other, the fixed supporting plate 214 is provided with a second servo motor 217 for providing power for the L-shaped push plate 211 and a displacement sensor 218 for sensing the moving distance of the L-shaped push plate 211, and the displacement sensor 218 can sense the moving position of the L-shaped push plate 211 in real time, so that the empty head disk can be pushed to the tray clamping mechanism 3 more accurately and more quickly;
the drag chain 215 is provided at one side of the fixed support plate 214 by a drag chain placing plate 219.
Particularly, due to the fact that different production lines have different material models and different sizes, in order to enable the device to have stronger applicability, one bottom of the two rectangular frames 201 is provided with an X-direction adjusting mechanism, the other top of the two rectangular frames 201 is provided with a Y-direction adjusting mechanism, so that the distance between the two rectangular frames 201 can be adjusted through the X-direction adjusting mechanism, the length direction of the empty tray placing plate 203 can be adjusted through the Y-direction adjusting mechanism, and the length and width direction adjustment of the empty tray can be completed, so that the empty tray caching mechanism 2 can be applicable to caching of empty trays with more sizes, and the applicability of the device is improved;
the X-direction adjusting mechanism comprises: the X-direction sliding rail 220 is vertically arranged below the rectangular frame 201, the X-direction sliding block 221 is sleeved on the X-direction sliding rail 220, and the X-direction cylinder 222 is used for providing power for the X-direction sliding block 221;
the X-direction sliding block 221 is fixedly arranged at the bottom of the rectangular frame 201;
the X-direction cylinder 222 is fixedly arranged on the outer side of one rectangular frame 201, so that the rectangular frame 201 on the X-direction adjusting mechanism moves along the X-direction slide rail 220 under the action of the X-direction cylinder 222 through the X-direction slide block 211, and the adjustment of the distance between the two rectangular frames 201 is completed;
the Y-direction adjusting mechanism comprises: a Y-direction slide rail 223 arranged at the top of the other rectangular frame 201, a Y-direction slide block 224 sleeved on the Y-direction slide rail 223, and a Y-direction cylinder 225 for providing power for the Y-direction slide block 224;
a baffle 226 is arranged on the Y-direction slider 224, the baffle 226 is positioned between the two rectangular frames 201, at least two baffle rods 227 are arranged on one side of the baffle 226 facing the base support 10, and the distance from the end of each baffle rod 227 to the upper surface of the tray clamping mechanism 3 is the distance between the upper empty tray placing plate 203 and the lower empty tray placing plate 203; after the Y-direction cylinder 225 works, the Y-direction slider 224 can be pushed to move along the Y-direction slide rail 223, so that the Y-direction slider 224 drives the baffle 226 above the Y-direction slider 224 to move, and the baffle rod 227 moves to the size required by the empty tray under the driving of the baffle 226, so that the empty tray buffer mechanism 2 can meet the buffer requirements of empty trays with different sizes.
In particular, the tray clamping mechanism 3 comprises: the tray comprises two L-shaped limiting plates 301, two vertical supporting plates 302, two movable supporting plates 303, an adjusting cylinder 304 and an adjusting mechanism, wherein the adjusting cylinder 304 is used for providing power for the movable supporting plates 303, the adjusting mechanism is used for adjusting the distance between the two vertical supporting plates 302, after the L-shaped pushing plate 211 pushes the empty tray onto the L-shaped limiting plates 301, the L-shaped pushing plate 211 moves downwards under the action of the cylinder 213 until the empty tray is separated, then the L-shaped limiting plates 301 completely withdraw under the action of a second servo motor 217, and after the vertical end of the L-shaped pushing plate 211 is contacted with the edge of the empty tray, the second servo motor 217 rotates reversely to push the empty tray to the vertical supporting plates 302 side along the L-shaped limiting plates 301, and at the moment, the two movable supporting plates 303 move inwards to support the empty tray;
one of the two vertical support plates 302 is fixedly arranged on the base support 10 to form a fixed vertical support plate 302, the other vertical support plate is movably arranged on the base support 10 to form a movable vertical support plate 302, the distance between the two vertical support plates 302 is greater than the distance between the two L-shaped push plates 211, and the vertical support plate 302 is provided with a through groove 305 along the moving direction of the tray;
the movable support plate 303 is inserted into the through groove 305 and reciprocates in the through groove 305 under the action of the adjusting cylinder 304, the upper surface of the movable support plate 303 and the inner surface of the L-shaped limiting plate 301 are positioned on the same horizontal plane, so that the movable support plate 303 extends out of the through groove 305 under the action of the adjusting cylinder 304 and forms an L-shaped bearing platform with the vertical support plate 302 for bearing an empty tray;
the adjustment mechanism includes: the adjusting device comprises two adjusting slide rails 306, an adjusting slide block 307 sleeved on the adjusting slide rails 306, a sliding plate 308 and a driving motor 310 for providing power for the sliding plate 308;
the two adjusting slide rails 306 are vertically arranged at the top of the base support 10, one end of each adjusting slide rail 306 is fixedly arranged on the movable vertical support plate 302, and the movable vertical support plates 302 move on the base support 10 along the adjusting slide rails 306 under the action of the driving motor 310, so that the distance between the two vertical support plates 302 is adjusted, and the trays with different specifications are fastened;
the sliding plate 308 is arranged at the top of the adjusting sliding block 307, the sliding plate 308 is arranged outside the movable vertical supporting plate 302 through the supporting upright 309, and the adjusting mechanism can adjust the distance between the vertical supporting plates 302, so that the clamping mechanism can be suitable for clamping empty trays with different width sizes, and has stronger applicability;
two L type limiting plates 301 set up face to face in support post 309 top, and the distance between these two L type limiting plates 301 suits with tray width size, so make this empty tray can be better by injecing, avoid the material to put to the tray not put the inslot.
In particular, the lifting mechanism 4 comprises:
the plate type support 401 is arranged in the base support 10 and is positioned on one side, away from the L-shaped limiting plate 301, of the vertical supporting plate 302, ball screws 402 are respectively arranged on two sides of the plate type support 401, a plurality of lifting inductors 403 are arranged on one side of the plate type support 401 from top to bottom, and the lifting inductors 403 can limit the tray supporting plate 405;
the tray supporting plate 405 is arranged on one side, facing the L-shaped limiting plate 301, of the ball screw 402 through a linear bearing, an induction sheet 406 matched with the lifting inductor 403 is arranged on the tray supporting plate 405, the tray supporting plate 405 is located between the two vertical supporting plates 302, and two accommodating grooves 407 are formed in the middle of the tray supporting plate 405;
the third servo motor 408 is arranged on the plate type bracket 401 and used for providing power for the ball screw 402, and the rotating shaft of the third servo motor 408 is connected with the end part belt of the ball screw 402;
the model changing cylinder 409 is arranged at the top of the plate type support 401, and a tray stop 404 is arranged on a piston rod of the model changing cylinder 409; after the tray is full of materials, the movable support plate 303 moves outwards along the through groove 305 under the action of the adjusting cylinder 304 until the end part is positioned on the same vertical surface of the inner side wall of the vertical support plate 302, at the moment, the tray full of materials is placed on the tray supporting plate 405, then the tray supporting plate 405 stops moving after moving downwards for a set distance under the action of the third servo motor 408 through the ball screw 402, the tray full of materials is waited to be received next time, and when the lifting sensor 403 positioned at the lowest part senses the sensing piece 406, the number of trays received by the tray supporting plate 405 reaches the maximum.
In particular, the conveying means 5 comprise:
the two belt conveying mechanisms 501 are arranged in the base support 10, one end of each belt conveying mechanism 501 is located in the accommodating groove 407, and the upper surface of a belt of each belt conveying mechanism 501 is not lower than that of the tray supporting plate 405;
a motor 502 for powering the belt conveying mechanism 501;
the protective metal plates 503 are arranged in the base support 10 and positioned on two sides of the belt conveying mechanism 501, and the protective metal plates 503 can prevent the stacked trays from toppling in the output process, so that the output trays are ensured to be in a stacked state and are convenient to transport;
the discharging sensor 504 is arranged at the feeding end of the belt conveying mechanism 501, after the discharging sensor 504 senses the tray, the external controller sends a signal to the motor 502, the motor 502 stops working, and the tray is prevented from falling to the ground due to excessive output;
when the tray that tray layer board 405 accepts reaches the maximum, motor 502 begins to work, drives belt conveyor 501 and begins to work, because the setting of holding tank 407, belt conveyor 501's belt surface contacts with the tray bottom of below to the belt drives the tray removal of pile up neatly on the tray layer board 405, until transporting to the unloading end.
In particular, the visual inspection means 6 comprise:
the support rods 601 are symmetrically arranged at two sides of the material conveying mechanism 1 and are arranged at one side of the robot 30 away from the empty tray cache mechanism 2;
the light source 602, the lens 603 and the camera 604 are arranged on the support rod 601 from bottom to top, and the lens 603 and the camera 604 face the conveying mechanism side;
in the invention, when the material moves to the position below the visual detection mechanism 6 under the action of the material conveying mechanism 1, the lens 603 and the camera 604 are used for capturing and photographing the material, so that material information is uploaded to the controller, the controller judges the captured material, and sends an instruction to the robot 30, the robot 30 determines whether to capture the material or not according to the instruction, how to capture the material, and places the captured material into an empty tray, and the light source 602 is used for supplementing light, so that the situation that the lens 603 and the camera 604 are not captured in place or the photographing is not clear due to insufficient illumination in the equipment is avoided.
The working principle is as follows:
manually placing the empty tray on the empty tray placing plate 203 in the empty tray caching mechanism, after the empty tray is placed, turning on a switch, pushing the empty tray to the tray clamping mechanism 3 by the material pushing mechanism, starting the material conveying mechanism 1, simultaneously starting the visual detection mechanism 6 to detect whether the material is qualified and the position of a steering gear on the material conveying mechanism 1 in real time, and transmitting detection information to a controller, sending an instruction to the robot 30 by the controller according to the detection information, grabbing the material by the robot 30 according to the instruction, placing the material into the empty tray on the tray clamping mechanism 3, loosening the tray clamping mechanism 3 when the empty tray is full, carrying the tray loaded with the material by a tray supporting plate 405 in the lifting mechanism 4, driving the tray to move downwards, stopping moving after moving for a certain distance, waiting for carrying the next tray, meanwhile, the chain transmission mechanism 202 in the empty tray caching mechanism 2 starts to rotate under the action of the first servo motor 204, and the empty tray is pushed into the tray tightening mechanism 3 through the tray pushing mechanism to wait for the robot 3 to load materials; during the replacement of the empty tray, the robot 30 can place the qualified materials into the empty tray on the temporary storage tray placing mechanism 7, and the whole process does not need to be stopped, so that the working efficiency is improved; and non-qualified products can be along, during material transport mechanism 1 got into different material recovery dish 8, whole journey need not manual operation, labour saving and time saving, and work efficiency is high.

Claims (10)

1. The utility model provides a full-automatic high-speed flexibility pendulum dish equipment which characterized in that includes:
the device comprises a base support (10), a fixed support (20) is arranged above the base support, and a robot (30) for taking materials is arranged on the fixed support (20);
the material conveying mechanism (1) is arranged on one side above the base support (10) and used for conveying materials;
the empty tray caching mechanism (2) is arranged on the other side above the base support (10) and used for storing empty trays, a tray clamping mechanism (3) used for clamping the empty trays is arranged on one side of the empty tray caching mechanism, and the tray clamping mechanism (3) is arranged on one side of the material conveying mechanism (1);
the lifting mechanism (4) is arranged in the base bracket (10) and used for stacking the trays filled with materials and is arranged below the tray clamping mechanism (3);
the conveying mechanism (5) is arranged on one side of the lifting mechanism (4) and is used for outputting the stacked trays;
and the visual detection mechanism (6) is arranged on the base support (10) and is used for detecting whether the materials are qualified or not.
2. The fully automatic high-speed flexible balance device according to claim 1, further comprising: locate the tray of keeping in of base top and place mechanism (7), it includes: two supporting vertical plates (701), a drawer type frame (702) and a movable supporting plate (703);
the two supporting vertical plates (701) are arranged on the base support (10) in parallel, and one sides of the two supporting vertical plates facing each other are respectively provided with a sliding rail (704);
the drawer type frame (702) is arranged at the inner sides of the two supporting vertical plates (701) and reciprocates under the action of the sliding rail (704),
the movable supporting vertical plate (701) is fixedly arranged at the top of the drawer type frame (702), tray positioning blocks (705) are respectively arranged at diagonal positions of the movable supporting plate (703), an in-place adsorption magnet (706) is arranged on the inner side of the supporting vertical plate (701), an in-place magnet (708) and an in-place inductor (709) are arranged on one side of the in-place adsorption magnet (706), and a tray inductor (707) is arranged on the outer side of the supporting vertical plate (701).
3. The fully automatic high-speed flexible balance device according to claim 1, further comprising: locate material transport mechanism (1) unloading end expect that different material retrieves dish (8), it includes: a rotating disc (801), a first motor (802) for providing rotational power to the rotating disc (801);
a first synchronizing wheel is arranged at the center of the outer side of the bottom of the rotating disc (801), and the first synchronizing wheel is movably arranged on the base support (10) through a rotating shaft;
and a second synchronous wheel (804) is arranged on the rotating shaft of the first motor (802), and the first synchronous wheel is connected with the second synchronous wheel (804).
4. The full-automatic high-speed flexible balance device according to claim 3, wherein a fixed upright column (805) is arranged on one side of the rotating disc (801), a material shifting plate (803) is arranged in the rotating disc (801), the top of the material shifting plate (803) is arranged at one end of the fixed upright column (805) through a connecting block, one side edge of the material shifting plate (803) is in contact with the inner wall of the rotating disc (801), the other end of the fixed upright column (805) is fixedly arranged on the base support (10), a U-shaped discharging groove (11) is arranged at the discharging end of the material conveying mechanism (1), and the discharging port end of the U-shaped discharging groove (11) is positioned in the rotating disc (801).
5. The fully automatic high-speed flexible balance device according to claim 1, wherein the empty tray buffer mechanism (2) comprises: the pallet pushing device comprises two rectangular frames (201) arranged on a base support (10), two groups of chain transmission mechanisms (202), a plurality of empty pallet placing plates (203) arranged outside the chain transmission mechanisms (202) in parallel, a first servo motor (204) used for providing power for the chain transmission mechanisms (202), and a pallet pushing mechanism arranged between the two rectangular frames (201);
a first bevel gear (205) is arranged below one side, far away from the material conveying mechanism (1), of the rectangular frame (201) through a gear shaft, and an adjusting hole (206) is arranged at one side, far away from the first bevel gear (205), of the rectangular frame (201);
the chain transmission mechanism (202) is arranged in the rectangular frame (201), one end of the chain transmission mechanism is provided with an adjusting plate (207) for adjusting chain tensioning, the adjusting plate (207) is arranged in an adjusting hole (206), and the gear shaft is arranged at the driving end of the chain transmission mechanism (202);
the first servo motor (204) is arranged on one side, far away from the material conveying mechanism (1), of the rectangular frame (201), a rotating shaft of the first servo motor is connected with a spline shaft (208) through a coupler, the spline shaft (208) is arranged on the base support (10) through a spline shaft fixing plate, two second bevel gears (209) meshed with the first bevel gears (205) are arranged on the spline shaft (208), and a sensor (210) used for sensing whether the tray is in place or not is arranged on the outer side of the spline shaft (208);
the tray pushing mechanism includes: the device comprises two L-shaped push plates (211), a connecting plate (212) for connecting the two L-shaped push plates (211) into a whole, an air cylinder (213) arranged below the connecting plate (212), a fixed supporting plate (214) vertically arranged on a base support (10), and a drag chain (215);
one side of the fixed supporting plate (214) facing the L-shaped push plate (211) is provided with two idle wheels (216), the two idle wheels (216) are connected with each other, and the fixed supporting plate (214) is provided with a second servo motor (217) used for providing power for the L-shaped push plate (211) and a displacement sensor (218) used for sensing the moving distance of the L-shaped push plate (211);
the drag chain (215) is arranged on one side of the fixed support plate (214) through a drag chain placing plate (219).
6. The full-automatic high-speed flexible balance device according to claim 5, wherein one bottom of the two rectangular frames (201) is provided with an X-direction adjusting mechanism, and the other top is provided with a Y-direction adjusting mechanism;
the X-direction adjusting mechanism comprises: the X-direction sliding rail mechanism comprises two X-direction sliding rails (220) vertically arranged below a rectangular frame (201), an X-direction sliding block (221) sleeved on the X-direction sliding rails (220), and an X-direction cylinder (222) used for providing power for the X-direction sliding block (221);
the X-direction sliding block (221) is fixedly arranged at the bottom of a rectangular frame (201);
the X-direction cylinder (222) is fixedly arranged on the outer side of the rectangular frame (201);
the Y-direction adjusting mechanism comprises: a Y-direction sliding rail (223) arranged at the top of the other rectangular frame (201), a Y-direction sliding block (224) sleeved on the Y-direction sliding rail (223), and a Y-direction cylinder (225) used for providing power for the Y-direction sliding block (224);
the Y-direction sliding block (224) is provided with a baffle (226), the baffle (226) is positioned between the two rectangular frames (201), one side of the baffle (226) facing the base support (10) is provided with at least two baffle rods (227), and the distance from the end part of each baffle rod (227) to the upper surface of the tray clamping mechanism (3) is the distance between the upper empty tray placing plate (203) and the lower empty tray placing plate.
7. The fully automatic high-speed flexible balance device according to claim 5, wherein the tray clamping mechanism (3) comprises: the tray comprises two L-shaped limiting plates (301) and two vertical supporting plates (302) which are arranged along the conveying direction of the tray, two movable supporting plates (303), an adjusting cylinder (304) for providing power for the movable supporting plates (303), and an adjusting mechanism for adjusting the distance between the two vertical supporting plates (302);
one of the two vertical supporting plates (302) is fixedly arranged on the base support (10) to form a fixed vertical supporting plate (302), the other vertical supporting plate is movably arranged on the base support (10) to form a movable vertical supporting plate (302), the distance between the two vertical supporting plates (302) is greater than the distance between the two L-shaped push plates (211), and the vertical supporting plate (302) is provided with a through groove (305) along the moving direction of the tray;
the movable support plate (303) is inserted into the through groove (305) and reciprocates in the through groove (305) under the action of the adjusting cylinder (304), and the upper surface of the movable support plate (303) and the inner surface of the L-shaped limiting plate (301) are positioned on the same horizontal plane;
the adjustment mechanism includes: the device comprises two adjusting slide rails (306), an adjusting slide block (307) sleeved on the adjusting slide rails (306), a sliding plate (308) and a driving motor (310) for providing power for the sliding plate (308);
the two adjusting slide rails (306) are vertically arranged at the top of the base support (10), and one ends of the two adjusting slide rails are fixedly arranged on the movable vertical supporting plate (302);
the sliding plate (308) is arranged at the top of the adjusting slide block (307), and the sliding plate (308) is arranged at the outer side of the movable vertical supporting plate (302) through a supporting upright post (309);
the two L-shaped limiting plates (301) are arranged at the top of the supporting upright post (309) in a face-to-face mode, and the distance between the two L-shaped limiting plates (301) is matched with the width of the tray.
8. The fully automatic high-speed flexible balance device according to claim 7, wherein the lifting mechanism (4) comprises:
the plate type support (401) is arranged in the base support (10) and is positioned on one side, away from the L-shaped limiting plate (301), of the vertical supporting plate (302), ball screws (402) are respectively arranged on two sides of the plate type support (401), and a plurality of lifting inductors (403) are arranged on one side of the plate type support (401) from top to bottom;
the tray supporting plate (405) is arranged on one side, facing the L-shaped limiting plate (301), of the ball screw (402) through a linear bearing, an induction sheet (406) matched with the lifting inductor (403) is arranged on the tray supporting plate (405), the tray supporting plate (405) is located between the two vertical supporting plates (302), and two accommodating grooves (407) are formed in the middle of the tray supporting plate (405);
the third servo motor (408) is arranged on the plate type bracket (401) and used for providing power for the ball screw (402), and a rotating shaft of the third servo motor (408) is connected with an end belt of the ball screw (402);
the model changing cylinder (409) is arranged at the top of the plate type support (401), and a tray stop block (404) is arranged on a piston rod of the model changing cylinder.
9. The fully automatic high-speed flexible balance device according to claim 8, wherein the conveying mechanism (5) comprises:
two belt conveying mechanisms (501) arranged in the base support (10), wherein one end of each belt conveying mechanism (501) is positioned in the accommodating groove (407), and the upper surface of a belt of each belt conveying mechanism (501) is not lower than that of the tray supporting plate (405);
a motor (502) for powering the belt conveying mechanism (501);
the protective metal plates (503) are arranged in the base support (10) and positioned on two sides of the belt conveying mechanism (501);
and the discharging inductor (504) is arranged at the feeding end of the belt conveying mechanism (501).
10. A fully automatic high speed flexible balance device according to claim 1, wherein said visual inspection mechanism (6) comprises:
the support rods (601) are symmetrically arranged on two sides of the material conveying mechanism (1) and are arranged on one side, away from the empty tray caching mechanism (2), of the robot (30);
the light source (602), the lens (603) and the camera (604) are arranged on the supporting rod (601) from bottom to top, and the lens (603) and the camera (604) face the conveying mechanism side.
CN202210705634.1A 2022-06-21 2022-06-21 Full-automatic high-speed flexible wobble plate equipment Active CN115043204B (en)

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CN202210705634.1A CN115043204B (en) 2022-06-21 2022-06-21 Full-automatic high-speed flexible wobble plate equipment

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Application Number Priority Date Filing Date Title
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