CN115043204B - Full-automatic high-speed flexible wobble plate equipment - Google Patents

Full-automatic high-speed flexible wobble plate equipment Download PDF

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Publication number
CN115043204B
CN115043204B CN202210705634.1A CN202210705634A CN115043204B CN 115043204 B CN115043204 B CN 115043204B CN 202210705634 A CN202210705634 A CN 202210705634A CN 115043204 B CN115043204 B CN 115043204B
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CN
China
Prior art keywords
plate
tray
plates
adjusting
supporting
Prior art date
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Active
Application number
CN202210705634.1A
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Chinese (zh)
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CN115043204A (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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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting 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
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting 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
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

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

Abstract

A fully automatic high speed flexible wobble plate apparatus comprising: the base bracket is provided with a fixed bracket above, and the fixed bracket is provided with a robot for taking materials; the material conveying mechanism is arranged on one side above the base and used for conveying materials; the empty tray buffer storage mechanism is arranged on the other side above the base, one side of the empty tray buffer storage mechanism is provided with a tray clamping 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; a conveying mechanism arranged at one side of the lifting mechanism; and the visual detection mechanism is used for detecting whether the materials are qualified. This change balance equipment detects whether the material is qualified through visual detection mechanism, and whether the robot is according to the detection condition decision snatchs the material to make snatch position and mode, thereby can put into the tray according to specific mode with the material fast, avoid appearing putting wrong, pendulum is against, the condition such as leak pendulum, and need not manual operation, labour saving and time saving.

Description

Full-automatic high-speed flexible wobble plate equipment
[ field of technology ]
The invention belongs to the field of mechanical automation equipment, and particularly relates to full-automatic high-speed flexible wobble plate equipment.
[ background Art ]
In order to protect products when outputting production line products in a batch production line, the products need to be arranged in a plastic sucking disc with a positioning hole, namely a tray. The traditional mode is manual swaying dish, and this kind of mode swaying dish speed is slow, puts untimely, and can appear positive and negative dislocation, direction pendulum mistake, leak put, put scheduling problem more, and the swaying dish personnel need wait at the station constantly simultaneously, and work is simple repeated, boring, causes work fatigue easily, inefficiency, cost of labor scheduling problem.
[ invention ]
Aiming at the problems, the invention aims to provide full-automatic high-speed flexible swinging disc equipment, which detects whether materials are qualified or not through a visual detection mechanism, and a robot determines whether to grasp the materials according to detection conditions and makes grasping positions and modes, so that the materials can be quickly placed in a tray in a specific mode, the conditions of wrong swinging, reverse swinging, swing missing and the like are avoided, manual operation is not needed, and time and labor are saved.
The invention provides a full-automatic high-speed flexible wobble plate device, which comprises:
the base bracket is provided with a fixed bracket above, and the fixed bracket is provided with a robot for taking materials;
the material conveying mechanism is arranged on one side above the base and used for conveying materials;
the empty tray buffer storage mechanism is arranged on the other side above the base and used for storing empty trays, one side of the empty tray buffer storage mechanism is provided with a tray clamping mechanism used for clamping the empty trays, 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 at one side of the lifting mechanism and used for outputting the piled trays;
the visual detection mechanism is arranged on the base support and used for detecting whether the materials are qualified or not.
In particular, it further comprises: locate the temporary storage tray placement machine of base top and put the mechanism, it includes: two support vertical plates, a drawer type frame and a movable support plate;
the two support vertical plates are arranged on the base bracket in parallel, and slide rails are respectively arranged on one side of the two support vertical plates which face each other;
the drawer type frame is arranged on the inner sides of the two supporting vertical plates and reciprocates under the action of the sliding rail,
the movable support 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 support vertical plate, in-place attracting magnets are arranged on the inner sides of the support vertical plate, in-place magnets and in-place sensors are arranged on one sides of the in-place attracting magnets, and tray sensors are arranged on the outer sides of the support vertical plate.
In particular, it further comprises: locate the different material recovery dish of material transport mechanism unloading end, it includes: the first motor is used for providing rotary power for the rotary disk;
the center of the outer side of the bottom of the rotary disk is provided with a first synchronous wheel which is movably arranged on the base bracket through a rotary shaft;
the first motor rotating shaft is provided with a second synchronous wheel, and the first synchronous wheel is connected with a second synchronous wheel belt.
Particularly, a fixed upright post is arranged on one side of the rotary disk, a stirring plate is arranged in the rotary disk, the top of the stirring plate is arranged at one end of the fixed upright post through a connecting block, the edge of one side of the stirring plate is contacted with the inner wall of the rotary disk, 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 discharge port end of the U-shaped blanking groove is positioned in the rotary disk.
In particular, the empty tray caching mechanism comprises: the tray pushing device comprises two rectangular frames arranged on a base bracket, two groups of chain transmission mechanisms, a plurality of empty tray placing plates arranged on the outer sides of the chain transmission mechanisms in parallel, a first servo motor 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, far away from the material conveying mechanism, of the rectangular frame through a gear shaft, and an adjusting hole is formed in one side, far away from the first bevel gear, of the rectangular frame;
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 the 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 of the rectangular frame far away from the material conveying mechanism, the rotating shaft of the first servo motor is connected with a spline shaft through a coupler, the spline shaft is arranged on the base bracket through the spline shaft, two second bevel gears meshed with the first bevel gears are arranged on the spline shaft, and an inductor for inducing whether the tray is in place or not is arranged on the outer side of the spline shaft;
the tray pushing mechanism includes: the device comprises two L-shaped push plates, a connecting plate, an air cylinder, a fixed supporting plate and a drag chain, wherein the connecting plate is used for connecting the two L-shaped push plates into a whole, the air cylinder is arranged below the connecting plate, and the fixed supporting plate and the drag chain are vertically arranged on a base bracket;
two idler wheels are arranged on one side of the fixed support plate, facing the L-shaped push plate, and are connected with each other in a belt mode, and a second servo motor for providing power for the L-shaped push plate and an inductor for inducing the moving distance of the L-shaped push plate are arranged on the fixed support plate;
the drag chain is arranged on one side of the fixed supporting plate through a drag chain placing plate.
In particular, one bottom of the two rectangular frames is provided with an X-direction adjusting mechanism, and the other top of the two rectangular frames is provided with a Y-direction adjusting mechanism;
the X-direction adjusting mechanism comprises: 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 a rectangular frame;
the X-direction air 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;
the Y-direction sliding block is provided with a baffle plate, the baffle plate is positioned between the two rectangular frames, one side of the baffle plate, facing the base bracket, is provided with at least two baffle rods, 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: two L-shaped limiting plates, two vertical supporting plates, two movable supporting plates, an adjusting cylinder for providing power for the movable supporting plates and an adjusting mechanism for adjusting the distance between the two vertical supporting plates are arranged along the conveying direction of the tray;
one of the two vertical support plates is fixedly arranged on the base support to form a fixed vertical support plate, the other vertical support plate is movably arranged on the base support to form a movable vertical support plate, the distance between the two vertical support plates is larger than the distance between the two L-shaped push plates, and the vertical support 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, an adjusting slide block 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 bracket, and one end of each adjusting slide rail is fixedly arranged on the movable vertical supporting plate;
the sliding plate is arranged at the top of the adjusting sliding block and is arranged at the outer side of 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 column 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 at one side of the vertical support plate far away from the L-shaped limiting plate, ball screws are respectively arranged at two sides of the plate type support, and a plurality of lifting sensors are arranged at one side of the plate type support from top to bottom;
the tray supporting plate is arranged on one side of the ball screw, which faces the L-shaped limiting plate, through a linear bearing, and is provided with an induction piece which is matched with the lifting inductor, the tray supporting plate is positioned between 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 bracket 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 cylinder is provided with a tray stop block on the piston rod.
In particular, the conveying mechanism comprises:
one end of the two belt conveying mechanisms are positioned in the accommodating groove, and the upper surfaces of the belts of the belt conveying mechanisms are not lower than the upper surfaces of the tray supporting plates;
a motor for powering the belt conveyor;
protective metal plates arranged in the base support and positioned at two sides of the belt conveying mechanism;
and the discharging inductor is arranged at the feeding end of the belt conveying mechanism.
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 of the robot away from the empty tray caching mechanism;
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 to the side of the conveying mechanism.
Compared with the prior art, the full-automatic high-speed flexible tray arranging equipment provided by the invention has the advantages that the empty tray caching mechanism can cache a plurality of empty trays and push the empty trays to the tray clamping mechanism through the tray pushing mechanism, so that the trays can be pushed to a material blanking area without manually taking the trays in the whole process; the vision detection mechanism can detect the condition of the material in real time and feed back the condition to the external controller, the controller sends an instruction to the robot according to the detection result, the robot grabs the material according to the instruction and places the material into a positioning hole of the empty tray; the lifting mechanism can stack the trays filled with materials and output the trays through the conveying mechanism 5.
To sum up, this full-automatic high-speed flexible balance equipment whole journey need not the special guard, and 1 material can be put to fastest 0.8s, and after the material was put full the tray, can automatic change tray, need not manual intervention to can realize the tray of multiple different specifications through adjustment mechanism etc. the suitability is wider, elevating system can realize the stack of a plurality of trays, and after the stack was accomplished, accessible conveying mechanism 5 automated 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 diagram of a fully automatic high-speed flexible wobble plate apparatus according to the present invention;
FIG. 2 is another schematic view of a fully automatic high speed flexible wobble plate apparatus according to the present invention;
FIG. 3 is a schematic view of the structure of a material conveying mechanism in a full-automatic high-speed flexible wobble plate device according to the present invention;
FIG. 4 is a schematic structural view of a hollow tray buffer mechanism of a full-automatic high-speed flexible wobble plate device;
FIG. 5 is a schematic structural view of a tray pushing mechanism in a full-automatic high-speed flexible wobble plate device according to the present invention;
FIG. 6 is a schematic structural view of a tray clamping mechanism in a full-automatic high-speed flexible wobble plate device according to the present invention;
FIG. 7 is a schematic view of a lifting mechanism in a fully automatic high-speed flexible wobble plate apparatus according to the present invention;
FIG. 8 is a schematic view of another construction of a lifting mechanism in a fully automatic high speed flexible wobble plate apparatus according to the present invention;
FIG. 9 is a schematic diagram of the structure of a conveying mechanism in a fully automatic high-speed flexible wobble plate device according to the present invention;
FIG. 10 is a schematic view of the visual inspection mechanism of the full-automatic high-speed flexible wobble plate apparatus according to the present invention;
FIG. 11 is a schematic view of a temporary storage tray placement mechanism in a fully automatic high-speed flexible swing tray apparatus according to the present invention;
fig. 12 is a schematic structural view of a foreign material recovery disc in the full-automatic high-speed flexible wobble plate device.
In the drawing, a base bracket 10, a U-shaped blanking groove 11, a fixed bracket 20, a robot 30, a material conveying mechanism 1, a hollow tray buffer mechanism 2, a rectangular frame 201, a chain transmission mechanism 202, a hollow tray placing plate 203, a first servo motor 204, a first bevel gear 205, a regulating hole 206, a regulating plate 207, a spline shaft 208, a second bevel gear 209, a sensor 210, a L-shaped push plate 211, a connecting plate 212, a cylinder 213, a fixed support plate 214, a drag chain 215, an idler pulley 216, a second servo motor 217, a displacement sensor 218, a drag chain placing plate 219, a slide rail 220X, a slide rail 221X, a slide block 222X, a slide rail 223Y, a slide block 224Y, a slide block 225Y, a baffle 226, a baffle plate 227, a baffle rod 3 tray clamping mechanism 301L-shaped limiting plate 302, a vertical support plate 303 movable support plates 304, a regulating cylinder 305 through grooves 306 slide rails, 307 adjusting slide blocks, 308 sliding plates, 309 supporting columns, driving motors 310,4 lifting mechanisms, 401 plate-type brackets, 402 ball screws, 403 lifting sensors, 404 tray stop blocks, 405 tray supporting plates, 406 sensing plates, 407 containing grooves, 408 third servo motors, 409 model changing cylinders, 5 conveying mechanisms, 501 belt conveying mechanisms, 502 motors, 503 protection metal plates, 504 discharging sensors, 6 visual detection mechanisms, 601 supporting rods, 602 light sources, 603 lenses, 604 cameras, 7 temporary storage tray placing mechanisms, 701 supporting vertical plates, 702 drawer frames, 703 movable supporting plates, 704 drawer sliding rails, 705 tray positioning blocks, 706 in-place adsorption magnets, 707 tray sensors, 708 in-place magnets, 709 in-place sensors, 8 abnormal material recovery plates, 801 rotating discs, 802 first motors, 803 material stirring plates, 804 second synchronous wheels and 805 fixed columns.
[ detailed description ] of the invention
The present invention will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Referring to fig. 1-12, the present invention provides a full-automatic high-speed flexible wobble plate device, comprising: the device comprises a base bracket 10, a fixed bracket 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 method comprises the steps of
The base bracket 10 is placed on the ground and is used for fixedly supporting other components;
the fixing bracket 20 is used for fixedly supporting the robot 30 and is arranged above the base bracket 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;
the material conveying mechanism 1 is a belt conveying mechanism, and is arranged on one side of the base bracket 10, and comprises: the material conveying device comprises a driving wheel, a driven wheel and a motor, wherein the driving wheel and the driven wheel 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 processing is finished, the material is conveyed to the lower part of a robot 30, and the robot 30 takes and places the material;
the empty tray buffer storage mechanism 2 is arranged on the other side above the base bracket 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 bracket 10 and is positioned on one side of the empty tray buffer mechanism 2 facing the material conveying mechanism 1, the center position of the tray clamping mechanism is positioned at the same position as the empty tray buffer mechanism 2, and the tray clamping mechanism 3 can clamp the empty tray pushed by the empty tray buffer mechanism 2, so that the empty tray is prevented from shaking under the working condition of the equipment, and the accurate placement of the material of the robot 30 is prevented from being influenced;
the lifting mechanism 4 is arranged in the base bracket 10 and is positioned below the tray clamping mechanism 3 and used for stacking trays with materials placed, so that the trays are stacked 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 bracket 10 and is positioned at the discharging end of the lifting mechanism 4, and when the trays on the lifting mechanism 4 reach the set number, the conveying mechanism 5 starts to work and outputs the trays on the base bracket 10;
the vision detection mechanism 6 is arranged on the base support 10 and is used for detecting the position of a material on the material conveying mechanism 1 in real time and whether the material is qualified or not, if the material is qualified, the robot 30 takes the material according to the detected position of the material so that the material is placed in the tray at a set position, confusion is avoided, if the material is unqualified, the robot 30 cannot take the material, and therefore the fact that all the materials placed in the tray are qualified products is ensured, and whether the material is qualified or not is detected manually is not required.
In particular, when the tray on the tray clamping mechanism 3 is full of material, when the empty tray buffer memory mechanism 2 pushes the empty tray to the tray clamping mechanism 3, a certain time is required, and the material conveying mechanism 1 will not stop working at this time, so as to avoid the material being output along the material conveying mechanism 1, the device further comprises: locate the temporary storage tray placement machine 7 of base top, it includes: two supporting risers 701, a drawer frame 702, and a movable support plate 703;
the two supporting vertical plates 701 are arranged on the base bracket 10 in parallel, and slide rails 704 are respectively arranged on the opposite sides of the two supporting vertical plates;
the drawer frame 702 is disposed inside the two supporting risers 701, reciprocates under the action of the sliding rails 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, a positioning adsorption magnet 70 is arranged at the inner side of the supporting vertical plate 701, a positioning magnet 708 and a positioning sensor 709 are arranged at one side of the positioning adsorption magnet 706, and a tray sensor 707 is arranged at 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 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 affected, and the working efficiency is indirectly improved; when the material on the movable supporting plate 703 is full, the movable supporting plate 703 is pulled out through the drawer type frame 702, a tray full of the material is manually taken down, and an empty tray is placed, at this time, the tray positioning block 705 can limit the empty tray, so that when the equipment works, movement and the like caused by equipment vibration are avoided, when the in-place sensor 709 senses the drawer type frame 702, the in-place magnet 706 and the in-place magnet 708 are adsorbed together, the situation that the frame 702 is opened by mistake due to accidents and the like when the drawer is avoided, the placement of the material is influenced, 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 after the processing of the material is completed, there may be unassembled or unqualified products, and the robot 30 may not take unqualified materials or the like, the unqualified materials or the like may continue to be conveyed along the material conveying mechanism 1, and in order to recover the unqualified materials, the apparatus further includes: locate the special material recovery dish 8 of material transport mechanism 1 unloading end, it includes: a rotating disk 801, a first motor 802 for supplying rotating power to the rotating disk 801;
a first synchronous wheel (not shown) is arranged at the center of the outer side of the bottom of the rotating disk 801, and the first synchronous wheel is movably arranged on the base bracket 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 a belt manner;
in the invention, the rotating disc 801 can store unqualified materials, and as the unqualified materials are accumulated at the discharging end of the material conveying mechanism 1 for a long time, the rotating disc 801 is arranged as a rotatable disc body under the action of the first motor 802, so that the materials are uniformly spread in the rotating disc 801, and the materials are prevented from being accumulated on the rotating disc 801 and falling off.
Particularly, as some materials can be recovered to be qualified products after being assembled again, and the materials can be touched in the stacking process, the materials can be scratched, a fixed upright post 805 is arranged on one side of the rotating disc 801, a stirring plate 803 is arranged in the rotating disc 801, the top of the stirring plate 803 is arranged at one end of the fixed upright post 805 through a connecting block, the edge of one side of the stirring plate 803 is contacted with the inner wall of the rotating disc 801, the other end of the fixed upright post 805 is fixedly arranged on the base bracket 10, a U-shaped blanking groove 11 is arranged at the blanking end of the material conveying mechanism 1, and the discharge port end of the U-shaped blanking groove 11 is positioned in the rotating disc 801; in the invention, the material stirring plate 803 can stir the unqualified 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 piled up at the edge position of the rotating disc 801, and meanwhile, the materials are prevented from being piled up further, the surfaces of the materials are scratched, and the product qualification rate of the materials is indirectly improved.
In particular, the empty tray buffer mechanism 2 comprises: two rectangular frames 201 arranged on the base support 10, two groups of chain transmission mechanisms 202, a plurality of empty tray placing plates 203 arranged outside the chain transmission mechanisms 202 in parallel, a first servo motor 204 for providing power for the chain transmission mechanisms 202, and a tray 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 the tensioning of the chain, the adjusting plate 207 is arranged in the adjusting hole 206, the tensioning condition of the adjusting chain can be realized by changing the position of the adjusting plate 207 in the adjusting hole 206 through a screw and the like, the condition that the loosening of the adjusting chain affects the conveying of the empty tray placing plate 203 is avoided, so that the empty tray cannot be conveyed normally, and the gear shaft is arranged at the driving end of the chain transmission mechanism 202;
the first servo motor 204 is arranged at one side of the rectangular frame 201 far away from the material conveying mechanism 1, the 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 bracket 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 sensing whether a tray is in place or not is arranged at the outer side of the spline shaft 208, the inductor 210 is used for sensing whether an empty tray exists on the empty tray placing plate 203 in front of the inductor 210, if yes, the chain transmission mechanism 202 stops working, the empty tray is pushed to the tray clamping mechanism by the tray pushing mechanism, and if no, the chain transmission mechanism 202 continues working until the inductor 210 senses the empty tray;
the tray pushing mechanism includes: the 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 the base bracket 10 and a drag chain 215;
the fixed support plate 214 is provided with two idler pulleys 216 on one side facing the L-shaped push plate 211, the two idler pulleys 216 are connected, the fixed support 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 disc can be pushed to the tray clamping mechanism 3 more accurately and rapidly;
the drag chain 215 is provided on one side of the fixed support plate 214 through a drag chain placing plate 219.
Particularly, because different production lines have different material models and different sizes, in order to make the equipment have stronger applicability, one bottom of the two rectangular frames 201 is provided with an X-direction adjusting mechanism, and 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, and the length direction of the empty tray placing plate 203 can be adjusted through the Y-direction adjusting mechanism, thus the length and width direction adjustment of the empty tray can be completed, the empty tray caching mechanism 2 can be suitable for caching of more empty trays with different sizes, and the applicability of the equipment is improved;
the X-direction adjusting mechanism comprises: two X-direction sliding rails 220 vertically arranged below one rectangular frame 201, X-direction sliding blocks 221 sleeved on the X-direction sliding rails 220, and X-direction air cylinders 222 for providing power for the X-direction sliding blocks 221;
the X-direction sliding block 221 is fixedly arranged at the bottom of a rectangular frame 201;
the X-direction air cylinder 222 is fixedly arranged on the outer side of one rectangular frame 201, so that the rectangular frames 201 positioned on the X-direction adjusting mechanism move along the X-direction sliding rail 220 under the action of the X-direction air cylinder 222 through the X-direction sliding block 211, and the adjustment of the distance between the two rectangular frames 201 is completed;
the Y-direction adjusting mechanism comprises: the Y-direction sliding rail 223 is arranged at the top of the other rectangular frame 201, the Y-direction sliding block 224 is sleeved on the Y-direction sliding rail 223, and the Y-direction air cylinder 225 is used for providing power for the Y-direction sliding block 224;
a baffle 226 is arranged on the Y-direction sliding block 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 bracket 10, and the distance between the end part of each baffle rod 227 and 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 air cylinder 225 works, the Y-direction sliding block 224 can be pushed to move along the Y-direction sliding rail 223, so that the Y-direction sliding block 224 drives the baffle 226 above the Y-direction sliding block to move, and the baffle rod 227 is driven by the baffle 226 to move to the required size of the empty tray, so that the empty tray caching mechanism 2 can be used for caching empty trays with different sizes.
In particular, the tray clamping mechanism 3 comprises: the two L-shaped limiting plates 301, the two vertical supporting plates 302, the two movable supporting plates 303, the adjusting air cylinder 304 for providing power for the movable supporting plates 303, and the adjusting mechanism for adjusting the distance between the two vertical supporting plates 302 are arranged along the conveying direction of the tray, after the L-shaped push plate 211 pushes the empty tray onto the L-shaped limiting plates 301, the L-shaped push plate 211 moves downwards under the action of the air cylinder 213 until the empty tray is separated, and then the L-shaped push plate 301 is completely withdrawn under the action of the second servo motor 217 until the vertical end of the L-shaped push plate 211 is contacted with the edge of the empty tray, the second servo motor 217 reverses to push the empty tray to the side of the vertical supporting plates 302 along the L-shaped limiting plates 301, and at the moment, the two movable supporting plates 303 move inwards to be used for supporting the empty tray;
one of the two vertical support plates 302 is fixedly arranged on the base bracket 10 to form a fixed vertical support plate 302, the other vertical support plate 302 is movably arranged on the base bracket 10 to form a movable vertical support plate 302, the distance between the two vertical support plates 302 is larger than the distance between the two L-shaped push plates 211, and a through groove 305 is formed in the vertical support plate 302 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 in 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 supporting platform with the vertical support plate 302 for supporting an empty tray;
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 slide plate 308 and a driving motor 310 for providing power for the slide plate 308;
the two adjusting slide rails 306 are vertically arranged at the top of the base bracket 10, one end of each adjusting slide rail is fixedly arranged on the movable vertical support plate 302, and the movable vertical support plate 302 moves on the base bracket 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 clamping of trays with different specifications is realized;
the sliding plate 308 is arranged at the top of the adjusting sliding block 307, the sliding plate 308 is arranged at the outer side of the movable vertical supporting plate 302 through the supporting upright post 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;
the two L-shaped limiting plates 301 are arranged on the tops of the supporting upright posts 309 face to face, and the distance between the two L-shaped limiting plates 301 is matched with the width dimension of the tray, so that the empty tray can be better limited, and materials are prevented from being placed in the tray non-placing grooves.
In particular, the lifting mechanism 4 comprises:
the plate type support 401 is arranged in the base support 10 and is positioned at one side of the vertical support plate 302 far away from the L-shaped limiting plate 301, ball screws 402 are respectively arranged at two sides of the plate type support 401, a plurality of lifting sensors 403 are arranged at one side of the plate type support 401 from top to bottom, and the lifting sensors 403 can play a limiting role on the tray supporting plate 405;
a tray supporting plate 405 arranged on one side of the ball screw 402 towards the L-shaped limiting plate 301 through a linear bearing, wherein an induction piece 406 which is suitable for the lifting sensor 403 is arranged on the tray supporting plate 405, the tray supporting plate 405 is positioned between two vertical supporting plates 302, and two accommodating grooves 407 are formed in the middle of the tray supporting plate 405;
a third servo motor 408 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 belt of the ball screw 402;
a mold changing cylinder 409 arranged at the top of the plate type support 401, and a tray stop block 404 is arranged on a piston rod of the mold changing cylinder; after the tray is full of material, 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 on the same vertical plane on the inner side wall of the vertical support plate 302, the tray full of material can be placed on the tray support plate 405 at this time, then the tray support 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 material is waited for next time, and when the lifting sensor 403 positioned at the lowest position senses the sensing piece 406, the number of the trays received by the tray support plate 405 reaches the maximum.
In particular, the conveying mechanism 5 comprises:
the two belt conveying mechanisms 501 are arranged in the base bracket 10, one end of each belt conveying mechanism is arranged in the corresponding accommodating groove 407, the upper surface of each belt conveying mechanism 501 is not lower than the upper surface of the corresponding tray supporting plate 405, and the design is such that when the tray supporting plate 405 moves to the lowest position, the bottoms of the trays are not contacted with the tray supporting plates 405, the belts play a supporting role on the trays, and when the belts move, the stacked trays can be easily conveyed to the discharging end, so that the situation that the stacked trays topple or incline due to the contact of the tray supporting plates 405 with the trays is avoided;
a motor 502 for powering the belt conveyor 501;
the protective metal plates 503 are arranged in the base bracket 10 and positioned at two sides of the belt conveying mechanism 501, and the protective metal plates 503 can prevent the stacking tray from toppling in the output process, thereby ensuring that the output tray is in a stacking state and being convenient for transportation;
the discharging sensor 504 is arranged at the feeding end of the belt conveying mechanism 501, after the discharging sensor 504 senses the tray, an 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 maximum amount of trays received by the tray supporting plate 405 is reached, the motor 502 starts to work, the belt conveying mechanism 501 is driven to start to work, and due to the arrangement of the accommodating groove 407, the belt surface of the belt conveying mechanism 501 is contacted with the bottom of the tray at the lowest position, so that the belt drives the stacked trays on the tray supporting plate 405 to move until the stacked trays are conveyed to the discharging end.
In particular, the visual inspection mechanism 6 comprises:
support rods 601 symmetrically arranged on both sides of the material conveying mechanism 1 are arranged on one side of the robot 30 away from the empty tray buffer mechanism 2;
a light source 602, a lens 603 and a camera 604 which are arranged on the supporting rod 601 from bottom to top, wherein the lens 603 and the camera 604 face to the side of the conveying mechanism;
in the invention, when the material moves to the lower part of 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 the 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 grasp the material according to the instruction, how to grasp the material, and places the grasped material into an empty tray, and the light source 602 is used for playing a light supplementing role, so that the phenomenon that the lens 603 and the camera 604 cannot capture the material or photograph in place due to insufficient illumination in the equipment is avoided.
Working principle:
the method comprises the steps that an empty tray is manually placed on an empty tray placing plate 203 in an empty tray cache mechanism, after placement is completed, a switch is turned on, a material pushing mechanism pushes the empty tray to a tray clamping mechanism 3, a material conveying mechanism 1 starts to work, meanwhile, a visual detection mechanism 6 starts to work, whether the material is qualified or not and the position of the material, which is located on the material conveying mechanism 1, of a steering gear is detected in real time, detection information is transmitted to a controller, the controller sends an instruction to a robot 30 according to the detection information, the robot 30 grabs the material according to the instruction and places the material into the empty tray on the tray clamping mechanism 3, when the empty tray is full, the tray clamping mechanism 3 is loosened, a tray supporting plate 405 in a lifting mechanism 4 supports the tray filled with the material and drives the tray supporting plate to move downwards, and after a certain distance is moved, the movement is stopped and the tray is waited for being supported, meanwhile, a chain transmission mechanism 202 in the empty tray cache mechanism 2 starts to rotate under the action of a first servo motor 204 and pushes the empty tray to the tray clamping mechanism 3 through the tray pushing mechanism, and the tray clamping mechanism 3 waits for the material of the robot 3 to be loaded; during the replacement of the empty tray, the robot 30 can put 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 unqualified products can be along, and material transport mechanism 1 gets into in the special material recovery dish 8, and whole journey need not manual operation, labour saving and time saving, and work efficiency is high.

Claims (8)

1. A fully automatic high speed flexible wobble plate apparatus comprising:
a fixed support (20) is arranged above the base support (10), and a robot (30) for taking materials is arranged on the fixed support (20);
a material conveying mechanism (1) arranged on one side above the base bracket (10) and used for conveying materials;
locate base support (10) top opposite side, be used for depositing empty tray buffer memory mechanism (2), its one side is equipped with tray clamping mechanism (3) that are used for clamping empty tray, and material transport mechanism (1) one side is located in this tray clamping mechanism (3), empty tray buffer memory mechanism (2) include: the tray pushing device comprises two rectangular frames (201) arranged on a base bracket (10), two groups of chain transmission mechanisms (202), a plurality of empty tray placing plates (203) arranged outside the chain transmission mechanisms (202) in parallel, a first servo motor (204) for providing power for the chain transmission mechanisms (202), and a tray 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 formed in one side of the rectangular frame (201) far away from the first bevel gear (205);
one bottom of the two rectangular frames (201) is provided with an X-direction adjusting mechanism, and the other top of the two rectangular frames is provided with a Y-direction adjusting mechanism;
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 air 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 a rectangular frame (201);
the X-direction air cylinder (222) is fixedly arranged outside a rectangular frame (201);
the Y-direction adjusting mechanism comprises: the Y-direction sliding rail (223) is arranged at the top of the other rectangular frame (201), the Y-direction sliding block (224) is sleeved on the Y-direction sliding rail (223), and the Y-direction air cylinder (225) is used for providing power for the Y-direction sliding block (224);
a baffle plate (226) is arranged on the Y-direction sliding block (224), the baffle plate (226) is positioned between the two rectangular frames (201), at least two baffle rods (227) are arranged on one side, facing the base bracket (10), of the baffle plate (226), 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;
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 the tension of the chain, the adjusting plate (207) is arranged in the 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 bracket (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 an inductor (210) used for sensing whether a 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 bracket (10) and a drag chain (215);
two idler wheels (216) are arranged on one side, facing the L-shaped push plate (211), of the fixed support plate (214), the two idler wheels (216) are connected in a belt mode, and 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) are arranged on the fixed support plate (214);
the drag chain (215) is arranged at one side of the fixed supporting plate (214) through a drag chain placing plate (219);
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);
a conveying mechanism (5) arranged at one side of the lifting mechanism (4) and used for outputting the piled trays;
and the visual detection mechanism (6) is arranged on the base bracket (10) and used for detecting whether the materials are qualified or not.
2. A fully automatic high speed flexible wobble plate apparatus as in claim 1, further comprising: locate temporary storage tray placement machine (7) of base top, it includes: two movable supporting vertical plates (701), a drawer type frame (702) and a movable supporting plate (703);
the two movable supporting vertical plates (701) are arranged on the base bracket (10) in parallel, and slide rails (704) are respectively arranged on one side of the two movable supporting vertical plates which face each other;
the drawer type frame (702) is arranged at the inner sides of the two movable supporting vertical plates (701) and reciprocates under the action of the sliding rail (704),
the movable support 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 support plate (703), in-place adsorption magnets (706) are arranged on the inner sides of the movable support vertical plate (701), in-place magnets (708) and in-place inductors (709) are arranged on one sides of the in-place adsorption magnets (706), and tray inductors (707) are arranged on the outer sides of the movable support vertical plate (701).
3. A fully automatic high speed flexible wobble plate apparatus as in claim 1, further comprising: locate different material recovery dish (8) of material transport mechanism (1) unloading end, it includes: a rotating disk (801), a first motor (802) for supplying rotating power to the rotating disk (801);
a first synchronous wheel is arranged at the center of the outer side of the bottom of the rotary disk (801), and is movably arranged on the base bracket (10) through a rotary 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 a belt mode.
4. A full-automatic high-speed flexible swinging disc device according to claim 3, characterized in that a fixed upright column (805) is arranged on one side of the rotating disc (801), a stirring plate (803) is arranged in the rotating disc (801), the top of the stirring plate (803) is arranged at one end of the fixed upright column (805) through a connecting block, one side edge of the stirring plate (803) is contacted 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 blanking end of the material conveying mechanism (1) is provided with a U-shaped blanking groove (11), and a discharging port end of the U-shaped blanking groove (11) is positioned in the rotating disc (801).
5. A fully automatic high speed flexible wobble plate apparatus according to claim 1, wherein the tray clamping mechanism (3) 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) which is used for providing power for the movable supporting plates (303), and an adjusting mechanism which is used for adjusting the distance between the two vertical supporting plates (302);
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 larger than the distance between the two L-shaped push plates (211), and a through groove (305) is formed in the vertical support plate (302) 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 at 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 slide plate (308) and a driving motor (310) for providing power for the slide plate (308);
the two adjusting slide rails (306) are vertically arranged at the top of the base bracket (10), and one end of each adjusting slide rail is fixedly arranged on the movable vertical support plate (302);
the sliding plate (308) is arranged at the top of the adjusting sliding block (307), and the sliding plate (308) is arranged at the outer side of the movable vertical supporting plate (302) through the supporting upright post (309);
the two L-shaped limiting plates (301) are arranged on the tops of the supporting columns (309) face to face, and the distance between the two L-shaped limiting plates (301) is matched with the width size of the tray.
6. A fully automatic high speed flexible wobble plate apparatus according to claim 5, wherein the lifting mechanism (4) comprises:
the plate type support (401) is arranged in the base support (10) and is positioned at one side of the vertical support plate (302) far away from the L-shaped limiting plate (301), ball screws (402) are respectively arranged at two sides of the plate type support (401), and a plurality of lifting sensors (403) are arranged at 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 piece (406) which is suitable for the lifting inductor (403) is arranged on the tray supporting plate (405), the tray supporting plate (405) is positioned between two vertical supporting plates (302), and two accommodating grooves (407) are formed in the middle of the tray supporting plate (405);
a third servo motor (408) arranged on the plate-type bracket (401) and used for providing power for the ball screw (402), wherein the rotating shaft of the third servo motor (408) is connected with the end belt of the ball screw (402);
the cylinder (409) is arranged at the top of the plate-type bracket (401), and a tray stop block (404) is arranged on a piston rod of the cylinder.
7. A fully automatic high speed flexible wobble plate apparatus according to claim 6, wherein the conveying mechanism (5) comprises:
two belt conveying mechanisms (501) arranged in the base bracket (10), one end of each belt conveying mechanism is positioned in the accommodating groove (407), and the upper surface of a belt of each belt conveying mechanism (501) is not lower than the upper surface of the tray supporting plate (405);
a motor (502) for powering the belt conveyor (501);
protective metal plates (503) arranged in the base bracket (10) and positioned at two sides of the belt conveying mechanism (501);
and a discharge sensor (504) arranged at the feeding end of the belt conveying mechanism (501).
8. A fully automatic high speed flexible wobble plate apparatus according to claim 1, wherein the visual detection mechanism (6) comprises:
support rods (601) symmetrically arranged on two sides of the material conveying mechanism (1) are arranged on one side, far away from the empty tray cache 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 to 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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CN115043204B true CN115043204B (en) 2023-12-12

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CN116654613B (en) * 2023-06-30 2024-03-08 健大电业制品（昆山）有限公司 Automatic feeding and receiving equipment

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