CN115258668A - Board taking and placing equipment - Google Patents
Board taking and placing equipment Download PDFInfo
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- CN115258668A CN115258668A CN202210954946.6A CN202210954946A CN115258668A CN 115258668 A CN115258668 A CN 115258668A CN 202210954946 A CN202210954946 A CN 202210954946A CN 115258668 A CN115258668 A CN 115258668A
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- carrier
- conveying
- placing
- conveying mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/005—Stacking of articles by using insertions or spacers between the stacked layers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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Abstract
The invention relates to the technical field of plate taking and placing machines, in particular to plate taking and placing equipment, which comprises a machine table, a carrier circulating conveying device, a plate conveying mechanism, a bearing table, a taking and placing transfer mechanical arm movably arranged above the bearing table, the carrier circulating conveying device and the plate conveying mechanism, a taking and placing carrier device arranged on one side of the carrier circulating conveying device, a storage bin arranged on one side of the taking and placing carrier device, a paper storage table arranged at the top of the storage bin and a paper taking and placing mechanical arm movably arranged above the paper storage table and the bearing table, wherein the taking and placing carrier device transfers carriers from the storage bin to the carrier circulating conveying device or transfers carriers from the carrier circulating conveying device to the storage bin. The invention not only can realize the automatic stacking or unstacking of the plate and the separation paper so as to realize the plate collection and the plate taking, but also has two using modes of the plate taking and placing, has two purposes, can meet the using requirements of different plate taking and placing of users, and reduces the production, manufacturing and using costs.
Description
Technical Field
The invention relates to the technical field of board taking and placing machines, in particular to board taking and placing equipment.
Background
In the processing production of the plate, the plate taking and placing belongs to an important process; especially in the production of circuit boards, the board taking and placing equipment or the board collecting and placing equipment is required to take and place the boards in order to be matched with the automatic operation of the whole processing production line. The plate taking and placing equipment or the plate collecting and placing equipment in the prior art generally directly stacks plates and separation paper on an L-shaped inclined frame or a plate stacking platform through a mechanical arm so as to realize plate collecting, or separates the stacked plates and the separation paper through the mechanical arm, for example: the patent document with the application number of 201920625206.1 discloses a paper separation collecting and releasing plate device, wherein plate members and paper separation are stacked on an L-shaped inclined frame through a six-shaft mechanical arm; patent document No. 202020977117.6 discloses an automatic circuit board collecting and releasing machine, which conveys a circuit board to a lifting paper table through a board suction mechanism to realize board collection. Above-mentioned two patent documents homoenergetic enough realize receiving and releasing the plate, but all need the manual work to place full-load carrier or unloaded carrier in advance and can receive and release the board in predetermineeing the position top, can't realize the automation of carrier and get and put and change, and the user mode is single, can't satisfy the demand of user's different user modes. Therefore, the drawbacks are obvious, and a solution is needed.
Disclosure of Invention
In order to solve the technical problem, the invention aims to provide a plate taking and placing device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a plate taking and placing device comprises a machine table, a carrier circulating conveying device, a plate conveying mechanism, a bearing platform, a taking and placing transfer mechanical arm, a carrier taking and placing device, a storage bin and a paper storage platform, wherein the carrier circulating conveying device is arranged on the machine table and is longitudinally arranged, the plate conveying mechanism is arranged on the machine table and is positioned above one end of the carrier circulating conveying device, the bearing platform is arranged on the machine table and is positioned above the other end of the carrier conveying device, the taking and placing transfer mechanical arm is arranged on the machine table and is movably arranged above the bearing platform, the carrier taking and placing device is arranged on one side of the carrier circulating conveying device, the storage bin is arranged on one side of the carrier taking and placing device, the paper storage platform is arranged at the top of the storage bin, and the paper taking and placing mechanical arm is arranged on the machine table and is movably arranged above the paper storage platform and the bearing platform, and the carrier taking and placing device is used for transferring a carrier from the storage bin to the carrier circulating conveying device or transferring the carrier from the carrier circulating conveying device to the storage bin.
Further, the plate feeding mechanism is provided with a supporting plate mechanism, and the supporting plate mechanism is used for supporting the plates conveyed by the plate feeding mechanism.
The carrier circulating conveying device comprises an upper conveying mechanism arranged on a machine table, a lower conveying mechanism arranged below the upper conveying mechanism at intervals, a first linking conveying module arranged at one end of the upper conveying mechanism and one end of the lower conveying mechanism, and a second linking conveying module arranged at the other end of the upper conveying mechanism and the other end of the lower conveying mechanism, wherein the first linking conveying module and the second linking conveying module respectively comprise a linking lifting driving mechanism and a linking conveying mechanism arranged at the lifting end of the linking lifting driving mechanism, the linking conveying mechanism is used for being linked with the upper conveying mechanism or the lower conveying mechanism, and the carrier taking and placing device is used for transferring carriers from the storage bin to the lower conveying mechanism or transferring carriers from the lower conveying mechanism to the storage bin; the conveying direction of the upper conveying mechanism is opposite to the conveying direction of the lower conveying mechanism, the conveying direction of the connecting conveying mechanism of the first connecting conveying module is opposite to the conveying direction of the connecting conveying mechanism of the second connecting conveying module, and the conveying direction of the connecting conveying mechanism of the first connecting conveying module is opposite to the conveying direction of the lower conveying mechanism.
Further, the carrier taking and placing device comprises a taking and placing lifting driving mechanism arranged on the machine table, a lifting plate arranged at the lifting end of the taking and placing lifting driving mechanism and a telescopic taking and placing mechanism arranged on the lifting plate, wherein the telescopic taking and placing mechanism is used for supplying carriers to the lower conveying mechanism or picking up carriers borne by the lower conveying mechanism.
Furthermore, an avoiding space is formed in the middle of the lower conveying mechanism, and the avoiding space provides an avoiding space for the telescopic taking and placing mechanism.
Furthermore, the carrier taking and placing device further comprises a rotary driving mechanism arranged on the lifting plate, the rotary end of the rotary driving mechanism is fixedly connected with the base body of the telescopic taking and placing mechanism, and the storage bin is arranged corresponding to the bearing table.
Furthermore, get and put board equipment still including installing in the feed bin positioner of board and being used for the feed bin delivery wagon with feed bin positioner butt joint, feed bin positioner is used for fixing a position the storage silo, and the feed bin delivery wagon is used for carrying the storage silo.
Furthermore, get and put board equipment still includes the pusher and set up in the elevating platform of pusher, and the elevating platform is used for linking up with the plummer.
Furthermore, the top surface of elevating platform arranges with rotating and is provided with a plurality of first roller, and the top surface of plummer arranges with rotating and is provided with a plurality of second roller.
Further, the lifting platform is provided with a second positioning mechanism, and the bearing platform is provided with a third positioning mechanism.
The invention has the beneficial effects that: the invention can be used for collecting the board and also can be used for taking the board, and the embodiment takes the collection board as an example for description. In practical application, the invention has two plate collecting modes: the first plate collecting mode is as follows: the carrier taking and placing device takes out and places a no-load carrier in a storage bin on the carrier circulating conveying device, the carrier circulating conveying device circularly conveys the carrier, when the carrier is conveyed to the upper layer of the carrier circulating conveying device and is positioned below the taking and placing transfer mechanical arm, a plate conveying mechanism conveys plates (such as a circuit board and the like) to the upper plate position and the lower plate position, the taking and placing transfer mechanical arm picks the plates on the plate conveying mechanism and places the plates on the carrier, meanwhile, the taking and placing mechanical arm picks the paper separation on a paper storage table and places the paper separation on a bearing table, then, the taking and placing transfer mechanical arm picks the paper separation on the bearing table and places the paper separation on the plates carried by the carrier so as to realize the stacking of the plates and the paper separation, the transfer of the plates and the paper separation is repeated so as to realize the no-load stacking of the plates and the paper separation, the carrier is in a full-load state after the no-load stacking of the paper storage table is completed, the carrier circulating conveying device conveys the full-load carrier to the lower layer of the carrier circulating conveying device to the storage bin, then, the carrier is placed on the carrier circulating conveying device, and the carrier is repeatedly placed on the carrier so as to realize the step of the intermittent carrier conveying device. The second board collecting mode is as follows: placing the empty carrier on a bearing table by a mechanical arm or a manual work, conveying plates (such as circuit boards and the like) to the upper and lower plate positions by a plate conveying mechanism, picking and placing the plates on the plate conveying mechanism by a transfer mechanical arm and placing the plates on the carrier, picking and placing the paper separation on a paper storage table by a paper picking and placing mechanical arm and placing the paper separation on the plates borne by the carrier on the bearing table to realize the stacking of the plates and the paper separation, repeating the stacking steps to realize the stacking of a plurality of plates and a plurality of paper separation, after the stacking is finished, placing the carrier in a full-load state, picking up the full-load carrier by the manual work or the mechanical arm, and placing a new empty carrier on the bearing table. The invention not only can realize the automatic stacking or unstacking of the plate and the separation paper so as to realize the plate collection and the plate taking, but also has two using modes of the plate taking and placing, has two purposes, can meet the using requirements of different plate taking and placing of users, and reduces the production, manufacturing and using costs.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of a carrier taking and placing device and a carrier circulating conveying device according to the present invention.
Fig. 3 is a schematic perspective view of a pick-and-place carrier device according to the present invention.
Fig. 4 is a schematic perspective view of the lower sensor, the lower conveying mechanism and the lower positioning mechanism of the present invention.
Fig. 5 is a schematic perspective view of the first joining conveyor module or the second joining conveyor module according to the present invention.
Fig. 6 is a schematic perspective view of the magazine positioning device and the magazine transport cart according to the present invention.
Description of reference numerals:
1. a carrier circulating conveying device; 11. an upper conveying mechanism; 12. a lower conveying mechanism; 121. avoiding a space; 13. a first linking and conveying module; 14. a second linking and conveying module; 141. a lifting driving mechanism is connected; 142. a linking and conveying mechanism; 143. a stopper; 15. a carrier picking and placing device; 151. a lifting driving mechanism is taken and placed; 152. a lifting plate; 153. a telescopic pick-and-place mechanism; 154. a rotation driving mechanism; 16. a lower positioning mechanism; 161. a fixed block; 162. a movable block; 163. a lower positioning cylinder; 17. an upper sensor; 18. a lower sensor; 2. a storage bin; 21. taking, placing and transferring the mechanical arm; 22. a bearing table; 23. a second roller shaft; 3. a paper storage table; 4. a plate feeding mechanism; 41. a pallet mechanism; 5. a bin positioning device; 51. positioning a base; 52. a positioning assembly; 53. a bin positioning cylinder; 54. positioning blocks; 6. a bin delivery wagon; 61. a clamping structure; 62. a limiting mechanism; 63. a roller; 7. a material pushing vehicle; 8. a lifting platform; 81. a first roller shaft; 9. get and put paper manipulator.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
As shown in fig. 1 to fig. 6, the present invention provides a plate taking and placing device, which comprises a machine platform, a carrier circulating conveyor 1 installed on the machine platform and arranged longitudinally, a plate feeding mechanism 4 installed on the machine platform and located above one end of the carrier circulating conveyor 1, a bearing platform 22 installed on the machine platform and located above the other end of the carrier conveyor, a taking and placing transferring manipulator 21 installed on the machine platform and movably arranged above the bearing platform 22, the carrier circulating conveyor 1 and the plate feeding mechanism 4, a taking and placing carrier device 15 arranged on one side of the carrier circulating conveyor 1, a storage bin 2 arranged on one side of the taking and placing carrier device 15, a paper storage platform 3 arranged on the top of the storage bin 2, and a taking and placing paper manipulator 9 installed on the machine platform and movably arranged above the paper storage platform 3 and the bearing platform 22, wherein the taking and placing carrier device 15 is used for transferring carriers from the storage bin 2 to the carrier circulating conveyor 1 or transferring carriers from the carrier circulating conveyor 1 to the storage bin 2.
The invention can be used for collecting the board and taking the board, and the embodiment takes the collection of the board as an example for description. In practical application, the invention has two plate collecting modes: the first plate collecting mode is as follows: the carrier taking and placing device 15 takes out the empty carrier in the storage bin 2 and places the empty carrier on the carrier circulating conveying device 1, the carrier circulating conveying device 1 circularly conveys the carrier, when the carrier is conveyed to the upper layer of the carrier circulating conveying device 1 and is positioned below the taking and placing transfer mechanical arm 21, the plate conveying mechanism 4 conveys plates (such as circuit boards and the like) to the upper and lower plate positions, the taking and placing transfer mechanical arm 21 picks the plates on the plate conveying mechanism 4 and places the plates on the carrier, meanwhile, the paper taking and placing mechanical arm 9 picks the separation paper on the paper storage table 3 and places the separation paper on the bearing table 22, then, the taking and placing transfer mechanical arm 21 picks the separation paper on the bearing table 22 and places the separation paper on the plates carried by the carrier, so as to realize the stacking of the plates and the separation paper, the empty transfer of the plates and the separation paper is repeated, so as to realize the empty transfer of the plates and the separation paper, after the stacking is completed, the carrier circulating conveying device 1 conveys the full carrier to the lower layer of the full carrier circulating conveying device 1 of the carrier to the carrier circulating conveying device 1 and corresponds to the taking and placing device 15, the empty carrier device puts the full carrier in the storage bin 2, and the carrier circulating conveying device 2 and then realizes the step of the intermittent carrier. The second board collecting mode is as follows: placing the empty carrier on the bearing table 22 by a mechanical arm or a manual work, conveying plates (such as circuit boards and the like) to the upper and lower plate positions by the plate conveying mechanism 4, picking and placing the plates on the plate conveying mechanism 4 by the picking and placing transfer mechanical arm 21 and placing the plates on the carrier, picking and placing the paper separation on the paper storage table 3 by the paper picking and placing mechanical arm 9 and placing the paper separation on the plates carried by the carrier on the bearing table 22 to realize the stacking of the plates and the paper separation, repeating the stacking steps to realize the stacking of a plurality of plates and a plurality of paper separation, after the stacking is finished, placing the carrier in a full-load state, taking the full-load carrier by the manual work or the mechanical arm, and placing a new empty carrier on the bearing table 22. The automatic stacking and unstacking machine is compact and reasonable in structural design, can realize automatic stacking or unstacking of plates and separation paper so as to realize plate collection and plate taking, has two using modes of the taking and placing plates, is dual-purpose, can meet the using requirements of different taking and placing plates of users, and reduces the production, manufacturing and using costs.
In this embodiment, the plate feeding mechanism 4 is provided with a pallet mechanism 41, and the pallet mechanism 41 is used for lifting the plate conveyed by the plate feeding mechanism 4. In practical application, after the plate conveying mechanism 4 conveys plates (such as circuit boards and the like) to the upper plate position and the lower plate position, the plate supporting mechanism 41 supports the plates, so that the plates are separated from the conveying surface of the plate conveying mechanism 4, and the position accuracy and the stability of the plates are ensured; when the plates are collected (stacked), the plate can be picked up accurately by the picking, placing and transferring manipulator 21; when taking out the plate (splitting the stacked plates), the pallet mechanism 41 lowers the plate to abut against the conveying surface of the plate conveying mechanism 4, so that the plate conveying mechanism 4 can stably convey the plate.
In this embodiment, the carrier circulating conveyor 1 includes an upper conveying mechanism 11 installed on the machine platform, a lower conveying mechanism 12 installed below the upper conveying mechanism 11 at intervals, a first connecting conveying module 13 located at one end of the upper conveying mechanism 11 and the lower conveying mechanism 12, a second connecting conveying module 14 located at the other end of the upper conveying mechanism 11 and the lower conveying mechanism 12, and a pick-and-place carrier device 15 installed at one side of the upper conveying mechanism 11 and the lower conveying mechanism 12, where the first connecting conveying module 13 and the second connecting conveying module 14 each include a connecting lifting driving mechanism 141 and a connecting conveying mechanism 142 installed at a lifting end of the connecting lifting driving mechanism 141, the connecting conveying mechanism 142 is used for connecting with the upper conveying mechanism 11 or the lower conveying mechanism 12, and the pick-and-place carrier device 15 is used for transferring carriers from the storage bin 2 to the lower conveying mechanism 12 or transferring carriers from the lower conveying mechanism 12 to the storage bin 2; the conveying direction of the upper conveying mechanism 11 is opposite to the conveying direction of the lower conveying mechanism 12, the conveying direction of the joining conveying mechanism 142 of the first joining conveying module 13 is opposite to the conveying direction of the joining conveying mechanism 142 of the second joining conveying module 14, and the conveying direction of the joining conveying mechanism 142 of the first joining conveying module 13 is opposite to the conveying direction of the lower conveying mechanism 12; the engaging and lifting driving mechanism 141 can be a screw module.
At the beginning, the joining conveying mechanism 142 of the first joining conveying module 13 is joined with the discharge end of the lower conveying mechanism 12, and the joining conveying mechanism 142 of the second joining conveying module 14 is joined with the discharge end of the upper conveying mechanism 11; in practical applications, when a board is collected, the pick-and-place carrier device 15 supplies an empty carrier in the storage bin 2 to the lower conveying mechanism 12, the lower conveying mechanism 12 conveys the empty carrier to the connecting conveying mechanism 142 of the first connecting conveying module 13, then the connecting lifting driving mechanism 141 of the first connecting conveying module 13 drives the connecting conveying mechanism 142 to lift the empty carrier, until the discharge end of the connecting conveying mechanism 142 is connected with the feed end of the upper conveying mechanism 11, the connecting conveying mechanism 142 conveys the empty carrier to the upper conveying mechanism 11, the pick-and-place transfer manipulator 21 sequentially stacks boards and papers on the empty carrier until stacking is completed, the carrier is in a full-load state, the upper conveying mechanism 11 conveys the empty carrier to the connecting conveying mechanism 142 of the second connecting conveying module 14, then the connecting lifting driving mechanism 141 of the second connecting conveying module 14 drives the connecting conveying mechanism 142 to descend until the discharge end of the connecting conveying mechanism 142 of the second connecting conveying module 14 is connected with the empty carrier, and the full-load carrier conveying mechanism 142 conveys the full-load carrier to the upper conveying mechanism 12, and the full-load conveying mechanism 142 conveys the empty carrier to the full-load carrier when the full-load carrier conveying mechanism 142 in the upper conveying mechanism 12 conveys the empty carrier to the empty carrier, and the full-load conveying mechanism 12 conveys the empty carrier in the upper conveying mechanism 12, and the full-load conveying mechanism 12. This structural design not only can realize the circulation transport to the carrier, can also realize changing and getting and put the carrier online through getting carrier device 15 to conveying mechanism 12 supply carrier or picking up the carrier that conveying mechanism 12 bore down, and storage silo 2 stores the carrier that is full-load, gets to put the board efficient.
In this embodiment, the carrier taking and placing device 15 comprises a taking and placing lifting driving mechanism 151 installed on the machine, a lifting plate 152 arranged at the lifting end of the taking and placing lifting driving mechanism 151, and a telescopic taking and placing mechanism 153 arranged on the lifting plate 152, wherein the telescopic taking and placing mechanism 153 is used for transferring carriers from the storage bin 2 to the lower conveying mechanism 12 or for transferring carriers from the lower conveying mechanism 12 to the storage bin 2; specifically, the retractable pick-and-place mechanism 153 is a retractable fork; the taking and placing lifting driving mechanism 151 can realize lifting driving by adopting a lead screw module. In practical applications, the pick-and-place and lift-and-lift driving mechanism 151 drives the lifting plate 152 to lift together with the retractable pick-and-place mechanism 153, so as to adjust the height position of the retractable pick-and-place mechanism 153, so that the retractable pick-and-place mechanism 153 can pick and place carriers to the storage bin 2.
In this embodiment, an avoiding space 121 is formed in the middle of the lower conveying mechanism 12, and the avoiding space 121 provides an avoiding space for the retractable pick-and-place mechanism 153.
In practical application, when a carrier carried by the lower conveying mechanism 12 needs to be taken away, the pick-and-place end of the telescopic pick-and-place mechanism 153 extends and protrudes into the avoidance space 121, then, the pick-and-place lifting driving mechanism 151 drives the lifting plate 152 to lift the telescopic pick-and-place mechanism 153 in the extending state, the pick-and-place end of the lifted telescopic pick-and-place mechanism 153 supports the carrier, and the pick-and-place end of the telescopic pick-and-place mechanism 153 contracts to take the carrier away from the lower conveying mechanism 12 after the carrier is separated from the conveying surface of the lower conveying mechanism 12; in addition, the working principle of the retractable pick-and-place mechanism 153 for placing the empty carrier on the lower conveying mechanism 12 and picking and placing the carrier to the storage bin 2 is the same, and the detailed description thereof is omitted.
In this embodiment, the pick-and-place carrier device 15 further includes a rotation driving mechanism 154 installed on the lifting plate 152, and a rotation end of the rotation driving mechanism 154 is fixedly connected to the base of the retractable pick-and-place mechanism 153; the rotary drive mechanism 154 may employ a motor; the storage bin 2 is arranged corresponding to the bearing platform 22.
In practical applications, the rotation driving mechanism 154 drives the telescopic pick-and-place mechanism 153 to rotate, so that the angle of the telescopic pick-and-place mechanism 153 can be adjusted, and the flexibility of the telescopic pick-and-place mechanism 153 is improved, so that the telescopic pick-and-place mechanism 153 can pick and place carriers; for example, when the telescopic pick-and-place mechanism 153 takes a fully loaded carrier from the lower conveying mechanism 12, the rotation driving mechanism 154 drives the telescopic pick-and-place mechanism 153 to rotate by a certain angle, so that the fully loaded carrier corresponds to the storage bin 2, the pick-and-place end of the telescopic pick-and-place mechanism 153 stretches to place the fully loaded carrier in the storage bin 2, then the pick-and-place lifting driving mechanism 151 and the telescopic pick-and-place mechanism 153 work cooperatively to enable the telescopic pick-and-place mechanism 153 to pick up an empty carrier in the storage bin 2, then the rotation driving mechanism 154 drives the telescopic pick-and-place mechanism 153 to rotate by a certain angle again, so that the pick-and-place end of the telescopic pick-and-place mechanism 153 corresponds to the lower conveying mechanism 12, and the pick-and-place end of the telescopic pick-and-place mechanism 153 stretches to place the controlled carrier on the lower conveying mechanism 12.
Specifically, a stopper 143 is disposed at an end of the joining and conveying mechanism 142 away from the upper conveying mechanism 11, and a top end of the stopper 143 protrudes above a conveying surface of the joining and conveying mechanism 142. The stopper 143 stops the carrier on the connecting conveying mechanism 142, and the stability of the carrier is improved.
Specifically, the upper conveying mechanism 11 is provided with an upper sensor 17, and the upper sensor 17 is used for detecting the carrier conveyed by the upper conveying mechanism 11. When the upper sensor 17 detects the carrier, the upper sensor 17 feeds back a signal to the upper conveying mechanism 11, so that the upper conveying mechanism 11 stops conveying the carrier, and at the moment, the picking and placing transfer manipulator 21 stacks plates and separation paper on the carrier; after the stacking is completed, the upper conveying mechanism 11 conveys the loaded carriers to the engaging conveying mechanism 142 of the second engaging conveying module 14.
Specifically, the upper conveying mechanism 11 is provided with an upper positioning mechanism (not shown in the figure) for positioning the carriers conveyed by the upper conveying mechanism 11, and both the upper conveying mechanism 11 and the upper positioning mechanism are electrically connected with the upper sensor 17. In practical application, after the upper sensor 17 detects the carrier, the upper sensor 17 respectively feeds back signals to the upper conveying mechanism 11 and the upper positioning mechanism, so that the upper conveying mechanism 11 stops conveying the carrier, and the upper positioning mechanism positions the carrier, so as to ensure the position accuracy and stability of the carrier on the upper conveying mechanism 11, and improve the taking and placing transfer manipulator 21 to stack plates and separation paper on the carrier.
Specifically, the lower conveying mechanism 12 is provided with a lower positioning mechanism 16, the lower positioning mechanism 16 is used for positioning the carrier conveyed by the lower conveying mechanism 12, and the avoidance space 121 is provided corresponding to the lower positioning mechanism 16.
In practical applications, the lower positioning mechanism 16 positions the carrier carried by the lower conveying mechanism 12, so as to ensure the position accuracy and stability of the carrier on the lower conveying mechanism 12, and is beneficial to improving the accuracy and stability of the telescopic pick-and-place mechanism 153 in picking and placing the carrier.
Specifically, the lower positioning mechanism 16 includes a fixed block 161 fixedly disposed on one side of the lower conveying mechanism 12, a movable block 162 movably disposed on the other side of the lower conveying mechanism 12, and a lower positioning cylinder 163 installed on the other side of the lower conveying mechanism 12 and drivingly connected to the movable block 162, wherein the lower positioning cylinder 163 is configured to drive the movable block 162 to move closer to or away from the fixed block 161.
In practical application, when the vehicle is located above the avoidance space 121, the lower positioning cylinder 163 drives the movable block 162 to move close to the fixed block 161 until the movable block 162 and the fixed block 161 cooperate to position the vehicle.
In this embodiment, the lower conveying mechanism 12 is provided with a lower sensor 18, the lower sensor 18 is disposed corresponding to the avoidance space 121, the lower sensor 18 is used for detecting the carrier conveyed by the lower conveying mechanism 12, and both the lower positioning mechanism 16 and the lower conveying mechanism 12 are electrically connected to the lower sensor 18.
In practical applications, after the lower sensor 18 detects the carrier, the lower sensor 18 respectively feeds back signals to the lower conveying mechanism 12 and the lower positioning mechanism 16, so that the lower conveying mechanism 12 stops conveying the carrier, and the lower positioning mechanism 16 positions the carrier, so that the retractable pick-and-place mechanism 153 can pick and place the carrier stably and accurately.
Specifically, the upper conveying mechanism 11, the lower conveying mechanism 12 and the linking conveying mechanism 142 all include a motor, a synchronous belt and a synchronous wheel, the motor drives the synchronous belt to rotate via the synchronous wheel, and the rotating synchronous belt drives the carrier to move so as to convey the carrier.
In this embodiment, get and put board equipment still including installing in the feed bin positioner 5 of board and being used for the feed bin delivery wagon 6 with 5 butt joints of feed bin positioner, feed bin positioner 5 is used for fixing a position storage silo 2, and feed bin delivery wagon 6 is used for carrying storage silo 2.
In practical application, when needing to change storage silo 2, feed bin delivery wagon 6 links up with feed bin positioner 5, moves storage silo 2 from feed bin positioner 5 to feed bin delivery wagon 6 on, perhaps moves storage silo 2 from feed bin delivery wagon 6 to feed bin positioner 5 on, and feed bin positioner 5 fixes a position storage silo 2. This structural design is convenient for change storage silo 2, easy operation, labour saving and time saving, and storage silo 2's position precision is high, stability is good.
Specifically, the bin conveying vehicle 6 is a trolley or an AGV trolley; when feed bin delivery wagon 6 is the handcart, the handcart links up the back with feed bin positioner 5, and the handcart is in the same place with 5 joints of feed bin positioner via joint structure 61 to the stability and the position accuracy that handcart and feed bin positioner 5 linked up have been improved. When the storage bin conveying vehicle 6 is an AGV trolley, the automatic conveying of the storage bin 2 is realized; specifically, the bin positioning device 5 is provided with a feeding space for the AGV to enter.
Specifically, the bearing surface of the bin delivery wagon 6 is provided with a limiting mechanism 62 and a plurality of rollers 63 in a rotating manner, the plurality of rollers 63 are used for rolling and abutting against the bottom surface of the storage bin 2, and the limiting mechanism 62 is used for limiting the storage bin 2. A plurality of gyro wheels 63 are contradicted with the bottom surface roll of storage silo 2 to storage silo 2's transfer, and stop gear 62 can carry on spacingly to storage silo 2, has guaranteed position accuracy and stability of storage silo 2 on feed bin delivery wagon 6. Specifically, stop gear 62 is including installing in the spacing cylinder of feed bin delivery wagon 6 and installing in the stopper of the piston rod of spacing cylinder, and spacing cylinder drive stopper is flexible or/and rotatory to make the stopper release or spacing storage silo 2.
Specifically, the bin positioning device 5 includes a positioning base 51 installed on the machine platform and a plurality of positioning components 52 installed on the positioning base 51, a positioning space is enclosed by the plurality of positioning components 52, and the positioning components 52 include a bin positioning cylinder 53 installed on the positioning base 51 and a positioning block 54 installed on a piston rod of the bin positioning cylinder 53. In practical application, behind storage silo 2 was located the location space, a plurality of locating component 52 cooperations were in order to fix a position storage silo 2, have guaranteed storage silo 2 position accuracy and stability on location base 51, are favorable to accurately getting and putting the board. Specifically, the bin positioning cylinder 53 drives the positioning block 54 to extend and retract or/and rotate so that the positioning block 54 positions the storage bin 2 or releases the storage bin 2.
In this embodiment, the board taking and placing device further includes a material pushing cart 7 and a lifting platform 8 disposed on the material pushing cart 7, and the lifting platform 8 is used for being connected with the bearing platform 22. In practical application, when the carriers on the bearing table 22 are fully loaded, the lifting table 8 is lifted, so that the lifting table 8 is connected with the bearing table 22, the fully loaded carriers are manually pushed onto the lifting table 8, and then the fully loaded carriers are conveyed to a required position through the material pushing vehicle 7, so that the fully loaded carriers are conveniently output, or after the lifting table 8 is connected with the bearing table 22, the empty carriers are manually pushed onto the bearing table 22, so that the carriers are conveniently supplied. Carry the carrier through the dumper 7, it is convenient to transport and change the carrier, labour saving and time saving, and elevating platform 8 can go up and down, is convenient for artifically move the carrier down or move the carrier up and down elevating platform 8 from elevating platform 8.
In this embodiment, the top surface of the lifting table 8 is provided with a plurality of first rollers 81 in a rotating manner, and the top surface of the bearing table 22 is provided with a plurality of second rollers 23 in a rotating manner. In the process of transferring the carrier between the lifting table 8 and the bearing table 22, the first roll shaft 81 and the second roll shaft 23 respectively contact with the bottom surface of the carrier in a rolling manner, so that the friction resistance and abrasion of the carrier are reduced, and the carrier can be conveniently replaced manually.
In this embodiment, the lifting table 8 is provided with a second positioning mechanism, and the second positioning mechanism positions the carrier on the lifting table 8, so that the position accuracy and stability of the carrier on the lifting table 8 are improved; the bearing table 22 is provided with a third positioning mechanism, and the third positioning mechanism positions the carrier on the bearing table 22, so that the position accuracy and stability of the carrier on the bearing table 22 are improved.
Specifically, the second positioning mechanism and the third positioning mechanism may both adopt positioning structures in the prior art, and are not described in detail.
All the technical features in the embodiment can be freely combined according to actual needs.
The above embodiments are preferred implementations of the present invention, and the present invention can be implemented in other ways without departing from the spirit of the present invention.
Claims (10)
1. The utility model provides a get and put board equipment which characterized in that: the automatic loading and unloading device comprises a machine table, a carrier circulating and conveying device which is arranged on the machine table and is longitudinally arranged, a plate conveying mechanism which is arranged on the machine table and is positioned above one end of the carrier circulating and conveying device, a bearing platform which is arranged on the machine table and is positioned above the other end of the carrier conveying device, a picking and unloading transfer mechanical arm which is arranged on the machine table and is movably arranged on the bearing platform, the carrier circulating and conveying device and the plate conveying mechanism, a picking and unloading carrier device which is arranged on one side of the carrier circulating and conveying device, a storage bin which is arranged on one side of the picking and unloading carrier device, a paper storage platform which is arranged on the top of the storage bin and a paper picking and unloading mechanical arm which is arranged on the machine table and is movably arranged above the paper storage platform and the bearing platform, wherein the picking and unloading carrier device is used for transferring a carrier from the storage bin to the carrier circulating and conveying device or transferring the carrier from the carrier circulating and conveying device to the storage bin.
2. A pick and place board apparatus as claimed in claim 1, wherein: the plate conveying mechanism is provided with a supporting plate mechanism which is used for supporting plates conveyed by the plate conveying mechanism.
3. The apparatus for taking and placing plate of claim 1, wherein: the carrier circulating conveying device comprises an upper conveying mechanism arranged on a machine table, a lower conveying mechanism arranged below the upper conveying mechanism at intervals, a first linking conveying module positioned at one end of the upper conveying mechanism and one end of the lower conveying mechanism and a second linking conveying module positioned at the other end of the upper conveying mechanism and the other end of the lower conveying mechanism, the first linking conveying module and the second linking conveying module respectively comprise a linking lifting driving mechanism and a linking conveying mechanism arranged at the lifting end of the linking lifting driving mechanism, the linking conveying mechanism is used for being linked with the upper conveying mechanism or the lower conveying mechanism, and the carrier taking and placing device is used for transferring carriers from the storage bin to the lower conveying mechanism or transferring carriers from the lower conveying mechanism to the storage bin; the conveying direction of the upper conveying mechanism is opposite to the conveying direction of the lower conveying mechanism, the conveying direction of the connecting conveying mechanism of the first connecting conveying module is opposite to the conveying direction of the connecting conveying mechanism of the second connecting conveying module, and the conveying direction of the connecting conveying mechanism of the first connecting conveying module is opposite to the conveying direction of the lower conveying mechanism.
4. A plate picking and placing apparatus according to claim 3, wherein: the carrier taking and placing device comprises a taking and placing lifting driving mechanism arranged on the machine table, a lifting plate arranged at the lifting end of the taking and placing lifting driving mechanism and a telescopic taking and placing mechanism arranged on the lifting plate, wherein the telescopic taking and placing mechanism is used for supplying carriers to the lower conveying mechanism or picking up carriers born by the lower conveying mechanism.
5. A pick and place board apparatus as claimed in claim 4, wherein: an avoiding space is formed in the middle of the lower conveying mechanism and provides an avoiding space for the telescopic taking and placing mechanism.
6. A pick and place board apparatus as claimed in claim 4, wherein: the taking and placing carrier device also comprises a rotary driving mechanism arranged on the lifting plate, the rotary end of the rotary driving mechanism is fixedly connected with the base body of the telescopic taking and placing mechanism, and the storage bin is arranged corresponding to the bearing platform.
7. A pick and place board apparatus as claimed in claim 1, wherein: the plate taking and placing equipment further comprises a bin positioning device arranged on the machine table and a bin delivery wagon butted with the bin positioning device, the bin positioning device is used for positioning the storage bin, and the bin delivery wagon is used for conveying the storage bin.
8. A pick and place board apparatus as claimed in claim 1, wherein: the plate taking and placing equipment further comprises a material pushing trolley and a lifting platform arranged on the material pushing trolley, and the lifting platform is used for being connected with the bearing platform.
9. A pick and place board apparatus as claimed in claim 8, wherein: the top surface of elevating platform arranges with rotating and is provided with a plurality of first roller, and the top surface of plummer arranges with rotating and is provided with a plurality of second roller.
10. The apparatus for picking and placing plates of claim 8, wherein: the lifting platform is provided with a second positioning mechanism, and the bearing platform is provided with a third positioning mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210954946.6A CN115258668A (en) | 2022-08-10 | 2022-08-10 | Board taking and placing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210954946.6A CN115258668A (en) | 2022-08-10 | 2022-08-10 | Board taking and placing equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115258668A true CN115258668A (en) | 2022-11-01 |
Family
ID=83749957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210954946.6A Pending CN115258668A (en) | 2022-08-10 | 2022-08-10 | Board taking and placing equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115258668A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116281202A (en) * | 2023-01-31 | 2023-06-23 | 东莞市坤鹏伯爵机械设备有限公司 | Board placing device and board placing method |
-
2022
- 2022-08-10 CN CN202210954946.6A patent/CN115258668A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116281202A (en) * | 2023-01-31 | 2023-06-23 | 东莞市坤鹏伯爵机械设备有限公司 | Board placing device and board placing method |
| CN116281202B (en) * | 2023-01-31 | 2023-12-08 | 东莞市坤鹏伯爵机械设备有限公司 | Board placing device and board placing method |
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