CN115848957A

CN115848957A - Flexible blocky object conveying and arranging mechanism and arranging method thereof

Info

Publication number: CN115848957A
Application number: CN202211650257.2A
Authority: CN
Inventors: 曾国艺; 游含沛
Original assignee: Quanzhou Kesheng Packaging Machinery Co ltd
Current assignee: Quanzhou Kesheng Packaging Machinery Co ltd
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-03-28

Abstract

The invention relates to the field of flexible block conveying and arranging equipment, in particular to a flexible block conveying and arranging mechanism and a flexible block conveying and arranging method, wherein the flexible block conveying and arranging mechanism comprises a support frame, and a first conveying device, a first camera device, a first transfer device, a second camera device, a second conveying device, a second transfer device, a support unloading machine, a third conveying device and a third transfer device which are arranged on the support frame according to a production line; wherein first camera device shoots flexible thing on the first transfer device, according to flexible thing coordinate position, the parallel robot control sucking disc on the first transfer device of control removes the flexible thing that adsorbs not on the horizontal position, then adsorb the flexible thing of position dispersion and put into one row from a left side right side, carry out preliminary arrangement to flexible thing, solved current flexible thing and produced out the back through apparatus for producing, scattered stack on conveyor, need the manual work to pave, arrange in order and put the technical problem that efficiency is low.

Description

Flexible blocky object conveying and arranging mechanism and arranging method thereof

Technical Field

The invention relates to the technical field of flexible block conveying and arranging equipment, in particular to a flexible block conveying and arranging mechanism and a flexible block arranging method.

Background

At present, the chinese patent application No.: CN201711327985.9 discloses a food conveying device, which comprises a frame, a left roller, a right roller and a conveying belt, wherein the left roller and the right roller are respectively and fixedly installed at the left end and the right end of the frame in a rotatable manner; but the back is produced through apparatus for producing to current food, and scattered piling up needs the manual work to pave on conveyor, arranges in order and puts inefficiency.

Disclosure of Invention

Therefore, aiming at the problems, the invention provides a flexible block conveying and arranging mechanism and a flexible block conveying and arranging method, which solve the technical problems that after existing food is produced by a production device, the food needs to be scattered and stacked on a conveying device, and is required to be manually paved, so that the arranging and arranging efficiency is low.

In order to realize the purpose, the invention adopts the following technical scheme: a flexible block conveying and arranging mechanism comprises a support frame, a first conveying device, a first camera device, a first transfer device, a second camera device, a second conveying device, a second transfer device, a tray unloading machine, a third conveying device, a third transfer device, a fourth conveying device and a sucker mechanism, wherein the first conveying device is arranged on the support frame according to a production line, the first camera device is used for photographing flexible objects on the first conveying device to identify coordinates, the first transfer device is used for adsorbing and transferring the flexible objects on the first conveying device to the second conveying device, the tray unloading machine is used for inputting trays, the third conveying device is used for conveying the trays output by the unloading machine, the third transfer device is used for transferring the flexible objects on the second conveying device to the trays of the third conveying device, the fourth conveying device is used for inputting iron covers, and the sucker mechanism is used for placing the iron covers on the trays on the third transfer device, and the first transfer device comprises parallel robots arranged on the support frame and suckers arranged at the bottoms of the parallel robots.

Further, be equipped with the arrangement mechanism that is used for lining up the flexible thing of input on the second conveyor, arrangement mechanism is including locating the mounting bracket on the second conveyor, the interval locates the first hinge piece of mounting bracket bottom surface, rotationally locate the outer clamp splice of first outer clamp splice and second on the first hinge piece, articulated locate the removal hinge piece at the outer clamp splice top of first outer clamp splice and second, be used for driving to remove the hinge piece and make the outer clamp splice of first outer clamp splice and second open closed first drive arrangement, locate the mounting bracket bottom surface and around the second hinge piece that the interval set up, rotationally locate the inner clamp splice of first outer clamp splice and second on the second hinge piece, locate the guide block on the inner side of inner clamp splice of first inner clamp splice and second and locate the guide way on the guide block, second conveyor top surface interval is located in the second conveyor top, the outer clamp splice top of first outer clamp splice top is articulated with the outer clamp splice of second, the guide way is by both sides to the middle part, by the bottom to the up slope, it is equipped with the extension axle to move the hinge piece outside, extend axle and guide way sliding connection.

Furthermore, the bottom of the first outer clamping block and the bottom of the second outer clamping block are rectangular, and the bottom of the first inner clamping block and the bottom of the second inner clamping block are plate-shaped.

Furthermore, a plurality of clamping grooves with the same shape as the flexible object are arranged at the bottoms of the first outer clamping block and the second outer clamping block.

The support unloading machine comprises an unloading bracket, a conveying belt used for inputting a tray, a guide plate used for guiding the tray, a support bracket used for supporting the output tray and an output channel, wherein the support bracket comprises an upper blocking metal plate, a middle blocking metal plate, side rods and a rear rod, the middle blocking metal plate is arranged below the upper blocking metal plate at intervals, the middle blocking metal plate is arranged on the unloading bracket, the upper blocking metal plate and the middle blocking metal plate are shaped like a Chinese character 'ao', the side rods are arranged on the longitudinal two sides of the upper blocking metal plate and the middle blocking metal plate, the rear rod is arranged in the middle of the upper blocking metal plate and the middle blocking metal plate, the tops of the side rods and the rear rod extend to the upper blocking metal plate, the bottoms of the side rods and the rear rod are close to the output channel, short rods are arranged on the middle blocking metal plate, and the bottoms of the short rods are close to the output channel; the unloading bracket is positioned above the output channel and is provided with an unloading mechanism, the unloading mechanism comprises a plurality of sub-supporting wheels which are distributed in a rectangular shape, a rotating shaft arranged at the top of the sub-supporting wheels and a second driving device used for driving the rotating shaft to rotate, the second driving device is connected with the unloading bracket, a spiral groove is formed in the outer side of the sub-supporting wheels, a feeding groove is formed in the top of the sub-supporting wheels, an unloading groove is formed in the bottom of the sub-supporting wheels, and the feeding groove and the unloading groove are communicated with the spiral groove.

Furthermore, a supporting separating sheet is arranged on the top surface of the supporting separating wheel at the position of the feeding groove; and the outer side of the sub-supporting sheet is provided with an extension part extending to the outer diameter of the sub-supporting wheel.

Furthermore, the supporting piece is arranged at the position, located on the discharging groove, of the supporting wheel, the diameter size of the supporting piece is larger than that of the supporting wheel, the supporting piece is fan-shaped, a protruding portion is arranged at the position, close to the outer side wall of the supporting wheel, of the spiral groove, and the section of the protruding portion is triangular.

Further, the gripper mechanism comprises a gripper support, a magnetic gripper device arranged below the gripper support and a third driving device used for driving the magnetic gripper device to rotate and move, the third driving device is connected with the gripper support, the magnetic gripper device comprises a supporting plate connected with the third driving device, baffles arranged below the supporting plate at intervals, a moving plate arranged between the supporting plate and the baffles in a sliding manner, a first driving mechanism used for driving the moving plate to move and a magnetic block arranged on the bottom surface of the moving plate; the third driving device comprises a rotating block, a sliding rail, a swinging rod, a driving rod and a second driving mechanism, the rotating block is rotatably arranged at the bottom of the gripper support, the sliding block is arranged on the rotating block and close to one end face of the magnetic block, the sliding rail is slidably connected to the sliding block, the swinging rod is connected with the sliding rail, the driving rod is rotatably arranged on the gripper support, the second driving mechanism is used for driving the driving rod to rotate, and one side of the driving rod, opposite to the gripper support, is hinged to the swinging rod.

By adopting the technical scheme, the invention has the beneficial effects that:

the flexible block conveying and arranging mechanism comprises a first transfer device, wherein the first transfer device inputs flexible objects on an external production line, the finished flexible objects pass through a first camera device through the first transfer device, the first camera device, a second camera device, a first transfer device, a second transfer device and a third transfer device are connected with an external control center, the first camera device shoots the flexible objects on the first transfer device and converts the flexible objects into electric signals to be sent to the external control center, the external control center identifies the coordinate position of the flexible objects according to the images, the external control center controls a sucker of a parallel robot on the first transfer device to move the flexible objects which are not adsorbed on the transverse row position according to the coordinate position of the flexible objects, then adsorbs the flexible objects with dispersed positions and puts the flexible objects into a row from left to right, arranges the flexible objects, the dispersed flexible object positions on the first transfer device are roughly in the transverse row, the first transfer device continues to convey the flexible objects through the second camera device, the flexible objects on the second transfer device are converted into the flexible objects on the first transfer device and sent to the external control center, the flexible objects are conveyed to a third transfer device, the flexible object is conveyed to a third transfer device, the flexible object is conveyed to a third transfer device, and conveyed on the third transfer device, the flexible object is conveyed on the third transfer device, fourth conveyor inputs the iron cover, and tongs mechanism adsorbs the iron cover and shifts the lid and close the tray on, covers the tray and closes to the completion carries the packing to the arrangement of flexible thing, and first transfer device and second transfer device realize adsorbing arrangement efficiently to flexible thing, have solved present flexible thing and have produced the back through apparatus for producing, scattered stack on conveyor, need the manual work to pave, arrange in order and put the technical problem of inefficiency.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic front view of a portion of the present invention;

FIG. 3 is a schematic view of the construction of the destacking machine of the present invention;

FIG. 4 is a schematic view of the collating mechanism of the present invention;

FIG. 5 is a schematic front view of the collating mechanism structure of the present invention;

FIG. 6 is a schematic diagram of the left side view structure explosion local state of the sorting mechanism of the present invention;

FIG. 7 is an exploded partial schematic view of the right side view structure of the collating mechanism of the present invention;

FIG. 8 is a schematic view of a partial structure of the destacking machine of the present invention;

FIG. 9 is a schematic front view of a partial structure of the destacking machine of the present invention;

FIG. 10 is a schematic view of the structure of the sub-riding wheel of the present invention;

FIG. 11 is a schematic top view of the sub-idler structure of the present invention;

FIG. 12 is a partial schematic view of the structure of the sub-riding wheel of the present invention;

FIG. 13 is a schematic view of the side-mounted state of the sub-supporting roller of the present invention;

FIG. 14 is a top view structural schematic diagram of the riding wheel of the present invention;

FIG. 15 is a schematic view of the gripper mechanism of the present invention;

FIG. 16 is a rear view of the gripper mechanism configuration of the present invention;

FIG. 17 is a schematic front view of the gripper mechanism of the present invention;

FIG. 18 is a partial cross-sectional structural schematic view of the gripper mechanism of the present invention;

FIG. 19 is a schematic flow sheet of the present invention.

Detailed Description

The invention will now be further described with reference to the accompanying drawings and detailed description.

Referring to fig. 1 to 19, the flexible block object of the present invention may be a flexible block object such as cheese, cream candy, etc., and this embodiment provides a flexible block object conveying and sorting mechanism, which includes a supporting frame 1, a first conveying device 2 arranged on the supporting frame 1 in a production line, a first camera device 3 for taking a picture of a cheese identification coordinate on the first conveying device 2, a first transfer device 4 for adsorbing and moving a cheese on the first conveying device 2, a second camera device 5 for taking a picture of a cheese identification coordinate on the first conveying device 2, a second conveying device 6, a second transfer device 7 for adsorbing and transferring a cheese on the first conveying device 2 to the second conveying device 6, a tray unloading machine 12 for inputting a tray, a third conveying device 9 for conveying a tray output from the tray unloading machine, a third transfer device 10 for transferring a cheese on the second conveying device to a tray of the third conveying device, a fourth conveying device 11a for inputting an iron cover, and a cover mechanism for placing an iron cover on the tray 11 of the third transfer device;

the first transfer device 4 comprises a parallel robot 4a arranged on the support frame 1 and a sucker 4b arranged at the bottom of the parallel robot 4 a; the first transfer device, the second transfer device and the third transfer device may have the same structure, and the first conveying device, the second conveying device, the third conveying device, the fourth conveying device, the first camera device, the second camera device, the sucker and the parallel robot are commercially available products, the structure is known, and corresponding models can be selected according to production needs, which is not described herein; the suction cup is connected to an external pneumatic system, which can control the suction and non-suction states of the suction cup, which is a conventional technology and will not be described herein.

The second conveying device 6 is provided with a sorting mechanism 8 for aligning the input cheese, the sorting mechanism 8 comprises a mounting rack 801 arranged on the second conveying device 6, first hinge blocks 802 arranged on the bottom surface of the mounting rack 801 at intervals, a first outer clamping block 803 and a second outer clamping block 804 rotatably arranged on the first hinge blocks 802, a movable hinge block 805 hinged on the tops of the first outer clamping block 803 and the second outer clamping block 804, a first driving device 806 for driving the movable hinge block 805 to open and close the first outer clamping block 803 and the second outer clamping block 804, second hinge blocks arranged on the bottom surface of the mounting rack 801 at intervals in the front and back direction, a first inner clamping block 808 and a second inner clamping block 809 rotatably arranged on the second hinge block 807, guide blocks 810 arranged on the inner side surfaces of the first inner clamping block 808 and the second inner clamping block 809, and guide grooves 811 arranged on the guide blocks 810, the top surface of the mounting rack 801 is arranged above the second conveying device 6 at intervals, the top of the first outer clamping block 807 is hinged with the second clamping block 811, the guide grooves 804 are connected with the guide shafts 85a extending from the upper side to the middle part and the lower side of the guide blocks 804, and the guide shafts 85a extend; the first driving device may be any driving mechanism such as an air cylinder, an electric push rod, etc., which are conventional and will not be described herein.

Because the parallel robot generally improves the transfer speed of the parallel robot in order to improve the efficiency, but the parallel robot has high moving speed, and can drift by 1-2 mm after reaching a designated position under the action of inertia, the production speed can be reduced if secondary correction and adjustment are carried out, a common sucker directly loosens the parallel robot to continuously transfer and input new cheese, the cheese position on the second conveying device is uneven, the transfer device on the next process cannot accurately grasp cheese, and cheese grabbing is missed; through the arrangement of the sorting mechanism, after cheese on the second conveying device is conveyed to the position below the mounting frame, the first driving device drives the movable hinging block to move upwards, the movable hinging block drives the first outer clamping block and the second outer clamping block to move towards the middle part when moving, when moving upwards, the extension shaft on the movable hinging block slides in the guide groove, as the guide groove inclines from two sides to the middle part and from bottom to top, the first inner clamping block and the second inner clamping block are driven to open from the middle part to two sides through the guide groove, the first outer clamping block and the first inner clamping block can align one row of cheese, the second outer clamping block and the second inner clamping block can align the other row of cheese and simultaneously keep the spacing distance between the two rows of cheese, after the completion, the first driving device drives the movable hinging block to move downwards, the first outer clamping block and the second outer clamping block can rotate and open towards two sides to avoid cheese, the first inner clamping block and the second inner clamping block can move towards the middle part, the spacing distance between the first inner clamping block and the second inner clamping block can be reduced, the cheese to avoid the defect that when the second conveying device is aligned and can be aligned and conveyed, and the cheese can be transferred to a parallel connection position on the second conveying device, and the cheese conveying device can be avoided, and the cheese can not be accurately transferred, and the cheese conveying device, and the parallel connection position can be fast.

The bottom parts of the first outer clamping block 803 and the second outer clamping block 804 are rectangular, and the bottom parts of the first inner clamping block 808 and the second inner clamping block 809 are plate-shaped; the bottom parts of the first outer clamping block 803 and the second outer clamping block 804 are in the shape of a long rectangle, the rectangular shape can be conveniently thickened to widen the sizes of the first outer clamping block 803 and the second outer clamping block, the spacing distance between the first outer clamping block 803 and the first inner clamping block can be controlled, and the first outer clamping block can be in a thin plate shape or any existing shape and can be changed according to actual requirements; the clamping block 808 and the second clamping block in the first interior are long plate-shaped, the distance between the first interior clamping block 808 and the second interior clamping block is reduced, cheese passes through without obstruction, and cheese passes through conveniently, and various u-shaped convex parts can be arranged on the first interior clamping block 808 and the second interior clamping block, or the existing arbitrary shape can be changed according to actual requirements, so that cheese passes through more conveniently for the plate-shaped.

A plurality of clamping grooves 812 with the same shape as cheese are arranged at the bottoms of the first outer clamping block 803 and the second outer clamping block 804; because the spacing distance between cheeses has an error of 1-2 mm, if the first outer clamping block and the second outer clamping block are in a long strip shape, only one row of longitudinal positions of cheeses can be aligned, the front and back spacing errors cannot be adjusted, the clamping groove is arranged, the shape of the clamping groove is the same as the other half shape of the cheeses, when the first outer clamping block and the second outer clamping block clamp the cheeses, the cheeses can slide into the clamping groove, the positions of the cheeses are accurately positioned again, the front and back spacing distances of the cheeses can be accurately adjusted, the first outer clamping block and the second outer clamping block are opened by rotation of the first hinge block and suspended above the second conveying device, when the cheeses need to be clamped, the cheeses are rotated onto the second conveying device again, the rotation angle is large, the first outer clamping block and the second outer clamping block do not contact with the second conveying device, and the problem that the cheeses are in contact with the clamping groove to cause position offset of the cheeses when the second conveying device conveys the cheeses is avoided.

The tray unloader 12 includes a tray unloader 121, a conveyor belt 122 for feeding trays, a guide plate 123 for guiding trays, a support bracket 124 for supporting output trays, and an output passage 125; the support bracket 124 comprises an upper blocking sheet metal 41a, a middle blocking sheet metal 42a arranged below the upper blocking sheet metal 41a at intervals, side bars 43a and a rear bar 44a, wherein the middle blocking sheet metal 42a is arranged on the unloading bracket 121, the upper blocking sheet metal 41a and the middle blocking sheet metal 42a are concave, the side bars 43a are arranged at two longitudinal sides of the upper blocking sheet metal 41a and the middle blocking sheet metal 42a, the rear bar 44a is arranged in the middle of the upper blocking sheet metal 41a and the middle blocking sheet metal 42a, the tops of the side bars 43a and the rear bar 44a extend to the upper blocking sheet metal 41a, the bottoms of the side bars 43a and the rear bar 44a are close to the position of the output channel 125, the middle blocking sheet metal 42a is provided with a short bar 45a, and the bottom of the short bar 45a is close to the position of the output channel 125; the tray unloading mechanism 126 is arranged above the output channel 125 of the tray unloading bracket 121, the tray unloading mechanism 126 comprises a plurality of sub-supporting wheels 61a which are distributed in a rectangular shape, a rotating shaft 62a arranged at the top of the sub-supporting wheels 61a and a second driving device 63a used for driving the rotating shaft 62a to rotate, the second driving device 63a is connected with the tray unloading bracket 121, a spiral groove 64a is arranged on the outer side of the sub-supporting wheels 61a, a feeding groove 65a is arranged at the top of the sub-supporting wheels 61a, a discharging groove 66a is arranged at the bottom of the sub-supporting wheels 61a, and the feeding groove 65a and the discharging groove 66a are communicated with the spiral groove 64 a.

Through the arrangement of the tray unloading mechanism, firstly, stacked food trays are placed on a conveyor belt, then the food trays are input to the position of a bearing bracket through the conveyor belt, side rods block the longitudinal two side positions of the food trays, a rear rod blocks the rear end of the food trays, the food trays slide downwards in a guiding way through the side rods and the rear rod, a short rod, the side rods and the rear rod surround and guide the peripheral positions of the food trays until the food trays slide into the bottom position of the short rod, at the moment, the food trays are positioned on the top surface of a branch supporting wheel, the food trays slide into a spiral groove through the guiding of a feeding groove along with the rotation of the branch supporting wheel, the branch supporting wheel continuously rotates to slide the food trays sliding into the spiral groove downwards, and the food trays slide out through the discharging groove after being clamped into the food trays, the feeding groove on the branch supporting wheel rotates to other positions, the top surface of the branch supporting wheel continuously supports the stacked food trays, the branch supporting wheel rotates for one circle, the food trays slide out through the spiral groove, the unloading efficiency of the whole stacked food trays is greatly improved by replacing the manual tray unloading mechanism by a sucker for 20 minutes, and the manual tray unloading efficiency is improved by the manual tray unloading mechanism.

A supporting separating sheet 67a is arranged on the top surface of the supporting separating wheel 61a at the position of the feeding groove 65 a; the setting of branch riding strip receives the restriction of helicla flute, divides the pan feeding groove arc length distance on the riding wheel big, if direct through increase integrated into one piece's support edge on dividing the riding wheel pan feeding groove, can't adjust pan feeding groove arc length distance, and divide riding strip demountable installation on dividing the riding wheel, can block pan feeding groove area through dividing the riding strip, adjustment pan feeding groove size, the convenient food tray to the difference, adjustment pan feeding groove size.

Divide the support plate 67a outside to be equipped with extension 68a to the extension of branch riding wheel 61a external diameter, because the edge thickness in branch tray outside is thin and the stack interval is little, when the pan feeding groove of branch riding wheel unloaded the tray, input two nearer trays in adjacent position together downwards easily, and the extension of branch riding plate can go deep into the gap between the adjacent tray, along with the rotation of branch riding wheel, the card is gone into the helicla flute and is followed branch riding wheel bottom discharge chute roll-off, the extension of branch riding plate can go deep into the gap between the adjacent tray of card income, it is better to unload the tray effect.

The supporting piece 69a is arranged at the position, located at the discharging groove 66a, of the supporting wheel separating 61a, the supporting piece is free from the discharging groove, and the diameter size of the supporting piece 69a is larger than that of the supporting wheel separating 61 a; the bearing sheet 69a is fan-shaped, the fan-shaped bearing sheet is beneficial to batch production, the area of the fan-shaped bearing sheet is gradually increased from the circular position of the sub-bearing sheet to the outer side position, and the support performance of the tray falling in advance is good; the setting of bearing piece, wherein when the tray did not follow the blowpit direction landing, the bearing piece will support the tray bottom surface, avoids some trays to drop from the blowpit in advance, and the tray slope drops or too early whereabouts output channel, and the output channel offset that drops influences follow-up packing.

The spiral groove 64a is provided with a convex part 60a close to the outer side wall of the partial supporting wheel 61a, the section shape of the convex part 60a is triangular, the outer edge of a part of the tray can be bent downwards due to the arrangement of the convex part, when the outer edge of the tray is clamped into the convex part, the outer edge is contacted with the convex part, and the defect that the part of the tray can easily slide out of the spiral groove accidentally can be avoided.

The top surface of the rotating shaft is provided with a separating sheet 60b, the included angle 60c between the separating sheet and the feeding groove is 170-190 degrees, the separating sheet is gradually thickened from one side to the other side, and the section of the separating sheet is triangular; the tray has the dish that the take the altitude was put for one pile, divide the tray to pile when the tray separation, if one pile of tray falling speed is too fast, two trays of bottommost are soft tray, receive the impact force influence probably directly to strike the whereabouts from dividing the riding wheel, rotatory spacer can carry out the segmentation with a pile of tray that descends and divide the support, one pile of tray passes through the rotatory card of spacer and goes into, the tray of bottom descends to branch riding wheel earlier, the rotatory round back of spacer, the tray on upper portion is blocked by the spacer card, the tray at middle part descends to the bottom part riding wheel earlier, divide the support to descend with a pile of tray segmentation, avoid whole pile of tray directly to drop from holding the bracket.

The tray is light in weight, because the trays are tightly overlapped, the tray at the bottom is tightly clamped with the loose other side clamped at one side of the tray at the top, namely two trays are not consistent in interval distance, the tray can not be simultaneously clamped into the feeding grooves of the branch supporting wheels, if one tray is only clamped into the feeding grooves of the two branch supporting wheels at the right, the right side of one tray is descended, the left side of the descended tray is tilted, because the previous trays are tightly overlapped, the rest tray in the whole stack is jacked and inclined by the descended tray, the tray in the whole stack is inclined at an angle of 80-90 degrees, the four branch supporting wheels continue to rotate, the rest tray in the whole stack directly slides downwards to the output channel through the tray at the bottom, and the rest tray is directly conveyed to the next procedure without being separated;

the separating sheets gradually thicken from one side to the other side, the cross section of each separating sheet is triangular, the separating sheets on the rotating shaft are positioned at the left and right height positions in the middle of a stack of trays, after the separating sheets are supported to the last trays at the top, the tops of the separating sheets are not pressed down by gravity, the trays at the top positions are positioned at the middle positions of the unloading brackets, the separating wheels rotate to be clamped into the trays stacked up and down after separating the trays one by one, the separating sheets are clamped into one tray and guided to move downwards, the tray on the separating wheels just descends and is attached to the separating wheels, the tray stacked up and down at the thin part of the separating sheets is clamped into the tray stacked up and down along with the thickening of the thickness, the distance between the separating sheets and the tray feeding grooves is 170-190 degrees, the tray at the top is looser, the distance between the upper tray and the lower tray is the same, the problem that the distance between the upper tray and the lower tray is not consistent with the distance between the upper tray and the lower tray when the last trays at the top tray are clamped into the two trays is avoided.

The gripper mechanism comprises a gripper bracket 1b, a magnetic gripper device 2b arranged below the gripper bracket 1b and a third driving device 3b used for driving the magnetic gripper device 2b to rotate and move, the third driving device 3b is connected with the gripper bracket 1b, the magnetic gripper device 2b comprises a supporting plate 201b connected with the third driving device 3b, a baffle plate 202b arranged below the supporting plate 201b at intervals, a moving plate 203b arranged between the supporting plate 201b and the baffle plate 202b in a sliding manner, a first driving mechanism 204b used for driving the moving plate 203b to move and a magnetic block 205b arranged on the bottom surface of the moving plate 203b, and the magnetic gripper mechanism is connected with the supporting plate 201 b;

through the arrangement of the gripper mechanism, when the iron cover needs to be grabbed, the third driving device drives the supporting plate to move, the supporting plate drives the baffle plate to move to the fourth conveying device, the side face of the iron cover can be adsorbed, the first driving mechanism drives the moving plate to move, the moving plate drives the magnetic blocks to move towards the direction of the iron cover, the magnetic blocks are close to the position of the baffle plate, the iron cover on the baffle plate can be attracted due to the fact that the magnetic blocks are attached to the baffle plate, after the iron cover is driven to rotate to the set position by the third driving device, 90-degree rotation is achieved and the iron cover is moved to the tray, the moving plate is driven by the first driving mechanism to move towards the opposite position, the spacing distance between the moving plate and the baffle plate is increased, the iron cover is blocked on the baffle plate due to the fact that the distance between the magnetic blocks and the baffle plate is increased, the attraction force towards the iron cover is reduced, the iron cover will fall to the tray top, then drive lever reverse rotation, it is rotatory along original orbit to drive the swinging arms, the swinging arms will slide down, the baffle of sliding bar bottom compresses tightly the back to the iron cover board at tray top, because there is not magnetic force can not adsorb tray top iron cover, and rotate 90 degrees, to the fourth conveyor position, the movable plate drives the magnetic path and moves to iron cover direction, continue to input iron cover, this magnetism is inhaled simple in construction, mechanical structure adjustment interval is avoided to iron cover centre gripping, the shortcoming of complicated structure, and even iron cover area is less than the magnetic path, the magnetic path also can be inhaled iron cover, traditional mechanical structure adjustment interval has been avoided to iron cover centre gripping, iron cover perhaps is not within the clamping distance, the limited shortcoming of centre gripping stroke.

The third driving device 3b includes a rotating block 301b rotatably disposed at the bottom of the gripper bracket 1b, a sliding block 302b disposed at one end surface of the rotating block 301b close to the magnetic block 205b, a sliding rail 303b slidably connected to the sliding block 302b, a swinging rod 304b connected to the sliding rail 303b, a driving rod 305b rotatably disposed on the gripper bracket 1b, and a second driving mechanism 306b for driving the driving rod 305b to rotate, wherein the driving rod 305b is hinged to the swinging rod 304b at a side opposite to the gripper bracket 1 b.

The existing iron cover is usually moved from two spaced platforms in the moving process, and the existing moving platform needs to be moved by using a two-axis moving platform, so that the use cost is high; in the moving process, the device needs to be suspended after longitudinally moving to a certain position and then transversely moving, and shaking instability is easily generated in the suspending process; a third driving device is arranged, wherein in an initial state, the baffle plate is attached to an iron cover, then the magnetic block absorbs the iron cover on the baffle plate, the second driving mechanism drives the driving rod to rotate, the driving rod rotates to drive the swinging rod to rotate, when the driving rod rotates to the position above the left of the gripper support, the sliding rail at the rear end of the swinging rod rotates through the sliding block, the sliding block is fixedly connected with the rotating block, along with the rotation of the rotating block by about 90 degrees, the swinging rod rotates by about 90 degrees to drive the iron cover at the bottom of the baffle plate to rotate by 90 degrees, then the driving rod continues to rotate to drive the swinging rod to move upwards, the swinging rod moves upwards in the sliding block through the sliding rail, the driving rod rotates reversely, then the swinging rod rotates reversely, the swinging rod slides downwards, in the downward movement process of the swinging rod, the iron cover at the bottom of the baffle plate is covered on the tray, then the spacing distance between the built-in magnetic gripper device and the baffle plate is increased, the iron cover on the baffle plate falls onto the tray and is simultaneously pressed, so that the transfer conveying of the iron cover is completed, the second driving mechanism drives the driving rod to rotate, the driving rod rotates to drive the swinging rod to rotate, when the driving rod rotates to the lower right position of the gripper bracket, the sliding rail at the rear end of the swinging rod rotates through the sliding block, the sliding block is fixedly connected through the rotating block, along with the rotation of the rotating block by about 90 degrees, the swinging rod rotates by about 90 degrees to drive the iron cover at the bottom of the baffle plate to rotate by 90 degrees, then the driving rod continuously rotates to drive the swinging rod to push leftwards, the swinging rod moves leftwards on the sliding block through the sliding rail, the sliding rod moves to the position of the fourth conveying device, and then the iron cover is continuously input, the mechanism is simple and not easy to damage, two moving platforms are not needed to clamp and move the iron cover, the use cost is low, and the movement is continuous in the moving process, the suspension can not generate shaking, and the conveying is stable.

The baffle 202b is provided with a plurality of through holes 206b, the supporting plate 201b is provided with a reinforcing column 207b connected with the baffle 202b, and the moving plate 203b is provided with a round hole 208b for avoiding the reinforcing column 207 b; the setting of through-hole, wherein the through-hole on the baffle can make the magnetic path not stop contact with the iron cover, increase the appeal of magnetic path and iron cover, strengthen the setting of post, wherein the magnetic path is when the iron cover adsorbs, iron cover top surface is not complete plane, the easy atress of baffle is crooked when using for a long time, and strengthen the post and can withstand the baffle, increase the stress point, avoid the easy atress crooked shortcoming of baffle, and strengthen the post and be located between the magnetic path horizontal interval, do not influence the distance between magnetic path and the iron cover, little to magnetic path suction influence.

The first driving mechanism 204b is an air cylinder, a push rod arranged in the air cylinder is connected with the moving plate 203b, an avoidance hole 209b for avoiding the movement of the push rod arranged in the air cylinder is formed in the supporting plate 201b, and an avoidance hole 209b for avoiding the movement of the push rod arranged in the air cylinder is formed in the supporting plate 201; the arrangement of the first driving mechanism has the advantages of good universality of the air cylinder, long service life and contribution to long-term use.

A lower mounting plate 4b is arranged below the gripper support 1b, a third driving mechanism 5b is arranged on the lower mounting plate 4b, and a lifting plate 6b is arranged on the top surface of the third driving mechanism 5 b; when the baffle of this third drive arrangement structure bottom was located mounting panel top down, unable parallel fall mounting panel top down, it is ascending with baffle parallel contact that the iron cover of top surface rises through third actuating mechanism drive lifter plate, makes things convenient for the magnetic path in the baffle to the iron cover actuation. The servo motor, the air cylinder, the magnetic block and the driving mechanism are all commercially available products, the structure is known, and corresponding models can be selected according to production requirements, and are not described herein; the first driving mechanism is preferably a pneumatic cylinder, and may also be a hydraulic cylinder, an electric push rod or other mechanisms achieving the same function, which are conventional in the art and will not be described herein.

The second embodiment discloses a flexible block conveying and material arranging method, which comprises the following steps:

the method comprises the following steps that firstly, a first conveying device inputs cheese on an external production line, the finished cheese passes through a first camera device through a first transfer device, the first camera device shoots the cheese on the first transfer device and then converts the cheese into an electric signal to be sent to an external control center, the external control center identifies the coordinate position of the cheese according to an image, the external control center controls a parallel robot on the first transfer device to control a sucker to move and adsorb the cheese which is not in the horizontal row position according to the coordinate position of the cheese, then the cheese with dispersed positions is adsorbed and placed into a row from left to right, the cheese is primarily sorted, the cheese with dispersed positions on the first transfer device is roughly in the horizontal row shape after the cheese is finished, the first conveying device continues to convey the cheese through a second camera device, the second camera device shoots the cheese on the first transfer device and converts the cheese into the electric signal to be sent to the external control center, the external control center identifies the position of the cheese on the first conveying device, then the external control center controls the second transfer device to adsorb the cheese according to the coordinate position of the cheese and transfers the cheese to the specified position on the second conveying device, and the cheese is adsorbed and then the cheese is finished being sorted;

secondly, the second conveying device continues conveying, after cheese on the second conveying device is conveyed to the lower portion of the mounting frame, the first driving device drives the movable hinge block to move upwards, the movable hinge block drives the first outer clamping block and the second outer clamping block to move towards the middle portion when moving, when the movable hinge block moves upwards, the extension shaft on the movable hinge block slides in the guide groove, as the guide groove inclines towards the middle portion from two sides and from bottom to top, the first inner clamping block and the second inner clamping block are driven to open from the middle portion to two sides through the guide groove, the first outer clamping block and the first inner clamping block can align cheese in a row, the second outer clamping block and the second inner clamping block can align cheese in another row while keeping the spacing distance between the two rows of cheese, after the cheese is conveyed, the first driving device drives the movable hinge block to move downwards, the first outer clamping block and the second outer clamping block will rotate towards two sides to avoid cheese, the first inner clamping block and the second inner clamping block move towards the middle part, the spacing distance between the first inner clamping block and the second inner clamping block is reduced, cheese to be conveyed is avoided, the cheese on the second conveying device can be tidied and aligned, a plurality of clamping grooves with the same shape as the cheese are formed in the bottoms of the first outer clamping block and the second outer clamping block, the shapes of the clamping grooves are the same as the other half shapes of the cheese, when the cheese is clamped by the first outer clamping block and the second outer clamping block, the cheese slides into the clamping grooves, the position of the cheese is accurately positioned, the spacing distance between the front side and the rear side of the cheese is accurately adjusted, after the adjustment is completed, the first outer clamping block and the second outer clamping block are rotated and opened through the first hinge block and are suspended above the second conveying device, the rotating angle is large, the first outer clamping block and the second outer clamping block are not in contact with the second conveying device, and the second conveying device continues to convey the tidied cheese;

thirdly, the stacked food trays are placed on a conveying belt, then the food trays are input to a position of a support bracket through the conveying belt, side rods block the positions of two longitudinal sides of the food trays, a rear rod blocks the rear end of the food trays and slides downwards in a guiding manner through the side rods and the rear rod, the short rods, the side rods and the rear rod surround and guide the positions of the peripheries of the food trays until the food trays slide into the bottom of the short rods, the food trays are positioned at the top surface of a branch supporting wheel, the food trays rotate along with the branch supporting wheel, the outer side edge of one food tray at the bottom slides into a spiral groove through the guiding of a feeding groove, the branch supporting wheel continuously rotates to downwards guide and move the food trays sliding into the spiral groove, the feeding groove on the branch supporting wheel rotates to other positions due to the fact that the notch of the feeding groove is short, the food tray is clamped into the branch supporting wheel, the top surface of the branch supporting wheel continuously supports the stacked food trays, one food tray slides out through a spiral groove discharging groove after the branch supporting wheel rotates for one circle, the food trays continuously rotate to continuously support the whole stacked food trays, and the trays are output to a third conveying device through an output channel;

fourthly, the third conveying device conveys the tray to the vicinity of the third transfer device and stops conveying, the third transfer device transfers the cheese on the second conveying device to the tray on the third conveying device, then the third transfer device conveys the cheese to the bottom of the gripper mechanism,

fifthly, the fourth conveying device inputs the iron cover, a baffle plate on the gripper mechanism is attached to the iron cover, then the magnetic block absorbs the iron cover on the baffle, the second driving mechanism drives the driving rod to rotate, the driving rod rotates to drive the swinging rod to rotate, when the driving rod rotates to the upper left position of the gripper bracket, the slide rail at the rear end of the oscillating rod rotates through the slide block which is fixedly connected through the rotating block, the oscillating rod drives the iron cover at the bottom of the baffle plate to rotate along with the rotation degree of the rotating block, then the driving rod continues to rotate to drive the swinging rod to move upwards, the swinging rod moves upwards in the sliding block through the sliding rail, the driving rod rotates reversely, then the swinging rod rotates reversely, the swinging rod slides downwards, the iron cover at the bottom of the baffle plate is covered on the tray in the downward moving process of the swinging rod, then the spacing distance between the built-in moving plate of the magnetic gripper device and the baffle plate is increased, the iron cover on the baffle plate falls onto the tray and is pressed tightly at the same time, thereby completing the transfer and conveying of the iron cover, the second driving mechanism drives the driving rod to rotate, the driving rod rotates to drive the swinging rod to rotate, when the driving rod rotates to the right lower position of the gripper bracket, the slide rail at the rear end of the oscillating rod rotates through the slide block which is fixedly connected through the rotating block, the oscillating rod drives the iron cover at the bottom of the baffle plate to rotate along with the rotation degree of the rotating block, then the driving rod continues to rotate to drive the swinging rod to push leftwards, the swinging rod moves leftwards on the sliding block through the sliding rail, the sliding rod moves to the position of the fourth conveying device, then continuously inputting the iron cover, absorbing and transferring the iron cover to cover the tray through the gripper mechanism, and covering the tray, and outputting the covered tray by the third conveying device after the tray is covered and packaged.

The cheese arrangement, conveying and packaging are completed, the first transfer device and the second transfer device are high in cheese adsorption and arrangement efficiency, and the technical problems that after cheese is produced by a production device, the existing cheese is scattered and stacked on a conveying device, needs to be laid flat manually, and is low in arrangement and placement efficiency are solved; and through unloading the cooperation of holding in the palm machine and arrangement mechanism, can export the cheese accurate fast to the tray, rethread tongs mechanism cooperation also can accomplish fast closing to the lid of tray to accomplish the arrangement packing to the cheese at a high speed.

In the third step, a supporting separating sheet 67a is also arranged on the top surface of the supporting separating wheel 61a at the position of the feeding groove 65 a; the supporting piece 67a is detachably arranged on the supporting wheel 61a, the supporting piece 67a blocks the area of the feeding groove 65a, and the size of the feeding groove 65a is adjusted.

Receive the restriction of helicla flute, it is big to divide pan feeding groove arc length distance on the riding wheel, if direct through increase integrated into one piece's support edge on dividing the riding wheel pan feeding groove, can't adjust pan feeding groove arc length distance to divide the riding piece demountable installation on dividing the riding wheel, can block pan feeding groove area through dividing the riding piece, adjustment pan feeding groove size, the convenience is to different food trays, adjustment pan feeding groove size.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Claims

1. The utility model provides a flexible bulk material conveying reason material mechanism, characterized in that, include support frame (1) and locate first conveyor (2) on support frame (1) according to the assembly line, be used for shooing first camera device (3) of discernment coordinate to the flexible thing on first conveyor (2), be used for to the first transfer device (4) that flexible thing adsorption removal moved on first conveyor (2), be used for shooing the second camera device (5) of discernment coordinate to the flexible thing on first conveyor (2), second conveyor (6), be used for adsorbing the second transfer device (7) that transfer to second conveyor (6) to the flexible thing on first conveyor (2), be used for unloading support machine (12) that the tray was inputed, be used for unloading support machine (12) output support tray transport third conveyor (9), be used for with on second conveyor (6) flexible thing transfer to third conveyor (9) on the tray third transfer device (10), be used for with the fourth conveyor (11 a) of iron cover input and place the support frame (4) on the people's machine (4) parallelly connected with the suction cup (4 a) and locate the people machine (4).

2. The flexible bulk conveying and material arranging mechanism of claim 1, wherein: the second conveying device (6) is provided with an arranging mechanism (8) for aligning input flexible objects, the arranging mechanism (8) comprises a mounting rack (801) arranged on the second conveying device (6), first hinge blocks (802) arranged on the bottom surface of the mounting rack (801) at intervals, a first outer clamping block (803) and a second outer clamping block (804) rotatably arranged on the first hinge blocks (802), a movable hinge block (805) hinged on the tops of the first outer clamping block (803) and the second outer clamping block (804), a first driving device (806) for driving the movable hinge block (805) to open and close the first outer clamping block (803) and the second outer clamping block (804), second hinge blocks (807) arranged on the bottom surface of the mounting rack (801) at intervals in the front-back direction, a first inner clamping block (808) and a second inner clamping block (809) rotatably arranged on the second hinge block (807), guide blocks (810) arranged on the inner side surfaces of the first inner clamping block (808) and the second inner clamping block (809), and guide grooves (811) arranged on the guide blocks (810), the top surface of the mounting rack (801) is arranged above the second conveying device (6) at intervals, the top of the first outer clamping block (803) is hinged with the second outer clamping block (804), the guide groove (811) inclines from two sides to the middle part from bottom to top, the outer side of the movable hinge block (805) is provided with an extension shaft (85 a), the extension shaft (85 a) is slidably connected to the guide groove (811).

3. The flexible block conveying and arranging mechanism as claimed in claim 2, wherein: the bottom shapes of the first outer clamping block (803) and the second outer clamping block (804) are rectangular, and the bottom shapes of the first inner clamping block (808) and the second inner clamping block (809) are plate-shaped.

4. The flexible block conveying and arranging mechanism as claimed in claim 3, wherein: the bottoms of the first outer clamping block (803) and the second outer clamping block (804) are provided with a plurality of clamping grooves (812) with the same shapes as the flexible objects.

5. The flexible bulk conveying and material arranging mechanism of claim 1, wherein: the tray unloading machine (12) comprises an unloading bracket (121), a conveying belt (122) for inputting trays, a guide plate (123) for guiding the trays, a supporting bracket (124) for supporting the output trays and an output channel (125); the support bracket (124) comprises an upper blocking metal plate (41 a), a middle blocking metal plate (42 a) arranged below the upper blocking metal plate (41 a) at intervals, side rods (43 a) and a rear rod (44 a), wherein the middle blocking metal plate (42 a) is arranged on the unloading bracket (121), the upper blocking metal plate (41 a) and the middle blocking metal plate (42 a) are concave, the side rods (43 a) are arranged on the two longitudinal sides of the upper blocking metal plate (41 a) and the middle blocking metal plate (42 a), the rear rod (44 a) is arranged in the middle of the upper blocking metal plate (41 a) and the middle blocking metal plate (42 a), the tops of the side rods (43 a) and the rear rod (44 a) extend to the upper blocking metal plate (41 a), the bottoms of the side rods (43 a) and the rear rod (44 a) are close to the position of an output channel (125), a short rod (45 a) is arranged on the middle blocking metal plate (42 a), and the bottom of the short rod (45 a) is close to the position of the output channel (125); unload bracket (121) and be located output channel (125) top and be equipped with and unload a set mechanism (126), unload set mechanism (126) and include a plurality of branch riding wheels (61 a) that are the rectangular distribution, locate pivot (62 a) at branch riding wheel (61 a) top and be used for driving second drive arrangement (63 a) that pivot (62 a) are rotatory, second drive arrangement (63 a) are connected with unloading bracket (121), it is equipped with helicla flute (64 a) to divide riding wheel (61 a) outside, it is equipped with pan feeding groove (65 a) to divide riding wheel (61 a) top, it is equipped with discharge chute (66 a) to divide riding wheel (61 a) bottom, pan feeding groove (65 a) and discharge chute (66 a) are linked together with helicla flute (64 a).

6. The flexible bulk conveying and tidying mechanism according to claim 5, characterized in that: a supporting separating sheet (67 a) is arranged on the top surface of the supporting separating wheel (61 a) at the position of the feeding groove (65 a); an extension part (68 a) extending to the outer diameter of the sub-supporting wheel (61 a) is arranged on the outer side of the sub-supporting sheet (67 a).

7. The flexible bulk conveying and material arranging mechanism of claim 6, wherein: the branch supporting wheel (61 a) is provided with a supporting sheet (69 a) at the position of the discharging groove (66 a), and the diameter size of the supporting sheet (69 a) is larger than that of the branch supporting wheel (61 a); the bearing sheet (69 a) is fan-shaped; the spiral groove (64 a) is provided with a convex part (60 a) close to the outer side wall of the supporting roller (61 a), and the section of the convex part (60 a) is triangular.

8. The flexible bulk conveying and material arranging mechanism of claim 1, wherein: the gripper mechanism (11) comprises a gripper support (1 b), a magnetic gripper device (2 b) arranged below the gripper support (1 b) and a third driving device (3 b) used for driving the magnetic gripper device (2 b) to rotate and move, the third driving device (3 b) is connected with the gripper support (1 b), the magnetic gripper device (2 b) comprises a supporting plate (201 b) connected with the third driving device (3 b), a baffle plate (202 b) arranged below the supporting plate (201 b) at intervals, a moving plate (203 b) arranged between the supporting plate (201 b) and the baffle plate (202 b) in a sliding mode, a first driving mechanism (204 b) used for driving the moving plate (203 b) to move and a magnetic block (205 b) arranged on the bottom surface of the moving plate (203 b); the third driving device (3 b) comprises a rotating block (301 b) rotatably arranged at the bottom of the gripper support (1 b), a sliding block (302 b) arranged on the rotating block (301 b) and close to one end face of the magnetic block (205 b), a sliding rail (303 b) slidably connected with the sliding block (302 b), a swinging rod (304 b) connected with the sliding rail (303 b), a driving rod (305 b) rotatably arranged on the gripper support (1 b) and a second driving mechanism (306 b) used for driving the driving rod (305 b) to rotate, wherein one side of the driving rod (305 b) opposite to the gripper support (1 b) is hinged to the swinging rod (304 b).

9. A flexible block conveying and material arranging method is characterized in that: the method comprises the following steps:

the method comprises the following steps that firstly, a first conveying device (2) inputs flexible objects on an external production line, the finished flexible objects pass through a first camera device (3) through a first transfer device (4), the first camera device (3) shoots the flexible objects on the first transfer device (4) and then converts the flexible objects into electric signals to be sent to an external control center, the external control center identifies the coordinate position of the flexible objects according to images, the external control center controls a parallel robot (4 a) on the first transfer device (4) to control a sucker (4 b) to move the flexible objects which are not adsorbed on the horizontal position according to the coordinate position of the flexible objects, then adsorbs the flexible objects with dispersed positions and puts the flexible objects into a row from left to right, the flexible objects are preliminarily arranged, the positions of the flexible objects which are dispersed on the first transfer device (4) are roughly in the horizontal row shape after the flexible objects are finished, the first conveying device (2) continues to convey the flexible objects through a second camera device (5), the second camera device (5) shoots the flexible objects on the first transfer device (4) and converts the flexible objects into electric signals to be sent to the external control center, the flexible objects which are identified on the first conveying device (2), and then the flexible objects are conveyed to an external control center according to a second camera device (7), and then the flexible objects which appoints the flexible objects which are conveyed;

secondly, after the flexible objects on the second conveying device (6) are conveyed to the lower part of the mounting frame (801), the first driving device (806) drives the movable hinge block (805) to move upwards, the movable hinge block (805) drives the first outer clamping block (803) and the second outer clamping block (804) to move towards the middle part when moving, the extension shaft (85 a) on the movable hinge block (805) slides in the guide groove (811) when moving upwards, and as the guide groove (811) inclines from two sides to the middle part and from bottom to top, the first inner clamping block (808) and the second inner clamping block (809) are driven to open from the middle part to two sides through the guide groove (811), the first outer clamping block (803) and the first inner clamping block (808) can align a row of flexible objects, the second outer clamping block (804) and the second inner clamping block (809) can align the flexible objects in the other row, and simultaneously keep the spacing distance between two rows of flexible objects, after the flexible objects are aligned, the first driving device (806) drives the movable hinge block (805) to move downwards, the first outer clamping block (803) and the second outer clamping block (804) rotate to open towards two sides to avoid the flexible objects, the first inner clamping block (808) and the second inner clamping block (809) move towards the middle part, the spacing distance between the first inner clamping block (808) and the second inner clamping block (809) is reduced, so that the flexible objects to be conveyed are avoided, and a plurality of flexible objects with the same shape as the flexible objects are arranged at the bottoms of the first outer clamping block (803) and the second outer clamping block (804) The shape of the clamping groove (812) is the same as that of the other half of the flexible object, when the first outer clamping block (803) and the second outer clamping block (804) clamp the flexible object, the flexible object slides into the clamping groove (812), the front-back spacing distance of the flexible object is adjusted, after the adjustment is completed, the first outer clamping block (803) and the second outer clamping block (804) are rotated and opened through the first hinge block (802) and suspended above the second conveying device (6), and the second conveying device (6) conveys the finished flexible object continuously;

thirdly, stacked food trays are placed on a conveying belt (122), then the food trays are input to a position of a bearing bracket (124) through the conveying belt (122), side rods (43 a) block the positions of two longitudinal sides of the food trays, a rear rod (44 a) blocks the rear end of the food trays, the food trays slide downwards under the guidance of the side rods (43 a) and the rear rod (44 a), a short rod (45 a), the side rods (43 a) and the rear rod (44 a) surround and guide the positions of the periphery of the food trays until the food trays slide to the bottom position of the short rod (45 a), the food trays are positioned at the top surface position of a branch supporting wheel (61 a), as the branch supporting wheel (61 a) rotates, the outer side edge of one food tray at the bottom slides into a spiral groove (64 a) under the guidance of a feeding groove (65 a), the branch supporting wheel (61 a) continues to rotate, the food tray sliding into the spiral groove (64 a) to move downwards, and slides out of the other food trays (65 a) after being clamped into the notch of one food tray, the tray slides out of the feeding groove (65 a) to the other tray, the third tray (125 a) continues to slide out of the feeding groove (61 a) and the third supporting wheel (9 a) to carry out the feeding groove, and the discharging device, the tray (9 a) to carry out the third tray;

fourthly, the third conveying device (9) conveys the tray to the vicinity of the third transfer device (10) and then stops conveying, the third transfer device (10) transfers the flexible objects on the second conveying device (6) to the tray on the third conveying device (9), and then the third transfer device (10) conveys the flexible objects to the bottom of the gripper mechanism (11);

fifthly, the fourth conveying device (11 a) inputs the iron cover, the baffle plate (202 b) on the gripper mechanism (11) is attached to the iron cover, then the magnetic block (205 b) absorbs the iron cover on the baffle plate (202 b), the second driving mechanism (306 b) drives the driving rod (305 b) to rotate, the driving rod (305 b) rotates to drive the swinging rod (304 b) to rotate, when the driving rod (305 b) rotates to the upper left position of the gripper support (1 b), the sliding rail (303 b) at the rear end of the swinging rod (304 b) rotates through the sliding block (302 b), the sliding block (302 b) is fixedly connected through the rotating block (301 b) and rotates for about 90 degrees along with the rotating block (301 b), after the swing rod (304 b) rotates by 90 degrees, the iron cover at the bottom of the baffle (202 b) is driven to rotate by 90 degrees, then the driving rod (305 b) continues to rotate to drive the swing rod (304 b) to move upwards, the swing rod (304 b) moves upwards in the sliding block (302 b) through the sliding rail (303 b), the driving rod (305 b) rotates reversely, then the swing rod (304 b) rotates reversely, the swing rod (304 b) slides downwards, the iron cover at the bottom of the baffle (202 b) is covered on the tray in the downward movement process of the swing rod (304 b), then the spacing moving plate between the built-in magnetic gripper (2 b) (203 b) and the baffle (202 b) is increased, the iron cover on the baffle (202 b) falls onto the tray and is pressed at the same time, therefore, the transfer conveying of the iron cover is completed, the second driving mechanism (306 b) drives the driving rod (305 b) to rotate, the driving rod (305 b) rotates to drive the swinging rod (304 b) to rotate, when the driving rod (305 b) rotates to the lower right position of the gripper support (1 b), the sliding rail (303 b) at the rear end of the swinging rod (304 b) rotates through the sliding block (302 b), the sliding block (302 b) is fixedly connected through the rotating block (301 b), the swinging rod (304 b) rotates 90 degrees and then drives the iron cover at the bottom of the baffle (202 b) to rotate 90 degrees, then the driving rod (305 b) continues to rotate to drive the swinging rod (304 b) to push leftwards, the swinging rod (304 b) moves leftwards on the sliding block (302 b) through the sliding rail (303 b), the sliding rod moves to the position of the fourth conveying device (11 a), and then the iron cover is continuously input.

10. The method for conveying and tidying the flexible blocks according to claim 9, characterized in that:

in the third step, a sub-supporting sheet (67 a) is also arranged on the top surface of the sub-supporting wheel (61 a) at the position of the feeding groove (65 a); the branch supporting sheet (67 a) is detachably arranged on the branch supporting wheel (61 a), the branch supporting sheet (67 a) blocks the area of the feeding groove (65 a), and the size of the feeding groove (65 a) is adjusted.