CN117125473A

CN117125473A - Automatic material transferring equipment

Info

Publication number: CN117125473A
Application number: CN202311332714.8A
Authority: CN
Inventors: 赵凯; 梁猛; 林海涛; 卢升; 吕治玮; 杨滨炜
Original assignee: Shanghai Shiyu Precision Equipment Co ltd
Current assignee: Shanghai Shiyu Precision Equipment Co ltd
Priority date: 2023-10-16
Filing date: 2023-10-16
Publication date: 2023-11-28

Abstract

The invention discloses automatic material transferring equipment which comprises a frame, a carrying platform arranged on the frame, an automatic door opening device and a mechanical fork arm positioned on one side of the frame, wherein the carrying platform is arranged on the frame; the mechanical fork comprises a fork mechanism and a driving module; the fork hand mechanism comprises a working platform, a driving mechanism arranged on the working platform, a fork component driven by the driving mechanism and a runner arranged on the working platform; the surface of the working platform is provided with a fork guide rail, and the fork guide rail is provided with a long horizontal guide rail surface and a short horizontal guide rail surface which is positioned at the tail part and the surface of which is lower than the long horizontal guide rail surface; when the driving mechanism drives the fork assembly to move on the long horizontal guide rail surface, the fork in the fork assembly is higher than the conveying belt in the runner, so that the fork holds the product out of contact with the conveying belt; when the drive mechanism drives the fork assembly over the short horizontal guide surface, the product is separated from the fork and placed on the conveyor belt. The invention can accurately pick up the product and simultaneously avoid the abrasion of the product.

Description

Automatic material transferring equipment

Technical Field

The invention relates to the technical field of I C carrier plate processing, in particular to automatic material transferring equipment.

Background

The I C carrier plate is subjected to a plurality of pressing welding processes and the like in the manufacturing process, and a special material box is required to be used for transferring products between each two processes. Thus, the product needs to be removed from the cartridge and replaced. At present, a 4-axis mechanical arm is used for inserting and taking products or an X-Z two-axis motion mechanism is used for carrying the products. However, the 4-axis manipulator has higher cost, and the X-Z two-axis motion mechanism has large occupied space and lower efficiency.

Disclosure of Invention

Based on the above, the invention provides an automatic material transferring device.

The aim of the invention can be achieved by the following technical scheme:

the automatic material transferring equipment comprises a frame, a carrying platform arranged on the frame and used for carrying a feed box conveyed by a trolley, an automatic door opening device used for opening a feed box door, and a mechanical fork arm positioned on one side of the frame and used for picking up products in the feed box; the mechanical fork comprises a fork mechanism and a driving module, wherein the driving module is connected with the fork mechanism and provides driving forces in X-axis, Y-axis and Z-axis directions for the fork mechanism; the fork hand mechanism comprises a working platform, a driving mechanism arranged on the working platform, a fork component driven by the driving mechanism and a runner arranged on the working platform; the surface of the working platform is provided with a fork guide rail, the fork guide rail is provided with a long horizontal guide rail surface and a short horizontal guide rail surface positioned at the tail part, and the surface of the long horizontal guide rail surface is higher than the surface of the short horizontal guide rail surface; when the driving mechanism drives the fork assembly to move on the long horizontal guide rail surface, the fork in the fork assembly is higher than the conveying belt in the runner, so that the fork holds the product out of contact with the conveying belt; when the drive mechanism drives the fork assembly over the short horizontal guide surface, the product is separated from the fork and placed on the conveyor belt.

As a further scheme of the invention: the long horizontal guide rail surface and the short horizontal guide rail surface are transited through an inclined slope surface.

As a further scheme of the invention: the fork assembly comprises a supporting shaft and a plurality of forks, each fork consists of a mounting block and a fork rod fixed on the top surface of each mounting block, and all the mounting blocks are sequentially mounted on the supporting shaft.

As a further scheme of the invention: the front and rear positions of the bottom of the fork mounting block are provided with two rollers side by side, and the two rollers are used for walking on the fork guide rail and supporting the whole fork assembly.

As a further scheme of the invention: the front part of the fork rod is fixed with a front hook, and the rear part of the fork rod is fixed with a rear hook; the front hook is provided with a first horizontal supporting surface and an outwards inclined front blocking surface positioned in front of the first horizontal supporting surface; the rear hook is provided with a second horizontal supporting surface and a rear blocking surface positioned on the second horizontal supporting surface, wherein the upper surface of the first horizontal supporting surface and the upper surface of the second horizontal supporting surface are positioned on the same horizontal plane.

As a further scheme of the invention: the frame comprises a base and a vertical plate arranged on the base, and a plurality of openings are formed in the vertical plate.

As a further scheme of the invention: the carrier is fixed on the base and positioned below the opening, and comprises a carrier seat, a first Y-axis linear driving module arranged on the carrier seat, a moving platform driven by the first Y-axis linear driving module and a positioning mechanism arranged on the upper surface of the moving platform.

As a further scheme of the invention: the positioning mechanism comprises a cylinder which is arranged on the left side and the right side of the upper surface of the mobile platform and is opposite to each other, a first lug which is driven by the cylinder, and a plurality of floating centering units which are arranged on the upper surface of the mobile platform and are used for bearing a feed box, wherein the bottom surface of the feed box is provided with a second lug which is matched with the first lug, the first lug is of a V-shaped structure and is provided with two semicircular protruding parts, the second lug is of a W-shaped structure and is provided with an isosceles triangle notch which is matched with the semicircular protruding parts.

As a further scheme of the invention: the automatic door opening device is located at an opening on the vertical plate and is located on the same side with the carrying platform, and comprises a first Z-axis linear driving module and a door plate driven by the first Z-axis linear driving module, wherein the door plate is detachably connected between the bin door and the box body, and a connecting structure is arranged between the bin door and the door plate.

As a further scheme of the invention: the connecting structure is composed of a plurality of plugs arranged on the outer surface of the bin gate and slots corresponding to the plug positions on the gate plate, the slots are composed of large slots positioned at the upper part and small slots positioned at the lower part and communicated with the large slots, and the diameters of the ball heads of the plugs are smaller than the diameters of the large slots of the slots and larger than the diameters of the small slots.

As a further scheme of the invention: the surface of the working platform is provided with a pair of link guide rails, the link guide rails are provided with link blocks, a link is arranged between the two link blocks, the two link blocks are respectively provided with a supporting block, the supporting blocks are provided with shaft holes, supporting shafts respectively penetrate through the two shaft holes, and bearings are arranged between the supporting shafts and the shaft holes.

As a further scheme of the invention: the driving mechanism is composed of a motor, two belt pulleys and a synchronous belt, wherein the motor is arranged on a working platform, the two belt pulleys are respectively arranged at the front side edge and the rear side edge of the surface of the working platform, the synchronous belt is sleeved on the two belt pulleys, one belt pulley is connected with the motor through a rotating shaft, and a connecting rod is bound on the synchronous belt.

The invention has the beneficial effects that: the invention can accurately pick up the product and greatly improve the pick-up efficiency of the product. The device has the characteristics of simple structure, high precision, high reaction speed, high integration level, safety, reliability, strong practicability, long service life and the like.

Drawings

The invention is further described below with reference to the accompanying drawings.

FIG. 1 is a schematic view of an automatic material transfer apparatus according to the present invention;

FIG. 2 is an enlarged view shown at A in FIG. 1;

FIG. 3 is a schematic view of the structure of the stage of the present invention;

FIG. 4 is a schematic view of a second bump according to the present invention;

FIG. 5 is a schematic view of the structure of the automatic door opener of the present invention;

FIG. 6 is a schematic structural view of the door panel of the present invention;

FIG. 7 is a schematic view of the structure of the jack of the present invention;

fig. 8 is an enlarged view of the view shown at B in fig. 6;

FIG. 9 is a schematic view of the mechanical fork of the present invention;

FIG. 10 is a schematic view of another angle of the mechanical fork of the present invention;

FIG. 11 is a schematic view of the structure of the fork arm mechanism of the present invention;

FIG. 12 is a schematic view of another angle of the fork arm mechanism of the present invention;

FIG. 13 is a schematic view of the fork assembly of the present invention;

fig. 14 is an enlarged view of the view shown at C in fig. 13;

FIG. 15 is a schematic view of the front end of the fork lever downward;

fig. 16 is a schematic view of the front end of the fork arm upward.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, the present invention is an automatic material transferring apparatus, which includes a frame 10, a carrying platform 20 and an automatic door opening device 30 disposed on the frame 10, and a mechanical fork 40 disposed on one side of the frame 10.

The frame 10 includes a base 11 and a riser 12 disposed on the base 11. The riser 12 is provided with a plurality of openings 13. In this embodiment, the number of openings 13 is two.

Referring to fig. 3, the stage 20 is fixed on the base 11 and located below the corresponding opening 13, and includes a stage base 21, a first Y-axis linear driving module 22 mounted on the stage base 21, a moving platform 23 driven by the first Y-axis linear driving module 22, and a positioning mechanism 24 disposed on an upper surface of the moving platform 23. The carrier 20 is used for receiving the feed box conveyed by the trolley, and conveying the position of the feed box to the automatic door opening device 30 after accurately positioning the position of the feed box. In this embodiment, the first Y-axis linear driving module 22 is a linear module driven by a servo motor.

The positioning mechanism 24 includes opposed air cylinders 29 provided on the left and right sides of the upper surface of the movable platform 23, a first bump 25 driven by the air cylinders 29, and a plurality of floating centering units 26 provided on the upper surface of the movable platform 23. As shown in fig. 4, the bottom surface of the bin has a second tab 252 that mates with the first tab 25. In this embodiment, the first bump 25 has a V-shaped structure with two semicircular protrusions 251. The second bump 252 has a W-shaped structure with an isosceles triangle recess 253 that fits the semicircular projection 251. The number of floating centering units 26 is 4. The floating centering unit 26 is prior art and commercially available. The floating centering unit 26 has a floating support displacement function, and can cause the weight located thereon to be floatingly displaced under the action of an external force.

A pair of platform rails 27 are fixed to the top surface of the platform 21. The platform rail 27 is provided with a platform slider 28. The movable platform 23 is fixed to a platform slider 28.

When the trolley places the bin on the upper surface of the floating centering unit 26, the air cylinder 29 drives the first lug 25 to move towards the second lug 252, the protruding part 251 of the first lug 25 is inserted into the notch 253 of the second lug 252, and the bin is pushed under the floating supporting action of the floating centering unit 26, so that the accurate positioning of the bin is realized, and the friction force generated when the air cylinder 29 pushes the bin is reduced. Since the strokes of the two cylinders 29 are the same, the bin is pushed to move towards the middle, so that the left and right centering is realized, and meanwhile, the two convex parts 251 of the first convex block 25 are inserted into the two concave grooves 253 of the second convex block 252, so that the front and rear position positioning of the bin is realized. After the position of the bin is adjusted, the first Y-axis linear driving module 22 drives the moving platform 23 to drive the bin to move towards the direction of the automatic door opening device 30.

Referring to fig. 5 and 6, the automatic door opening device 30 is located at the opening 13 on the riser 12 and on the same side as the carrier 20, and includes a first Z-axis linear driving module 31 vertically installed on one side of the opening 13, and a door plate 32 driven by the first Z-axis linear driving module 31. Wherein, the box body of the material box is detachably connected with the material box door 321. In this embodiment, the 4 corners of the outer surface and the 4 corners of the inner surface of the bin gate 321 are provided with plugs 34. As shown in fig. 7, the door frame 163 of the case body is provided with an insertion hole 16 at a position corresponding to the plug. The insertion hole 16 is formed by a large hole 161 in the middle and small holes 162 which are communicated with the large hole 161 and are respectively positioned at the upper and lower positions of the large hole. The ball head diameter of the plug 34 is smaller than the aperture of the large hole 161 of the receptacle 16 and larger than the apertures of the two small holes 162. Thus, when the bin door 321 is installed, the plug 34 is inserted from the large hole 161 of the jack 16, and the plug 34 falls into the small hole 162 below by the weight of the bin door 321 so as to form a mutually clamped structure with the jack 16, so that the bin door 321 is fixed on the bin body. When the bin door 321 needs to be separated, the bin door 321 is lifted slightly, so that when the ball head of the plug 34 is positioned at the position of the large hole 161, the bin door 321 is driven to move away from the bin, and the plug 34 is pulled out of the large hole 161 of the jack 16, so that the bin door 321 is separated from the bin. The first Z-axis linear driving module 31 adopts a linear module driven by a servo motor.

In addition, a connection structure 33 is provided between the bin gate 321 and the door panel 32, and the bin gate is coupled to and decoupled from the bin by the connection structure 33. The connecting structure can be operated by a simple mechanical arm or a sucker structure. In this embodiment, the connection structure 33 is composed of 4 plugs 34 provided on the outer surface of the bin door 321 of the bin, and slots 35 provided on the door panel 32 and corresponding to the plugs 34. As shown in fig. 8, the slot 35 is composed of a large notch 351 at an upper portion and a small notch 352 at a lower portion communicating with the large notch 351. The diameter of the ball of the plug 34 is smaller than the diameter of the large notch 351 and larger than the diameter of the small notch 352 of the socket 35. The first Y-axis linear driving module 22 drives the moving platform 23 to drive the bin to travel towards the door plate 32 until the plug 34 on the outer surface of the bin door 321 is inserted from the large notch 351 of the slot 35, the first Z-axis linear driving module 31 drives the door plate 32 to slightly ascend, and the plug 34 falls into the small notch 352 of the slot 35, so that the bin door 321 is fixed on the door plate 32.

The other side of the opening 13 of the riser 12 is provided with a door plate sliding rail 36, and the door plate sliding rail 36 is opposite to the first Z-axis linear driving module 31. The door slide rail 36 is provided with a door slide 37. One side of the door plate 32 is fixed on the door plate slide 37, and the other side is fixed on the output end of the first Z-axis linear driving module 31.

As shown in fig. 2, the bottom of the door panel 32 is also provided with a first sensor 322. The first sensor 322 is located below the bin gate 321 after the bin gate 321 is fixed to the door panel 32, so as to avoid being blocked by the bin gate 321. Thus, when the door panel 32 is lifted, the first sensor 322 can scan the inside of the bin from bottom to top, so as to determine whether a product exists in each spacer layer of the bin, and transmit information to the controller of the device, so that the product can be accurately grasped later, and the empty taking is avoided. The structure combines door opening and scanning, and improves working efficiency. In this embodiment, the product is a chip or I C carrier plate.

In operation, the first Y-axis linear driving module 22 drives the moving platform 23 to move along the bin toward the door panel 32 until the plug 34 on the outer surface of the bin door 321 is inserted from the large notch 351 of the slot 35. Then, the first Z-axis linear driving module 31 drives the door panel 32 to slightly rise, and the plug 34 falls into the small notch 352 of the slot 35, so that the bin gate 321 is fixed on the door panel 32. Then, the first Y-axis linear driving module 22 drives the moving platform 23 to retract with the bin, so that the bin gate 321 is separated from the bin. The first Z-axis linear driving module 31 drives the door plate 32 to lift with the bin gate 321, after the door plate 32 reaches the highest position, the first Y-axis linear driving module 22 drives the moving platform 23 to travel with the bin to the opening 13, and finally, the products in the bin are picked up or stored in the bin. After the end, the first Y-axis linear driving module 22 drives the moving platform 23 to drive the bin to retreat. The first Z-axis linear driving module 31 drives the door plate 32 to descend along with the bin gate 321, and the first Y-axis linear driving module 22 drives the moving platform 23 to advance along with the bin. After the box body of the material box is connected with the material box door 321, the movable platform 23 driven by the first Y-axis linear driving module 22 drives the material box to retreat, so that the material box door 321 is separated from the door plate 32, and the trolley conveys the material box away.

As shown in connection with fig. 9 and 10, the mechanical fork 40 includes a fork mechanism 50 and a drive module 46. The drive module 46 is coupled to the fork mechanism 50 and provides drive in the X, Y and Z directions. The driving module 46 includes an X-axis linear driving module 41, a fork carriage 42 driven by the X-axis linear driving module 41, a second Z-axis linear driving module 43 mounted on the fork carriage 42, a support base 44 driven by the second Z-axis linear driving module 43, and a second Y-axis linear driving module 45 mounted on the support base 44. The fork arm mechanism 50 is fixed on the output end of the second Y-axis linear driving module 45. In this embodiment, the X-axis linear driving module 41, the second Z-axis linear driving module 43, and the second Y-axis linear driving module 45 are all linear modules driven by a servo motor.

Besides, a rack rail 14 parallel to the X-axis linear driving module 41 is also provided beside the X-axis linear driving module 41. The rack slide rail 14 is provided with a rack slide 15. One side of the fork carriage 42 is fixed to the carriage slide 15 and the other side is fixed to the output end of the X-axis linear drive module 41.

As shown in fig. 11 and 12, the fork arm mechanism 50 includes a work platform 51, a driving mechanism 52 provided on the work platform 51, a fork assembly 53 driven by the driving mechanism 52, and a flow passage 54.

The working platform 51 includes a base plate 511, side plates 513 respectively provided at left and right side edges of the base plate 511, and a support plate 512 provided in the middle of the surface of the base plate.

The flow passage 54 includes a conveyor belt 541 mounted inside the two side plates 513 and on one side of the support plate 512, respectively.

As shown in connection with fig. 13, the fork assembly 53 includes a support shaft 55 and a plurality of forks 56. Fork 56 is comprised of a mounting block 561 and a fork rod 562 secured to the top surface of mounting block 561. All the mounting blocks 561 are in turn fixed to the support shaft 55. In this embodiment, the number of prongs 56 is 4. The fork 56 is located above the conveyor belt 541.

Front hooks 563 are fixed to the front portion of the fork 562 and rear hooks 565 are fixed to the rear portion.

As shown in fig. 14, the front hook 563 has a first horizontal support surface 5631 and an outwardly inclined front blocking surface 5632 located forward of the first horizontal support surface 5631. The rear hook 565 has a second horizontal support surface 5651 and a vertical rear stop surface 5652 located on the second horizontal support surface 5651. Wherein the upper surface of the first horizontal support surface 5631 and the upper surface of the second horizontal support surface 5651 are on the same horizontal plane. The structure ensures that the contact surface between the fork rod 562 and the product is very small, reduces the friction between the product and the fork rod 562, and avoids the abrasion of the product. In addition, the front hooks 563 and the rear hooks 565 are antistatic treated.

As shown in fig. 15, the upper surface of the base plate 511 is provided with a pair of fork rails 60. The mounting blocks 561 of the two outermost forks 56 are provided with two rollers 61 side by side in front of and behind the bottom. Two rollers 61 are used to walk on the fork rails 60 to support the entire fork assembly 53. While the use of two rollers 61 allows for effective balancing of the load so that yoke 562 remains level as the product is being dispensed. Fork rail 60 has a long horizontal rail surface 62 and a short horizontal rail surface 64 at the tail. The surface of the long horizontal guide surface 62 is higher than the surface of the short horizontal guide surface 64. The long horizontal guide surface 62 and the short horizontal guide surface 64 are transited by an inclined ramp surface 63.

A pair of link rails 65 are provided on the upper surface of the base plate 511 and inside the two fork rails 60. The link rail 65 is provided with a link slider 66. A link 67 is arranged between the two link sliders 66, and support blocks 68 are respectively arranged on the two link sliders 66. The support block 68 is provided with a shaft hole 681. The support shafts 55 pass through the shaft holes 681 of the two support blocks 68, respectively, and bearings are provided between the support shafts 55 and the shaft holes 681.

The drive mechanism 52 is composed of a motor 521, two pulleys 522, and a timing belt 523. Wherein, the front and back side edges of the surface of the bottom plate 511 are respectively provided with two belt pulleys 522, the synchronous belt 523 is sleeved on the two belt pulleys 522, and the motor 521 is arranged on the bottom plate 511. One of the pulleys 522 is connected to the motor 521 through a rotation shaft. Link 67 is bound to timing belt 523.

Thus, the motor 521 drives the pulley 522 to rotate, which drives the timing belt 523 to rotate, the drive link 67 to move, the fork assembly 53 to move, and the two rollers 61 to move along the corresponding fork rails 60.

A pair of support members 70 are symmetrically provided at both sides of the support plate 512. The support 70 includes a pulley bracket 71 fixed to the surface of the base plate 511 and a row of pulleys 72 horizontally spaced apart from the pulley bracket. In this embodiment, the support surface formed by the row of pulleys 72 is lower than the upper surface of the conveyor belt 541. This structure is used because when the product is excessively warped and protrudes downward too much, the product protruding downward portion is easily scratched, and the pair of supporting pieces 70 abut against the product protruding downward portion, thereby avoiding the product from being scratched.

As shown in fig. 11, the upper edges of the two side plates 513 are provided with a row of freely rotatable limiting wheels 78 located outside the conveying belt 541, so as to limit left and right during the forward and backward movement of the product.

A camera 75 is mounted on one of the side plates 513 for reading the hole array on the product.

In operation, when a product is required to be picked up, the fork carriage 42 driven by the X-axis linear driving module 41 is aligned with the feed box, and the second Z-axis linear driving module 43 and the second Y-axis linear driving module 45 cooperate to drive the fork mechanism 50 to move towards the feed box. The drive mechanism 52 drives the fork assembly 53 forward into the spacer layers within the bin, each of which carries product. The rollers 61 move forward along the long horizontal guide surface 62 of the fork rail 60, where the first horizontal support surface 5631 of the fork 562 is above the surface of the conveyor 541 of the runner 54 and the bottom surface of the product is above the front hooks 563 of the fork 56. When the front hook 563 of the fork 56 slightly exceeds the front end surface of the product, the support seat 44 driven by the second Z-axis linear driving module 43 rises until the product is dragged by the first horizontal support surface 5631 and the second horizontal support surface 5651 and is blocked by the front blocking surface 5632 and the rear blocking surface 5652. The drive mechanism 52 then drives the fork assembly 53 to retract, and the product is not in contact with the conveyor belt 541 at this time, and friction is not generated, avoiding wear to the product. Initially, the two rollers 61 move rearward along the long horizontal guide surface 62 of the corresponding fork rail 60, with the product being above the conveyor belt 541 of the runner 54. As shown in fig. 15, then, the rear roller 61 is suspended after moving to the end of the long horizontal guide surface 62, and the front roller 61 continues to move backward, and descends along the sloping surface 63, so that the front end of the fork 562 swings downward, and the front blocking surface 5632 of the front hook 563 is inclined outward, so that the product is prevented from being blocked, and is easy to separate from the fork 562. When the first horizontal support surface 5631 of the fork 562 is lower than the conveyor 541, the product will fall onto the conveyor 541 of the runner 54 and the roller 61 will continue to move rearward along the short horizontal guide surface 64. In addition, when the product is completely dropped on the conveyor belt 541 of the flow path 54, the conveyor belt 541 is started, and the product is moved backward, and at the same time, the X-axis linear driving module 41, the second Z-axis linear driving module 43, and the second Y-axis linear driving module 45 cooperate with each other to drive the fork mechanism 50 to move to the next apparatus, and the product is conveyed to the next apparatus, and then the reciprocating motion is continued.

When the product is required to be stored, the X-axis linear driving module 41, the second Z-axis linear driving module 43 and the second Y-axis linear driving module 45 cooperate with each other to drive the fork mechanism 50 to move to the device for outputting the product, and the flow channel 54 receives the product. The conveyor belt 541 is then activated to move the product away from the apparatus. As shown in fig. 11, wherein a second sensor 76 is provided at the front of one side plate 513 and a third sensor 77 is provided at the rear of the other side plate 513. After the conveyor belt 541 moves to a position between the second sensor 76 and the third sensor 77 with the product, the conveyor belt 541 stops rotating. At this time, if two sensors can detect the edge of the product at the same time, the position of the product is correct, and the next process is started. At this time, the two rollers 61 of the fork 56 are positioned on the short horizontal guide surface 64 of the fork rail 60, and the fork bar 562 is lower than the upper surface of the conveyor 541. The fork assembly 53 driven by the driving mechanism 52 moves toward the magazine, and when the front roller 61 rises along the sloping surface 63, the front end of the fork 562 is lifted upward, and when the roller 61 continues to move forward along the long horizontal guide surface 62, the first horizontal supporting surface 5631 of the fork 562 is higher than the conveying belt 541 as shown in fig. 16. The first horizontal support surface 5631 and the second horizontal support surface 5651 then pull the product, and the front stop surface 5632 and the rear stop surface 5652 front and rear catch the product. Meanwhile, the X-axis linear driving module 41, the second Z-axis linear driving module 43 and the second Y-axis linear driving module 45 cooperate with each other to drive the fork mechanism 50 to move towards the feed box. The fork component 53 driven by the driving mechanism 52 drives the product to continue to travel towards the material separating layer in the material box, after the product reaches the position, the supporting seat 44 driven by the second Z-axis linear driving module 43 descends, the product falls into the material separating layer, and the fork component 53 driven by the driving mechanism 52 retreats and then continues to reciprocate.

In addition, the mechanical fork arm 40 may be further provided with a rotating mechanism for rotating the fork arm mechanism 50, so as to adjust the direction of the product, thereby being compatible with different storage or processing requirements. Specifically: the output end of the second Y-axis linear driving module 45 is provided with a rotating motor, and the fork arm mechanism 50 is fixed on the output end of the rotating motor.

In conclusion, the invention can accurately pick up the product, and simultaneously, greatly improves the pick-up efficiency of the product. The device has the characteristics of simple structure, high precision, high reaction speed, high integration level, safety, reliability, low cost, strong practicability, long service life and the like.

The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.

Claims

1. The automatic material transferring equipment comprises a frame, a carrying platform arranged on the frame and used for carrying a feed box conveyed by a trolley, an automatic door opening device used for opening a feed box door, and a mechanical fork arm positioned on one side of the frame and used for picking up products in the feed box; the mechanical fork comprises a fork mechanism and a driving module, wherein the driving module is connected with the fork mechanism and provides driving forces in X-axis, Y-axis and Z-axis directions for the fork mechanism; the method is characterized in that: the fork hand mechanism comprises a working platform, a driving mechanism arranged on the working platform, a fork component driven by the driving mechanism and a runner arranged on the working platform; the surface of the working platform is provided with a fork guide rail, the fork guide rail is provided with a long horizontal guide rail surface and a short horizontal guide rail surface positioned at the tail part, and the surface of the long horizontal guide rail surface is higher than the surface of the short horizontal guide rail surface; when the driving mechanism drives the fork assembly to move on the long horizontal guide rail surface, the fork in the fork assembly is higher than the conveying belt in the runner, so that the fork holds the product out of contact with the conveying belt; when the drive mechanism drives the fork assembly over the short horizontal guide surface, the product is separated from the fork and placed on the conveyor belt.

2. The automatic material transfer apparatus according to claim 1, wherein: the long horizontal guide rail surface and the short horizontal guide rail surface are transited through an inclined slope surface.

3. The automatic material transfer apparatus according to claim 1, wherein: the fork assembly comprises a supporting shaft and a plurality of forks, each fork consists of a mounting block and a fork rod fixed on the top surface of each mounting block, and all the mounting blocks are sequentially mounted on the supporting shaft.

4. A material automatic transfer apparatus according to claim 3, wherein: the front and rear positions of the bottom of the fork mounting block are provided with two rollers side by side, and the two rollers are used for walking on the fork guide rail and supporting the whole fork assembly.

5. A material automatic transfer apparatus according to claim 3, wherein: the front part of the fork rod is fixed with a front hook, and the rear part of the fork rod is fixed with a rear hook; the front hook is provided with a first horizontal supporting surface and an outwards inclined front blocking surface positioned in front of the first horizontal supporting surface; the rear hook is provided with a second horizontal supporting surface and a rear blocking surface positioned on the second horizontal supporting surface, wherein the upper surface of the first horizontal supporting surface and the upper surface of the second horizontal supporting surface are positioned on the same horizontal plane.

6. The automatic material transfer apparatus according to claim 1, wherein: the frame comprises a base and a vertical plate arranged on the base, and a plurality of openings are formed in the vertical plate.

7. The automatic material transfer apparatus of claim 6, wherein: the carrier is fixed on the base and positioned below the opening, and comprises a carrier seat, a first Y-axis linear driving module arranged on the carrier seat, a moving platform driven by the first Y-axis linear driving module and a positioning mechanism arranged on the upper surface of the moving platform.

8. The automatic material transfer apparatus of claim 7, wherein: the positioning mechanism comprises a cylinder which is arranged on the left side and the right side of the upper surface of the mobile platform and is opposite to each other, a first lug which is driven by the cylinder, and a plurality of floating centering units which are arranged on the upper surface of the mobile platform and are used for bearing a feed box, wherein the bottom surface of the feed box is provided with a second lug which is matched with the first lug, the first lug is of a V-shaped structure and is provided with two semicircular protruding parts, the second lug is of a W-shaped structure and is provided with an isosceles triangle notch which is matched with the semicircular protruding parts.

9. The automatic material transfer apparatus of claim 6, wherein: the automatic door opening device is located at an opening on the vertical plate and is located on the same side with the carrying platform, and comprises a first Z-axis linear driving module and a door plate driven by the first Z-axis linear driving module, wherein the door plate is detachably connected between the bin door and the box body, and a connecting structure is arranged between the bin door and the door plate.

10. The automatic material transfer apparatus of claim 9, wherein: the connecting structure is composed of a plurality of plugs arranged on the outer surface of the bin gate and slots corresponding to the plug positions on the gate plate, the slots are composed of large slots positioned at the upper part and small slots positioned at the lower part and communicated with the large slots, and the diameters of the ball heads of the plugs are smaller than the diameters of the large slots of the slots and larger than the diameters of the small slots.