CN117585401A - Material taking device and material taking method - Google Patents

Material taking device and material taking method Download PDF

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Publication number
CN117585401A
CN117585401A CN202410077428.XA CN202410077428A CN117585401A CN 117585401 A CN117585401 A CN 117585401A CN 202410077428 A CN202410077428 A CN 202410077428A CN 117585401 A CN117585401 A CN 117585401A
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CN
China
Prior art keywords
tray
assembly
elastic
counting
material tray
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202410077428.XA
Other languages
Chinese (zh)
Other versions
CN117585401B (en
Inventor
孟庆恒
李德运
袁腾
苏循满
王新福
江强
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Goertek Inc
Original Assignee
Goertek Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Goertek Inc filed Critical Goertek Inc
Priority to CN202410077428.XA priority Critical patent/CN117585401B/en
Publication of CN117585401A publication Critical patent/CN117585401A/en
Application granted granted Critical
Publication of CN117585401B publication Critical patent/CN117585401B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0241—Quantity of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • De-Stacking Of Articles (AREA)

Abstract

The material taking device comprises a counting mechanism, a grabbing mechanism and a control mechanism electrically connected with the counting mechanism and the grabbing mechanism, wherein the control mechanism controls the counting mechanism to count and lift a material tray and controls the grabbing mechanism to grab the material tray; the counting mechanism comprises an elastic overturning assembly, a force sensing assembly and a bearing assembly, wherein the elastic overturning assembly feeds back the elasticity born by the elastic overturning assembly after being contacted with the material tray to the force sensing assembly so as to count the number of the material tray, and the bearing assembly supports the material tray; the grabbing mechanism comprises a pressing component and a grabbing component, the pressing component presses the material tray in the vertical direction to preliminarily fix the material tray, and the grabbing component grabs the material tray from the side edge of the material tray. Through carrying out automatic count and snatching to the tray that holds up, not only save time and manpower, can improve the accuracy of counting moreover and snatch the convenience when the tray.

Description

Material taking device and material taking method
Technical Field
The invention belongs to the field of automation, and particularly relates to a material taking device and a material taking method.
Background
In the production process of electronic products, the products need to be placed in a material tray for transferring, when the material tray is overlapped with a plurality of layers, tilting can be generated, when a plurality of tilting material trays are grabbed, the prior art usually counts and grabs the tilting material trays manually, the manual grabbing is low in efficiency, the productivity can not be ensured, and the safety is low and the cost is high; if the common clamping jaw device is used, the number of the grabbed material trays cannot be judged, a plurality of trays cannot be grabbed from the stacked inclined trays, and damage to the inclined trays is caused.
Disclosure of Invention
The invention aims to overcome at least one of the defects in the prior art, and provides a material taking device and a material taking method, wherein the number of the supported material trays is calculated through a counting mechanism, and the supported material trays are separated from the non-supported material trays at the bottom of the material trays; and then grabbing the plurality of lifted trays to the required positions through a grabbing mechanism to complete automatic feeding.
In order to solve the problems in the prior art, the embodiment of the invention provides a material taking device, which comprises a counting mechanism, a grabbing mechanism and a control mechanism electrically connected with the counting mechanism and the grabbing mechanism, wherein the control mechanism controls the counting mechanism to count and lift a material tray and controls the grabbing mechanism to grab the material tray;
the counting mechanism comprises an elastic overturning assembly, a force sensing assembly and a bearing assembly, wherein the elastic overturning assembly feeds back the elastic force born by the elastic overturning assembly after being contacted with the material tray to the force sensing assembly so as to count the number of the material trays, and the bearing assembly supports the material trays;
the grabbing mechanism comprises a pressing component and a grabbing component, wherein the pressing component presses the material tray in the vertical direction to preliminarily fix the material tray, and the grabbing component grabs the material tray from the side edge of the material tray.
Preferably, the elastic overturning assembly comprises an overturning piece and a first elastic assembly, and the first elastic assembly is extruded when the overturning piece overturns.
Preferably, the turnover piece comprises a turnover block and a turnover plate, the turnover block is arranged at one end of the turnover plate, which is close to the material tray, the first elastic component comprises a spring, the spring is arranged at one end of the turnover plate, which is far away from the material tray, and the turnover block drives the turnover plate to extrude the spring when being turned over.
Preferably, the force sensing assembly comprises a force sensor and a second elastic assembly, one end of the second elastic assembly is connected with the force sensor, the other end of the second elastic assembly is abutted against one end, far away from the tray, of the turnover plate, and the first elastic assembly and the second elastic assembly are respectively arranged on two sides of the turnover plate.
Preferably, the support assembly is reciprocally movable in a horizontal direction and vertically supports the tray.
Preferably, the grabbing component comprises a clamping jaw and a third elastic component, wherein the clamping jaw is connected with the third elastic component, and the third elastic component can provide elastic force in the vertical direction for the clamping jaw.
Preferably, the clamping jaw is provided with a first pressing part, a bearing part and a connecting part, wherein the first pressing part and the bearing part are arranged in parallel and are connected through the connecting part, and the length of the first pressing part extending to the direction of the material tray is greater than that of the bearing part extending to the direction of the material tray.
Preferably, the grabbing mechanism further comprises a driving assembly, the driving assembly comprises a first driving part and a second driving part, the first driving part drives the grabbing mechanism, and the second driving part drives the grabbing assembly to clamp/unclamp the tray along the horizontal direction.
Preferably, the pressing component comprises a second pressing part, a fourth elastic component and a photoelectric sensing component, wherein the fourth elastic component is vertically connected with the second pressing part so that the second pressing part has elasticity in the vertical direction, and the photoelectric sensing component can sense the stress condition of the second pressing part.
Preferably, the photoelectric sensing assembly comprises a photoelectric sensor and a baffle, wherein the baffle is connected with the second pressing part and can block a sensing light source of the photoelectric sensor after being stressed, so that the photoelectric sensor senses the stress condition of the second pressing part.
In addition, the invention also provides a material taking method, which comprises the following steps: setting a preset value of a material tray to be taken as N, wherein N is more than 1; the material tray is counted by the counting mechanism and is marked as K, K Initial initiation =0, the new count is 1 for each completion, i.e. k=k+1; when k=n, the control mechanism controls N trays to be separated from other uncounted trays, and controls the gripping mechanism to grip N trays.
Preferably, the support assembly comprises a drive member and a stop member; the method for counting the trays by the counting mechanism comprises the following steps: when K is smaller than N, the driving part drives the material tray to move towards the grabbing mechanism; the material tray is contacted with the elastic overturning assembly of the counting mechanism and then separated from the elastic overturning assembly in the moving process, the elastic change received by the elastic overturning assembly is fed back to the force sensing assembly, and the counting is completed once when a force curve peak value occurs once; repeating the counting process until k=n; the driving part drives the stop part to be inserted into the bottom surface of the Nth tray so as to separate the tray from other uncounted trays.
Preferably, the counting mechanisms are respectively arranged at two sides of the tray, and the bearing assembly further comprises a buffer mechanism connected with the stop component; the buffer mechanism is used for protecting the process of separating a plurality of trays from other uncounted trays when the trays are obliquely stacked, and comprises the following steps: when the counting mechanism on one side has counted k=n, the driving part drives the stop part and the buffer mechanism of the counting mechanism on the side to move towards the direction of the tray, and the stop part is inserted into the bottom surface of the nth tray first; the material tray continues to move towards the direction of the grabbing mechanism so that the counting mechanism positioned at the other side finishes counting; the stop part of the counting mechanism at the other side of the driving part for driving the completed counting is also inserted into the bottom surface of the Nth charging tray; wherein, in the process that the material tray continues to move towards the direction of the grabbing mechanism, the stop part extrudes the material tray with finished counting; the buffer mechanism provides buffer force in the moving direction of the tray so as to prevent the tray from being damaged by mechanical extrusion of the stop component.
Due to the adoption of the technical scheme, the beneficial effects are as follows:
according to the material taking device and the material taking method, the number of the lifted material trays is confirmed through the counting mechanism, the lifted material trays are grabbed through the grabbing mechanism and moved to the designated position, so that a plurality of material trays can be counted and grabbed at one time, and the problems that the material trays are inclined, the material trays are adhered and the number of the grabbed material trays cannot be accurately calculated can be solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of a reclaimer device;
FIG. 2 is a schematic view of a counting mechanism A;
FIG. 3 is a schematic view of a counting mechanism B;
fig. 4 is a schematic structural view of the grasping mechanism.
The reference numerals in the drawings are as follows:
1. a counting mechanism; 2. a grabbing mechanism; 10. a turnover block; 11. a turnover plate; 12. a first elastic member; 13. a blocking member; 14. a force sensor; 15. a second elastic member; 16. a first guide bar; 17. a stopper; 18. a bearing driving cylinder; 19. a buffer member; 101. a pulling piece; 102. a connecting block; 100. a bracket; 20. a clamping jaw; 201. a first pressing portion; 202. a connection part; 203. a support part; 21. a tray pressing assembly; 211. a second pressing portion; 212. a third elastic member; 213. a third guide bar; 214. a baffle; 215. a photoelectric sensor; 216. a fifth elastic member; 217. a baffle; 22. a jaw spring assembly; 221. a sixth elastic member; 222. a second guide bar; 223. clamping jaw stop pin; 224. a clamping jaw rotation stopping block; 225. a bearing stop; 23. a first cylinder; 24. and a second cylinder.
Description of the embodiments
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.
As shown in fig. 1 to 4, a material taking device according to an embodiment of the present invention includes a counting mechanism 1, a grabbing mechanism 2, and a control mechanism (not shown in the drawings) electrically connected to the counting mechanism and the grabbing mechanism, where the control mechanism controls the counting mechanism 1 to count and lift up a tray, and controls the grabbing mechanism 2 to grab the tray; the counting mechanism 1 comprises an elastic overturning assembly, a force sensing assembly and a bearing assembly, wherein the elastic overturning assembly feeds back the elasticity born by the elastic overturning assembly after being contacted with the material tray to the force sensing assembly so as to count the number of the material tray, and the bearing assembly supports the material tray; the grabbing mechanism 2 comprises a pressing component and a grabbing component, the pressing component presses the tray in the vertical direction to preliminarily fix the tray, and the grabbing component grabs the tray from the side edge of the tray.
As shown in fig. 2, the elastic overturning assembly comprises an overturning block 10, an overturning plate 11, a first elastic piece 12 and a blocking piece 13, wherein the overturning block 10 is provided with a poking piece 101 close to a tray and a connecting block 102 fixedly connected to the overturning plate 11, the overturning block 10 is installed at one end of the overturning plate 11 close to the tray, the first elastic piece 12 and the blocking piece 13 are installed at one end of the overturning plate 11 far away from the tray, the connecting block 102 is movably connected with a bracket 100, the first elastic piece 12 is sleeved on the blocking piece 13, one end of the first elastic piece 12 is abutted against the overturning plate 11, and the other end is abutted against the end of the blocking piece 13; when the device operates, the tray rises to the position that the pulling sheet 101 contacts the tray, the pulling sheet 101 is abutted by the tray and driven by the tray to move upwards, the connecting block 102 drives one end of the turnover plate 11, which is close to the tray, to move upwards, the connecting block 102 is movably connected with the bracket 100, one end of the turnover plate 11, which is far away from the tray, moves downwards, meanwhile, the first elastic piece 12 is extruded, the first elastic piece 12 is compressed under the blocking of the blocking piece 13, the tray continues to rise until the tray rises to the height that the pulling sheet 101 cannot contact with the tray, the pulling sheet 101 is separated from the tray, at the moment, the pulling sheet 101 is not subjected to blocking force of the tray, the compressed first elastic piece 12 applies elastic force to one end, which is far away from the tray, of the turnover plate 11 moves upwards, and one end, which is close to the tray, of the turnover plate 11 moves downwards. With this structure, the counting mechanism 1 can be made to distinguish the force received when the counting mechanism is in contact with the tray from the force received when the counting mechanism is separated from the tray, so that the force sensor can calculate the number of the trays through the obvious force change.
In this embodiment, in order to better contact and separate the pulling piece 101 from the tray, the contact portion of the pulling piece 101 and the tray is set to be an upwardly inclined surface, and the moving direction of the turning plate 11 is controlled by connecting with the connecting block 102, and in other embodiments, other structures may be selected, so that the above functions can be achieved.
In order to count the number of trays, the counting mechanism 1 in this embodiment is provided with a force sensing assembly, as shown in fig. 2, the force sensing assembly includes a force sensor 14, a second elastic member 15 and a first guide rod 16, the first guide rod 16 is movably connected with the bracket 100 and the turnover plate 11, the second elastic member 15 and the force sensor 14 are sleeved on a portion of the first guide rod 16 located between the bracket 100 and the turnover plate 11, one end of the second elastic member 15 abuts against the force sensor 14, the other end abuts against one end of the turnover plate 11 away from the tray, the first elastic member 12 and the second elastic member 15 are both arranged at one end of the turnover plate 11 away from the tray and are respectively arranged at two sides of the turnover plate 11, when the tray abuts against the turnover block 10 to enable the turnover block 10 to move upwards, one end of the turnover plate 11 away from the tray moves downwards and compresses the first elastic member 12, at this moment, the second elastic member 15 still abuts against the turnover plate 11 and the force sensor 14, when the tray rises to a height where the turnover block 10 cannot abut against, the turnover block 10 loses the abutting force, namely, the first elastic member 12 rapidly rebounds, namely, the first elastic member 12 rapidly pushes up the tray 11 to the one end of the tray to a value, and the number of the tray is increased, and the number of the tray is rapidly pushed down, if the tray is the number of the tray is increased, and the number of the elastic member is reached. Through mutual butt of upset board 11, second elastic component 15 and force sensor 14, the force that upset board 11 received can be passed for force sensor 14 through second elastic component 15, and the change of the force that upset board 11 received is relevant with the tray quantity that finally holds up, need not the manual count and can confirm the quantity of holding up the tray, has improved the degree of automation of device, reduces the handling time.
As shown in fig. 3, the counting mechanism 1 further includes a stop member, a driving member, and a buffer mechanism, in this embodiment, the stop member is specifically a stop member 17, the driving member is specifically a supporting driving cylinder 18, and the buffer mechanism is specifically a buffer member 19, when the number of the supported trays reaches a predetermined value, the control mechanism controls the supporting driving cylinder 18 to drive the stop member 17 and the buffer member 19 to move in a direction approaching to the trays, so that the stop member 17 can extend between the two trays; since the tray is inclined when the tray is more placed, the counting mechanisms 1 on two sides of the tray cannot finish counting at the same time, when the counting mechanism 1 on one side inserts the stop piece 17 between the two trays, the counting mechanism 1 on the other side still does not finish the counting action, and the tray continues to move upwards at the moment, so as to avoid damage to the tray caused by the stop piece 17, the device is provided with the buffer piece 19 connected with the stop piece 17, after the stop piece 17 which finishes the counting action contacts the tray, the tray continues to move so that the stop piece 17 extrudes the tray, the buffer piece 19 can provide elastic force in the vertical direction for the stop piece 17, and the elastic buffer force of the stop piece 17 during the contact with the tray is ensured not to damage the tray until the counting action of the counting mechanism 1 on the other side is finished, and the stop piece 17 on the other side is inserted between the two trays, so that the counting action is finished. The stopper 17 stretches into and can prevent that the charging tray from taking place the adhesion when snatching at the later stage when holding up the charging tray between two charging trays, and buffer 19 provides elasticity to stopper 17, can avoid causing the bruise to the charging tray after stopper 17 atress, can effectively protect the charging tray.
In this embodiment, after both the stoppers 17 are inserted into the tray, the tray is driven by the tray driving mechanism to move downward, so that the tray that is not lifted is separated from the tray lifted by the stoppers 17, which can prevent the tray from adhering and reduce the inclination of the tray.
As shown in fig. 4, the grabbing mechanism 2 in this embodiment includes a clamping jaw 20, a tray pressing component 21, a clamping jaw elastic component 22, a first air cylinder 23 and a second air cylinder 24, when a required tray is lifted by a stop piece 17, the control mechanism controls the grabbing mechanism to grab the counted tray, specifically, the first air cylinder 23 drives the grabbing mechanism 2 to move in the tray direction, after reaching the tray position, the tray pressing component 21 presses and fixes the tray in the vertical direction, after the tray pressing component 21 presses and primarily fixes the tray, the second air cylinder 24 drives the clamping jaw 20 and the clamping jaw elastic component 22 to grab the tray from the side surface of the tray, that is, the tray lifted by the stop piece 17 is grabbed and transported to the designated position. In this embodiment, the driving mechanisms of the gripping mechanism 2 and the gripping jaw 20 are cylinders, and in other embodiments, other driving mechanisms may be used, so as to complete the driving function.
Specifically, the first cylinder 23 controls the whole grabbing mechanism 2 to move towards the direction of the material tray, the second cylinder 24 controls the clamping jaw 20 and the clamping jaw elastic assembly 22 to open horizontally, and when the second pressing part 211 does not contact the material tray, the baffle 214 does not block the photoelectric sensor 215, and the whole grabbing mechanism 2 continues to move downwards; when the second pressing portion 211 contacts the tray, the tray pushes the second pressing portion 211 to move upwards, the baffle 214 moves upwards and shields the photoelectric sensor 215, and after the photoelectric sensor 215 is shielded, the first cylinder 23 does not continuously drive the whole grabbing mechanism 2 to move downwards, but after being set in advance according to parameters such as the height of the tray, the whole grabbing mechanism 2 moves downwards for a certain distance and stops moving. The cooperation of the baffle 214 and the photoelectric sensor 215 can timely feed back the position of the second pressing part 211, so that damage to the tray caused by overlarge downward moving distance is prevented. In the tray pressing assembly 21 of this embodiment, the photoelectric sensor 215 is selected to monitor the stress condition of the second pressing portion 211, and in other embodiments, other forms or structures may be selected to monitor the stress condition of the second pressing portion 211.
As shown in fig. 4, a third guide rod 213 is connected between the second pressing portion 211 and the main body of the grabbing mechanism 2, a blocking piece 217 is arranged at one end of the third guide rod 213, and a third elastic member 212 and a fifth elastic member 216 are sleeved on the third guide rod 213 in a segmented manner; when the second pressing part 211 contacts the tray, the third elastic piece 212 can play a buffering role on the tray, so that the tray is prevented from being hard injured by the second pressing part 211; when the grabbing action is completed and the grabbing mechanism 2 needs to be far away from the tray, the third elastic piece 212 and the fifth elastic piece 216 can play a role in buffering the second pressing portion 211 far away from the tray, so that the second pressing portion 211 is prevented from damaging the tray under the inertia effect; the blocking piece 217 can prevent the fifth elastic piece 216 from being separated from the third guide rod 213; the structure can improve the use safety of the device, prolong the service life and prevent the damage to the material tray.
After the second pressing portion 211 finishes pressing the tray, the second air cylinder 24 drives the clamping jaw 20 and the clamping jaw elastic assembly 22 to continuously move towards the direction of the tray until the clamping jaw 20 contacts the tray, the second air cylinder 24 drives the clamping jaw 20 to be closed, and the clamping jaw 20 clamps the tray to move towards the designated position.
Specifically, the clamping jaw 20 is provided with a first pressing portion 201, a connecting portion 202 and a supporting portion 203, the connecting portion 202 connects the first pressing portion 201 and the supporting portion 203, and when the first pressing portion 201 is longer than the supporting portion 203 in the direction towards the tray, the supporting portion 203 is not contacted with the tray when the second cylinder 24 drives the first pressing portion 201 to just contact the tray, so that the supporting portion 203 is prevented from damaging the tray; at this time, the second cylinder 24 drives the clamping jaw 20 to close in the horizontal direction, and the first pressing portion 201 and the supporting portion 203 can cooperate with the material grabbing tray after closing to prevent the material tray from falling or being damaged during the handling process. In this embodiment, the vertical distance between the first pressing portion 201 and the supporting portion 203 is adjustable, and the adjustment parameters are determined by the thickness of the tray and the number of trays to be grasped at one time, so that the setting can improve the versatility of the clamping jaw 20 when grasping different trays, and the application scenario is more flexible.
In order to prevent the first pressing portion 201 from causing hard injury to the tray during pressing, a sixth elastic member 221 is sleeved on a second guide rod 222 connected with the first pressing portion 201, in addition, one end of the second guide rod 222, which is far away from the first pressing portion 201, is connected with a clamping jaw rotation stopping block 224 and a bearing stop block 225, the clamping jaw rotation stopping block 224 is provided with a clamping jaw rotation stopping pin 223, and the clamping jaw rotation stopping pin 223, the clamping jaw rotation stopping block 224 and the bearing stop block 225 can enable the clamping jaw 20 to be kept fixed in a direction taking the vertical direction as an axial direction, so that the clamping jaw 20 is prevented from rotating to influence the grabbing of the tray or damage to the tray.
Correspondingly to the material taking device, the invention also provides a material taking method, which comprises the following steps: setting a preset value of a material tray to be taken as N, wherein N is more than 1; the material tray is counted by a counting mechanism and is marked as K, K Initial initiation =0, the new count is 1 for each completion, i.e. k=k+1; when k=n, the control mechanism controls the N trays to be separated from the other uncounted trays, and controls the gripping mechanism to grip the N trays.
The method for counting the trays through the counting mechanism comprises the following steps of: when K is smaller than N, the driving part drives the material tray to move towards the grabbing mechanism; the material tray is contacted with the elastic overturning assembly of the counting mechanism and then separated in the moving process, the elastic change received by the elastic overturning assembly is fed back to the force sensing assembly, and the counting is completed once when a force curve peak value occurs once; repeating the counting process until k=n; the support driving cylinder drives the stop member to be inserted into the bottom surface of the nth tray so as to separate the nth tray from other uncounted trays.
In addition, the counting mechanism sets up in the both sides of charging tray respectively, and the bolster is used for protecting the process of separating with other uncounted charging trays when stacking a plurality of charging trays slope, includes following steps: when the counting mechanism at one side has counted K=N, the bearing driving cylinder drives the stop piece and the buffer piece of the counting mechanism at the side to move towards the direction of the tray, and the stop piece is inserted into the bottom surface of the Nth tray first; the material tray continues to move towards the direction of the grabbing mechanism so that the counting mechanism positioned at the other side finishes counting; the driving part drives a stop piece of the counting mechanism at the other side of the completed counting to be inserted into the bottom surface of the Nth material tray; wherein, in the process that the tray continues to move towards the direction of the grabbing mechanism, the stop piece extrudes the counted tray; the buffer piece provides buffer force in the moving direction of the tray so as to prevent the tray from being damaged by mechanical extrusion of the stop piece.
It should be noted that, the embodiments of the above-mentioned material taking method may refer to the descriptions in the embodiments of the material taking device, and are not described herein in detail.
When the automatic material grabbing device is used, the driving mechanism of the material tray firstly drives the material tray to move upwards, after the counting mechanism 1 counts the number of the required material trays, the control mechanism controls the counting mechanism 1 to lift the material tray to be grabbed, the rest material trays descend, the first air cylinder 23 drives the grabbing mechanism 2 to integrally move towards the direction of the material tray, the material tray is initially pressed and fixed by the second pressing part 211 and the matching component thereof, then the second air cylinder 24 drives the clamping jaw 20 to contact the material tray and complete grabbing, and finally the grabbing mechanism 2 transfers the grabbed material tray to the required position.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims (13)

1. The material taking device is characterized by comprising a counting mechanism, a grabbing mechanism and a control mechanism electrically connected with the counting mechanism and the grabbing mechanism, wherein the control mechanism controls the counting mechanism to count and lift a material tray and controls the grabbing mechanism to grab the material tray;
the counting mechanism comprises an elastic overturning assembly, a force sensing assembly and a bearing assembly, wherein the elastic overturning assembly feeds back the elastic force born by the elastic overturning assembly after being contacted with the material tray to the force sensing assembly so as to count the number of the material trays, and the bearing assembly supports the material trays;
the grabbing mechanism comprises a pressing component and a grabbing component, wherein the pressing component presses the material tray in the vertical direction to preliminarily fix the material tray, and the grabbing component grabs the material tray from the side edge of the material tray.
2. The take-out apparatus of claim 1, wherein the resilient flip assembly comprises a flip and a first resilient assembly, the flip pressing against the first resilient assembly when flipped.
3. The material taking device according to claim 2, wherein the turning piece comprises a turning block and a turning plate, the turning block is arranged at one end of the turning plate, which is close to the material tray, the first elastic component comprises a spring, the spring is arranged at one end of the turning plate, which is far away from the material tray, and the turning block drives the turning plate to squeeze the spring when turning.
4. A pick-up device as claimed in claim 3, wherein the force sensing assembly comprises a force sensor and a second elastic assembly, one end of the second elastic assembly is connected with the force sensor, the other end of the second elastic assembly abuts against one end of the turnover plate far away from the tray, and the first elastic assembly and the second elastic assembly are respectively arranged on two sides of the turnover plate.
5. A pick-up device as claimed in claim 1, wherein the support assembly is reciprocable in a horizontal direction and vertically supports the tray.
6. The material taking device according to claim 1, wherein the gripping assembly comprises a gripping jaw and a third elastic assembly, the gripping jaw is connected with the third elastic assembly and the third elastic assembly provides elastic force in a vertical direction for the gripping jaw.
7. The material taking device according to claim 6, wherein the clamping jaw is provided with a first pressing part, a bearing part and a connecting part, the first pressing part and the bearing part are arranged in parallel and are connected through the connecting part, and the length of the first pressing part extending to the direction of the material tray is greater than the length of the bearing part extending to the direction of the material tray.
8. The material taking device according to claim 1, wherein the gripping mechanism further comprises a driving assembly, the driving assembly comprises a first driving part and a second driving part, the first driving part drives the gripping mechanism, and the second driving part drives the gripping assembly to clamp/unclamp the material tray in a horizontal direction.
9. The material taking device according to claim 1, wherein the pressing component comprises a second pressing portion, a fourth elastic component and a photoelectric sensing component, the fourth elastic component is vertically connected with the second pressing portion and provides elastic force in a vertical direction for the second pressing portion, and the photoelectric sensing component can sense stress condition of the second pressing portion.
10. The material taking device according to claim 9, wherein the photoelectric sensing assembly comprises a photoelectric sensor and a baffle, and the baffle is connected with the second pressing portion and can block a sensing light source of the photoelectric sensor after being stressed, so that the photoelectric sensor senses the stress condition of the second pressing portion.
11. A reclaiming method, characterized in that the reclaiming method employs the reclaiming device according to any one of claims 1 to 10, comprising the steps of:
setting the materials to be takenThe preset value of the material tray is marked as N, and N is more than 1; the material tray is counted by the counting mechanism and is marked as K, K Initial initiation =0, the new count is 1 for each completion, i.e. k=k+1;
when k=n, the control mechanism controls N trays to be separated from other uncounted trays, and controls the gripping mechanism to grip N trays.
12. A method of reclaiming in accordance with claim 11 wherein the support assembly comprises a drive member and a stop member; the method for counting the trays by the counting mechanism comprises the following steps:
when K is smaller than N, the driving part drives the material tray to move towards the grabbing mechanism;
the material tray is contacted with the elastic overturning assembly of the counting mechanism and then separated from the elastic overturning assembly in the moving process, the elastic change received by the elastic overturning assembly is fed back to the force sensing assembly, and the counting is completed once when a force curve peak value occurs once;
repeating the counting process until k=n;
the driving part drives the stop part to be inserted into the bottom surface of the Nth tray so as to separate the tray from other uncounted trays.
13. The method of claim 12, wherein said counting mechanisms are disposed on either side of said tray, respectively, and said support assembly further comprises a buffer mechanism coupled to said stop member; the buffer mechanism is used for protecting the process of separating a plurality of trays from other uncounted trays when the trays are obliquely stacked, and comprises the following steps:
when the counting mechanism on one side has counted k=n, the driving part drives the stop part and the buffer mechanism of the counting mechanism on the side to move towards the direction of the tray, and the stop part is inserted into the bottom surface of the nth tray first;
the material tray continues to move towards the direction of the grabbing mechanism so that the counting mechanism positioned at the other side finishes counting;
the stop part of the counting mechanism at the other side of the driving part for driving the completed counting is also inserted into the bottom surface of the Nth charging tray;
wherein,
the stop part presses the counted material tray in the process that the material tray continues to move towards the grabbing mechanism; the buffer mechanism provides buffer force in the moving direction of the tray so as to prevent the tray from being damaged by mechanical extrusion of the stop component.
CN202410077428.XA 2024-01-19 2024-01-19 Material taking device and material taking method Active CN117585401B (en)

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JPH02112729A (en) * 1988-10-21 1990-04-25 Kubota Ltd Counter
JPH05301667A (en) * 1992-04-27 1993-11-16 Daiwa Can Co Ltd Can lid counting-separating device
JPH0670589A (en) * 1992-08-13 1994-03-11 Matsushita Electric Works Ltd Conveyor
CN1317391A (en) * 2000-04-12 2001-10-17 松下电器产业株式会社 Pallet feeder for feeding parts and picking up method for parts
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CN211678869U (en) * 2019-12-02 2020-10-16 广东省智能机器人研究院 Automatic stacker crane for circular paper dinner plates

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