CN205998648U - A kind of device for shifting automatically bin for product - Google Patents
A kind of device for shifting automatically bin for product Download PDFInfo
- Publication number
- CN205998648U CN205998648U CN201620810419.8U CN201620810419U CN205998648U CN 205998648 U CN205998648 U CN 205998648U CN 201620810419 U CN201620810419 U CN 201620810419U CN 205998648 U CN205998648 U CN 205998648U
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- China
- Prior art keywords
- charging tray
- lifting shaft
- framework
- manipulator
- product
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
Abstract
The utility model provides a kind of device for shifting automatically bin for product, including automatic hoisting mechanism and automatic bay mechanism, also include the first manipulator being arranged on automatic hoisting mechanism, the charging tray overlayed in automatic hoisting mechanism, and be independently arranged at orientating and conveying mechanisms in automatic bay mechanism, the second manipulator and bin, the device also include respectively with automatic hoisting mechanism, automatic bay mechanism, the first manipulator, orientating and conveying mechanisms, the second manipulator, the task driven mechanism being electrically connected with；Under the driving of task driven mechanism, automatic hoisting mechanism is made to will be equipped with the charging tray jacking of product to the first specified location, the product of charging tray is moved at this position by the first manipulator to be put to orientating and conveying mechanisms front end, rear end is delivered to by orientating and conveying mechanisms again, finally product is inserted in bin by the second manipulator.The utility model can realize the automatic transfer of product different directions between charging tray and bin, play improve production efficiency, reduce artificial operational risk.
Description
Technical field
The utility model is related to mechanical device field, specifically a kind of device for shifting automatically bin for product.
Background technology
In touch panel process technology, commonly used charging tray and bin are placing to be processed or machined complete
Product.Wherein, the room in charging tray be generally horizontal accommodation space, make touch panel can horizontal positioned wherein；Bin
Room is generally vertical accommodation space, so that touch panel vertically can be placed wherein.When touch panel need charging tray with
When being shifted between bin, manually-operated mode is typically with, i.e.,：By manually the touch panel in charging tray being taken
It is inserted in bin after going out.
But in large-scale industrial production, the touch panel quantity of batch production is very big, and this requires manually
Touch panel taking-up and update are constantly, repeatedly carried out, to realize touch panel between charging tray and bin
Transfer.However, the drawbacks of this manually-operated mode has time-consuming, laborious, and due to manually-operated action stability
Low, be also easy to produce fatigue, may cause the scuffing of touch panel in operation, affect product quality.
Utility model content
The utility model passes through to provide a kind of automatic hoisting mechanism and shifts automatically the device of bin for product, to replace
Realize, using artificial operation, the mode shifted between different bins by product, solve that artificial operation is present time-consuming, laborious,
The problems such as product is easily scratched.
Specifically, the utility model provides a kind of device for shifting automatically bin for product, including automatic hoisting mechanism
With automatic bay mechanism, the device for shifting automatically bin for product also includes to be arranged on the automatic hoisting mechanism
First manipulator, the charging tray overlayed in the automatic hoisting mechanism, and it is respectively and independently arranged at the automatic bay mechanism
On orientating and conveying mechanisms, the second manipulator and bin, the device for shifting automatically bin for product also include respectively with
The automatic hoisting mechanism, the automatic bay mechanism, first manipulator, the orientating and conveying mechanisms, second machine
Tool hand, the task driven mechanism being electrically connected with, wherein：
The automatic hoisting mechanism be used for will be equipped with the driving of the task driven mechanism charging tray of product by
First desired guiding trajectory jacking is to the first specified location；First manipulator is used under the driving of the task driven mechanism will
Product in the charging tray of first specified location is moved by the second desired guiding trajectory to be put to the orientating and conveying mechanisms
Front end；The orientating and conveying mechanisms are fixed for the product being delivered to the conveying under the driving of the task driven mechanism
Position mechanism rear end；Second manipulator is used for will be positioned at the orientating and conveying mechanisms under the driving of the task driven mechanism
The product of rear end is inserted in the bin by the 3rd desired guiding trajectory.
Further, the product in the charging tray of first specified location is put to the conveying by all shiftings
Behind the front end of detent mechanism, the charging tray becomes the empty charging tray, and the automatic hoisting mechanism is additionally operable to drive in the work
The empty charging tray is moved by the 4th desired guiding trajectory under the driving of motivation structure and put to the second specified location.
Further, the automatic hoisting mechanism includes framework, fixed lifting shaft on said frame and sets respectively
Feeding material component on the lifting shaft and charging tray clamp assemblies, the task driven mechanism respectively with the feeding material component, institute
The electric connection of charging tray clamp assemblies is stated, makes the feeding material component, the charging tray clamp assemblies be respectively relative to lifting shaft shifting
Dynamic.
Further, the framework is enclosed by some sheths and is formed, from the middle part of the trailing flank of the framework along level side
First level framework is formed with to extending forward, the first level framework corresponds to first specified location, from the frame
The trailing flank top of frame extends forward in the horizontal direction and is formed with the second horizontal frame, and second horizontal frame is corresponding to described
Second specified location.
Further, the lifting shaft includes independently fixed the first lifting shaft on said frame, the second lifting
Axle and the 3rd lifting shaft, wherein, the short transverse along the framework is seen, under first lifting shaft is located in the framework
Portion, second lifting shaft and the 3rd lifting shaft are respectively positioned on the middle and upper part of the framework；Length direction along the framework
See, first lifting shaft is located at the centre of the framework, second lifting shaft and the 3rd lifting shaft are located at institute respectively
State left side and the right side of framework.
Further, first lifting shaft is provided with the first slide rail, makes the feeding material component by first slide rail
It is arranged on first lifting shaft；The second slide rail and the 3rd are respectively equipped with second lifting shaft and the 3rd lifting shaft
Slide rail, makes the charging tray clamp assemblies be arranged on second lifting shaft and institute by second slide rail and the 3rd slide rail
State on the 3rd lifting shaft.
Further, the feeding material component includes supporting part and material conveying platform, and one end of the supporting part is by described the
One slide rail is movably connected on first lifting shaft, so that the supporting part is moved up and down along the axial direction of first lifting shaft, institute
The other end for stating supporting part is free end；The material conveying platform is horizontal panel, and the material conveying platform be vertically located in described
On supporting part, the vertical blow vent through the material conveying platform is provided with the material conveying platform, from the material conveying platform
The edge extension that raises up is formed with limited block.
Further, the charging tray clamp assemblies include connecting portion and clamping limb, and the connecting portion is string configuration, institute
State connecting portion and respectively institute is movably connected on by second slide rail, the 3rd slide rail along the two ends that its length direction extends
The second lifting shaft, the 3rd lifting shaft is stated, and the connecting portion is made along second lifting shaft and the axle of the 3rd lifting shaft
To moving up and down；The clamping limb is installed in the connecting portion respectively at the two ends that its length direction extends, and from described
Connecting portion is forward extended out at the two ends that its length direction extends in the horizontal direction.
Alternatively, the medial surface difference of the medial surface of the first level framework, the connecting portion of the charging tray clamp assemblies
Locating part is provided with, when the charging tray clamp assemblies drop to and are generally in same level position with the first level framework,
Locating part on locating part on the medial surface of the first level framework and the connecting portion medial surface of the charging tray clamp assemblies
Set relatively, the locating part is collectively forming the first spacing space, the first spacing space is used in the first level frame
The horizontal position of frame limits the locus of the charging tray.
Alternatively, the trailing flank region near the framework on second horizontal frame is installed with across fixture,
Described across fixture along the second horizontal frame length direction across two frameworks for being arranged on second horizontal frame
On bar, the medial surface across fixture, the medial surface of second horizontal frame are respectively equipped with locating part, and described second
Locating part on the medial surface of horizontal frame is relative with the locating part on the medial surface across fixture and sets, described spacing
Part is collectively forming the second spacing space, and the second spacing space is used for limiting in the horizontal position of second horizontal frame
The locus of the charging tray.
Preferably, the locating part is arc-shaped limit part or right angle locating part.
Further, unidirectional supporting parts, the unidirectional supporting parts bag are provided with the clamping limb of the charging tray clamp assemblies
Supporting parts body and the support block being flexibly connected with respect to the supporting parts body is included, the supporting parts body is towards therein
Depression be formed with size and the storage tank of the support Block- matching, make the support block from the storage tank protruding or
It is housed in the storage tank；When the support block is protruding from the storage tank, the support of the support block is faced upwards,
When the support block is housed in the storage tank, the outer surface of the support block is with the supporting parts body outer surface in same
One plane.
Further, connecting shaft is provided with the storage tank, the support block is by the connecting shaft and the supporting parts
Body is flexibly connected.
Preferably, the surface of the storage tank, be all embedded with magnet in the inner surface of the support block, and be embedded in described
The magnet on the surface of the storage tank magnetic pole relative with both the magnet for being embedded in the support block inner surface is magnetic identical.
It is understood that according to the principle that mutually repels with magnetic in electromagnetism, different magnetic mutually attracts, not to described
When support block applies pressure, as same magnetic is mutually repelled, the support block is mutually exclusive with the storage tank, makes the support block
Protruding from the storage tank；During to support block applying pressure, due to applying pressure more than the support block and institute
The repulsive force between storage tank is stated, so that the support block is contained in the storage tank.
Preferably, the bullet that can recover deformation is provided between the inner surface of the surface of the storage tank and the support block
Spring, makes elastic connection between the storage tank and the support block.
It is understood that due to being elastic connection between the surface of the storage tank and the inner surface of the support block,
When therefore not to support block applying pressure, the support block is protruding from the storage tank, applies to the support block
During plus-pressure, spring contraction, the support block are contained in the storage tank.
Preferably, on second horizontal frame, described the unidirectional supporting parts also are provided with fixture.
Further, horizontal stand is installed with towards outside the framework on the framework, first manipulator is arranged
On the horizontal stand, first manipulator includes the first mechanical arm being arranged in a mutually vertical manner and second mechanical arm and sets
Put the first crawl section in the second mechanical arm；Wherein, the first mechanical arm is fixedly installed on the horizontal stand,
The second mechanical arm is flexibly connected with respect to the first mechanical arm, and first crawl section is living with respect to the described second machinery
It is dynamically connected.
Further, the first mechanical arm is provided with the first slide unit, and the second mechanical arm passes through first slide unit
It is slidably connected with the first mechanical arm, so that the second mechanical arm is moved back and forth along the length direction of the first mechanical arm；
The second mechanical arm is provided with the second slide unit, and first crawl section is slided by second slide unit and the second mechanical arm
It is dynamically connected, so that first crawl section is moved back and forth along the length direction of the second mechanical arm.
In the utility model, as second mechanical arm and the first crawl section can realize orthogonal two sides respectively
Linear movement upwards, therefore, it is possible to enable the first crawl section to grab any point position on horizontal plane, therefore realizes to institute
The crawl of the product in having positioned at charging tray.
Preferably, first crawl section is vacuum slot.
Further, the charging tray includes network and the frame for enclosing the network of hollow out, described
Frame is protruded out downwards and is provided with support block, makes shape between the frame of neighbouring two charging trays for stacking by the support block
Become gap, so that the support block of the described unidirectional supporting parts of the automatic hoisting mechanism is inserted in the gap.
Preferably, the frame be round rectangle frame, rectangular shaped rim, square frame, circular frame, oval frame
Or the one kind in hexagon frame.
Further, the charging tray is overlayed on the material conveying platform of the automatic hoisting mechanism or the second spacing space
In.
Further, the automatic bay mechanism includes mechanism body, upwardly extends from the mechanism body posterior region
The support of formation and the 3rd slide unit being installed in the mechanism body, the orientating and conveying mechanisms are arranged on the mechanism
Near the side of the automatic hoisting mechanism, second manipulator is arranged on the bracket main body, and the bin activity is logical
Cross the 3rd slide unit and be movably connected on the mechanism body.
Further, second manipulator includes orthogonal three-mechanical arm, the 4th mechanical arm and is arranged on
Second crawl section of the 4th mechanical arm bottom, the three-mechanical arm are installed on the support of the automatic bay mechanism,
4th mechanical arm is flexibly connected with respect to the three-mechanical arm, and second crawl section is with respect to the 4th mechanical arm
It is flexibly connected.
Further, the three-mechanical arm is provided with the 4th slide unit, and the 4th mechanical arm passes through the 4th slide unit
It is slidably connected with the three-mechanical arm, so that the 4th mechanical arm is moved along the length direction of the three-mechanical arm.
Preferably, second manipulator also includes the Fibre Optical Sensor being arranged on the 4th mechanical arm.
Preferably, second crawl section is vacuum slot.
Further, the bin is enclosed by some sheet frames and is formed, and is provided with the bin parallel to described automatically slotting
Some positioning strips of the 3rd slide unit length direction of frame mechanism, the positioning strip two ends are connected to two institutes that are relative and setting
State between sheet frame.
Preferably, the positioning strip includes to be parallel to each other the first positioning strip, the second positioning strip, the 3rd positioning strip, the 4th
Positioning strip, the 5th positioning strip and the 6th positioning strip, and six positioning strips are on a side and set serrate positioning strip.
Preferably, first positioning strip and second positioning strip are located in the top area of the bin, and are spaced
Distance is arranged, and the sawtooth of first positioning strip, the sawtooth of second positioning strip are set and all towards in the bin relatively
Portion, the sawtooth of first positioning strip are mutually corresponding with the sawtooth size of second positioning strip, shape, position；Described
Three positioning strips are located in the bottom section of the bin, and the 3rd positioning strip projection in the horizontal plane is located at described first
Positioning strip and the centre of second positioning strip, the sawtooth of the 3rd positioning strip vertically open up upward.
Preferably, the 4th positioning strip and the 5th positioning strip are located in the top area of the bin, and are spaced
Distance is arranged, and the sawtooth of the 4th positioning strip, the sawtooth of the 5th positioning strip are set and all towards in the bin relatively
Portion, the sawtooth of the 4th positioning strip are mutually corresponding with the sawtooth size of the 5th positioning strip, shape, position；Described
Six positioning strips are located in the bottom section of the bin, and the 6th positioning strip projection in the horizontal plane is located at the described 4th
Positioning strip and the centre of the 5th positioning strip, the sawtooth of the 6th positioning strip vertically open up upward.
Further, the sheet frame for being connected with the positioning strip is horizontal-extending towards the bin internal bend along own edges
Being formed with apart from adjustable plate, some perforates being offered in described interval on adjustable plate, the position of the perforate corresponds to respectively
In the positioning strip.
Preferably, the perforate is the combination of a kind of in strip perforate or round hole or two kinds.
Preferably, it is spirally connected between the perforate and the positioning strip.
Further, reinforcing strip is respectively equipped with the sheet frame internal close sheet frame lower edge.
Compared with prior art, the beneficial effects of the utility model are as follows：
First, automatic hoisting mechanism of the present utility model can will be equipped with the charging tray jacking of product automatically to the first specific bit
Put, thus carry out cooperative mechanical hand for the pipetting of product in charging tray.After product is all pipetted, charging tray becomes empty charging tray
When, empty charging tray can also be reclaimed by automatic hoisting mechanism in time, therefore not affect the first manipulator for next equipped with product
The charging tray of product carries out product and pipettes operation, thus repetitive cycling operation, realizes efficient product and pipettes work and charging tray recovery work
Make, eliminate substantial amounts of artificial operation, time saving and energy saving, raising operating efficiency.
Secondly, the utility model is by developing a kind of part of unidirectional supporting parts, by which with automatic hoisting mechanism in its
He is coordinated structure, finally effectively support can be located at the charging tray above unidirectional supporting parts, so that charging tray is smoothly reclaimed.
Finally, the device for shifting automatically bin for product developed by the utility model, by the first manipulator, conveying
Cooperation between detent mechanism, the second manipulator, can be automatically by the transferred product lain in a horizontal plane in charging tray in bin
And the vertical update of product is completed, the automation of this transferred product bin process, when will save substantial amounts of artificial operation
Between, production efficiency can be effectively improved, being avoided that because of manually-operated unstability again causes product to be scratched or occur other
The phenomenon of quality problems.
Description of the drawings
Fig. 1 is the structural representation of the device that embodiment two shifts automatically bin for product；
Fig. 2 is the front view of the device for shifting automatically bin in Fig. 1 for product；
Fig. 3 is the top view of the device for shifting automatically bin in Fig. 1 for product；
Fig. 4 is the right view of the device for shifting automatically bin in Fig. 1 for product；
Fig. 5 (a) is the structural representation of automatic hoisting mechanism in embodiment two；
Fig. 5 (b) is that the structural representation of automatic hoisting mechanism in embodiment two (omits the second horizontal frame and across fixation
Part)；
Fig. 6 is the front view of automatic hoisting mechanism in Fig. 5 (a)；
Fig. 7 is the top view of automatic hoisting mechanism in Fig. 5 (a)；
Fig. 8 is the left view of automatic hoisting mechanism in Fig. 5 (a)；
Fig. 9 is the structural representation of unidirectional supporting parts in embodiment two；
Figure 10 is the front view of unidirectional supporting parts in Fig. 9；
Figure 11 (a) is the right view (support block is stretched out from storage tank) of unidirectional supporting parts in Fig. 9；
Figure 11 (b) is the right view (support block is housed in storage tank) of unidirectional supporting parts in Fig. 9；
Figure 12 is the structural representation of the first manipulator in embodiment two；
Figure 13 is the top view of the first manipulator in Figure 12；
Figure 14 is the right view of the first manipulator in Figure 12；
Figure 15 is the structural representation of charging tray in embodiment two；
Figure 16 be automatic bay mechanism in embodiment two, orientating and conveying mechanisms, the second manipulator, bin combination after structure
Schematic diagram；
Figure 17 is the top view of structure in Figure 16；
Figure 18 is the structural representation of the second manipulator in embodiment two；
Figure 19 is the structural representation of bin in embodiment two；
Figure 20 is the top view of bin in Figure 19.
Specific embodiment
In the utility model, term " on ", D score, "left", "right", "front", "rear", " top ", " bottom ", " interior ", " outward ",
" in ", " vertical ", " level ", " horizontal ", the orientation of instruction such as " longitudinal direction " or position relationship be based on orientation shown in the drawings or
Position relationship, the relative position relation being merely to illustrate between each part or part, it is not particularly limited each part or group
Become the concrete installation position of part.
Also, above-mentioned part term is in addition to it can be used to indicate that orientation or position relationship, it is also possible to for representing which
His implication, such as term " on " also be likely used in some cases representing certain relations of dependence or annexation.For ability
For the those of ordinary skill of domain, concrete meaning of these terms in the utility model can be understood as the case may be.
Additionally, term " installation ", " setting ", " being provided with ", should be interpreted broadly " connection ", " being connected ".For example, it may be solid
Fixed connection, is detachably connected, or monolithic construction；Can be mechanically connected, or electrical connection；Can be joined directly together, or
It is indirectly connected to by intermediary, or is internal connection between two devices, element or parts.For this area
For those of ordinary skill, concrete meaning of the above-mentioned term in the utility model can be understood as the case may be.
Additionally, term " first ", " second " etc. are mainly used for different parts or part is distinguished, table is not intended to
The indicated part of bright or hint or relative importance and the quantity of part.Unless otherwise stated, the implication of " multiple " is two
Individual or two or more.
The technical solution of the utility model is further described with reference to embodiment and accompanying drawing.
Embodiment one
The present embodiment provides a kind of device for shifting automatically bin for product, including automatic hoisting mechanism and automatic bay
Mechanism, the device for shifting automatically bin for product also include the first machinery being arranged on the automatic hoisting mechanism
Hand, the charging tray overlayed in the automatic hoisting mechanism, and the conveying being respectively and independently arranged in the automatic bay mechanism
Detent mechanism, the second manipulator and bin, the device for shifting automatically bin for product also include automatic with described respectively
The work that elevating mechanism, first manipulator, the orientating and conveying mechanisms, second manipulator, the bin are electrically connected with
Make drive mechanism, wherein：
The automatic hoisting mechanism be used for will be equipped with the driving of the task driven mechanism charging tray of product by
First desired guiding trajectory jacking is to the first specified location；First manipulator is used under the driving of the task driven mechanism will
Product in the charging tray of first specified location is moved by the second desired guiding trajectory to be put to the orientating and conveying mechanisms
Front end；The orientating and conveying mechanisms are fixed for the product being delivered to the conveying under the driving of the task driven mechanism
Position mechanism rear end；Second manipulator is used for will be positioned at the orientating and conveying mechanisms under the driving of the task driven mechanism
The product of rear end is inserted in the bin by the 3rd desired guiding trajectory.
Embodiment two
The present embodiment provides a kind of device for shifting automatically bin for product, and in conjunction with shown in Fig. 1 to Fig. 4, this is used for producing
Product shift the device of bin automatically includes automatic hoisting mechanism 1 and the automatic bay mechanism positioned at 1 right side of automatic hoisting mechanism
2.The first manipulator 3 and charging tray 4 is respectively equipped with automatic hoisting mechanism 1, is independently provided with defeated in automatic bay mechanism 2
Send detent mechanism 5, the second manipulator 6 and bin 7.This be used for product shift automatically bin device also include respectively with automatically liter
The task driven that descending mechanism 1, automatic bay mechanism 2, the first manipulator 3, orientating and conveying mechanisms 5, the second manipulator 6 are electrically connected with
Mechanism's (not shown).
Wherein, automatic hoisting mechanism 1 be used for will be equipped with the driving of task driven mechanism product charging tray 4 pre- by first
If track jacking is to the first specified location；First manipulator 3 is used for specify positioned at first under the driving of task driven mechanism
The product in charging tray 4 at position is moved by the second desired guiding trajectory to be put to 5 front end of orientating and conveying mechanisms；Orientating and conveying mechanisms 5 are used for
Product is delivered to 5 rear end of orientating and conveying mechanisms under the driving of task driven mechanism；Second manipulator 6 is used in task driven
The product for being located at 5 rear end of orientating and conveying mechanisms is inserted in bin 7 by the 3rd desired guiding trajectory under the driving of mechanism, automatic bay
Mechanism 2 is used under the driving of task driven mechanism, drive bin 7 to move.Additionally, when the charging tray 4 for being located at the first specified location
In product by after all shifting is put to the front end of orientating and conveying mechanisms 5, charging tray 4 becomes empty charging tray 4, and automatic hoisting mechanism 1 is also
Put to the second specified location for moving empty charging tray 4 by the 4th desired guiding trajectory under the driving of task driven mechanism.
In the present embodiment, after all over products in the charging tray equipped with product is all moved out of, empty charging tray can be automatic
Reclaim, to the first manipulator position, the circulation for thus achieving product is moved the new charging tray meeting automatic lifting equipped with product
The automatic recovery with charging tray is taken, then by the cooperation of the part such as orientating and conveying mechanisms, second manipulator, such circulating repetition work
Make, finally realize the purpose that product is automatically transferred to bin from charging tray.
Specifically, in conjunction with shown in Fig. 5 (a) to Fig. 8, automatic hoisting mechanism 1 includes framework 11, lifting shaft 12, feeding material component
13 and charging tray clamp assemblies 14.Wherein, framework 11 is to be enclosed to be formed by some sheths, for supporting whole automatic hoisting mechanism
And integrate other parts being fixedly installed on the frame 11.Before being respectively facing from the middle part of the trailing flank 111 of framework 11 and top
Just (i.e. towards the right side in Fig. 8) is horizontal-extending defines first level framework 112 and the second horizontal frame 113, first level framework 112
The first specified location is corresponded roughly to, the second horizontal frame 113 corresponds roughly to the second specified location.
Wherein, lifting shaft 12 is installed on the trailing flank 111 of framework 11, lifting shaft 12 include respectively the first lifting shaft 121,
Second lifting shaft 122 and the 3rd lifting shaft 123.From the short transverse (i.e. above-below direction in Fig. 6) of trailing flank 111, first
Lifting shaft 121 is fixedly installed on the middle and lower part of trailing flank 111, and the second lifting shaft 122 and the 3rd lifting shaft 123 are all fixedly installed on
The middle and upper part of trailing flank 111.From the length direction (i.e. left and right directions in Fig. 6) of trailing flank 111, the first lifting shaft 121 is solid
It is located at the centre of trailing flank 111, the second lifting shaft 122 and the 3rd lifting shaft 123 are installed in the left and right two of trailing flank 111 respectively
Side.First slide rail, second cunning are correspondingly provided with the first lifting shaft 121, the second lifting shaft 122, the 3rd lifting shaft 123 respectively
Rail, the 3rd slide rail.
Wherein, feeding material component 13 is slidably arranged on the first lifting shaft 121, and feeding material component 13 includes supporting part 131 and send
Material platform 132.One end of supporting part 131 is slidably connected with the first lifting shaft 121 by the first slide rail, thus drives whole feeding
With respect to the lifting moving of the first lifting shaft 121, the other end of supporting part 131 is free end to component 13.Material conveying platform 132 is water
Surface plate, is fixedly installed on supporting part 131, for bearing the charging tray equipped with product.In order on material conveying platform simultaneously
Multiple charging trays equipped with product are stacked, and the position of guarantee charging tray and the product in charging tray will not be in the lifting process of feeding material component
In arbitrarily mobile or drop, be respectively equipped with some extensions that raise up in the edge of material conveying platform 132 and be formed as limited block
1321, the charging tray that will be equipped with product by limited block 1321 is fixed on material conveying platform 132.In addition, in the present embodiment, feeding
It is additionally provided with platform 132 vertically through the blow vent 1322 of itself, these blow vents had both included that the larger circle of aperture area was opened
Mouth also includes the less circular aperture of aperture area.
In conjunction with Fig. 5 (b) Suo Shi, charging tray clamp assemblies 14 are slidably arranged in the second lifting shaft 122 and the 3rd lifting shaft 123
On, charging tray clamp assemblies 14 include connecting portion 141 and clamping limb 142.Connecting portion 141 is string configuration, and connecting portion 141 is along certainly
The two ends that body length direction extends are slided with the second lifting shaft 122, the 3rd lifting shaft 123 by the second slide rail, the 3rd slide rail respectively
Be dynamically connected, charging tray clamp assemblies 14 are thus driven with respect to the second lifting shaft 122, the lifting moving of the 3rd lifting shaft 123.From even
The length direction two ends of socket part 141 respectively define a clamping limb 142 towards front horizontal extension, and in every clamping limb 142
On be equipped with two unidirectional supporting parts 15 towards the direction inside automatic hoisting mechanism 1.
In the present embodiment, the charging tray that unidirectional supporting parts are positioned above for support.In conjunction with Fig. 9 to Figure 11 (b) Suo Shi,
Unidirectional supporting parts 15 include supporting parts body 151 and support block 152 in the present embodiment.The middle part direction of supporting parts body 151
Therein is recessed to form a storage tank 153, and the bottom of storage tank 153 is along its length direction (i.e. left and right directions in Figure 10)
A connecting shaft 154 is provided with, support block 152 is flexibly connected with supporting parts body 151 by the connecting shaft 154.In storage tank 153
All it is embedded with magnet 155 in surface, the inner surface of support block 152, and is embedded in the magnet on the surface of storage tank 153 and is embedded in
The magnetic pole that both the magnet of the inner surface of support block 152 is relative is magnetic identical.As same polarity is mutually repelled, such as Figure 11 (a)
Shown, make support block 152 protruding from storage tank 153, now the support face 1521 of support block 152 upwards, being capable of support
The charging tray being positioned above.When extraneous applying pressure is more than the repulsive force between support block 152 and storage tank 153, such as Figure 11
Shown in (b), during support block 153 is housed to storage tank 153, the now outer surface 1522 of support block 152 and supporting parts body 151
Outer surface 1511 is in same plane.
Additionally, Fig. 5 (a) to Fig. 8 is combined, in the first specified location, in order to accurately define charging tray position, in first level
A left side is respectively equipped with 112 medial surface of framework, the side relative with first level framework 112 of connecting portion 141 of charging tray clamp assemblies
Right two arc-shaped limit parts 16, are generally in same level position when charging tray clamp assemblies 12 drop to first level framework 112
When putting, this four arc-shaped limit parts 16 are collectively forming the first spacing space that can mate charging tray shape.Limited by four arcs
Position part can be limited to jacking to the charging tray of the first specified location in the first spacing space.Similarly, in the second horizontal frame
111 region of trailing flank on 113 near framework is installed with across fixture 17, should be across fixture along the second horizontal frame 113
Length direction across being arranged on two sheths of the second horizontal frame 113,113 medial surface of the second horizontal frame, across
Also left and right two arc-shaped limit parts 16, this four arcs are respectively equipped with the side relative with the second horizontal frame 113 of fixture 17
Shape locating part 16 is collectively forming the second spacing space that can mate charging tray shape.When charging tray jacking is to the second specified location,
Charging tray can be limited in the second spacing space by four arc-shaped limit parts.At the same time, in order that charging tray can be stablized
Be contained in the second spacing space, four arc-shaped limit part adjacent position in the second spacing space are also respectively equipped with unidirectional
Supporting parts, four unidirectional supporting parts collective effects by charging tray support above it.
In addition, in order to coordinate the first manipulator to pipette product, in the front side frame bar of the first level framework 113 of framework 11
On be arranged on the horizontal stand 114 towards the outside fixed horizontal stand 114 of framework 11, the first manipulator 1.
Specifically, in conjunction with shown in Figure 12 to Figure 14, the first manipulator 3 includes 31 He of first mechanical arm being arranged in a mutually vertical manner
Second mechanical arm 32, and the first crawl section 33 being arranged in second mechanical arm 32.Wherein, first mechanical arm 31 is fixedly installed
On the horizontal stand 114 of automatic hoisting mechanism 1, first mechanical arm 31 is provided with the first slide unit 311, and second mechanical arm 32 passes through
First slide unit 311 is slidably connected with first mechanical arm 31, and second mechanical arm 32 (can be schemed along the length direction of first mechanical arm 31
Left and right directions in 1) move back and forth.Second mechanical arm 32 is provided with the second slide unit 321, and the first crawl section 33 passes through the second slide unit
321 are slidably connected with second mechanical arm 32, and the first crawl section 33 can be along the length direction of second mechanical arm 32 (i.e. in Fig. 1
Above-below direction) move back and forth, so that the first crawl section can achieve the crawl of any point position on horizontal plane.In the present embodiment
In, as the first manipulator finally needs product is transported on orientating and conveying mechanisms, therefore first in the first manipulator grabs
Take portion to arrange towards the direction of orientating and conveying mechanisms, to realize the function of the first manipulator.Further, since product to be pipetted
For touch panel, therefore the first crawl section adopts vacuum slot, thus completes the shifting of product on the premise of product is not scratched
Take or transport.In fact, the product that required ought be pipetted is other products, the square products that such as spherical product or Wear-resistant scratch-resistant are spent
When, the first crawl section adopts other common crawl structures, such as claw type crawl fixture also dependent on the shape of product with characteristic
Deng.
In conjunction with shown in Fig. 1, Figure 15, charging tray 4 is arranged in automatic hoisting mechanism 1.Specifically, the charging tray 4 equipped with product is put
It is placed on the material conveying platform 132 of feeding material component 13, after the product in charging tray 4 is all pipetted by the first manipulator 3, makes charging tray 4
Become empty charging tray 4, empty charging tray 4 is placed in the second spacing space.Charging tray 4 in the present embodiment includes the grid knot of hollow out
Structure 41 and the round rectangle frame 42 for enclosing the network, the charging tray are used for keeping flat wherein product (not shown),
Pipette for the first manipulator.Wherein, the support block 43 for protruding out downwards is provided with four fillets of round rectangle frame 42, is led to
Crossing these support blocks 43 can make to form certain gap between the round rectangle frame of neighbouring two charging trays for stacking, so as to
Enable the effective support charging tray 4 of unidirectional supporting parts 15 of automatic hoisting mechanism 1.Specifically, when charging tray is passed through in uphill process
During unidirectional supporting parts, as the round rectangle frame of charging tray can cause extruding to the outwardly directed support block of unidirectional supporting parts, make
During support block is housed to the storage tank of unidirectional supporting parts.Unidirectional supporting parts are left when charging tray rises to lucky charging tray bottom, now
Unidirectional supporting parts are not affected by the impact of extraneous force, and support block is stretched out from storage tank as same polarity is mutually repelled, and is stretched out
In gap of the position just between neighbouring two charging trays for stacking, the holding of the charging tray that is achieved in being pointed to above support block
Support is acted on.
In the present embodiment, in conjunction with shown in Figure 16 to Figure 17, automatic bay mechanism 2 includes mechanism body 21, from mechanism master
21 posterior region of body upwardly extends the support 22 to be formed and the 3rd slide unit 23 being installed in mechanism body 21, conveying positioning
Mechanism 5 is arranged on mechanism body 21 near the side of automatic hoisting mechanism, and the second manipulator 6 is arranged on support 22, and bin 7 leads to
Cross the 3rd slide unit 23 and be movably connected on mechanism body 21.
Specifically, in the present embodiment, orientating and conveying mechanisms 5 are located in mechanism body 21 region of the lateral edges that keep left, and make
First crawl section 33 of the first manipulator 3 can capture product and move it on orientating and conveying mechanisms 5.In conjunction with Figure 16 to Figure 17
Shown, orientating and conveying mechanisms 5 include transfer assembly 51, positioning cylinder 52 and positioning by angle 53.Wherein, transfer assembly 51 includes solid
Surely it is arranged in mechanism body 21 fixed pulley of the edge area that keeps left and the conveyer belt combined with fixed pulley coupling (is schemed not
Show), the transfer assembly 51 is used for transmitting the product that places on a moving belt, the length direction of transfer assembly 51 and the first manipulator
Second mechanical arm 32 in 3 is parallel, so that the crawl section 23 of the first manipulator 3 can smoothly pipette product to conveyer belt.
Positioning cylinder 52 and positioning are all provided close to by angle 53 in the region of 51 rear side of transfer assembly, wherein positioning cylinder 52 and transmission group
The fixed pulley of 51 rear side of part is connected, for carrying out the control of start and stop to the motion of transfer assembly.Specifically in positioning cylinder 52
On be additionally provided with the sensor being electrically connected with positioning cylinder, positioning cylinder 52 by the sensor control startup of transfer assembly and stops
Only, when the product on transfer assembly is transported to the tail end of transfer assembly, transfer assembly is automatically stopped work.Positioning is by 53, angle
In the right side of transfer assembly 51, and positioning is controlled by actuating unit by angle 53, enables positioning by angle along perpendicular to transmission group
Part length direction moves back and forth, for limiting and correcting the product space on transfer assembly.
In the present embodiment, support 22 be upwardly extend from the rear vertical of mechanism body 21 to be formed across mechanism body
21 support.In conjunction with shown in Figure 16 and Figure 18, the second manipulator 6 includes orthogonal three-mechanical arm 61, the 4th mechanical arm
62 and it is arranged on the second crawl section 63 and the Fibre Optical Sensor 64 of 62 bottom of the 4th mechanical arm.Wherein, 61 edge of three-mechanical arm
Horizontal direction is installed on support 22, is provided with the 4th slide unit on three-mechanical arm 61, and the 4th mechanical arm 62 passes through the 4th slide unit
It is slidably connected with three-mechanical arm 61, so that the 4th mechanical arm 62 is moved horizontally along the length direction of three-mechanical arm 61.This
Outward, the lifting connecting portion being additionally provided with the 4th mechanical arm 62 with respect to the movement of the 4th mechanical arm, wherein lifting connecting portion pass through
Actuating unit drives can carry out lifting moving, and the lower end for lifting connecting portion is connected with the rotation of the second crawl section 63 by rotary shaft
Connect, the lifting moving from there through lifting connecting portion drives the lifting moving of the second crawl section 63.In addition, in the present embodiment
Two crawl sections 63 can carry out 90 ° of rotations around rotary shaft, enable the second crawl section 63 to carry out pipetting the behaviour of product downwards
Make, it is also possible to which face forward carries out pipetting the operation of product.The second crawl section 63 in the present embodiment include rotary cylinder and
The vacuum slot being connected with the rotary cylinder, makes vacuum slot realize 90 ° of rotations by rotary cylinder.Fibre Optical Sensor 64 is solid
It is located on the 4th mechanical arm 62, for sensing the position that product is vertically inserted by the second crawl section 63.
In the present embodiment, product is primarily referred to as the touch panel as smart mobile phone or panel computer screen, bin 7
Be for vertically plugging the bin of touch panel.In conjunction with shown in Figure 16, Figure 19 and Figure 20, in the 3rd slide unit 23 in the present embodiment
Two structure identical bins are provided with, two bin is fixed in a rectangle bin inframe.Arbitrary bin 7 is by the first sheet frame
71st, the second sheet frame 72, the 3rd sheet frame 73 and the 4th sheet frame 74 enclose to be formed jointly, and internal near sheet frame lower limb in each sheet frame
Place is respectively equipped with reinforcing strip 76, for reinforcing the overall structure of bin.The bin 7 also includes that length extends (i.e. along the longitudinal direction
Vertically extending in Figure 20) and two ends be connected to the first positioning strip 751 of the first sheet frame 71 and the 3rd sheet frame 73,
Two positioning strips 752, the 3rd positioning strip 754, the 4th positioning strip 754, the 5th positioning strip 755 and the 6th positioning strip 756, above-mentioned six
Positioning strip is on a side and sets serrate structure, and six positioning strips are parallel to each other.
Wherein, the first positioning strip 751 and the second positioning strip 752 are located in the top area of bin 7, and are kept at a certain distance away
Arrange.The sawtooth of the first positioning strip 751, the sawtooth of the second positioning strip 752 are set relatively and all towards bin 7 internal (i.e. first
, towards the right side in Figure 20, the sawtooth of the second positioning strip 752 is towards the left side in Figure 20 for the sawtooth of positioning strip 751), the first positioning
The sawtooth of bar is mutually corresponding with the sawtooth size of the second positioning strip, shape, position, so that being formed for fixing therebetween
The draw-in groove of product is placed, can product of the fixed placement in draw-in groove in the lateral direction.3rd positioning strip 753 is located at bin 7
In bottom section, and see from vertical direction (i.e. seeing towards paper outwardly direction in Figure 20), the 3rd positioning strip 753 is fixed positioned at first
Position bar 751 and the centre of the second positioning strip 752.The sawtooth of the 3rd positioning strip 753 vertically open up upward (i.e. in Figure 20 towards paper to
Outward), formed for fixing the draw-in groove for placing product, can be in the upper fixed placement of fore-and-aft direction (i.e.) in card in Figure 20 along the vertical direction
Product in groove.Effect in conjunction with above-mentioned first positioning strip and the second positioning strip so that product is securely inserted in bin 7
In.Similarly, the structure of the 4th positioning strip 754, the 5th positioning strip 755 and the 6th positioning strip 756 and set location also respectively with
First positioning strip 751, the second positioning strip 752, the 3rd positioning strip 753 are identical, therefore repeat no more.
Additionally, in order to the distance between each positioning strip of flexible modulation, in the present embodiment, the upside of the first sheet frame 71
Edge towards 7 internal bend of bin and horizontal-extending be formed with apart from adjustable plate 711, open up being spaced on adjustable plate 711
There are four strip perforates 712, the position of this four strip perforates 712 corresponds respectively to the first positioning strip 751, second and positions
Article the 752, the 4th positioning strip 753 and the 5th positioning strip 754.By taking the first positioning strip as an example, now illustrate that the first positioning strip is adjusted with distance
Structural relation and regulative mode between plate, other positioning strips and the structural relation between adjustable plate with regulative mode are also
Identical, therefore repeat no more.One end that first positioning strip 751 is connected with the first sheet frame 71 is located at apart from 711 lower section of adjustable plate,
The end of first positioning strip 751 is provided with screwed hole, and the position of screwed hole exactly corresponds to 712 lower section of strip perforate, spiral shell
Bolt (not shown) can be threadeded with the screwed hole of the first positioning strip through after strip perforate, so that the first positioning
Bar is fixedly connected with the first sheet frame.It is understood that the upper edge in the 3rd sheet frame extends towards bin internal bend
It is formed with apart from adjustable plate, and is fixedly connected also by screw connection manner between the first positioning strip and the 3rd sheet frame.When need adjust
During spacing between the first positioning strip and other positioning strips, need to only looser a bolt, bolt is taken out from screwed hole, you can regulation
The position of the first positioning strip, the final regulation for realizing spacing between different positioning strips.
In addition, in the present embodiment, except being provided with strip perforate on adjustable plate, being additionally provided with some independent little circles
Shape perforate, these round holes can be equally used for adjusting the spacing between different positioning strips.
Automatically the device for shifting bin for product of the present embodiment, its course of work generally comprise two processes：To produce
Process that product are taken out from charging tray and the process that product is inserted into bin.
The process that product is taken out from charging tray is specific as follows：
First, some charging trays 4 equipped with product are placed in the feeding material component 13 of automatic hoisting mechanism 1, drive in work
Under the driving of motivation structure, feeding material component 13 is moved from the bottom to top, until by be located at 13 the top of feeding material component 4 jacking of charging tray extremely
First specified location (i.e. substantially jacking is to 112 location of first level framework), now to be fixed in first spacing for charging tray
In space；Secondly, the second mechanical arm 32 of the first manipulator 3 is moved to product position, the first crawl according to movement locus
Product is held by the vacuum slot in portion 33, and product is moved by second mechanical arm 32 and the first crawl section 33 according still further to another movement locus
Deliver on orientating and conveying mechanisms 5, thus complete the process that product is taken out from charging tray.
In addition, after all over products to be transferred to the first manipulator 3 orientating and conveying mechanisms 5, positioned at feeding material component 13 most
The charging tray 4 of top becomes empty charging tray 4, can now enter to be about to the process that the charging tray 4 of sky is reclaimed.Specifically, in task driven machine
Under the driving of structure, the charging tray clamp assemblies 14 in the first elevating mechanism 1 drop to the first specified location, make to clamp positioned at charging tray
The unidirectional supporting parts 15 of the inner side of component 14 are located just at the charging tray 4 of sky and below in the gap between charging tray, so that unidirectional
Support block in supporting parts 15 is stretched out from storage tank because same polarity mutually repels, and thus unidirectional supporting parts are by empty charging tray support
Rise.After charging tray is lifted up, charging tray clamp assemblies 14 are ramped up from the first specified location, until jacking is to the second specified location
Place, makes the charging tray 4 of sky be located in the second spacing space, and makes the charging tray 4 of sky positioned at the unidirectional supporting parts in the second spacing space
Top, so that unidirectional supporting parts support lives empty charging tray, in the second spacing space and corresponding unidirectional supporting parts collective effect
Under, so that the charging tray of sky is deposited in the second spacing space and be located above unidirectional supporting parts.
Will be specific as follows for process that product is inserted into bin：
After product is transferred on orientating and conveying mechanisms 5, first, under the driving of task driven mechanism, conveying positioning
Product is delivered to the tail end of transfer assembly for mechanism 5, and transfer assembly stops transmission work, and now the second manipulator 6 is according to motion
Track is moved to corresponding to product position, and the second crawl section 63 on the second manipulator 6 turns to lower section, makes the second crawl section
63 vacuum slot faces product, and lifting connecting portion 66 declines, the vacuum slot adsorption production of the second crawl section 63, after absorption,
Lifting connecting portion 66 rises；Then, the 4th mechanical arm 62 of the second manipulator 6 is moved to bin relevant position according to movement locus
Place, the second crawl section 63 carry out 90 ° of rotations, make product face forward, and lifting connecting portion 66 declines, according to the sense of Fibre Optical Sensor
Position is answered, thus the second crawl section 63 completes, by the bin of product insertion relevant position, the process that product is inserted into bin.
Repeat the product process that takes out from charging tray and the process that product is inserted into bin, until all products from
It is transferred in charging tray in bin, realizes the purpose that product shifts bin automatically.
In addition, the task driven mechanism in the present embodiment can be driven to each parts in system using prior art
Dynamic control, this is no longer going to repeat them.
Embodiment three
The present embodiment is different from the structure for differing only in unidirectional supporting parts of embodiment two, specifically：In support block
Magnet is no longer embedded in inner surface and the surface of storage tank, but arranges between the inner surface in support block and the surface of storage tank
The spring of deformation can be recovered, make elastic connection between support block and storage tank.In the case of there is no extraneous applying pressure, due to
The elasticity of spring, makes support block protruding from storage tank, and now the support of support block is faced upwards, can support disposed thereon
The charging tray of side.When extraneous applying pressure is more than the elastic force between support block and storage tank, during support block is housed to storage tank, this
When support block outer surface and supporting parts body outer surface in same plane.
Claims (19)
1. a kind of device for shifting automatically bin for product, it is characterised in that：Including automatic hoisting mechanism and automatic bay machine
Structure, described device also include the first manipulator being arranged on the automatic hoisting mechanism, overlay the automatic hoisting mechanism
In charging tray, and orientating and conveying mechanisms, the second manipulator and the bin being respectively and independently arranged in the automatic bay mechanism,
Described device also include respectively with the automatic hoisting mechanism, the automatic bay mechanism, first manipulator, the conveying
Detent mechanism, second manipulator, the task driven mechanism being electrically connected with, wherein：
The automatic hoisting mechanism is for will be equipped with the charging tray of product by first under the driving of the task driven mechanism
Desired guiding trajectory jacking is to the first specified location；First manipulator is used for be located under the driving of the task driven mechanism
Product in the charging tray of first specified location is moved by the second desired guiding trajectory to be put to the orientating and conveying mechanisms front end；
The orientating and conveying mechanisms are used for, under the driving of the task driven mechanism, the product is delivered to the conveying localization machine
Structure rear end；Second manipulator is used for will be positioned at the orientating and conveying mechanisms rear end under the driving of the task driven mechanism
Product be inserted in the bin by the 3rd desired guiding trajectory.
2. device according to claim 1, it is characterised in that：In the charging tray of first specified location
Product is all moved after putting to the front end of the orientating and conveying mechanisms, and the charging tray becomes the empty charging tray, the automatic liter
Descending mechanism is additionally operable under the driving of the task driven mechanism move the empty charging tray by the 4th desired guiding trajectory and puts to second
Specified location.
3. device according to claim 2, it is characterised in that：The automatic hoisting mechanism include framework, be installed in described
Lifting shaft and the feeding material component being respectively provided on the lifting shaft and charging tray clamp assemblies on framework, the task driven machine
Structure is electrically connected with the feeding material component, the charging tray clamp assemblies respectively, makes the feeding material component, the charging tray clamp assemblies
It is respectively relative to lifting shaft movement.
4. device according to claim 3, it is characterised in that：The framework is enclosed by some sheths and is formed, from described
Extend forward in the middle part of the trailing flank of framework in the horizontal direction and first level framework is formed with, the first level framework corresponds to institute
The first specified location is stated, is extended forward from the trailing flank top of the framework in the horizontal direction and is formed with the second horizontal frame, institute
The second horizontal frame is stated corresponding to second specified location.
5. device according to claim 3, it is characterised in that：The lifting shaft includes independently to be installed in the framework
On the first lifting shaft, the second lifting shaft and the 3rd lifting shaft, wherein, the short transverse along the framework is seen, described first liter
In the middle and lower part of the framework, second lifting shaft and the 3rd lifting shaft are respectively positioned in the framework drop axle position
Portion；Length direction along the framework sees that first lifting shaft is located at the centre of the framework, second lifting shaft and institute
State left side and right side that the 3rd lifting shaft is located at the framework respectively.
6. device according to claim 5, it is characterised in that：First lifting shaft is provided with the first slide rail, by institute
Stating the first slide rail makes the feeding material component be arranged on first lifting shaft；Second lifting shaft and the 3rd lifting shaft
On be respectively equipped with the second slide rail and the 3rd slide rail, the charging tray clamp assemblies are made by second slide rail and the 3rd slide rail
It is arranged on second lifting shaft and the 3rd lifting shaft.
7. device according to claim 6, it is characterised in that：The feeding material component includes supporting part and material conveying platform, institute
The one end for stating supporting part is movably connected on first lifting shaft by first slide rail, makes the supporting part along described first
The axial direction of lifting shaft moves up and down, and the other end of the supporting part is free end；The material conveying platform is horizontal panel, and described
Material conveying platform is vertically located on the supporting part, is provided with vertical through the logical of the material conveying platform on the material conveying platform
Gas port, the extension that raises up from the edge of the material conveying platform are formed with limited block.
8. device according to claim 6, it is characterised in that：The charging tray clamp assemblies include connecting portion and clamping limb,
The connecting portion is string configuration, and the connecting portion is slided by described second respectively along the two ends that its length direction extends
Rail, the 3rd slide rail are movably connected on second lifting shaft, the 3rd lifting shaft, make the connecting portion along described second
The axial direction of lifting shaft and the 3rd lifting shaft moves up and down；The clamping limb is installed in the connecting portion respectively along its length
At the two ends that direction extends, and forward extended out in the horizontal direction at the two ends that its length direction extends from the connecting portion.
9. device according to claim 4, it is characterised in that：The medial surface of the first level framework, charging tray folder
The medial surface for holding the connecting portion of component is respectively equipped with locating part, when the charging tray clamp assemblies drop to and the first level frame
When frame is generally in same level position, the locating part on the medial surface of the first level framework and the charging tray clamp assemblies
Connecting portion medial surface on locating part relative and set, the locating part is collectively forming the first spacing space, and described first is spacing
Space is used for limiting the locus of the charging tray in the horizontal position of the first level framework.
10. device according to claim 4, it is characterised in that：Near the framework on second horizontal frame
Trailing flank region is installed with across fixture, described across fixture along the second horizontal frame length direction across being arranged on
On two sheths of second horizontal frame, the medial surface across fixture, the inner side of second horizontal frame
Face is respectively equipped with the locating part on locating part, and the medial surface of second horizontal frame with the medial surface across fixture
On locating part relative and set, the locating part is collectively forming the second spacing space, and the second spacing space is used for described
The horizontal position of the second horizontal frame limits the locus of the charging tray.
11. devices according to any one of claim 1 to 10, it is characterised in that：Clamping in the charging tray clamp assemblies
Arm is provided with unidirectional supporting parts, and the unidirectional supporting parts include supporting parts body and are flexibly connected with respect to the supporting parts body
Support block, the supporting parts body towards therein depression be formed with size and the storage tank of the support Block- matching, make
The support block is protruding or be housed in the storage tank from the storage tank；The support block is from the storage tank
In protruding when, the support of the support block is faced upwards, when the support block is housed in the storage tank, the support block
Outer surface and the supporting parts body outer surface be in same plane.
12. devices according to claim 11, it is characterised in that：The surface of the storage tank, the interior table of the support block
Magnet is all embedded with face, and is embedded in the magnet on the surface of the storage tank and the magnet for being embedded in the support block inner surface
The two relative magnetic pole is magnetic identical；Or, set between the inner surface of the surface of the storage tank and the support block
There is the spring that can recover deformation, make elastic connection between the storage tank and the support block.
13. devices according to claim 3, it is characterised in that：Water is installed with towards outside the framework on the framework
Flat support, first manipulator are arranged on the horizontal stand, and first manipulator includes for being arranged in a mutually vertical manner
One mechanical arm and second mechanical arm and the first crawl section being arranged in the second mechanical arm；Wherein, first machinery
Arm is fixedly installed on the horizontal stand, and the second mechanical arm is flexibly connected with respect to the first mechanical arm, and described
One crawl section connects with respect to second mechanical activity.
14. devices according to claim 1 or 2 any one, it is characterised in that：The charging tray includes the network of hollow out
With for enclosing the frame of the network, the frame is protruded out downwards and is provided with support block, made up and down by the support block
Gap is formed between the frame of two charging trays of adjacent one another.
15. devices according to claim 1 or 2 any one, it is characterised in that：The automatic bay mechanism includes mechanism master
Body, the support to be formed and the 3rd cunning being installed in the mechanism body is upwardly extended from the mechanism body posterior region
Platform, the orientating and conveying mechanisms are arranged on the mechanism body near the side of the automatic hoisting mechanism, second machinery
Hand is arranged on the bracket, and the bin activity is movably connected on the mechanism body by the 3rd slide unit.
16. devices according to claim 15, it is characterised in that：Second manipulator includes orthogonal 3rd machine
Tool arm, the 4th mechanical arm and the second crawl section of the 4th mechanical arm bottom is arranged on, the three-mechanical arm is installed in
On the support of the automatic bay mechanism, the 4th mechanical arm is flexibly connected with respect to the three-mechanical arm, and described second
Crawl section is flexibly connected with respect to the 4th mechanical arm.
17. devices according to claim 16, it is characterised in that：Second manipulator also includes to be arranged on the described 4th
Fibre Optical Sensor on mechanical arm.
18. devices according to claim 15, it is characterised in that：The bin is enclosed by some sheet frames and is formed, and described
Some positioning strips of the 3rd slide unit length direction being provided with bin parallel to the automatic bay mechanism, the positioning strip two ends
It is connected between two sheet frames for setting relatively.
19. devices according to claim 18, it is characterised in that：The sheet frame of the positioning strip is connected with along own edges court
Be formed with apart from adjustable plate to the bin internal bend is horizontal-extending, some opening is offered in described interval on adjustable plate
Hole, the position of the perforate correspond respectively to the positioning strip.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620810419.8U CN205998648U (en) | 2016-07-28 | 2016-07-28 | A kind of device for shifting automatically bin for product |
| PCT/CN2016/101011 WO2018018751A1 (en) | 2016-07-28 | 2016-09-30 | Device for automatic product transfer rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620810419.8U CN205998648U (en) | 2016-07-28 | 2016-07-28 | A kind of device for shifting automatically bin for product |
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| Publication Number | Publication Date |
|---|---|
| CN205998648U true CN205998648U (en) | 2017-03-08 |
Family
ID=58201963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620810419.8U Active CN205998648U (en) | 2016-07-28 | 2016-07-28 | A kind of device for shifting automatically bin for product |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN205998648U (en) |
| WO (1) | WO2018018751A1 (en) |
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