CN211920179U

CN211920179U - Tray transfer device

Info

Publication number: CN211920179U
Application number: CN202020462797.8U
Authority: CN
Inventors: 陈华明; 彭博; 李俊; 田波
Original assignee: Truking Technology Ltd
Current assignee: Truking Technology Ltd
Priority date: 2020-04-01
Filing date: 2020-04-01
Publication date: 2020-11-13
Anticipated expiration: 2030-04-01

Abstract

The utility model discloses a tray transfer device, including manipulator, transportation anchor clamps, tray input track, tray output track, tray frame input track and tray frame output track, the transportation anchor clamps include anchor clamps frame, a pair of loading and unloading dish mechanism and a pair of loading and unloading frame mechanism, anchor clamps frame with the manipulator links to each other, and is a pair of loading and unloading frame mechanism divides locates the both ends of anchor clamps frame, and is a pair of loading and unloading dish mechanism locates between a pair of loading and unloading frame mechanism. The utility model has the advantages of simple and compact structure, low cost, non-deformation, smooth operation and the like.

Description

Tray transfer device

Technical Field

The utility model relates to a food, medicine packaging machinery especially relate to a tray transfer device.

Background

The existing preparation products are mainly stacked with trays and loading and unloading vehicles in a manual mode or a mechanical mode for sterilization and transportation. The required equipment is many, and area is big, and the structure is complicated, the fault point is many, and the sterilization tray is easy to be out of shape in transportation process, and entire system operation is smooth and easy inadequately.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome the not enough of prior art, provide a simple structure, compactness, with low costs, non-deformable, the smooth tray transfer device of operation.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the utility model provides a tray transfer device, includes the manipulator, transports anchor clamps, tray input track, tray output track, tray frame input track and tray frame output track, transport anchor clamps and include anchor clamps frame, a pair of loading and unloading dish mechanism and a pair of loading and unloading frame mechanism, anchor clamps frame with the manipulator links to each other, and is a pair of loading and unloading frame mechanism divides the both ends of locating anchor clamps frame, and is a pair of loading and unloading dish mechanism locates between a pair of loading and unloading frame mechanism.

As a further improvement of the above technical solution: the loading and unloading frame mechanism comprises loading and unloading frame clamping jaws and a rotating shaft used for driving the loading and unloading frame clamping jaws to overturn up and down, the rotating shaft is arranged on the clamp frame, and the loading and unloading frame clamping jaws are arranged on the rotating shaft.

As a further improvement of the above technical solution: the loading and unloading frame clamping jaws are provided with two clamping jaws which are respectively arranged at two ends of the rotating shaft.

As a further improvement of the above technical solution: the loading and unloading disc mechanism comprises a slide rail, a slide block and an loading and unloading disc clamping jaw, the slide rail can reciprocate along the slide rail, the slide rail is arranged on the clamp frame, and the loading and unloading disc clamping jaw is arranged on the slide block.

As a further improvement of the above technical solution: the slide rail and the slide block are both provided with two blocks which are arranged in a one-to-one correspondence manner, a connecting plate is arranged between the two slide blocks, and the two loading and unloading disc clamping claws are respectively arranged at two ends of the connecting plate.

Compared with the prior art, the utility model has the advantages of: the utility model discloses a tray transfer device, adopt the manipulator to combine to transport anchor clamps and realize the loading and unloading of tray and tray frame, it has a pair of loading and unloading dish mechanism and a pair of loading and unloading frame mechanism to integrate on the transport anchor clamps, a pair of loading and unloading dish mechanism can snatch the tray that the tray input track was carried over and pack into the tray frame one by one, or take out each tray in the tray frame one by one and shift to the tray output track, a pair of loading and unloading frame mechanism can shift the tray frame to the tray frame output track and pile up neatly, or stack up the tray frame layer by layer unstacking of piling up that the tray frame input track was carried over into the buttress, be used for follow-up tray to pack into; the tray adopts the tray frame bearing, and the tray frame is then pile up neatly layer upon layer, and simple structure, reliable has prevented effectively that the tray from taking place the problem of deformation easily, is favorable to keeping the operation of sterilization logistics system smooth and easy.

Drawings

Fig. 1 is a schematic view of the structure of the tray transferring device of the present invention.

FIG. 2 is a schematic view of the side view structure of the tray transferring device of the present invention

Fig. 3 is a schematic perspective view of the transfer fixture of the present invention.

Fig. 4 is a partially enlarged view of fig. 3.

Fig. 5 is a schematic structural diagram of the tray transferring device of the present invention applied to a low-speed sterilization logistics system.

Fig. 6 is a schematic flow chart of the tray transferring device of the present invention applied to a low-speed sterilization logistics system.

Fig. 7 is a schematic view of the operation flow of the robot of the present invention.

FIG. 8 is a schematic structural view of a return track of the present invention

Fig. 9 is a schematic structural diagram of the tray transfer device of the present invention applied to a high-speed sterilization logistics system.

Fig. 10 is a schematic flow chart of the tray transfer device applied to the high-speed sterilization logistics system.

Fig. 11 is a schematic view of the operation flow of the two manipulators according to the present invention.

The reference numerals in the figures denote: 1. a manipulator; 2. transferring a clamp; 21. a clamp frame; 22. a tray loading and unloading mechanism; 221. a slide rail; 222. a slider; 223. loading and unloading a tray clamping jaw; 224. a connecting plate; 23. a loading and unloading frame mechanism; 231. a loading and unloading frame clamping jaw; 232. a rotating shaft; 3. a tray; 4. a tray rack; 5. a tray input track; 6. a tray output track; 7. a pallet rack input track; 8. a tray rack output track; 9. a tray loader; 10. entering a cabinet cache area; 11. a sterilization cabinet; 12. a cabinet-out cache area; 13. an empty buffer area; 14. an AGV transfer vehicle; 15. caching tracks in an empty disk; 151. a disc stacking machine; 152. a tray dismounting machine; 16. a disc unloading machine; 17. sterilizing the trolley; 18. an empty transfer track; 19. the tray flows back to the track.

Detailed Description

The invention is described in further detail below with reference to the drawings and specific examples.

Example one

Fig. 1 to 8 show an embodiment of the tray transfer device of the present invention, the tray transfer device of this embodiment, including manipulator 1, transfer anchor clamps 2, tray input track 5, tray output track 6, tray frame input track 7 and tray frame output track 8, transfer anchor clamps 2 include anchor clamps frame 21, a pair of loading and unloading dish mechanism 22 and a pair of loading and unloading frame mechanism 23, anchor clamps frame 21 links to each other with manipulator 1, and a pair of loading and unloading frame mechanism 23 divides locates the both ends of anchor clamps frame 21, and a pair of loading and unloading dish mechanism 22 locates between a pair of loading and unloading frame mechanism 23.

The pallet transferring device adopts a manipulator 1 combined with a transferring clamp 2 to realize the loading and unloading of a pallet 3 and a pallet frame 4, the transferring clamp 2 is integrated with a pair of loading and unloading tray mechanisms 22 and a pair of loading and unloading frame mechanisms 23, the pair of loading and unloading tray mechanisms 22 can grab and load the pallets 3 conveyed by a pallet input track 5 into the pallet frame 4 one by one, or take out and transfer the pallets 3 in the pallet frame 4 to a pallet output track 6 one by one, the pair of loading and unloading frame mechanisms 23 can transfer the pallet frame 4 to a pallet frame output track 8 for stacking and unstacking, or unstacking the stacked pallet frames 4 conveyed by a pallet frame input track 7 layer by layer for loading the subsequent pallets 3 into the pallets; tray 3 adopts the bearing of tray frame 4, and tray frame 4 is then pile up neatly layer upon layer, and simple structure, reliable has prevented tray 3 problem of taking place the deformation easily effectively, is favorable to keeping the operation of sterilization logistics system smooth and easy.

Further, in the present embodiment, the mounting/demounting frame mechanism 23 includes a mounting/demounting frame jaw 231 and a rotating shaft 232 for driving the mounting/demounting frame jaw 231 to be turned upside down, the rotating shaft 232 is provided on the jig frame 21, and the mounting/demounting frame jaw 231 is provided on the rotating shaft 232. Before the tray frame 4 is grabbed, the rotating shaft 232 drives the loading and unloading frame clamping jaw 231 to turn to a high position to make room for the lower space, and after the manipulator 1 drives the loading and unloading frame mechanism 23 to take place, the rotating shaft 232 drives the loading and unloading frame clamping jaw 231 to turn to a low position to realize grabbing of the tray frame 4; after the transfer is completed, the rotating shaft 232 drives the loading and unloading frame clamping jaw 231 to turn upwards again, and the tray frame 4 can be separated from the loading and unloading frame clamping jaw 231. The mount/dismount mechanism 23 is simple and reliable in structure, and does not affect the operation of the mount/dismount mechanism 22. The two rotating shafts 232 can be respectively connected to the driving member and keep synchronous movement, or can be synchronously moved by a synchronous belt or other mechanisms.

In the present embodiment, preferably, two attachment/detachment frame jaws 231 are provided and are provided at both ends of the rotary shaft 232. When grabbing the tray frame 4, four total loading and unloading frame clamping jaws 231 act on the tray frame 4, so that the stability is better.

Further, in the present embodiment, the disk loading and unloading mechanism 22 includes a slide rail 221, a slider 222 capable of reciprocating along the slide rail 221, and a disk loading and unloading gripping jaw 223, the slide rail 221 is provided on the jig frame 21, and the disk loading and unloading gripping jaw 223 is provided on the slider 222. Grabbing the pallet 3, wherein the two sliding blocks 222 are far away from each other to drive the loading and unloading tray clamping jaws 223 at the two sides to be far away from each other, so that a middle space is reserved, after the manipulator 1 drives the loading and unloading tray mechanism 22 to be in place, the two sliding blocks 222 are close to each other to drive the loading and unloading tray clamping jaws 223 at the two sides to be close to each other, and grabbing of the pallet 3 is realized; after the pallet is transferred to the proper position, the two sliders 222 are separated from each other again to drive the loading and unloading tray clamping jaws 223 at the two sides to be separated from each other, and the pallet 3 can be separated from the loading and unloading tray clamping jaws 223. The structure of the tray assembly mechanism 22 is simple and reliable. The slider 222 may be moved back and forth by an air cylinder or the like.

In the preferred embodiment, two slide rails 221 and two sliders 222 are disposed in one-to-one correspondence, a connecting plate 224 is disposed between the two sliders 222, and two loading/unloading tray clamping jaws 223 are disposed at two ends of the connecting plate 224. When grabbing the tray 3, four total loading and unloading tray clamping jaws 223 act on the tray 3, and the stability is better.

The low-speed sterilization stream system includes: the tray loading machine 9, the tray transfer device, the cabinet entering buffer zone 10, the sterilizing cabinet 11, the cabinet discharging buffer zone 12, the empty vehicle buffer zone 13, the AGV transfer trolley 14, the empty tray buffer track 15, the tray unloading machine 16 and the sterilizing trolley 17. The tray loader 9 is in butt joint with the manipulator 1 through the tray input track 5, the manipulator 1 is in butt joint with the tray unloader 16 through the tray output track 6, empty trays 3 obtained after the tray unloader 16 unloads can flow back to the tray loader 9 through the tray return track 19 (the tray return track 19 is preferably arranged with the tray input track 5 and the tray output track 6 in an upper-lower layer mode, and space is saved) and are used for circularly loading, the empty tray buffer track 15 is arranged between the tray loader 9 and the tray unloader 16, the two ends of the empty tray buffer track are respectively provided with the tray stacker 151 and the tray unloader 152, the empty vehicle transfer track 18 is arranged between the tray rack input track 7 and the tray rack output track 8, and the AGV transfer vehicle 14 transfers among the tray rack input track 7, the tray rack output track 8, the cabinet entering buffer area 10, the cabinet exiting buffer area 12 and the empty vehicle buffer area 13. The working process is as follows:

1) the fully sterilized trolley 17 which finishes sterilization is conveyed to the manipulator 1 through the AGV transfer trolley 14, the manipulator 1 sequentially grabs the trays 3 and the empty tray racks 4 which are loaded with full products to set positions for unloading (taking out the trays 3 from the tray racks 4 one by one) and unstacking (taking out stacked tray racks 4 layer by layer), and the unloaded tray racks 4 are transferred to a tray rack output track 8 or transferred to an empty vehicle buffer area 13 for buffer storage and standby;

2) the trays 3 filled with the products are conveyed to a tray unloading machine 16 by a tray output rail 6 one by one for unloading the trays and discharging bottles, the products flow into the next working procedure, and the emptied trays 3 are conveyed to a tray loading machine 9 for recycling through a tray return rail 19 in a backflow mode or conveyed to an empty tray cache rail 15 for caching for standby;

3) filling the sealed preparation product to be sterilized into the tray 3 through the tray filling machine 9;

4) the tray 3 filled with the product to be sterilized is output to a set position by the tray input track 5;

5) the manipulator 1 sequentially grabs an empty tray rack 4 and a tray 3 loaded with products for loading (loading the tray 3 into the tray rack 4) and stacking (stacking the tray racks 4 layer by layer);

6) after the loading and stacking are finished, the AGV transfer trolley 14 is conveyed to the cabinet entering cache region 10 after being filled with the vehicles, then enters the sterilizing cabinet 11 through the cabinet entering conveying track for sterilization, is output through the cabinet exiting conveying track after the sterilization is finished, and enters the cabinet exiting cache region 12 for caching.

The low-speed sterilization logistics system adopts the mechanical arm 1 combined with the AGV transfer vehicle 14, realizes the full-automatic online sterilization circulating conveying of the preparation products, and greatly improves the automation degree of the system.

Example two

Fig. 9 to fig. 11 show the second application embodiment of the tray transfer device of the present invention, which is basically the same as the first application embodiment, except that the present embodiment is applied to a high-speed sterilization logistics system, and the corresponding above tray transfer device is provided with two, and the empty car transfer track 18 and the empty tray buffer track 15 are not set. The working process is as follows:

1) filling the sealed preparation product to be sterilized into the tray 3 through the tray filling machine 9;

2) the tray 3 filled with the products is output to a set position by a tray input track 5;

3) the empty sterilization trolley 17 is conveyed to the manipulator 1 through the tray frame input track 7, the manipulator 1 sequentially grabs the empty trays 3 and the empty tray frames 4 and puts the empty trays 3 and the empty tray frames 4 to a set position for unloading and unstacking, the empty trays 3 are conveyed to the tray loader 9 in a backflow mode for recycling, and then the trays 3 filled with products are grabbed from the set position and put into the tray frames 4 for loading and stacking;

4) after loading and stacking are finished, the AGV transfer vehicle 14 conveys full vehicles on the pallet rack output track 8 to the cabinet entering cache region 10, then enters the sterilizing cabinet 11 through the cabinet entering conveying track for sterilization, is output through the cabinet exiting conveying track after sterilization is finished, and enters the cabinet exiting cache region 12 for caching;

5) conveying the full pallet to another mechanical arm 1, sequentially grabbing the pallets 3 loaded with full products and the empty pallet frames 4 to set positions for unloading and unstacking through the mechanical arm 1, grabbing the empty pallets 3 from the set positions and loading the empty pallets 3 into the pallet frames 4 for loading and stacking to be recycled to the step 3, or transferring the empty pallets to an empty pallet buffer area 13 for buffer storage and standby;

6) the tray 3 loaded with full products is sequentially conveyed to the tray unloading machine 16 by the tray output rail 6 to be unloaded and discharged, the products flow to the next process, and the empty tray 3 is conveyed to the manipulator 1 by the tray input rail 5 to be loaded with the empty tray 3.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The technical solution of the present invention can be used by anyone skilled in the art to make many possible variations and modifications, or to modify equivalent embodiments, without departing from the scope of the technical solution of the present invention, using the technical content disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical entity of the present invention should fall within the protection scope of the technical solution of the present invention.

Claims

1. A pallet transfer device, characterized in that: including manipulator (1), transport anchor clamps (2), tray input track (5), tray output track (6), tray frame input track (7) and tray frame output track (8), transport anchor clamps (2) including anchor clamps frame (21), a pair of loading and unloading dish mechanism (22) and a pair of loading and unloading frame mechanism (23), anchor clamps frame (21) with manipulator (1) links to each other, and is a pair of loading and unloading frame mechanism (23) branch locates the both ends of anchor clamps frame (21), and is a pair of loading and unloading dish mechanism (22) are located between a pair of loading and unloading frame mechanism (23).

2. The pallet transfer apparatus of claim 1, wherein: the loading and unloading frame mechanism (23) comprises loading and unloading frame clamping jaws (231) and a rotating shaft (232) used for driving the loading and unloading frame clamping jaws (231) to overturn up and down, the rotating shaft (232) is arranged on the clamp frame (21), and the loading and unloading frame clamping jaws (231) are arranged on the rotating shaft (232).

3. The pallet transfer apparatus of claim 2, wherein: the two clamping jaws (231) of the loading and unloading frame are arranged at two ends of the rotating shaft (232).

4. The pallet transfer device of claim 1, 2 or 3, wherein: the disc loading and unloading mechanism (22) comprises a slide rail (221), a slide block (222) capable of reciprocating along the slide rail (221), and a disc loading and unloading clamping jaw (223), wherein the slide rail (221) is arranged on the clamp frame (21), and the disc loading and unloading clamping jaw (223) is arranged on the slide block (222).

5. The pallet transfer device of claim 4, wherein: the sliding rails (221) and the sliding blocks (222) are arranged in a one-to-one correspondence mode, a connecting plate (224) is arranged between the two sliding blocks (222), and the two loading and unloading disc clamping jaws (223) are arranged at two ends of the connecting plate (224).