CN212580927U - Automatic unloading equipment of going up of ceramic plate - Google Patents
Automatic unloading equipment of going up of ceramic plate Download PDFInfo
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- CN212580927U CN212580927U CN202021490755.1U CN202021490755U CN212580927U CN 212580927 U CN212580927 U CN 212580927U CN 202021490755 U CN202021490755 U CN 202021490755U CN 212580927 U CN212580927 U CN 212580927U
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Abstract
The invention relates to automatic ceramic plate feeding and discharging equipment which comprises a material box feeding mechanism, a material box lifting servo mechanism, a material box servo positioning mechanism, a positioning and shaping mechanism, a robot, a tray and a control system, wherein the material box feeding mechanism, the material box lifting servo mechanism, the material box servo positioning mechanism, the positioning and shaping mechanism, the robot, the tray and the control system are installed on a tray frame. The automatic ceramic plate feeding and discharging device occupies a small area, can automatically transfer ceramic plates in the material box to the tray to realize feeding, and can transfer the ceramic plates from the tray to the material box to realize discharging, so that the efficiency of feeding and discharging the ceramic plates is greatly improved, and the labor intensity of workers is reduced. The automatic feeding and discharging process improves the accuracy of the placement position of the ceramic plate, and further improves the qualification rate of the assembly. The automatic production capacity is improved for automobile pressure sensor manufacturing enterprises, and the intelligent manufacturing production capacity of the enterprises is further improved.
Description
Technical Field
The invention relates to the field of automatic production, in particular to automatic ceramic plate feeding and discharging equipment.
Background
The pressure sensor is widely applied to automobile sensors, wherein the ceramic plate is used as a bearing substrate of a chip and participates in the assembly process of the pressure sensor for many times, and the processes of pasting, glue pouring, curing and the like are involved. In order to complete these processes, the ceramic plate needs to be loaded and unloaded multiple times. At present, the feeding and discharging of ceramic plates are generally manually operated, and the following problems exist: 1. the working efficiency is low, and the automation degree is not high; 2. the labor intensity of an operator is high, so that the production cost in the assembly process is high; 3. the product qualification rate can be reduced by manually operating ceramic plate feeding and discharging; 4. the manual automatic feeding and discharging of the ceramic plates are relatively dispersed in all the processes, and cannot be intensively processed, so that all the devices are relatively dispersed, and the occupied space is relatively large.
Disclosure of Invention
The invention provides high-efficiency ceramic plate automatic feeding and discharging equipment aiming at least one technical problem in the prior art. The automatic ceramic plate feeding and discharging equipment comprises a mounting frame, a material box feeding mechanism, a material box lifting servo mechanism material box servo positioning mechanism, a positioning and shaping mechanism, a robot, a tray frame and a control system; the material box feeding mechanism, the material box lifting servo mechanism, the material box servo positioning mechanism, the positioning shaping mechanism and the robot are electrically connected with the control system;
the material box feeding mechanism, the material box lifting servo mechanism, the material box servo positioning mechanism, the positioning shaping mechanism and the robot are arranged on the mounting frame. The material box feeding mechanism comprises a material box, a groove penetrating through the material box is formed in the material box, and the material box is movably mounted on the material box feeding mechanism and can do linear motion on the material box feeding mechanism (3); the material box lifting servo mechanism is arranged at one end of the material box feeding mechanism, and a clamp is arranged at the output end of the material box lifting servo mechanism and can clamp the material box from the material box feeding mechanism and reciprocate along the vertical direction;
the magazine servo positioning mechanism comprises a first push plate and a second push plate which are oppositely arranged on the same horizontal plane, the first push plate and the second push plate are positioned on two sides of the magazine lifting servo mechanism, the first push plate and the second push plate are matched with grooves in the magazine and can do linear reciprocating motion along the direction of the grooves, and a boat carrying table is arranged between the first push plate and the magazine lifting servo mechanism.
The tray is placed on the tray frame; the positioning and shaping mechanism, the boat carrying platform and the tray frame are arranged in a movable area of the robot, and a vision detection positioning system is further installed on the cantilever of the robot.
The automatic feeding and discharging device for the ceramic plates is small in occupied area, feeding can be achieved by automatically transferring the ceramic plates in the material boxes to the tray, discharging can be achieved by transferring the ceramic plates from the tray to the material boxes, feeding and discharging of the ceramic plates can reach 10-second beats, feeding and discharging efficiency of the ceramic plates is greatly improved, and labor intensity of workers is reduced.
The automatic feeding and discharging process improves the accuracy of the ceramic plate placing position, and further improves the assembly qualification rate of the pressure sensor.
The automatic ceramic plate feeding and discharging equipment is very strong in universality and can be suitable for automatic feeding and discharging of nearly 20 ceramic plates. The material boxes, the carrier boats and the trays of the same type can be adapted to various ceramic plates, and the applicability of the equipment can be further enhanced by replacing the material boxes, the carrier boats and the trays of different specifications.
The ceramic plate feeding and discharging device is simple in operation, only needs to select a corresponding product on a touch screen working interface when the ceramic plate feeding and discharging device is opened, program control automatic feeding and discharging actions matched with the ceramic plate can be automatically called, the whole automation degree is higher, manual direct contact is not needed in the whole process, and the production quality of the product is greatly improved. The equipment can be compatible with a manufacturing enterprise production process execution management system (MES), so that the information such as the inventory of the ceramic plate, the equipment running condition and the like can be provided in real time, and the automation degree of the whole automobile pressure sensor production workshop is improved.
The expansibility is strong, and all procedures related to the ceramic plate in the assembling process of the automobile pressure sensor can be in seamless butt joint with the equipment.
The equipment is not only limited to automatic feeding and discharging of the ceramic plate, but also suitable for other square sheets, can be seamlessly butted with various automatic production equipment such as a high-speed automatic chip mounter and the like, and has wide application scenes.
Furthermore, a baffle is arranged on one side of the boat-carrying platform, a positioning component is arranged on the other side of the boat-carrying platform, and the positioning component comprises a movable baffle and a driving device connected with the movable baffle.
The efficiency of the carrier transferring between the material box and the carrier platform can be improved by arranging the baffle.
Furthermore, two rollers are installed at one end, close to the boat carrying platform, of the first push plate, and a roller set is arranged below the second push plate.
The push plate can be more stable in the process of pushing the boat.
Further, the magazine feeding mechanism comprises a guide rail, a magazine arranged on the guide rail and a magazine driving device used for driving the magazine to move.
The assembly has simple structure and small volume.
Further, magazine feed mechanism is bilayer structure.
The upper layer structure is used for containing the material box transferred from the clamp to the guide rail, the lower layer structure is used for containing the material box transferred from the guide rail to the clamp, the upper layer structure and the lower layer structure have different functions, equipment can be simplified, and the processing speed of the ceramic plate can be increased.
Further, the robot is 6 industrial robot, the robot is installed vacuum chuck in the rotation of 6 th epaxial.
The vacuum chuck can quickly adsorb and put down the ceramic plate.
Furthermore, the positioning and shaping mechanism comprises an L-shaped first positioning plate, two mutually perpendicular second positioning plates and a third positioning plate, a driving device connected with the first positioning plate, and a driving device connected with the second positioning plate.
The positioning and shaping mechanism is simple in structure and low in failure rate, and can realize quick positioning of the ceramic plate.
Furthermore, a pressure sensor is arranged at the tail end of the second push plate far away from the first push plate.
The second push plate can be prevented from generating pressure overload when pushing the boat, and equipment can be protected.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a perspective view of the present invention (structure within the sheet metal cover);
FIG. 3 is a top view of the present invention (structure within the sheet metal cover);
FIG. 4 is a perspective view of the cartridge of the invention;
FIG. 5 is a left side view of the cartridge of the invention;
FIG. 6 is a view of an embodiment of the boat of the present invention;
FIG. 7 is another embodiment of a boat of the present invention;
FIG. 8 is a right side view of the magazine feed mechanism and magazine extraction servo mechanism of the present invention;
FIG. 9 is a perspective view of the magazine feed mechanism and magazine extraction servo mechanism of the present invention;
FIG. 10 is an enlarged view of a portion of the magazine servo-positioning mechanism of the present invention;
FIG. 11 is a perspective view of the positioning and shaping mechanism of the present invention;
FIG. 12 is a perspective view of the tray of the present invention;
fig. 13 is a front view of the robot of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1 mounting rack, 2 material boxes, 2-1 groove, 3 material box feeding mechanisms, 3-1 guide rail, 3-3 limiting components, 3-4 fence plates, 3-5 lower layer material box driving devices, 3-6 lower layer material box push rods, 3-7 upper layer material box push rod driving devices, 3-8 upper layer material box push rods, 4 material box lifting servo mechanisms, 4-1 upright posts, 4-2 servo motors, 4-3 clamps, 4-3-1 upper clamps, 4-3-2 lower clamps, 4-3-3 upper clamp driving devices, 5 material box servo positioning mechanisms, 5-1 first push plates, 5-1-1 rollers, 5-1-2 first push plate driving devices, 5-2 second push plates and 5-2-2 second push plate driving devices, 5-2-3 pressure sensor, 5-3 boat carrying table, 5-5 baffle plate, 5-6 positioning component, 5-6-1 movable baffle plate, 5-6-2 movable baffle plate driving device, 6 positioning shaping mechanism, 6-1 first positioning plate, 6-2 second positioning plate, 6-3 third positioning plate, 6-4 second positioning plate driving device, 6-5 third positioning plate driving device, 7 robot, 7-1 vacuum chuck, 7-2 visual detection positioning system, 8 tray, 8-1 outer frame, 8-2 ceramic plate containing cavity, 9 tray frame, 10 boat carrying body, 10-1 containing cavity, 12 sheet metal cover, 13 display, 14 keyboard and 15 universal wheel.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As can be seen from fig. 1, the automatic ceramic plate feeding and discharging device of the present invention is installed in a sheet metal cover 12, a keyboard 14 of an operation control system and a display 13 are installed on the right side of the sheet metal cover 12, and a universal wheel 15 with a locking function is also installed at the bottom of the sheet metal cover for facilitating the movement of the device.
As can be seen from fig. 2 and 3, the automatic ceramic plate loading and unloading device of the present invention includes a mounting frame 1, a magazine feeding mechanism 3, a magazine lifting servo mechanism 4, a magazine servo positioning mechanism 5, a positioning and shaping mechanism 6, a robot 7, a tray 8, a tray frame 9, and a control system. The material box feeding mechanism 3, the material box lifting servo mechanism 4, the material box servo positioning mechanism 5, the positioning shaping mechanism 6 and the robot 7 are all electrically connected with a control system.
The material box feeding mechanism 3, the material box lifting servo mechanism 4, the material box servo positioning mechanism 5, the positioning shaping mechanism 6 and the robot 7 are arranged on the mounting frame 1.
The magazine lifting servo mechanism 4 is arranged at one end of the magazine feeding mechanism 3, the output end of the magazine lifting servo mechanism 4 is provided with a clamp 4-3, and the clamp 4-3 can clamp the magazine 2 to reciprocate along the vertical direction to realize the lifting of the magazine 2.
The material box feeding mechanism 3 comprises a material box 2, a groove 2-1 penetrating through the material box is arranged in the material box 2, the structure of the material box 2 is shown in figures 4 and 5, and the material box 2 has various models with different sizes. The carrier 10 is a carrier for placing ceramic plates, is matched with the groove 2-1 and can be clamped in the groove 2-1, the carrier 10 has different specifications in order to be suitable for material boxes 2 of different types, two types of carriers 10 are shown in figures 6 and 7, a plurality of ceramic plate containing cavities 10-1 are formed in the carrier 10, and one ceramic plate can be placed in each containing cavity 10-1.
The structure of the material box feeding mechanism 3 is shown in figures 8 and 9, and the material box feeding mechanism has the functions of placing the material box 2 and driving the material box 2 to do linear motion, so that the material box 2 is close to or far away from the material box to lift the servo mechanism 4, and a ball screw sliding table assembly can be adopted. The structure in this embodiment is preferably: the material box feeding mechanism 3 is divided into an upper layer and a lower layer, the upper layer and the lower layer are both provided with a guide rail 3-1 for placing the material box 2, and fence plates 3-4 arranged at two sides of the guide rail 3-1. The upper layer guide rail 3-1 is used for placing the material box 2 which is lifted from the material box by the servo mechanism 4 and transferred to the material box feeding mechanism 3. The upper-layer material box push rod driving device 3-7 drives the upper-layer material box push rod 3-8 to push the material box 2, so that the material box 2 is transferred to the guide rail 3-1 from the clamp 4-3. And a limiting component 3-3 for preventing the material box 2 from being separated from the guide rail 3-1 is also arranged at one end of the upper layer guide rail 3-1 far away from the material box lifting servo mechanism 4. The lower-layer guide rail 3-1 is used for placing a material box 2 transferred from the material box feeding mechanism 3 to the material box lifting servo mechanism 4, a lower-layer material box driving device 3-5 is arranged below the lower-layer guide rail 3-1, a plurality of L-shaped lower-layer material box push rods 3-6 are fixedly arranged on the lower-layer material box driving device 3-5, and the material box 2 can be pushed into the clamp 4-3 from the guide rail 3-1 by the lower-layer material box push rods 3-6 under the driving of the lower-layer material box driving device 3-5. The lower-layer material box driving device 3-5 and the upper-layer material box push rod driving device 3-7 are preferably cylinders.
The material box lifting servo mechanism 4 comprises an upright post 4-1 vertically arranged on the mounting rack 1, a servo motor 4-2 arranged on the upright post, a sliding block connected with the upright post 4-1 in a sliding way, and a clamp 4-3 fixedly connected with the sliding block. The clamp 4-3 is preferably a pneumatic clamp, the clamp 4-3 is divided into an upper clamp 4-3-1, a lower clamp 4-3-2 and a clamp driving device 4-3-3, the cross section of the lower clamp 4-3-2 is L-shaped, the upper clamp 4-3-1 can move up and down in the vertical direction under the driving of the clamp driving device 4-3-3, when the upper clamp 4-3-1 moves down to be closed with the lower clamp 4-3-2, a formed clamp opening is adapted to the height of the magazine 2, the magazine 2 can be clamped in the clamp 4-3, and the clamp driving device 4-3-3 is preferably a cylinder. After the material box 2 is clamped, the servo motor 4-2 can drive the clamp 4-3 to lift along the upright post, so that the material box 2 is driven to lift. The control system can control the servo motor 4-2 to accurately position the magazine 2 held in the clamp 4-3 so that the first push plate 5-1 or the second push plate 5-2 is aligned with the groove 2-1 in the magazine 2.
The magazine servo positioning mechanism 5 comprises a first push plate 5-1 and a second push plate 5-2 which are arranged on the same horizontal plane and are opposite to each other, the first push plate 5-1 and the second push plate 5-2 are positioned on two sides of the magazine lifting servo mechanism 4, and the first push plate 5-1 and the second push plate 5-2 are matched with the groove 2-1 on the magazine 2 and can do linear reciprocating motion along the direction of the magazine lifting servo mechanism 4. A boat carrying table 5-3 for placing a boat 10 is arranged between the first push plate 5-1 and the magazine lifting servo mechanism 4, and one end of the second push plate 5-2 close to the magazine lifting servo mechanism 4 is also provided with a pressure sensor 5-2-3. The control system controls the material box to lift the servo motor 4-2 of the servo mechanism 4, alignment of the second push plate 5-2 or the first push plate 5-1 and the groove 2-1 is achieved, when the second push plate 5-2 pushes the carrier 10 out of the material box 2, if a load overload phenomenon occurs, the pressure sensor 5-2-3 feeds back a signal to the control system, and the control system can control the second push plate 5-2 to stop pushing, so that the function of protecting equipment is achieved.
The first push plate 5-1 can push the carrier 10 into the groove 2-1 of the material box 2 from the carrier platform 5-3 under the driving of the first push plate driving device 5-1-2, and in order to make the pushing process of the first push plate 5-1 more stable, two rollers 5-1-1 are arranged at the end part of the first push plate 5-1. The second push plate 5-2 can push the boat 10 from the material box 2 to the boat-carrying platform 5-3 under the driving of the second push plate driving device 5-2-2, in order to make the pushing process of the second push plate 5-2 more stable, a roller set is arranged under the second push plate 5-2, the roller set is arranged in the prior art and is not shown in the figure.
The vacant site of the mounting bracket 1 is also provided with a positioning and shaping mechanism 6, the structure of which is shown in figure 11 and comprises an L-shaped first positioning plate 6-1, two second positioning plates 6-2 and a third positioning plate 6-3 which are vertical to each other, a second positioning plate driving device 6-4 connected with the second positioning plate 6-2 and a third positioning plate driving device 6-5 connected with the third positioning plate 6-3. The second positioning plate driving device 6-4 and the third positioning plate driving device 6-5 are preferably air cylinders. The positioning and shaping mechanism 6 has a deviation rectifying function, and the placing position of the ceramic plate can be preliminarily corrected through a positioning cavity formed by the first positioning plate 6-1, the second positioning plate 6-2 and the third positioning plate 6-3.
The tray 8 is placed on the tray frame 9; the positioning and shaping mechanism 6, the boat carrying platform 5-3 and the tray frame 9 are arranged in the stroke range of the robot 7, and a visual detection positioning system 7-2 is further installed on a cantilever of the robot 7.
Referring to fig. 12, a perspective view of the tray 8, the tray 8 includes an outer frame 8-1 and a plurality of ceramic board receiving chambers 8-2 provided in the outer frame 8-1, and one ceramic board can be placed in each of the ceramic board receiving chambers 8-2. The trays 8 are also of different types, and the trays 8 of different types have the same structure, but the size of the outer frame 8-1 is different.
The robot 7 is a prior art, and a commercially available 6-axis industrial robot can be adopted, and a vacuum chuck 7-1 is rotatably arranged on the 6 th axis of the robot 7. The robot 7 is also provided with a visual detection positioning system 7-2, and the visual detection positioning system 7-2 is an industrial camera. The visual inspection positioning system 7-2 mainly performs a recognition function and a positioning function. After the equipment is started, the model of the ceramic plate is identified through the visual detection positioning system 7-2, so that a feeding and discharging control program is automatically selected. When the vacuum chuck 7-1 takes and places the ceramic plate in the containing cavity of the carrier 10, the vision detection positioning system 7-2 can precisely adjust the taking and placing direction of the ceramic plate, so that the ceramic plate can be quickly taken out or placed in the containing cavity of the carrier 10. Similarly, the visual inspection positioning system 7-2 can also assist the vacuum chuck 7-1 in picking and placing the ceramic plate on the tray 8.
The control system is a computer and an electric control device and is arranged in the cabinet body below the mounting rack 1.
A plurality of boats 10 may be mounted in the magazine 2, and the boats 10 may be loaded with ceramic plates so as to be placed in the magazine 2. The process of transferring the ceramic plates placed in magazine 2 to tray 8 is called loading and, vice versa, unloading.
The working principle of the feeding process is as follows: the visual inspection positioning system 7-2 identifies the model number of the ceramic plate on the tray 8 or the boat 10 and selects a loading program. The magazine 2 provided with the ceramic plates is sequentially arranged on a lower guide rail 3-1 of a magazine feeding mechanism 3 through a manual or ceramic plate automatic feeding and discharging device, a lower magazine driving device 3-5 drives a lower magazine push rod 3-6 to convey the magazine 2 to one end, close to the magazine lifting servo mechanism 4, of the lower guide rail 3-1, a servo motor 4-2 moves a clamp 4-3 to a lower clamp 4-3-2 to be flush with the lower guide rail 3-1, the lower magazine push rod 3-6 pushes the magazine 2 into the clamp 4-3, the upper clamp 4-3-1 moves downwards to clamp the magazine 2, the servo motor 4-2 drives the clamp 4-3 to move upwards, a control system positions the magazine 2 to enable a groove 2-1 to be aligned with a second push plate 5-2, the second push plate 5-2 is driven by the servo motor 5-2-2 of the second push plate driving device, move towards the direction of the clamp 4-3, push the boat 10 clamped in the material box 2, push it out of the material box 2 and push it up to the boat table 5-3, the second push plate 5-2 retracts to the initial position under the drive of the second push plate driving device 5-2-2, the robot 7 adjusts the direction of the vacuum chuck 7-1 through the vision detection positioning system 7-2, pick up the ceramic plate from the boat 10 placed on the boat table 5-3, and place the ceramic plate into the tray 8 through the vision detection positioning system 7-2 under the control of the control system, thus completing the single feeding process. By repeating the single feeding process, the ceramic plates in the same magazine 2 can be continuously loaded into the tray 8. When all ceramic plates in the same material box 2 are fed into the tray 8, the empty material box 2 is driven by the servo motor 4-2 to move upwards to the bottom of the material box 2 to be flush with the upper-layer guide rail 3-1, the upper-layer material box driving device 3-7 drives the upper-layer material box push rod 3-8 to transfer the empty material box 2 to the upper-layer guide rail 3-1, the feeding process of a single material box is completed, the feeding process of the single material box is repeated, and the ceramic plates in different material boxes 2 can be continuously fed into the tray 8.
The working principle of the blanking process is as follows: the visual detection positioning system 7-2 identifies the type of the ceramic plate on the tray 8 and automatically selects a blanking program. Empty material boxes 2 are sequentially placed on a lower-layer guide rail 3-1 of a material box feeding mechanism 3 through manual or ceramic plate automatic feeding equipment, a lower-layer material box driving device 3-5 drives a lower-layer material box push rod 3-6 to push the empty material boxes 2 to enter a clamp 4-3, and under the control of a control system, the material boxes are lifted out of a servo mechanism 4 to position the material boxes 2, so that grooves 2-1 in the material boxes 2 are aligned with a first push plate 5-1. After the angle of the vacuum chuck 7-1 is adjusted by the robot 7 through the visual inspection positioning system 7-2, the ceramic plate is taken out from the tray 8, the ceramic plate is placed beside the first positioning plate 6-1 of the positioning and shaping mechanism 6, the second positioning plate 6-2 and the third positioning plate 6-3 are respectively driven by the second positioning plate driving device 6-4 and the third positioning plate driving device 6-5 to move towards the first positioning plate 6-1, the ceramic plate is pushed to the first positioning plate 6-1 to be flatly placed on the positioning and shaping mechanism 6 close to the first positioning plate 6-1, and the initial correction of the placing direction of the ceramic plate is completed. After the position of the ceramic plate is corrected, the robot 7 takes out the ceramic plate from the positioning and shaping mechanism 6 and places the ceramic plate into the containing cavity 10-1 of the upper boat 10 on the boat carrying table 5-3 under the coordination of the vision detection positioning system 7-2. The carrier 10 is provided with a plurality of accommodating cavities 10-1, the action of placing the ceramic plates in the carrier 10 is repeated for a plurality of times, and when the carrier 10 is full, the movable baffle 5-6-1 is closed to the carrier table 5-3 and forms a channel for the carrier 10 to move linearly with the baffle 5-5. The first push plate 5-1 pushes the carrier 10 to move towards the material box 2, and pushes the carrier 10 into the groove 2-1 of the material box, and the same material box 2 can be filled by repeating the process continuously. After the material box 2 is filled, the filled material box 2 is lifted to the upper layer of the material loading platform by the material box lifting servo mechanism 4, and is pushed to the guide rail 3-1 from the clamp 4-3 by the upper layer material box push rod 3-8, so that the blanking process of a single material box is completed. The blanking process of a single material box is repeated, and the blanking of different material boxes can be completed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention. The square sheet material which can be adapted to the carrier, whether the square sheet material is a ceramic plate or other common square sheet materials such as chips and the like, can be automatically fed and discharged by the equipment, and the equipment is also included in the protection scope of the invention.
Claims (9)
1. The automatic ceramic plate feeding and discharging equipment is characterized by comprising a mounting frame (1), a material box feeding mechanism (3), a material box lifting servo mechanism (4), a material box servo positioning mechanism (5), a positioning shaping mechanism (6), a robot (7), a tray (8), a tray frame (9) and a control system; the feeding mechanism (3) of the material box, the feeding servo mechanism (4) of the material box and the servo positioning mechanism (5) of the material box are electrically connected with the control system (12) through the positioning and shaping mechanism (6) and the robot (7);
the feeding mechanism (3) of the material box, the material box lifting servo mechanism (4) and the material box servo positioning mechanism (5) are arranged on the mounting frame (1), and the positioning and shaping mechanism (6) and the robot (7) are arranged on the mounting frame; the material box feeding mechanism (3) comprises a material box (2), a groove (2-1) penetrating through the material box is formed in the material box (2), and the material box (2) is movably mounted on the material box feeding mechanism (3) and can move linearly on the material box feeding mechanism (3); the magazine lifting servo mechanism (4) is arranged at one end of the magazine feeding mechanism, the output end of the magazine lifting servo mechanism (4) is provided with a clamp (4-3), and the clamp (4-3) can clamp the magazine (2) from the magazine feeding mechanism (3) and can reciprocate along the vertical direction;
the magazine servo positioning mechanism (5) comprises a first push plate (5-1) and a second push plate (5-2) which are oppositely arranged on the same horizontal plane, the magazine lifting servo mechanism (4) is arranged between the first push plate (5-1) and the second push plate (5-2), the first push plate (5-1) and the second push plate (5-2) are matched with a groove (2-1) on the magazine (2) and can do linear reciprocating motion along the direction of the groove (2-1), and a boat carrying table (5-3) is also arranged between the first push plate (5-1) magazine lifting servo mechanism (4);
the tray (8) is placed on a tray frame (9); the positioning and shaping mechanism (6), the boat carrying table (5-3) and the tray rack (9) are arranged in a movable area of the robot (7), and a visual detection positioning system (7-2) is further mounted on a cantilever of the robot (7).
2. The ceramic plate automatic loading and unloading equipment as claimed in claim 1, wherein a baffle (5-5) is arranged on one side of the boat carrier (5-3), a limiting component (5-6) is arranged on the other side of the boat carrier (5-3), and the limiting component (5-6) comprises a movable baffle (5-6-1) and a movable baffle driving device (5-6-2) connected with the movable baffle.
3. The automatic ceramic plate feeding and discharging equipment as claimed in claim 1, wherein two rollers (5-1-1) are installed at one end of the first push plate (5-1) close to the boat table (5-3), and a roller set is installed below the second push plate (5-2).
4. The automatic ceramic plate feeding and discharging device as claimed in claim 1, wherein the magazine feeding mechanism (3) comprises a guide rail (3-1), a magazine (2) placed on the guide rail (3-1), and a magazine driving means for driving the magazine (2) to move.
5. The automatic ceramic plate feeding and discharging device as claimed in claim 4, wherein the magazine feeding mechanism (3) has a double-layer structure.
6. Ceramic plate automatic loading and unloading equipment according to claim 1, characterized in that said robot (7) is a 6-axis industrial robot.
7. Automatic ceramic plate loading and unloading equipment according to claim 1, characterized in that on the 6 th axis of said robot (7) is mounted a vacuum chuck (7-1) in rotation.
8. The automatic ceramic plate loading and unloading device as claimed in claim 1, wherein the positioning and shaping mechanism (6) comprises a first positioning plate (6-1) in an L shape, a second positioning plate (6-2) and a third positioning plate (6-3) perpendicular to each other, a second positioning plate driving device (6-4) connected to the second positioning plate (6-2), and a third positioning plate driving device (6-5) connected to the third positioning plate (6-3).
9. A ceramic plate automatic loading and unloading device according to claim 1, wherein a pressure sensor (5-2-3) is provided on the end of the second push plate (5-2) remote from the first push plate (5-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021490755.1U CN212580927U (en) | 2020-07-26 | 2020-07-26 | Automatic unloading equipment of going up of ceramic plate |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021490755.1U CN212580927U (en) | 2020-07-26 | 2020-07-26 | Automatic unloading equipment of going up of ceramic plate |
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| CN212580927U true CN212580927U (en) | 2021-02-23 |
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| CN202021490755.1U Active CN212580927U (en) | 2020-07-26 | 2020-07-26 | Automatic unloading equipment of going up of ceramic plate |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111776714A (en) * | 2020-07-26 | 2020-10-16 | 武汉飞恩微电子有限公司 | Automatic ceramic plate feeding and discharging equipment and feeding and discharging method thereof |
| CN117023163A (en) * | 2023-09-20 | 2023-11-10 | 百琪达智能科技（宁波）股份有限公司 | Sign indicating number material pile up neatly device |
| CN117566413A (en) * | 2024-01-16 | 2024-02-20 | 苏州锐杰微科技集团有限公司 | Substrate feeding mechanism, plastic packaging machine and working method of plastic packaging machine |
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2020
- 2020-07-26 CN CN202021490755.1U patent/CN212580927U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776714A (en) * | 2020-07-26 | 2020-10-16 | 武汉飞恩微电子有限公司 | Automatic ceramic plate feeding and discharging equipment and feeding and discharging method thereof |
| CN117023163A (en) * | 2023-09-20 | 2023-11-10 | 百琪达智能科技（宁波）股份有限公司 | Sign indicating number material pile up neatly device |
| CN117023163B (en) * | 2023-09-20 | 2024-06-07 | 百琪达智能科技（宁波）股份有限公司 | Sign indicating number material pile up neatly device |
| CN117566413A (en) * | 2024-01-16 | 2024-02-20 | 苏州锐杰微科技集团有限公司 | Substrate feeding mechanism, plastic packaging machine and working method of plastic packaging machine |
| CN117566413B (en) * | 2024-01-16 | 2024-03-15 | 苏州锐杰微科技集团有限公司 | Substrate feeding mechanism, plastic packaging machine and working method of plastic packaging machine |
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