CN212686540U

CN212686540U - Batching dish conveying system

Info

Publication number: CN212686540U
Application number: CN202021366600.7U
Authority: CN
Inventors: 翟大庆; 石磊
Original assignee: Sichuan Guoruan Science & Technology Development Co ltd
Current assignee: Sichuan Guoruan Technology Group Co Ltd
Priority date: 2020-07-13
Filing date: 2020-07-13
Publication date: 2021-03-12
Anticipated expiration: 2030-07-13

Abstract

The utility model discloses a batching tray conveying system, which comprises a tray loading operation platform, a feeding conveying line, a discharging conveying line, a feeding and discharging manipulator, an image acquisition element and a processor; the feeding conveyor line, the discharging conveyor line and the feeding and discharging manipulator are arranged at positions close to the tray loading operating platform, the image acquisition element is arranged on the feeding and discharging manipulator, and the image acquisition element is connected with the data input end of the processor. Above-mentioned scheme can solve the problem that present batching dish adopts the artifical human resource's that goes up the unloading mode to exist waste, human cost increase, waste time and energy, influence workshop production efficiency and the operation of tray-filling manipulator sabot.

Description

Batching dish conveying system

Technical Field

The utility model relates to a bolt letter sorting technical field especially relates to a batch pan conveying system.

Background

The bolt is convenient to use, and disordered bolt accessories are generally required to be sorted orderly, arranged orderly and matched with corresponding gasket and nut accessories.

In the bolt sorting process, bolts, gaskets and nut accessories to be sorted are sequentially transferred to the accessory tooling plate through corresponding manipulators, the accessory tooling plate is conveyed to the batching tray through a tooling plate conveying line, and then the bolts, gaskets and nut accessories on the tooling plate are transferred to the batching tray through a palletizing manipulator.

At present, a batching tray is placed on a tray loading operation table in a manual feeding mode, so that a tray loading manipulator can place bolt, gasket and nut accessories at fixed positions of the batching tray according to fixed postures, and the batching tray is moved to the tray loading operation table for stacking in a manual blanking mode after tray loading is finished; therefore, not only is the waste of human resources caused and the human cost increased, but also the time and labor are wasted and the production efficiency of a workshop is influenced; and, the position that operating personnel placed each time when placing the batching dish on the operation panel inevitably can the deviation appear, and then influences the sabot operation of sabot manipulator, makes the sabot manipulator can not place bolt, gasket and nut accessory in the fixed position in the batching dish according to the fixed gesture well.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a batching dish conveying system to solve the problem that present batching dish adopts artifical waste, the human cost increase of going up the manpower resources that the unloading mode exists, wastes time and energy, influences workshop production efficiency and the operation of dishing up manipulator sabot.

In order to solve the above problem, the utility model adopts the following technical scheme:

a batching tray conveying system comprises a tray loading operation platform, a feeding conveying line, a discharging conveying line, a feeding and discharging manipulator, an image acquisition element and a processor; the feeding conveyor line, the discharging conveyor line and the feeding and discharging manipulator are arranged at positions close to the tray loading operating platform, the image acquisition element is arranged on the feeding and discharging manipulator, and the image acquisition element is connected with the data input end of the processor.

Optionally, the tray loading operation table comprises a table top and a positioning device; the positioning device comprises a limiting part, a pushing part and a telescopic driving mechanism; the limiting part and the telescopic driving mechanism are both arranged on the table board, and the limiting part is opposite to the pushing part; the pushing part is connected with the telescopic driving mechanism and can drive the pushing part to move towards or away from the limiting part through the telescopic driving mechanism; the telescopic driving mechanism is connected with the control output end of the processor.

Optionally, the number of the positioning devices is two, and the arrangement directions of the limiting parts of the two positioning devices are intersected.

Optionally, one of the two sets of positioning devices further includes a guiding mechanism, the guiding mechanism is disposed on the table top, and the pushing portion of the positioning device of the set is connected to the guiding mechanism and moves along a guiding direction of the guiding mechanism.

Optionally, the guide mechanism comprises a guide rail and a slider; the guide rail extends along the moving direction of the pushing part and is arranged on the table board, the sliding block is provided with a sliding groove matched with the guide rail, and the sliding block rides on the guide rail through the sliding groove and is in sliding fit with the guide rail; the pushing part is connected with the sliding block.

Optionally, the slider is disposed on a lower side of the pushing part.

Optionally, the table top is provided with an annular side enclosing plate and a top plate, and the annular side enclosing plate and the top plate enclose a box body with a cavity inside on the table top; the top plate is provided with a window for the dispensing disc to move, the positioning device is arranged in the cavity, and the annular side coaming and one side plate surface opposite to the pushing part form the limiting part.

Optionally, the loading and unloading manipulator comprises a rail, a moving mechanism, a lifting mechanism and a clamping mechanism; the moving mechanism is arranged on the track and moves back and forth among the feeding conveying line, the tray loading operating platform and the discharging conveying line along the guide rail; the lifting mechanism is arranged on the moving mechanism, the clamping mechanism is connected with the lifting mechanism, and the lifting mechanism can drive the clamping mechanism to move up and down.

Optionally, the clamping mechanism comprises a base, a first clamping part, a second clamping part and a driving mechanism; the first clamping part and the second clamping part are arranged on the base in a sliding mode, and are respectively connected with the driving mechanism and can drive the first clamping part and the second clamping part to move towards or away from each other through the driving mechanism; the image acquisition element is arranged on the base and faces to one side where the first clamping part and the second clamping part are located; the base is connected with the lifting mechanism.

Optionally, the drive mechanism comprises a drive motor, a drive gear, a first rack and a second rack; the first rack bar is arranged along the moving direction of the first clamping part and is connected with the first clamping part, the second rack bar is arranged along the moving direction of the second clamping part and is connected with the second clamping part, and the first rack bar and the second rack bar are respectively positioned at two opposite sides of the driving gear; the driving gear is meshed with the first rack and the second rack, and the driving gear is in transmission connection with an output shaft of the driving motor.

Optionally, one end of the first clamping portion, which is away from the base, of the second clamping portion is provided with a convex portion, and the convex portions are respectively located on two opposite sides of the first clamping portion and the second clamping portion.

The utility model discloses a technical scheme can reach following beneficial effect:

the utility model discloses a batching tray conveying system, can convey the batching tray to the material taking area of the upper blanking manipulator through the feeding conveying line, thereby transferring the batching tray from the feeding conveying line to the tray loading operation platform through the feeding and blanking manipulator for the tray loading operation of the tray loading manipulator; after the tray loading operation is completed by the tray loading manipulator, the batching tray on the rotary table operating platform is transferred to a blanking conveying line through the feeding and blanking manipulator, so that the automatic feeding and blanking operation of the batching tray is realized, and the effects of avoiding the waste of human resources, reducing the labor cost, saving time and labor and improving the production efficiency of a workshop are achieved; meanwhile, through an image acquisition element arranged on the feeding and discharging manipulator, image data of the batching tray can be acquired in the process of grabbing the batching tray by the feeding and discharging manipulator, and the processor can acquire information such as the model and the position of the batching tray according to the image data acquired by the image acquisition element, so that the tray loading action of the tray loading manipulator can be accurately controlled through the processor, or the processor controls a corresponding positioning device to correct the position of the batching tray, the tray loading operation of the tray loading manipulator is ensured, and the tray loading manipulator can well place the bolt, the gasket and the nut accessories at fixed positions in the batching tray according to fixed postures; and after the tray loading manipulator finishes the tray loading operation, the image acquisition element can be used for carrying out image data acquisition on the batching tray of the tray loading operation platform again, so that the aim of rechecking is fulfilled, and whether the batching tray is loaded correctly or not is confirmed.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic structural diagram of a batching tray conveying system disclosed by an embodiment of the present invention (the batching tray omits the tray body part in the figure);

fig. 2 is a schematic structural view of a tray loading operation table disclosed in an embodiment of the present invention (the tray body part of the batching tray is omitted in the figure);

fig. 3 is a schematic structural diagram of the inside of the box body of the tray-loading operation table disclosed in the embodiment of the present invention;

fig. 4 is a schematic structural diagram of a guide mechanism disclosed in an embodiment of the present invention;

fig. 5 is a schematic structural view of a clamping mechanism disclosed in an embodiment of the present invention;

fig. 6 is a bottom view of the clamping mechanism disclosed in the embodiment of the present invention;

description of reference numerals:

100-tray-loading operation table, 110-annular side enclosing plate, 120-top plate, 121-window, 130-table top,

200-telescopic driving mechanism, 210-pushing part, 211-sliding block, 212-guide rail,

300-batching disc, 400-blanking conveying line, 500-feeding conveying line,

610-moving mechanism, 611-track, 620-lifting mechanism, 630-clamping mechanism, 631-first clamping part, 632-second clamping part, 633-base, 634-image acquisition element, 635-driving motor, 636-driving gear, 637-first rack, 638-second rack.

Detailed Description

To make the purpose, technical solution and advantages of the present invention clearer, the following will combine the embodiments of the present invention and the corresponding drawings to clearly and completely describe the technical solution of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 6, an embodiment of the present invention discloses a batching tray conveying system, which includes a tray loading operation platform 100, a feeding conveying line 500, a discharging conveying line 400, a feeding and discharging manipulator, an image collecting element 634 and a processor.

The feeding conveying line 500, the discharging conveying line 400 and the feeding and discharging manipulator are arranged at positions close to the tray loading operating platform 100; the batching tray can be conveyed to a material taking area of the upper discharging manipulator through the feeding conveying line 500, so that the batching tray is transferred to the tray loading operation table 100 from the feeding conveying line 500 through the feeding and discharging manipulator for the tray loading operation of the tray loading manipulator; after the tray loading operation is completed by the tray loading manipulator, the batching tray on the rotary table operating platform is transferred to the discharging conveying line 400 through the feeding and discharging manipulator, so that the automatic feeding and discharging operation of the batching tray is realized, and the effects of avoiding manpower resource waste, reducing labor cost, saving time and labor and improving workshop production efficiency are achieved.

Meanwhile, the image collecting element 634 is arranged on the feeding and discharging manipulator, and the image collecting element 634 is connected with the data input end of the processor; through the image acquisition element 634 arranged on the feeding and discharging manipulator, the image data of the batching tray can be acquired in the process of grabbing the batching tray by the feeding and discharging manipulator, and the processor can acquire information such as the model and the position of the batching tray according to the image data acquired by the image acquisition element 634, so that the processor can accurately control the tray loading action of the tray loading manipulator according to the acquired information or correct the position of the batching tray through a corresponding positioning device, the tray loading operation of the tray loading manipulator is ensured, and the tray loading manipulator can well place the bolt, the gasket and the nut accessories at fixed positions in the batching tray according to fixed postures; after the tray loading operation is completed by the tray loading manipulator, the image acquisition element 634 may be used to acquire image data of the batching tray of the tray loading console 100 again, so as to achieve the purpose of recheck and confirm whether the batching tray is loaded correctly.

As shown in fig. 2 and 3, the tray loading operation table 100 may include a table top 130 and a positioning device; the table 130 serves as a basic component of the tray loading table 100, and not only can be used for placing the batching tray 300, but also can provide a bearing basis for the arrangement of the positioning device.

The positioning device may include a limiting portion, a pushing portion 210, and a telescopic driving mechanism 200; the limiting part and the telescopic driving mechanism 200 are both arranged on the table top 130, and the limiting part is opposite to the pushing part 210; the pushing part 210 is connected with the telescopic driving mechanism 200, and the pushing part 210 can be driven to move towards/away from the limiting part by the telescopic driving mechanism 200; the telescopic driving mechanism is connected with the control output end of the processor, so that the processor can control the reciprocating movement of the pushing part through controlling the telescopic driving mechanism according to the acquired information such as the model and the position of the batching tray, and further realize that the corresponding positioning device corrects the position of the batching tray.

For example, when the position of the batching tray placed on the tray loading operating platform 100 deviates, the processor can control the telescopic driving mechanism 200 to drive the pushing part 210 to move towards the limiting part, so that the batching tray 300 placed on the table top 130 is pushed to the position abutted against the limiting part through the pushing part 210, and the position deviation correction of the batching tray 300 is realized; after the tray loading operation is completed by the tray loading manipulator, the processor can control the telescopic driving mechanism 200 to drive the pushing part 210 to deviate from the limiting part to move, so that the pushing part 210 resets to facilitate the next operation of the positioning device.

Specifically, the number of the positioning devices can be two, and the directions of the two positioning devices for positioning the limiting parts are crossed, so that the positions of the batching tray 300 on the table-board 130 in the X-axis direction and the Y-axis direction can be adjusted by the two positioning devices respectively, and the positioning movement of the batching tray 300 is more accurate.

Wherein, one of two sets of positioner can also include guiding mechanism, and guiding mechanism sets up on mesa 130, and this set of positioner's propelling movement portion 210 is connected with guiding mechanism to remove along guiding mechanism's direction, thereby can play the guide effect to the removal of propelling movement portion 210 through guiding mechanism, be favorable to the steady removal of propelling movement portion 210.

As one structure of the guide mechanism, as shown in fig. 4, the guide mechanism may include a guide rail 212 and a slider 211; the guide rail 212 extends along the moving direction of the pushing part 210 and is arranged on the table top 130, the sliding block 211 is provided with a sliding groove matched with the guide rail 212, and the sliding block 211 rides on the guide rail 212 through the sliding groove and is in sliding fit with the guide rail 212; the pushing portion 210 is connected to the slider 211 so that the pushing portion 210 moves in the guide direction of the guide rail 212 by the sliding movement of the slider 211 along the guide rail 212.

Preferentially, the sliding block 211 is arranged on the lower side surface of the pushing part 210, so that the height of the pushing part 210 of the group of positioning devices can be raised after the sliding block 211 is arranged on the guide rail 212 in a sliding manner, and the pushing part 210 of the other group of positioning devices is positioned above the pushing part 210 of the other group of positioning devices, thereby avoiding collision of the pushing parts 210 of the two groups of positioning devices in the moving process, and being beneficial to ensuring normal work of the pushing parts 210 of the two groups of positioning devices.

In order to prevent the slider 211 from being separated from the guide rail 212 during the sliding movement, the cross-sectional shape of the guide rail 212 may be designed to be i-shaped; correspondingly, the cross section of the sliding groove is designed to be in an I shape or T shape matched with the guide rail 212, so that the sliding block 211 can be embraced in the T-shaped part of the guide rail 212 through the sliding groove, and the sliding block 211 can be effectively prevented from being separated from the guide rail 212 in the process that the sliding block 211 slides along the guide rail 212; in addition, the I-shaped guide rail 212 also ensures the contact area between the guide rail 212 and the table top 130, which is beneficial to stably arranging the guide rail 212 on the table top 130; of course, the cross-sectional shape of the guide rail 212 may also be designed to be T-shaped or other shapes, and the embodiments of the present invention do not limit the shapes of the guide rail 212 and the sliding groove.

As shown in fig. 2, the number of the guiding mechanisms may be two, and the two guiding mechanisms are respectively located at two sides of the telescopic driving mechanism 200, so that the parts of the pushing part 210 located at two sides of the telescopic driving mechanism 200 can move synchronously, and the moving stability of the pushing part 210 is better improved.

As other arrangement structures of the guide mechanism, the guide mechanism can also comprise a guide rod and a slide block, wherein the slide block is provided with a through hole in sliding fit with the guide rod and is arranged on the guide rod through the through hole in a sliding way; the pushing part 210 is connected with the slider, so that the sliding movement of the slider along the guide rod realizes the guiding movement of the pushing part 210; the embodiment of the utility model provides a do not restrict guiding mechanism's setting structure. Of course, both sets of positioning means may also be provided with corresponding guiding mechanisms.

In the tray-loading operation table 100 disclosed in the embodiment of the present invention, as shown in fig. 1, the table top 130 is provided with an annular side enclosing plate 110 and a top plate 120, and the annular side enclosing plate 110 and the top plate 120 enclose a box body with a cavity inside on the table top 130; the top plate 120 is provided with a window 121 for the dispensing disc 300 to move, the positioning device is disposed in the cavity, and a side plate surface of the annular side enclosing plate 110 opposite to the pushing portion 210 forms a limiting portion.

Therefore, the box structure formed by the annular side enclosing plate 110 and the top plate 120 on the table top 130 enables the positioning device to be hidden in the cavity of the box, so that not only the appearance performance of the tray-loading operation table 100 can be improved, but also the box structure can be used as a shell of the tray-loading operation table 100 to protect the positioning device therein; meanwhile, one side plate face of the annular side enclosing plate 110 opposite to the pushing portion 210 can serve as a limiting portion, so that the box structure is fully utilized, and the simplification of the structure of the tray loading operation table 100 is facilitated.

Meanwhile, the window 121 arranged on the top plate 120 not only can enable part of the batching tray 300 to be positioned in the cavity of the box body and act as a positioning device, but also the window 121 can play a role in primarily positioning the position of the batching tray 300 placed on the table top 130.

Generally, the batching tray comprises a tray body and a bracket; therefore, in order to make the supporting legs of the bracket capable of being placed in the cavity of the box body to act as the positioning device, the number of the windows 121 arranged on the top plate 120 can correspond to the number of the supporting legs; in addition, in order to be suitable for the supporting legs of the batching trays 300 with different sizes, windows 121 can be arranged at different positions of the supporting legs of different batching trays 300; the annular side panels 110 are annularly distributed along the four-axis edges of the table top, and may be square ring-shaped or circular ring-shaped.

Of course, if the batching tray 300 only includes a tray body, a window 121 for the tray body to move may be formed on the top plate 120; meanwhile, a corresponding limiting part can be independently arranged in the box body, and the limiting part can be a baffle plate or a stop block and the like; the pushing part 210 is a plate-shaped structural member or a rod-shaped structural member arranged along the extending direction of the limiting part; the embodiment of the utility model provides a do not restrict the setting structure of window 121, spacing portion and propelling movement portion 210.

The embodiment of the utility model discloses flexible actuating mechanism 200 can be the cylinder, and propelling movement portion 210 is connected with the piston rod of cylinder to the reciprocating motion of propelling movement portion 210 is driven in the flexible removal through the piston rod. Of course, the telescopic driving mechanism 200 may be another telescopic driving mechanism such as an electric telescopic rod to realize the reciprocating movement of the pushing part 210; the embodiment of the utility model provides a do not restrict flexible actuating mechanism's kind structure.

The feeding and discharging manipulator disclosed by the embodiment of the utility model can comprise a track 611, a moving mechanism 610, a lifting mechanism 620 and a clamping mechanism 630; the moving mechanism 610 is arranged on the rail 611 and reciprocates among the feeding conveying line 500, the tray loading operating platform 100 and the discharging conveying line 400 along the guide rail; the lifting mechanism 620 is disposed on the moving mechanism 610, and the clamping mechanism 630 is connected to the lifting mechanism 620, and the lifting mechanism 620 can drive the clamping mechanism 630 to move up and down.

In the feeding process of the batching tray, the moving mechanism 610 moves to the position of the feeding conveyor line 500 along the rail 611, so that the clamping mechanism 630 is positioned above the batching trays stacked on the feeding conveyor line 500, the clamping mechanism 630 is lowered to the height position of the batching tray through the lifting mechanism 620, and the grabbing of the batching tray is completed through the clamping mechanism 630; then, the lifting mechanism 620 lifts the clamping mechanism 630, and then the clamping mechanism 630 moves along the rail 611 to the position above the tray loading operation table 100 through the moving mechanism 610, and the clamping mechanism 630 is lowered to the position where the batching tray is placed on the tray loading operation table 100 through the lifting mechanism 620, so that the clamping mechanism 630 releases the batching tray to complete loading.

In the blanking process of the batching tray, the lifting mechanism 620 lowers the clamping mechanism 630 to the position of the batching tray on the tray loading operation table 100, the batching tray is grabbed by the clamping mechanism 630, and then the clamping mechanism 630 is lifted by the lifting mechanism 620; then, the moving mechanism 610 moves to the position of the blanking conveying line 400 along the rail 611, so that the batching tray is located above the blanking conveying line 400, and after the lifting mechanism 620 lowers the clamping mechanism 630 to the discharging height, the clamping mechanism 630 releases the batching tray to complete blanking.

In the feeding and discharging process of the batching discs, if a batch of batching discs on the feeding conveying line 500 is emptied, the feeding conveying line 500 works to convey the next batch of batching discs to the material taking area of the feeding and discharging manipulator so that the feeding and discharging manipulator can continuously take materials; if the blanking conveying device is used for conveying the materials to be stacked on the upper part and the lower part, the fully stacked material distribution plate stack is moved away by the blanking conveying device to leave the stacking position of the feeding and discharging manipulator.

As shown in fig. 5, as one structure of the chucking mechanism 630, it may include a base 633, a first chucking portion 631, a second chucking portion 632, and a driving mechanism; the first clamping portion 631 and the second clamping portion 632 are slidably disposed on the base 633, and the first clamping portion 631 and the second clamping portion 632 are respectively connected to the driving mechanism, and can drive the first clamping portion 631 and the second clamping portion 632 to move toward/away from each other by the driving mechanism; therefore, the material distribution disk is clamped and fixed through the opposite movement of the first clamping part 631 and the second clamping part 632, and the material distribution disk is loosened through the opposite movement of the first clamping part 631 and the second clamping part 632.

The image capturing element 634 is disposed on the base 633 and faces to the side where the first clamping portion 631 and the second clamping portion 632 are located, so that the image capturing element 634 can move along with the clamping mechanism 630 and keep facing the dispensing tray, thereby facilitating image capturing work of the image capturing element 634; the base 633 is connected with the lifting mechanism 620, so that a bearing foundation can be provided for the installation and connection of the driving mechanism, the first clamping portion 631, the second clamping portion 632, and the like through the base 633.

Meanwhile, as shown in fig. 6, as one structure of the driving mechanism, it may include a driving motor 635, a driving gear 636, a first rack 637, and a second rack 638; the first rack 637 is arranged along the moving direction of the first clamping part 631 and connected with the first clamping part 631, the second rack 638 is arranged along the moving direction of the second clamping part 632 and connected with the second clamping part 632, and the first rack 637 and the second rack 638 are respectively positioned at two opposite sides of the driving gear 636; the driving gear 636 is engaged with the first rack 637 and the second rack 638, and the driving gear 636 is in transmission connection with an output shaft of the driving motor 635.

When the driving motor 635 controls the driving gear 636 to rotate in the forward direction (i.e. the driving gear 636 rotates clockwise in fig. 6), the driving gear 636 synchronously dials the first rack 637 and the second rack 638 to move in a retracting manner, so that the first clamping portion 631 and the second clamping portion 632 move in the opposite direction; when the driving motor 635 controls the driving gear 636 to rotate in the reverse direction (i.e. the driving gear 636 rotates counterclockwise in fig. 6), the driving gear 636 synchronously dials the first rack 637 and the second rack 638 to move in an extending manner, so that the first clamping portion 631 and the second clamping portion 632 move away from each other; compared with an air cylinder driving structure, the driving mechanism can improve the precision of the movement control of the first clamping part 631 and the second clamping part 632, and is suitable for clamping materials with larger weight or size.

As shown in fig. 5, the ends of the first clamping portion 631 and the second clamping portion 632, which are away from the base 633, are provided with protrusions, and the protrusions are respectively located on two opposite sides of the first clamping portion 631 and the second clamping portion 632, so that the protrusions can be placed between two support legs on the same side of the support of the batching tray, and can form a limiting mechanism with the tray body, and further the protrusions can support the batching tray, thereby effectively preventing the batching tray from dropping when being clamped by the first clamping portion 631 and the second clamping portion 632; of course, the two opposite sides of the batching tray can also be arranged on the groove or the outer brim matched with the convex part.

The convex portion may be a rib-shaped protrusion or a bump structure provided on opposite sides of the first clamping portion 631 and the second clamping portion 632, or may be a flanged structure formed by bending or bending the free ends of the first clamping portion 631 and the second clamping portion 632 inward.

It is easily understood that, in order to ensure the stability of the movement of the first clamping portion 631, the second clamping portion 632, the first gear and the second rack 638, a guide mechanism connected with the first clamping portion 631, the second clamping portion 632, the first gear and the second rack 638 may be respectively provided on the base 633; the arrangement structure of the guide mechanism can be referred to the guide mechanism shown in fig. 4.

The driving mechanism may be a cylinder or an electric telescopic rod connected to the first and

second clamping portions

631 and 632; the moving mechanism 610 may be a mounting base structure that is driven by an air cylinder or a driving motor 635 to move along a rail, the mounting base is disposed on the rail 611, and the lifting mechanism 620 is mounted on the sliding base; the lifting mechanism 620 can be a cylinder or an electric telescopic rod; the image capture element 634 may be a 2D camera, a 3D camera, or a webcam, among others.

In order to make things convenient for the setting in last feeding mechanical arm, the embodiment of the utility model discloses a batching tray conveying system can also include the portal frame, and track 611 sets up on the portal frame to not only can provide the installation for the setting of track 611 through the portal frame and bear the basis, but also avoided track 611 to form cantilever structure, be favorable to improving the stability of the last feeding mechanical arm work of unloading.

Specifically, as shown in fig. 1, the feeding conveyor line 500, the discharging conveyor line 400 and the tray loading operation table 100 are all located on the inner side of the portal frame, and the feeding conveyor line 500 and the discharging conveyor line 400 are respectively located on two opposite sides of the tray loading operation table 100, so that through reasonable position layout, the working stroke of the feeding and discharging manipulator can be effectively reduced, and the floor area of the batching tray conveying system can be effectively reduced; the feeding conveyor line 500 and the discharging conveyor line 400 may be belt type or plate chain type conveyors.

The utility model discloses what the key description in the above embodiment is different between each embodiment, and different optimization characteristics are as long as not contradictory between each embodiment, all can make up and form more preferred embodiment, consider that the literary composition is succinct, then no longer describe here.

The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A batching tray conveying system is characterized by comprising a tray loading operation platform, a feeding conveying line, a discharging conveying line, a feeding and discharging manipulator, an image acquisition element and a processor; the feeding conveyor line, the discharging conveyor line and the feeding and discharging manipulator are arranged at positions close to the tray loading operating platform, the image acquisition element is arranged on the feeding and discharging manipulator, and the image acquisition element is connected with the data input end of the processor.

2. The batching tray delivery system according to claim 1, wherein the racking station comprises a table and a positioning device; the positioning device comprises a limiting part, a pushing part and a telescopic driving mechanism; the limiting part and the telescopic driving mechanism are both arranged on the table board, and the limiting part is opposite to the pushing part; the pushing part is connected with the telescopic driving mechanism and can drive the pushing part to move towards or away from the limiting part through the telescopic driving mechanism; the telescopic driving mechanism is connected with the control output end of the processor.

3. The material distribution tray conveying system according to claim 2, wherein the number of the positioning devices is two, and the arrangement directions of the limiting portions of the two positioning devices are intersected.

4. The system according to claim 3, wherein one of the two positioning devices further comprises a guiding mechanism, the guiding mechanism is disposed on the table, and the pushing portion of the positioning device is connected to the guiding mechanism and moves along the guiding direction of the guiding mechanism.

5. The ingredient pan delivery system of claim 4, wherein the guide mechanism comprises a guide rail and a slider; the guide rail extends along the moving direction of the pushing part and is arranged on the table board, the sliding block is provided with a sliding groove matched with the guide rail, and the sliding block rides on the guide rail through the sliding groove and is in sliding fit with the guide rail; the pushing part is connected with the sliding block.

6. The material tray delivery system according to claim 5, wherein the slider is provided to a lower side of the pushing portion.

7. The batching tray delivery system according to claim 2, wherein said table top is provided with annular side enclosures and a top panel, and said annular side enclosures and said top panel enclose a box with a cavity inside on said table top; the top plate is provided with a window for the dispensing disc to move, the positioning device is arranged in the cavity, and the annular side coaming and one side plate surface opposite to the pushing part form the limiting part.

8. The batching tray delivery system according to any one of claims 1 to 7, wherein the loading and unloading robot comprises a track, a moving mechanism, a lifting mechanism and a clamping mechanism; the moving mechanism is arranged on the track and moves back and forth among the feeding conveying line, the tray loading operating platform and the discharging conveying line along the guide rail; the lifting mechanism is arranged on the moving mechanism, the clamping mechanism is connected with the lifting mechanism, and the lifting mechanism can drive the clamping mechanism to move up and down.

9. The ingredient pan delivery system of claim 8, wherein the clamping mechanism comprises a base, a first clamping portion, a second clamping portion, and a drive mechanism; the first clamping part and the second clamping part are arranged on the base in a sliding mode, and are respectively connected with the driving mechanism and can drive the first clamping part and the second clamping part to move towards or away from each other through the driving mechanism; the image acquisition element is arranged on the base and faces to one side where the first clamping part and the second clamping part are located; the base is connected with the lifting mechanism.

10. The ingredient pan delivery system of claim 9, wherein the drive mechanism comprises a drive motor, a drive gear, a first rack, and a second rack; the first rack is arranged along the moving direction of the first clamping part and is connected with the first clamping part, the second rack is arranged along the moving direction of the second clamping part and is connected with the second clamping part, and the first rack and the second rack are respectively positioned at two opposite sides of the driving gear; the driving gear is meshed with the first rack and the second rack, and the driving gear is in transmission connection with an output shaft of the driving motor.