CN217534244U - Flexible balance machine - Google Patents

Abstract

The utility model provides a flexible balance machine, flexible balance machine includes vibration dish, transfer manipulator, tray supply module, tray stack module and tray transfer module, the utility model discloses a set up the tray shifts the module cooperation the empty tray that tray supply module will stack supplies one by one extremely go up the material level, realize tray automatic supply avoids artifical supply the tray leads to occuping manpower and inefficiency, through it will to shift the manipulator set for the orientation in the vibration dish the material is placed in this tray, has realized the automatic balance of material, and through setting up the tray stacks the module cooperation the tray shifts the module and will be equipped with the material the tray stacks to reduce the occupation space of tray to be convenient for operator or manipulator once only take in batches and be equipped with the tray of material, in order to promote balance machine's production efficiency.

Description

Flexible balance machine

Technical Field

The utility model relates to an automatic balance equipment technical field of product especially relates to an automatic flexible balance machine of sabot of chip.

Background

The chip is a general name of semiconductor elements, which is one of the most important parts used for controlling various electronic devices, because of the huge demand, in the production process, a large number of chips need to be transferred so as to supply the chips in a uniform placing mode, and in view of the low production efficiency of manual operation, an automatic tray placing machine has been developed for automatically placing the chips.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for a flexible tray placing machine capable of automatically performing empty tray taking and stacking of trays filled with materials, so as to improve the material placing efficiency.

The utility model provides a flexible balance machine, flexible balance machine includes:

the vibrating disc is arranged on the workbench and used for vibrating the materials to a set direction;

the transfer manipulator is arranged behind the vibration disc and used for transferring the materials with the set orientation in the vibration disc to a tray at a loading position;

the tray supply module is arranged on the first mounting seat and comprises two first supporting plates which are oppositely arranged, and the two first supporting plates respectively move relatively under the driving of a first driving device and are used for supporting or releasing the stacked empty trays;

the tray stacking module is arranged on the first mounting seat, arranged in parallel with the tray supply module and used for stacking the trays filled with materials, and comprises two second supporting plates which are oppositely arranged, wherein the two second supporting plates respectively move relatively under the driving of a second driving device and are used for supporting or releasing the trays filled with the materials;

the tray transferring module is arranged on the workbench and used for transferring the tray on the tray supply module to the loading position and transferring the tray to the tray stacking module for stacking after the tray is filled with materials.

Further, the tray shifts the module and includes elevating system and third backup pad, elevating system includes third drive arrangement, first slip table and deflector, the deflector is located first slip table with between the third backup pad, the third backup pad with deflector swing joint, third drive arrangement locates on the first slip table, just third drive arrangement's output with the bottom of third backup pad is connected.

Furthermore, the output end of the third driving device is connected with a rotating wheel, the rotating wheel is eccentrically connected with a rotating shaft, the axial direction of the rotating shaft is the horizontal direction, a push rod is hinged between the rotating shaft and the third supporting plate, the third driving device drives the rotating wheel to rotate, so that the rotating shaft moves to drive the push rod to move, and the third supporting plate is lifted.

Further, still be equipped with the inductor on the first slip table, be equipped with the response piece on the push rod, the response piece has initial position, works as the drive of third drive arrangement the runner rotates the round time, the response piece is followed initial position is along with the push rod motion is got back to once more initial position.

Furthermore, a plurality of limiting blocks are further arranged on two adjacent sides of the third supporting plate, at least one movable limiting part is arranged on the other two sides of the third supporting plate respectively, a pushing block is arranged on the back face of the third supporting plate corresponding to the limiting parts, and the pushing block slides to enable the limiting parts to move towards the direction close to or far away from the limiting blocks on the opposite sides.

Furthermore, a push plate is further connected to one side, away from the third support plate, of the push block, a guide groove is formed in the push plate, the guide groove comprises a first portion and a second portion, the first portion is vertically arranged, the second portion is communicated with the upper end of the first portion in an obtuse angle mode, a guide pillar is arranged on the guide plate corresponding to the guide groove, when the third drive device drives the third support plate to ascend, the push block pushes the push plate to move under the action of the guide pillar and the guide groove, and the push plate drives the limiting piece to move towards the direction, away from the opposite side, of the limiting piece.

Furthermore, be equipped with the spout in the third backup pad, the locating part is located in the spout, the locating part includes spacing portion, sliding part and connecting portion, sliding part locates spacing portion with between the connecting portion, spacing portion at least part stretches out the surface of third backup pad, connecting portion at least part with the push pedal is connected, sliding part passes through spring elastic connection and is in the spout, the ejector pad is equipped with the recess, works as connecting portion are located when the recess, the spring is in compression state, works as connecting portion leave when the recess, be in compression state the spring is further compressed.

Furthermore, opposite sides of the third supporting plate are provided with a notch corresponding to the two first supporting plates or the two second supporting plates respectively, and when the third supporting plate moves to a position below the tray supply module or the tray stacking module, moves upwards under the driving of the third driving device and contacts with the tray at the lowest layer on the two first supporting plates or the two second supporting plates, the two first supporting plates or the two second supporting plates are located at the notches respectively.

Further, the transfer manipulator includes the second slip table, one side of second slip table is equipped with one at least and absorbs the subassembly, it includes positive reverse motor, conveyer belt, two delivery wheels and two suction nozzles to absorb the subassembly, one the delivery wheel interval certain distance is located another under the delivery wheel, the conveyer belt is located two with rotating on the delivery wheel, just the conveyer belt is located two part between the delivery wheel respectively is connected with one the suction nozzle, positive reverse motor drive one the delivery wheel rotates and makes two the synchronous incorgruous motion of suction nozzle.

Further, flexible balance machine still includes the camera, the camera is located directly over the vibration dish, be used for discerning in the vibration dish whether the material is for setting for the orientation.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a set up the tray shifts the module cooperation the empty tray that the tray supply module will stack supplies one by one extremely go up the material level, realize the automatic supply of tray avoids artifical supply the tray leads to occuping manpower and inefficiency, through shift the manipulator will set for the orientation in the vibration dish the material is placed in this tray, has realized the automatic balance of material, and through setting up the tray stacks the module cooperation the tray shifts the module and will be equipped with the material the tray stacks, with the reduction the occupation space of tray to be convenient for operator or manipulator once only take in batches and be equipped with the material the tray, in order to promote the production efficiency of balance machine.

Drawings

Fig. 1 is an overall schematic diagram of an embodiment of the present invention.

Fig. 2 is a schematic view of an embodiment of the first supporting seat, the tray supplying module and the tray stacking module of the present invention.

Fig. 3 is a schematic diagram of an embodiment of a tray transferring module according to the present invention.

Fig. 4 is a schematic view of an embodiment of the lifting mechanism and the third supporting plate of the present invention.

Fig. 5 is a schematic diagram of the third supporting plate, the limiting part and the limiting block according to the embodiment of the present invention.

Fig. 6 is a schematic diagram of an embodiment of the push block and the position limiting member of the present invention.

Fig. 7 is a schematic view of a transfer robot according to an embodiment of the present invention.

Fig. 8 is a schematic view of an embodiment of the second sliding table and the suction assembly of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention. It is to be understood that the drawings are designed solely for the purposes of illustration and description and not as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; either mechanically or electrically, and may be internal to both elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

It should be further noted that in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1, the present invention provides a flexible tray placing machine, which includes a worktable 10, a vibration tray 20, a camera 30, a transferring robot 40, a tray supplying module 50, a tray stacking module 60, and a tray transferring module 70.

The vibration disc 20 is arranged on the workbench 10 and used for vibrating the material to be placed to a set orientation.

The camera 30 is disposed right above the vibration plate 20 and is used for identifying whether the material in the vibration plate 20 is in a set orientation.

The transfer manipulator 40 is arranged on the workbench 10 and behind the vibration tray 20, and is used for transferring the materials identified by the camera 30 in the vibration tray 20 to the tray 100 at the feeding position.

The workbench 10 is further provided with a first mounting seat 11, and the tray supply module 50 is arranged on the first mounting seat 11 and is used for supporting or releasing the stacked trays 100.

The tray stacking module 60 is disposed on the first mounting base 11 and is arranged in parallel with the tray supplying module 50, and is configured to stack the tray 100 containing the material.

The tray transferring module 70 is disposed on the workbench 10, and is configured to transfer one of the trays 100 on the tray supplying module 50 to the loading position, and transfer the tray 100 to the tray stacking module 60 for stacking after the tray 100 is filled with the material.

Referring to fig. 2-3, the tray supplying module 50 includes a first limiting frame and a first supporting mechanism, the first supporting mechanism includes two first supporting plates 521 disposed oppositely, and the two first supporting plates 521 respectively move relatively under the driving of a first driving device 522 for supporting or releasing the stacked trays 100.

The first limiting frame is arranged corresponding to the first supporting mechanism and used for limiting the stacked trays 100.

Specifically, the tray transferring module 70 includes a third supporting plate 71, and when the third supporting plate 71 moves to the first supporting mechanism and contacts with the bottom of the tray 100 located at the lowermost layer on the first supporting mechanism, two first driving devices 522 respectively and simultaneously drive a corresponding first supporting plate 521 to move in a direction away from each other, so as to release the stacked trays 100 and be supported by the third supporting plate 71.

After the third supporting plate 71 supports the stacked trays 100, the third supporting plate 71 moves downward by at least the height of one tray 100, so that at least the tray 100 at the lowest layer is not higher than the two first supporting plates 521, and then the two first driving devices 522 simultaneously drive the two first supporting plates 521 to approach each other again, so that the two first supporting plates 521 respectively extend into the gaps of the trays 100 at the corresponding positions at least partially.

At this time, the third supporting plate 71 continues to move downward, so that the tray 100 positioned under the two first supporting plates 521 is separated, and the tray 100 which is not separated is supported again by the first supporting mechanism, thereby separating the stacked trays 100.

The third support plate 71 moves to deliver the tray 100 to the loading position, so that the transfer robot 40 places the material in the tray 100 in a set orientation.

The first limiting frame at least comprises a first limiting plate 51 which is limited at least three corners of the stacked trays 100 and is arranged along the vertical direction, so that the stacked trays 100 are prevented from deviating.

Preferably, the first limiting frame includes four first limiting plates 51, and the four first limiting plates 51 are respectively limited at four corners of the stacked tray 100.

The tray stacking module 60 comprises a second limiting frame and a second supporting mechanism, the second supporting mechanism comprises two second supporting plates 621 which are oppositely arranged, and the two second supporting plates 621 respectively move relatively under the driving of a second driving device 622 to support or release the tray 100 filled with materials.

The second limiting frame is arranged corresponding to the second supporting mechanism and used for limiting the stacked tray 100 filled with the materials.

Specifically, after the tray 100 on the third support plate 71 at the loading position is filled with the material, the third support plate 71 continues to move to the second support mechanism and the upper surface of the tray 100 contacts with the bottom of the tray 100 at the lowest layer on the second support mechanism, and then the two second driving devices 622 respectively and simultaneously drive the corresponding second support plates 621 to move in the directions away from each other, so as to release the stacked trays 100 and be supported by the third support plate 71, so that the tray 100 is stacked with the stacked trays 100.

The third supporting plate 71 continues to move upward by at least the height of the tray 100, so that the bottom of the tray 100 is higher than the two second supporting plates 621, and then the two second driving devices 622 simultaneously drive the two second supporting plates 621 to approach each other again, so that the two second supporting plates 621 are at least partially located at the bottom of the tray 100.

At this time, the third supporting plate 71 continues to move downward so that the tray 100 is supported by the second supporting plates 621, thereby stacking the trays 100 containing the materials.

The second limiting frame at least comprises a second limiting plate 61 which is limited at least three corners of the stacked trays 100 and is arranged along the vertical direction, so that the stacked trays 100 are prevented from deviating.

Preferably, the second limiting frame comprises four second limiting plates 61, and the four second limiting plates 61 are respectively limited at four corners of the stacked tray 100.

The plane of the first support plates 521 and the plane of the second support plates 621 may or may not be the same plane.

Preferably, the plane of the first supporting plates 521 is the same as the plane of the second supporting plates 621.

Referring to fig. 3-6, the tray transferring module 70 further includes a lifting mechanism 72, a traversing mechanism 73, and a longitudinally moving mechanism 74. The lifting mechanism 72 is disposed on the traverse mechanism 73, and the traverse mechanism 73 moves laterally. The transverse moving mechanism 73 is arranged on the longitudinal moving mechanism 74, and the longitudinal moving mechanism 74 realizes longitudinal moving.

The lifting mechanism 72 includes a third driving device 721, a first sliding table 722 and a guide plate 723, the guide plate 723 is disposed between the first sliding table 722 and the third support plate 71, the third support plate 71 is movably connected to the guide plate 723, the third driving device 721 is disposed on the first sliding table 722, and an output end of the third driving device 721 is connected to a bottom of the third support plate 71.

Specifically, a plurality of guide sleeves 724 are arranged on the guide plate 723, a guide rod 725 vertically arranged penetrates through one guide sleeve 724, and the top of the guide rod 725 is connected with the bottom of the third support plate 71. The guide plate 723 is provided with a through hole (not shown) corresponding to the output end of the third driving device 721, and the output end of the third driving device 721 penetrates through the through hole.

In one embodiment, the third driving device 721 is an electric push rod or an air cylinder, and the electric push rod or the air cylinder is vertically disposed and drives the third supporting plate 71 to move up and down.

In another embodiment, the third driving device 721 is a motor, an output end of the motor is connected to a rotating wheel 726, the rotating wheel 726 is eccentrically connected to a rotating shaft 727, an axial direction of the rotating shaft 727 is a horizontal direction, a push rod 728 is hinged between the rotating shaft 727 and the third supporting plate 71, and the third driving device 721 drives the rotating wheel 726 to rotate, so that the rotating shaft 727 moves to drive the push rod 728 to move, and thus the third supporting plate 71 is lifted.

Specifically, when the rotating shaft 727 is at the lowest point, a certain distance is formed between the third supporting plate 71 and the first supporting mechanism or the second supporting mechanism.

When the rotating shaft 727 is at the highest point, the surface of the third supporting plate 71 is higher than the plane where the two first supporting plates 521 or the two second supporting plates 621 are located, so that the third supporting plate 71 can support the stacked trays 100 and cooperate with the tray supplying module 50 to separate the trays 100 or cooperate with the tray stacking module 60 to stack the trays 100.

Further, a sensor 75 is further arranged on the first sliding table 722, a sensing element 76 is arranged on the push rod 728, the sensing element 76 has an initial position, and when the third driving device 721 drives the rotating wheel 726 to rotate for one turn, the sensing element 76 moves along with the push rod 728 from the initial position and returns to the initial position again.

The initial position is the position of the sensing element 76 corresponding to the lowest point of the rotating shaft 727.

The height of the third support plate 71 can be monitored by providing the sensor 75 and the sensing member 76, when the sensing member 76 is at the initial position, the tray 100 on the third support plate 71 is at a height corresponding to the loading position, that is, when the third support plate 71 is at the loading position, the rotating shaft 727 is at the lowest point, and the sensing member 76 is at the initial position.

A plurality of limit blocks 711 are further disposed at two adjacent sides of the third supporting plate 71, at least one movable limit member 712 is disposed at two other sides of the third supporting plate 71, a push block 713 is disposed at the back of the third supporting plate 71 corresponding to the limit members 712, and the push block 713 slides to move the limit members 712 toward or away from the limit blocks 711 at the opposite side.

The plurality of stoppers 711 and the stoppers 712 are provided to align and restrict the tray 100, so that the tray 100 is placed on the third support plate 71 without displacement.

In an embodiment, three limiting members 712 are disposed on the third supporting plate 71, wherein two of the limiting members 712 are spaced apart by a certain distance and located on the same side of the third supporting plate 71 corresponding to the long side of the third supporting plate 71, the other limiting member 712 is located on the other side of the third supporting plate 71 corresponding to the short side of the third supporting plate 71, and the pushing block 713 moves and drives the three limiting members 712 to approach or move away toward the limiting members 711 on the opposite side.

Specifically, under the action of the pushing block 713, the limiting block 712 moves towards the direction close to the limiting block 711 on the opposite side and cooperates with the limiting block 711 to push the tray 100, so that the peripheral side of the tray 100 abuts against the limiting blocks 711 and the limiting block 712, respectively, and thus the tray 100 can be ensured to be located at a specified position, and the tray 100 can be limited, thereby preventing the tray 100 from being displaced on the third supporting plate 71.

Preferably, a push plate 714 is further connected to a side of the push block 713 away from the third support plate 71, a guide groove 7141 is formed in the push plate 714, and the guide groove 7141 includes a first portion 7142 and a second portion 7143. Wherein the first section 7142 is vertically arranged, and the second section 7143 is in obtuse-angle communication with the upper end of the first section 7142.

The guide plate 723 is provided with a guide post 7232 corresponding to the guide slot 7141, and when the third driving device 721 drives the third support plate 71 to ascend, the pushing block 713 moves under the action of the guide post 7232 and the guide slot 7141 and drives the limiting member 712 to move in a direction away from the limiting member 711 on the opposite side.

Specifically, the third supporting plate 71 is provided with a sliding slot 715, the limiting member 712 is disposed in the sliding slot 715, the limiting member 712 includes a limiting portion 7121, a sliding portion 7122 and a connecting portion 7123, and the sliding portion 7122 is disposed between the limiting portion 7121 and the connecting portion 7123.

The position-limiting part 7121 at least partially extends out of the surface of the third supporting plate 71 to limit the position of the tray 100, the connecting part 7123 is at least partially connected to the pushing block 713, so that the pushing block 713 moves to drive the connecting part 7123, and the connecting part 7123 moves to drive the position-limiting part 7121 to move towards the direction close to or away from the position-limiting block 711 on the opposite side, so as to align the tray 100 and limit or cancel the limit of the tray 100.

The sliding portion 7122 is elastically connected in the sliding groove 715 by a spring 716, and specifically, the spring 716 abuts against one side of the sliding portion 7122 away from the limiting block 711 on the opposite side.

Specifically, the pushing block 713 is provided with a groove 7131, the spring 716 is in a compressed state when the connecting portion 7123 is located in the groove 7131, and the spring 716 in the compressed state is further compressed when the connecting portion 7123 is separated from the groove 7131.

When the third driving device 721 drives the third supporting plate 71 to move upward, the guiding groove 7141 moves along the second portion 7143 toward the first portion 7142 under the restriction of the guiding post 7232 and drives the pushing block 713 to move, so that the connecting portion 7123 located in the groove 7131 is separated from the groove 7131 and moves away from the limiting block 711 at the opposite side under the action of the pushing block 713, and further compresses the spring 716, so that the limiting portion 7121 no longer restricts the tray 100, and the tray 100 is released.

When the third driving device 721 drives the third supporting plate 71 to move downward, the guiding groove 7141 moves along the first portion 7142 to the second portion 7143 under the restriction of the guiding post 7232 and drives the pushing block 713 to move in a reverse direction, so that the groove 7131 gradually approaches to the connecting portion 7123 along the moving direction of the pushing block 713 and finally reaches the connecting portion 7123, so that the connecting portion 7123 is at least partially restricted in the groove 7131 under the action of the spring 716, and the limiting portion 7121 aligns and limits the tray 100 in cooperation with the limiting blocks 711.

In one embodiment, the position-limiting portion 7121 is disposed coaxially with the connecting portion 7123.

In another embodiment, the position-limiting portion 7121 is offset from the connecting portion 7123. The connecting portion 7123 is closer to the stopper 711 on the opposite side than the stopper portion 7121.

Preferably, the connecting portion 7123 is a roller, so that the relative movement between the connecting portion 7123 and the pushing block 713 is smoother.

The opposite sides of the third supporting plate 71 are provided with a gap 717 corresponding to each of the two first supporting plates 521 or the two second supporting plates 621, and when the third supporting plate 71 moves to a position below the tray supplying module 50 or the tray stacking module 60, and moves upward under the driving of the third driving device 721 and contacts with the tray 100 at the lowest layer on the two first supporting plates 521 or the two second supporting plates 621, the two first supporting plates 521 or the two second supporting plates 621 are located at the gap 717, respectively.

When the notch 717 is provided to allow the third supporting plate 71 to cooperate with the tray stacking module 60 to stack the tray 100 or cooperate with the tray supplying module 50 to separate the tray 100, the third supporting plate 71 can avoid the two first supporting plates 521 or the two second supporting plates 621 and be higher than the plane where the two first supporting plates 521 or the two second supporting plates 621 are located.

The transverse moving mechanism 73 includes a first sliding seat 731 and a fourth driving device 732, the first sliding table 722 is slidably disposed on the first sliding seat 731, and the fourth driving device 732 is disposed at one end of the first sliding seat 731 and is connected to the first sliding table 722 to drive the first sliding table 722 to move on the first sliding seat 731.

Preferably, the traversing mechanism 73 further includes a first drag chain 733, one end of the first drag chain 733 is disposed on the first sliding seat 731, and the other end of the first drag chain 733 is connected to the first sliding table 722.

The longitudinal moving mechanism 74 includes a second slide 741 and a fifth driving device 742, the first slide 731 is slidably disposed on the second slide 741, and the fifth driving device 742 is disposed at an end of the second slide 741 and connected to the first slide 731 for driving the first slide 731 to move on the second slide 741.

Preferably, the longitudinal moving mechanism 74 further includes a second drag chain 743, one end of the second drag chain 743 is disposed on the second slide 741 or the workbench 10, and the other end of the second drag chain 743 is connected to the first slide 731.

The third supporting plate 71 further comprises a tray taking position and a tray stacking position, and when the third supporting plate 71 is located at the tray taking position, the third supporting plate 71 is located at the first supporting mechanism; when the third supporting plate 71 is located at the loading position, the third supporting plate 71 is located at the position where the material is placed by the transfer manipulator 40; when the third support plate 71 is located at the stacking position, the third support plate 71 is located at the second support mechanism.

Preferably, the tray taking position, the tray stacking position and the feeding position are distributed in a right angle. The disk taking position and the disk stacking position are located on the same straight line and parallel to the sliding direction of the first sliding table 722 on the first sliding seat 731, and the disk stacking position and the material loading position are located on the same straight line and parallel to the sliding direction of the first sliding seat 731 on the second sliding seat 741.

After the third supporting plate 71 transfers the tray 100 containing the material to the stacking position and cooperates with the tray stacking module 60 to stack, the third supporting plate 71 directly moves to the tray taking position under the action of the traversing mechanism 73, cooperates with the tray supplying module 50 to at least separate one tray 100, and transfers the tray 100 to the loading position under the action of the traversing mechanism 73 and the longitudinally moving mechanism 74, so that the transferring robot 40 can perform the tray arrangement of the material, and thus the operation is repeated.

Referring to fig. 7-8, the transfer robot 40 includes a second mounting seat 41, a sixth driving device 42, a seventh driving device 43, and a second sliding table 44, the second sliding table 44 is slidably disposed on the seventh driving device 43 and is moved laterally by the seventh driving device 43, the seventh driving device 43 is slidably disposed on the sixth driving device 42 and is moved longitudinally by the sixth driving device 42, the sixth driving device 42 is disposed on the second mounting seat 41, and the second mounting seat 41 is disposed on the working table 10.

At least one suction assembly 441 is disposed on one side of the second sliding table 44, the suction assembly 441 includes a forward and reverse rotation motor 4411, a conveyor belt 4412, two conveying wheels 4413 and two suction nozzles 4414, one of the conveying wheels 4413 is disposed under the other conveying wheel 4413 at a certain interval, the conveyor belt 4412 is rotatably disposed on the two conveying wheels 4413, and the portions of the conveyor belt 4412 between the two conveying wheels 4413 are respectively connected with one of the suction nozzles 4414, and the forward and reverse rotation motor 4411 drives one of the conveying wheels 4413 to rotate so that the two suction nozzles 4414 move in different directions synchronously.

Specifically, two slide rails 4415 are arranged on the side surface of the second sliding table 44 along the vertical direction, a slide block 4416 is arranged on the conveyor belt 4412 corresponding to one slide rail 4415, the slide block 4416 is slidably connected with the slide rail 4415, and the suction nozzles 4414 are arranged on the slide block 4416, so that when the forward/reverse rotation motor 4411 rotates forward or reversely, the two slide blocks 4416 move synchronously and in different directions under the action of the conveyor belt 4412 to drive the two corresponding suction nozzles 4414 to move synchronously, so that the two suction nozzles 4414 alternately absorb the material.

Preferably, three sets of the suction assemblies 441 are arranged on one side of the second sliding table 44. So that the transfer robot 40 can perform three transfer flaps of the material at the same time.

Throughout the description and claims of this application, the words "comprise" and the words "have/include" and variations of these words, for specifying the presence of stated features, values, steps or components but not excluding the presence or addition of one or more other features, values, steps, components or groups thereof.

Some features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, certain features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable combination in different embodiments.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention should be included in the present invention.

Claims (10)

1. A flexible balance machine, characterized in that, flexible balance machine includes:

the vibrating disc is arranged on the workbench and used for vibrating the materials to a set direction;

the transfer manipulator is arranged behind the vibration disc and used for transferring the materials with the set orientation in the vibration disc to a tray at a loading position;

the tray supply module is arranged on the first mounting seat and comprises two first supporting plates which are oppositely arranged, and the two first supporting plates respectively move relatively under the driving of a first driving device and are used for supporting or releasing the stacked empty trays;

the tray stacking module is arranged on the first mounting seat, arranged in parallel with the tray supply module and used for stacking the trays filled with materials, and comprises two second supporting plates which are oppositely arranged, wherein the two second supporting plates respectively move relatively under the driving of a second driving device and are used for supporting or releasing the trays filled with the materials;

the tray transferring module is arranged on the workbench and used for transferring the tray on the tray supply module to the loading position and transferring the tray to the tray stacking module for stacking after the tray is filled with materials.

2. The flexible disk arranging machine according to claim 1, wherein the tray transferring module comprises an elevating mechanism and a third support plate, the elevating mechanism comprises a third driving device, a first sliding table and a guide plate, the guide plate is arranged between the first sliding table and the third support plate, the third support plate is movably connected with the guide plate, the third driving device is arranged on the first sliding table, and the output end of the third driving device is connected with the bottom of the third support plate.

3. The flexible balance machine according to claim 2, wherein a rotating wheel is connected to an output end of the third driving device, the rotating wheel is eccentrically connected with a rotating shaft, an axial direction of the rotating shaft is a horizontal direction, a push rod is hinged between the rotating shaft and the third supporting plate, and the third driving device drives the rotating wheel to rotate, so that the rotating shaft moves to drive the push rod to move, and the third supporting plate is lifted.

4. The flexible balance machine according to claim 3, wherein the first sliding table is further provided with a sensor, the push rod is provided with a sensing element, the sensing element has an initial position, and when the third driving device drives the rotating wheel to rotate for one circle, the sensing element moves along with the push rod from the initial position and returns to the initial position again.

5. The flexible balance machine according to claim 2, wherein a plurality of limiting blocks are further disposed on two adjacent sides of the third supporting plate, at least one movable limiting block is disposed on each of the other two sides of the third supporting plate, a pushing block is disposed on the back surface of the third supporting plate corresponding to the limiting block, and the pushing block slides to move the limiting block toward or away from the limiting block on the opposite side.

6. The flexible balance machine according to claim 5, wherein a push plate is further connected to a side of the push block away from the third support plate, the push plate is provided with a guide groove, the guide groove comprises a first portion and a second portion, the first portion is vertically arranged, the second portion is communicated with an upper end of the first portion at an obtuse angle, the guide plate is provided with a guide post corresponding to the guide groove, when the third support plate is driven by the third driving device to ascend, the push block pushes the push plate to move under the action of the guide post and the guide groove, and the push plate drives the limiting member to move towards the direction of the limiting block away from the opposite side.

7. The flexible balance machine according to claim 6, wherein a sliding groove is formed in the third support plate, the limiting member is arranged in the sliding groove and comprises a limiting portion, a sliding portion and a connecting portion, the sliding portion is arranged between the limiting portion and the connecting portion, at least part of the limiting portion extends out of the surface of the third support plate, at least part of the connecting portion is connected with the push plate, the sliding portion is elastically connected in the sliding groove through a spring, the push block is provided with a groove, when the connecting portion is located in the groove, the spring is in a compressed state, and when the connecting portion leaves the groove, the spring in the compressed state is further compressed.

8. A flexible tray arranging machine according to claim 2, wherein the opposite sides of the third supporting plate are provided with a notch corresponding to each of the two first supporting plates or the two second supporting plates, and when the third supporting plate moves below the tray supplying module or the tray stacking module and moves upward under the driving of the third driving device and contacts with the tray at the lowest layer on the two first supporting plates or the two second supporting plates, the two first supporting plates or the two second supporting plates are respectively located at a notch.

9. The flexible balance machine according to claim 1, wherein the transfer manipulator comprises a second sliding table, at least one suction assembly is arranged on one side of the second sliding table, the suction assembly comprises a forward and reverse rotation motor, a conveyor belt, two conveying wheels and two suction nozzles, one conveying wheel is arranged under the other conveying wheel at a certain interval, the conveyor belt is rotatably arranged on the two conveying wheels, the suction nozzles are respectively connected to the parts of the conveyor belt between the two conveying wheels, and the forward and reverse rotation motor drives the one conveying wheel to rotate so that the two suction nozzles synchronously move in different directions.

10. The flexible balance machine according to claim 1, further comprising a camera disposed directly above the vibratory pan for identifying whether the material in the vibratory pan is in a set orientation.

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