CN217971457U - Flexible tray transporting and taking and placing device - Google Patents
Flexible tray transporting and taking and placing device Download PDFInfo
- Publication number
- CN217971457U CN217971457U CN202222374304.7U CN202222374304U CN217971457U CN 217971457 U CN217971457 U CN 217971457U CN 202222374304 U CN202222374304 U CN 202222374304U CN 217971457 U CN217971457 U CN 217971457U
- Authority
- CN
- China
- Prior art keywords
- axis
- tray
- placing
- plate
- adjusting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
A flexible tray transporting and taking and placing device comprises an automatic guide vehicle and a control system, wherein a rotating shaft adjusting mechanism, a 3D camera, a Z-axis adjusting mechanism, a Y-axis adjusting mechanism, an X-axis adjusting mechanism and a tray taking and placing mechanism are arranged above the automatic guide vehicle; the tray is got and is put mechanism including getting and put the mechanism bottom plate, and a support, get and put the driving piece, the connecting piece, the curb plate, fixed plate and tray locating pin, it installs on X axle guiding mechanism to get and put the mechanism bottom plate, the support is fixed on getting and putting the mechanism bottom plate, it fixes in the support side to get to put the driving piece, the curb plate passes through guide rail sliding block set spare and installs on the support, the fixed plate is installed on the curb plate, the tray locating pin is installed on the fixed plate, connecting piece and curb plate fixed mounting, it drives curb plate and fixed plate along support vertical movement to get to put the driving piece through the connecting piece, utilize the tray locating hole cooperation of tray locating pin and tray to get the tray and put. The utility model discloses can dock a plurality of toasting equipment with one set of device and carry out the tray and get and put.
Description
Technical Field
The utility model belongs to the field of machinery, a structure and performance improvement that the tray was got and is put the device is related to, specifically speaking is a flexible tray transportation and gets and put the device.
Background
The tray is a carrier, and is widely used in baking equipment.
At present, a manual mode or a semi-automatic device is mainly adopted for taking and placing the tray, for example, a tray taking and placing mechanism is arranged beside the baking equipment, the tray is manually placed on the tray taking and placing mechanism, and then the tray is sent to the baking equipment by the tray taking and placing mechanism; the automatic tray taking and placing device is low in automation level, needs to be configured with special trained personnel to carry out tray taking and placing operation, and is high in dependence on personnel and low in efficiency.
As disclosed in chinese patent application publication No. CN113879838A, "a tray pick-and-place device and a tray conveying method", the tray pick-and-place device includes a suction assembly and a baffle, the suction assembly includes a suction nozzle, the suction nozzle can suck the tray, the baffle can press the tray sucked by the suction assembly, the suction assembly is connected to a first cylinder, the first cylinder is configured to drive the suction assembly to lift relative to the baffle, the baffle is connected to a second cylinder, the second cylinder is configured to drive the baffle to lift relative to the suction assembly, the first cylinder and the second cylinder are both connected to a third cylinder, the third cylinder is configured to drive the first cylinder and the second cylinder to lift simultaneously, so as to drive the suction assembly and the baffle to lift simultaneously. In the invention, the tray is always pressed by the baffle in the separation process, so that the tray is not influenced by the residual suction force between the suction nozzle and the tray, namely the tray is always kept on the backing plate, and the tray is further prevented from being damaged.
The tray picking and placing mechanisms disclosed above and existing in the prior art mostly adopt a sucking mode of a sucking disc, and the automation level is insufficient, so that the application range and the efficiency are limited. Therefore, there is a need to develop an automatic tray taking and placing device to match the automatic production requirement of the production line, improve the production efficiency and reduce the labor intensity.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a flexible tray transportation and get and put device to solve the problem among the prior art.
In order to realize the utility model discloses an aim at, adopt following technical scheme:
the flexible tray transporting, taking and placing device comprises an automatic guide vehicle and a control system, wherein a rotating shaft adjusting mechanism is installed above the automatic guide vehicle, a 3D camera and a Z-axis adjusting mechanism are installed on the rotating shaft adjusting mechanism, a Y-axis adjusting mechanism is installed on the Z-axis adjusting mechanism, an X-axis adjusting mechanism is installed on the Y-axis adjusting mechanism, and a tray taking and placing mechanism is installed on the X-axis adjusting mechanism; the signal input end of the control system is communicated with the signal output end of the 3D camera, the multi-path signal output end of the control system is respectively electrically connected with the rotating shaft adjusting mechanism, the Z-axis adjusting mechanism, the Y-axis adjusting mechanism, the X-axis adjusting mechanism and the driver of the tray taking and placing mechanism, the tray taking and placing mechanism comprises a taking and placing mechanism bottom plate, a support, a taking and placing driving piece, a connecting piece, a side plate, a fixing plate and a tray positioning pin, the taking and placing mechanism bottom plate is installed on the X-axis adjusting mechanism, the support is fixed on the taking and placing mechanism bottom plate, the taking and placing driving piece is fixed on the side face of the support, the side plate is installed on the support through a guide rail sliding block assembly, the fixing plate is installed on the side plate, the tray positioning pin is installed on the fixing plate, the connecting piece and the side plate are fixedly installed, the taking and placing driving piece drives the side plate and the fixing plate to vertically move along the support through the connecting piece, and the tray is taken and placed through the positioning hole matching of the tray positioning pin and the positioning hole of the tray.
In order to further realize the purpose of the utility model, the following technical scheme can also be adopted:
the flexible tray transporting and taking and placing device comprises a rotating shaft turntable, a rotating shaft speed reducer, a rotating shaft motor, a rotating supporting seat and a rotating bottom plate, wherein the rotating supporting seat and the rotating shaft turntable are both installed on the automatic guided vehicle, the rotating bottom plate is installed above the rotating shaft turntable, the rotating supporting seat forms a support for the rotating bottom plate, the rotating shaft motor drives the rotating shaft turntable to drive the rotating bottom plate to rotate through the rotating shaft speed reducer, and the 3D camera is installed on the side face of the rotating shaft motor.
The flexible tray transporting and taking and placing device comprises a Z-axis motor, a Z-axis speed reducer, a Z-axis transmission mechanism, a Z-axis lead screw, a Z-axis bottom plate, a Z-axis guide shaft, a linear bearing and a top plate, wherein two ends of the Z-axis guide shaft are respectively fixed with the top plate and the rotating bottom plate, the Z-axis bottom plate is arranged between the top plate and the rotating bottom plate, the Z-axis lead screw and the Z-axis guide shaft respectively penetrate through the Z-axis bottom plate, the Z-axis guide shaft is matched with the Z-axis bottom plate through the linear bearing, the Z-axis motor and the Z-axis speed reducer are installed on the rotating bottom plate, the Z-axis motor drives the Z-axis speed reducer, and the Z-axis speed reducer drives the Z-axis lead screw to move through the Z-axis transmission mechanism to drive the Z-axis bottom plate to move up and down along the Z-axis guide shaft.
According to the flexible tray transporting and taking and placing device, the Y-axis adjusting mechanism comprises a Y-axis adjusting motor, a Y-axis lead screw, a Y-axis guide rail and a Y-axis bottom plate, the Y-axis adjusting motor, the Y-axis lead screw and the Y-axis guide rail are installed on the Z-axis bottom plate, and the Y-axis adjusting motor drives the Y-axis bottom plate to move through the Y-axis lead screw.
The flexible tray transporting and taking and placing device comprises a first X-axis adjusting mechanism, the first X-axis adjusting mechanism comprises a first X-axis motor, an X-axis base plate, a first X-axis guide rail and a first X-axis lead screw, the first X-axis guide rail is installed on the Y-axis base plate, the first X-axis motor and the first X-axis lead screw are installed on the X-axis base plate, and the first X-axis motor drives the X-axis base plate to move through the first X-axis lead screw.
According to the flexible tray transporting and taking and placing device, the X-axis adjusting mechanism comprises a second X-axis adjusting assembly, the second X-axis adjusting assembly comprises a second X-axis motor, a second X-axis guide rail and a second X-axis lead screw, the second X-axis motor is installed on the X-axis bottom plate, and the second X-axis motor drives the tray taking and placing mechanism to move through the second X-axis lead screw.
The flexible tray transporting and taking and placing device comprises a tray placing frame, wherein the tray placing frame is installed on the outer side of the tray taking and placing mechanism and comprises supporting vertical plates which are symmetrically arranged, the bottoms of the supporting vertical plates are fixed with an X-axis adjusting mechanism, the tops of the supporting vertical plates are fixed with a supporting upper plate, two side mounting tray supports opposite to the supporting vertical plates are provided with tray supporting rollers and tray guiding rollers, and the tray supporting rollers and the tray guiding rollers are installed on the tray supports.
According to the flexible tray transporting and taking and placing device, the tray supports are vertically provided with multiple layers, and the number of the layers of the tray supports corresponds to the number of the fixing plates.
According to the flexible tray transporting and taking and placing device, the bracket is made of a section bar; the bottom of the fixed plate is provided with a tray detection sensor group; a plurality of sets of fixing plates are arranged on the side plates at intervals.
Compared with the prior art, the utility model discloses a device is got in transportation of flexible tray and getting can replace manual operation and semi-automatization equipment, and adopts one set of the device can dock the automatic getting of a plurality of trays that toast the equipment and put, promotes the regional flexible automation level of toasting the equipment. Specifically, the method comprises the following steps:
1. the automatic transportation and the flexible transportation of the tray are realized through the omnidirectional automatic guided vehicle, namely, programmable routes and parking spots are realized, and the flexible automation rate of the baking equipment area is improved;
2. the automatic taking and placing of the tray are realized by adjusting the taking and placing device, the integral automation level of the baking equipment area is improved, the labor is saved, and the efficiency is improved;
drawings
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic view of a structure of a tray according to the prior art;
fig. 2 is a schematic structural diagram of the present invention;
FIG. 3 is a perspective view of FIG. 2;
FIG. 4 is a schematic structural view of the rotating shaft adjusting mechanism in FIG. 2;
FIG. 5 is a schematic structural view of the Z-axis adjustment mechanism and the Y-axis adjustment mechanism of FIG. 2;
FIG. 6 is a schematic structural view of the X-axis adjustment mechanism of FIG. 2;
FIG. 7 is a perspective view of FIG. 6;
FIG. 8 is a perspective view of the tray pick and place mechanism of FIG. 2;
fig. 9 is a control schematic diagram of the present invention.
Reference numerals are as follows:
1-automatic guided vehicle; 2-a rotating shaft adjusting mechanism, 21-a rotating shaft turntable, 22-a rotating shaft reducer, 23-a rotating shaft motor, 24-a rotating support seat and 25-a rotating bottom plate; a 3-3D camera; 4-Z-axis adjusting mechanism, 41-Z-axis motor, 42-Z-axis speed reducer, 43-Z-axis transmission mechanism, 44-Z-axis lead screw, 45-Z-axis bottom plate, 46-Z-axis guide shaft, 47-linear bearing and 48-top plate; 5-Y-axis adjusting mechanism, 51-Y-axis adjusting motor, 52-Y-axis screw rod, 53-Y-axis guide rail and 54-Y-axis bottom plate; 6-X axis adjusting mechanism, 61-first X axis motor, 62-X axis bottom plate, 63-first X axis guide rail, 64-first X axis lead screw, 65-second X axis motor, 66-second X axis guide rail, 67-second X axis lead screw and 68-X axis transmission mechanism; 7-a tray picking and placing mechanism, 71-a bracket, 72-a picking and placing driving piece, 73-a connecting piece, 74-a side plate, 75-a fixing plate, 76-a tray positioning pin, 77-a picking and placing mechanism bottom plate and 78-a tray detection sensor group; 8-a tray placing frame, 81-a supporting vertical plate, 82-a supporting upper plate, 83-a tray bracket, 84-a tray supporting roller and 85-a tray guiding roller; 9-positioning holes.
Detailed Description
To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the attached drawings in the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments.
As shown in fig. 1, a tray is widely used as a carrier in a baking apparatus. Structurally, the periphery of the tray is provided with positioning holes 9, and the tray is provided with a plurality of notches for bearing workpieces.
As shown in fig. 2 to 9, the flexible tray transporting and picking and placing device disclosed in this embodiment integrally includes an automatic guided vehicle 1, a control system, a 3D camera 3, a rotation axis adjusting mechanism 2, a Z axis adjusting mechanism 4, a Y axis adjusting mechanism 5, an X axis adjusting mechanism 6, a tray picking and placing mechanism 7, and a tray placing frame 8.
The 3D camera 3, the Z-axis adjusting mechanism 4, the Y-axis adjusting mechanism 5, the X-axis adjusting mechanism 6, the tray taking and placing mechanism 7 and the tray placing rack 8 are all arranged on the rotating shaft adjusting mechanism 2.
The automated guided vehicle 1 is used as a base for mounting and positioning the entire components such as the rotation axis adjusting mechanism 2, and can perform linear motions in two directions. In addition, the programmable route and the setting of the parking point improve the regional flexible automation rate of the baking equipment.
The signal input end of the control system is communicated with the signal output end of the 3D camera 3, the multi-path signal output end of the control system is respectively and electrically connected with the drivers of the rotating shaft adjusting mechanism 2, the Z-axis adjusting mechanism 4, the Y-axis adjusting mechanism 5, the X-axis adjusting mechanism 6 and the tray pick-and-place mechanism 7,
in the control system schematic shown in fig. 9, drive represents a Drive, AC represents a motor, and PC represents a computer. The control system takes a PLC as a core and is responsible for controlling the whole mechanism; after analyzing and converting data acquired by the 3D camera 3 by a software system of the 3D camera 3 in the PC, feeding the data back to the PLC; and the PLC sends signals to drivers of the rotating shaft adjusting mechanism 2, the Z-axis adjusting mechanism 4, the Y-axis adjusting mechanism 5, the X-axis adjusting mechanism 6 and the tray taking and placing mechanism 7 according to the data collected by the 3D camera 3, and controls the motors to work so as to realize the taking and placing of the tray.
Specifically, as shown in fig. 2 and 3, a rotating shaft adjusting mechanism 2 is installed above the automatic guided vehicle 1, a 3d camera 3 is installed on the rotating shaft adjusting mechanism 2, a Z shaft adjusting mechanism 4 is installed on the rotating shaft adjusting mechanism 2, a Y shaft adjusting mechanism 5 is installed on the Z shaft adjusting mechanism 4, an X shaft adjusting mechanism 6 is installed on the Y shaft adjusting mechanism 5, and a tray taking and placing mechanism 7 is installed on the X shaft adjusting mechanism 6.
As shown in fig. 8, the tray pick and place mechanism 7 adopted in this embodiment structurally includes a pick and place mechanism bottom plate 77, a bracket 71, a pick and place driving member 72, a connecting member 73, a side plate 74, a fixing plate 75 and a tray positioning pin 76, the pick and place mechanism bottom plate 77 is installed on the X-axis adjusting mechanism 6, and the bottom of the bracket 71 is fixed to the pick and place mechanism bottom plate 77. The taking and placing driving part 72 is fixed on the side face of the support 71, the side plate 74 is installed on the support 71 through the guide rail sliding block assembly, the fixing plate 75 is installed on the side plate 74, the tray positioning pin 76 is installed on the fixing plate 75, the connecting part 73 and the side plate 74 are fixedly installed, the taking and placing driving part 72 drives the side plate 74 and the fixing plate 75 to vertically move along the support 71 through the connecting part 73, and the tray is taken and placed by matching the tray positioning pin 76 with the positioning hole 9 of the tray.
As shown in fig. 4, the rotation axis adjusting mechanism 2 of the present embodiment includes a rotation axis turntable 21, a rotation axis reducer 22, a rotation axis motor 23, a rotation support base 24, and a rotation base plate 25, wherein the rotation axis turntable 21 and the rotation support base 24 are mounted on the automated guided vehicle 1, the rotation base plate 25 is mounted above the rotation axis turntable 21, and the rotation base plate 25 is supported by the rotation support base 24. The rotating shaft motor 23 drives the rotating shaft turntable 21 through the rotating shaft speed reducer 22 to drive the rotating bottom plate 25 to rotate, and the 3D camera 3 is installed on the side face of the rotating shaft motor 23.
As shown in fig. 4 and 5, the Z-axis adjusting mechanism 4 used in the present embodiment is composed of a Z-axis motor 41, a Z-axis reducer 42, a Z-axis transmission mechanism 43, a Z-axis screw 44, a Z-axis base plate 45, a Z-axis guide shaft 46, a linear bearing 47, a top plate 48, and the like.
Two ends of a Z-axis guide shaft 46 are respectively fixed with the top plate 48 and the rotating bottom plate 25, a Z-axis bottom plate 45 is arranged between the top plate 48 and the rotating bottom plate 25, a Z-axis lead screw 44 and the Z-axis guide shaft 46 respectively penetrate through the Z-axis bottom plate 45, the Z-axis guide shaft 46 is matched with the Z-axis bottom plate 45 through a linear bearing 47, and a Z-axis motor 41 and a Z-axis speed reducer 42 are installed on the rotating bottom plate 25.
The Z-axis motor 41 drives a Z-axis reducer 42, and the Z-axis reducer 42 drives a Z-axis lead screw 44 to move through a Z-axis transmission mechanism 43, so as to drive a Z-axis bottom plate 45 to move up and down along a Z-axis guide shaft 46. The Z-axis screw 44 is composed of a screw and a nut, and a Z-axis bottom plate 45 fixed to the nut is driven to lift by the rotatable action of the screw.
Meanwhile, in order to ensure the stability of the lifting of the Z-axis bottom plate 45, four sets of Z-axis guide shafts 46 and linear bearings 47 are provided in the embodiment and are respectively provided at corresponding corners of the rotating bottom plate 25 and the Z-axis bottom plate 45.
The Y-axis adjusting mechanism 5 comprises a Y-axis adjusting motor 51, a Y-axis lead screw 52, a Y-axis guide rail 53 and a Y-axis bottom plate 54, the Y-axis adjusting motor 51, the Y-axis lead screw 52 and the Y-axis guide rail 53 are installed on the Z-axis bottom plate 45, and the Y-axis adjusting motor 51 drives the Y-axis bottom plate 54 to move through the Y-axis lead screw 52.
As shown in fig. 6 and 7, the X-axis adjusting mechanism 6 includes a first X-axis adjusting assembly, the first X-axis adjusting assembly includes a first X-axis motor 61, an X-axis base plate 62, a first X-axis guide rail 63, and a first X-axis lead screw 64, the first X-axis guide rail 63 is mounted on the Y-axis base plate 54, the first X-axis motor 61 and the first X-axis lead screw 64 are mounted on the X-axis base plate 62, and the first X-axis motor 61 drives the X-axis base plate 62 to move through the first X-axis lead screw 64.
In order to realize a wider range of movement of the tray picking and placing mechanism 7, the X-axis adjusting mechanism 6 is further provided with a second X-axis adjusting assembly, the second X-axis adjusting assembly comprises a second X-axis motor 65 mounted on the X-axis base plate 62, a second X-axis guide rail 66 and a second X-axis lead screw 67, and the second X-axis motor 65 drives the tray picking and placing mechanism 7 to move through the second X-axis lead screw 67.
As shown in fig. 7, in order to load a tray, a tray placing rack 8 is installed outside the tray taking and placing mechanism 7, the tray placing rack 8 includes supporting vertical plates 81 symmetrically arranged, the bottom of the supporting vertical plate 81 is fixed with the X-axis adjusting mechanism 6, the top of the supporting vertical plate 81 is fixed with a supporting upper plate 82, two opposite sides of the supporting vertical plate 81 are provided with tray supports 83, and the tray supports 83 are provided with tray supporting rollers 84 and tray guiding rollers 85.
A plurality of sets of tray supporting rollers 84 and tray guiding rollers 85 are mounted on the tray support 83 at intervals to realize stable movement of the tray and the workpiece. In this embodiment, a plurality of sets of fixing plates 75 are mounted on the side plate 74 at intervals. The number of layers of the tray support 83 corresponds to the number of the fixing plates 75.
The Z-axis transmission mechanism 43 and the X-axis transmission mechanism 68 are both formed by belt pulley assemblies. In order to ensure the stability of the power supply of the first X-axis motor 61 and the second X-axis motor 65, corresponding power lines and the like are protected by drag chains.
In order to facilitate the engagement between the tray pick and place mechanism 7 and the X-axis adjusting mechanism 6, a pick and place mechanism bottom plate 77 is attached to the bottom of the bracket 71 above the pick and place mechanism bottom plate 77. A tray detection sensor group 78 is installed at the bottom of the fixing plate 75.
Based on the above description, the working process of the flexible tray transporting and taking and placing device is as follows:
the automatic guided vehicle 1 travels to a butt joint position of baking equipment according to a set route, the 3D camera 3 photographs a marker on the baking equipment, the rotation angle deviation of the device on the upper part of the automatic guided vehicle 1 is identified, and the rotation shaft adjusting mechanism 2 drives the Z-axis adjusting mechanism 4, the Y-axis adjusting mechanism 5, the X-axis adjusting mechanism 6 and the tray taking and placing mechanism 7 to move and rotate so as to enable the automatic guided vehicle to be flush with the baking equipment; and then, the 3D camera 3 takes a picture of the marker on the baking equipment again, the X-axis, Y-axis and Z-axis deviation of the device on the automatic guided vehicle 1 is identified, and the Z-axis adjusting mechanism 4, the Y-axis adjusting mechanism 5 and the X-axis adjusting mechanism 6 move, so that the tray taking and placing mechanism 7 and the baking equipment are aligned within the error range in the angle and the X-axis, Y-axis and Z-axis directions. The tray pick and place mechanism 7 is extended to pick/place the tray into the toasting apparatus.
The technical contents not described in detail in the present invention are all known techniques.
Claims (9)
1. The flexible tray transporting, taking and placing device comprises an automatic guide vehicle and a control system, wherein a rotating shaft adjusting mechanism is installed above the automatic guide vehicle, a 3D camera and a Z-axis adjusting mechanism are installed on the rotating shaft adjusting mechanism, a Y-axis adjusting mechanism is installed on the Z-axis adjusting mechanism, an X-axis adjusting mechanism is installed on the Y-axis adjusting mechanism, and a tray taking and placing mechanism is installed on the X-axis adjusting mechanism; the automatic picking and placing device is characterized in that the tray picking and placing mechanism comprises a picking and placing mechanism bottom plate, a support, a picking and placing driving piece, a connecting piece, a side plate, a fixed plate and a tray positioning pin, the picking and placing mechanism bottom plate is installed on the X-axis adjusting mechanism, the support is fixed on the picking and placing mechanism bottom plate, the picking and placing driving piece is fixed on the side face of the support, the side plate is installed on the support through a guide rail sliding block assembly, the fixed plate is installed on the side plate, the tray positioning pin is installed on the fixed plate, the connecting piece and the side plate are fixedly installed, the picking and placing driving piece drives the side plate and the fixed plate to move vertically along the support through the connecting piece, and the tray is picked and placed through the matching of the tray positioning pin and the positioning hole of the tray.
2. The device as claimed in claim 1, wherein the rotation axis adjusting mechanism includes a rotation axis turntable, a rotation axis reducer, a rotation axis motor, a rotation support base, and a rotation base plate, the rotation support base and the rotation axis turntable are both mounted on the automated guided vehicle, the rotation base plate is mounted above the rotation axis turntable, the rotation support base supports the rotation base plate, the rotation axis motor drives the rotation axis turntable to rotate the rotation base plate through the rotation axis reducer, and the 3D camera is mounted at a side of the rotation axis motor.
3. The device for transporting, picking and placing the flexible tray as claimed in claim 2, wherein the Z-axis adjusting mechanism comprises a Z-axis motor, a Z-axis reducer, a Z-axis transmission mechanism, a Z-axis lead screw, a Z-axis bottom plate, a Z-axis guide shaft, a linear bearing and a top plate, wherein two ends of the Z-axis guide shaft are respectively fixed with the top plate and the rotating bottom plate, the Z-axis bottom plate is arranged between the top plate and the rotating bottom plate, the Z-axis lead screw and the Z-axis guide shaft respectively penetrate through the Z-axis bottom plate, the Z-axis guide shaft is matched with the Z-axis bottom plate through the linear bearing, the Z-axis motor and the Z-axis reducer are mounted on the rotating bottom plate, the Z-axis motor drives the Z-axis reducer, and the Z-axis reducer drives the Z-axis lead screw to move through the Z-axis transmission mechanism, so as to drive the Z-axis bottom plate to move up and down along the Z-axis guide shaft.
4. The device for transporting, picking and placing the flexible tray as claimed in claim 3, wherein the Y-axis adjusting mechanism comprises a Y-axis adjusting motor, a Y-axis lead screw, a Y-axis guide rail and a Y-axis base plate, the Y-axis adjusting motor, the Y-axis lead screw and the Y-axis guide rail are mounted on the Z-axis base plate, and the Y-axis adjusting motor drives the Y-axis base plate to move through the Y-axis lead screw.
5. The device for transporting, picking and placing the flexible tray as claimed in claim 4, wherein the X-axis adjusting mechanism comprises a first X-axis adjusting assembly, the first X-axis adjusting assembly comprises a first X-axis motor, an X-axis base plate, a first X-axis guide rail and a first X-axis lead screw, the first X-axis guide rail is mounted on the Y-axis base plate, the first X-axis motor and the first X-axis lead screw are mounted on the X-axis base plate, and the first X-axis motor drives the X-axis base plate to move through the first X-axis lead screw.
6. The flexible tray transporting and picking and placing device of claim 5 wherein the X-axis adjusting mechanism comprises a second X-axis adjusting assembly, the second X-axis adjusting assembly comprises a second X-axis motor mounted on the X-axis base plate, a second X-axis guide rail and a second X-axis lead screw, and the second X-axis motor drives the tray picking and placing mechanism to move through the second X-axis lead screw.
7. The flexible tray transporting and taking and placing device as claimed in claim 1, wherein a tray placing frame is installed outside the tray taking and placing mechanism, the tray placing frame comprises supporting vertical plates which are symmetrically arranged, the bottoms of the supporting vertical plates are fixed with the X-axis adjusting mechanism, the tops of the supporting vertical plates are fixed with the supporting upper plate, tray supports are installed on the opposite sides of the two supporting vertical plates, and tray supporting rollers and tray guiding rollers are installed on the tray supports.
8. The flexible tray transporting and taking and placing device as claimed in claim 7, wherein the tray support is provided with a plurality of layers on the upper and lower sides, and the number of the layers of the tray support corresponds to the number of the fixing plates.
9. The flexible tray transportation and pick-and-place device of claim 1 wherein the rack is made of a profile; the bottom of the fixed plate is provided with a tray detection sensor group; a plurality of sets of fixing plates are arranged on the side plates at intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222374304.7U CN217971457U (en) | 2022-09-07 | 2022-09-07 | Flexible tray transporting and taking and placing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222374304.7U CN217971457U (en) | 2022-09-07 | 2022-09-07 | Flexible tray transporting and taking and placing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217971457U true CN217971457U (en) | 2022-12-06 |
Family
ID=84263266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222374304.7U Active CN217971457U (en) | 2022-09-07 | 2022-09-07 | Flexible tray transporting and taking and placing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217971457U (en) |
-
2022
- 2022-09-07 CN CN202222374304.7U patent/CN217971457U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104555317A (en) | Automatic circular feeding system | |
| CN212143520U (en) | Mobile phone display screen module detection device | |
| CN112374106A (en) | Automatic transfer, turnover and conveying equipment | |
| CN211768283U (en) | Conveying device, conveying equipment and conveying system | |
| CN109590510B (en) | Circuit board on-line tracing code drilling equipment | |
| CN217971457U (en) | Flexible tray transporting and taking and placing device | |
| CN212424463U (en) | Automatic transfer machine | |
| CN211495802U (en) | Feeding and discharging machine and automatic conveying line with same | |
| CN108374244A (en) | The self-feeding of sewing machine and material collecting device and self-feeding and rewinding method | |
| CN109501229B (en) | Three-dimensional pad pasting equipment | |
| CN216736412U (en) | Electric manipulator material picking and carrying mechanism | |
| CN113333515B (en) | Plate bending processing method | |
| CN213922985U (en) | Automatic transfer, turnover and conveying equipment | |
| CN212424523U (en) | Positioning roller table for carton sealing machine | |
| CN212528278U (en) | Glass engraving and milling machine and conveying device capable of automatically feeding and discharging | |
| CN211614087U (en) | Middle-layer stamping production line of electric cooker | |
| CN209777672U (en) | Automatic turning and conveying device for slide | |
| CN213755140U (en) | Plate receiving device | |
| CN214526603U (en) | Charging tray feeding and recycling device | |
| CN213033907U (en) | Cantilever type laser cutting production facility | |
| CN218578716U (en) | Automatic loading and unloading device | |
| CN216710760U (en) | Jacking conveying device | |
| CN217707968U (en) | Automatic material loading hacking machine | |
| CN218361869U (en) | Pre-processing assembly, post-processing equipment and cover body installation production line | |
| CN219278858U (en) | Automatic feeding and discharging mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |