CN219029959U

CN219029959U - Automatic swing plate equipment of robot

Info

Publication number: CN219029959U
Application number: CN202223282256.5U
Authority: CN
Inventors: 朱森平; 翁彦青
Original assignee: Huizhou Desheng Automation Technology Co ltd
Current assignee: Huizhou Desheng Automation Technology Co ltd
Priority date: 2022-12-06
Filing date: 2022-12-06
Publication date: 2023-05-16
Anticipated expiration: 2032-12-06

Abstract

The utility model provides an automatic balance equipment of robot, includes multiaxis robot and automatic balance device, multiaxis robot is located one side of automatic balance device, automatic balance device includes the frame, be used for piling up the empty dish stacking mechanism of placing empty balance, be used for carrying out the orderly work of putting of product on empty balance put the station, be used for piling up the product stacking mechanism of putting the balance after the work and be used for carrying out the balance conveying mechanism of balance transportation, when carrying out the product and put the work, the staff only need place empty balance earlier in empty dish stacking mechanism, balance conveying mechanism can be with empty balance automatic transfer to put the station in the empty balance stacking mechanism, multiaxis robot put the product in order to the balance, thereby accomplish the product of a balance and put the work, with the product of this kind of promotion next balance put the work, thereby realize full-automatic balance, the degree of automation of this equipment is higher.

Description

Automatic swing plate equipment of robot

Technical Field

The utility model belongs to the technical field of automatic swaying equipment, and particularly relates to robot automatic swaying equipment.

Background

At present, along with the high-speed development of electronic circuit technology, the application of electronic components is very extensive, so in modern society, the demand of electronic components is very big, and the volume of electronic components is generally less, and electronic components need to be typeset after finishing after producing, and the traditional mode of adopting manual typesetting packing has not been suitable for the requirement of large-scale electronic components typesetting packing, therefore appears a robot automatic disc arranging equipment on the market.

The utility model patent of China as 202220181071.6 discloses an automatic tray arranging machine, which comprises a workbench, wherein an air cylinder is arranged in the workbench, the output end of the air cylinder penetrates through the workbench and is in sliding connection with the workbench, a tray is fixedly arranged at the output end of the air cylinder, a robot is arranged on the upper surface of the workbench, a material absorbing component is arranged at the lower end of the robot, a material receiving component is arranged on the upper surface of the workbench, a direct vibration component is arranged on the upper surface of the workbench, and circular vibration components are arranged at two side surfaces of the direct vibration component on the upper surface of the workbench. Through putting into the product circle subassembly that shakes, shake the subassembly vibration through the circle and send the product to the subassembly that shakes directly, send into by the subassembly that shakes directly again and connect material subassembly position, inhale the material subassembly by the robot and inhale the material subassembly and inhale the material tray of putting into with the product, replace the manual work through adopting mechanization to carry out reason material can play the effect of saving manual labor, improved the work efficiency of electronic component arrangement work.

Although the automatic tray arranging machine can automatically complete automatic typesetting work of electronic elements through a robot, the automatic tray arranging machine needs to manually carry out feeding and discharging work of the tray arranging, and the automation degree of the equipment is not high.

Disclosure of Invention

In order to overcome the defects in the prior art, the utility model provides automatic robot swaying disc equipment.

The technical scheme adopted for solving the technical problems is as follows:

the utility model provides an automatic balance equipment of robot, includes multiaxis robot and automatic balance device, multiaxis robot is located one side of automatic balance device, automatic balance device includes the frame, is used for piling up the empty dish stacking mechanism of placing empty balance, be used for carrying out the orderly work of putting of product on empty balance put the station, be used for piling up the product stacking mechanism of putting the balance after the work and be used for carrying out the balance conveying mechanism of balance transportation, empty dish stacking mechanism, put station and product stacking mechanism set gradually in the frame, be equipped with the movable inner chamber that can supply balance conveying mechanism to remove in the frame, balance conveying mechanism installs in the movable inner chamber, balance conveying mechanism is in empty dish stacking mechanism, put station and product stacking mechanism's below remove.

As a further improvement of the utility model, the empty disc stacking mechanism comprises an empty disc stacking slot, an empty disc supporting mechanism for supporting the limit of the swinging disc and an empty disc lowering mechanism for lifting and lowering the swinging disc, wherein the empty disc stacking slot is positioned above the movable inner cavity, the empty disc supporting mechanism is arranged at the outer side of the empty disc stacking slot, and the empty disc supporting mechanism transversely moves into and out of the empty disc stacking slot; the empty disc lowering mechanism is arranged below the empty disc stacking groove, and the empty disc lowering mechanism moves up and down to enter and exit the empty disc stacking groove.

As a further improvement of the utility model, four groups of empty disc baffle assemblies are arranged on the rack, and the four groups of empty disc baffle assemblies are respectively positioned at four corners of the empty disc stacking groove.

As a further improvement of the utility model, the empty disc baffle plate assembly comprises an empty disc front baffle plate, an empty disc rear baffle plate and an empty disc left baffle plate and a empty disc right baffle plate, wherein the empty disc front baffle plate and the empty disc rear baffle plate are fixed on the frame, and the empty disc front baffle plate and the empty disc rear baffle plate are arranged perpendicular to the empty disc left baffle plate and the empty disc right baffle plate.

As a further improvement of the utility model, the empty disc supporting mechanism comprises an upper supporting telescopic cylinder, a lower supporting telescopic cylinder, a supporting seat plate, a front supporting telescopic cylinder, a rear supporting telescopic cylinder and a supporting clamping tongue, wherein the upper supporting telescopic cylinder and the lower supporting telescopic cylinder are fixedly arranged on the outer side face of the frame, the supporting seat plate is arranged at the movable ends of the upper supporting telescopic cylinder and the lower supporting telescopic cylinder, the front supporting telescopic cylinder and the rear supporting telescopic cylinder are fixedly arranged on the supporting seat plate, the supporting clamping tongue is arranged at the movable ends of the front supporting telescopic cylinder and the rear supporting telescopic cylinder, the movable ends of the upper supporting telescopic cylinder and the lower supporting telescopic cylinder are in up-and-down telescopic movement, and the movable ends of the front supporting telescopic cylinder and the rear supporting telescopic cylinder are in front-and-rear telescopic movement.

As a further improvement of the utility model, the empty disc lowering mechanism comprises a lowering telescopic cylinder and a lowering supporting plate, wherein the lowering telescopic cylinder is fixedly arranged on the inner side surface of the frame, and the lowering supporting plate is arranged at the movable end of the lowering telescopic cylinder.

As a further improvement of the utility model, the two sides of the placing station are respectively provided with a detection mechanism for detecting whether a swinging disc exists or not and a positioning mechanism for positioning the swinging disc, one side of the swinging disc is provided with a positioning groove for being matched with the positioning mechanism for positioning, the detection mechanism comprises a base arranged on the outer side surface of the frame and a detection probe fixed on the base, and the positioning mechanism comprises a positioning seat arranged on the outer side surface of the frame, a positioning telescopic cylinder arranged on the positioning seat and a positioning clamping tongue arranged at the movable end of the positioning telescopic cylinder.

As a further improvement of the utility model, the product stacking mechanism comprises a wobble plate stacking groove, a wobble plate limiting mechanism for supporting the wobble plate to limit and a wobble plate jacking mechanism for jacking the wobble plate, wherein the wobble plate limiting mechanism is arranged on the outer side surface of the frame, and the wobble plate jacking mechanism is arranged on the inner side surface of the frame.

As a further improvement of the utility model, the wobble plate conveying mechanism comprises a wobble plate conveying plate, a lifting mechanism for driving the wobble plate conveying plate to move up and down and a left-right moving mechanism for driving the wobble plate conveying plate to move left and right, wherein the left-right moving mechanism is fixed in the frame, and the lifting mechanism is arranged on the left-right moving mechanism.

As a further improvement of the utility model, two placing positions capable of placing the swaying disc are arranged on the swaying disc conveying plate, a bearing guide rail for bearing the swaying disc is arranged in the rack, and the bearing guide rail is positioned below the placing station.

The beneficial effects of the utility model are as follows: when the robot automatic swaying disc equipment disclosed by the utility model is used for carrying out product placement work, a worker only needs to place the empty swaying disc in the empty disc stacking mechanism, the swaying disc conveying mechanism can automatically convey the empty swaying disc in the empty disc stacking mechanism to a placement station, the multi-axis robot orderly places products in the swaying disc, after the products in the swaying disc are fully filled, the swaying disc conveying mechanism conveys the swaying disc filled with the products to the product stacking mechanism for stacking and placing, so that the product placement work of one swaying disc is completed, and the product placement work of the next swaying disc is advanced, so that the full-automatic swaying disc is realized, and the automation degree of the equipment is higher.

Drawings

Fig. 1 is a perspective view of a robot automatic wobble plate apparatus of the present embodiment in a view direction thereof;

fig. 2 is a perspective view of the robot automatic wobble plate apparatus of the present embodiment in another view direction;

FIG. 3 is a schematic diagram of the working structure of the automatic wobble plate device according to the present embodiment;

FIG. 4 is a perspective view of the automatic wobble plate device according to the present embodiment;

FIG. 5 is a perspective view of the empty disc baffle assembly of the present embodiment;

FIG. 6 is a perspective view of the empty disc supporting mechanism of the present embodiment;

FIG. 7 is a perspective view of the empty tray lowering mechanism of the present embodiment;

FIG. 8 is a schematic diagram showing the mounting structure of the detecting mechanism and the positioning mechanism of the present embodiment;

FIG. 9 is a perspective view of the wobble plate limiting mechanism of the present embodiment;

FIG. 10 is a perspective view of the wobble plate conveying mechanism of the present embodiment;

fig. 11 is a perspective view of the multi-axis robot of the present embodiment;

fig. 12 is a perspective view of the wobble plate of the present embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.

Examples:

as shown in fig. 1 to 12, the present embodiment discloses a robot automatic swaying apparatus, including a multi-axis robot 1 and an automatic swaying device 2, the multi-axis robot 1 is located at one side of the automatic swaying device 2, the automatic swaying device 2 includes a frame 21, an empty tray stacking mechanism 22 for stacking and placing empty swaying trays, a placing station 23 for orderly placing products on the empty swaying trays, a product stacking mechanism 24 for stacking and placing the swaying trays after the placing work is completed, and a swaying tray conveying mechanism 25 for performing swaying tray conveying, the empty tray stacking mechanism 22, the placing station 23, and the product stacking mechanism 24 are sequentially disposed on the frame 21, a movable inner cavity 211 for the swaying tray conveying mechanism 25 to move is provided in the frame 21, the swaying tray conveying mechanism 25 is mounted in the movable inner cavity 211, and the swaying tray conveying mechanism 25 moves under the empty tray stacking mechanism 22, the placing station 23, and the product stacking mechanism 24. When the product placing operation is carried out, firstly, an empty swinging plate is placed in the empty plate stacking mechanism 22, the swinging plate conveying mechanism 25 conveys the empty swinging plate to the placing station 23, the multi-axis robot 1 orderly places the products in the swinging plate, after the products in the swinging plate are fully swung, the swinging plate conveying mechanism 25 conveys the swinging plate fully swung with the products to the product stacking mechanism 24 for stacking and placing, so that the product placing operation of one swinging plate is completed, and the product placing operation of the next swinging plate is advanced.

As a preferred embodiment, the empty disc stacking mechanism 22 includes an empty disc stacking slot 221, an empty disc supporting mechanism 222 for supporting the limit of the swing disc, and an empty disc lowering mechanism 223 for lifting the lowering swing disc, the empty disc stacking slot 221 is located above the movable cavity 211, the empty disc supporting mechanism 222 is mounted outside the empty disc stacking slot 221, and the empty disc supporting mechanism 222 can move into and out of the empty disc stacking slot 221 laterally; the empty tray lowering mechanism 223 is installed below the empty tray stacking slot 221, and the empty tray lowering mechanism 223 may move up and down into and out of the empty tray stacking slot 221. Before the empty swaying discs are stacked, the empty disc supporting mechanism 222 is controlled to transversely move into the empty disc stacking groove position 221, then the empty swaying discs are placed into the empty disc stacking groove position 221, the bottoms of the empty swaying discs are supported and limited through the empty disc supporting mechanism 222, so that the empty swaying discs are stacked and placed above the empty disc supporting mechanism 222, when the empty swaying discs in the empty disc stacking groove position 221 need to be transferred to the placing station 23, the empty disc lowering mechanism 223 lifts the bottoms of the empty swaying discs to support the bottoms of the empty swaying discs, the empty swaying discs are lifted and separated from the empty disc supporting mechanism 222, the empty disc supporting mechanism 222 exits from the empty disc stacking groove position 221, the empty disc lowering mechanism 223 descends along with the empty swaying discs, when the bottommost empty swaying discs in the empty disc stacking groove position 221 descend to the lower side of the empty disc supporting mechanism 222, the empty disc supporting mechanism 222 transversely moves into the empty disc stacking groove position 221, the empty swaying discs above the bottommost empty swaying discs in the empty disc stacking groove position 221 are intercepted, and the bottommost swaying discs move to the placing station 25 along with the lowering mechanism 223, and the empty disc 25 are placed along with the lowering mechanism 25. In the present embodiment, in order to ensure the balance of the operation of the empty tray stacking mechanism 22, at least two sets of the empty tray supporting mechanism 222 and the empty tray lowering mechanism 223 are arranged in opposition.

In this embodiment, four groups of empty disc baffle assemblies 212 are disposed on the frame 21, and the four groups of empty disc baffle assemblies 212 are respectively located at four corners of the empty disc stacking slot 221, so as to limit the wobble disc in the empty disc stacking slot 221 in the front-back, left-right directions; specifically, the empty disc shutter assembly 212 includes an empty disc front and rear shutter 2121 fixed to the frame 21 and empty disc left and right shutters 2122 fixed to the empty disc front and rear shutter 2121, wherein the empty disc front and rear shutter 2121 is disposed perpendicular to the empty disc left and right shutters 2122. The outside of empty disc stacking slot position 221 is equipped with the photoelectric sensor 4 that is used for detecting the wobble plate operating condition in the empty disc stacking slot position 221, photoelectric sensor 4 installs in the bottom position of empty disc stacking slot position 221, respond to wobble plate operating condition through detecting the bottom of empty disc stacking slot position 221, control the work of empty disc supporting mechanism 222 and empty disc lowering mechanism 223 through the response signal, when empty disc stacking mechanism 22 moves, control it through photoelectric sensor 4 and carry out the release work of wobble plate one by one, every release is put, photoelectric sensor 4 transmits a signal, thereby control the work of empty disc supporting mechanism 222 and empty disc lowering mechanism 223 in order, in addition, can also detect whether there is the wobble plate in the empty disc stacking slot position 221, if the wobble plate has run out in the empty disc stacking slot position 221, then can send the signal to equipment, prevent that empty disc stacking mechanism 22 from continuing to work under the condition that the wobble plate is not carried, improve the intelligent operating level of equipment.

In this embodiment, the empty disc supporting mechanism 222 includes an upper supporting telescopic cylinder 2221, a supporting seat plate 2222, a front supporting telescopic cylinder 2223 and a supporting clamping tongue 2224, where the upper supporting telescopic cylinder 2221 and the lower supporting telescopic cylinder 2221 are fixedly installed on the outer side of the frame 21, the supporting seat plate 2222 is installed at the movable end of the upper supporting telescopic cylinder 2221 and the lower supporting telescopic cylinder 2221, the front supporting telescopic cylinder 2223 is fixedly installed on the supporting seat plate 2222, the supporting clamping tongue 2224 is installed at the movable end of the front supporting telescopic cylinder 2223 and the rear supporting telescopic cylinder 2223, the movable end of the upper supporting telescopic cylinder 2221 stretches up and down, and the movable end of the front supporting telescopic cylinder 2223 stretches back and forth. The swashplate is provided with support posts for separating the swashplate stacking time, and when the swashplate is stacked, a spacing area can be formed through the support posts, and the spacing area can be used for inserting the support clamping tongue 2224. When the empty disc supporting mechanism 222 works, the supporting clamping tongue 2224 extends into the interval area to support the bottom of the wobble plate. When the swinging discs are lowered, the empty disc lowering mechanism 223 is controlled to lift the empty swinging discs and jack the empty swinging discs to be separated from the empty disc supporting mechanism 222, the front and rear supporting telescopic cylinders 2223 retract, the supporting clamping tongues 2224 withdraw from the interval areas, the upper and lower supporting telescopic cylinders 2221 extend to enable the supporting clamping tongues 2224 to rise to the outer sides corresponding to the previous interval areas, the front and rear supporting telescopic cylinders 2223 extend to enable the supporting clamping tongues 2224 to extend into the previous interval areas, then the empty disc lowering mechanism 223 and the upper and lower supporting telescopic cylinders 2221 retract simultaneously, so that the swinging discs in the empty disc stacking groove 221 are lowered simultaneously, the bottom-most swinging discs are lowered onto the placing conveying mechanism, the other swinging discs are lowered by one unit stroke, the stroke of the upper and lower supporting telescopic cylinders 2221 is one unit stroke, and one unit stroke is equal to the sum of the thickness of the swinging discs and the height of the supporting columns.

In this embodiment, the empty disc lowering mechanism 223 includes a lowering telescopic cylinder 2231 and a lowering support plate 2232, the lowering telescopic cylinder 2231 is fixedly mounted on the inner side surface of the frame 21, the lowering support plate 2232 is mounted on the movable end of the lowering telescopic cylinder 2231, and the movable end of the lowering telescopic cylinder 2231 stretches up and down.

In this embodiment, the two sides of the placing station 23 are respectively provided with a detecting mechanism 26 for detecting whether a wobble plate exists or not and a positioning mechanism 27 for positioning the wobble plate, one side of the wobble plate is provided with a positioning groove for positioning in cooperation with the positioning mechanism 27, the detecting mechanism 26 comprises a base 261 mounted on the outer side surface of the stand 21 and a detecting probe 262 fixed on the base 261, the positioning mechanism 27 comprises a positioning seat 271 mounted on the outer side surface of the stand 21, a positioning telescopic cylinder 272 mounted on the positioning seat 271 and a positioning clamping tongue 273 mounted on the movable end of the positioning telescopic cylinder 272, and the movable end of the positioning telescopic cylinder 272 stretches back and forth. When the swinging plate is sent into the placing station 23 by the swinging plate conveying mechanism 25, signals are transmitted to a control system of the equipment through the detection probe 262, after the detection probe 262 detects that the swinging plate completely enters the placing station 23, the placing conveying mechanism stops, the positioning mechanism 27 acts, the positioning telescopic cylinder 272 stretches out and acts to drive the positioning clamping tongue 273 to be clamped into the positioning groove, positioning of the swinging plate is achieved, and the multi-axis robot 1 performs product placing work in the swinging plate of the placing station 23.

In this embodiment, the product stacking mechanism 24 includes a wobble plate stacking slot 241, a wobble plate limiting mechanism 242 for supporting wobble plate limiting, and a wobble plate jacking mechanism 243 for jacking the wobble plate, the wobble plate limiting mechanism 242 is mounted on an outer side surface of the frame 21, and the wobble plate jacking mechanism 243 is mounted on an inner side surface of the frame 21. After the product placing work is completed on the swaying disc on the placing station 23, the swaying disc conveying mechanism 25 conveys the swaying disc from the placing station 23 to the position right below the swaying disc stacking groove 241, the swaying disc jacking mechanism 243 acts to jack up the swaying disc into the swaying disc stacking groove 241, and after the swaying disc passes over the swaying disc limiting mechanism 242, the swaying disc is limited in the swaying disc stacking groove 241 through the swaying disc limiting mechanism 242, and the like, so that the stacking placement of the swaying disc is completed.

In this embodiment, wobble plate baffle assemblies 213 are disposed at four corners of the wobble plate stacking groove 241. The wobble plate shutter assembly 213 has the same structure as the empty plate shutter assembly 212. The swing tray lifting mechanism 243 has the same structure as the empty tray lowering mechanism 223.

In this embodiment, the wobble plate limiting mechanism 242 includes a limiting mounting seat 2421, a limiting clamping tongue 2422 and a reset mechanism 2423, the limiting clamping tongue 2422 is mounted on the limiting mounting seat 2421, the reset mechanism 2423 is connected with the limiting clamping tongue 2422, a pressing portion 2424 protruding outwards is disposed on one side of the limiting clamping tongue 2422 close to the wobble plate stacking slot 241, and an inclined surface 2425 protruding gradually from bottom to top is disposed at the bottom of the pressing portion 2424. When the wobble plate lifting mechanism 243 pushes the wobble plate to move upwards, the limit clamping tongue 2422 exits from the wobble plate stacking groove 241, after the wobble plate passes over the limit clamping tongue 2422, the limit clamping tongue 2422 stretches into the wobble plate stacking groove 241 under the action of the reset mechanism 2423, and is supported at the bottom of the wobble plate through the limit clamping tongue 2422, so that the wobble plate is fixed in the wobble plate stacking groove 241. Specifically, a movable groove 2426 for installing a limit clamping tongue 2422 is formed in the limit mounting seat 2421, the limit clamping tongue 2422 is embedded into the movable groove 2426 and is rotationally connected with the limit mounting seat 2421, a limit baffle 2427 for limiting the movable limit of the limit clamping tongue 2422 is arranged at the top of the movable groove 2426, the limit baffle 2427 is located above the limit clamping tongue 2422, the reset mechanism 2423 is a reset spring, one end of the reset spring is connected with the limit clamping tongue 2422, and the other end of the reset spring is connected with the outer side surface of the frame 21. When the wobble plate jacking mechanism 243 jacks up the wobble plate to contact with the limit clamping tongue 2422, the limit clamping tongue 2422 is turned upwards along with the wobble plate gradually pressing the pressing part 2424 along the inclined surface 2425 until the pressing part 2424 exits from the wobble plate stacking groove 241, the limit clamping tongue 2422 is reset under the action of the elastic force of the reset spring after the wobble plate completely passes through the wobble plate limiting mechanism 242, the pressing part 2424 extends into the wobble plate stacking groove 241, the wobble plate is supported and fixed through the top of the pressing part 2424, and the rear end of the limit clamping tongue 2422 is fixed through the limit baffle 2427. The corresponding outside of wobble plate stack position 241 also is equipped with photoelectric sensor 4, and this photoelectric sensor 4 is used for detecting the stack situation of wobble plate in the wobble plate stack position 241, and this photoelectric sensor 4 corresponds response wobble plate stack position 241 top position, and when this photoelectric sensor 4 sensed the top of wobble plate stack position 241 and had the wobble plate, it had been fully to indicate in this wobble plate stack position 241 to wobble plate, and photoelectric sensor 4 sends the signal to the control system of equipment, and control equipment sends the signal outwards, reminds the staff to take out the wobble plate in the wobble plate stack position 241, avoids wobble plate stack position 241 top overflow from the wobble plate stack position 241 to the wobble plate that too much leads to in the wobble plate stack position 241.

In the present embodiment, the wobble plate conveying mechanism 25 includes a wobble plate conveying plate 251, a lifting mechanism 252 for driving the wobble plate conveying plate 251 to move up and down, and a left-right moving mechanism 253 for driving the wobble plate conveying plate 251 to move left and right, the left-right moving mechanism 253 being fixed in the frame 21, the lifting mechanism 252 being mounted on the left-right moving mechanism 253. When the swinging plate is conveyed, the lifting mechanism 252 drives the swinging plate conveying plate 251 to descend, the left-right moving mechanism 253 drives the lifting mechanism 252 to move towards the side of the empty plate stacking mechanism 22 together with the swinging plate conveying plate 251, the empty plate stacking mechanism 22 places the empty swinging plate on the swinging plate conveying plate 251, the left-right moving mechanism 253 moves to drive the lifting mechanism 252, the swinging plate conveying plate 251 and the empty swinging plate to move into the placing station 23, the positioning mechanism 27 stretches out to enable the empty swinging plate to be fixed in the placing station 23, after the product placing work of the swinging plate in the placing station 23 is completed, the positioning mechanism 27 retracts, the left-right moving mechanism 253 moves to drive the lifting mechanism 252, the swinging plate conveying plate 251 and the swinging plate to move towards the side of the product stacking mechanism 24, when the swinging plate moves to the position right below the swinging plate stacking groove 241, the swinging plate jacking mechanism 243 jacks up the swinging plate, and finally the swinging plate is fixed in the swinging plate stacking groove 241 through the swinging plate limiting mechanism 242. The wobble plate conveying plate 251 is provided with two placement positions 2511 for placing the wobble plate, the frame 21 is internally provided with a bearing guide rail 214 for bearing the wobble plate, the bearing guide rail 214 is positioned below the placement station 23, and the two placement positions 2511 are arranged on the wobble plate conveying plate 251, so that the work efficiency of the wobble plate device in the embodiment is higher, and the working time of each mechanism is reasonably distributed. The wobble plate conveying plate 251 of the embodiment can realize synchronous feeding and discharging of the wobble plate in the placing station 23, so that the placing station 23 can continuously carry out product placing work. Specifically, firstly, the tray conveying plate 251 moves to the positions corresponding to the empty tray stacking mechanism 22 and the placing station 23, the empty tray is placed on the placing station 23 to carry out product placing work, the empty tray stacking mechanism 22 lowers the empty tray to the placing position 2511 of the tray conveying plate 251 below, after the tray on the placing station 23 is filled with products, the lifting mechanism 252 lifts up, the tray conveying plate 251 lifts up the empty tray placed by the empty tray stacking mechanism 22 and the tray in the placing station 23, the two trays fall into the two placing positions 2511 of the tray conveying plate 251 respectively, the two trays move upwards to be separated from the bearing guide rail 214, the left-right moving mechanism 253 moves to one side of the product stacking mechanism 24, at this time, the tray with finished product placing is moved to the lower side of the product stacking mechanism 24, the tray with finished product placing is stacked into the tray stacking groove 241 by the product stacking mechanism 24, the lifting mechanism 252 descends, the empty tray conveying plate 251 enters the placing position, the left-right moving mechanism 253 drives the tray conveying plate 251 to move to the tray 22 to continue to be stacked to the empty tray, and the empty tray stacking mechanism is continuously moved to one side of the empty tray conveying plate 251, and the empty tray stacking mechanism is continuously moved to work continuously.

As a preferred embodiment, the robot automatic swaying disc device further comprises a defective product storage box 3, wherein the defective product storage box 3 is positioned below the motion trail of the multi-axis robot 1. When the product is detected at the front end and defective products are detected, the multi-axis robot 1 transfers the product into the defective product storage box 3.

As a preferred embodiment, the multi-axis robot 1 includes a robot base 11, a first rotating motor 12, a first rotating arm 13, a second rotating motor 14, a second rotating arm 15, a lifting rod assembly 16 and a suction assembly 17, wherein the robot base 11 is fixed on the ground, the first rotating motor 12 is fixed on the robot base 11, one end of the first rotating arm 13 is connected with a rotating end of the first rotating motor 12, the second rotating motor 14 is installed at the other end of the first rotating arm 13, one end of the second rotating arm 15 is connected with a rotating end of the second rotating motor 14, the lifting rod assembly 16 is installed at the other end of the second rotating arm 15, and the suction assembly 17 is installed at a telescopic end of the lifting rod assembly 16. The suction assembly 17 sucks the product through negative pressure, the lifting rod assembly 16 drives the suction assembly 17 to lift, the second rotating motor 14 drives the second rotating arm 15 to rotate around the connection point of the suction assembly and the lifting rod assembly, and the first rotating motor 12 drives the first rotating arm 13 to rotate around the connection point of the suction assembly and the lifting rod assembly.

The foregoing is only a preferred embodiment of the present utility model, and all technical solutions for achieving the object of the present utility model by substantially the same means are included in the scope of the present utility model.

Claims

1. The utility model provides an automatic balance equipment of robot, includes multiaxis robot (1) and automatic balance device (2), multiaxis robot (1) are located one side of automatic balance device (2), its characterized in that: the automatic swaying device (2) comprises a frame (21), an empty disc stacking mechanism (22) for stacking and placing empty swaying discs, a placing station (23) for orderly placing products on the empty swaying discs, a product stacking mechanism (24) for stacking and placing the swaying discs after the placing operation is completed, and a swaying disc conveying mechanism (25) for conveying the swaying discs, wherein the empty disc stacking mechanism (22), the placing station (23) and the product stacking mechanism (24) are sequentially arranged on the frame (21), a movable inner cavity (211) for the swaying disc conveying mechanism (25) to move is arranged in the frame (21), the swaying disc conveying mechanism (25) is installed in the movable inner cavity (211), and the swaying disc conveying mechanism (25) moves below the empty disc stacking mechanism (22), the placing station (23) and the product stacking mechanism (24); the wobble plate conveying mechanism (25) comprises a wobble plate conveying plate (251), a lifting mechanism (252) for driving the wobble plate conveying plate (251) to move up and down and a left-right moving mechanism (253) for driving the wobble plate conveying plate (251) to move left and right, the left-right moving mechanism (253) is fixed in the frame (21), and the lifting mechanism (252) is mounted on the left-right moving mechanism (253).

2. A robotic automatic wobble plate apparatus as claimed in claim 1, wherein: the empty disc stacking mechanism (22) comprises an empty disc stacking groove (221), an empty disc supporting mechanism (222) for supporting the limit of the swing disc and an empty disc lowering mechanism (223) for lifting and lowering the swing disc, the empty disc stacking groove (221) is located above the movable inner cavity (211), the empty disc supporting mechanism (222) is arranged on the outer side of the empty disc stacking groove (221), and the empty disc supporting mechanism (222) transversely moves into and out of the empty disc stacking groove (221); the empty disc lowering mechanism (223) is arranged below the empty disc stacking groove (221), and the empty disc lowering mechanism (223) moves up and down to enter and leave the empty disc stacking groove (221).

3. A robotic automatic wobble plate apparatus as claimed in claim 2, wherein: four groups of empty disc baffle assemblies (212) are arranged on the frame (21), and the four groups of empty disc baffle assemblies (212) are respectively positioned at four corners of the empty disc stacking groove (221).

4. A robotic automatic wobble plate apparatus as claimed in claim 3, wherein: the empty disc baffle assembly (212) comprises an empty disc front baffle (2121) and an empty disc rear baffle (2122) which are fixed on a rack (21) and are fixed on the empty disc front baffle (2121), and the empty disc front baffle (2121) and the empty disc rear baffle (2122) are vertically arranged.

5. A robotic automatic wobble plate apparatus as claimed in claim 2, wherein: the empty disc supporting mechanism (222) comprises an upper supporting telescopic cylinder (2221), a supporting seat plate (2222), a front supporting telescopic cylinder (2223) and a supporting clamping tongue (2224), wherein the upper supporting telescopic cylinder (2221) and the lower supporting telescopic cylinder (2221) are fixedly arranged on the outer side face of a frame (21), the supporting seat plate (2222) is arranged at the movable end of the upper supporting telescopic cylinder (2221) and the lower supporting telescopic cylinder (2223) and is fixedly arranged on the supporting seat plate (2222), the supporting clamping tongue (2224) is arranged at the movable end of the front supporting telescopic cylinder (2223) and the rear supporting telescopic cylinder (2223), and the movable end of the front supporting telescopic cylinder (2223) stretches up and down.

6. A robotic automatic wobble plate apparatus as claimed in claim 2, wherein: the empty disc lowering mechanism (223) comprises a lowering telescopic cylinder (2231) and a lowering supporting plate (2232), the lowering telescopic cylinder (2231) is fixedly arranged on the inner side face of the frame (21), and the lowering supporting plate (2232) is arranged at the movable end of the lowering telescopic cylinder (2231).

7. A robotic automatic wobble plate apparatus as claimed in claim 1, wherein: the utility model discloses a swing disc positioning device, including rack (21), work station (23) is put in the work station, the both sides of putting work station (23) are equipped with respectively and are used for detecting detection mechanism (26) that have the swing disc and be used for carrying out positioning mechanism (27) to the swing disc, one side of swing disc is equipped with the positioning groove that is used for with positioning mechanism (27) cooperation location, detection mechanism (26) are including installing base (261) and the detection probe (262) of fixing on base (261) at rack (21) lateral surface, positioning mechanism (27) are including installing positioning seat (271) at rack (21) lateral surface, install location telescopic cylinder (272) on positioning seat (271) and install location latch (273) at location telescopic cylinder (272) expansion end.

8. A robotic automatic wobble plate apparatus as claimed in claim 1, wherein: the product stacking mechanism (24) comprises a wobble plate stacking groove (241), a wobble plate limiting mechanism (242) for supporting wobble plate limiting and a wobble plate jacking mechanism (243) for jacking the wobble plate, wherein the wobble plate limiting mechanism (242) is arranged on the outer side face of the frame (21), and the wobble plate jacking mechanism (243) is arranged on the inner side face of the frame (21).

9. A robotic automatic wobble plate apparatus as claimed in claim 1, wherein: two placing positions (2511) capable of placing the wobble plates are arranged on the wobble plate conveying plate (251), a bearing guide rail (214) used for bearing the wobble plates is arranged in the frame (21), and the bearing guide rail (214) is located below the placing station (23).