CN219488810U - Go up unloading box mechanism and material regulation system - Google Patents

Abstract

The application discloses go up unloading box mechanism and regular system of material includes: the device comprises a carrying assembly and a carrying guide rail, wherein the position of the middle part of the carrying guide rail is a charging area, and the positions of the two ends of the carrying guide rail are respectively a charging area and a discharging area; the conveying assembly comprises a conveying frame, a first supporting plate and a second supporting plate; the carrying frame is connected with the carrying guide rail in a sliding way; the first supporting plate and the second supporting plate are both fixed on the carrying frame, the first supporting plate is positioned in the loading area, and the second supporting plate is positioned in the loading area; when the carrying frame slides along the carrying guide rail, the first supporting plate is used for moving the empty material box from the loading area to the loading area; at the same time, the second pallet is used to move the material box filled with material from the loading area to the unloading area. The upper and lower magazine mechanism can transfer empty magazines from a loading area to a loading area, and simultaneously transfer the magazines filled with materials from the loading area to a discharging area, so that the working procedures and resources are saved, the transfer efficiency of the magazines is improved, and the regular material efficiency is further improved.

Description

Go up unloading box mechanism and material regulation system

Technical Field

The application relates to the technical field of material regularity, in particular to an upper and lower material box mechanism and a material regularity system.

Background

In the fields of processing industries such as automobile processing, battery processing, mobile phone processing and the like, various materials are inevitably required in the process of preparing products. In general, the materials are various, and the quantity of each material is huge. Therefore, how to quickly regulate a large amount of materials so as to facilitate subsequent use is an important problem in the industry.

The current material regularization system has lower material regularization efficiency.

Disclosure of Invention

An object of the application is to provide a go up unloading box mechanism and material regulation system, and the efficiency of regular material is higher.

The first aspect of the present application provides an upper and lower magazine mechanism, comprising: the device comprises a carrying assembly and a carrying guide rail, wherein the position of the middle part of the carrying guide rail is a charging area, and the positions of the two ends of the carrying guide rail are respectively a charging area and a discharging area; the feeding area, the charging area and the discharging area are sequentially arranged along the length direction of the carrying guide rail; the conveying assembly comprises a conveying frame, a first supporting plate and a second supporting plate; the carrying frame is connected with the carrying guide rail in a sliding way; the first supporting plate and the second supporting plate are both fixed on the carrying frame; when the carrying frame slides along the carrying guide rail, the first supporting plate is used for moving the empty material box from the loading area to the loading area; at the same time, the second pallet is used to move the material box filled with material from the loading area to the unloading area.

In some embodiments, the handling assembly further comprises a first clamping drive and a first clamping block; the first clamping driving piece is arranged on the first supporting plate, and the first clamping block is connected to the output end of the first clamping driving piece; the first clamping driving member is used for driving the first clamping block to move between the upper side and the peripheral side of the first supporting plate.

In some embodiments, the handling assembly further comprises a second clamping drive and a second clamping block; the second clamping driving piece is arranged on the second supporting plate, and the second clamping block is connected with the output end of the second clamping driving piece; the second clamping driving member is used for driving the second clamping block to move between the upper side and the peripheral side of the second supporting plate.

In some embodiments, the loading and unloading box mechanism further comprises a loading trolley and a loading guide rail, wherein the loading guide rail is at least partially positioned in the loading area; the loading trolley can move along the loading guide rail so that the loading trolley can transport the empty material box to the loading area.

In some embodiments, the loading and unloading box mechanism further comprises a unloading trolley and an unloading guide rail, wherein at least part of the unloading guide rail is positioned in the unloading area; the blanking trolley can move along the blanking guide rail so that the blanking trolley can transport the material box located in the blanking area.

In some embodiments, the feeding and discharging box mechanism further comprises two feeding and separating units, and the two feeding and separating units are respectively positioned at two sides of the feeding area; the feeding separation unit comprises a feeding bracket, a first feeding driving piece, a second feeding driving piece and a feeding separation plate; the first feeding driving piece is arranged on the feeding bracket, the second feeding driving piece is arranged at the output end of the first feeding driving piece, the feeding separation plate is arranged at the output end of the second feeding driving piece, and the feeding separation plate faces to the feeding area; the first feeding driving piece is used for driving the second feeding driving piece to move so as to enable the feeding separation plate to move towards or away from the feeding area; the second material loading driving piece is used for driving the material loading separator plate to move along the direction of height of material loading support.

In some embodiments, the feeding separation unit further comprises two feeding baffles which are oppositely arranged, the two feeding baffles are respectively fixed on the feeding support, and the two feeding baffles face the feeding area.

In some embodiments, the feeding and discharging box mechanism further comprises two discharging separation units, and the two discharging separation units are respectively positioned at two sides of the discharging area; the blanking separation unit comprises a blanking bracket, a first blanking driving piece, a second blanking driving piece and a blanking separation plate; the first blanking driving piece is arranged on the blanking bracket, the second blanking driving piece is arranged at the output end of the first blanking driving piece, the blanking separating plate is arranged at the output end of the second blanking driving piece, and the blanking separating plate faces the blanking area; the first blanking driving piece is used for driving the second blanking driving piece to move so that the blanking separating plate moves towards or away from the blanking area, and the second blanking driving piece is used for driving the blanking separating plate to move along the height direction of the blanking bracket.

In some embodiments, the blanking separation unit further comprises two oppositely arranged blanking baffles, the two blanking baffles are respectively fixed on the blanking support, and the two blanking baffles face the blanking area.

In some embodiments, the upper and lower magazine mechanism further comprises two positioning units, the two positioning units are respectively positioned at two sides of the loading area; the positioning unit comprises a positioning bracket, a clamping lifting driving piece and a clamping lifting plate; the positioning bracket is fixed on the frame, the clamping lifting driving piece is arranged on the positioning bracket, the clamping lifting plate is fixed at the output end of the clamping lifting driving piece, and the clamping lifting plate faces the charging area; the clamping lifting driving piece is used for driving the clamping lifting plate to move along the height direction of the positioning bracket and driving the clamping lifting plate to move towards or away from the loading area.

In some embodiments, the positioning unit further comprises a positioning driving piece and a positioning plate, wherein the positioning driving piece is installed on the positioning bracket, and the positioning plate is fixed at the output end of the positioning driving piece; the positioning driving piece is used for driving the positioning plate to move towards or away from the loading area.

A second aspect of the present application provides a material management system comprising an upper and lower magazine mechanism as defined in any one of the first aspects of the present application.

In this application, go up unloading magazine mechanism can be when transferring empty magazine from the loading zone to the loading zone, will fill the magazine of material and transfer to the unloading zone from the loading zone, has saved the process, has saved the resource, has promoted the efficiency that the magazine was transported, and then has promoted the regular efficiency of material.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are required to be used in the embodiments will be briefly described below.

Fig. 1 is a schematic structural diagram of a material management system according to an embodiment of the present application.

Fig. 2 is a schematic structural view of a feeding mechanism of the material regulating system shown in fig. 1.

Fig. 3 is a schematic view of a moving mechanism of the material handling system shown in fig. 1.

Fig. 4 is a schematic structural view of a vision mechanism of the material handling system shown in fig. 1.

Fig. 5 is a schematic structural view of the upper and lower magazine mechanism of the material handling system shown in fig. 1.

Fig. 6 is a schematic structural view of a handling assembly of the upper and lower magazine mechanism shown in fig. 5.

Fig. 7 is a schematic structural view of the loading separation unit of the loading and unloading magazine mechanism shown in fig. 5.

Fig. 8 is a schematic structural view of a blanking separating unit of the loading and unloading magazine mechanism shown in fig. 5.

Fig. 9 is a schematic structural view of a positioning unit of the up-down magazine mechanism shown in fig. 5.

Reference numerals illustrate: 100-rack, 101-frame body, 102-support leg, 103-door panel, 104-support plate, 200-loading mechanism, 210-feed bin unit, 211-feed bin base, 212-feed bin, 220-tray unit, 221-tray base, 222-feed tray, 300-moving mechanism, 310-support seat, 320-longitudinal rail, 330-lateral rail, 340-handling block, 400-visual mechanism, 410-visual mounting bracket, 411-upright post, 412-cross bar, 413-support bar, 414-connecting bar, 420-surface light source, 430-image acquisition device, 500-pick-and-place mechanism, 600-upper and lower cartridge mechanism, 610-upper rail, 620-lower rail, 630-handling rail, 640-upper carriage, 650-lower carriage, 660-handling assembly, 661-handling frame, 662-first carriage, 663-second carriage, 664-second clamping drive, 665-second clamping block, 670-handling drive, 680-upper separation unit, 681-upper carriage, 68693-second 693-drive, 693-lower drive, 6968-694-upper and lower drive unit, 696-lower mounting plate, 685-lower mounting plate, upper and lower guide plate, 685-lower carriage, upper and lower plate, 685-upper and lower plate, 684-upper and lower plate, 684-upper and lower plate, 701-positioning bracket, 702-clamping lifting drive, 703-positioning drive, 704-clamping lifting plate, 705-positioning plate.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

Referring to fig. 1, an embodiment of the present application provides a material sorting system. For convenience of description, the width direction of the material regulating system is defined as the X-axis direction, the length direction of the material regulating system is defined as the Y-axis direction, and the thickness direction of the material regulating system is defined as the Z-axis direction. The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other.

The material normalization system comprises a frame 100, a feeding mechanism 200, a moving mechanism 300, a visual mechanism 400, a material taking and placing mechanism 500 and a material loading and unloading box mechanism 600. The material that needs to be regular can be automobile parts, cell-phone spare part or battery spare part etc. and the size of material can be between 10x0.5 millimeter to 40x40x2 millimeter, and the material of material is steel, aluminum product or plastics etc. all can use the material regulation system that this application provided to carry out the regularity. It will be appreciated that other components, dimensions and materials may be used to meet the requirements.

In this embodiment, the feeding mechanism 200, the moving mechanism 300, the vision mechanism 400, the feeding and discharging box mechanism 600 and the taking and discharging mechanism 500 are all installed on the frame 100. The feeding mechanism 200 provides a material suitable for gripping by vibration. The vision mechanism 400 is used for identifying materials with postures meeting requirements among the materials provided by the feeding mechanism 200. The moving mechanism 300 drives the material taking and placing mechanism 500 to move based on the recognized coordinates of the material with the gesture meeting the requirements, so that the material taking and placing mechanism 500 can grasp the material with the gesture meeting the requirements, and the moving mechanism 300 is further used for driving the material taking and placing mechanism 500 to move to the upper and lower material box mechanism 600 after the material taking and placing mechanism 500 grasps the material. The upper and lower magazine mechanism 600 is used to provide empty magazines to the loading area so that the empty magazines can receive material and simultaneously transfer the material filled magazines of the loading area to the unloading area.

The frame 100 is a cuboid box shape, and the frame 100 comprises a frame body 101, supporting legs 102 and a door plate 103. The frame body 101 is a frame shape with one side open, and the frame body 101 is provided with a containing cavity and an opening communicated with the containing cavity. The door panel 103 is hinged to the frame 101, and can close the opening. The housing chamber is used for mounting components such as wires. Typically, the door panel 103 is in a closed state to prevent foreign objects from entering the receiving chamber. When parts such as maintenance are needed, the door plate 103 can be opened to expose the circuit, so that the operation is convenient. The supporting feet 102 are mounted to the bottom of the frame 100 so that the material handling system does not shake. The top of the frame 101 is provided with a supporting plate 104, and the supporting plate 104 is used for supporting the feeding mechanism 200, the moving mechanism 300, the vision mechanism 400, the feeding and discharging box mechanism 600 and the taking and discharging mechanism 500.

Referring to fig. 2, in the present embodiment, the feeding mechanism 200 includes a bin unit 210 and a tray unit 220, and the bin unit 210 and the tray unit 220 are both mounted on the support plate 104 of the frame 100.

The bin unit 210 includes a bin base 211, a bin driver (not shown), and a supply bin 212. The bin base 211 is cuboid, the bin base 211 is fixed on the supporting plate 104 of the frame 100, the bin driving piece is arranged on the bin base 211, and the feed bin 212 is arranged at the output end of the bin driving piece. The feed bin 212 is open-topped cuboid, and one side of the feed bin 212 is provided with a feed inlet, and the feed inlet is provided with a feed baffle, and a space is arranged between the feed baffle and the bottom of the feed bin 212, and the bottom of the feed inlet is inclined, so that the feed inlet faces the tray unit 220, and materials pass through the space from the feed bin 212, reach the feed inlet from the space, and slide to the tray unit 220 along the bottom of the feed inlet.

The tray unit 220 includes a tray base 221, a tray driver (not shown), and a supply tray 222. The tray base 221 is rectangular, the tray base 221 is fixed on the support plate 104 of the frame 100, the tray driving member is mounted on the tray base 221, and the feeding tray 222 is mounted on the tray base 221 and connected with the output end of the tray driving member. The tray is in a cuboid shape with an open top. The feed opening of the feed bin 212 opens toward the top of the tray.

The feeding mechanism 200 is used for providing materials, specifically, loading the materials into the feed bin 212, and then vibrating the feed bin driving piece, so that the materials in the feed bin 212 slide into the feed tray 222 through the feed opening, and the feed baffle blocks the materials on the upper side in the feed bin 212, so that the materials are prevented from being toppled in the feed tray 222 in batches. Then the tray driving piece is started, and the direction of the materials in the feeding tray 222 is changed through the vibration of the tray driving piece, so that the posture of at least part of the materials can meet the requirements of subsequent procedures. In this application embodiment, right-side up's material is the material that satisfies the demand.

Referring to fig. 3, in the present embodiment, the moving mechanism 300 includes two support bases 310 and a moving module, the two support bases 310 are fixed on the support plate 104 of the frame 100 at intervals, and the length directions of the two support bases 310 are parallel to the Y-axis direction.

The movement module comprises two longitudinal rails 320, one transverse rail 330, a longitudinal drive (not shown), a transverse drive (not shown) and a handling block 340. The two longitudinal rails 320 are respectively fixed on the two supporting seats 310, and the length directions of the two longitudinal rails 320 are parallel to the X-axis direction. Both ends of the transverse guide rail 330 are respectively slidably connected with the two longitudinal guide rails 320, and the length direction of the transverse guide rail 330 is parallel to the Y-axis direction. The longitudinal driving member is mounted on one of the longitudinal rails 320, and the output end of the longitudinal driving member is fixedly connected to the transverse rail 330. The transverse driving member is mounted on the transverse guide rail 330, and the output end of the transverse driving member is fixedly connected with the carrying block 340. The carrying block 340 is used for connecting the material taking and placing mechanism 500.

The moving mechanism 300 is used for driving the material taking and placing mechanism 500 to move, so that the material taking and placing mechanism 500 can take and place materials. Specifically, after the longitudinal driving member is started, the transverse guide rail 330 can be driven to move along the longitudinal guide rail 320, so that the transverse guide rail 330 drives the pick-and-place mechanism 500 to move along the X-axis direction. After the transverse driving member is started, the carrying block 340 can be driven to move along the transverse guide rail 330, so that the carrying block 340 drives the material taking and placing mechanism 500 along the Y-axis direction.

Referring to fig. 4, in the present embodiment, a vision mechanism 400 includes a vision mounting bracket 410, a surface light source 420, and an image acquisition device 430. The image acquisition device 430 may be a camera, video camera, CCD sensor, or the like.

The visual mounting bracket 410 includes two uprights 411, two cross bars 412, support bars 413, and a connecting bar 414. One of the uprights 411 and one of the cross bars 412 are fixedly connected in an L-shape, wherein the other upright 411 and the other cross bar 412 are fixedly connected in an L-shape. One end of the upright 411, which is far away from the cross bar 412, is fixedly connected to the support plate 104 of the frame 100, and a space is provided between the cross bar 412 and the support plate 104 of the frame 100. The length direction of the two uprights 411 is parallel to the Z-axis direction, and the length direction of the two crossbars 412 is parallel to the X-axis direction. The support bars 413 are fixed at both ends to the two crossbars 412, respectively.

The surface light source 420 is fixed to a side of the two cross bars 412 facing the support plate 104 through a plurality of connection bars 414, and a light emitting surface of the surface light source 420 faces the support plate 104. The image pickup device 430 is fixed to the support bar 413 with the lens of the image pickup device 430 passing through the surface light source 420, the lens of the image pickup device 430 facing the support plate 104.

The vision mechanism 400 is used for identifying materials with postures meeting requirements among the materials provided by the feeding mechanism 200. Specifically, the surface light source 420 provides illumination for the image capturing device 430, and the image capturing device 430 captures an image of the material on the feeding tray 222, and can identify coordinates of the material in the image, which is in a posture meeting the requirements. Then, the moving mechanism 300 is controlled, so that the moving mechanism 300 drives the material taking and placing mechanism 500 to move to the coordinates of the material with the required posture. And then controlling the material taking and placing mechanism 500 to grasp the materials with the postures meeting the requirements.

Referring to fig. 5, in the present embodiment, the loading and unloading box mechanism 600 includes a loading rail 610, a unloading rail 620, a carrying rail 630, a loading trolley 640, a unloading trolley 650, a carrying assembly 660, a carrying driving member 670, two loading and unloading separating units 680, two unloading and separating units 690, and two positioning units 700.

The number of the feeding guide rails 610 is two, the two feeding guide rails 610 are fixed on the supporting plate 104 of the frame 100 in parallel, the length directions of the two feeding guide rails 610 are parallel to the X-axis direction, and the two feeding guide rails 610 are spaced in the Y-axis direction. The number of the blanking guide rails 620 is two, and the two blanking guide rails 620 are fixed on the support plate 104 of the frame 100 in parallel. The length directions of the two blanking guide rails 620 are parallel to the X-axis direction, and the two blanking guide rails 620 have a space in the Y-axis direction. The number of the carrying rails 630 is two, and the two carrying rails 630 are fixed on the support plate 104 of the frame 100 in parallel. The length direction of the two conveyance guides 630 is parallel to the X-axis direction, and the two conveyance guides 630 have a space in the Y-axis direction.

One of the feeding rails 610 and one of the discharging rails 620 are positioned on the same straight line with a space therebetween in the X-axis direction. The other feeding guide rail 610 and the other discharging guide rail 620 are positioned on the same straight line with a space therebetween in the X-axis direction. In other words, the loading rail 610 and the unloading rail 620 are arranged at intervals along the X-axis direction. A portion of the two handling rails 630 are located in the space between the feed rail 610 and the discharge rail 620, another portion of the two handling rails 630 extend to be located between the two feed rails 610, and yet another portion of the two handling rails 630 extend to be located between the two discharge rails 620.

The loading guide rail 610 is located in a loading area, the unloading guide rail 620 is located in a unloading area, and a loading area is located between the loading area and the unloading area. It may also be understood that the middle part of the carrying rail 630 is a loading area, and the two ends of the carrying rail 630 are respectively a loading area and a unloading area. And the feeding area, the charging area and the discharging area are sequentially arranged along the Y-axis direction.

The loading trolley 640 can move along the two loading rails 610 for empty magazine handling. The loading trolley 640 comprises a loading bottom wheel and a loading frame, wherein the loading bottom wheel is arranged at the bottom of the loading frame, and the loading frame is used for bearing an empty material box. The top of material loading frame includes two material loading boards that the interval set up.

The blanking trolley 650 can be moved along two blanking guide rails 620 for carrying the filled magazines. The blanking trolley 650 has the same structure as the loading trolley 640, and the blanking trolley 650 comprises a blanking bottom wheel and a blanking frame, wherein the blanking bottom wheel is arranged at the bottom of the blanking frame, and the top of the blanking frame is used for bearing a material box filled with materials. The top of unloading frame includes two unloading boards that the interval set up.

The handling assembly 660 may be movable along two handling rails 630 for handling of the cartridge. Referring to fig. 6, the second pallet is partially cut away in fig. 6 to expose the bottom second clamping driver 664. The handling assembly 660 includes a handling frame 661, a first pallet 662, a first clamping drive (not shown), a first clamping block (not shown), a second pallet 663, a second clamping drive 664, and a second clamping block 665. The conveyance frame 661 is slidably connected to the conveyance rail 630 via a slider, and the conveyance driver 670 is fixed to the conveyance rail 630. The conveyance frame 661 is fixedly connected to the output end of the conveyance driving member 670. The first and second pallets 662 and 663 are fixed to the top of the conveyance frame 661 at intervals. The first clamping driving piece is fixed at the bottom of the first supporting plate 662, and the first clamping block is connected with the output end of the first clamping driving piece through a connecting rod mechanism; the first clamping driving member may drive the first clamping block to rotate so that the first clamping block is turned over to be positioned at the upper side of the upper surface of the first supporting plate 662 to be matched with the upper surface of the first supporting plate 662 to clamp the cartridge; when the cartridge needs to be released, the first clamping drive member drives the first clamping block to rotate to be located on the peripheral side of the first pallet 662. The second clamping driving piece 664 is fixed at the bottom of the second supporting plate 663, and the second clamping block 665 is connected with the output end of the second clamping driving piece 664 through a link mechanism; the second clamping driving member 664 can drive the second clamping block 665 to rotate so that the second clamping block 665 is turned over to be located at the upper side of the upper surface of the second support plate 663, and thus cooperates with the upper surface of the second support plate 663 to clamp the cartridge; when it is desired to unclamp the cartridge, the second clamp driving member 664 drives the second clamp block 665 to rotate to the circumferential side of the second pallet 663.

The handling assembly 660 moves along the two handling rails 630 so that the first pallet 662 can be moved to a loading or loading area to handle empty cassettes at the loading area to the loading area. In particular, the first pallet 662 can be moved into the space between the two loading plates to facilitate the transfer of empty cartridges from the loading cart 640 onto the first pallet 662. The second pallet 663 can be moved to the loading and unloading areas and further carry the filled cassettes to the unloading areas. In particular, the second pallet 663 can be moved into the space between the two blanking plates so that the filled magazines can be transferred from the second pallet 663 to the blanking trolley 650.

Referring to fig. 7, the feeding separation unit 680 includes a feeding bracket 681, a first feeding driving piece 682, a second feeding driving piece 683, a feeding mounting plate 684, a feeding connecting block 685, and a feeding separation plate 686. The first and second feed drivers 682, 683 may be cylinders or motors.

The loading bracket 681 is fixed on the support plate 104 of the frame 100, and two loading baffles 687 are disposed on the top of the loading bracket 681 for blocking the cartridges and preventing the stacked cartridges from tilting or falling. The first feeding driving piece 682 is fixed on the feeding bracket 681, the feeding mounting plate 684 is fixed on the output end of the first feeding driving piece 682, the second feeding driving piece 683 is fixed on the feeding mounting plate 684, the feeding connecting block 685 is fixed on the output end of the second feeding driving piece 683, and the feeding separating plate 686 is fixedly connected with the feeding connecting block 685. The first feeding driving piece 682 is used for driving the second feeding driving piece 683 to move along the X-axis direction by leaning on the mounting plate, so that the second feeding driving piece 683 drives the feeding separating plate 686 to move along the X-axis direction. The second feeding driving piece 683 is used for driving the feeding separation plate 686 to move along the Z-axis direction through the feeding connection block 685.

The two feeding separation units 680 are respectively located at two sides of the feeding area, and the respective feeding separation plates 686 of the two feeding separation units 680 are oppositely arranged. During feeding, two feeding separation plates 686 respectively lift two sides of the bottom of the material box for feeding.

Referring to fig. 8, the structure of the blanking separating unit 690 is the same as that of the feeding separating unit 680. The blanking separation unit 690 includes a blanking bracket 691, a first blanking driving piece 692, a second blanking driving piece 693, a blanking mounting plate 694, a blanking connection block 695, and a blanking separation plate 696. The first and second blanking drivers 692, 693 may be air cylinders or motors.

The blanking bracket 691 is fixed on the supporting plate 104 of the frame 100, and two blanking baffles 697 are arranged at the top of the blanking bracket 691 and used for blocking the material boxes and preventing the stacked material boxes filled with materials from tilting or falling. The first blanking driving piece 692 is fixed on the blanking bracket 691, the blanking mounting plate 694 is fixed on the output end of the first blanking driving piece 692, the second blanking driving piece 693 is fixed on the blanking mounting plate 694, the blanking connecting block 695 is fixed on the output end of the second blanking driving piece 693, and the blanking separating plate 696 is fixedly connected with the blanking connecting block 695. The first blanking driving part 692 is used for driving the second blanking driving part 693 to move along the X-axis direction by leaning on the mounting plate, so that the second blanking driving part 693 drives the blanking tray to move along the X-axis direction. The second blanking driving member 693 is used for driving the blanking separating plate 696 to move along the Z-axis direction through the blanking connecting block 695.

The two blanking separation units 690 are respectively located at two sides of the blanking area, and the respective blanking separation plates 696 of the two blanking separation units 690 are oppositely arranged. During blanking, two blanking separating plates 696 respectively lift two sides of the bottom of the material box to perform blanking.

Referring to fig. 9, the positioning unit 700 includes a positioning bracket 701, a clamping and lifting drive 702, a positioning drive 703, a clamping and lifting plate 704, and a positioning plate 705. The clamping lift drive 702 and the positioning drive 703 may be air cylinders or motors. The positioning bracket 701 is fixed to the support plate 104 of the frame 100. The clamping lifting driving piece and the positioning driving piece 703 are both fixed on the positioning bracket 701, the clamping lifting plate 704 is fixedly connected with the output end of the clamping lifting driving piece 702, and the positioning driving piece 703 is fixedly connected with the output end of the positioning driving piece 703. The clamp lift plate 704 specifically includes an upper clamp block and a lower clamp block that are controlled to open or close to clamp or unclamp the cartridge. Specifically, when the upper clamping block and the lower clamping block are closed, the upper clamping block and the lower clamping block are close to each other, and the upper clamping block and the lower clamping block can upwards lift the material box when clamping the material box.

Two positioning units 700 are respectively located at both sides of the loading area, and clamping lifting plates 704 of the two positioning units 700 are respectively used for clamping both sides of the cartridge. The positioning plates 705 of the two positioning units 700 can be respectively contacted with both sides of the cartridge to position the cartridge.

In this embodiment, the up-down magazine mechanism 600 may move empty magazines from the loading zone to the loading zone while moving magazines filled with material from the loading zone to the unloading zone.

The method comprises the following steps: assuming that the second pallet 663 of the handling assembly 660 is located in the blanking area and the first pallet 662 is located in the loading area in the initial state. And the charging area has a leading magazine receiving material from the pick and place mechanism 500, which is being gripped by two gripping and lifting plates 704. The blanking trolley 650 is located in a blanking area, and a magazine, which is previously filled with materials, is stacked on the blanking trolley 650.

First, the loading trolley 640 loads a plurality of empty cartridges stacked, and then the loading trolley 640 moves along the loading rail 610 to the loading zone.

Next, the loading separating unit 680 lifts up empty cartridges stacked on the loading cart 640. Specifically, the two first feeding driving members 682 respectively drive the two second feeding driving members 683 to move toward the feeding region, so that the two feeding separating plates 686 respectively extend into two sides of the bottom of the lowermost cartridge. The two second feed drives 683 then drive the two feed separator plates 686 upward, respectively, such that the two feed separator plates 686 lift the stacked cartridges such that the cartridges leave the feed carriage 640.

The handling assembly 660 is then moved so that the first pallet 662 is located below the stacked cassettes. Specifically, the conveyance driving member 670 drives the conveyance frame 661 such that the conveyance frame 661 moves along the conveyance guide rail 630 until the first pallet 662 moves from the loading area to the loading area and is located below the stacked cartridges. At the same time, the second pallet 663 moves from the blanking area to be located in the loading area and below the magazine that is receiving material.

Next, after the cartridges in the loading area are filled with the material, the filled cartridges are placed on the second pallet 663. Specifically, the two clamping and lifting driving members 702 respectively drive the two clamping and lifting plates 704 to move downwards, and drive the two clamping and lifting plates 704 to move away from the loading area, so that the two clamping and lifting plates 704 release the material-filled material box, and the material-filled material box is placed on the second supporting plate 663. The second clamping drive 664 is then caused to drive the second clamping block 665 in rotation such that the second clamping block 665 cooperates with the second pallet 663 to clamp the filled cartridge.

The lowest cartridge is separated from the stacked cartridges onto the first pallet 662. Specifically, the two second feeding driving members 683 respectively drive the two feeding separating plates 686 to move downward until the stacked cartridges are placed on the first supporting plate 662, and then the two first feeding driving members 682 respectively drive the two second feeding driving members 683 to move in a direction away from the feeding area, so that the two feeding separating plates 686 are separated from the bottom of the cartridges. The first clamping driving member then drives the first clamping block to clamp the bottommost cartridge. Next, the two first loading drivers 682 respectively drive the two second loading drivers 683 to move toward the loading area, so that the two loading separating plates 686 respectively extend into both sides of the bottom of the penultimate cartridge. The two second loading drivers 683 then drive the two loading separator plates 686 to move upward, respectively, so that the two loading separator plates 686 lift the other cartridges except the bottom cartridge, so that the other cartridges except the bottom cartridge are separated from the first tray 662, and the bottom cartridge is placed on the first tray 662.

Next, the blanking separating unit 690 lifts up the cartridges filled with materials stacked on the blanking cart 650. The method comprises the following steps: the two first blanking driving members 692 respectively drive the two second blanking driving members 693 to move toward the blanking area, so that the two blanking separating plates 696 respectively extend into both sides of the bottom of the lowest layer of the magazine. The two second blanking driving members 693 then drive the two blanking separating plates 696 to move upwards, respectively, so that the two blanking separating plates 696 lift the stacked cartridges such that the cartridges leave the blanking trolley 650.

Then, the handling assembly 660 is moved to move the first pallet 662 from the loading zone to the loading zone, thereby moving the empty magazine from the loading zone to the loading zone; at the same time, the second pallet 663 is moved from the loading area to the unloading area, thereby moving the material filled cartridge from the loading area to the unloading area.

The empty magazine, which is moved to the loading zone, is then clamped so that the empty magazine is moved away from the first pallet 662. Specifically, the two clamp lift drivers 702 respectively drive the two clamp lift plates 704 toward the loading area until the two clamp lift plates 704 clamp an empty cartridge. The two clamp lift drivers 702 then drive the two clamp lift plates 704 upward, respectively, to move the empty cartridge away from the first pallet 662.

The material filled magazine moved to the blanking area is placed on the blanking trolley 650. Specifically, the second clamping driver 664 is caused to rotate the second clamping block 665, such that the second clamping block 665 unclamps the cartridge filled with material on the second pallet 663. The two second blanking driving members 693 respectively drive the two blanking separating plates 696 to move downward so that the two blanking separating plates 696 stack the stacked cartridges in advance on the second pallet 663. The two first blanking driving members 692 then respectively drive the two second blanking driving members 693 to move away from the blanking area, so that the two blanking separating plates 696 respectively leave the bottom of the material filled magazine.

The two first blanking driving members 692 respectively drive the two second blanking driving members 693 to move toward the blanking area, so that the two blanking separating plates 696 respectively extend into both sides of the bottom of the cartridge just moved. The two second blanking driving members 693 then drive the two blanking separating plates 696 to move upwards, respectively, so that the two blanking separating plates 696 lift the stacked cartridges such that the cartridges leave the second supporting plate 663.

Then, the handling assembly 660 is moved to move the first pallet 662 from the loading area to the loading area and the second pallet 663 from the unloading area to the loading area.

Next, the cartridges filled with the materials and stacked are placed on a blanking cart 650. Specifically, the two second blanking driving members 693 respectively drive the two blanking separating plates 696 to move downward, so that the two blanking separating plates 696 stack the stacked cartridges in advance on the cartridges filled with the materials just moved. The two first blanking drivers 692 then drive the two second blanking drivers 693, respectively, to move away from the blanking area such that the two blanking separating plates 696, respectively, leave the bottom of the filled cassettes to place the stacked cassettes on the blanking trolley 650.

In this embodiment, the loading areas of the tray unit 220 and the upper and lower magazine mechanism 600 are located between the two longitudinal rails 320, the loading areas of the tray unit 220 and the upper and lower magazine mechanism 600 are located below the picking and placing mechanism 500, and the tray unit 220 and the upper and lower magazine mechanism 600 are arranged along the Y-axis direction. So that the pick and place mechanism 500 picks up material at the tray unit 220 and places the material at the upper and lower magazine mechanism 600. The two rails 412 of the vision mechanism 400 extend to be located above the lateral rails 330 so that the lens of the image capturing device 430 can capture an image of the tray unit 220.

In this embodiment, the apparatus further includes a controller, and the controller is installed in the frame 100, and the controller is electrically connected to and can control the bin driving member, the tray driving member, the image capturing device 430, the first clamping driving member, the second clamping driving member 664, the clamping lifting driving member 702, the carrying driving member 670, the first feeding driving member 682, the second feeding driving member 683, the first blanking driving member 692 and the second blanking driving member 693.

When the materials are required to be placed in the material box regularly, the method is carried out according to the following steps.

Step S100: the feeding mechanism 200 is controlled to adjust the posture of the material at the feeding mechanism 200.

Specifically, the tray driving member is controlled to drive the feeding tray 222 to vibrate, so as to adjust the posture of the material in the feeding tray 222. It will be appreciated that the material within the feed tray 222 is provided to the feed bin 212. Specifically, the material is placed in the feed bin 212, and then the feed bin driving member is controlled to drive the feed bin 212 to vibrate, so that the material in the feed bin 212 is transferred into the feed tray 222 through the feed opening.

Step S200: the vision mechanism 400 is controlled to acquire an image of the material at the feeding mechanism 200; and identifying a plurality of materials with the postures meeting the requirements in the materials according to the acquired images, and confirming a plurality of coordinates corresponding to the materials with the postures meeting the requirements. The material with the gesture meeting the requirement is a material with the right side facing upwards.

Specifically, the surface light source 420 is controlled to emit light, and then the image acquisition device 430 is controlled to take a photograph of the material in the feeding tray 222, where the photograph is an image of the material. Then, the material facing the front in the image is identified, and coordinates of the material facing the front are obtained.

Step S300: the moving mechanism 300 is controlled to work according to the coordinates, so that the moving mechanism 300 drives the material taking and placing mechanism 500 to sequentially move to the coordinates.

Specifically, the longitudinal driving member is controlled to drive the transverse rail 330 to move along the longitudinal rail 320, and at this time, the transverse rail 330 can drive the pick-and-place mechanism 500 to move along the X-axis direction through the carrying block 340. The transverse driving member is controlled to drive the carrying block 340 to move along the transverse guide rail 330, and at this time, the carrying block 340 can drive the material taking and placing mechanism 500 to move along the Y-axis direction. In other words, the moving mechanism 300 can move the pick and place mechanism 500 along the X-axis direction and the Y-axis direction, so that the pick and place mechanism 500 can move to the corresponding coordinates.

Step S400: the material taking and placing mechanism 500 is controlled to sequentially grasp a plurality of materials with corresponding postures meeting requirements.

Step S500: the moving mechanism 300 is controlled to work, so that the moving mechanism 300 drives the material taking and placing mechanism 500 to move to the upper material box mechanism 600.

Specifically, the longitudinal driving member is controlled to drive the transverse rail 330 to move along the longitudinal rail 320, and at this time, the transverse rail 330 can drive the pick-and-place mechanism 500 to move along the X-axis direction through the carrying block 340. The transverse driving member is controlled to drive the carrying block 340 to move along the transverse guide rail 330, and at this time, the carrying block 340 can drive the material taking and placing mechanism 500 to move along the Y-axis direction. In other words, the moving mechanism 300 can move the pick and place mechanism 500 along the X-axis direction and the Y-axis direction, so that the pick and place mechanism 500 can move to the corresponding coordinates.

Step S600: the pick-and-place mechanism 500 is controlled to place the plurality of gripped materials at the upper and lower magazine mechanism 600.

The step S600 further includes a step 500B: the control conveying frame 661 slides along the conveying guide rail 630 to enable the first supporting plate 662 to move the empty material box from the loading area to the loading area; at the same time, the second pallet 663 moves the filled magazine from the loading zone to the unloading zone. From this, empty magazine removes to the charging zone, and the magazine that fills up the material removes to the unloading district and can go on simultaneously, can promote the efficiency of unloading magazine, improves the regular overall efficiency of material.

After the loading space is filled, the cartridge is clamped by the two clamping and lifting plates 704 and lifted upwards before the cartridge filled with the material moves onto the second pallet 663. Therefore, before the cartridge filled with the material moves onto the second pallet 663, it is necessary to control the two clamping and lifting drivers 702 to respectively drive the two clamping and lifting plates 704 to move downward, and to respectively drive the two clamping and lifting plates 704 to move away from the loading area; so that the filled magazine clamped by the two clamping and lifting plates 704 is placed on the second pallet 663.

After the material filled cartridge is placed on the second pallet 663, the material filled cartridge needs to be clamped, specifically as follows: the second clamping drive 664 is controlled to drive the second clamping blocks 665 to cooperate with the second pallet 663 to clamp a cartridge filled with material. Therefore, the material box filled with the materials can be prevented from shifting in the moving process of the second supporting plate 663, and the stability of the material box filled with the materials in the transporting process is further improved.

After the first pallet 662 moves the empty cartridge from the loading zone to the loading zone, the empty cartridge may be positioned as follows: the two positioning driving members 703 are controlled to drive the two positioning plates 705, respectively, so that the two positioning plates 705 position the empty cartridge. Thereby, empty cartridges may be placed more regularly in the loading area for the subsequent clamping of empty cartridges by the clamping lifting plate 704.

After the empty cartridge is positioned, the empty cartridge can be clamped and lifted, as follows: controlling the two clamping and lifting driving pieces 702 to respectively drive the two clamping and lifting plates 704 to move towards the direction close to the loading area so as to enable the two clamping and lifting plates 704 to clamp the positioned empty material box; and controlling the two clamp lift drivers 702 to drive the two clamp lift plates 704 upward, respectively, to move the empty cartridge away from the first pallet 662. At this point, the empty magazine is in a position to receive material so that the material is placed in the empty magazine.

A plurality of empty cartridges are stacked on the loading trolley 640, and one of the empty cartridges stacked on the loading trolley 640 needs to be detached and placed on the first supporting plate 662, specifically as follows: controlling both second feeding drivers 683 to move towards the feeding area so that both feeding separation plates 686 move to both sides of the bottom of the empty magazine of the penultimate layer; the two first feeding drivers 682 are controlled to drive the second feeding drivers 683 to move upward so that the two feeding separation plates 686 drive the rest of the cartridges except the lowermost cartridge to be separated from the first pallet 662; such that the bottommost empty cartridge rests on the first pallet 662. Thus, from a stack of empty cartridges, the lowest empty tray is located on the first pallet 662 so that the empty cartridge can be provided to the loading area as soon as possible after the last cartridge is full.

After having placed the empty cartridges stacked on the first pallet 662, it is also necessary to clamp the empty cartridges before both second feed drives 683 are controlled to move towards the feed area. The method comprises the following steps: the two first clamping drives are controlled to drive the first clamping blocks to rotate to clamp the bottommost empty cartridge in cooperation with the first pallet 662. Thereby facilitating separation of the lowermost cartridge from other cartridges thereon.

Before the material-filled cartridges are transported to the blanking area, the material-filled cartridges in a stacked state at the blanking area need to be lifted up, and the material-filled cartridges in a stacked state are carried by the blanking trolley 650 located at the blanking area. So that a new material box filled with materials can be transported to a blanking area, and the method is as follows: controlling the two second discharging driving pieces 693 to move towards the discharging area so that the two discharging separating plates 696 move to the two sides of the bottom of the material box filled with the material, which is positioned at the bottommost layer, on the discharging trolley 650; the two first blanking driving members 692 are controlled to respectively drive the two second blanking driving members 693 to move upwards, so that the two blanking separating plates 696 drive the plurality of cartridges filled with materials to leave the blanking trolley 650.

After the cartridges filled with the materials stacked on the discharging cart 650 leave the discharging cart 650, the second pallet 663 is moved to the discharging area again. After the second pallet 663 is moved to the blanking area, the cartridge with the material filled thereon needs to be released, specifically as follows: the second clamping drive 664 is controlled to drive the second clamping blocks 665 to unclamp the filled cartridges. At this time, the material filled magazine on the second pallet 663 is located below the lifted stacked material filled magazines. The stacked material filled cartridges are then stacked on the second pallet 663 such that the cartridges on the second pallet 663 are at the lowest level. The method comprises the following steps: the two first blanking driving members 692 are controlled to respectively drive the two second blanking driving members 693 to move downwards, and the two second blanking driving members 693 are controlled to move away from the blanking area, so that the two blanking separating plates 696 drive a plurality of material boxes filled with materials to be stacked on the material boxes positioned on the second supporting plate 663.

All cartridges are then lifted to leave the second tray 663 as follows: controlling the two second discharging driving pieces 693 to move towards the discharging area so that the two discharging separating plates 696 move to the two sides of the bottom of the material box filled with the material, which is positioned at the bottommost layer, on the second supporting plate 663; the two first blanking driving members 692 are controlled to respectively drive the two second blanking driving members 693 to move upwards, so that the two blanking separating plates 696 drive the plurality of material boxes filled with the materials to leave the second supporting plate 663.

Finally, the first and second pallets 662 and 663 may be reset. The method comprises the following steps: after the empty cartridges leave the first tray 662 and the cartridges filled with the materials leave the second tray 663, the conveyance frame 661 is controlled to slide along the conveyance guide 630 so that the first tray 662 returns from the loading area to the feeding area; at the same time, the second pallet 663 is returned from the blanking zone to the loading zone.

In this embodiment, go up unloading magazine mechanism can be when transferring empty magazine from the loading area to the loading area, will fill up the magazine of material and transfer to the unloading area from the loading area, has saved the process, has saved the resource, has promoted the efficiency that the magazine was transported.

The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, and wherein the above examples are provided to assist in the understanding of the methods and concepts of the present application.

Claims (12)

1. An upper and lower magazine mechanism, characterized by comprising: the device comprises a carrying assembly and a carrying guide rail, wherein the middle part of the carrying guide rail is provided with a charging area, and the two ends of the carrying guide rail are provided with a charging area and a discharging area respectively; the feeding area, the loading area and the unloading area are sequentially arranged along the length direction of the carrying guide rail;

the carrying assembly comprises a carrying frame, a first supporting plate and a second supporting plate; the carrying frame is connected with the carrying guide rail in a sliding way; the first supporting plate and the second supporting plate are both fixed on the carrying frame;

the first supporting plate is used for moving the empty material box from the loading area to the loading area when the carrying frame slides along the carrying guide rail; and the second supporting plate is used for moving the material box filled with the materials from the charging area to the discharging area.

2. The loading and unloading magazine mechanism of claim 1, wherein the handling assembly further comprises a first clamping drive and a first clamping block; the first clamping driving piece is arranged on the first supporting plate, and the first clamping block is connected to the output end of the first clamping driving piece; the first clamping driving member is used for driving the first clamping block to move between the upper side and the peripheral side of the first supporting plate.

3. The loading and unloading magazine mechanism of claim 1, wherein the handling assembly further comprises a second clamping drive and a second clamping block; the second clamping driving piece is arranged on the second supporting plate, and the second clamping block is connected to the output end of the second clamping driving piece; the second clamping driving piece is used for driving the second clamping block to move between the upper side and the peripheral side of the second supporting plate.

4. The loading and unloading magazine mechanism of claim 1, further comprising a loading trolley and a loading rail, the loading rail being at least partially located in the loading zone; the loading trolley can move along the loading guide rail, so that the loading trolley transports empty material boxes to the loading area.

5. The loading and unloading magazine mechanism of claim 1, further comprising a blanking trolley and a blanking rail; at least part of the blanking guide rail is positioned in the blanking area; the blanking trolley can move along the blanking guide rail, so that the blanking trolley transports a material box located in the blanking area.

6. The feeding and discharging box mechanism according to claim 1, further comprising two feeding and separating units, wherein the two feeding and separating units are respectively located at two sides of the feeding area; the feeding separation unit comprises a feeding bracket, a first feeding driving piece, a second feeding driving piece and a feeding separation plate;

The first feeding driving piece is arranged on the feeding bracket, the second feeding driving piece is arranged at the output end of the first feeding driving piece, the feeding separation plate is arranged at the output end of the second feeding driving piece, and the feeding separation plate faces the feeding area; the first feeding driving piece is used for driving the second feeding driving piece to move so as to enable the feeding separation plate to move towards or away from the feeding area; the second feeding driving piece is used for driving the feeding separation plate to move along the height direction of the feeding bracket.

7. The loading and unloading cartridge mechanism of claim 6, wherein said loading separation unit further comprises two oppositely disposed loading baffles, said two loading baffles being respectively secured to said loading ledges, said two loading baffles both facing said loading zone.

8. The feeding and discharging box mechanism according to claim 1, further comprising two discharging separation units, wherein the two discharging separation units are respectively located at two sides of the discharging area; the blanking separation unit comprises a blanking bracket, a first blanking driving piece, a second blanking driving piece and a blanking separation plate;

The first blanking driving piece is arranged on the blanking bracket, the second blanking driving piece is arranged at the output end of the first blanking driving piece, the blanking separating plate is arranged at the output end of the second blanking driving piece, and the blanking separating plate faces the blanking area; the first blanking driving piece is used for driving the second blanking driving piece to move so that the blanking separating plate moves towards or away from the blanking area, and the second blanking driving piece is used for driving the blanking separating plate to move along the height direction of the blanking bracket.

9. The loading and unloading magazine mechanism of claim 8, wherein the unloading separation unit further comprises two oppositely disposed unloading baffles, the two unloading baffles are respectively fixed on the unloading support, and the two unloading baffles are both oriented towards the unloading area.

10. The feeding and discharging cartridge mechanism according to claim 1, further comprising two positioning units, the two positioning units being located on both sides of the loading area, respectively; the positioning unit comprises a positioning bracket, a clamping lifting driving piece and a clamping lifting plate;

the clamping lifting driving piece is arranged on the positioning bracket, the clamping lifting plate is fixed at the output end of the clamping lifting driving piece, and the clamping lifting plate faces the charging area; the clamping lifting driving piece is used for driving the clamping lifting plate to move along the height direction of the positioning bracket and driving the clamping lifting plate to move towards or away from the loading area.

11. The loading and unloading magazine mechanism of claim 10, wherein the positioning unit further comprises a positioning drive member and a positioning plate, the positioning drive member is mounted on the positioning bracket, and the positioning plate is fixed to an output end of the positioning drive member; the positioning driving piece is used for driving the positioning plate to move towards or away from the loading area.

12. A material handling system comprising the upper and lower magazine mechanism of any one of claims 1 to 11.