CN220744418U - Pallet feeding device - Google Patents

Abstract

The utility model provides a tray feeding device, which comprises a rack; the lifting platform is arranged on the rack in a lifting manner and can perform up-and-down lifting motion in the vertical direction; the bidirectional telescopic manipulator is arranged on the lifting table and comprises a first driving device, a transmission assembly and a carrying assembly, wherein the first driving device is in transmission connection with the carrying assembly through the transmission assembly, and the first driving device can drive the carrying assembly to move in a direction close to the feeding area and a direction far away from the feeding area. The tray feeding device solves the problems of complex structure, large volume, low space utilization rate and low operation efficiency of the tray feeding device in the prior art.

Description

Pallet feeding device

Technical Field

The utility model relates to the field of automatic production equipment of LED light sources, in particular to a tray feeding device.

Background

AGV (Automated Guided Vehicle) is an active guiding transport vehicle, also called an unmanned transport vehicle or an automatic navigation vehicle, and has the remarkable characteristic of unmanned operation, so that the automatic guiding transport vehicle is widely applied to various automation fields, is used for replacing manual work to automatically transport workpieces in the manufacturing industry, and has extremely high benefit.

The core component of the LED lamp is an LED light source, and the workpiece is small in overall dimension, so that the workpiece is usually placed on the tray, meanwhile, in order to facilitate automatic feeding of the AGV, the tray is generally placed in a material rack, and the AGV can carry the material rack for feeding. Along with the annual improvement of the present cost of labor, the lamp manufacturing industry also improves the demand of automation, intelligent production year by year, because the production beat of LED light source is fast, efficient, consequently also requires the faster and better to product tray feeding speed, simultaneously, in order to satisfy AGV feeding requirement, tray feeding device's structure is more compact also more the AGV of being convenient for carries out the pay-off.

At present, the tray feeding device in the prior art mainly has two structures, one structure is that a pushing mechanism is arranged at the rear of a material rack, the pushing mechanism can push out the tray, a liftable conveyor is arranged at the front of the material rack to catch the tray, the tray is sent out to a feeding area by the conveyor during feeding, and a belt conveyor receives an empty tray and returns to the material rack after feeding is completed. Because the power mechanisms are arranged in the structure at the front and the rear, the AGV is not beneficial to entering and exiting, and the structure also has the problems of complex structure, huge volume, low space utilization rate and the like; secondly, the tray is hooked on the discharging frame by using the draw hook assembly, then the tray is caught by the conveyer capable of lifting, and then the tray is sent out to the feeding area by the conveyer. The structure has the problems that the draw hook assembly is arranged on the belt conveyor, the space is limited, the draw hook can not be pulled in place once, and multiple actions are needed, so that the structure has multiple and complex actions, the operation efficiency is low and the like.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present utility model is to provide a tray feeding device, which is used for solving the problems of complex structure, large volume, low space utilization and low operation efficiency of the tray feeding device in the prior art.

To achieve the above and other related objects, the present utility model provides a tray feeding device, including a frame; the lifting platform is arranged on the rack in a lifting manner and can perform up-and-down lifting motion in the vertical direction; the bidirectional telescopic manipulator is arranged on the lifting table and comprises a first driving device, a transmission assembly and a carrying assembly, wherein the first driving device is in transmission connection with the carrying assembly through the transmission assembly, and the first driving device can drive the carrying assembly to move in a direction close to the feeding area and a direction far away from the feeding area.

Preferably, the lifting platform comprises a screw rod, a screw rod nut seat, a supporting platform and a second driving device, wherein the screw rod is rotatably arranged on the frame through the screw rod support, the axis of the screw rod extends along the vertical direction, the screw rod nut seat is matched with the screw rod, the supporting platform is fixedly connected to the screw rod nut seat, and the second driving device is used for driving the screw rod to rotate.

Preferably, the lifting platform further comprises a first guide rail, the first guide rail is arranged on the frame and extends along the vertical direction, a first sliding block is arranged on the first guide rail, and the supporting platform is further connected with the first sliding block.

Preferably, the carrying assembly comprises a supporting base and a first expansion plate, wherein the supporting base is fixedly arranged on the lifting table, and the first expansion plate is slidably arranged on the supporting base; the transmission assembly is rotatably arranged on the support base and at least comprises a driving gear, a transmission rack is arranged on the first expansion plate, and the transmission rack is meshed with the driving gear.

Preferably, the supporting base comprises a bottom plate, a first supporting plate and a second supporting plate, the bottom plate is fixedly arranged on the lifting table, the first supporting plate and the second supporting plate are oppositely arranged on the bottom plate at intervals, and first guide rollers are arranged on the outer side face of the first supporting plate and the outer side face of the second supporting plate; the right side of the first expansion plate is provided with a first inner chute, the left side of the first expansion plate is provided with a second inner chute, a first guide roller on the first support plate is embedded in the first inner chute, and a first guide roller on the second support plate is embedded in the second inner chute; the transmission rack is arranged at the bottom of the first expansion plate, and the transmission assembly is rotatably arranged between the first support plate and the second support plate.

Preferably, the transmission assembly comprises a first driving gear, a second driving gear and a third driving gear, wherein the first driving gear is in transmission connection with the first driving device, the first driving gear is in transmission connection with the second driving gear through a first transmission gear, the first driving gear is in transmission connection with the third driving gear through a second transmission gear, and the first driving gear, the second driving gear and the third driving gear are all meshed with the transmission rack.

Preferably, a second expansion plate is further slidably arranged on the first expansion plate, a first pulley is rotatably arranged on the right side of the first expansion plate and close to one end of the feeding area, the first end of the first steel wire rope is fixed at one end, far away from the feeding area, of the support base, and the second end of the first steel wire rope bypasses the first pulley and is connected with one end, far away from the feeding area, of the second expansion plate; the left side of first expansion plate and keep away from the one end rotation of feed district be equipped with the second pulley, the first end of second wire rope is fixed in be close to the one end of feed district on the supporting base, the second end of second wire rope walk around the second pulley with be connected with the one end of being close to the feed district on the second expansion plate.

Preferably, the first end of the first steel wire rope is fixed on the supporting base through a first steel wire rope tightener, and the tightness of the first steel wire rope can be adjusted through the first steel wire rope tightener; the first end of the second steel wire rope is fixed on the supporting base through a second steel wire rope tightener, and the tightness of the second steel wire rope can be adjusted through the second steel wire rope tightener.

Preferably, the AGV further comprises a material rack lifting mechanism, wherein the material rack lifting mechanism is used for lifting the material rack from the AGV, so that the material rack is separated from the AGV.

Preferably, the material rack lifting mechanism comprises two groups of lifting components, the two groups of lifting components are respectively arranged at the left side and the right side of the frame, each group of lifting components comprises a fixed plate fixedly arranged on the frame, a second guide rail is arranged on each fixed plate, a second sliding block is arranged on each second guide rail, a backup plate is arranged on each second sliding block, a hanging column is arranged on each backup plate, and each hanging column is used for being matched with a material rack hanging hole on the material rack; one end of the backup plate is connected with a third driving device, and the third driving device is used for driving the backup plate to lift up and down.

As described above, the tray feeding device has the following beneficial effects: when the automatic feeding device is used, after the AGV moves the material rack into place and reaches the material changing area of the tray feeding device, the full material tray placed in the material rack is taken out and placed in the material waiting level of the material feeding area through the cooperative cooperation of the lifting table and the bidirectional telescopic mechanical arm, and then the empty tray in the working position of the material feeding area is taken out and placed in the material returning frame through the cooperative cooperation of the lifting table and the bidirectional telescopic mechanical arm. Therefore, compared with the prior art, the tray feeding device provided by the utility model can quickly take and put the tray from front and back directions through the bidirectional telescopic function of the bidirectional telescopic manipulator, so that the whole tray feeding device is simple and compact in structure, convenient for carrying and feeding of an AGV, and also improves the operation efficiency.

Drawings

Fig. 1 is a schematic perspective view of a tray feeding device according to the present utility model.

Fig. 2 is a schematic perspective view of a lifting platform according to the present utility model.

Fig. 3 shows a side view of the lifting platform provided by the utility model.

Fig. 4 is a schematic perspective view of a bidirectional telescopic manipulator according to the present utility model.

Fig. 5 is a top view of the bi-directional telescopic manipulator according to the present utility model.

Fig. 6 shows a side view of the bi-directional telescopic manipulator provided by the present utility model.

Fig. 7 is a schematic structural view of a first wire rope tensioner according to the present utility model.

Fig. 8 is a schematic structural view of a lifting mechanism for a material rack provided by the utility model.

Fig. 9 is a schematic structural view of a tray lifting mechanism provided by the utility model.

FIG. 10 is a schematic view of the tray feeding device and AGV according to the present utility model.

Description of the reference numerals

10. Lifting table of frame 20

21. Screw 211 screw support

22. Screw nut seat 23 holds in palm loading platform

231. Transverse 232 riser

233. Second driving device for reinforcing rib 24

241. Second motor 242 first synchronous pulley

243. Second synchronous pulley 244 synchronous belt

25. First guide rail 201 mounting riser

30. First driving device of bidirectional telescopic manipulator 31

32. First motor of transmission assembly 311

312. Speed reducer 313 coupler

321. First drive gear 322 second drive gear

323. First transmission gear 331 supporting base

332. Bottom plate of first telescopic plate 3311

3312. First support plate 3313 second support plate

3320. First internal slide slot of drive rack 3321

3322. Second inner chute 3323 first outer chute

3324. Second outer chute 3310 first guide roller

3330. Second guide roller 333 second expansion board

3325. First pulley 3326 first wire rope

3327. Second pulley 3328 second wire rope

50a first wire rope tensioner 50b second wire rope tensioner

501. First fixing base of fixing base 5011

5012. Guide shaft of second fixing seat 502

503. Adjusting screw for moving block 504

505. Lifting mechanism for material rack of rope pressing block 40

41. First lifting assembly 42 second lifting assembly

411. Second guide rail of fixing plate 412

413. Second slider 414 backup plate

415. Hanging column 4150 and V type groove

416. Lifting mechanism for lifting 60 tray of lifting cylinder

61. First lifting assembly 62 second lifting assembly

611. Jacking cylinder 612 jacking plate

613. 100 work or material rest of dish frock

101. Hanging hole of 1001 material rack of full material tray

200 AGV

Detailed Description

Other advantages and effects of the present utility model will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present utility model with reference to specific examples. The utility model may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present utility model.

In the description of the present utility model, unless specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly coupled, detachably coupled, integrally connected, mechanically coupled, electrically coupled, directly coupled, or coupled via an intermediate medium, or in communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present utility model, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the present utility model as indicated by the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the utility model. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Please refer to fig. 1 to 10. It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concept of the present utility model by way of illustration, and only the components related to the present utility model are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.

The utility model provides a tray feeding device, as shown in fig. 1 to 10, which comprises a frame 10, a lifting platform 20 and a bidirectional telescopic manipulator 30, wherein the lifting platform 20 is arranged on the frame 10 in a lifting manner, the lifting platform 20 can perform lifting motion in the vertical direction, the bidirectional telescopic manipulator 30 is arranged on the lifting platform 20, and concretely, the bidirectional telescopic manipulator 30 comprises a first driving device 31, a transmission assembly 32 and a carrying assembly, wherein the first driving device 31 is in transmission connection with the carrying assembly through the transmission assembly 32, and the first driving device 31 can drive the carrying assembly to move in a direction approaching to a feeding area and a direction separating from the feeding area.

When the tray feeding device is used, after the AGV200 moves the material rack 100 into place, the full tray 101 placed in the material rack 100 is taken out and placed in the material waiting position of the material feeding area through the cooperation of the lifting table 20 and the bidirectional telescopic manipulator 30, and then the empty tray in the working position of the material feeding area is taken out and placed in the material returning frame through the cooperation of the lifting table 20 and the bidirectional telescopic manipulator 30. Therefore, compared with the prior art, the tray feeding device provided by the utility model can quickly take and put the tray from front and back directions through the bidirectional telescopic function of the bidirectional telescopic manipulator, so that the whole tray feeding device is simple and compact in structure, convenient for carrying and feeding of an AGV, and also improves the operation efficiency.

In some embodiments, as shown in fig. 2 and 3, the lifting platform 20 includes a screw 21, a screw nut seat 22, a supporting platform 23 and a second driving device 24, where the screw 21 is rotatably disposed on a mounting vertical plate 201 on the frame 10 through a screw support 211, and an axis of the screw 21 extends in a vertical direction, the screw nut seat 22 is screwed on the screw 21 to be matched with the screw 21, the supporting platform 23 is fixedly connected to the screw nut seat 22, the bidirectional telescopic manipulator 30 is fixedly disposed on the supporting platform 23, and the second driving device 24 is used for driving the screw 21 to rotate. During operation, the second driving device 24 drives the screw rod 21 to rotate, so that the screw rod nut seat 22 moves up and down along the axial direction of the screw rod 21 relative to the screw rod 21, and the screw rod nut seat 22 drives the supporting platform 23 to lift up and down, and the supporting platform 23 drives the bidirectional telescopic manipulator 30 to lift up and down.

Specifically, as shown in fig. 3, in this embodiment, the supporting platform 23 has an L-shaped structure, that is, the supporting platform 23 includes a transverse plate 231 and a vertical plate 232, where the vertical plate 232 is fixedly connected with the screw-nut seat 22, the transverse plate 231 is used for installing and fixing the bidirectional telescopic manipulator 30, and further, in order to ensure structural strength of the supporting platform 23, preferably, in this embodiment, a reinforcing rib 233 is further provided at a connection position between the transverse plate 231 and the vertical plate 232.

Further, in order to ensure the stability of the lifting platform 20 when the bidirectional telescopic manipulator 30 is lifted up and down, as shown in fig. 2, preferably, in this embodiment, the lifting platform 20 further includes a first guide rail 25 fixedly disposed on the mounting vertical plate 201 of the frame 10, the first guide rail 25 also extends along the vertical direction, two first guide rails 25 are provided, a first slider (not shown in the drawing) is slidably disposed on the first guide rail 25, and the supporting platform 23, i.e., the riser 232 is further connected with the first slider. When lifting, the first guide rail 25 is used for guiding the displacement of the supporting platform 23, so as to prevent the supporting platform 23 from shaking and shifting when lifting up and down, and further improve the stability of the operation of the lifting table 20.

Specifically, as shown in fig. 3, in the present embodiment, the second driving device 24 includes a second motor 241, the second motor 241 is mounted on the back surface of the mounting plate 201 (the opposite surface to the surface on which the screw 21 is mounted), a first synchronous pulley 242 is mounted on the rotation shaft of the second motor 241, and correspondingly, a second synchronous pulley 243 is mounted on one end of the screw 21, and the first synchronous pulley 242 and the second synchronous pulley 243 are in driving connection through a synchronous belt 244. During operation, the second motor 241 drives the first synchronous pulley 242 to rotate, the first synchronous pulley 242 drives the second synchronous pulley 243 to rotate through the synchronous belt 244, and the second synchronous pulley 234 drives the screw rod 21 to controllably rotate, so as to drive the carrying platform 23 to move up and down.

In some embodiments, as shown in fig. 4 to 6, the carrying assembly of the bidirectional telescopic manipulator 30 includes a support base 331 and a first telescopic plate 332, specifically, the support base 331 is fixedly disposed on the lifting platform 20, that is, on the transverse plate 231 of the carrying platform 23, the first telescopic plate 332 is slidably disposed on the support base 331, and a transmission rack 3320 is disposed on the first telescopic plate 332, the transmission assembly 32 is rotatably disposed on the support base 331, and the transmission assembly 32 includes at least a driving gear, and the driving gear is meshed with the transmission rack 3320 on the first telescopic plate 332. In operation, the first driving device 31 drives the driving gear to rotate forward or backward, and the driving gear drives the first expansion plate 332 to extend or retract, so that the tray is carried bidirectionally.

Specifically, as shown in fig. 4, in the present embodiment, the support base 331 includes a bottom plate 3311, a first support plate 3312 and a second support plate 3313, where the bottom plate 3311 is fixedly disposed on the transverse plate 231 of the carrying platform 23, the first support plate 3312 and the second support plate 3313 are relatively and fixedly disposed on the bottom plate 3311 at intervals, and first guide rollers 3310 are disposed on the outer side surface of the first support plate 3312 and the outer side surface of the second support plate 3313, a first inner chute 3321 is disposed on the right side of the first telescopic plate 332, a second inner chute 3322 is disposed on the left side, the first guide rollers 3310 on the first support plate 3312 are embedded in the first inner chute 3321 of the first telescopic plate 332, and the first guide rollers 3310 on the second support plate 3313 are embedded in the second inner chute 3322 of the first telescopic plate 332. Specifically, the driving rack 3320 is disposed at the bottom of the first telescopic plate 332, and the driving assembly 32 is rotatably disposed in the space between the first support plate 3312 and the second support plate 3313. Through this structural design for this two-way flexible manipulator's structure is simpler and compact, has further improved space utilization. During operation, the first driving device 31 drives the transmission assembly 32 to rotate, and the transmission assembly 32 drives the transmission rack 3320 arranged on the first telescopic plate 332 to do reciprocating linear motion, so that the first telescopic plate 332 can be driven to slide bidirectionally along the first guide roller 3310 arranged on the support base 331, and bidirectional carrying of the tray is realized.

Further, as shown in fig. 4, in the present embodiment, the transmission assembly 32 includes a first driving gear 321, a second driving gear 322 and a third driving gear (not shown in the drawing), where the first driving gear 321 is in transmission connection with the first driving device 31, and the first driving gear 321 is in transmission connection with the second driving gear 322 through a first transmission gear 323, and the first driving gear 321 is in transmission connection with the third driving gear through a second transmission gear (not shown in the drawing), and the first driving gear 321, the second driving gear 322 and the third driving gear are all meshed with the transmission rack 3320. In operation, the first driving gear 321 can synchronously drive the second driving gear 322 and the third driving gear to synchronously rotate, and then the first expansion plate 332 is driven by the three groups of driving gears. By this structural design, the stability of the movement of the first expansion plate can be improved, and the displacement stroke of the first expansion plate 332 can also be improved, specifically, by this structural design, the first expansion plate 332 can extend about 2/3 of the length of the bottom plate 3311 (the bottom plate is the same as the length of the first expansion plate).

Specifically, as shown in fig. 5, in the present embodiment, the first driving device 31 includes a first motor 311, the first motor 311 is mounted on a side surface of the support base 331, and the first motor 311 is in transmission connection with a first driving gear 321 in the transmission assembly 32 through a reducer 312, that is, the reducer 312 is connected with a rotating shaft of the first driving gear 321 through a coupling 313. During operation, the first motor 311 drives the transmission assembly 32 to rotate in the forward and reverse directions, so that the first telescopic plate 332 can be driven to move in the direction close to the feeding area and in the direction far away from the feeding area, and further, the tray can be carried in two directions.

Further, in order to further increase the movement stroke of the bidirectional telescopic manipulator 30, as shown in fig. 4 and 5, preferably, a second telescopic plate 333 is further slidably disposed on the first telescopic plate 332, and a first pulley 3325 is rotatably disposed on the right side of the first telescopic plate 332 and at one end close to the feeding area, a first wire rope 3326 is wound on the first pulley 3321, a first end of the first wire rope 3326 is fixedly connected to one end of the support base 331 far from the feeding area, and a second end of the first wire rope 3326 bypasses the first pulley 3325 and is then connected to one end of the second telescopic plate 333 far from the feeding area; through the structural design, the first steel wire rope 3326 and the first pulley 3325 form a pulley system, namely, the first pulley 3325 is a movable pulley in the pulley system, the first end of the first steel wire rope 3326 is fixedly connected to the supporting base 331 and corresponds to the fixed end of the first steel wire rope 3326, the second end of the first steel wire rope 3326 is connected to the second telescopic plate 333 and corresponds to the movable end of the first steel wire rope 3326, when the first driving device 31 drives the first telescopic plate 332 to move towards the feeding area, namely, move forwards, the first telescopic plate 332 drives the first pulley 3325 to move forwards, then the second end of the first steel wire rope 3326 is pulled forwards, according to the working principle of the movable pulley, the moving end of the first steel wire rope 3326 is twice as large as the movable pulley arm, so that the base 3311 is taken as a reference, the second telescopic plate 333 is twice as large as the displacement of the first telescopic plate 332, and when the first driving device 31 drives the first telescopic plate 332 to move forwards to the limit position, namely, the length 2/3 of the base plate 3311 is 2/3, and the displacement of the second telescopic plate 333 is 4 forward. Therefore, by the structural design, the movement stroke of the bidirectional telescopic manipulator 30 is greatly improved.

Similarly, to ensure that the second telescoping plate 333 is displaced twice as much as the first telescoping plate 332 during the retraction of the first telescoping plate and the second telescoping plate or when moving in the direction (backward) toward the material rack 100, as shown in fig. 5, a second pulley 3327 is rotatably disposed at the left side of the first telescoping plate 332 and at the end far from the material feeding area, a second wire 3328 is wound around the second pulley 3327, the first end of the second wire 3328 is fixed at the end near the material feeding area on the support base 331, and the second end of the second wire 3328 is connected to the end near the material feeding area on the second telescoping plate 333 by bypassing the second pulley 3327. When the first driving device 31 drives the first expansion plate 332 to retract in the return process or move backwards, the first expansion plate 332 drives the second pulley 3327 to move backwards, and then pulls the second end of the second wire rope 3328 backwards, so that the displacement of the second expansion plate 333 is twice as large as that of the first expansion plate 332.

Specifically, as shown in fig. 4 and 6, in the present embodiment, the left and right sides of the second expansion plate 333 are respectively provided with a second guide roller 3330, the right side of the first expansion plate 332 is provided with a first external chute 3323, the left side is provided with a second external chute 3324, the second guide roller 3330 on the right side of the second expansion plate 333 is embedded in the first external chute 3323 of the first expansion plate 332, and the second guide roller 3330 on the left side of the second expansion plate 333 is embedded in the second external chute 3324 of the first expansion plate 332.

Further, in order to adjust the tightness of the wire rope according to the actual situation during the use, as shown in fig. 4 and 5, in this embodiment, the first end of the first wire rope 3326 is fixedly connected to the support base 331, that is, the outer side surface of the first support plate 3312, through the first wire rope tensioner 50a, and the tightness of the first wire rope can be adjusted through the first wire rope tensioner 50 a; the first end of the second wire rope 3328 is fixedly provided on the support base 331, i.e., the outer side surface of the second support plate 3313, by means of the second wire rope tightener 50b, and the tightness of the second wire rope 3324 can be adjusted by means of the second wire rope tightener 50 b. Specifically, as shown in fig. 7, in this embodiment, the first wire rope tensioner 50a includes a fixing base 501, the fixing base 501 includes a first fixing base 5011 and a second fixing base 5012, the first fixing base 5011 and the second fixing base 5012 are fixed on a first supporting plate 3312 at intervals, a guiding shaft 502 is disposed between the first fixing base 5011 and the second fixing base 5012, a moving block 503 is slidably disposed on the guiding shaft 502, a first end of the first wire rope 3326 is fixedly connected to the moving block 503, an adjusting screw 504 is disposed on the first fixing base 5011, and one end of the adjusting screw 504 is in threaded connection with the moving block 503. When the adjusting screw 504 is used, the moving block 503 can slide back and forth relative to the guide shaft 502 by screwing the adjusting screw, so that the tightness of the first steel wire rope 3326 can be adjusted. Specifically, in order to facilitate the replacement and disassembly of the wire rope at a later stage, in this embodiment, the first end of the first wire rope 3326 is fixedly connected to the moving block 503 through the rope pressing block 505, and the rope pressing block 505 is fixedly connected to the moving block 503 through a bolt. Accordingly, the structure of the second wire rope tightener 50b is the same as that of the first wire rope tightener 50a, and thus, detailed description thereof will be omitted.

Further, in order to improve the operation efficiency of the AGV200 and further improve the handling efficiency of the rack, preferably, in this embodiment, as shown in fig. 1 and 10, a rack lifting mechanism 40 is further provided on the rack 10, and the rack lifting mechanism 40 is used for lifting the rack 100 from the AGV200 so that the rack 100 is separated from the AGV200. Through this structural design, during operation, as shown in fig. 10, when AGV200 will place the work or material rest of full material tray 101 and carry and arrive the region of reloading promptly after arriving in place, lift this work or material rest 100 from the AGV through work or material rest lifting mechanism 40, thereby place work or material rest 100 on this work or material rest lifting mechanism 40, then two-way flexible manipulator 30 then can carry the material tray of placing in the work or material rest lifting mechanism 40 and get the material rest, then AGV then can drive out the region of reloading and continue district and carry other work or material rest, after all the material tray of full material that places in work or material rest 100 is complete, AGV drives into the region of reloading, work or material rest lifting mechanism 40 places the work or material rest of placing empty tray on the AGV, then drive out the region of reloading and drop the work or material rest of another place full material tray that will place on the AGV into the region of reloading, work or material rest lifting mechanism 40 again with this new material tray of placing, with this circulation reciprocal.

Specifically, in this embodiment, as shown in fig. 8, the material rack lifting mechanism 40 includes two groups of lifting assemblies, namely, a first lifting assembly 41 and a second lifting assembly 42, where the first lifting assembly 41 and the second lifting assembly 42 are respectively disposed on the left and right sides of the frame 10, and the first lifting assembly 41 and the second lifting assembly 42 have the same structure, and specifically as shown in fig. 7, the first lifting assembly 41 and the second lifting assembly 42 each include a fixing plate 411 fixedly mounted on the frame 10, a second guide rail 412 is disposed on the fixing plate 411, a second slider 413 is disposed on the second guide rail 412, a backup plate 414 is disposed on the second slider 413, a hanging post 415 is disposed on the backup plate 414, and one end of the backup plate 414 is connected with a third driving device, where the third driving device is used to drive the backup plate 414 to lift up and down along the second guide rail 412. When the AGV carries the material frame and drives into place and reaches the material changing area, the third driving device on the first lifting assembly 41 and the third driving device on the second lifting assembly 42 respectively and simultaneously drive the backup plates 414 on the left side and the right side to move upwards, so that the two hanging columns 415 on the left side and the right side are driven to rise simultaneously, the hanging columns 415 are further matched with the material frame hanging holes 1001 on the material frame 100, and the material frame 100 is lifted from the AGV along with the rising of the hanging columns 415 to be hung on the hanging columns 415. Further, in order to improve the stability of the hanging post 415 to the lifting of the material rack 100, it is preferable in this embodiment that a V-shaped groove 4150 is further provided on the hanging post 415, and the V-shaped groove 4150 can be buckled with the material rack hanging hole 1001 on the material rack 100, so as to ensure the hanging stability of the material rack 100 on the hanging post 415. Specifically, in this embodiment, the third driving device is a lifting cylinder 416.

Further, as shown in fig. 9, in the present embodiment, a tray lifting mechanism 60 is further provided on the frame 10, the tray lifting mechanism 60 includes a first lifting assembly 61 and a second lifting assembly 62, the first lifting assembly 61 and the second lifting assembly are respectively disposed on the left and right sides of the frame 10, and the structures of the first lifting assembly 61 and the second lifting assembly are substantially the same, as shown in fig. 9, the first lifting assembly 61 and the second lifting assembly 62 each include a lifting cylinder 611, a lifting plate 612 is provided on a piston rod of the lifting cylinder 611, a tray placing tool 613 is provided above the lifting plate 612, and the tray placing tool 613 is used for placing a tray, so that in an initial state, a position of the lifting plate 612 forms a material level to be placed of the tray lifting mechanism 60, and a position of the tray placing tool 613 forms a working position of the tray lifting mechanism 60.

When the tray feeding device of the present utility model is used, as shown in fig. 10, after the AGV200 carries the material rack 100 with the full tray 101 in place, i.e. the material rack reaches the material changing area, the material rack lifting mechanism 40 lifts the material rack 100 from the AGV to separate the material rack from the AGV, then the AGV drives out to carry other material racks, the full tray is taken out from the material rack 100 through the cooperation of the lifting table 20 and the bidirectional telescopic manipulator 30, and placed on the lifting plate 612 to be filled, i.e. the lifting plate 612 on the left side and the right side, which supports the full tray, and then the empty tray is taken out from the working position of the tray lifting mechanism 60 through the cooperation of the lifting table 20 and the bidirectional telescopic manipulator 30, and then the full tray placed on the material rack to be filled is lifted to the working position, i.e. the work position, by the lifting cylinder 611, by the lifting mechanism 60, so as to grasp and transfer the workpieces from the full tray to the next working procedure through the industrial robot, until the full tray is completely fed once.

In summary, compared with the prior art, the tray jacking device disclosed by the utility model has the characteristics of compact structure, convenience in AGV feeding and capability of fast feeding, the device drives a set of bidirectional telescopic manipulators to lift through a set of lifting tables, and the bidirectional telescopic manipulators are used for taking and placing trays from a material rack, so that the whole device is simple and compact in structure, convenience in AGV carrying is realized, fast feeding of trays is realized through a set of tray jacking mechanism, feeding efficiency is improved, separation of the material rack and the AGV is realized through a set of material rack lifting mechanisms, and automatic carrying of the AGV to the material rack is realized. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (10)

1. A tray feeding device, comprising:

a frame;

the lifting platform is arranged on the rack in a lifting manner and can perform up-and-down lifting motion in the vertical direction;

the bidirectional telescopic manipulator is arranged on the lifting table and comprises a first driving device, a transmission assembly and a carrying assembly, wherein the first driving device is in transmission connection with the carrying assembly through the transmission assembly, and the first driving device can drive the carrying assembly to move in a direction close to the feeding area and a direction far away from the feeding area.

2. The tray feeding device according to claim 1, wherein the lifting platform comprises a screw rod, a screw rod nut seat, a supporting platform and a second driving device, wherein the screw rod is rotatably arranged on the frame through the screw rod support, the axis of the screw rod extends along the vertical direction, the screw rod nut seat is matched with the screw rod, the supporting platform is fixedly connected to the screw rod nut seat, and the second driving device is used for driving the screw rod to rotate.

3. The tray feeding device according to claim 2, wherein the lifting platform further comprises a first guide rail, the first guide rail is arranged on the frame and extends along the vertical direction, a first sliding block is arranged on the first guide rail, and the carrying platform is further connected with the first sliding block.

4. The tray feeding device according to claim 1, wherein the carrying assembly comprises a supporting base and a first telescopic plate, the supporting base is fixedly arranged on the lifting table, and the first telescopic plate is slidably arranged on the supporting base; the transmission assembly is rotatably arranged on the support base and at least comprises a driving gear, a transmission rack is arranged on the first expansion plate, and the transmission rack is meshed with the driving gear.

5. The tray feeding device according to claim 4, wherein the support base comprises a bottom plate, a first support plate and a second support plate, the bottom plate is fixedly arranged on the lifting table, the first support plate and the second support plate are oppositely arranged on the bottom plate at intervals, and first guide rollers are arranged on the outer side surface of the first support plate and the outer side surface of the second support plate; the right side of the first expansion plate is provided with a first inner chute, the left side of the first expansion plate is provided with a second inner chute, a first guide roller on the first support plate is embedded in the first inner chute, and a first guide roller on the second support plate is embedded in the second inner chute; the transmission rack is arranged at the bottom of the first expansion plate, and the transmission assembly is rotatably arranged between the first support plate and the second support plate.

6. The pallet feeding device according to claim 4 or 5, wherein the transmission assembly comprises a first driving gear, a second driving gear and a third driving gear, wherein the first driving gear is in transmission connection with the first driving device, the first driving gear is in transmission connection with the second driving gear through a first transmission gear, the first driving gear is in transmission connection with the third driving gear through a second transmission gear, and the first driving gear, the second driving gear and the third driving gear are all meshed with the transmission rack.

7. The tray feeding device according to claim 4 or 5, wherein a second telescopic plate is further slidably arranged on the first telescopic plate, a first pulley is rotatably arranged at the right side of the first telescopic plate and at one end close to the feeding area, a first end of a first steel wire rope is fixed at one end, far away from the feeding area, of the supporting base, and a second end of the first steel wire rope bypasses the first pulley and is connected with one end, far away from the feeding area, of the second telescopic plate; the left side of first expansion plate and keep away from the one end rotation of feed district be equipped with the second pulley, the first end of second wire rope is fixed in be close to the one end of feed district on the supporting base, the second end of second wire rope walk around the second pulley with be connected with the one end of being close to the feed district on the second expansion plate.

8. The pallet feeding device according to claim 7, wherein a first end of the first wire rope is fixed to the support base by a first wire rope tensioner, and the tightness of the first wire rope can be adjusted by the first wire rope tensioner; the first end of the second steel wire rope is fixed on the supporting base through a second steel wire rope tightener, and the tightness of the second steel wire rope can be adjusted through the second steel wire rope tightener.

9. The pallet feeding device of claim 1, further comprising a shelf lifting mechanism for lifting the shelf from the AGV such that the shelf is disengaged from the AGV.

10. The tray feeding device according to claim 9, wherein the material rack lifting mechanism comprises two groups of lifting assemblies, the two groups of lifting assemblies are respectively arranged on the left side and the right side of the rack, each group of lifting assemblies comprises a fixed plate fixedly installed on the rack, a second guide rail is arranged on the fixed plate, a second sliding block is arranged on the second guide rail, a backup plate is arranged on the second sliding block, a hanging column is arranged on the backup plate, and the hanging column is used for being matched with a material rack hanging hole on the material rack; one end of the backup plate is connected with a third driving device, and the third driving device is used for driving the backup plate to lift up and down.