CN221496381U - Automatic needle returning equipment - Google Patents

Abstract

The utility model relates to the technical field of drill point recovery, and discloses automatic needle returning equipment. The automatic needle returning device comprises a material tray transferring device and a needle returning device, wherein the material tray transferring device is configured to move a material tray to a material taking position, a transfer box is stored in the material tray, and drill needles of different types are stored in each transfer box; the needle returning device comprises a transfer mechanism, a circulation mechanism, a transfer mechanism, a storage bracket and a needle returning assembly, wherein each storage box on the storage bracket is used for storing drill needles of the same model; the needle return assembly is configured to place the drill needles of the same type in different transfer boxes on the transfer mechanism in the same storage box on the storage bracket, and the transfer mechanism is configured to transfer the transfer box at the position of the material taking position to the transfer mechanism and transfer the empty transfer box after needle return on the transfer mechanism to the transfer mechanism. The automatic needle returning device can realize automatic recovery of drilling needles of different types, has high automation degree, greatly liberates manpower and improves production efficiency.

Description

Automatic needle returning equipment

Technical Field

The utility model relates to the technical field of drill point recovery, in particular to automatic needle returning equipment.

Background

In the production process of the PCB circuit boards, drilling operation is needed, and different drilling needles are needed for the PCB circuit boards with different processing requirements, and meanwhile, because the number of the drilling holes on each PCB circuit board is large, the drilling operation of a plurality of holes is needed for each PCB circuit board, so that the drilling needles with a plurality of drilling holes and different specifications are needed.

The drill points are generally classified according to the model and stored in corresponding storage boxes, in the production process of the PCB, the required drill points are required to be taken out from different storage boxes to be placed in the transfer box, and the transfer box is conveyed to a region for drilling the PCB. After the production of the PCB circuit board is completed, the drill pins are required to be classified and stored, namely, the drill pins with the same specification are recovered in the same material box, so that the grinding or subsequent re-taking of the drill pins can be conveniently performed. In the prior art, drill points of the same specification are mainly recovered into the same material box manually, so that the manual recovery of the drill points can generate huge workload, the labor intensity is increased, and the efficiency is extremely low.

Accordingly, there is a need to provide an automatic needle retracting device to solve the above problems.

Disclosure of utility model

The utility model aims to provide automatic needle returning equipment, which greatly relieves manpower and improves production efficiency.

In order to achieve the purpose, the utility model is realized by the following technical scheme:

An automatic needle return apparatus comprising:

The material tray transferring device is configured to move the material tray to a material taking position, a transfer box is stored in the material tray, and drill pins of different types are stored in each transfer box;

The needle returning device comprises a transfer mechanism, a circulation mechanism, a transfer mechanism, a storage bracket and a needle returning assembly, wherein a plurality of storage boxes are arranged on the storage bracket, and each storage box is used for storing the drill needles of the same model;

The transfer mechanism is used for placing a plurality of transfer boxes, the needle return assembly is configured to place drill needles of the same type in different transfer boxes on the transfer mechanism in the same storage box on the storage support, the transfer mechanism is configured to transfer the transfer boxes at the material taking position to the transfer mechanism, and transfer the empty transfer boxes on the transfer mechanism after needle return to the transfer mechanism.

As an alternative, the automatic needle returning apparatus further includes a secondary positioning device, the secondary positioning device being located between the tray transferring device and the transferring mechanism, the secondary positioning device including:

The temporary storage platform is provided with a plurality of temporary storage grooves which are arranged along the Y-axis direction, and the temporary storage grooves are used for placing the transfer box;

the positioning cylinder and the connecting plate are arranged at the output end of the positioning cylinder and are positioned below the temporary storage platform;

The pushing pieces are arranged on the connecting plate at intervals along the Y-axis direction, one pushing piece is correspondingly arranged in each temporary storage groove, and the positioning air cylinder can drive the connecting plate and the pushing pieces to move along the Y-axis direction so as to enable the transfer box to be abutted to the positioning side wall of the temporary storage groove.

As an alternative scheme, secondary positioner still includes sharp module and recognition mechanism, recognition mechanism connect in the output of sharp module just is located the side of keeping in the platform, sharp module can drive recognition mechanism moves along the Y axle direction, in order to discern a plurality of on the platform of keeping in the drill point model in the transfer box.

As an alternative scheme, circulation mechanism include the circulation support with set up in conveyer belt on the circulation support, the conveyer belt includes first end and second end, the second end is provided with two along the direction of transfer interval and blocks the subassembly, two block the subassembly homoenergetic block the transfer box or allow the transfer box passes through, the direction of transfer is by first end is directional the direction of second end.

As an alternative scheme, the circulation mechanism further comprises a first stop lever, the first stop lever is fixedly arranged on the circulation bracket and located at the downstream of the two blocking assemblies along the conveying direction, and the first stop lever is used for blocking the transfer box.

As an alternative, the transfer mechanism includes a transfer platform, two opposite ends of the transfer platform are provided with storage areas, the storage areas are configured to place the transfer box, and the transfer platform can rotate around the Z axis, so that the storage areas at two ends face the storage rack in sequence.

As an alternative, the transfer mechanism includes:

A slider reciprocally movable in an X-axis direction;

The second lifting piece is arranged on the sliding block in a sliding manner along the Z-axis direction;

The clamping assembly is arranged on the second lifting piece in a rotating mode around the Z axis and is configured to clamp and transfer the transfer box at the material taking position to the transfer mechanism and transfer the empty transfer box clamped and transferred on the transfer mechanism after needle returning.

As an alternative, the needle return device further includes:

the buffer support is provided with a plurality of buffer grooves;

And the exchange assembly is configured to transfer the storage box full of the storage bracket into the cache groove of the cache bracket and move the storage boxes empty of other cache grooves onto the storage bracket.

As an alternative, the automatic needle returning device further includes a vertical stacking device, the vertical stacking device includes a portal frame, a stacking mechanism, and a vertical material rack, and the stacking mechanism includes:

the three-axis moving module is arranged on the portal frame;

The three-axis moving module can drive the rotary driving assembly to move along the X-axis direction, the Y-axis direction and the Z-axis direction respectively; and

The clamping assembly is connected to the output end of the rotary driving assembly, the rotary driving assembly can drive the clamping assembly to rotate around the Z axis, and the clamping assembly is configured to clamp the storage box full of the buffer groove to the vertical material rack and clamp the transfer box above the circulation mechanism to the buffer groove.

As an alternative, the tray transferring device includes:

the bearing assembly is used for bearing the tray;

The lifting assembly can lift the tray borne by the bearing assembly to a preset height along the Z-axis direction;

A gripping assembly configured to grip or release the tray;

and the output end of the moving component is connected with the grabbing component, and the moving component is configured to drive the grabbing component to move along the Y-axis direction, so that the grabbing component grabs the lifted material tray at the bearing component and transfers the grabbed material tray to a material taking position.

The beneficial effects of the utility model are as follows:

When the automatic needle returning device is used, the tray transfer device moves the trays loaded with the transfer boxes to the material taking position for waiting use, each transfer box stores drilling needles of different types, then the transfer mechanism transfers the transfer boxes at the material taking position to the transfer mechanism, the needle returning component places the drilling needles of the same type in different transfer boxes on the transfer mechanism in the same material storing box on the storage bracket, so that the drilling needles of each type are recycled into the corresponding material storing box, then the transfer mechanism transfers the empty transfer boxes after the needle returning of the transfer mechanism to the transfer mechanism, the transfer mechanism transfers the empty transfer boxes to the required position, and after the transfer boxes in the trays are all taken, the tray transfer device drives the empty trays to discharge. This automatic needle equipment returns can realize the automatic recovery of the drill point of different models, and degree of automation is high, has greatly liberated the manual work, and the letter sorting rate of accuracy is high, and has improved production efficiency.

Drawings

For a more obvious and understandable description of embodiments of the utility model or solutions according to the prior art, reference will be made to the accompanying drawings, which are used in the description of the embodiments or the prior art and which are examples of the utility model, and from which other drawings can be obtained without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an automatic needle return device according to an embodiment of the present utility model;

fig. 2 is a schematic diagram of a part of a tray transferring device according to an embodiment of the present utility model;

fig. 3 is a schematic diagram of a part of a tray transferring device according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a secondary positioning device according to an embodiment of the present utility model;

fig. 5 is a schematic structural view of a needle return device according to an embodiment of the present utility model;

FIG. 6 is a schematic structural diagram of a circulation mechanism according to an embodiment of the present utility model;

FIG. 7 is a schematic view of a clamping assembly according to an embodiment of the present utility model;

fig. 8 is a schematic structural view of a vertical stacking device according to an embodiment of the present utility model at a first view angle;

Fig. 9 is a schematic structural view of a vertical stacking device according to an embodiment of the present utility model at a second view angle;

FIG. 10 is an enlarged view of a portion of FIG. 9 at A;

FIG. 11 is a partial enlarged view at B in FIG. 9;

FIG. 12 is a schematic view of a gripping assembly according to an embodiment of the present utility model;

Fig. 13 is a schematic structural diagram of a transfer assembly in a cartridge according to an embodiment of the present utility model.

In the figure:

100. a stock box; 110. a transfer box; 120. a material tray;

10. A tray transfer device; 101. a carrier assembly; 1011. a carrier; 10111. a bearing plate; 101111, lap plates; 10112. a limit mounting plate; 101121, avoiding positions; 10113. a bottom plate; 1012. a first lifting member; 1013. a mounting base; 102. a lifting assembly; 1021. a lifting member; 10211. lifting the driving piece; 10212. a first clamping drive; 10213. lifting the clamping jaw; 103. a grabbing component; 1031. mounting a plate; 1032. a movable grabbing plate; 1033. grabbing a driving piece; 104. a linear movement assembly; 1041. a mounting base plate; 1042. a linear transplanting module; 105. a positioning assembly; 1051. positioning clamping plates; 106. a limit component;

20. A needle returning device; 201. a transfer mechanism; 2011. a transfer platform; 2012. a storage tank; 202. a circulation mechanism; 2021. a circulation bracket; 2022. a conveyor belt; 20221. a first end; 20222. a second end; 2023. a first blocking assembly; 2024. a second blocking assembly; 2025. a first stop lever; 2026. a positioning piece; 2027. a stopper; 2028. a third blocking assembly; 20281. a second stop lever; 20291. a first detecting member; 20292. a second detecting member; 203. a transfer mechanism; 2031. a slide block; 2032. a second lifting member; 2033. a clamping assembly; 20331. a fixing seat; 20332. a second fixing member; 20333. a second clamping member; 20334. an abutment; 20335. an elastic member; 204. storing the bracket; 2041. a trough; 205. a needle return assembly; 2051. taking and placing a piece; 2052. a first slide rail; 2053. a second slide rail; 2054. a first slider; 206. a switching assembly; 2061. a third slide rail; 2062. a second slider; 2063. exchanging the clamping members; 207. a buffer support; 2071. a cache groove;

30. A secondary positioning device; 301. a temporary storage platform; 3011. a temporary storage groove; 302. positioning a cylinder; 303. a pushing member; 304. a linear module; 305. an identification mechanism;

40. A vertical stacking device; 401. a portal frame; 402. a stacking mechanism; 4021. a first moving member; 40211. a first pulley; 40212. a first rotating shaft; 4022. a second moving member; 40221. a second pulley; 40222. a second rotating shaft; 4023. a synchronous drive assembly; 40231. a first servo motor; 40232. a first driving wheel; 40233. a second driving wheel; 40234. a synchronous belt; 40235. a transmission shaft; 40236. a first coupling; 40237. a second coupling; 40238. a support plate; 40239. a bearing seat; 4024. a second moving assembly; 4025. a third moving assembly; 4026. a rotary drive assembly; 40261. a second servo motor; 40262. a hollow rotating platform; 40263. an adapter plate; 4027. a clamping assembly; 40271. a second clamping drive; 40272. a clamping jaw; 403. a vertical material rack; 4031. a storage rack; 40311. a main body frame; 40312. a carrying plate; 40313. a slot;

50. The material box discharging device; 501. a magazine transfer assembly; 5011. a transfer cylinder; 5012. a transfer bracket; 5013. a transfer tank; 502. a discharging and transferring module; 503. a mechanical arm;

60. A working table.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are orientation or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

As shown in fig. 1, the present embodiment provides an automatic needle returning apparatus, which includes a workbench 60, a tray transferring device 10 and a needle returning device 20, wherein the tray transferring device 10 and the needle returning device 20 are both disposed on the pre-workbench 60, the tray transferring device 10 is configured to move a tray 120 to a material taking position, a transfer box 110 is stored in the tray 120, and drill needles with different types are respectively stored in each transfer box 110; the needle returning device 20 comprises a transfer mechanism 201, a circulation mechanism 202, a transfer mechanism 203, a storage bracket 204 and a needle returning assembly 205, as shown in fig. 5, a plurality of material tanks 2041 are formed on the storage bracket 204, each material tank 2041 is internally provided with a storage box 100, drill needles with different types are stored in the plurality of storage boxes 100, and each storage box 100 is internally provided with drill needles with the same type. The transfer mechanism 201 is provided with a plurality of storage slots 2012, each storage slot 2012 is used for placing one transfer box 110, the needle return assembly 205 is configured to place the drill needles with the same type in different transfer boxes 110 on the transfer mechanism 201 into the same storage box 100 on the storage bracket 204, the transfer mechanism 203 is configured to transfer the transfer box 110 at the material taking position to the transfer mechanism 201, and transfer the empty transfer box 110 on the transfer mechanism 201 after needle return to the transfer mechanism 202.

When in use, the tray transferring device 10 moves the trays 120 loaded with the transfer boxes 110 to the material taking position for waiting use, each transfer box 110 is stored with different types of drill needles, then the transferring mechanism 203 transfers the transfer box 110 at the material taking position to the transferring mechanism 201, the needle returning assembly 205 places the drill needles of the same type in the different transfer boxes 110 on the transferring mechanism 201 in the same material storing box 100 on the storage bracket 204, thereby recovering the drill needles of each type into the corresponding material storing box 100, then the transferring mechanism 203 transfers the empty transfer box 110 after the needle returning on the transferring mechanism 201 to the transferring mechanism 202, the transferring mechanism 202 transfers the drill needles to the required position, and after the transfer boxes 110 in the material storing tray 120 are all taken, the tray transferring device 10 drives the empty tray 120 to discharge. This automatic needle equipment returns can realize the automatic recovery of the drill point of different models, and degree of automation is high, has greatly liberated the manual work, and the letter sorting rate of accuracy is high, and has improved production efficiency.

It should be noted that, the magazine 100 and the transfer magazine 110 are not structurally different, and are both cassettes capable of holding drill pins, and are merely distinguished in terms of actual functions.

As shown in fig. 2 and 3, specifically, the tray transferring device 10 includes a carrying component 101, a lifting component 102, a grabbing component 103, and a linear moving component 104, where the carrying component 101 is used to carry a tray 120, the lifting component 102 is capable of lifting the tray 120 carried by the carrying component 101 by a preset height along a Z-axis direction, the grabbing component 103 is used to grab or release the tray 120, an output end of the linear moving component 104 is connected to the grabbing component 103, and the linear moving component 104 is used to drive the grabbing component 103 to move along a Y-axis direction, so that the grabbing component 103 grabs the lifted tray 120 at the carrying component 101 and transfers the grabbed tray 120 to a material taking position. According to the tray transferring device 10 provided by the embodiment, through the mutual matching of the lifting assembly 102, the grabbing assembly 103 and the linear moving assembly 104, the automatic transferring process from the tray 120 loaded with the transfer box 110 to the material taking position at the bearing assembly 101 is realized, and the transferring efficiency of the tray 120 is effectively improved.

In addition, it should be noted that, in the tray transferring device 10 provided in this embodiment, the reverse transferring process (i.e. the blanking process of the empty tray 120) of the tray 120 from the material taking position to the carrying assembly 101 can be implemented under the mutual cooperation of the lifting assembly 102, the grabbing assembly 103 and the linear moving assembly 104. And is described in detail in the following description.

In this embodiment, as shown in fig. 2, the carrier assembly 101 includes a carrier 1011 and a first lifting member 1012, where the carrier 1011 includes a plurality of carrier plates 10111 disposed at intervals along the Z-axis direction, each carrier plate 10111 is used for carrying the tray 120, an output end of the first lifting member 1012 is connected to the carrier 1011, and the first lifting member 1012 is used for driving the carrier 1011 to move up and down along the Z-axis direction. The structural design of the bearing frame 1011 improves the capacity of the bearing frame 1011 to the trays 120 and satisfies the bearing effect to a plurality of trays 120. In addition, through setting up first lifting part 1012 and driving the bearing frame 1011 and going up and down to remove along the Z axle direction, be convenient for adjust the charging tray 120 that needs to be transported on the bearing frame 1011 to required high position to be convenient for follow-up grabbing component 103 carry out the operation of grabbing to the charging tray 120 that needs to be transported, also be convenient for adjust the empty bearing layer board 10111 to required high position, thereby be convenient for empty bearing layer board 10111 receive by grabbing component 103 transfer's empty charging tray 120. Specifically, the first lifting member 1012 is a cylinder, and the cylinder has the advantages of reliable and accurate driving.

In this embodiment, as shown in fig. 2, the carrier 1011 further includes two spacing mounting plates 10112, the two spacing mounting plates 10112 are arranged at opposite intervals along the X-axis direction, and the plurality of carrier plates 10111 are connected between the two spacing mounting plates 10112. By arranging the two limit mounting plates 10112, the positioning effect of the tray 120 borne by the bearing plate 10111 along the X-axis direction is realized, and the accurate placement of the tray 120 on the bearing frame 1011 is ensured.

In addition, as shown in fig. 2, the carrier 1011 further includes a bottom plate 10113, the bottom plate 10113 is connected between the two limit mounting plates 10112, and the bottom plate 10113 is located at the bottom of the entire carrier 1011. The structural design of the bearing frame 1011 ensures the structural stability and reliability of the whole bearing frame 1011.

It should be noted that, in this embodiment, each carrying plate 10111 includes two overlapping plates 101111 disposed at intervals along the X-axis direction, the overlapping plates 101111 are fixedly connected to the limiting mounting plates 10112 on the corresponding sides, and the two overlapping plates 101111 support the tray 120 together. The structural design of the bearing plate 10111 not only reduces the material cost, but also facilitates the grabbing operation of the tray 120 by the grabbing component 103 directly extending into the bottom of the tray 120. In this embodiment, when the tray 120 is required to be placed on the carrying tray 10111, the tray 120 may be directly pushed onto the carrying tray 10111 with a corresponding height along the positive Y-axis direction.

In addition, as shown in fig. 2, the bearing assembly 101 provided in this embodiment further includes a mounting base 1013, the first lifting member 1012 is mounted on the mounting base 1013, and the lifting assembly 102 is also mounted on the mounting base 1013, and the mounting base 1013 is located at the bottom of the whole bearing frame 1011, so that the structure of the whole bearing assembly 101 is more compact and reasonable.

In this embodiment, as shown in fig. 2, the tray transferring device 10 further includes a limiting component 106, where the limiting component 106 is mounted on the mounting base 1013, and the limiting component 106 is located on one side of the bearing frame 1011 along the positive Y axis direction, and the limiting component 106 can be abutted against one side of the tray 120 borne by the bearing plate 10111 along the positive Y axis direction, so as to limit the tray 120 to be pushed into a limit position on the bearing plate 10111 along the positive Y axis direction, thereby achieving the positioning effect of the tray 120 on the bearing plate 10111 along the positive Y axis direction. When the tray 120 is pushed onto the supporting plate 10111 from the side of the supporting frame 1011 along the negative Y-axis direction, the limiting assembly 106 is located on the side of the supporting frame 1011 along the positive Y-axis direction, and when the pushed tray 120 abuts against the limiting assembly 106, the tray 120 is proved to be pushed into place.

In this embodiment, the limiting component 106 includes a jacking cylinder and a limiting rod, where the jacking cylinder is mounted on the mounting base 1013, an output end of the jacking cylinder is connected with the limiting rod, the jacking cylinder is used to drive the limiting rod to move up and down along the Z-axis direction, and the limiting rod can be abutted to one side of the tray 120 carried by the carrying tray 10111 along the positive Y-axis direction. When the tray 120 is pushed up to the bearing plate 10111, at this time, the lifting cylinder drives the limiting rod to move upwards along the positive direction of the Z axis, so as to ensure that the limiting rod realizes the limiting effect on the tray 120, and after the limiting of the tray 120 is completed, the lifting cylinder drives the limiting rod to descend and reset along the negative direction of the Z axis, so as to avoid the interference caused by the subsequent transferring operation on the tray 120.

In this embodiment, as shown in fig. 2, the lifting assembly 102 includes two lifting members 1021 disposed opposite to each other along the X-axis direction, the two lifting members 1021 are respectively located on two opposite sides of the tray 120 along the X-axis direction, and the two lifting members 1021 are mounted on the mounting base 1013. Each lifting member 1021 comprises a lifting driving member 10211, a first clamping driving member 10212 and a lifting clamping jaw 10213, wherein the lifting driving member 10211 is arranged on the installation base 1013, the output end of the lifting driving member 10211 is connected with the first clamping driving member 10212, the lifting driving member 10211 is used for driving the first clamping driving member 10212 to move up and down along the Z-axis direction, the output end of the first clamping driving member 10212 is connected with the lifting clamping jaw 10213, and the first clamping driving member 10212 is used for driving the lifting clamping jaw 10213 to move along the X-axis direction.

When the tray 120 with the transfer box 110 loaded on one of the bearing plates 10111 needs to be transported to the material taking position, the two first clamping driving members 10212 synchronously drive the corresponding lifting clamping jaws 10213 to move close to each other along the X-axis direction, so that the two lifting clamping jaws 10213 clamp the tray 120 together; next, the two lifting driving members 10211 synchronously drive the corresponding first clamping driving members 10212 to lift a preset height along the positive direction of the Z axis, so that the tray 120 clamped by the two lifting clamping jaws 10213 is lifted by the preset height; next, the linear moving assembly 104 drives the grabbing assembly 103 to move until the grabbing assembly 103 moves to the bottom of the lifted tray 120; next, the two lifting driving members 10211 synchronously drive the corresponding first clamping driving members 10212 to descend and reset along the negative direction of the Z axis, so that the tray 120 clamped by the two lifting clamping jaws 10213 is placed in the grabbing component 103, when the grabbing component 103 achieves grabbing operation on the tray 120, the two first clamping driving members 10212 synchronously drive the corresponding lifting clamping jaws 10213 to move away from each other along the X axis direction, so as to separate from clamping the tray 120, so that the linear moving component 104 drives the grabbing component 103 to reset, and the tray 120 grabbed by the grabbing component 103 is transported to the material taking position. It should be noted that, when the empty tray 120 at the material taking position needs to be transferred to the carrying tray 10111, the reverse process of the above operation process is not described herein. In this embodiment, the lifting driving member 10211 and the first clamping driving member 10212 are both cylinders, and the cylinders have the advantages of reliable and precise driving.

Optionally, as shown in fig. 2, an avoidance position 101121 is disposed on the limiting mounting plate 10112, and the avoidance position 101121 is used for avoiding the lifting clamping jaw 10213 on the corresponding side, so that the two lifting clamping jaws 10213 jointly clamp the tray 120 through the avoidance position 101121 on the corresponding side.

The specific structure of the grasping element 103 will be described with reference to fig. 3. As shown in fig. 3, the gripper assembly 103 includes a mounting plate 1031, a fixed gripper plate (not shown) and a movable gripper plate 1032, wherein the mounting plate 1031 is connected to an output end of the linear movement assembly 104, the fixed gripper plate and the movable gripper plate 1032 are disposed opposite to each other along the Y-axis direction, the fixed gripper plate is fixedly mounted on the mounting plate 1031, and the movable gripper plate 1032 is movable relative to the mounting plate 1031 along the Y-axis direction, so that the fixed gripper plate and the movable gripper plate 1032 jointly clamp the tray 120 along the Y-axis direction.

In addition, as shown in fig. 3, the gripper assembly 103 further includes a gripper driving member 1033, the gripper driving member 1033 is disposed on the mounting plate 1031, an output end of the gripper driving member 1033 is connected to the movable gripper plate 1032, and the gripper driving member 1033 is used for driving the movable gripper plate 1032 to move along the Y-axis direction. Specifically, the gripping driving member 1033 may be an air cylinder, and the air cylinder has the advantages of reliable and accurate driving.

As shown in fig. 3, the linear moving assembly 104 provided in this embodiment includes a mounting base plate 1041 and a linear transplanting module 1042, where the mounting base plate 1041 is located at one side of the bearing assembly 101 along the positive Y-axis direction, the linear transplanting module 1042 is mounted on the mounting base plate 1041, an output end of the linear transplanting module 1042 is connected to the mounting plate 1031, and the linear transplanting module 1042 is used for driving the grabbing assembly 103 to move along the Y-axis direction. Since the linear transplanting module 1042 is a conventional motor screw structure, the description thereof will not be repeated here.

As shown in fig. 3, the tray transferring device 10 provided in this embodiment further includes a positioning assembly 105, where the positioning assembly 105 is mounted on the mounting base 1041, and the positioning assembly 105 is used to position the tray 120 grabbed by the grabbing assembly 103 along the X-axis direction, so as to ensure that the tray 120 is accurately transferred to the working position.

As shown in fig. 3, the positioning assembly 105 includes a positioning driving member (not shown in the drawing) and two positioning clamping plates 1051, wherein the positioning driving member is mounted on the mounting base plate 1041, the two positioning clamping plates 1051 are oppositely disposed along the X-axis direction, the two positioning clamping plates 1051 are respectively located at two opposite sides of the tray 120 along the X-axis direction, an output end of the positioning driving member is connected to the two positioning clamping plates 1051, and the positioning driving member is configured to drive the two positioning clamping plates 1051 to approach or separate from each other. Specifically, when the linear transplanting module 1042 drives the tray 120 grabbed by the grabbing component 103 to move between the two positioning clamping plates 1051, at this time, the linear transplanting module 1042 stops driving the grabbing component 103 first, the positioning driving member synchronously drives the two positioning clamping plates 1051 to approach each other until the two positioning clamping plates 1051 are all abutted against the tray 120, when the positioning component 105 finishes positioning the tray 120, the positioning driving member synchronously drives the two positioning clamping plates 1051 to move away from each other, and at this time, the linear transplanting module 1042 continuously drives the grabbing component 103 to move until the tray 120 grabbed by the grabbing component 103 moves to the working position. It should be noted that the positioning driving member is a finger cylinder, and the positioning assembly 105 can also drive the tray 120 to move and adjust along the X-axis direction relative to the grabbing assembly 103 under the grabbing action of the grabbing assembly 103.

To facilitate understanding of the tray transfer device 10 disclosed in this embodiment, a specific operation of the tray transfer device 10 will be described with reference to fig. 2 and 3:

When it is required to transfer the tray 120 loaded with the transfer box 110 on one of the carrying trays 10111 to the material taking position, first, the first lifting member 1012 drives the carrying frame 1011 to lift up and down until the tray 120 to be transferred is lifted to a height level with the lifting clamping jaw 10213; next, the two first clamping driving members 10212 synchronously drive the corresponding lifting clamping jaws 10213 to move close to each other along the X-axis direction, so that the two lifting clamping jaws 10213 clamp the tray 120 together; next, the two lifting driving members 10211 synchronously drive the corresponding first clamping driving members 10212 to lift a preset height along the positive direction of the Z axis, so that the tray 120 clamped by the two lifting clamping jaws 10213 is lifted by the preset height; next, the linear transplanting module 1042 drives the grabbing component 103 to move along the Y-axis direction until the grabbing component 103 moves to the bottom of the lifted tray 120; next, the two lifting driving members 10211 synchronously drive the corresponding first clamping driving members 10212 to descend and reset along the negative direction of the Z axis, so as to place the tray 120 clamped by the two lifting clamping jaws 10213 between the fixed clamping plate and the movable clamping plate 1032; then, the gripper driving part 1033 drives the movable gripper plate 1032 to move in the Y-axis direction, so that the movable gripper plate 1032 and the fixed gripper plate clamp the tray together in the Y-axis direction; after the gripping assembly 103 completes the clamping of the tray 120, the two first clamping driving members 10212 synchronously drive the corresponding lifting clamping jaws 10213 to be away from each other along the X-axis direction so as to separate from the clamping of the tray 120; then, the linear transplanting module 1042 drives the grabbing component 103 to move and reset in a direction away from the bearing component 101, and when the tray 120 grabbed by the grabbing component 103 moves between the two positioning clamping plates 1051, at this time, the linear transplanting module 1042 stops driving, and the positioning driving piece drives the two positioning clamping plates 1051 to approach each other, so that positioning of the tray 120 along the X-axis direction is realized; when the positioning is completed, the positioning driving member drives the two positioning clamping plates 1051 to be away from each other, and the linear transplanting module 1042 continues to drive the grabbing component 103 to move and reset in a direction away from the bearing component 101 until the tray 120 is transported to the material taking position. It should be noted that, after the tray 120 completes the work at the material taking position, the empty tray 120 needs to be transferred to the carrying assembly 101 by the tray transferring device 10, so that the unloading of the tray 120 is completed.

Further, as shown in fig. 1 and fig. 4, the automatic needle returning device further includes a secondary positioning device 30, the secondary positioning device 30 is located between the tray transferring device 10 and the transferring mechanism 201, the secondary positioning device 30 includes a temporary storage platform 301, a positioning cylinder 302, a connecting plate and a plurality of pushing members 303, the temporary storage platform 301 is provided with a plurality of temporary storage grooves 3011 arranged along the Y axis direction, and each temporary storage groove 3011 is used for placing one transferring box 110; the connecting plate is arranged at the output end of the positioning cylinder 302 and is positioned below the temporary storage platform 301; the pushing members 303 are arranged on the connecting plate at intervals along the Y-axis direction, one pushing member 303 is correspondingly arranged in each temporary storage groove 3011, and the positioning cylinder 302 can drive the connecting plate and the pushing members 303 to move along the Y-axis direction so as to abut the transfer box 110 against the positioning side wall of the temporary storage groove 3011.

The transfer mechanism 203 transfers the transfer cassette 110 at the pick-up position to the temporary storage slot 3011 of the temporary storage platform 301 for the second positioning, and then transfers the transfer cassette 110 in the temporary storage slot 3011 to the storage slot 2012 of the transfer mechanism 201. It is to be understood that the transfer mechanism 203 includes a holding member 2033, the holding member 2033 being configured to hold the relay cassette 110 in the X-axis direction, and the holding member 2033 being configured to perform the first positioning of the relay cassette 110 in the X-axis direction. After the clamping assembly 2033 places the transfer box 110 in the temporary storage slot 3011, the positioning cylinder 302 drives the plurality of pushing members 303 to move along the Y-axis direction, so as to push the transfer box 110 in the temporary storage slot 3011 to move along the Y-axis direction, so that the transfer box 110 abuts against the positioning sidewall of the temporary storage slot 3011, and the transfer box 110 is positioned secondarily along the Y-axis direction, thereby ensuring that the transfer box 110 can be accurately placed in the storage slot 2012 of the transfer mechanism 201 by the subsequent transfer mechanism 203.

Further, as shown in fig. 4, the secondary positioning device 30 further includes a linear module 304 and an identifying mechanism 305, the identifying mechanism 305 is connected to an output end of the linear module 304 and located beside the temporary storage platform 301, and the linear module 304 can drive the identifying mechanism 305 to move along the Y-axis direction so as to identify the types of drill points in the plurality of transfer boxes 110 on the temporary storage platform 301. After the transfer mechanism 203 transfers the transfer boxes 110 at the material taking position into the temporary storage groove 3011 of the temporary storage platform 301, the linear module 304 drives the identification mechanism 305 to move along the Y-axis direction, and sequentially reads the chip information on each transfer box 110 to identify the type of the drill pins in each transfer box 110 and the corresponding arrangement position, the identification mechanism 305 transfers the read information to the control system of the automatic back-needle device, and the subsequent control system controls the back-needle assembly 205 to place the drill pins with the corresponding type into the corresponding storage box 100 according to the information to complete the recovery of the drill pins. The identification mechanism 305 is an RFID scanning head, and the linear module 304 may select any linear driving structure such as a motor driving synchronous belt sliding table, a cylinder, an electric push rod or a motor screw nut according to actual needs, which is not limited herein.

As shown in fig. 5, the transfer mechanism 201 includes a transfer platform 2011, storage areas are disposed at opposite ends of the transfer platform 2011, each storage area is provided with a plurality of storage slots 2012 for placing the transfer boxes 110, the transfer platform 2011 can rotate to enable the storage areas at the two ends to face the storage rack 204 in sequence, the needle return assembly 205 includes a picking and placing piece 2051, and the picking and placing piece 2051 is configured to move the drill needles in the transfer boxes 110 in the storage areas of the transfer platform 2011, which are close to the storage rack 204, into the storage boxes 100 on the storage rack 204. Wherein, the transfer platform 2011 drives the hollow rotating platform to rotate by a servo motor.

When the transfer mechanism 203 places the transfer box 110 in the storage area where the transfer platform 2011 is far away from the storage rack 204, the transfer platform 2011 rotates 180 ° to make the transfer box 110 approach the storage rack 204, and the pick-and-place piece 2051 of the back needle assembly 205 can move the drill needle in the transfer box 110 into the storage box 100 on the storage rack 204, meanwhile, the transfer mechanism 203 continues to place a row of transfer boxes 110 in the storage area where the transfer platform 2011 is far away from the storage rack 204, after the drill needles in the transfer box 110 approaching the storage rack 204 are transferred, the transfer platform 2011 continues to rotate 180 °, the transfer mechanism 203 can move the empty transfer box 110 to the circulation mechanism 202, and continues to place a row of transfer boxes 110 in the free storage area, and the pick-and-place piece 2051 of the back needle assembly 205 continues to move the drill needle in the transfer box 110 approaching the storage rack 204, so that the back needle assembly reciprocates, and the needle returning efficiency is improved.

As shown in fig. 5, the needle return assembly 205 further includes a first sliding rail 2052, a second sliding rail 2053, and a first sliding member 2054, wherein the first sliding rail 2052 extends along the X-axis direction, the second sliding rail 2053 is slidably disposed on the first sliding rail 2052 along the X-axis direction, the first sliding member 2054 is slidably disposed on the second sliding rail 2053 along the Y-axis direction, and the pick-and-place member 2051 is slidably disposed on the first sliding member 2054 along the Z-axis direction. The return needle assembly 205 is a portal frame structure, and can enable the pick-and-place member 2051 to move in three directions to achieve the picking and placing of the drill needle, and control is accurate. The pick-and-place member 2051 may be a clamping jaw, a suction nozzle, or any other structure, so long as the drill point can be moved, which is not described herein.

As shown in fig. 5 and 7, the transfer mechanism 203 includes a slider 2031, a second lifter 2032, and a clamp assembly 2033, the slider 2031 is slidably disposed on the first slide rail 2052 and is capable of reciprocating along the X-axis direction, the second lifter 2032 is slidably disposed on the slider 2031 along the Z-axis direction, the clamp assembly 2033 is disposed on the second lifter 2032, and the clamp assembly 2033 is configured to clamp and transfer the transfer cassette 110 in the tray 120 at the material taking position into a storage area of the transfer platform 2011 away from the storage rack 204, and clamp and transfer the transfer cassette 2011 away from the empty transfer cassette 110 in the storage area of the storage rack 204.

Preferably, the clamping assembly 2033 includes a fixed base 20331, a second fixed member 20332, a second clamping member 20333, and an abutting member 20334, the second clamping member 20333 is disposed on the second fixed member 20332, the abutting member 20334 is disposed on the fixed base 20331 and spaced apart from the second clamping member 20333, and the second fixed member 20332 is slidably disposed on the fixed base 20331 to be close to or apart from the abutting member 20334. As the second fixing member 20332 moves relative to the second lifting member 2032, the second clamping member 20333 pushes the relay cartridge 110 so that the relay cartridge 110 abuts on the abutting member 20334 and is clamped by the clamping member 2033.

Further, the clamping assembly 2033 further includes an elastic member 20335, the second clamping member 20333 is slidably disposed on the second fixed member 20332, the elastic member 20335 is disposed between the second clamping member 20333 and the second fixed member 20332, and the elastic member 20335 is configured to drive the second clamping member 20333 to approach the abutting member 20334. The elastic member 20335 can exert an elastic force on the second clamping member 20333 when the second clamping member 20333 abuts on the relay cassette 110, so that the clamping force of the second clamping member 20333 and the abutting member 20334 on the relay cassette 110 is gradually increased, and the relay cassette 110 is prevented from being damaged.

As shown in fig. 5, the needle returning device 20 further includes a buffer rack 207 and a switching component 206, wherein a plurality of buffer slots 2071 are formed on the buffer rack 207, and the switching component 206 is configured to transfer the storage cassettes 100 full on the storage rack 204 into the buffer slots 2071 of the buffer rack 207 and move the storage cassettes 100 empty in the other buffer slots 2071 onto the storage rack 204. The exchanging assembly 206 includes a third sliding rail 2061, a second sliding member 2062, and an exchanging clamp 2063, wherein the third sliding rail 2061 moves along the X-axis direction, the second sliding member 2062 is slidably disposed on the third sliding rail 2061 along the Y-axis direction, and the exchanging clamp 2063 is slidably disposed on the second sliding member 2062 along the Z-axis direction.

It will be appreciated that the number of magazines 100 stored in the storage rack 204 is limited, and the exchange gripper 2063 can move the magazines 100 full of drill pins on the storage rack 204 to the buffer rack 207, so as to move the magazines 100 full of drill pins to other positions, and move the magazines 100 empty of the buffer rack 207 to the storage rack 204, so that the return needle assembly 205 can continue to recover drill pins in the transfer box 110 to the magazines 100 on the storage rack 204, without stopping the process, and the production efficiency is improved. The above-mentioned empty storage box 100 above the buffer rack 207 is the empty transfer box 110 transferred from the transfer mechanism 202, and the following description of the transfer process is specifically described.

As shown in fig. 5, a storage area of the transfer platform 2011 is provided with a plurality of storage slots 2012, the plurality of storage slots 2012 are configured to place the transfer box 110, and in order to facilitate the return pin assembly 205 to move the drill pins in the transfer box 110 in the storage slots 2012 into the magazine 100 on the storage rack 204, the plurality of storage slots 2012 are arranged at intervals along the Y-axis direction. Correspondingly, a plurality of material grooves 2041 are formed on the storage bracket 204, and a plurality of buffer grooves 2071 are formed on the buffer bracket 207.

It is appreciated that the third sliding rail 2061 may also be slidably disposed on the first sliding rail 2052 to simplify the structure of the needle return device 20. In this embodiment, the first sliding rail 2052 is a three-motor linear motor, and the second sliding rail 2053, the third sliding rail 2061 and the sliding block 2031 are respectively and fixedly connected with one rotor to independently drive the second sliding rail 2053, the third sliding rail 2061 and the sliding block 2031 to move along the X-axis direction.

It can be appreciated that, in order to improve the stability of the needle returning device 20, the needle returning device 20 further includes a double-acting linear motor, the moving direction of the mover of the double-acting linear motor is the same as the moving direction of the mover of the triple-acting linear motor, and the second sliding rail 2053 and the third sliding rail 2061 are respectively connected with the mover of the double-acting linear motor, thereby forming a portal frame structure.

Further, as shown in fig. 5 and 6, the transfer mechanism 202 includes a transfer support 2021 and a conveyor 2022 disposed on the transfer support 2021, and the conveying direction of the conveyor 2022 extends along the X-axis direction, so that, in order to facilitate the holding component 2033 of the transfer mechanism 203 to hold the plurality of transfer cassettes 110 at one time, the holding component 2033 is rotatably disposed on the second lifting member 2032 about the Z-axis, so that after the holding component 2033 holds the plurality of transfer cassettes 110, the plurality of transfer cassettes 110 are simultaneously placed on the conveyor 2022.

As shown in fig. 5 and 6, the conveyor 2022 includes a first end 20221 and a second end 20222, and the conveying direction is a direction from the first end 20221 to the second end 20222, and the gripping assembly 2033 is capable of moving the empty relay box 110 to the first end 20221 of the conveyor 2022, and the relay box 110 can be moved to the second end 20222 along the conveyor 2022 and conveyed to a desired position (i.e., the vertical stacking apparatus 40 mentioned later).

Further, as shown in fig. 6, the second end 20222 of the conveyor 2022 is provided with two blocking members at intervals along the conveying direction, and both blocking members can block the relay box 110 or allow the relay box 110 to pass through. For convenience of distinction, the two blocking components are a first blocking component 2023 and a second blocking component 2024 in sequence along the conveying direction, the second blocking component 2024 is used for blocking the transit box 110, and when the transit box 110 needs to pass through, the second blocking component 2024 is opened; the first blocking component 2023 can prevent the transfer cassettes 110 from reaching the second blocking component 2024, and since the transfer cassettes 110 on the conveyor 2022 are all attached, the first blocking component 2023 can ensure that only one transfer cassette 110 reaches the second blocking component 2024 at a time, so as to avoid that two or more transfer cassettes 110 pass through the second blocking component 2024 to affect the removal of the transfer cassettes 110.

As shown in fig. 6, the circulation mechanism 202 further includes a first blocking lever 2025, where the first blocking lever 2025 is fixedly disposed on the circulation bracket 2021 and located downstream of the two blocking components along the conveying direction, and the first blocking lever 2025 is used to block the relay box 110. The first stop lever 2025 can prevent the relay cassette 110 from falling through the first stop assembly 2023 and can also provide position location for the relay cassette 110.

Further, the circulation mechanism 202 further includes a positioning member 2026, the circulation bracket 2021 is provided with an abutment member 2027, the abutment member 2027 and the positioning member 2026 are respectively located on two sides of the conveyor belt 2022, and the positioning member 2026 is configured to push the relay box 110 blocked by the first blocking lever 2025 against the abutment member 2027. The first stop lever 2025 can position the relay box 110 along the X-axis direction, and the positioning member 2026 can position the relay box 110 along the Y-axis direction, so as to improve the accuracy of the position of the relay box 110, so as to facilitate grabbing the relay box 110.

In this embodiment, the first blocking component 2023, the second blocking component 2024 and the positioning element 2026 may be cylinders, which has a simple structure and low cost. In other embodiments, the first blocking component 2023, the second blocking component 2024 and the positioning component 2026 may also be linear driving mechanisms such as a screw-nut structure or a linear motor, which are not described herein.

It should be noted that, when there is too many cassettes 110 on the conveyor 2022 to cause there to be no space to accommodate more cassettes 110, the conveyor 2022 of the transfer mechanism 202 can be reversed to allow a portion of the cassettes 110 to drop from the first end 20221 of the conveyor 2022, thereby leaving space for a new empty cassette 110.

In order to avoid excessive dropping of the transfer box 110, the transfer mechanism 202 further includes a third blocking component 2028 disposed between the first end 20221 and the second end 20222, the third blocking component 2028 includes a second blocking rod 20281, the second blocking rod 20281 is movably disposed on the transfer bracket 2021 along the Z-axis direction, and the second blocking rod 20281 is used for blocking the transfer box 110. The second bar 20281 descends to block a portion of the transfer box 110 from passing when the conveyor 2022 is reversed, and the second bar 20281 ascends to smoothly reach the second end 20222 of the conveyor 2022 when the conveyor 2022 is rotated forward.

Further, the circulation mechanism 202 further includes a first detecting member 20291, the first detecting member 20291 is disposed between the second blocking lever 20281 and the blocking component, when the first detecting member 20291 is capable of detecting the transfer box 110 and the conveyor 2022 rotates forward, when the first detecting member 20291 detects the transfer box 110 and the position of the transfer box 110 is no longer changed, it is indicated that the number of transfer boxes 110 downstream of the second blocking lever 20281 is large, at this time, the second blocking lever 20281 descends, and the circulation mechanism 202 controls the conveyor 2022 to rotate reversely, so that the transfer boxes 110 on the conveyor 2022 drop from the first end 20221 of the conveyor 2022.

In this embodiment, the circulation mechanism 202 further includes a plurality of second detecting members 20292, where the plurality of second detecting members 20292 are sequentially disposed at intervals on a side of the second blocking lever 20281 near the first end 20221. The second detecting member 20292 is used to detect whether the gripping member 2033 has placed the relay cassette 110 on the conveyor 2022.

Further, as shown in fig. 1 and 8, the vertical stacking device 40 includes a gantry 401, a stacking mechanism 402 and a vertical material rack 403, where the gantry 401 is fixed on the workbench 60, the stacking mechanism 402 includes a three-axis moving module, a rotation driving assembly 4026 and a clamping assembly 4027, the three-axis moving module is disposed on the gantry 401, the rotation driving assembly 4026 is connected to an output end of the three-axis moving module, the three-axis moving module can drive the rotation driving assembly 4026 to move along an X-axis direction, a Y-axis direction and a Z-axis direction respectively, the clamping assembly 4027 is connected to an output end of the rotation driving assembly 4026, the rotation driving assembly 4026 can drive the clamping assembly 4027 to rotate around the Z-axis, and the clamping assembly 4027 is configured to clamp a storage box 100 full in the buffer tank 2071 onto the vertical material rack 403 and clamp a transfer box 110 above the circulation mechanism 202 into the buffer tank 2071.

In use, the above-mentioned gripping assembly 4027 is used in conjunction with the buffer rack 207, that is, the exchanging clamp 2063 moves the magazine 100 filled with drill pins on the storage rack 204 into the buffer slot 2071 of the buffer rack 207, the gripping assembly 4027 moves the magazine 100 filled with drill pins in the buffer slot 2071 to a corresponding position in the vertical rack 403 for storage, and then the gripping assembly 4027 moves the transfer magazine 110 above the conveyor belt 2022 into the buffer slot 2071, or moves the unfilled magazine 100 in the vertical rack 403 into the buffer slot 2071, and then the exchanging clamp 2063 moves the empty transfer magazine 110 or the unfilled magazine 100 in the buffer slot 2071 onto the storage rack 204 for use by the needle returning assembly 205, thereby completing the replacement of the magazine 100. The vertical stacking device 40 realizes the warehouse-in and warehouse-out operation of the storage box 100 in the vertical material rack 403 and the circulation operation of the empty transfer box 110 through the mutual cooperation among the triaxial moving module, the rotary driving module 4026 and the clamping module 4027. The gripper assembly 4027 can be driven to a desired position by the tri-axial movement module and the rotational drive assembly 4026.

As shown in fig. 8 and 9, the vertical material rack 403 includes two material storage racks 4031 disposed opposite to each other, the two material storage racks 4031 are disposed at intervals along the Y-axis direction and are both connected to the gantry 401, and the stacking mechanism 402 is disposed between the two material storage racks 4031. Specifically, the two storage shelves 4031 are arranged in parallel, the space structure is designed reasonably, the storage capacity of drill pins can be greatly improved, and the stacking mechanism 402 can place the storage box 100 in any one position on the two storage shelves 4031 or take out the required storage box 100 from any one position on the two storage shelves 4031.

Specifically, as shown in fig. 8, the storage rack 4031 includes a main body frame 40311 and a plurality of carrying plates 40312, where the main body frame 40311 is a square frame, the carrying plates 40312 are stacked on the main body frame 40311 at intervals along the Z-axis direction, each carrying plate 40312 is provided with a plurality of slots 40313 arranged at intervals along the X-axis direction, and each slot 40313 is used for placing a corresponding storage box 100. By the arrangement, the storage amount of the drill point can be greatly improved, the storage boxes 100 can be placed regularly, the stacking mechanism 402 can be conveniently and rapidly placed in or taken out of the storage boxes 100, and the working efficiency is greatly improved.

Further, as shown in fig. 8, the triaxial moving module includes a first moving assembly, a second moving assembly 4024 and a third moving assembly 4025, and the first moving assembly is disposed on the gantry 401; the second moving component 4024 is arranged at the output end of the first moving component, and the first moving component can drive the second moving component 4024 to move along the X-axis direction; the third moving component 4025 is disposed at an output end of the second moving component 4024, the second moving component 4024 can drive the third moving component 4025 to move along the Z-axis direction, the rotation driving component 4026 is disposed at an output end of the third moving component 4025, and the third moving component 4025 can drive the rotation driving component 4026 to move along the Y-axis direction. The first moving component, the second moving component 4024 and the third moving component 4025 form XYZ space coordinates, and through the cooperation of the first moving component, the second moving component and the third moving component, the clamping component 4027 can rapidly and accurately move along three directions, so that the clamping component 4027 can reach a specified space position, the degree of automation is high, and the use is convenient and flexible.

Specifically, as shown in fig. 9, the first moving assembly includes a first moving component 4021, a second moving component 4022 and a synchronous driving assembly 4023, where the first moving component 4021 and the second moving component 4022 are arranged at intervals along the Z axis direction, that is, the first moving component 4021 is fixed on the top of the gantry 401, the second moving component 4022 is located at the bottom of the gantry 401, and two ends of the second moving component 4024 are respectively connected to output ends of the first moving component 4021 and the second moving component 4022; both ends of the synchronous driving component 4023 are respectively in transmission connection with the first belt pulley 40211 of the first moving component 4021 and the second belt pulley 40221 of the second moving component 4022 so as to drive the output ends of the first moving component 4021 and the second moving component 4022 to synchronously move. Through adopting two moving parts that set up from top to bottom for first moving component constructs portal structure, has improved the motion stability of second moving component 4024, and has realized the synchronous drive of first moving component 4021 and second moving component 4022 through synchronous drive subassembly 4023, thereby can get the storage box 100 of putting on two sides storage rack 4031 high-efficiently, avoid equipment vibrations great.

In this embodiment, the first moving component 4021, the second moving component 4022, the second moving component 4024 and the third moving component 4025 all adopt a form of a motor-driven synchronous belt sliding table, and the specific structure and the working principle thereof are all of the prior art and are not described herein. In other embodiments, any linear driving structure such as an air cylinder, an electric push rod, or a motor screw nut may be selected according to actual needs, which is not limited herein.

Specifically, referring to fig. 9 to 11, the synchronous drive assembly 4023 includes a first servomotor 40231, a first transmission wheel 40232, a second transmission wheel 40233, a timing belt 40234, and a transmission shaft 40235, and the first servomotor 40231 is fixed to the gantry 401; the first transmission wheel 40232 is connected to an output shaft of the first servo motor 40231; the second transmission wheel 40233 and the first transmission wheel 40232 are arranged at intervals and connected to a first rotating shaft 40212 of the first belt wheel 40211; the synchronous belt 40234 is wrapped on the peripheries of the first transmission wheel 40232 and the second transmission wheel 40233 and is tensioned by the first transmission wheel 40232 and the second transmission wheel 40233; the transmission shaft 40235 extends along the Z-axis direction, and a first end of the transmission shaft 40235 is fixedly connected with the first shaft 40212 and a second end is fixedly connected with the second shaft 40222. The first pulley 40211 is a driving wheel of the first moving member 4021, and is used for driving a synchronous belt of the first moving member 4021 to rotate, and the second pulley 40221 is a driving wheel of the second moving member 4022, and is used for driving a synchronous belt of the second moving member 4022 to rotate.

When the first servo motor 40231 rotates, since the first transmission wheel 40232 is fixed to the output shaft of the first servo motor 40231, the first transmission wheel 40232 and the output shaft of the first servo motor 40231 synchronously rotate, the second transmission wheel 40233 is rotated under the driving of the first transmission wheel 40232 and the synchronous belt 40234, the second transmission wheel 40233 drives the first belt wheel 40211 and the transmission shaft 40235 to synchronously rotate, and the transmission shaft 40235 drives the second belt wheel 40221 to rotate, so that the synchronous movement of the output ends of the first moving component 4021 and the second moving component 4022 is realized, and the movement stability of the second moving component 4024 is improved. The transmission shaft 40235 is adopted to realize power transmission between the first moving component 4021 and the second moving component 4022, so that the structure is simple, and the transmission is stable.

Further, as shown in fig. 10 and 11, a first coupling 40236 is connected between the first end of the transmission shaft 40235 and the first shaft 40212, and a second coupling 40237 is connected between the second end of the transmission shaft 40235 and the second shaft 40222. The first shaft coupler 40236 can firmly couple the first rotating shaft 40212 and the transmission shaft 40235 to rotate together, so that stable transmission of motion and torque between the two is realized, and the second shaft coupler 40237 can firmly couple the second rotating shaft 40222 and the transmission shaft 40235 to rotate together, so that stable transmission of motion and torque between the two is realized.

Further, as shown in fig. 9 to 11, the synchronous drive assembly 4023 further includes a support plate 40238, the top end of the support plate 40238 is fixed on the gantry 401, the bottom is fixed on a stand separately provided, two opposite ends of the support plate 40238 along the Z axis direction are respectively provided with a bearing block 40239, a bearing is provided in the bearing block 40239, and the transmission shaft 40235 is connected with an inner ring of the bearing. Since the transmission shaft 40235 rotates relative to the bearing seat 40239 through the bearing, the bearing seat 40239 and the bearing can stably support the transmission shaft 40235, and the rotation flexibility and rotation precision of the transmission shaft 40235 can be improved.

As shown in fig. 12, the rotation driving assembly 4026 includes a second servo motor 40261, a hollow rotation platform 40262, and an adapter plate 40263, where the second servo motor 40261 is connected to an output end of the triaxial moving module (specifically, an output end of the third moving assembly 4025); the shell of the hollow rotating platform 40262 is fixed on the second servo motor 40261, and the power input end of the hollow rotating platform 40262 is connected with the output shaft of the second servo motor 40261; adapter plate 40263 is connected to the power output end of hollow rotating platform 40262, and clip assembly 4027 is fixed to adapter plate 40263. Through setting up above-mentioned rotation driving assembly 4026, can drive and press from both sides and get the subassembly 4027 and rotate in the scope of 0~ 180, ensured that press from both sides and get subassembly 4027 and can accurately and stably rotate to the assigned position to can get the storage box 100 of putting on the both sides storage rack 4031 high-efficiently.

As shown in fig. 12, the gripping assembly 4027 specifically includes a second clamping driving member 40271 and two oppositely disposed clamping jaws 40272, where the second clamping driving member 40271 is connected to an output end of the rotating driving member 4026, and the two clamping jaws 40272 are connected to an output end of the second clamping driving member 40271, and the second clamping driving member 40271 can drive the two clamping jaws 40272 to move in directions approaching or separating from each other, so as to clamp or release the magazine 100. When the second grip driving member 40271 drives the two gripping claws 40272 to move in the direction approaching each other, both of the gripping claws 40272 contact the side wall of the magazine 100 to stably grip the magazine 100. When the second grip drive 40271 drives the two jaws 40272 to move away from each other, the two jaws 40272 release the magazine 100. The second clamping driving member 40271 is a finger cylinder.

Further, as shown in fig. 1 and 13, the automatic needle returning device further includes a magazine discharging device 50, the magazine discharging device 50 includes a magazine transferring assembly 501, a discharging transfer module 502 and a mechanical arm 503, the end of the mechanical arm 503 is connected with a finger cylinder, and the output end of the finger cylinder is connected with two clamping members to clamp the magazine 100. Specifically, the magazine transfer assembly 501 includes a transfer cylinder 5011 and a transfer bracket 5012, the transfer bracket 5012 is connected to an output end of the transfer cylinder 5011, the transfer cylinder 5011 can drive the transfer bracket 5012 to reciprocate along the X-axis direction, so that the transfer bracket 5012 is switched between a first position and a second position, the first position is a position where the transfer bracket 5012 is in butt joint with the mechanical arm 503, the second position is a position where the transfer bracket 5012 is in butt joint with the gripping assembly 4027 of the vertical stacking device 40, and a transfer slot 5013 for placing the magazine 100 is provided on the transfer bracket 5012.

When in use, after the control system detects that the number of times of using the drill needle in a certain storage box 100 reaches the preset number of times, the drill needle is determined to need to be polished, after the drill needle is returned, after the exchange clamping piece 2063 moves the storage box 100 filled with the drill needle on the storage rack 204 to the buffer groove 2071, if the drill needle in the storage box 100 needs to be polished, the clamping component 4027 moves the storage box 100 to the transfer groove 5013 of the transfer rack 5012, the transfer cylinder 5011 drives the transfer rack 5012 to switch to the second position, the mechanical arm 503 then places the storage box 100 on the transfer rack 5012 on the material tray 120 of the discharge transfer module 502, and the storage box 100 is taken out of the warehouse to be polished through the discharge transfer module 502. Wherein, the discharging and transferring module 502 is in the form of a conveyor belt, and the mechanical arm 503 is a four-axis mechanical arm.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. An automatic needle return apparatus, comprising:

The material tray transferring device (10) is configured to move the material tray (120) to a material taking position, wherein the material tray (120) is internally provided with a transfer box (110), and each transfer box (110) is internally provided with drill pins of different types;

the needle returning device (20) comprises a transfer mechanism (201), a circulation mechanism (202), a transfer mechanism (203), a storage bracket (204) and a needle returning assembly (205), wherein a plurality of storage boxes (100) are placed on the storage bracket (204), and each storage box (100) is used for storing the drill needles of the same model;

The transfer mechanism (201) is used for placing a plurality of transfer boxes (110), the needle return assembly (205) is configured to place drill needles of the same type in different transfer boxes (110) on the transfer mechanism (201) in the same storage box (100) on the storage support (204), the transfer mechanism (203) is configured to transfer the transfer boxes (110) at the material taking position onto the transfer mechanism (201), and transfer the transfer boxes (110) with empty needle return back on the transfer mechanism (201) onto the transfer mechanism (202).

2. The automatic needle return apparatus according to claim 1, further comprising a secondary positioning device (30), the secondary positioning device (30) being located between the tray transfer device (10) and the transfer mechanism (201), the secondary positioning device (30) comprising:

the temporary storage platform (301), a plurality of temporary storage grooves (3011) are formed in the temporary storage platform (301) and are arranged along the Y-axis direction, and the temporary storage grooves (3011) are used for placing the transfer box (110);

The positioning cylinder (302) and the connecting plate are arranged at the output end of the positioning cylinder (302) and are positioned below the temporary storage platform (301);

The pushing pieces (303) are arranged on the connecting plate at intervals along the Y-axis direction, one pushing piece (303) is correspondingly arranged in each temporary storage groove (3011), and the positioning cylinder (302) can drive the connecting plate and the pushing pieces (303) to move along the Y-axis direction so as to enable the transfer box (110) to abut against the positioning side wall of the temporary storage groove (3011).

3. The automatic needle return device according to claim 2, wherein the secondary positioning device (30) further comprises a linear module (304) and an identification mechanism (305), the identification mechanism (305) is connected to an output end of the linear module (304) and located beside the temporary storage platform (301), and the linear module (304) can drive the identification mechanism (305) to move along the Y-axis direction so as to identify the types of the drill needles in the plurality of transfer boxes (110) on the temporary storage platform (301).

4. The automatic needle return device according to claim 1, wherein the circulation mechanism (202) comprises a circulation support (2021) and a conveyor belt (2022) arranged on the circulation support (2021), the conveyor belt (2022) comprises a first end (20221) and a second end (20222), the second end (20222) is provided with two blocking assemblies at intervals along a conveying direction, and both blocking assemblies can block the transfer box (110) or allow the transfer box (110) to pass through, and the conveying direction is the direction from the first end (20221) to the second end (20222).

5. The automatic needle return device according to claim 4, wherein the circulation mechanism (202) further comprises a first stop lever (2025), the first stop lever (2025) being fixedly arranged on the circulation bracket (2021) and downstream of the two blocking assemblies in the conveying direction, the first stop lever (2025) being configured to block the relay cassette (110).

6. The automatic needle return device according to any one of claims 1 to 5, wherein the transfer mechanism (201) comprises a transfer platform (2011), opposite ends of the transfer platform (2011) being provided with storage areas configured to house the transfer cassette (110), the transfer platform (2011) being rotatable about a Z-axis such that the storage areas at both ends are in turn directed towards the storage rack (204).

7. The automatic needle return apparatus according to any one of claims 1 to 5, wherein the transfer mechanism (203) includes:

A slider (2031), the slider (2031) being reciprocally movable in the X-axis direction;

A second lifter (2032), wherein the second lifter (2032) is slidably disposed on the slider (2031) along the Z-axis direction;

And a clamping assembly (2033), wherein the clamping assembly (2033) is rotatably arranged on the second lifting member (2032) around the Z axis, and the clamping assembly (2033) is configured to clamp and transfer the transfer box (110) at the material taking position onto the transfer mechanism (201) and clamp and transfer the empty transfer box (110) on the transfer mechanism (201) after needle return onto the transfer mechanism (202).

8. The automatic needle return apparatus according to any one of claims 1-5, wherein the needle return device (20) further comprises:

a buffer support (207) provided with a plurality of buffer grooves (2071);

-a swap assembly (206) configured to transfer the full magazine (100) on the storage rack (204) into the cache slot (2071) of the cache rack (207) and to move the empty magazines (100) in the other cache slots (2071) onto the storage rack (204).

9. The automatic needle return apparatus according to claim 8, further comprising a vertical stacking device (40), the vertical stacking device (40) comprising a gantry (401), a stacking mechanism (402) and a vertical material rack (403), the stacking mechanism (402) comprising:

The three-axis moving module is arranged on the portal frame (401);

the three-axis moving module can drive the rotary driving assembly (4026) to move along the X-axis direction, the Y-axis direction and the Z-axis direction respectively; and

The clamping component (4027) is connected to the output end of the rotary driving component (4026), the rotary driving component (4026) can drive the clamping component (4027) to rotate around a Z axis, the clamping component (4027) is configured to clamp the storage box (100) filled in the buffer groove (2071) onto the vertical material rack (403), and clamp the transfer box (110) above the circulation mechanism (202) into the buffer groove (2071).

10. The automatic needle return apparatus according to any one of claims 1 to 5, wherein the tray transfer device (10) comprises:

a carrying assembly (101), the carrying assembly (101) being for carrying a tray (120);

The lifting assembly (102), wherein the lifting assembly (102) can lift the tray (120) borne by the bearing assembly (101) to a preset height along the Z-axis direction;

-a gripping assembly (103), the gripping assembly (103) being configured to grip or release the tray (120);

the moving assembly (104), the output end of the moving assembly (104) is connected with the grabbing assembly (103), the moving assembly (104) is configured to drive the grabbing assembly (103) to move along the Y-axis direction, so that the grabbing assembly (103) grabs the lifted material tray (120) at the bearing assembly (101) and transfers the grabbed material tray (120) to a material taking position.