WO2018018751A1 - 一种用于产品自动转移料架的装置 - Google Patents

一种用于产品自动转移料架的装置 Download PDF

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Publication number
WO2018018751A1
WO2018018751A1 PCT/CN2016/101011 CN2016101011W WO2018018751A1 WO 2018018751 A1 WO2018018751 A1 WO 2018018751A1 CN 2016101011 W CN2016101011 W CN 2016101011W WO 2018018751 A1 WO2018018751 A1 WO 2018018751A1
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WO
WIPO (PCT)
Prior art keywords
tray
frame
positioning
rack
product
Prior art date
Application number
PCT/CN2016/101011
Other languages
English (en)
French (fr)
Inventor
张义
Original Assignee
意力(广州)电子科技有限公司
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Publication date
Application filed by 意力(广州)电子科技有限公司 filed Critical 意力(广州)电子科技有限公司
Publication of WO2018018751A1 publication Critical patent/WO2018018751A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles

Definitions

  • the invention relates to the field of mechanical devices, in particular to a device for automatically transferring a product rack.
  • the tray and the rack are often used to place products to be processed or processed.
  • the vacancy in the tray is generally a horizontal accommodating space, so that the touch screen panel can be horizontally placed therein;
  • the vacant space of the rack is generally a vertical accommodating space, so that the touch screen panel can be vertically placed therein.
  • the invention provides an automatic lifting mechanism and a device for automatically transferring the material rack, instead of using manual operation to realize the transfer of products between different racks, solving the time-consuming, laborious and easy-to-draw operation of the manual operation. Injury and other issues.
  • the present invention provides an apparatus for automatically transferring a rack of products, comprising an automatic lifting mechanism and an automatic inserting mechanism, the apparatus for automatically transferring a rack of products further comprising a device disposed on the automatic lifting mechanism a first robot, a tray stacked in the automatic lifting mechanism, and a conveying positioning mechanism, a second robot and a rack respectively respectively disposed on the automatic insertion mechanism, the automatic transfer rack for the product
  • the device further includes a working drive mechanism respectively connected to the automatic lifting mechanism, the automatic insertion mechanism, the first robot, the conveying positioning mechanism, the second robot, and the electrical connection, wherein:
  • the automatic lifting mechanism is configured to lift the tray on which the product is mounted to a first designated position by a driving of the working drive mechanism; the first robot is used in the work Driven by the driving mechanism, the product in the tray at the first designated position is moved to the front end of the conveying positioning mechanism according to a second predetermined trajectory; the conveying positioning mechanism is used for driving at the work Driving the product to the rear end of the conveying positioning mechanism under driving of the mechanism; the second robot is configured to press the product located at the rear end of the conveying positioning mechanism according to the third preset trajectory under the driving of the working driving mechanism Inserted into the rack.
  • the tray becomes an empty tray
  • the automatic lifting mechanism The utility model is further configured to move the empty tray to the second predetermined position by the fourth predetermined trajectory under the driving of the working drive mechanism.
  • the automatic lifting mechanism includes a frame, a lifting shaft fixed on the frame, and a feeding assembly and a tray clamping assembly respectively disposed on the lifting shaft, wherein the working driving mechanism and the feeding device respectively The assembly and the tray clamping assembly are electrically connected such that the feeding assembly and the tray clamping assembly are respectively moved relative to the lifting shaft.
  • the frame is formed by enclosing a plurality of frame strips, and a first horizontal frame is formed extending forward from a central portion of the rear side surface of the frame in a horizontal direction, the first horizontal frame corresponding to the first designated position, A second horizontal frame is formed extending forward in the horizontal direction from an upper portion of the rear side of the frame, the second horizontal frame corresponding to the second designated position.
  • the lifting shaft includes a first lifting shaft, a second lifting shaft and a third lifting shaft respectively fixed on the frame, wherein the first lifting shaft is viewed along a height direction of the frame.
  • the second lifting shaft and the third lifting shaft are both located at a middle upper portion of the frame; the first lifting shaft is located at the frame as viewed along a length direction of the frame In the middle, the second lifting shaft and the third lifting shaft are respectively located on the left and right sides of the frame.
  • first lifting shaft is provided with a first sliding rail
  • the feeding assembly is disposed on the first lifting shaft through the first sliding rail
  • the second lifting shaft and the third a second slide rail and a third slide rail are respectively disposed on the lifting shaft
  • the tray clamping assembly is disposed on the second lifting shaft and the first through the second sliding rail and the third sliding rail Three lifting shafts.
  • the feeding assembly includes a supporting portion and a feeding platform, and one end of the supporting portion is movably connected to the first lifting shaft through the first sliding rail, so that the supporting portion is along the first lifting shaft Moving axially up and down, the other end of the support portion is a free end;
  • the feeding platform is a horizontal panel, and the feeding platform is vertically fixed on the supporting portion, and the feeding platform is vertically penetrating The vent of the feeding platform protrudes upward from the edge of the feeding platform to form a limit block.
  • the tray clamping assembly includes a connecting portion and a clamping arm
  • the connecting portion is an elongated structure
  • two ends of the connecting portion extending along the length direction thereof respectively pass through the second sliding rail and the
  • the third slide rail is movably connected to the second lifting shaft and the third lifting shaft to move the connecting portion up and down along the axial direction of the second lifting shaft and the third lifting shaft;
  • the holding arms are respectively fixed at both ends of the connecting portion extending in the longitudinal direction thereof, and project from the both ends of the connecting portion extending in the longitudinal direction thereof in the horizontal direction.
  • the inner side of the first horizontal frame and the inner side of the connecting portion of the tray clamping assembly are respectively provided with a limiting member, when the tray clamping assembly is lowered to the first horizontal frame
  • the limiting member on the inner side surface of the first horizontal frame is opposite to the limiting member on the inner side of the connecting portion of the tray clamping assembly, and the limiting member forms a first a limit space for defining a spatial position of the tray at a horizontal position of the first horizontal frame.
  • a straddle fixing member is fixed on the second horizontal frame near the rear side region of the frame, and the straddle fixing member is disposed across the second horizontal frame in a longitudinal direction.
  • the inner side of the cross-over fixing member and the inner side of the second horizontal frame are respectively provided with limiting members, and the limiting members on the inner side surface of the second horizontal frame Opposite the limiting member on the inner side surface of the straddle fixing member, the limiting members collectively form a second limiting space for the level of the second horizontal frame
  • the spatial location of the tray is defined at the location.
  • the limiting member is a curved limiting member or a right angle limiting member.
  • a unidirectional bearing member is disposed on the clamping arm of the tray clamping assembly, the unidirectional receiving member comprising a receiving member body and a support for movably connecting with the receiving member body a receiving groove that is sized to match the receiving block, and the receiving block extends outwardly from the receiving groove or is received in the receiving body
  • the support block protrudes from the accommodating groove, the support block faces upward, and when the support block is received in the accommodating groove, the The outer surface of the support block is in the same plane as the outer surface of the support member.
  • a connecting shaft is disposed in the accommodating groove, and the supporting block is movably connected to the receiving body through the connecting shaft.
  • a surface of the accommodating groove and an inner surface of the receiving block are embedded with a magnet, and a magnet embedded in a surface of the accommodating groove and a magnet embedded in an inner surface of the receiving block
  • the opposite poles are magnetically identical.
  • a spring capable of restoring deformation is provided between the surface of the accommodating groove and the inner surface of the receiving block, and the accommodating groove is elastically connected with the supporting block.
  • the surface of the accommodating groove is elastically connected with the inner surface of the receiving block, when the pressure is not applied to the supporting block, the receiving block is received from the receiving block.
  • the groove projects outwardly, and when a pressure is applied to the support block, the spring contracts, and the support block is received in the receiving groove.
  • the one-way receiving member is also disposed on the second horizontal frame and across the fixing member.
  • a horizontal bracket is fixed on the frame toward the outside of the frame, the first robot is disposed on the horizontal bracket, and the first robot includes a first robot arm and a second robot arm disposed perpendicularly to each other. And a first gripping portion disposed on the second robot arm; wherein the first robot arm is fixedly disposed on the horizontal bracket, and the second robot arm is movably connected with respect to the first robot arm The first gripping portion is coupled to the second mechanical activity.
  • first robot arm is provided with a first sliding table, and the second mechanical arm is slidably coupled to the first mechanical arm through the first sliding table, so that the second mechanical arm is along the a longitudinal movement of the first mechanical arm; a second sliding table is disposed on the second mechanical arm, and the first sliding portion is slidably coupled to the second mechanical arm through the second sliding table to The first gripping portion moves back and forth along the length direction of the second robot arm.
  • the first grasping portion can be grasped to any position on the horizontal surface, Achieve the capture of all products located in the tray.
  • the first gripping portion is a vacuum nozzle.
  • the tray comprises a hollow grid structure and a frame for enclosing the grid structure, the frame protrudes downwardly with a support block, and the support blocks are stacked adjacent to each other A gap is formed between the frames of the two trays, so that the support block of the one-way support member of the automatic lifting mechanism is inserted into the slit.
  • the frame is one of a rounded rectangular border, a rectangular border, a square border, a circular border, an elliptical border or a hexagonal border.
  • the tray is stacked on the feeding platform of the automatic lifting mechanism or in the second limiting space.
  • the automatic insertion mechanism includes a mechanism main body, a bracket extending upward from a rear side region of the mechanism main body, and a third sliding table fixed on the main body of the mechanism, and the transport positioning mechanism is disposed at the The mechanism body is adjacent to a side of the automatic lifting mechanism, the second robot is disposed on the bracket, and the rack movement is movably connected to the mechanism body through the third sliding table.
  • the second robot includes a third mechanical arm that is perpendicular to each other, a fourth mechanical arm, and a second grasping portion that is disposed at a bottom of the fourth mechanical arm, and the third mechanical arm is fixed to the automatic On the bracket of the insertion mechanism, the fourth mechanical arm is movably connected with respect to the third mechanical arm, and the second grasping portion is movably connected with respect to the fourth mechanical arm.
  • a fourth sliding table is disposed on the third mechanical arm, and the fourth mechanical arm is slidably coupled to the third mechanical arm through the fourth sliding table, so that the fourth mechanical arm can be along the The third robot arm moves in the longitudinal direction.
  • the second robot further includes a fiber optic sensor disposed on the fourth robot arm.
  • the second gripping portion is a vacuum nozzle.
  • the rack is formed by a plurality of frame frames, and the rack is provided with a plurality of positioning strips parallel to the length direction of the third sliding table of the automatic insert mechanism, and the two ends of the positioning strip are respectively Connected between two opposite plate frames.
  • the positioning bar comprises a first positioning bar, a second positioning bar, a third positioning bar, a fourth positioning bar, a fifth positioning bar and a sixth positioning bar which are parallel to each other, and the six positioning bars are all
  • a serrated positioning strip is provided on one side.
  • the first positioning strip and the second positioning strip are located in a top region of the rack, and are spaced apart, and the saw teeth of the first positioning strip and the saw teeth of the second positioning strip are opposite
  • the serrations of the first positioning strip and the serrations, shapes and positions of the second positioning strips respectively correspond to each other;
  • the third positioning strip is located at the bottom area of the rack.
  • the projection of the third positioning strip on the horizontal surface is located between the first positioning strip and the second positioning strip, and the saw teeth of the third positioning strip are vertically opened upward.
  • the fourth positioning strip and the fifth positioning strip are located in a top region of the rack, and are spaced apart, and the saw teeth of the fourth positioning strip and the saw teeth of the fifth positioning strip are opposite.
  • the serrations of the fourth positioning strip and the serrations, shapes and positions of the fifth positioning strips respectively correspond to each other; the sixth positioning strip is located at the bottom area of the rack.
  • a projection of the sixth positioning bar on a horizontal plane is located between the fourth positioning bar and the fifth positioning bar, and the saw teeth of the sixth positioning bar are vertically opened upward.
  • the frame frame to which the positioning strip is connected is horizontally extended along the inner edge of the rack to form a distance adjusting plate, and a plurality of openings are spaced apart on the distance adjusting plate, and the opening is The positions correspond to the positioning bars, respectively.
  • the opening is a combination of one or two of an elongated opening or a circular opening.
  • the opening is screwed with the positioning strip.
  • reinforcing strips are respectively disposed at the inner edge of the plate frame near the lower edge of the plate frame.
  • the automatic lifting mechanism of the present invention can automatically raise the tray containing the product to the first designated position, thereby cooperating with the robot to remove the product in the tray.
  • the automatic lifting mechanism can also recover the empty tray in time, so that the first robot does not affect the product removal operation of the next tray with the product installed.
  • the cycle operation is repeated to realize efficient product removal work and tray recovery work, eliminating a large number of manual operations, saving time and labor, and improving work efficiency.
  • the present invention cooperates with other structures in the automatic lifting mechanism by developing a part of the one-way bearing member, and finally can effectively support the tray above the one-way bearing member, so that the tray can be Smooth recovery.
  • the device for automatically transferring the material rack developed by the invention can automatically transfer the product horizontally placed in the tray to the rack through the cooperation between the first robot, the transport positioning mechanism and the second robot.
  • the automation of the product transfer rack process will save a lot of manual operation time, which can effectively improve the production efficiency and avoid the product being scratched due to the instability of the manual operation. Or other quality problems.
  • FIG. 1 is a schematic structural view of an apparatus for automatically transferring a material rack of a second embodiment
  • Figure 2 is a front elevational view of the apparatus for automatic product transfer of the product of Figure 1;
  • Figure 3 is a top plan view of the apparatus for automatic product transfer of the product of Figure 1;
  • Figure 4 is a right side elevational view of the apparatus for automatic product transfer of the product of Figure 1;
  • Figure 5 (a) is a schematic structural view of the automatic lifting mechanism in the second embodiment
  • Figure 5 (b) is a schematic structural view of the automatic lifting mechanism of the second embodiment (the second horizontal frame and the straddle fixing member are omitted);
  • Figure 6 is a front elevational view of the automatic lifting mechanism of Figure 5 (a);
  • Figure 7 is a plan view of the automatic lifting mechanism of Figure 5 (a);
  • Figure 8 is a left side elevational view of the automatic lifting mechanism of Figure 5 (a);
  • Figure 9 is a schematic structural view of a one-way support member in the second embodiment.
  • Figure 10 is a front elevational view of the one-way support member of Figure 9;
  • Figure 11 (a) is a right side view of the one-way support member of Figure 9 (the support block extends from the receiving groove);
  • Figure 11 (b) is a right side view of the one-way support member of Figure 9 (the support block is received in the receiving groove);
  • Figure 12 is a schematic structural view of the first robot in the second embodiment
  • Figure 13 is a plan view of the first robot of Figure 12;
  • Figure 14 is a right side view of the first robot of Figure 12;
  • Figure 15 is a schematic structural view of a tray in the second embodiment
  • 16 is a schematic structural view of the automatic insertion mechanism, the transport positioning mechanism, the second robot, and the material rack in the second embodiment;
  • Figure 17 is a plan view of the structure of Figure 16;
  • Figure 19 is a schematic structural view of the rack in the second embodiment
  • Figure 20 is a top plan view of the rack of Figure 19.
  • the orientation or positional relationship of the indications such as “vertical”, “horizontal”, “transverse”, “longitudinal” and the like is based on the orientation or positional relationship shown in the drawings, and is only used to explain the relative positional relationship between components or components.
  • the specific mounting orientation of each component or component is not particularly limited.
  • the above partial terms may be used to indicate other meanings in addition to the orientation or positional relationship, for example, the term “upper” may also be used to indicate a certain dependency or connection relationship in some cases.
  • the specific meaning of these terms in the present invention can be understood on a case-by-case basis.
  • installation should be understood broadly.
  • it may be a fixed connection, a detachable connection, or a one-piece construction; it may be a mechanical connection, or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or it may be two devices, components or components. Internal communication.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • first means two or more.
  • the embodiment provides an apparatus for automatically transferring a material rack, comprising an automatic lifting mechanism and an automatic insertion mechanism, wherein the device for automatically transferring the material rack further comprises a first one disposed on the automatic lifting mechanism a robot, a tray stacked in the automatic lifting mechanism, And a conveying positioning mechanism, a second robot and a rack respectively respectively disposed on the automatic insertion mechanism, the device for automatically transferring the rack of the product further comprising the automatic lifting mechanism and the first robot respectively The transport positioning mechanism, the second robot, and the working drive mechanism electrically connected to the rack, wherein:
  • the automatic lifting mechanism is configured to lift the tray on which the product is mounted to a first designated position by a driving of the working drive mechanism; the first robot is used in the work Driven by the driving mechanism, the product in the tray at the first designated position is moved to the front end of the conveying positioning mechanism according to a second predetermined trajectory; the conveying positioning mechanism is used for driving at the work Driving the product to the rear end of the conveying positioning mechanism under driving of the mechanism; the second robot is configured to press the product located at the rear end of the conveying positioning mechanism according to the third preset trajectory under the driving of the working driving mechanism Inserted into the rack.
  • the embodiment provides an apparatus for automatically transferring a rack of products.
  • the apparatus for automatically transferring a rack of products includes an automatic lifting mechanism 1 and a right side of the automatic lifting mechanism 1 Automatic insertion mechanism 2.
  • the first robot 3 and the tray 4 are respectively disposed in the automatic lifting mechanism 1, and the conveying positioning mechanism 5, the second robot 6 and the rack 7 are separately provided on the automatic insertion mechanism 2.
  • the device for automatically transferring the rack of the product further comprises a working drive mechanism respectively electrically connected to the automatic lifting mechanism 1, the automatic insertion mechanism 2, the first robot 3, the conveying positioning mechanism 5, and the second robot 6 (not shown) ).
  • the automatic lifting mechanism 1 is configured to lift the tray 4 containing the product to the first designated position by the driving of the working drive mechanism; the first robot 3 is driven by the working drive mechanism. Disposing the product in the tray 4 at the first designated position to the front end of the conveying positioning mechanism 5 according to the second predetermined trajectory; the conveying positioning mechanism 5 is for conveying the product to the conveying positioning mechanism 5 under the driving of the working driving mechanism a second robot 6 for inserting a product located at the rear end of the transport positioning mechanism 5 into the rack 7 by a third driving path driven by the working drive mechanism, and the automatic insert mechanism 2 is used for the working drive mechanism
  • the driven moving frame 7 is driven to move.
  • the tray 4 becomes an empty tray 4, and the automatic lifting mechanism 1 is also used in the work drive mechanism.
  • the driven tray 4 is moved to the second designated position by the fourth predetermined trajectory.
  • the empty tray is automatically recovered, and the new tray containing the product is automatically raised to the position of the first robot.
  • the recycling of the product and the automatic recovery of the tray are realized, and then the cooperation of the conveying positioning mechanism, the second robot and the like is performed, so that the cycle is repeated and the product is automatically transferred from the tray to the rack.
  • the automatic lifting mechanism 1 includes a frame 11, a lifting shaft 12, a feed assembly 13, and a tray clamping assembly 14.
  • the frame 11 is formed by enclosing a plurality of frame strips for supporting the entire automatic lifting mechanism and integrating other components fixedly disposed on the frame 11.
  • the first horizontal frame 112 and the second horizontal frame 113 are horizontally extended from the middle and the upper portion of the rear side 111 of the frame 11 toward the front (ie, to the right in FIG. 8), and the first horizontal frame 112 substantially corresponds to the first designated position. At least, the second horizontal frame 113 substantially corresponds to the second designated position.
  • the lifting shaft 12 is fixed on the rear side surface 111 of the frame 11.
  • the lifting shaft 12 includes a first lifting shaft 121, a second lifting shaft 122 and a third lifting shaft 123, respectively.
  • the first lifting shaft 121 is fixedly disposed at the lower middle portion of the rear side surface 111
  • the second lifting shaft 122 and the third lifting shaft 123 are fixedly disposed at the rear side as viewed from the height direction of the rear side surface 111 (ie, the up and down direction in FIG. 6).
  • the upper middle part of 111 is fixedly disposed at the lower middle portion of the rear side surface 111, and the second lifting shaft 122 and the third lifting shaft 123 are fixedly disposed at the rear side as viewed from the height direction of the rear side surface 111 (ie, the up and down direction in FIG. 6).
  • the upper middle part of 111 is fixed on the rear side surface 111 of the frame 11.
  • the first elevating shaft 121 is fixed in the middle of the rear side surface 111, and the second elevating shaft 122 and the third elevating shaft 123 are respectively fixed to the rear side surface 111 as viewed from the longitudinal direction of the rear side surface 111 (ie, the left-right direction in FIG. 6).
  • a first slide rail, a second slide rail, and a third slide rail are respectively disposed on the first lift shaft 121, the second lift shaft 122, and the third lift shaft 123.
  • the feeding assembly 13 is slidably disposed on the first lifting shaft 121, and the feeding assembly 13 includes a supporting portion 131 and a feeding platform 132.
  • One end of the support portion 131 is slidably coupled to the first lifting shaft 121 through the first sliding rail, thereby driving the lifting and lowering movement of the entire feeding assembly 13 relative to the first lifting shaft 121, and the other end of the supporting portion 131 is a free end.
  • the feeding platform 132 is a horizontal panel fixedly disposed on the supporting portion 131 for receiving the tray on which the product is placed.
  • the feeding platform 132 In order to be able to stack a plurality of trays containing products on the feeding platform at the same time, and to ensure that the position of the trays and the products in the trays are not randomly moved or dropped during the lifting process of the feeding assembly, the feeding platform 132 The peripheral edges are respectively provided with a plurality of upwardly convex extensions formed as the limiting blocks 1321, and the trays containing the products are fixed on the feeding platform 132 through the limiting blocks 1321.
  • the feeding platform 132 is further provided with a vent 1322 extending vertically through itself, and the vents include a circular opening having a large opening area and a circular small opening having a small opening area.
  • the tray holding assembly 14 is slidably disposed on the second lifting shaft 122 and the third lifting shaft 123.
  • the tray holding assembly 14 includes a connecting portion 141 and a clamping arm 142.
  • the connecting portion 141 has an elongated structure, and the two ends of the connecting portion 141 extending along the longitudinal direction thereof are respectively slidably connected to the second lifting shaft 122 and the third lifting shaft 123 through the second sliding rail and the third sliding rail, thereby driving the material.
  • the disk clamping assembly 14 moves up and down with respect to the second lifting shaft 122 and the third lifting shaft 123.
  • a clamping arm 142 is formed horizontally extending from both ends in the longitudinal direction of the connecting portion 141 toward the front, and two unidirectional receiving members 15 are disposed on each of the clamping arms 142 toward the inside of the automatic lifting mechanism 1 .
  • the one-way support member is used to support a tray located above it.
  • the one-way holder 15 includes a holder body 151 and a holder block 152.
  • the middle portion of the receiving member body 151 is recessed toward the inner portion thereof to form a receiving groove 153, and the lower portion of the receiving groove 153 is provided with a connecting shaft 154 along the longitudinal direction thereof (ie, the left-right direction in FIG. 10), and the supporting block 152 passes through the connection.
  • the shaft 154 is movably coupled to the holder body 151.
  • a magnet 155 is embedded in the surface of the accommodating groove 153 and the inner surface of the receiving block 152, and a magnetic pole embedded in the surface of the accommodating groove 153 and a magnet embedded in the inner surface of the receiving block 152 are opposite to each other. It is magnetically identical. As the same polarity is repelled, as shown in FIG. 11(a), the receiving block 152 is extended outward from the accommodating groove 153. At this time, the supporting surface 1521 of the supporting block 152 is upwardly and can be supported thereon. Tray. When the externally applied pressure is greater than the repulsive force between the receiving block 152 and the receiving groove 153, as shown in FIG. 11(b), the receiving block 153 is received into the receiving groove 153, and at this time, the receiving block 152 is outside. The surface 1522 is in the same plane as the outer surface 1511 of the holder body 151.
  • the inner side of the first horizontal frame 112, the connecting portion 141 of the tray holding assembly, and the first horizontal frame 112 Two opposite arcuate limiting members 16 are respectively disposed on the opposite sides, and when the tray clamping assembly 12 is lowered to be substantially in the same horizontal position as the first horizontal frame 112, the four curved limiting members 16 are formed together.
  • the first limit space capable of matching the shape of the tray.
  • a tray that is raised to a first designated position can be defined in the first limit space by four arcuate limit members.
  • a straddle fixing member 17 is affliated, and the straddle fixing member spans the two horizontal frames 113 disposed along the longitudinal direction of the second horizontal frame 113.
  • the left and right two arc-shaped limiting members 16 are respectively disposed on the side of the second horizontal frame 113.
  • the pieces 16 together form a second stop space that can match the shape of the tray. When the tray is raised to the second designated position, the tray can be defined in the second limiting space by four arcuate limiting members.
  • a unidirectional bearing member is also respectively disposed at an adjacent position of the four arcuate limiting members in the second limiting space.
  • a one-way support member cooperates to support the tray above it.
  • a horizontal bracket 114 is fixed on the front side frame strip of the first horizontal frame 113 of the frame 11 toward the outside of the frame 11, and the first robot 1 is disposed on the horizontal bracket 114.
  • the first robot 3 includes a first mechanical arm 31 and a second mechanical arm 32 which are disposed perpendicular to each other, And a first gripping portion 33 disposed on the second robot arm 32.
  • the first mechanical arm 31 is fixedly disposed on the horizontal bracket 114 of the automatic lifting mechanism 1.
  • the first mechanical arm 31 is provided with a first sliding table 311, and the second mechanical arm 32 passes through the first sliding table 311 and the first mechanical arm. 31 is slidably connected, and the second robot arm 32 is movable back and forth along the longitudinal direction of the first robot arm 31 (i.e., the left-right direction in FIG. 1).
  • the second mechanical arm 32 is provided with a second sliding table 321 .
  • the first grasping portion 33 is slidably coupled to the second mechanical arm 32 via the second sliding table 321 , and the first grasping portion 33 can be along the length of the second mechanical arm 32 .
  • the direction i.e., the up and down direction in Fig. 1 moves back and forth, thereby enabling the first gripping portion to achieve gripping of any point on the horizontal plane.
  • the first gripping portion of the first robot is disposed in the direction of the transport positioning mechanism to realize the function of the first robot.
  • the first gripping portion employs a vacuum nozzle, thereby completing the removal or transportation of the product without scratching the product.
  • the first gripping portion can also adopt other common gripping structures according to the shape and characteristics of the product, for example. Claw type gripping fixtures, etc.
  • the tray 4 is disposed in the automatic lifting mechanism 1. Specifically, the tray 4 containing the product is placed on the feeding platform 132 of the feeding assembly 13, and when the product in the tray 4 is completely removed by the first robot 3, the tray 4 is made empty, and the tray 4 is empty.
  • the tray 4 is placed in the second limit space.
  • the tray 4 in this embodiment comprises a hollow grid structure 41 and a rounded rectangular frame 42 for enclosing the grid structure, the tray is used for placing a product (not shown) flat therein. A robot is removed. Wherein, at the four rounded corners of the rounded rectangular frame 42, there are provided support blocks 43 projecting downwardly, and the support blocks 43 can be used between the rounded rectangular frames of the two trays stacked one above the other.
  • a certain gap is formed so that the one-way holder 15 of the automatic lifting mechanism 1 can effectively support the tray 4. Specifically, when the tray passes through the one-way support member during the ascending process, the rounded rectangular frame of the tray causes the support block protruding outward from the one-way support member to be squeezed, so that the support block is received. To the accommodating groove of the one-way support member.
  • the one-way support member When the tray rises to the bottom of the tray just away from the one-way support member, the one-way support member is not affected by the external force application, and the support block protrudes from the accommodating groove due to the repulsiveness of the same polarity, and the extension
  • the exit position is just in the gap between the two trays stacked one above the other, thereby achieving a support for the tray above the support block.
  • the automatic insertion mechanism 2 includes a mechanism main body 21, a bracket 22 extending upward from a rear side region of the mechanism main body 21, and a third fixed to the mechanism main body 21.
  • the slide table 23, the conveyance positioning mechanism 5 is disposed on the side of the mechanism main body 21 close to the automatic elevating mechanism, the second robot 6 is disposed on the bracket 22, and the magazine 7 is movably coupled to the mechanism main body 21 through the third slide table 23.
  • the transport positioning mechanism 5 is disposed on the left side edge of the mechanism main body 21, so that the first gripping portion 33 of the first robot 3 can grasp the product and move it to the transport positioning mechanism. 5 on. 16 to 17, the transport positioning mechanism 5 includes a transport assembly 51, a positioning cylinder 52, and a positioning cam 53.
  • the conveying assembly 51 comprises a fixed pulley fixedly disposed on the left side edge region of the mechanism main body 21 and a conveyor belt (not shown) matched with the fixed pulley, the conveying assembly 51 is for conveying the product placed on the conveyor belt, and transmitting
  • the length direction of the assembly 51 is parallel to the second robot arm 32 in the first robot 3 so that the gripping portion 23 of the first robot 3 can smoothly transfer the product onto the conveyor belt.
  • the positioning cylinder 52 and the positioning angle 53 are both disposed in a region close to the rear side of the transport assembly 51, wherein the positioning cylinder 52 is coupled to a fixed pulley on the rear side of the transmission assembly 51 for controlling the start and stop of the movement of the transport assembly.
  • the positioning cylinder 52 is further provided with a sensor electrically connected to the positioning cylinder.
  • the positioning cylinder 52 controls the starting and stopping of the conveying component through the sensor.
  • the conveying component automatically stop working.
  • the locating angle 53 is located on the right side of the transport assembly 51, and the locating cam 53 is controlled by the power mechanism to enable the locating angle to move back and forth perpendicular to the length of the transport assembly for defining and correcting the position of the product on the transport assembly.
  • the bracket 22 is a bracket that straddles the mechanism main body 21 and extends vertically upward from the rear side of the mechanism main body 21.
  • the second robot 6 includes a third robot arm 61, a fourth robot arm 62, and a second grip portion 63 and a fiber optic sensor 64 disposed at the bottom of the fourth robot arm 62.
  • the third mechanical arm 61 is fixed on the bracket 22 in the horizontal direction
  • the fourth sliding arm is disposed on the third mechanical arm 61.
  • the fourth mechanical arm 62 is slidably connected to the third mechanical arm 61 through the fourth sliding table.
  • the fourth robot arm 62 is horizontally movable along the longitudinal direction of the third robot arm 61.
  • the fourth mechanical arm 62 is further provided with a lifting and connecting portion that moves relative to the fourth mechanical arm, wherein the lifting and connecting portion is capable of lifting and lowering movement by the power mechanism, and the lower end of the lifting and lowering portion passes through the rotating shaft and the second grasping
  • the portion 63 is rotatably connected, whereby the lifting movement of the second grip portion 63 is caused by the lifting movement of the elevation connecting portion.
  • the second grip portion 63 can be rotated 90 about the rotation axis. Rotation allows the second gripping portion 63 to move the product downward toward the bottom, and can also move the product forward toward the front.
  • the second gripping portion 63 in this embodiment includes a rotary cylinder and a vacuum suction nozzle connected to the rotary cylinder, and the vacuum suction nozzle is realized 90 by rotating the cylinder. Rotate.
  • the fiber optic sensor 64 is fixed to the fourth robot arm 62 for sensing the position at which the second gripping portion 63 vertically inserts the product.
  • the product mainly refers to a touch screen panel used as a screen of a smartphone or a tablet
  • the rack 7 is a rack for vertically inserting the touch screen panel.
  • two racks of the same structure are provided on the third slide table 23, and the racks are fixed in a rectangular rack frame.
  • Any of the racks 7 is formed by the first plate frame 71, the second plate frame 72, the third plate frame 73, and the fourth plate frame 74, and is respectively reinforced at the lower edge of each frame frame near the lower frame frame.
  • Strip 76 is used to reinforce the overall structure of the rack.
  • the rack 7 further includes a first positioning strip 751 and a second positioning strip 752 extending in the front-rear direction (ie, extending in the up-and-down direction in FIG. 20), and the two ends are respectively connected to the first plate frame 71 and the third plate frame 73.
  • the third positioning strip 754, the fourth positioning strip 754, the fifth positioning strip 755, and the sixth positioning strip 756 are all provided with serrated structures on one side, and the six positioning strips are parallel to each other.
  • the first positioning bar 751 and the second positioning bar 752 are located in the top region of the rack 7 and are disposed at a certain distance.
  • the serrations of the first positioning strip 751 and the serrations of the second positioning strip 752 are oppositely disposed and both face toward the inside of the rack 7 (ie, the serrations of the first positioning strip 751 are toward the right side in FIG. 20, and the serration of the second positioning strip 752 is oriented.
  • the serrations, shapes, and positions of the serrations of the first positioning strip and the second positioning strips correspond to each other, so that a card slot for holding the product is formed between the two. A product that is fixed in the card slot in the direction.
  • the third positioning strip 753 is located in the bottom area of the rack 7 and is viewed from the vertical direction (ie, looking outward in the direction of the paper in FIG. 20), and the third positioning strip 753 is located in the first positioning strip 751 and the second positioning strip. In the middle of the 752.
  • the serrations of the third positioning strip 753 are vertically opened upward (ie, the paper faces outward in FIG. 20), and a card slot for holding the product is formed, which can be fixedly placed in the front-rear direction (ie, in the up and down direction in FIG. 20).
  • the product in the card slot.
  • the structures and installation positions of the fourth positioning bar 754, the fifth positioning bar 755, and the sixth positioning bar 756 are also the same as the first positioning bar 751, the second positioning bar 752, and the third positioning bar 753, respectively, and thus are no longer Narration.
  • the upper side edge of the first plate frame 71 is bent toward the inside of the rack 7 and horizontally extended to form a distance adjusting plate 711.
  • the 711 is spaced apart from four elongated openings 712, and the positions of the four elongated openings 712 correspond to the first positioning bar 751, the second positioning bar 752, the fourth positioning bar 753 and the fifth positioning bar, respectively.
  • the first positioning bar is taken as an example to illustrate the structural relationship and adjustment mode between the first positioning bar and the distance adjusting plate.
  • the structural relationship and adjustment mode between the other positioning bar and the distance adjusting plate are also the same, and therefore will not be described again.
  • One end of the first positioning strip 751 connected to the first plate frame 71 is disposed under the distance adjusting plate 711.
  • the end of the first positioning bar 751 is provided with a threaded hole, and the position of the threaded hole corresponds to the elongated opening.
  • a bolt (not shown) can be threadedly connected to the threaded hole of the first positioning strip after passing through the elongated opening, thereby making the first positioning strip and the first positioning strip A board frame is fixedly connected.
  • the distance adjusting plate is formed on the upper side edge of the third plate frame and extends toward the inside of the rack, and the first positioning bar and the third plate frame are also fixedly connected by screwing.
  • the bolts When it is necessary to adjust the spacing between the first positioning strip and the other positioning strips, the bolts can be loosened and the bolts can be removed from the threaded holes to adjust the position of the first positioning strip, and finally the spacing between the different positioning strips can be realized. Adjustment.
  • the distance adjusting plate in addition to the elongated opening, is provided with a plurality of independent small circular openings, which can also be used to adjust the spacing between different positioning bars. .
  • the apparatus for automatic product transfer of the product of the present embodiment generally comprises two processes: a process of taking the product out of the tray and a process of inserting the product into the rack.
  • the process of taking the product out of the tray is as follows:
  • a plurality of trays containing the product are placed in the feeding assembly 13 of the automatic lifting mechanism 1, and under the driving of the working driving mechanism, the feeding assembly 13 is moved from bottom to top until the tray which will be located at the top of the feeding assembly 13 4 is raised to the first designated position (ie, substantially raised to the position where the first horizontal frame 112 is located), at which time the tray is fixed in the first limiting space; secondly, the second mechanical arm of the first robot 3 32 moves to the position of the product according to the movement trajectory, the vacuum suction nozzle of the first grasping portion 33 sucks the product, and the second mechanical arm 32 and the first grasping portion 33 transfer the product to the conveying positioning mechanism according to another movement trajectory. 5, thereby completing the process of taking the product out of the tray.
  • the tray 4 located at the uppermost portion of the feed unit 13 becomes the empty tray 4, and the process of recovering the empty tray 4 is performed at this time.
  • the tray clamping assembly 14 in the first lifting mechanism 1 is lowered to the first designated position such that the one-way receiving member 15 located inside the tray holding assembly 14 is located The gap between the empty tray 4 and the tray below it, so that the support block in the one-way support member 15 protrudes from the accommodating groove due to the repulsiveness of the same polarity, whereby the one-way support member will Empty trays are lifted up.
  • the tray clamping assembly 14 is raised from the first designated position until it is raised to the second designated position, so that the empty tray 4 is located in the second limit space and is made empty.
  • the tray 4 is located above the one-way support member of the second limit space, so that the one-way support member supports the empty tray, and the second limit space cooperates with the corresponding one-way support member , the empty tray is stored in the second limit space and is located above the one-way support member.
  • the process of inserting the product into the rack is as follows:
  • the transport positioning mechanism 5 After the product is transferred to the transport positioning mechanism 5, first, under the driving of the working drive mechanism, the transport positioning mechanism 5 transports the product to the tail end of the transport assembly, and the transport assembly stops the transport work, at which time the second robot 6 follows the motion.
  • the trajectory moves to a position corresponding to the product, and the second gripping portion 63 on the second robot 6 is turned downward, so that the vacuum suction nozzle of the second gripping portion 63 faces the product, the lifting connection portion 66 is lowered, and the second gripping portion is lowered.
  • the vacuum nozzle of the 63 adsorbs the product, and after the adsorption, the lifting connection portion 66 rises; then, the fourth mechanical arm 62 of the second robot 6 moves to the corresponding position of the rack according to the movement trajectory, and the second gripping portion 63 performs the 90° rotation.
  • the lifting connection 66 is lowered, and according to the sensing position of the optical fiber sensor, the second grasping portion 63 inserts the product into the rack at the corresponding position, thereby completing the process of inserting the product into the rack.
  • working drive mechanism in this embodiment can drive and control various components in the system by using the prior art, and details are not described herein again.
  • the difference between this embodiment and the second embodiment is only that the structure of the one-way receiving member is different. Specifically, the magnet is no longer embedded in the inner surface of the supporting block and the surface of the receiving groove, but is in the supporting block.
  • a spring capable of restoring deformation is disposed between the surface and the surface of the accommodating groove to elastically connect the receiving block and the accommodating groove.
  • the support block protrudes outward from the accommodating groove due to the elasticity of the spring. At this time, the support block faces upward, and can support the tray located above it.
  • the externally applied pressure is greater than the elastic force between the receiving block and the receiving groove, the receiving block is received into the receiving groove, and the outer surface of the supporting block is in the same plane as the outer surface of the receiving body.

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Abstract

一种用于产品自动转移料架的装置，包括自动升降机构（1）和自动插架机构（2），还包括设置在自动升降机构（1）上的第一机械手（3）、叠放在自动升降机构（1）中的料盘（4），及独立设置在自动插架机构（2）上的输送定位机构（5）、第二机械手（6）、电性连接的工作驱动机构；在工作驱动机构的驱动下，使自动升降机构（1）将装有产品的料盘（4）顶升至第一指定位置，第一机械手（3）在此位置处将料盘（4）的产品移放至输送定位机构（5）前端，再由输送定位机构（5）输送至后端，最后由第二机械手（6）将产品插入至料架（7）中，从而实现产品在料盘（4）和料架（7）之间不同方向的自动转移，提高生产效率，降低人工操作风险。

Description

一种用于产品自动转移料架的装置 技术领域
本发明涉及机械装置领域，具体是一种用于产品自动转移料架的装置。
背景技术
在触摸屏面板加工技术中，经常使用料盘和料架来放置待加工或者已加工完成的产品。其中，料盘中的空位一般为水平容置空间，使触摸屏面板可水平放置在其中；料架的空位一般为竖向容置空间，使触摸屏面板可竖直放置在其中。当触摸屏面板需要在料盘与料架之间进行转移时，通常是采用人工操作的方式，即：通过人工将料盘中的触摸屏面板取出后再插入到料架中。
但是在大规模的工业化生产中，批量生产的触摸屏面板数量很大，这就要求人工持续地、重复地进行触摸屏面板取出和插入操作，以实现触摸屏面板在料盘与料架之间的转移。然而，这种人工操作的方式存在费时、费力的弊端，而且由于人工操作的动作稳定性低、易产生疲劳，可能在操作过程中造成触摸屏面板的划伤，影响产品品质。
发明内容
本发明通过提供一种自动升降机构及用于产品自动转移料架的装置，以代替利用人工操作实现产品在不同料架之间进行转移的方式，解决人工操作存在的费时、费力、产品易划伤等问题。
具体地，本发明提供一种用于产品自动转移料架的装置，包括自动升降机构和自动插架机构，所述用于产品自动转移料架的装置还包括设置在所述自动升降机构上的第一机械手、叠放在所述自动升降机构中的料盘，以及分别独立设置在所述自动插架机构上的输送定位机构、第二机械手和料架，所述用于产品自动转移料架的装置还包括分别与所述自动升降机构、所述自动插架机构、所述第一机械手、所述输送定位机构、所述第二机械手、电性连接的工作驱动机构，其中：
所述自动升降机构用于在所述工作驱动机构的驱动下将装有产品的所述料盘按第一预设轨迹顶升至第一指定位置；所述第一机械手用于在所述工作驱动机构的驱动下将位于所述第一指定位置处的所述料盘中的产品按第二预设轨迹移放至所述输送定位机构前端；所述输送定位机构用于在所述工作驱动机构的驱动下将所述产品输送至所述输送定位机构后端；所述第二机械手用于在所述工作驱动机构的驱动下将位于所述输送定位机构后端的产品按第三预设轨迹插入至所述料架中。
进一步地，位于所述第一指定位置处的所述料盘中的产品被全部移放至所述输送定位机构的前端后，所述料盘成为空的所述料盘，所述自动升降机构还用于在所述工作驱动机构的驱动下将空的所述料盘按第四预设轨迹移放至第二指定位置。
进一步地，所述自动升降机构包括框架、固设在所述框架上的升降轴以及分别设在所述升降轴上的送料组件和料盘夹持组件，所述工作驱动机构分别与所述送料组件、所述料盘夹持组件电性连接，使所述送料组件、所述料盘夹持组件分别相对于所述升降轴移动。
进一步地，所述框架由若干框架条围合形成，从所述框架的后侧面中部沿水平方向向前延伸形成有第一水平框架，所述第一水平框架对应于所述第一指定位置，从所述框架的后侧面上部沿水平方向向前延伸形成有第二水平框架，所述第二水平框架对应于所述第二指定位置。
进一步地，所述升降轴包括分别独立固设在所述框架上的第一升降轴、第二升降轴和第三升降轴，其中，沿所述框架的高度方向看，所述第一升降轴位于所述框架的中下部，所述第二升降轴和所述第三升降轴均位于所述框架的中上部；沿所述框架的长度方向看，所述第一升降轴位于所述框架的中间，所述第二升降轴和所述第三升降轴分别位于所述框架的左侧和右侧。
进一步地，所述第一升降轴上设有第一滑轨，通过所述第一滑轨使所述送料组件设置在所述第一升降轴上；所述第二升降轴和所述第三升降轴上分别设有第二滑轨和第三滑轨，通过所述第二滑轨和所述第三滑轨使所述料盘夹持组件设置在所述第二升降轴和所述第三升降轴上。
进一步地，所述送料组件包括支撑部和送料平台，所述支撑部的一端通过所述第一滑轨活动连接于所述第一升降轴，使所述支撑部沿所述第一升降轴的轴向上下移动，所述支撑部的另一端为自由端；所述送料平台为水平面板，且所述送料平台垂直固设于所述支撑部上，在所述送料平台上设有竖向贯穿于所述送料平台的通气口，从所述送料平台的边缘向上凸起延伸形成有限位块。
进一步地，所述料盘夹持组件包括连接部和夹持臂，所述连接部为长条形结构，所述连接部沿自身长度方向延伸的两端分别通过所述第二滑轨、所述第三滑轨活动连接于所述第二升降轴、所述第三升降轴，使所述连接部沿所述第二升降轴和所述第三升降轴的轴向上下移动；所述夹持臂分别固设在所述连接部沿自身长度方向延伸的两端处，且从所述连接部沿自身长度方向延伸的两端处沿水平方向向前伸出。
可选地，所述第一水平框架的内侧面、所述料盘夹持组件的连接部的内侧面分别设有限位件，当所述料盘夹持组件下降至与所述第一水平框架大致处于同一水平位置时，所述第一水平框架的内侧面上的限位件与所述料盘夹持组件的连接部内侧面上的限位件相对而设，所述限位件共同形成第一限位空间，所述第一限位空间用于在所述第一水平框架的水平位置处限定所述料盘的空间位置。
可选地，在所述第二水平框架上靠近所述框架的后侧面区域固设有横跨固定件，所述横跨固定件沿所述第二水平框架长度方向横跨设置在所述第二水平框架的两条框架条上，所述横跨固定件的内侧面、所述第二水平框架的内侧面分别设有限位件，且所述第二水平框架的内侧面上的限位件与所述横跨固定件的内侧面上的限位件相对而设，所述限位件共同形成第二限位空间，所述第二限位空间用于在所述第二水平框架的水平位置处限定所述料盘的空间位置。
优选地，所述限位件为弧形限位件或直角限位件。
进一步地，在所述料盘夹持组件的夹持臂上设有单向承托件，所述单向承托件包括承托件本体和相对于所述承托件本体活动连接的承托块，所述承托件本体朝向自身内部凹陷形成有大小与所述承托块匹配的容置槽，使所述承托块从所述容置槽中向外伸出或者收容在所述容置槽中；所述承托块从所述容置槽中向外伸出时，所述承托块的承托面向上，所述承托块收容在所述容置槽中时，所述承托块的外表面与所述承托件本体外表面处于同一平面。
进一步地，所述容置槽中设有连接轴，所述承托块通过所述连接轴与所述承托件本体活动连接。
优选地，所述容置槽的表面、所述承托块的内表面中均嵌入有磁铁，且嵌入在所述容置槽的表面的磁铁与嵌入在所述承托块内表面的磁铁二者相对的磁极是磁性相同的。
可以理解的是，根据电磁学中同磁性相排斥、异磁性相吸引的原理可知，未向所述承托块施加压力时，由于同磁性相排斥，所述承托块与所述容置槽相互排斥，使所述承托块从所述容置槽中向外伸出；向所述 承托块施加压力时，由于施加压力大于所述承托块与所述容置槽之间的排斥力，使所述承托块容置在所述容置槽中。
优选地，在所述容置槽的表面与所述承托块的内表面之间设有能够恢复形变的弹簧，使所述容置槽与所述承托块之间弹性连接。
可以理解的是，由于所述容置槽的表面与所述承托块的内表面之间为弹性连接，因此未向所述承托块施加压力时，所述承托块从所述容置槽中向外伸出，向所述承托块施加压力时，弹簧收缩，所述承托块容置在所述容置槽中。
优选地，在所述第二水平框架上、所述横跨固定件上也设有所述单向承托件。
进一步地，所述框架上朝向所述框架外部固设有水平支架，所述第一机械手设置于所述水平支架上，所述第一机械手包括相互垂直设置的第一机械臂和第二机械臂以及设置在所述第二机械臂上的第一抓取部；其中，所述第一机械臂固定设置在所述水平支架上，所述第二机械臂相对于所述第一机械臂活动连接，所述第一抓取部相对于所述第二机械活动连接。
进一步地，所述第一机械臂上设有第一滑台，所述第二机械臂通过所述第一滑台与所述第一机械臂滑动连接，使所述第二机械臂沿所述第一机械臂的长度方向来回移动；所述第二机械臂上设有第二滑台，所述第一抓取部通过所述第二滑台与所述第二机械臂滑动连接，使所述第一抓取部沿所述第二机械臂的长度方向来回移动。
在本发明中，由于第二机械臂和第一抓取部能够分别实现相互垂直的两个方向上的线性移动，因此能够使得第一抓取部能够抓取到水平面上的任一点位，故实现对所有位于料盘中的产品的抓取。
优选地，所述第一抓取部为真空吸嘴。
进一步地，所述料盘包括镂空的网格结构和用于围合所述网格结构的边框，所述边框向下凸伸设有支撑块，通过所述支撑块使上下相邻叠放的两个所述料盘的边框之间形成缝隙，使所述自动升降机构的所述单向承托件的承托块插入到所述缝隙中。
优选地，所述边框为圆角矩形边框、矩形边框、正方形边框、圆形边框、椭圆形边框或六边形边框中的一种。
进一步地，所述料盘叠放在所述自动升降机构的送料平台上或者第二限位空间中。
进一步地，所述自动插架机构包括机构主体、从所述机构主体后侧区域向上延伸形成的支架、以及固设在所述机构主体上的第三滑台，所述输送定位机构设置在所述机构主体靠近所述自动升降机构的一侧，所述第二机械手设置在所述支架上，所述料架活动通过所述第三滑台活动连接于所述机构主体。
进一步地，所述第二机械手包括相互垂直的第三机械臂、第四机械臂以及设置在所述第四机械臂底部的第二抓取部，所述第三机械臂固设在所述自动插架机构的支架上，所述第四机械臂相对于所述第三机械臂活动连接，所述第二抓取部相对于所述第四机械臂活动连接。
进一步地，所述第三机械臂上设有第四滑台，所述第四机械臂通过所述第四滑台与所述第三机械臂滑动连接，使所述第四机械臂能够沿所述第三机械臂的长度方向移动。
优选地，所述第二机械手还包括设置在所述第四机械臂上的光纤传感器。
优选地，所述第二抓取部为真空吸嘴。
进一步地，所述料架由若干板框围合形成，且所述料架中设有平行于所述自动插架机构的第三滑台长度方向的若干定位条，所述定位条两端分别连接于相对而设的两个所述板框之间。
优选地，所述定位条包括相互平行的第一定位条、第二定位条、第三定位条、第四定位条、第五定位条和第六定位条，且六个所述定位条均为一侧边上设有锯齿的定位条。
优选地，所述第一定位条和所述第二定位条位于所述料架的顶部区域内，且间隔距离设置，所述第一定位条的锯齿、所述第二定位条的锯齿相对而设且均朝向所述料架内部，所述第一定位条的锯齿与所述第二定位条的锯齿大小、形状、位置均相互对应；所述第三定位条位于所述料架的底部区域内，且所述第三定位条在水平面上的投影位于所述第一定位条与所述第二定位条的中间，所述第三定位条的锯齿竖直朝上开设。
优选地，所述第四定位条和所述第五定位条位于所述料架的顶部区域内，且间隔距离设置，所述第四定位条的锯齿、所述第五定位条的锯齿相对而设且均朝向所述料架内部，所述第四定位条的锯齿与所述第五定位条的锯齿大小、形状、位置均相互对应；所述第六定位条位于所述料架的底部区域内，且所述第六定位条在水平面上的投影位于所述第四定位条与所述第五定位条的中间，所述第六定位条的锯齿竖直朝上开设。
进一步地，连接有所述定位条的板框沿自身边缘朝向所述料架内部弯折水平延伸形成有距离调节板，在所述距离调节板上间隔开设有若干开孔，所述开孔的位置分别对应于所述定位条。
优选地，所述开孔为长条形开孔或者圆形开孔中的一种或二种的结合。
优选地，所述开孔与所述定位条之间螺接。
进一步地，在所述板框内部靠近所述板框下边缘处分别设有加固条。
与现有技术相比，本发明的有益效果如下：
首先，本发明的自动升降机构能够自动将装有产品的料盘顶升至第一指定位置，由此来配合机械手对于料盘中产品的移取。当产品全部被移取后，料盘成为空的料盘时，自动升降机构还能够及时将空的料盘回收，因此不影响第一机械手对于下一个装有产品的料盘进行产品移取操作，由此重复循环操作，实现高效的产品移取工作和料盘回收工作，免去了大量的人工操作，省时省力、提高工作效率。
其次，本发明通过开发一种单向承托件的零件，将其与自动升降机构中的其他结构进行配合，最终可有效承托位于单向承托件上方的料盘，使料盘能够被顺利回收。
最后，本发明所开发的用于产品自动转移料架的装置，通过第一机械手、输送定位机构、第二机械手之间的配合，能够自动的将水平放置在料盘中的产品转移到料架中并完成产品的竖向插入操作，这一产品转移料架过程的自动化，将节省大量的人工操作时间，既能有效提高生产效率，又能避免因人工操作的不稳定性导致产品被刮花或出现其他质量问题的现象。
附图说明
图1是实施例二用于产品自动转移料架的装置的结构示意图；
图2是图1中用于产品自动转移料架的装置的主视图；
图3是图1中用于产品自动转移料架的装置的俯视图；
图4是图1中用于产品自动转移料架的装置的右视图；
图5(a)是实施例二中自动升降机构的结构示意图；
图5(b)是实施例二中自动升降机构的结构示意图(省略第二水平框架与横跨固定件)；
图6是图5(a)中自动升降机构的主视图；
图7是图5(a)中自动升降机构的俯视图；
图8是图5(a)中自动升降机构的左视图；
图9是实施例二中单向承托件的结构示意图；
图10是图9中单向承托件的主视图；
图11(a)是图9中单向承托件的右视图(承托块从容置槽中伸出)；
图11(b)是图9中单向承托件的右视图(承托块收容在容置槽中)；
图12是实施例二中第一机械手的结构示意图；
图13是图12中第一机械手的俯视图；
图14是图12中第一机械手的右视图；
图15是实施例二中料盘的结构示意图；
图16是实施例二中自动插架机构、输送定位机构、第二机械手、料架组合后的结构示意图；
图17是图16中结构的俯视图；
图18是实施例二中第二机械手的结构示意图；
图19是实施例二中料架的结构示意图；
图20是图19中料架的俯视图。
具体实施方式
在本发明中，术语“上”、“下”、“左”、“右”、“前”、“后”、“顶”、“底”、“内”、“外”、“中”、“竖直”、“水平”、“横向”、“纵向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅用于说明各部件或组成部分之间的相对位置关系，并不特别限定各部件或组成部分的具体安装方位。
并且，上述部分术语除了可以用于表示方位或位置关系以外，还可能用于表示其他含义，例如术语“上”在某些情况下也可能用于表示某种依附关系或连接关系。对于本领域普通技术人员而言，可以根据具体情况理解这些术语在本发明中的具体含义。
此外，术语“安装”、“设置”、“设有”、“连接”、“相连”应做广义理解。例如，可以是固定连接，可拆卸连接，或整体式构造；可以是机械连接，或电连接；可以是直接相连，或者是通过中间媒介间接相连，又或者是两个装置、元件或组成部分之间内部的连通。对于本领域普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
此外，术语“第一”、“第二”等主要是用于区分不同的部件或组成部分，并非用于表明或暗示所指示部件或组成部分的相对重要性和数量。除非另有说明，“多个”的含义为两个或两个以上。
下面结合实施例和附图对本发明的技术方案作进一步的说明。
实施例一
本实施例提供一种用于产品自动转移料架的装置，包括自动升降机构和自动插架机构，所述用于产品自动转移料架的装置还包括设置在所述自动升降机构上的第一机械手、叠放在所述自动升降机构中的料盘， 以及分别独立设置在所述自动插架机构上的输送定位机构、第二机械手和料架，所述用于产品自动转移料架的装置还包括分别与所述自动升降机构、所述第一机械手、所述输送定位机构、所述第二机械手、所述料架电性连接的工作驱动机构，其中：
所述自动升降机构用于在所述工作驱动机构的驱动下将装有产品的所述料盘按第一预设轨迹顶升至第一指定位置；所述第一机械手用于在所述工作驱动机构的驱动下将位于所述第一指定位置处的所述料盘中的产品按第二预设轨迹移放至所述输送定位机构前端；所述输送定位机构用于在所述工作驱动机构的驱动下将所述产品输送至所述输送定位机构后端；所述第二机械手用于在所述工作驱动机构的驱动下将位于所述输送定位机构后端的产品按第三预设轨迹插入至所述料架中。
实施例二
本实施例提供一种用于产品自动转移料架的装置，结合图1至图4所示，该用于产品自动转移料架的装置包括自动升降机构1和位于该自动升降机构1右侧的自动插架机构2。在自动升降机构1中分别设有第一机械手3和料盘4，在自动插架机构2上分别独立设有输送定位机构5、第二机械手6和料架7。该用于产品自动转移料架的装置还包括分别与自动升降机构1、自动插架机构2、第一机械手3、输送定位机构5、第二机械手6电性连接的工作驱动机构(图未示)。
其中，自动升降机构1用于在工作驱动机构的驱动下将装有产品的料盘4按第一预设轨迹顶升至第一指定位置；第一机械手3用于在工作驱动机构的驱动下将位于第一指定位置处的料盘4中的产品按第二预设轨迹移放至输送定位机构5前端；输送定位机构5用于在工作驱动机构的驱动下将产品输送至输送定位机构5后端；第二机械手6用于在工作驱动机构的驱动下将位于输送定位机构5后端的产品按第三预设轨迹插入至料架7中，自动插架机构2用于在工作驱动机构的驱动下带动料架7移动。此外，当位于第一指定位置处的料盘4中的产品被全部移放至输送定位机构5的前端后，料盘4成为空的料盘4，自动升降机构1还用于在工作驱动机构的驱动下将空的料盘4按第四预设轨迹移放至第二指定位置。
在本实施例中，当装有产品的料盘中的全部产品均被移出后，空的料盘会被自动回收，新的装有产品的料盘会自动顶升至第一机械手所在位置，由此实现了产品的循环移取和料盘的自动回收，再通过输送定位机构、第二机械手等部件的配合，如此循环重复工作，最终实现产品从料盘自动转移到料架的目的。
具体地，结合图5(a)至图8所示，自动升降机构1包括框架11、升降轴12、送料组件13和料盘夹持组件14。其中，框架11是由若干框架条围合形成，用于支撑整个自动升降机构并整合固定设置在框架11上的其它部件。从框架11的后侧面111的中部和上部分别朝向前方(即图8中朝右)水平延伸形成了第一水平框架112和第二水平框架113，第一水平框架112大致对应于第一指定位置处，第二水平框架113大致对应于第二指定位置处。
其中，升降轴12固设在框架11的后侧面111上，升降轴12分别包括第一升降轴121、第二升降轴122和第三升降轴123。从后侧面111的高度方向(即图6中的上下方向)看，第一升降轴121固定设置在后侧面111的中下部，第二升降轴122和第三升降轴123均固定设置在后侧面111的中上部。从后侧面111的长度方向(即图6中的左右方向)看，第一升降轴121固设在后侧面111的中间，第二升降轴122和第三升降轴123分别固设在后侧面111的左右两侧。在第一升降轴121、第二升降轴122、第三升降轴123上分别对应设有第一滑轨、第二滑轨、第三滑轨。
其中，送料组件13滑动设置在第一升降轴121上，送料组件13包括支撑部131和送料平台132。支撑部131的一端通过第一滑轨与第一升降轴121滑动连接，由此带动整个送料组件13相对于第一升降轴121的升降移动，支撑部131的另一端为自由端。送料平台132为水平面板，固定设置在支撑部131上，用于承放装有产品的料盘。为了能够在送料平台上同时叠放多个装有产品的料盘，且保证料盘的位置及料盘中的产品不会在送料组件的升降过程中随意移动或掉落，在送料平台132的四周边缘分别设有若干向上凸起延伸形成为限位块1321，通过限位块1321将装有产品的料盘固定在送料平台132上。另外，在本实施例中，送料平台132中还设有竖向贯穿自身的通气口1322，这些通气口既包括开口面积较大的圆形开口也包括开口面积较小的圆形小孔。
结合图5(b)所示，料盘夹持组件14滑动设置在第二升降轴122和第三升降轴123上，料盘夹持组件14包括连接部141和夹持臂142。连接部141为长条形结构，连接部141沿自身长度方向延伸的两端分别通过第二滑轨、第三滑轨与第二升降轴122、第三升降轴123滑动连接，由此带动料盘夹持组件14相对于第二升降轴122、第三升降轴123的升降移动。从连接部141的长度方向两端朝向前方水平延伸各形成了一条夹持臂142，且在每条夹持臂142上朝向自动升降机构1内部的方向均设有两个单向承托件15。
在本实施例中，单向承托件用于承托位于其上方的料盘。结合图9至图11(b)所示，在本实施例中单向承托件15包括承托件本体151和承托块152。承托件本体151的中部朝向自身内部凹陷形成一容置槽153，且容置槽153的下部沿自身长度方向(即图10中左右方向)设有一连接轴154，承托块152通过该连接轴154与承托件本体151活动连接。在容置槽153的表面、承托块152的内表面中均嵌入有磁铁155，且嵌入在容置槽153的表面的磁铁与嵌入在承托块152的内表面的磁铁二者相对的磁极是磁性相同的。由于同极性相排斥，如图11(a)所示，使承托块152从容置槽153中向外伸出，此时承托块152的承托面1521向上，能够承托位于其上方的料盘。当外界施加压力大于承托块152与容置槽153之间的排斥力时，如图11(b)所示，承托块153收容至容置槽153中，此时承托块152的外表面1522与承托件本体151的外表面1511处于同一平面。
此外，结合图5(a)至图8，在第一指定位置处，为了准确限定料盘位置，在第一水平框架112内侧面、料盘夹持组件的连接部141与第一水平框架112相对的侧面上分别设有左右两个弧形限位件16，当料盘夹持组件12下降至与第一水平框架112大致处于同一水平位置时，这四个弧形限位件16共同形成能够匹配料盘形状的第一限位空间。通过四个弧形限位件可将顶升至第一指定位置的料盘限定在该第一限位空间中。类似地，在第二水平框架113上靠近框架的后侧面111区域固设有横跨固定件17，该横跨固定件沿第二水平框架113长度方向横跨设置在第二水平框架113的两条框架条上，在第二水平框架113内侧面、横跨固定件17与第二水平框架113相对的侧面上也分别设有左右两个弧形限位件16，这四个弧形限位件16共同形成能够匹配料盘形状的第二限位空间。当料盘顶升至第二指定位置时，通过四个弧形限位件可将料盘限定在该第二限位空间中。与此同时，为了使料盘能够稳定的容置在第二限位空间中，在第二限位空间的四个弧形限位件相邻位置处也分别设有单向承托件，四个单向承托件共同作用将料盘承托在其上方。
另外，为了配合第一机械手移取产品，在框架11的第一水平框架113的前侧框架条上朝向框架11外部固设一水平支架114，第一机械手1设置于该水平支架114上。
具体地，结合图12至图14所示，第一机械手3包括相互垂直设置的第一机械臂31和第二机械臂32， 以及设置在第二机械臂32上的第一抓取部33。其中，第一机械臂31固定设置在自动升降机构1的水平支架114上，第一机械臂31上设有第一滑台311，第二机械臂32通过第一滑台311与第一机械臂31滑动连接，第二机械臂32可沿第一机械臂31的长度方向(即图1中的左右方向)来回移动。第二机械臂32上设有第二滑台321，第一抓取部33通过第二滑台321与第二机械臂32滑动连接，第一抓取部33能够沿第二机械臂32的长度方向(即图1中的上下方向)来回移动，由此使得第一抓取部可实现水平面上任一点位的抓取。在本实施例中，由于第一机械手最终需要将产品运送至输送定位机构上，因此第一机械手中的第一抓取部朝向输送定位机构的方向设置，以实现第一机械手的功能。另外，由于所要移取的产品为触摸屏面板，因此第一抓取部采用真空吸嘴，由此在不划伤产品的前提下完成产品的移取或运送。实际上，当所需移取的产品为其它产品，如球形产品或耐磨防刮花的方形产品时，第一抓取部也可根据产品的形状与特性采用其它的常见抓取结构，例如爪型抓取夹具等。
结合图1、图15所示，料盘4设置在自动升降机构1中。具体地，装有产品的料盘4放置于送料组件13的送料平台132上，当料盘4中的产品被第一机械手3全部移取后，使料盘4成为空的料盘4，空的料盘4放置在第二限位空间中。本实施例中的料盘4包括镂空的网格结构41和用于围合该网格结构的圆角矩形边框42，该料盘用于将产品(图未示)平放在其中，供第一机械手移取。其中，在圆角矩形边框42的四个圆角处设有向下凸伸出的支撑块43，通过这些支撑块43能够使上下相邻叠放的两个料盘的圆角矩形边框之间形成一定缝隙，从而使自动升降机构1的单向承托件15能够有效承托料盘4。具体地，当料盘在上升过程中经过单向承托件时，由于料盘的圆角矩形边框会对单向承托件向外伸出的承托块造成挤压，使承托块收容至单向承托件的容置槽中。当料盘上升至恰好料盘底部离开单向承托件，此时单向承托件未受到外界施力的影响，承托块由于同极性相排斥而从容置槽中伸出，且伸出位置恰处于上下相邻叠放的两料盘之间的缝隙中，由此实现对位于承托块上方的料盘的承托作用。
在本实施例中，结合图16至图17所示，自动插架机构2包括机构主体21、从机构主体21后侧区域向上延伸形成的支架22、以及固设在机构主体21上的第三滑台23，输送定位机构5设置在机构主体21靠近自动升降机构的一侧，第二机械手6设置在支架22上，料架7通过第三滑台23活动连接于机构主体21。
具体地，在本实施例中，输送定位机构5设于机构主体21上靠左侧边缘的区域，使第一机械手3的第一抓取部33能够抓取产品并将其移至输送定位机构5上。结合图16至图17所示，输送定位机构5包括传送组件51、定位气缸52和定位靠角53。其中，传送组件51包括固定设置在机构主体21上靠左侧边缘区域的定滑轮以及与定滑轮匹配组合的传送带(图未示)，该传送组件51用于传送放置在传送带上的产品，传送组件51的长度方向与第一机械手3中的第二机械臂32平行，以使第一机械手3的抓取部23能够将产品顺利移取至传送带上。定位气缸52和定位靠角53均设于靠近传送组件51后侧的区域中，其中定位气缸52与传动组件51后侧的定滑轮相连接，用于对传送组件的运动进行启停的控制。具体是在定位气缸52上还设有与定位气缸电性连接的传感器，定位气缸52通过传感器控制传送组件的启动与停止，当传送组件上的产品输送到传送组件的尾端时，传送组件自动停止工作。定位靠角53位于传送组件51的右侧，且定位靠角53通过动力机构控制，使定位靠角能够沿垂直于传送组件长度方向来回移动，用于限定并纠正位于传送组件上的产品位置。
在本实施例中，支架22是从机构主体21的后侧竖直向上延伸形成的横跨机构主体21的支架。结合图16和图18所示，第二机械手6包括相互垂直的第三机械臂61、第四机械臂62以及设置在第四机械臂62底部的第二抓取部63和光纤传感器64。其中，第三机械臂61沿水平方向固设在支架22上，在第三机械臂61上设有第四滑台，第四机械臂62通过第四滑台与第三机械臂61滑动连接，使第四机械臂62能够沿第三机械臂61的长度方向水平移动。此外，在第四机械臂62上还设有相对于第四机械臂移动的升降连接部，其中升降连接部通过动力机构带动能够进行升降移动，升降连接部的下端通过转动轴与第二抓取部63转动连接，由此通过升降连接部的升降移动带动第二抓取部63的升降移动。另外，在本实施例中第二抓取部63能够绕转动轴进行90。旋转，使第二抓取部63能够面向下方进行移取产品的操作，也能够面向前方进行移取产品的操作。本实施例中的第二抓取部63包括旋转气缸以及与该旋转气缸相连接的真空吸嘴，通过旋转气缸使真空吸嘴实现90。旋转。光纤传感器64固设在第四机械臂62上，用于感应第二抓取部63将产品竖向插入的位置。
在本实施例中，产品主要是指用作智能手机或平板电脑屏幕的触摸屏面板，料架7是用于竖向插设触摸屏面板的料架。结合图16、图19和图20所示，本实施例中在第三滑台23上设有两个结构相同的料架，该两料架被固定于一矩形料架框内。任一料架7由第一板框71、第二板框72、第三板框73和第四板框74共同围合形成，且在各板框内部靠近板框下边缘处分别设有加固条76，用于加固料架的整体结构。该料架7还包括长度沿前后方向延伸(即图20中沿上下方向延伸)且两端分别连接于第一板框71和第三板框73的第一定位条751、第二定位条752、第三定位条754、第四定位条754、第五定位条755和第六定位条756，上述六个定位条均为一侧边上设有锯齿的结构，且六个定位条相互平行。
其中，第一定位条751和第二定位条752位于料架7的顶部区域内，且间隔一定距离设置。第一定位条751的锯齿、第二定位条752的锯齿相对而设且均朝向料架7内部(即第一定位条751的锯齿朝向图20中的右侧，第二定位条752的锯齿朝向图20中的左侧)，第一定位条的锯齿与第二定位条的锯齿大小、形状、位置均相互对应，从而使二者之间形成用于卡固放置产品的卡槽，可在左右方向上固定放置于卡槽中的产品。第三定位条753位于料架7的底部区域内，且从竖直方向看(即图20中朝纸面向外的方向看)，第三定位条753位于第一定位条751与第二定位条752的中间。第三定位条753的锯齿竖直朝上开设(即图20中朝纸面向外)，形成用于卡固放置产品的卡槽，可在前后方向(即图20中沿上下方向)上固定放置于卡槽中的产品。结合上述第一定位条和第二定位条的作用，使得产品可稳固地插入在料架7中。类似地，第四定位条754、第五定位条755和第六定位条756的结构及设置位置也分别与第一定位条751、第二定位条752、第三定位条753相同，因此不再赘述。
此外，为了能够灵活调节各定位条之间的距离，在本实施例中，第一板框71的上侧边缘朝向料架7内部弯折并水平延伸形成有距离调节板711，在距离调节板711上间隔开设有四个长条形开孔712，这四个长条形开孔712的位置分别对应于第一定位条751、第二定位条752、第四定位条753和第五定位条754。现以第一定位条为例说明第一定位条与距离调节板之间的结构关系与调节方式，其他定位条与距离调节板之间的结构关系与调节方式也是相同的，故不再赘述。第一定位条751与第一板框71相连接的一端设于距离调节板711下方，第一定位条751的该端上设有螺纹孔，且螺纹孔的位置恰好对应于长条形开孔712下方，螺栓(图未示)穿过长条形开孔后能够与第一定位条的螺纹孔进行螺纹连接，从而使第一定位条与第 一板框固定连接。可以理解的是，在第三板框的上侧边缘朝向料架内部弯折延伸也形成有距离调节板，且第一定位条与第三板框之间也通过螺接方式固定连接。当需要调节第一定位条与其他定位条之间的间距时，只需拧松螺栓，将螺栓从螺纹孔中取出，即可调节第一定位条的位置，最终实现不同定位条之间间距的调节。
另外，本实施例中，距离调节板上除了设有长条形开孔，还设有若干独立的小的圆形开孔，这些圆形开孔同样可以用于调节不同定位条之间的间距。
本实施例的用于产品自动转移料架的装置，其工作过程大致包括两个过程：将产品从料盘中取出的过程和将产品插入至料架的过程。
将产品从料盘中取出的过程具体如下：
首先，将若干装有产品的料盘4放置在自动升降机构1的送料组件13中，在工作驱动机构的驱动下，送料组件13由下至上移动，直到将位于送料组件13最上方的料盘4顶升至第一指定位置(即大致顶升至第一水平框架112所处的位置)，此时料盘被固定于第一限位空间中；其次，第一机械手3的第二机械臂32按照运动轨迹移动至产品所在位置，第一抓取部33的真空吸嘴将产品吸住，第二机械臂32和第一抓取部33再按照另一运动轨迹将产品移送至输送定位机构5上，由此完成将产品从料盘中取出的过程。
另外，当第一机械手3将全部产品移送至输送定位机构5之后，位于送料组件13最上方的料盘4成为空的料盘4，此时会进行将空的料盘4回收的过程。具体是，在工作驱动机构的驱动下，第一升降机构1中的料盘夹持组件14下降至第一指定位置处，使位于料盘夹持组件14内侧的单向承托件15刚好位于空的料盘4与其下方料盘之间的缝隙中，从而使单向承托件15中的承托块因同极性相排斥而从容置槽中伸出，由此单向承托件将空的料盘托起。在料盘被托起后，料盘夹持组件14从第一指定位置向上升，直至顶升至第二指定位置处，使空的料盘4位于第二限位空间中，并使空的料盘4位于该第二限位空间的单向承托件上方，从而使单向承托件承托住空的料盘，在第二限位空间与相应的单向承托件共同作用下，使空的料盘存放于该第二限位空间中并位于单向承托件上方。
将产品插入至料架的过程具体如下：
当产品被移送至输送定位机构5上后，首先，在工作驱动机构的驱动下，输送定位机构5将产品输送至传送组件的尾端，传送组件停止传送工作，此时第二机械手6按照运动轨迹移动至对应于产品所在位置，第二机械手6上的第二抓取部63转向下方，使第二抓取部63的真空吸嘴面对产品，升降连接部66下降，第二抓取部63的真空吸嘴吸附产品，吸附后，升降连接部66上升；接着，第二机械手6的第四机械臂62按照运动轨迹移动至料架相应位置处，第二抓取部63进行90°旋转，使产品面向前方，升降连接部66下降，根据光纤传感器的感应位置，第二抓取部63将产品插入相应位置的料架中，由此完成产品插入至料架的过程。
重复进行产品从料盘中取出的过程和将产品插入至料架的过程，直至所有产品从料盘中转移至料架中，实现产品自动转移料架的目的。
另外，本实施例中的工作驱动机构可采用现有技术对系统中的各个零部件进行驱动控制，在此不再一一赘述。
实施例三
本实施例与实施例二的区别仅在于单向承托件的结构不同，具体是：在承托块的内表面与容置槽的表面中不再嵌入磁铁，而是在承托块的内表面与容置槽的表面之间设置可恢复形变的弹簧，使承托块与容置槽之间弹性连接。当没有外界施加压力的情况下，由于弹簧的弹性，使承托块从容置槽中向外伸出，此时承托块的承托面向上，能够承托位于其上方的料盘。当外界施加压力大于承托块与容置槽之间的弹力时，承托块收容至容置槽中，此时承托块的外表面与承托件本体的外表面处于同一平面。

Claims (10)

  1. 一种用于产品自动转移料架的装置，其特征在于：包括自动升降机构和自动插架机构，自动升降机构上还包括第一机械手料盘、输送定位机构、第二机械手和料架、工作驱动机构。
  2. 根据权利要求1所述的装置，所述自动升降机构还用于在所述工作驱动机构的驱动下将空的所述料盘按第四预设轨迹移放至第二指定位置。
  3. 根据权利要求2所述的装置，其特征在于：所述自动升降机构包括框架、固设在所述框架上的升降轴以及分别设在所述升降轴上的送料组件和料盘夹持组件。
  4. 根据权利要求3所述的装置，其特征在于：所述升降轴包括分别独立固设在所述框架上的第一升降轴、第二升降轴和第三升降轴。
  5. 根据权利要求1所述的装置，其特征在于：在所述料盘夹持组件的夹持臂上设有单向承托件，所述单向承托件包括承托件本体和相对于所述承托件本体活动连接的承托块。
  6. 根据权利要求5所述的装置，其特征在于：所述容置槽的表面、所述承托块的内表面中均嵌入有磁铁，且嵌入在所述容置槽的表面的磁铁与嵌入在所述承托块内表面的磁铁二者相对的磁极是磁性相同的。
  7. 根据权利要求1所述的装置，其特征在于：所述框架上朝向所述框架外部固设有水平支架。
  8. 根据权利要求1所述的装置，其特征在于：所述料盘包括镂空的网格结构和用于围合所述网格结构的边框。
  9. 根据权利要求1所述的装置，其特征在于：所述自动插架机构包括机构主体、从所述机构主体后侧区域向上延伸形成的支架、以及固设在所述机构主体上的第三滑台。
  10. 根据权利要求1所述的装置，其特征在于：连接有所述定位条的板框沿自身边缘朝向所述料架内部弯折水平延伸形成有距离调节板，在所述距离调节板上间隔开设有若干开孔，所述开孔的位置分别对应于所述定位条。
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