WO2023071319A1 - 一种层叠托盘分层上料装置 - Google Patents

一种层叠托盘分层上料装置 Download PDF

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Publication number
WO2023071319A1
WO2023071319A1 PCT/CN2022/107259 CN2022107259W WO2023071319A1 WO 2023071319 A1 WO2023071319 A1 WO 2023071319A1 CN 2022107259 W CN2022107259 W CN 2022107259W WO 2023071319 A1 WO2023071319 A1 WO 2023071319A1
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Prior art keywords
clamping
lifting platform
stacked
trays
tray
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PCT/CN2022/107259
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English (en)
French (fr)
Inventor
朱继田
朱涛
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苏州精濑光电有限公司
武汉精测电子集团股份有限公司
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Publication of WO2023071319A1 publication Critical patent/WO2023071319A1/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
    • B65G59/00—De-stacking of articles
    • B65G59/06—De-stacking from the bottom of the stack
    • B65G59/061—De-stacking from the bottom of the stack articles being separated substantially along the axis of the stack
    • B65G59/062—De-stacking from the bottom of the stack articles being separated substantially along the axis of the stack by means of reciprocating or oscillating escapement-like mechanisms
    • 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
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B65G57/035—Stacking of articles by adding to the top of the stack from above with a stepwise downward movement of the stack
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins

Definitions

  • the invention belongs to the technical field of automatic manufacturing, and in particular relates to a layered feeding device for stacked trays.
  • pallets are generally designed as a structure that can be stacked. Taking the display panel test as an example, during the entire test process, the trays are transferred in a stacked manner, and the display panels in each layer are taken out-tested-put back.
  • the stacked trays are placed in a certain position, and the uppermost panel is sucked by the manipulator to the test machine for testing. At this time, the manipulator is required to transfer the empty tray to another station to facilitate the display after the test. panel back. Due to the small edge of the tray, the robot picks up the tray from a large area in the middle, which may cause damage to the display panel below it.
  • the robot picks up the tray from a large area in the middle, which may cause damage to the display panel below it.
  • the operation procedure is complicated, which reduces production efficiency; when multiple manipulators complete the pick-and-place action separately, the operating space is limited, which is prone to interference problems.
  • the purpose of the present invention is to provide a layered feeding device for stacked trays that is easy to use and stable in operation, to realize rapid layering of stacked trays, and to transfer separated trays, which is convenient Loading and unloading.
  • a layered feeding device for stacked trays comprising a lifting platform and a separation mechanism
  • the lifting platform is used to place stacked trays and drive the trays to perform lifting movements
  • the separation mechanism includes inserts located on both sides of the lifting platform
  • the inserting piece moves in a direction parallel to the bottom surface of the stacked tray and can be inserted into the bottom surface of any layer of the stacked tray to support any layer and the tray on it; when the inserting After the sheet supports the any layer and the tray on it, the lifting platform descends to take out the products in the tray on the lifting platform for loading.
  • the insertion piece is installed on the installation base, and the installation base moves towards or away from each other, so that the insertion piece moves toward or away from the stacked tray.
  • the insertion piece is connected with a connecting plate, and the two ends of the connecting plate are respectively provided Position blocks, adjust the distance between the limit blocks to position the pallet in the length direction of the pallet, and the connecting plate itself positions the pallet in the width direction to prevent prolapse.
  • Clamping drive parts are provided on both sides of the lifting platform, and push plates are connected to the clamping driving parts, and the pushing plates clamp the trays on the lifting platform from both sides to prevent the trays from Lifting platform out.
  • the clamping driving part is a first clamping cylinder and a second clamping cylinder, and the first clamping cylinder and the second clamping cylinder are equipped with at least two sensors for feedbacking the position signal of the piston rod; wherein , the sensor on the first clamping cylinder feeds back signals in the fully extended and fully retracted states; the sensor on the second clamping cylinder feeds back signals in the half-extended and fully retracted states; combined Feedback signals from the first clamping cylinder and the second clamping cylinder determine whether there is a pallet on the lifting platform and whether the pallet is clamped.
  • a magnetic induction sensor is selected in production, and a magnetic signal is used to directly feed back the position information of the piston rod, which has high stability.
  • first clamping cylinder and the second clamping cylinder when both the first clamping cylinder and the second clamping cylinder are fully retracted, it means that no clamping action is performed; when the first clamping cylinder is fully extended and the second clamping cylinder is half extended, it means that The pallet has been clamped; when the first clamping cylinder is fully extended and the second clamping cylinder has no feedback signal, it means that there is no pallet on the lifting platform.
  • the first clamping cylinder is fixedly installed on one side of the lifting platform, and the second clamping cylinder is installed on the other side of the lifting platform in an adjustable position, and the second clamping cylinder is adjusted according to the length of the pallet.
  • the installation position of the clamping cylinder, thereby adjusting the relative position of the first clamping cylinder and the second clamping cylinder, is convenient to use the same piston rod position signal for monitoring.
  • the layered tray feeding device also includes a transfer mechanism, the lifting platform is installed on the transferring mechanism, and moves under the drive of the transferring mechanism, so that the lifting platform is away from or returns to the Below the several layers of trays separated by the separation mechanism. In this way, the separated tray can be far away from the bottom of the separation mechanism, which is more convenient for the manipulator to pick and place the product from the top.
  • the transfer mechanism includes a moving plate, a belt transmission mechanism, a skeleton plate and a linear motion mechanism.
  • the moving plate is fixed on the belt of the belt transmission mechanism through a slider to drive the lifting platform to move; the belt passes through the fixed
  • the board is fixedly installed on the frame, the skeleton board is connected with the wheel shaft of the belt transmission mechanism, and the linear motion mechanism drives the skeleton board to move linearly, so that the belt drives the lifting platform to move at double speed, so that The trays on the lifting platform are quickly moved out or moved back under the separation mechanism.
  • One side of the separation mechanism is provided with a clamping mechanism, the transfer mechanism transports the separated tray to the clamping mechanism, and the manipulator loads and unloads the products in the tray from the clamping mechanism;
  • the clamping mechanism It consists of two beams that can move relative or opposite each other. Clamping blocks are provided at both ends of the beams. The clamping blocks form a clamping area for clamping the separated pallets. At this time, the manipulator moves from the clamping
  • the holding mechanism takes and unloads the material, and the transfer mechanism transfers the pallet to the clamping mechanism, and then returns to the separation mechanism to separate the next pallet.
  • the clamping block is provided with a placement groove for accommodating the corners of the pallet, and at one end of the beam, the mounting position of the clamping block is adjustable.
  • the lifting platform makes the tray flush with the placement slot, and the crossbeam moves toward the tray so that the four corners of the tray are accommodated in the placement slot.
  • the installation position of the clamping block is adjusted to adapt to pallets of different sizes.
  • a lifting mechanism and a transportation mechanism are arranged below the clamping mechanism, and the lifting mechanism transfers the tray on the clamping mechanism to the transportation mechanism, and the transportation mechanism transports the tray to the discharge position, and the discharge position is located at the Below the separation mechanism.
  • Empty pallets on the clamping mechanism or pallets loaded with products after the test are completed can be stacked again on the lifting mechanism to form a stacked pallet again, and the stacked pallet is transferred to the transport mechanism to be transported out to complete the unloading work of the entire stacked pallet.
  • the stacked tray layered feeding device is taken as a whole, and the loading and unloading positions are on the same side of the device, which is compact in structure and easy to operate.
  • the beneficial effects of the present invention mainly include:
  • the device has high operating stability, safe and reliable operation.
  • Fig. 1 is a schematic structural view of a layered feeding device for stacked trays in Embodiment 1;
  • Fig. 2 is the structural schematic diagram of separation mechanism and lifting platform in Fig. 1;
  • Fig. 3 is a structural schematic diagram of the transfer mechanism and the lifting platform in Fig. 1;
  • Fig. 4 is a schematic structural view of the first clamping cylinder in Fig. 3;
  • Fig. 5 is a schematic structural view of the clamping mechanism in Fig. 1;
  • Fig. 6 is a structural schematic diagram of the lifting mechanism and the transport mechanism in Fig. 1 .
  • the layered feeding device for stacked trays includes a lifting platform 2 and a separation mechanism 3 .
  • the separation mechanism 3 includes two sets of mounting bases 30 mounted on the frame 1 facing each other, and the lifting platform 2 is located between the two sets of mounting bases 30 .
  • An insertion piece 31 is provided on the mounting base 30 , and the insertion piece 31 moves toward or away from the lifting platform 2 under the action of the first cylinder 35 .
  • the inserting piece 31 can be a whole board, also can be the support surface that several strips form.
  • the lifting platform 2 performs lifting movement under the action of the second cylinder 21 .
  • the insert 31 In the initial state, the insert 31 is far away from the lifting platform 2. When working, place stacked pallets such as 20-layer pallets on the lifting platform 2, and drive the second cylinder 21 to make the bottom pallet, that is, the 20th pallet and the 19th pallet At this time, the first cylinder 35 is activated to move the insert 31 towards the lifting platform 2, and the 19th layer tray and the remaining 18 layer trays on it are all carried on the insert 31 , to drive the second cylinder 21 to move the lifting platform downward, so that the bottom tray is separated from other trays to complete the layering action.
  • the first cylinder 35 is activated to move the insert 31 towards the lifting platform 2, and the 19th layer tray and the remaining 18 layer trays on it are all carried on the insert 31 , to drive the second cylinder 21 to move the lifting platform downward, so that the bottom tray is separated from other trays to complete the layering action.
  • the mounting base 30 is installed on the frame 1 through the first slide rail 36 , and the position of the mounting base 30 on the first slide rail 36 is adjusted according to the width of the tray, and locked and fixed with the first nut 34 .
  • the connecting plate 32 is connected to the inserting piece 31, and the two sides of the connecting plate 32 are provided with a bar hole 321 and a limit block 33 which is movably connected with the bar hole 321, and the limit block 33 is adjusted according to the length of the pallet.
  • the mounting position on the hole 321 is locked and fixed with the first nut 34 . In this way, the applicability of the separation mechanism 3 to pallets of different sizes is realized, and the adjustment is convenient.
  • first clamping cylinders 22 and second clamping cylinders 23 are provided on both sides of the lifting platform 2 for clamping the pallet.
  • the first clamping cylinders 22 and the piston rod of the second clamping cylinder 23 are all connected with a push plate 24, and the push plate 24 moves in opposite directions to clamp the pallet.
  • the surface of the push plate 24 in contact with the pallet is set as an inclined plane, and its angle is the same as the draft angle of the pallet, which increases the contact area between the two.
  • the first clamping cylinder 22 is provided with two magnetic induction sensors A and B, the magnetic induction sensor A feedback signal when the first clamping cylinder 22 is fully extended, and the magnetic induction sensor A is fully retracted.
  • the second clamping cylinder 23 is also provided with two magnetic induction sensors A' and B' (not shown in the figure), the magnetic induction sensor A' feedback signal when the second clamping cylinder 23 is half extended, the full
  • the magnetic induction sensor B' feedbacks the signal; judges whether there is a tray on the lifting platform 2 and whether the tray is in a clamped state based on the received feedback signal.
  • the second clamping cylinder 23 is fully extended, indicating that there is no pallet on the lifting platform 2 .
  • the supply pressure of the first clamping cylinder 22 and the second clamping cylinder 23 is 0.1Mpa.
  • the installation positions of the first clamping cylinder 22 and the second clamping cylinder 23 are related to the size of the pallet.
  • the first clamping cylinder 22 and the second clamping cylinder 23 are installed by the side plates on both sides of the lifting platform 2, and the installation position of the first clamping cylinder 22 on the lifting platform 2 is fixed as a reference position.
  • the installation position of the second clamping cylinder 23 on the side of the lifting platform 2 is adjusted according to the size of the pallet, and correspondingly, a chute for adjusting the installation position is provided on the side.
  • the first scale 25 for adjusting the position is also provided on the lifting platform 2 to ensure the adjustment accuracy.
  • a transfer mechanism 4 is provided under the lifting platform 2 for transporting the separated trays, which is convenient for loading or unloading.
  • the transfer mechanism 4 includes a moving plate 41, a belt transmission mechanism, a skeleton plate 44 and a linear motion mechanism.
  • the linear motion mechanism is a lead screw pair 45.
  • it can also be a line rail slider, an electric cylinder, an air cylinder, etc.
  • the belt transmission mechanism can also use a chain when the transport object has no requirements for the environment. transmission mechanism instead.
  • the second cylinder 21 is installed on the moving plate 41, and the moving plate 41 is fixedly connected with the belt 43 through the slider 42 at the bottom, and the belt 43 is also fixedly connected with a fixed plate 48, and the fixed plate 48 and the lead screw pair 45 are all installed on the on rack 1.
  • the two ends of the skeleton plate 44 are respectively fixedly connected with the wheel shaft of the pulley, and the middle part is connected with the screw nut 46 of the lead screw pair 45.
  • the lead screw pair 45 is driven by a motor 47, which drives the screw nut seat 46 to move linearly, thereby driving the skeleton plate 44 linearly. sports.
  • the principle of action is: the movement of the skeleton plate 44 makes the pulley move linearly, and the belt 43 is fixed by the fixed plate 48, and the moving plate 41 connected with the belt 43 moves linearly at twice the speed, that is, when the nut 46 drives the skeleton plate 44, the pulley When moving 1mm, the moving plate 41 moves 2mm.
  • a set of belts are connected to both sides of the moving plate 41, and the lead screw pair 45 is located between the two sets of belts 43, which improves the stability during the transfer.
  • a clamping mechanism 5 is provided on one side of the separation mechanism 3 .
  • the bottom pallet separated by separation mechanism 3 is transferred to clamping mechanism 5 through transfer mechanism 4.
  • the clamping mechanism 5 includes two crossbeams 51 that are slidably connected to the second slide rail 50.
  • Clamping blocks 52 are installed at both ends of the crossbeams 51 through second locking nuts 54.
  • Four clamping blocks 52 form a clamping area.
  • Placement slots 521 are provided on the clamping block 52 for placing the corners of the tray so as to support the tray.
  • a support plate 53 is provided in the middle of the beam 51 to serve as an auxiliary support.
  • the second scale 56 used when adjusting the position is also provided at the corresponding position of the beam 51 .
  • the transfer mechanism 4 makes the tray reach the inside of the clamping area of the clamping mechanism 5, and the beam 51 moves along the second slide rail 50 to clamp holding tray.
  • a lifting mechanism 6 and a transport mechanism 7 are provided below the clamping mechanism 5 .
  • the lifting mechanism 6 is used to transfer the pallet on the clamping mechanism 5 to the transport mechanism 7, and then transported out by the transport mechanism 7.
  • the lifting mechanism 6 includes a group of lifting plates 61 that move up and down along the guide rods 62 .
  • the transport mechanism 7 includes two sets of parallel conveyor belts 71 , and the lifting plates 61 are located between the conveyor belts 71 .
  • the lifting plate 61 supports the tray from the bottom, and the beam 51 moves to both sides to release the tray, and the lifting plate 61 moves downward, and the tray is placed on the conveyor belt 71 .
  • the motor drives the conveyor belt 71 to run, and the tray is transported to the discharge position, and the lifting plate 61 is raised. Wherein the discharge position is below the separation mechanism 3, so that the whole stacked tray layered feeding device is taken as a whole, and the loading and unloading positions are on the same side of the device, so the structure is compact and easy to operate.
  • One end of the lifting plate 61 is provided with a baffle 63 and a row of installation holes 64 for installing the baffle 63 , and a suitable installation hole 64 is selected to install the baffle 63 according to the size of the pallet.
  • Rollers 72 are arranged on both sides of the conveyor belt 71, and when the size of the tray is large, the rollers 72 play a supporting role.
  • a protective plate 73 is also provided on the outer side of the roller 72 to prevent the tray from coming out from both sides.
  • the specific working process of the layered tray loading device is as follows:
  • the lifting mechanism 6 rises to support the pallet on the clamping mechanism 5 from the bottom. According to the needs of production, the panel to be tested is put back into the pallet, or only the empty pallet is lowered to a certain height until all the 20-layer pallets return to the lifting mechanism 6 When going up, all pallets are also transferred to the transport mechanism 7, and the conveyor belt 71 moves so that the pallets or empty pallets carrying the tested panels are transported out.
  • the above working process is only an example. In practice, some combinations of lifting platform, separation mechanism, transfer mechanism, clamping mechanism, lifting mechanism and transportation mechanism can be set up to carry out some work in product production and testing. .
  • the insertion piece 31 can be inserted into the bottom surface of any layer of the stacked trays as required, not limited to the penultimate layer.

Abstract

本发明公开了一种层叠托盘分层上料装置，可应用于多层料件的分层上下料工作中；包括升降载台和分离机构，所述升降载台用于放置层叠托盘并带动托盘进行升降运动，所述分离机构包括位于所述升降载台两侧的插片，所述插片在沿平行于所述层叠托盘底面的方向运动并可插入所述层叠托盘其中任一层托盘的底面，用于支撑该任一层及其上的托盘；当所述插片支撑该任一层及其上的托盘后，所述升降载台下降，以取出所述升降载台上托盘内的产品进行上料。本发明的层叠托盘分层上料装置结构紧凑，运行稳定，自动化程度高，可以对层叠堆放的托盘自动分层，便于机械手自动完成上下料。

Description

一种层叠托盘分层上料装置 技术领域
本发明属于自动化制造技术领域，尤其涉及一种层叠托盘分层上料装置。
背景技术
在生产制造组装及测试中，电子元器件一般容纳在托盘中，尤其是容易污染受损的零件。为了搬运方便，托盘一般设计为可以层叠堆积的结构。以显示面板测试为例，在整个测试过程中，托盘以层叠方式进行转运，完成每一层内显示面板的取出-测试-放回。
在现有的自动化生产中，堆叠的托盘放置在一定位置，利用机械手吸取最上层的面板到测试机台进行测试，此时需要机械手将空的托盘转移到另一工位，方便测试后的显示面板放回。由于托盘的边缘较小，机械手从中间大面积处吸取托盘，这就可能造成对其下方的显示面板造成损坏。另外，单个机械手完成时操作程序复杂，降低生产效率；多个机械手分别完成取放动作时操作空间有限，容易产生干涉问题。
因此，有必要提供一种能够使用方便、运行稳定的层叠托盘分层上料装置，提高层叠托盘中所容纳材料的组装、测试效率。
发明内容
鉴于以上所述现有技术的不足，本发明的目的在于：提供一种能够使用方便、运行稳定的层叠托盘分层上料装置，实现层叠托盘的快速分层，并对分离托盘进行移送，方便上下料。
为实现上述部分或全部发明目的，本发明提供以下技术方案：
一种层叠托盘分层上料装置，包括升降载台和分离机构，所述升降载台用于放置层叠托盘并带动托盘进行升降运动，所述分离机构包括位于所述升降载台两侧的插片，所述插片在沿平行于所述层叠托盘底面的方向运动并可插入所述层叠托盘其中任一层托盘的底面，用于支撑该任一层及其上的托盘；当所述插片支撑该任一层及其上的托盘后，所述升降载台下降，以取出所述升降载台上托盘内的产品进行上料。
工作中，将层叠托盘放置于升降载台上，控制升降载台的高度，例如使底层托盘与倒数第二层托盘的中间位置和插片平齐，两侧的插片朝向层叠托盘运动，支撑倒数第二层及以上的托盘，此时控制升降载台下降，使底层托盘与插片上的其他层托盘分离，机械手从底层托盘上取出产品，当需要测试完成后将产品放回原托盘中时待产品放回后控制升降载台的高度，使升降载台重新支撑插片上的托盘，插片远离托盘运动，调整升降载台高度，使倒数第二层托盘与倒数第三层托盘的中间位置和插片平齐，重复以上动作，完成整个层叠托盘内产品的上下料。
所述插片安装于安装座上，所述安装座相向或相背运动，使得所述插片朝向或远离层叠托盘运动，所述插片上连接有连板，所述连板两端分别设有限位块，调节所述限位块之间的距离以在托盘长度方向上对托盘进行定位，连板本身在宽度方向上对托盘进行定位，防止脱出。
所述升降载台的两侧均设有夹紧驱动部，所述夹紧驱动部上均连接有推板，所述推板从两侧夹紧所述升降载台上的托盘，防止托盘从升降载台上脱出。
所述夹紧驱动部为第一夹紧气缸和第二夹紧气缸，所述第一夹紧气缸和第二夹紧气缸上均设有至少两个用于反馈活塞杆位置信号的传感器；其中，所述第一夹紧气缸上的传感器分别在全伸出和全缩回状态下反馈信号；所述第二夹紧气缸 上的传感器分别在半伸出和全缩回状态下反馈信号；结合第一夹紧气缸和第二夹紧气缸的反馈信号判断所述升降载台上有无托盘、托盘是否夹紧。优选的，在生产中选择磁感应传感器，利用磁信号直接反馈活塞杆的位置信息，稳定性高。具体的，当第一夹紧气缸和第二夹紧气缸均为全缩回时，说明未进行夹紧动作；当第一夹紧气缸全伸出、第二夹紧气缸半伸出时，说明托盘已经夹紧；当第一夹紧气缸全伸出、第二夹紧气缸无反馈信号时，说明升降载台上无托盘。
所述第一夹紧气缸固定安装于所述升降载台一侧，所述第二夹紧气缸位置可调地安装于所述升降载台另一侧，根据托盘长度尺寸调节所述第二夹紧气缸的安装位置，从而调节第一夹紧气缸和第二夹紧气缸的相对位置，方便利用同一活塞杆位置信号进行监控。
所述层叠托盘分层上料装置还包括移送机构，所述升降载台安装于所述移送机构上，并在所述移送机构的带动下移动，使所述升降载台远离或回到所述分离机构所分离出的若干层托盘的下方。这样，分离出的托盘可以远离分离机构下方，更方便机械手从顶部取放产品。
所述移送机构包括移板、带传动机构、骨架板和直线运动机构，所述移板通过滑块固定于所述带传动机构的皮带上，带动所述升降载台移动；所述皮带通过固定板固定安装于机架上，所述骨架板与所述带传动机构的轮轴连接，所述直线运动机构驱动所述骨架板直线运动，从而使所述皮带带动所述升降载台倍速运动，使升降载台上的托盘快速移出或移回分离机构下方。
所述分离机构的一侧设有夹持机构，所述移送机构将分离出的托盘运送至所述夹持机构，机械手由所述夹持机构上对托盘内产品上下料；所述夹持机构包括两个能够相对或相背运动的横梁，所述横梁的两端均设有夹持块，所述夹持块形 成夹持区域，用于夹持分离出的托盘，此时，机械手从夹持机构上取放料，移送机构将托盘转送至夹持机构后即可回到分离机构下方进行下一个托盘的分离。
所述夹持块上设有用于容纳托盘边角的放置槽，在所述横梁的一端，所述夹持块的安装位置可调。工作时，升降载台使托盘与放置槽平齐，横梁朝向托盘运动，使托盘的四角容纳于放置槽内。调节夹持块的安装位置，目的在于适应不同尺寸的托盘。
所述夹持机构下方设有升降机构和运输机构，所述升降机构将夹持机构上的托盘转送至运输机构，所述运输机构将托盘运送至出料位置，所述出料位置位于所述分离机构下方。夹持机构上的空托盘或者测试完成后载有产品的托盘可以重新在升降机构上堆叠起来，再次形成层叠托盘，将层叠托盘转送至运输机构运出，完成整个层叠托盘的下料工作，整个层叠托盘分层上料装置作为一个整体，上下料位置在装置的同一侧，结构紧凑，便于操作。
与现有技术相比，本发明的有益效果主要包括：
1、通过升降载台与分离机构配合，由分离机构从层叠托盘的某一层提供支撑，将其下方的托盘分离开，并利用移送机构转运分离出的托盘，方便对托盘上的产品进行上下料，装置运行稳定性高，运行安全可靠。
2、通过皮带、直线运动机构和骨架板配合，实现倍速运动，提高移送机构的运输效率，提高工作效率，缩小装置的体积。
3、通过在第一夹紧气缸和第二夹紧气缸上均设置传感器来反馈气缸活塞杆的运行位置，从而判断升降载台上托盘的有无状态、夹紧状态，信号反馈稳定，节约成本。
4、通过分离机构、移送机构、夹持机构、升降机构和运输机构的配合使用， 实现由层叠托盘上料到层叠托盘下料的整个运行过程，有利于前后工序的进行，节约人力，节省成本，实现完全自动化，且整个装置结构紧凑，便于操作。
附图说明
为了更清楚地说明本发明具体实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为实施例一中层叠托盘分层上料装置的结构示意图；
图2为图1中分离机构和升降载台的结构示意图；
图3为图1中移送机构与升降载台的结构示意图；
图4为图3中第一夹紧气缸的结构示意图；
图5为图1中夹持机构的结构示意图；
图6为图1中升降机构和运输机构的结构示意图。
附图标记：1-机架，2-升降载台，21-第二气缸，22-第一夹紧气缸，23-第二夹紧气缸，24-推板，A、B-磁感应传感器，25-第一刻度尺；3-分离机构，30-安装座，31-插片，32-连板，321-条形孔，33-限位块，34-第一锁紧螺母，35-第一气缸，36-第一滑轨，4-移送机构，41-移板，42-滑块，43-皮带，44-骨架板，45-丝杠副，46-丝母，47-电机，48-固定板，5-夹持机构，50-第二滑轨，51-横梁，52-加持块，521-放置槽，53-支撑板，54-第二锁紧螺母，55-滑槽，56-第二刻度尺，6-升降机构，61-升降板，62-导杆，63-挡板，64-安装孔，7-运输机构，71-传送带，72-滚轮，73-防护板。
具体实施方式
下面将对本发明具体实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例一：
如图1所示的层叠托盘分层上料装置，包括升降载台2和分离机构3。如图2所示，分离机构3包括正对安装在机架1上的两组安装座30，升降载台2位于两组安装座30之间。在安装座30上设有插片31，插片31在第一气缸35的作用下朝向或远离升降载台2运动。其中插片31可以为一个整体的板材，也可以为若干条形物形成的承托面。如图3所示，升降载台2在第二气缸21的作用下进行升降运动。
在初始状态下，插片31远离升降载台2，工作时，将层叠托盘例如20层托盘放置于升降载台2上，驱动第二气缸21使底层托盘即第20层托盘与第19层托盘的中间位置和插片31平齐，此时，启动第一气缸35，使插片31朝向升降载台2运动，将第19层托盘及其上的其余18层托盘均承载于插片31上，驱动第二气缸21使升降载台向下运动，使最底层的托盘与其他托盘分离出来，完成分层动作。
如图2所示，安装座30通过第一滑轨36安装于机架1上，根据托盘的宽度尺寸调节安装座30在第一滑轨36上的位置，并用第一螺母34锁紧固定。插片31上连接有连板32，在连板32的两侧设有条形孔321和与条形孔321活动连接的限位块33，根据托盘的长度尺寸调节限位块33在条形孔321上的安装位置，并以第一螺母34锁紧固定。如此，实现了分离机构3对不同尺寸托盘的适用性， 且调节方便。
结合图3和图4所示，在升降载台2的两侧设有用于夹紧托盘的两组正对的第一夹紧气缸22和第二夹紧气缸23，所述第一夹紧气缸22和第二夹紧气缸23的活塞杆上均连接有推板24，推板24相向运动夹紧托盘。推板24与托盘相接触的面设为斜面，其角度与托盘的拔模角相同，增大了两者之间的接触面积。
如图4所示，在本实施例中，第一夹紧气缸22上设有两个磁感应传感器A和B，第一夹紧气缸22全伸出时磁感应传感器A反馈信号，全缩回时磁感应传感器B反馈信号；第二夹紧气缸23上也设有两个磁感应传感器A’和B’(图中未示出)，第二夹紧气缸23半伸出时磁感应传感器A’反馈信号，全缩回时磁感应传感器B’反馈信号；通过接收到的反馈信号判断升降载台2上是否有托盘、托盘是否处于夹紧状态。在另外的实施例中，也可以利用电缸等驱动部配合光电传感器来实现升降载台2上托盘的夹紧以及状态反馈，但相比较，本实施中的夹紧气缸和磁感应传感器具有节约成本的优点，且能够适应透明材质制成的托盘。传感器的数量也可以设置多个，例如对活塞杆的全缩回、半伸出、全伸出状态均进行反馈。
具体的，工作过程中，当收到磁感应传感器A和A’的反馈信号时，说明升降载台2上的托盘已经夹紧；当收到磁感应传感器B和B’的反馈信号时，说明未进行夹紧动作；当仅收到磁感应传感器A’的反馈信号时，此时第二夹紧气缸23为全伸出状态，说明升降载台2上没有托盘。在本实施例中，结合托盘自身质量，第一夹紧气缸22、第二夹紧气缸23的供压为0.1Mpa，当第二夹紧气缸23在半伸出状态时活塞杆受到托盘的阻力无法继续伸出，则托盘被夹紧；若活塞杆全伸出，则说明升降载台2上无托盘。
由于利用活塞杆位置来反馈状态，活塞杆的行程是确定的，则第一夹紧气缸22、第二夹紧气缸23的安装位置与托盘尺寸相关，在本实施例中，第一夹紧气缸22和第二夹紧气缸23通过升降载台2两侧的侧板安装，第一夹紧气缸22在升降载台2上的安装位置固定，作为基准位置。第二夹紧气缸23在升降载台2侧边的安装位置根据托盘尺寸调整，对应的，在侧边设有调节安装位置的滑槽。在升降载台2上还设有调节位置用第一刻度尺25，保证调节精度。
结合图1和图3所示，在升降载台2下方设有移送机构4，用于运输分离出的托盘，便于上料或下料。移送机构4包括移板41、带传动机构、骨架板44和直线运动机构。
在本实施例中，直线运动机构为丝杠副45，在其他实施例中，也可以为线轨滑块、电缸、气缸等，带传动机构在运输物对环境无要求时也可以使用链传动机构代替。
具体的，第二气缸21安装于移板41上，移板41通过底部的滑块42与皮带43固定连接，皮带43还固定连接有固定板48，固定板48、丝杠副45均安装于机架1上。骨架板44的两端分别与带轮的轮轴固定连接，中部与丝杠副45的丝母46连接，丝杠副45由电机47驱动，带动丝母座46直线运动，从而驱动骨架板44直线运动。动作原理为：骨架板44运动使得带轮直线运动，皮带43由于通过固定板48固定，与皮带43连接的移板41以两倍速度直线运动，即当丝母46带动骨架板44、带轮移动1mm时，移板41移动2mm。在本实施例中，移板41的两侧均连接一组皮带，丝杠副45位于两组皮带43之间，提高了移送中的稳定性。
结合图1和图5所示，在分离机构3的一侧设有夹持机构5。分离机构3分 离出的最底层托盘经移送机构4转运至夹持机构5。夹持机构5包括两个正对滑动连接在第二滑轨50上的横梁51，在横梁51的两端通过第二锁紧螺母54安装有夹持块52，四个夹持块52形成一个夹持区域。在夹持块52上设有放置槽521，用于放置托盘的边角，从而支撑托盘。在横梁51中部设有支撑板53，起到辅助支撑的作用。在两横梁51正对的两端设有滑槽55，通过调节第二锁紧螺母54在滑槽55内的安装位置来调节夹持区域的长度，以适应不同尺寸的托盘。在横梁51对应位置还设有调节位置时用到的第二刻度尺56。
工作时，调节升降平台2的高度，使托盘的边缘与放置槽521在同一水平面上，移送机构4使托盘到达夹持机构5的夹持区域内部，横梁51沿第二滑轨50运动从而夹持托盘。
结合图1和图6所示，在夹持机构5下方设有升降机构6和运输机构7。升降机构6用于将夹持机构5上的托盘转运至运输机构7，再由运输机构7运送出。
升降机构6包括一组沿导杆62进行升降运动的升降板61，运输机构7包括两组平行的传送带71，升降板61位于传送带71之间。当夹持机构5上托盘内的面板完成测试后，升降板61从底部支撑托盘，横梁51向两侧运动，松开托盘，升降板61向下运动，将托盘放在传送带71上。电机驱动传送带71运行，将托盘运输至出料位，升降板61升起。其中出料位在分离机构3下方，使整个层叠托盘分层上料装置作为一个整体，上下料位置在装置的同一侧，结构紧凑，便于操作。
在升降板61的一端设有挡板63和一排用于安装挡板63的安装孔64，根据托盘的尺寸选择合适的安装孔64来安装挡板63。
在传送带71两侧设有滚轮72，当托盘尺寸较大时，滚轮72起到支撑作用。 在滚轮72的外侧还设有防护板73，防止托盘从两边脱出。
以显示面板测试为例，该层叠托盘分层上料装置的具体工作过程为：
将层叠的例如20层承载有显示面板的托盘放入升降载台2上，并利用第一夹紧气缸22和第二夹紧气缸23夹紧最底层托盘，通过第二气缸21调节升降载台2的高度，使底层托盘即第20层托盘与第19层托盘的中间位置和插片31平齐；
启动第一气缸35，使插片31朝向升降载台21运动，将第19层托盘及其上的其余18层托盘均承载于插片31上，驱动第二气缸21使升降载台向下运动，使最底层的托盘从层叠托盘中分离出来；
启动电机47，移送机构4带动分离出的托盘到达夹持机构5，并通过夹持机构5夹紧，移送机构4退回分离机构3下方，进行第19层托盘的分离，人工或机械手将第20层托盘内的面板取出进行测试；
升降机构6上升从底部支撑夹持机构5上的托盘，根据生产的需要，待测试完成的面板放回托盘内，或者仅将空的托盘下降一定高度，直至20层托盘全部回到升降机构6上时，所有托盘也转入运输机构7，传送带71运动使承载有测试完的面板的托盘或空的托盘运输出来。
上述的工作过程仅作为示例，在实际中，可根据需要设置升降载台、分离机构、移送机构、夹持机构、升降机构、运输机构中的若干组合来进行产品生产、测试中的某些工作。在进行其他工作时，插片31可以根据需要插入层叠托盘中任意层托盘的底面，而不限于倒数第二层。
以上对本发明所提供的层叠托盘分层上料装置进行了详细介绍，本文中应用了具体个例对本发明的结构及工作原理进行了阐述，以上实施例的说明只是用于 帮助理解本发明的方法及核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求保护的范围内。

Claims (10)

  1. 一种层叠托盘分层上料装置，其特征在于，包括升降载台(2)和分离机构(3)，所述升降载台(2)用于放置层叠托盘并带动托盘进行升降运动，所述分离机构(3)包括位于所述升降载台(2)两侧的插片(31)，所述插片(31)在沿平行于所述层叠托盘底面的方向运动并可插入所述层叠托盘其中任一层托盘的底面，用于支撑该任一层及其上的托盘；当所述插片(31)支撑该任一层及其上的托盘后，所述升降载台(2)下降，以取出所述升降载台(2)上托盘内的产品进行上料。
  2. 根据权利要求1所述的层叠托盘分层上料装置，其特征在于，所述插片(31)安装于安装座(30)上，所述安装座(30)相向或相背运动，使得所述插片(31)朝向或远离层叠托盘运动；所述插片(31)上连接有连板(32)，所述连板(32)两端分别设有限位块(33)，调节所述限位块(33)之间的距离以在托盘长度方向上对托盘进行定位。
  3. 根据权利要求1所述的层叠托盘分层上料装置，其特征在于，所述升降载台(2)的两侧均设有夹紧驱动部，所述夹紧驱动部上均连接有推板(24)，所述推板(24)从两侧夹紧所述升降载台(2)上的托盘。
  4. 根据权利要求3所述的层叠托盘分层上料装置，其特征在于，所述夹紧驱动部为第一夹紧气缸(22)和第二夹紧气缸(23)，所述第一夹紧气缸(22)和第二夹紧气缸(23)上均设有至少两个用于反馈活塞杆位置信号的传感器；其中，所述第一夹紧气缸(22)上的传感器分别在全伸出和全缩回状态下反馈信号；所述第二夹紧气缸(23)上的传感器分别在半伸出和全缩回状态下反馈信号。
  5. 根据权利要求4所述的层叠托盘分层上料装置，其特征在于，所述第一 夹紧气缸(22)固定安装于所述升降载台(2)一侧，所述第二夹紧气缸(23)位置可调地安装于所述升降载台(2)另一侧。
  6. 根据权利要求1所述的层叠托盘分层上料装置，其特征在于，还包括移送机构(4)，所述升降载台(2)安装于所述移送机构(4)上，并在所述移送机构(4)的带动下移动，使所述升降载台(2)远离或回到所述分离机构(3)所分离出的若干层托盘的下方。
  7. 根据权利要求6所述的层叠托盘分层上料装置，其特征在于，所述移送机构(4)包括移板(41)、带传动机构、骨架板(44)和直线运动机构，所述移板(41)固定于所述带传动机构的皮带(43)上，带动所述升降载台(2)移动；所述皮带(43)通过固定板(48)固定安装于机架(1)上，所述骨架板(44)与所述带传动机构的轮轴连接，所述直线运动机构驱动所述骨架板(44)直线运动，从而使所述皮带(43)带动所述升降载台(2)倍速运动。
  8. 根据权利要求6所述的层叠托盘分层上料装置，其特征在于，所述分离机构(3)的一侧设有夹持机构(5)，所述移送机构(4)将分离出的托盘运送至所述夹持机构(5)，机械手由所述夹持机构(5)上对托盘内产品上下料；所述夹持机构(5)包括两个能够相对或相背运动的横梁(51)，所述横梁(51)的两端均设有夹持块(52)，所述夹持块(52)形成夹持区域，用于夹持分离出的托盘。
  9. 根据权利要求8所述的层叠托盘分层上料装置，其特征在于，所述夹持块(52)上设有用于容纳托盘边角的放置槽(521)，在所述横梁(51)的一端，所述夹持块(52)的安装位置可调。
  10. 根据权利要求8所述的层叠托盘分层上料装置，其特征在于，所述夹持机构(5)下方设有升降机构(6)和运输机构(7)，所述升降机构(6)将夹持机构(5)上的托盘转送至运输机构(7)，所述运输机构(7)将托盘运送至出料位置，所述出料位置位于所述分离机构(3)下方。
PCT/CN2022/107259 2021-10-28 2022-07-22 一种层叠托盘分层上料装置 WO2023071319A1 (zh)

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