Four-axis manipulator unloading and coding equipment

Abstract

The present invention relates to the technical field of machining unloading equipment, and in particular to a four-axis manipulator unloading and coding device, comprising a plate-separating bin mechanism, a plate-inserting mechanism, a jacking mechanism, a conveyor belt mechanism, a coding bin mechanism, a plurality of trays, a frame, a four-axis manipulator and an end clamp; the frame is made of aluminum alloy profiles and a sheet metal shell, the plate-separating bin mechanism has the same structure as the coding bin mechanism, the plate-separating bin mechanism is arranged on one side of the frame, the four-axis manipulator and the end clamp are arranged in the middle of the frame, and the coding bin mechanism is arranged on the other side of the frame. The device can be used to stack trays, replacing the work of workers, reducing labor intensity and improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of machining blanking equipment, and in particular to a four-axis manipulator blanking and coding disc equipment. Background Art

[0002] Currently, the material tray is generally transported manually, that is, the worker places a single material tray under the robot. After the robot places the material, the worker moves the material to one side for stacking. This method is time-consuming, labor-intensive and labor-intensive. Summary of the invention

[0003] The main purpose of the present invention is to provide a four-axis manipulator unloading and coding device to address the above problems.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a four-axis manipulator unloading and coding tray equipment, comprising a plate dividing bin mechanism, a plate inserting mechanism, a lifting mechanism, a conveyor belt mechanism, a coding bin mechanism, a plurality of trays, a frame, a four-axis manipulator and an end clamp; the frame is spliced ​​by aluminum alloy profiles and a sheet metal shell, the plate dividing bin mechanism and the coding bin mechanism have the same structure, the plate dividing bin mechanism is arranged on one side of the frame, the four-axis manipulator and the end clamp are arranged in the middle of the frame, and the coding bin mechanism is arranged on the other side of the frame, and the plate dividing bin mechanism and the coding bin mechanism are respectively It includes two silo bottom plates, guide columns, and two front baffles; the guide columns are multiple and are fixed on the two silo bottom plates respectively, and the two front baffles are fixed on the front of the two silo bottom plates. The area surrounded by the guide columns and the front baffles is used to place the material tray; the material tray base plate and the guide pins are combined, each material tray is milled with a plurality of material holes for accommodating materials, the back of the material tray base plate is milled with slots for accommodating the moving plate fork of the inserting plate mechanism and grooves for operators to take and put the material tray, the guide pins are fixed around the material tray base plate, a boss is machined above the guide pins, and a hole matching the boss is drilled on the back of the material tray base plate;

[0005] A plug-in mechanism is respectively arranged on the two silo bottom plates, and the plug-in mechanism comprises a plug-in mechanism bottom plate, a moving plate and a plug-in cylinder; the plug-in mechanism bottom plate is fixed on the silo bottom plate, the plug-in cylinder is fixed on the middle of the plug-in mechanism bottom plate, the front of the plug-in cylinder is connected to the rear side of the moving plate, the front of the moving plate is provided with two plug-ins for inserting the bottom of the material tray, and the bottom of the moving plate is slidably matched with a linear guide rail arranged on the plug-in mechanism bottom plate;

[0006] There are two jacking mechanisms, which are respectively located below the plate-separating bin mechanism and the plate-stacking bin mechanism, and cooperate with the plate-inserting mechanism in the bin to sort and stack the trays. The jacking mechanism includes a jacking bottom plate, a jacking mechanism fixing plate, a tray pallet and a double-stroke cylinder; the two ends of the jacking bottom plate are fixed to the bottom of the two bin bottom plates through the jacking mechanism fixing plate, the double-stroke cylinder is fixed to the bottom of the jacking bottom plate, and its piston rod is connected to the lower part of the tray pallet, and the tray pallet cooperates with the bottom of the tray located in the plate-separating bin mechanism and the plate-stacking bin mechanism;

[0007] The lifting mechanism is located inside the conveyor belt mechanism. The main body of the conveyor belt mechanism is a conveyor line profile frame formed by splicing aluminum alloy profiles, with two passive wheels and two active wheels distributed at both ends. The active wheels and the passive wheels are connected by two synchronous belts, and a sheet metal pad is installed under the synchronous belt between the passive wheels and the active wheels to support the synchronous belt and reduce the friction of the synchronous belt.

[0008] Preferably, a blocking mechanism is provided in the middle of the conveyor line profile frame, and the blocking mechanism is composed of a blocking plate and a blocking cylinder. The material tray moves from the passive wheel direction to the blocking mechanism and passes through a material-in-place sensor halfway. When the material-in-place sensor outputs a signal, the blocking cylinder immediately extends out to block the material tray.

[0009] Preferably, the stacking plate silo mechanism is provided with a tray full warehouse in place sensor and a tray in place lifting sensor. The tray full warehouse in place sensor is used when the tray reaches the highest position after stacking, and the sensor outputs a signal to prompt the workers to take away the full tray; the tray in place lifting sensor is used when the tray flows from the conveyor line to the stacking plate silo, and the sensor outputs a signal and the lifting mechanism starts working.

[0010] The beneficial effects of the present invention are: (1) realizing multiple functions of automatic unloading, stacking and coding.

[0011] (2) Automatic material stacking saves manpower.

[0012] (3) Materials are neatly arranged for easy transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a three-dimensional diagram of the device;

[0014] Figure 2 It is a three-dimensional diagram of the plate separation bin mechanism and the plate insertion mechanism in the device;

[0015] Figure 3 It is a three-dimensional diagram of the jacking mechanism in this device;

[0016] Figure 4 is a three-dimensional diagram of the conveyor belt mechanism in the device;

[0017] Figure 5It is a partial enlarged view of the device;

[0018] Figure 6 It is a structural schematic diagram of the material tray in this device;

[0019] Figure 7 This is a schematic diagram of the structure of the four-axis manipulator and the end gripper in this device. DETAILED DESCRIPTION

[0020] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings and preferred embodiments. Figure 1 As shown, a four-axis manipulator unloading and coding device includes a plate separation bin mechanism 1, a plate insertion mechanism 2, a lifting mechanism 3 and a conveyor belt mechanism 4; a coding bin mechanism 5, a plurality of material trays 6, a frame 7, a four-axis manipulator and an end clamp 8; the frame is spliced ​​by aluminum alloy profiles and a sheet metal shell, the plate separation bin mechanism has the same structure as the coding bin mechanism, the plate separation bin mechanism is arranged on one side of the frame, the four-axis manipulator and the end clamp are arranged in the middle of the frame, and the coding bin mechanism is arranged on the other side of the frame;

[0021] like Figure 1 As shown, the plate-separating silo mechanism and the stacking silo mechanism respectively include two silo bottom plates 11, guide columns 12, and two front baffles 13; the guide columns are multiple and are respectively fixed on the two silo bottom plates, and the two front baffles are fixed on the front of the two silo bottom plates. The area enclosed by the guide columns and the front baffles is used to place the trays;

[0022] The tray base plate 61 and guide pins 62 are combined, each tray is milled with several material holes 63 for accommodating materials, the back of the tray base plate is milled with slots 64 for accommodating the moving plate fork of the inserting plate mechanism and grooves 65 for operators to take and put trays, the guide pins are fixed around the tray base plate, bosses 66 are machined above the guide pins, and holes matching the bosses are drilled on the back of the tray base plate. It is ensured that each tray can be accurately positioned when stacked with each other, and the overall size is consistent.

[0023] The four-axis manipulator and the end clamp 8 include a SCARA manipulator 81, an end connecting plate 82 and a three-jaw material-retrieving clamp 83. A circular hole is milled at the connection between the end connecting plate 82 and the three-jaw clamp to ensure that it is concentric with the three-jaw clamp.

[0024] like Figure 1As shown, a plugging mechanism is respectively arranged on the bottom plates of the two silos, and the plugging mechanism 2 includes a plugging mechanism bottom plate 21, a moving plate 22 and a plugging cylinder 23; the plugging mechanism bottom plate is fixed on the silo bottom plate, the plugging cylinder is fixed on the middle part of the plugging mechanism bottom plate, the front part of the plugging cylinder is connected to the rear side of the moving plate, and the front part of the moving plate is provided with two plugging plates 24 for inserting the bottom of the material tray, and the bottom of the moving plate is slidably matched with a linear guide rail 25 arranged on the bottom plate of the plugging mechanism; the moving plate is driven by the plugging cylinder to extend into the groove of the material tray and the material tray is sorted through the cooperation of the lifting mechanism.

[0025] like Figure 2 As shown, there are two jacking mechanisms, which are respectively located below the plate-separating bin mechanism and the plate-stacking bin mechanism, and cooperate with the plate-inserting mechanism in the bin to sort and stack the trays. The jacking mechanism 3 includes a jacking bottom plate 31, a jacking mechanism fixing plate 32, a tray pallet 33 and a double-stroke cylinder 34; the two ends of the jacking bottom plate are fixed to the bottom of the two bin bottom plates through the jacking mechanism fixing plate, the double-stroke cylinder is fixed to the bottom of the jacking bottom plate, and its piston rod is connected to the lower part of the tray pallet, and the tray pallet cooperates with the bottom of the tray located in the plate-separating bin mechanism and the plate-stacking bin mechanism;

[0026] like Figure 3 As shown, the lifting mechanism is located in the conveyor belt mechanism. The main body of the conveyor belt mechanism 4 is a conveyor profile frame 41 made of aluminum alloy profiles. Two passive wheels 42 and two active wheels 43 are distributed at both ends. The active wheels are connected to the passive wheels by two synchronous belts 44, and a sheet metal pad 45 is installed under the synchronous belt between the passive wheels and the active wheels to support the synchronous belt and reduce the friction of the synchronous belt. A blocking mechanism is provided in the middle of the conveyor belt profile frame. The blocking mechanism consists of a blocking sheet 46 and a blocking cylinder 47. The material tray moves from the passive wheel direction to the blocking mechanism and passes through the material in place sensor 48. When the material in place sensor outputs a signal, the blocking cylinder immediately extends to block the material tray.

[0027] When in use, manually put several neatly stacked empty trays into the plate dividing bin. At this time, the moving plate of the plug-in mechanism is in the extended state, and the empty tray falls onto the moving plate. At the same time, the sorting in place sensor detects the tray. When the start button in automatic mode is turned on, the tray support plate in the jacking mechanism in the plate dividing bin rises two strokes to lift the entire empty tray, the plug-in mechanism retracts, and the tray support plate drops one stroke under the action of the double-stroke cylinder. At this time, the lowest empty tray drops to the bottom of the moving plate in the plug-in mechanism, and the moving plate extends out to support the penultimate layer of trays, so that the bottom tray is separated from the upper tray as a whole. As the jacking cylinder drops the second stroke, the bottom tray falls onto the synchronous belt of the conveyor line, and the synchronous belt moves at the same time to drive the tray to move. When the tray passes the material sorting in place sensor, the sensor has an output Signal, the blocking piece extends, the material tray stops and the conveyor line stops moving, the four-axis manipulator and the end gripper begin to grab the materials and stack the empty material trays. When the forty empty material positions are filled with materials, the blocking piece retracts and the synchronous belt starts to run, the blocking material tray enters the stacking board bin, triggering the material tray in place sensor signal output, the lifting mechanism lifts the full material tray by one stroke, the plug-in mechanism in the stacking board bin retracts, the lifting cylinder lifts the second stroke, the plug-in mechanism extends, the lifting mechanism drops one stroke, the full material tray falls on the moving plate of the plug-in mechanism, the lifting cylinder drops the second stroke, the board bin starts to work, and the cycle is in sequence to realize the sorting of empty material trays, the stacking of materials, and the stacking of full material trays. When the full material tray fills the stacking board bin, the full bin in place sensor is triggered to prompt the worker to take out the full material tray. This device replaces the work of workers, reduces labor intensity, and improves work efficiency.

[0028] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A four-axis manipulator unloading and coding device, characterized in that: It includes a plate-separating bin mechanism, a plate-inserting mechanism, a lifting mechanism, a conveyor belt mechanism, a plate-stacking bin mechanism, a plurality of material trays, a frame, a four-axis manipulator and an end clamp; the frame is made of aluminum alloy profiles and a sheet metal shell, the plate-separating bin mechanism has the same structure as the plate-stacking bin mechanism, the plate-separating bin mechanism is arranged on one side of the frame, the four-axis manipulator and the end clamp are arranged in the middle of the frame, and the plate-stacking bin mechanism is arranged on the other side of the frame; The plate-dividing bin mechanism and the stacking bin mechanism respectively include two bin bottom plates, guide columns, and two front baffles; the guide columns are multiple and are respectively fixed on the two bin bottom plates, and the two front baffles are fixed on the front of the two bin bottom plates, and the area surrounded by the guide columns and the front baffles is used to place the material trays; the several material trays are respectively composed of a combination of a material tray base plate and guide pins, each material tray is milled with a plurality of material holes for accommodating materials, the back of the material tray base plate is milled with a slot for accommodating the moving plate fork of the inserting plate mechanism and a groove for the operator to take and put the material tray, the guide pins are fixed around the material tray base plate, a boss is machined above the guide pins, and a hole matching the boss is drilled on the back of the material tray base plate; A plug-in mechanism is respectively arranged on the two silo bottom plates, and the plug-in mechanism comprises a plug-in mechanism bottom plate, a moving plate and a plug-in cylinder; the plug-in mechanism bottom plate is fixed on the silo bottom plate, the plug-in cylinder is fixed on the middle of the plug-in mechanism bottom plate, the front of the plug-in cylinder is connected to the rear side of the moving plate, the front of the moving plate is provided with two plug-ins for inserting the bottom of the material tray, and the bottom of the moving plate is slidably matched with a linear guide rail arranged on the plug-in mechanism bottom plate; There are two jacking mechanisms, which are respectively located below the plate-separating bin mechanism and the plate-stacking bin mechanism, and cooperate with the plate-inserting mechanism in the bin to sort and stack the trays. The jacking mechanism includes a jacking bottom plate, a jacking mechanism fixing plate, a tray pallet and a double-stroke cylinder; the two ends of the jacking bottom plate are fixed to the bottom of the two bin bottom plates through the jacking mechanism fixing plate, the double-stroke cylinder is fixed to the bottom of the jacking bottom plate, and its piston rod is connected to the lower part of the tray pallet, and the tray pallet cooperates with the bottom of the tray located in the plate-separating bin mechanism and the plate-stacking bin mechanism; The lifting mechanism is located inside the conveyor belt mechanism. The main body of the conveyor belt mechanism is a conveyor line profile frame formed by splicing aluminum alloy profiles, with two passive wheels and two active wheels distributed at both ends. The active wheels and the passive wheels are connected by two synchronous belts, and a sheet metal pad is installed under the synchronous belt between the passive wheels and the active wheels to support the synchronous belt and reduce the friction of the synchronous belt.

2. The four-axis manipulator unloading and coding device according to claim 1 is characterized in that: A blocking mechanism is provided in the middle of the profile frame of the conveyor line. The blocking mechanism is composed of a blocking plate and a blocking cylinder. The material tray moves from the direction of the passive wheel to the blocking mechanism and passes through the material stacking in place sensor halfway. When the material stacking in place sensor outputs a signal, the blocking cylinder immediately extends out to block the material tray.

3. The four-axis manipulator unloading and coding device according to claim 1 is characterized in that: The stacking plate silo mechanism is provided with a tray full warehouse in place sensor and a tray in place lifting sensor. The tray full warehouse in place sensor is used when the tray reaches the highest position after stacking, and the sensor outputs a signal to prompt the worker to take away the full tray; the tray in place lifting sensor is used when the tray flows from the conveyor line to the stacking plate silo, and the sensor outputs a signal and the lifting mechanism starts working.

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