An automated handling apparatus

Abstract

The application discloses an automatic carrying equipment, which comprises a rack, a large plate is installed on the rack, and the rack and the large plate are fixed to form an avoiding channel for lifting and feeding and discharging materials; a first storage trolley and a second storage trolley in a hierarchical structure are arranged at the entrance of the avoiding channel; the feeding equipment further comprises an XYZ-axis material taking mechanism, a lifting mechanism, a horizontal tray pushing mechanism, a tray taking mechanism and a tray moving mechanism; the feeding equipment is automatically fed, the empty tray is automatically fed by the cooperation of the lifting mechanism and the tray taking mechanism, the empty tray is sent into a tray arranging area by the horizontal tray pushing mechanism, and the purpose of automatically feeding the empty tray is achieved; when the empty tray is filled by the XYZ-axis material taking mechanism, the full tray is sent into the second storage trolley by the tray moving mechanism which is reversely installed with the tray taking mechanism; the cooperation of the mechanisms enables the tray to be continuously fed, and the purpose of high-efficiency feeding is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to an automatic handling device, in particular to an automatic handling device. BACKGROUND

[0002] At present, manual or VGA trolley handling or multi-section automatic line is generally used for flow connection.

[0003] For example, manual handling wastes manpower, the VGA trolley cannot be automatically loaded, or if a robot is used for loading, the cost is high, and the space is large. If a multi-section automatic line is used for flow connection, the production line arrangement is not convenient, and when the beats of multiple devices are inconsistent, the device is affected by the bottleneck station and cannot play the maximum efficiency. SUMMARY

[0004] In view of the deficiencies in the prior art, the technical problem to be solved by the present application is to provide an automatic handling device, and the purpose of designing the feeding device is to improve the feeding efficiency.

[0005] To solve the above technical problems, the present application realizes the following scheme: an automatic handling device of the present application, comprising a rack, the rack is provided with a large plate, the rack and the large plate are fixed to form a avoiding passage for lifting and feeding in and out, the inlet of the avoiding passage is provided with a first storage car and a second storage car in a hierarchical structure;

[0006] The feeding device further comprises:

[0007] An XYZ axis material taking mechanism is installed on the large plate and can move from the feeding station to the tray arranging area after taking material;

[0008] A lifting mechanism is installed on the rack and is inside the avoiding passage, and a lifting plate is driven by the lifting mechanism to make lifting motion inside the avoiding passage;

[0009] A horizontal tray pushing mechanism is installed on the large plate, the horizontal tray pushing mechanism has an X-axis sliding way for X-axis movement of the feeding tray, and a feeding tray inlet and a feeding tray outlet are respectively opened on the same side of the X-axis sliding way, the horizontal tray pushing mechanism is further provided with a first power part for pushing the feeding tray from the feeding tray side to the tray arranging area;

[0010] A tray taking mechanism is installed on the lifting plate, the tray taking mechanism has a tray taking movable part and a second power part for driving the tray taking movable part to take the empty feeding tray from the first storage car layer by layer and send it into the Y-axis sliding way;

[0011] A tray moving mechanism is installed on the lifting plate, the tray taking mechanism has a tray moving movable part and a third power part for driving the tray moving movable part to take the full feeding tray from the tray arranging area and send it into the second storage car layer by layer.

[0012] Further, the XYZ axis taking mechanism has a Y axis mechanism fixed on the large plate through a support, an X axis mechanism driven by the Y axis mechanism to move in Y axis direction, and a Z axis mechanism driven by the X axis mechanism to move in X axis direction, and the Z axis mechanism is drivingly connected with a clamping mechanism.

[0013] Further, the power source of the clamping mechanism is a clamping cylinder, and the clamping cylinder is drivingly connected with a taking finger.

[0014] Further, the lifting mechanism comprises:

[0015] a left mounting plate fixed on the rack and located at the left side of the avoiding passage, and a right mounting plate fixed on the rack and located at the right side of the avoiding passage, and opposite surfaces of the left mounting plate and the right mounting plate are respectively provided with Z axis double guide rails, and the lifting plate is horizontally slidably connected on the Z axis double guide rails;

[0016] a left screw rod assembly comprising a left screw rod rotatably positioned on the left mounting plate at two ends, a first synchronous wheel fixed on the top end of the left screw rod, and a second synchronous wheel fixed on the bottom end of the left screw rod, and the left screw rod is screw-connected with a left nut assembly fixed on the lifting plate;

[0017] a right screw rod assembly comprising a right screw rod rotatably positioned on the right mounting plate at two ends, and a third synchronous wheel fixed on the bottom end of the left screw rod, and the right screw rod is screw-connected with a right nut assembly fixed on the lifting plate, and the second synchronous wheel and the third synchronous wheel are sleeved with a first synchronous belt;

[0018] a lifting power assembly comprising a first servo motor fixed on the outside of the left mounting plate through a motor base, and a fourth synchronous wheel drivingly connected with the first servo motor, and the fourth synchronous wheel and the first synchronous wheel are connected through a second synchronous belt.

[0019] Further, in the horizontal pushing disc mechanism, the bottom surface of the Y axis sliding channel has two parallel long holes arranged in Y axis direction;

[0020] the first power part comprises:

[0021] a power motor fixed on the large plate through a motor base;

[0022] a screw rod drivingly connected with the power motor at one end and fixed on the large plate through a screw rod base at the other end;

[0023] The slider assembly is slidably connected to the X-axis double guide rail fixed on the large plate, the nut seat assembly is screwed with the lead screw, the upper end of the slider assembly is provided with two symmetrical push blocks, the push blocks pass through the long hole and extend upward by a distance.

[0024] Further, the structure of the disc taking mechanism and the disc moving mechanism is the same, wherein the installation direction of the disc moving mechanism is the installation direction of the disc taking mechanism rotated by 180 degrees.

[0025] Further, the disc taking mechanism, the disc taking movable part thereof comprises a disc taking supporting plate, a rack fixed to the lower end of the disc taking supporting plate;

[0026] The second power part comprises:

[0027] The second servo motor is fixed to the lifting plate, and the fifth synchronous wheel is drivingly connected to the second servo motor.

[0028] The Y-axis guide rail is installed on a vertical plate, and the vertical plate is fixed to the lifting plate.

[0029] A plurality of synchronous pulleys arranged in a straight line and rotatable are fixed to the vertical plate, the outer end of each synchronous pulley is connected with a synchronous gear, the rack can be engaged with any one of the synchronous gears during movement, the length of the rack is greater than the width between the top points of any two adjacent synchronous gears, and the fifth synchronous wheel and the synchronous pulleys are connected through a belt.

[0030] Further, a plurality of elastic anti-backup blocks are installed on the two sides of the upper plate surface of the disc taking supporting plate.

[0031] Compared with the prior art, the feeding equipment of the present application has the advantages of automatic feeding, and the feeding equipment automatically feeds empty material trays through the cooperation of the lifting mechanism and the disc taking mechanism, and then sends the empty material trays into the tray arranging area through the horizontal tray pushing mechanism, thereby achieving the purpose of automatic feeding of empty material trays.

[0032] When the empty material trays are filled through the XYZ-axis material taking mechanism, the full material trays are sent into the second material storage vehicle through the disc moving mechanism installed reversely to the disc taking mechanism.

[0033] The present application can continuously feed the material trays through the cooperation of the mechanisms, thereby achieving the purpose of efficient feeding. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a perspective view of the automatic handling equipment.

[0035] Figure 2 It is Figure 1 It is a structure view after the dust cover is removed. It is a structure view after the dust cover is removed.

[0036] Figure 3 Figure 1 is a structural diagram of a lifting mechanism of the present application.

[0037] Figure 4 Figure 2 is a first power part installation structural diagram of a horizontal tray pushing mechanism of the present application.

[0038] Figure 5 Figure 3 is a structural diagram of two long holes of the present application.

[0039] Figure 6 Figure 4 is a structural diagram of a tray taking mechanism of the present application. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the protection scope of the present application can be more clearly and definitely defined. In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0041] Embodiment 1: The specific structure of the present application is as follows:

[0042] Please refer to the accompanying drawings Figures 1-6 The automatic handling equipment of the present application comprises a rack 1, the rack 1 is installed with a large plate 11, the rack 1 and the large plate 11 are fixed to form a avoiding passage with a lifting function and a feeding and discharging function, the entrance of the avoiding passage is provided with a first storage vehicle 2 and a second storage vehicle 3 in a hierarchical structure;

[0043] The feeding equipment further comprises:

[0044] An XYZ-axis material taking mechanism 4 is installed on the large plate 11 and can move from a feeding station to a tray arranging area after taking material;

[0045] A lifting mechanism 5 is installed on the rack 1 and is inside the avoiding passage, and a lifting plate 54 is driven by the lifting mechanism 5 to make lifting motion inside the avoiding passage;

[0046] A horizontal tray pushing mechanism 7 is installed on the large plate 11, the horizontal tray pushing mechanism 7 has an X-axis sliding way for the feeding tray 6 to move in X-axis direction, and a tray entrance and a tray exit are respectively opened on the same side of the X-axis sliding way, the horizontal tray pushing mechanism 7 is further provided with a first power part for pushing the feeding tray 6 from the feeding tray side to the tray arranging area;

[0047] A tray taking mechanism 8 is installed on the lifting plate 54, the tray taking mechanism 8 has a tray taking movable part and a second power part for driving the tray taking movable part to take the empty feeding tray 6 from the first storage vehicle 2 layer by layer and send it into the Y-axis sliding way;

[0048] The tray transfer mechanism 9 installed on the lifting plate 54 has a tray transfer movable part and a third power unit that drives the tray transfer movable part to take out the fully loaded tray 6 from the tray area and send it layer by layer into the second storage car 3.

[0049] A preferred embodiment of the present invention is as follows: the XYZ axis material handling mechanism 4 has a Y-axis mechanism fixed to the large plate 11 by a bracket, an X-axis drive mechanism driven by the Y-axis mechanism to move in the Y-axis direction, and a Z-axis mechanism driven by the X-axis mechanism to move in the X-axis direction. The Z-axis mechanism is driven to be connected to a clamping mechanism 10.

[0050] In a preferred embodiment, the power source of the clamping mechanism 10 is a clamping cylinder, which drives a material-picking finger.

[0051] A preferred embodiment of this technical solution: the lifting mechanism 5 includes:

[0052] A left mounting plate 511 fixed to the frame 1 and located on the left side of the clearance passage and a right mounting plate 51 fixed to the frame 1 and located on the right side of the clearance passage are provided on opposite sides of the left mounting plate 511 and the right mounting plate 51. The lifting plate 54 is horizontally slidably connected to the Z-axis double guide rail 52.

[0053] The left lead screw assembly includes a left lead screw 58 rotatably positioned on the left mounting plate 511 at both ends, a first synchronous wheel 55 fixed to the top end of the left lead screw 58, and a second synchronous wheel 59 fixed to the bottom end of the left lead screw 58. The left lead screw 58 and the left nut assembly fixed on the lifting plate 54 are screwed together.

[0054] The right lead screw assembly includes a right lead screw 53 rotatably positioned on the right mounting plate 51 at both ends, and a third synchronous pulley 510 fixed to the bottom end of the left lead screw 58. The right lead screw 53 is screwed to a right nut assembly fixed on the lifting plate 54. The second synchronous pulley 59 and the third synchronous pulley 510 are fitted with a first synchronous belt.

[0055] The lifting power unit includes a first servo motor 57 fixed to the outside of the left mounting plate 511 via a motor mount, and a fourth synchronous pulley 56 driven and connected to the first servo motor 57. The fourth synchronous pulley 56 and the first synchronous pulley 55 are connected by a second synchronous belt.

[0056] In a preferred embodiment, the bottom surface of the Y-axis slide has two parallel elongated holes 721 arranged along the Y-axis.

[0057] The first power unit includes:

[0058] A power motor 75 is fixed to the large plate 11 through a motor base;

[0059] A screw rod 71 is connected to the power motor 75 at one end and fixed to the large plate 11 at the other end through a screw rod base;

[0060] A slider assembly 74 is slidably connected to an X-axis double guide rail fixed to the large plate 11, and a nut base assembly is fixed to the slider assembly 74 and screwed with the screw rod 71. The upper end of the slider assembly 74 is also provided with two symmetrically arranged push blocks 73 which pass through the long holes 721 and extend upward by a certain distance.

[0061] A preferred technical solution of the embodiment: the structure of the disk taking mechanism 8 and the disk moving mechanism 9 is the same, wherein the installation direction of the disk moving mechanism 9 is the installation direction of the disk taking mechanism 8 rotated by 180 degrees.

[0062] A preferred technical solution of the embodiment: the disk taking movable part of the disk taking mechanism 8 includes a disk taking supporting plate 82 and a rack 87 fixed to the lower end of the disk taking supporting plate 82.

[0063] The second power part includes:

[0064] A second servo motor 81 is fixed to the lifting plate 54, and the second servo motor 81 is drivingly connected with a fifth synchronous wheel.

[0065] A Y-axis guide rail 83 is installed on a vertical plate, and the vertical plate is fixed to the lifting plate 54.

[0066] A plurality of synchronous pulleys 86 arranged in a straight line and rotatable are fixed to the vertical plate, and the outer end of each synchronous pulley 86 is connected with a synchronous gear. The rack 87 can be engaged with any one of the synchronous gears during movement, and the length of the rack 87 is greater than the width between the apexes of any two adjacent synchronous gears. The fifth synchronous wheel and each synchronous pulley 86 are connected through a belt.

[0067] A preferred technical solution of the embodiment: a plurality of elastic anti-backup blocks 84 are installed on both sides of the upper plate surface of the disk taking supporting plate 82.

[0068] Embodiment 2:

[0069] The working principle of the automatic handling equipment is as follows:

[0070] 1. Preparation: empty trays 6 are stored on the multi-layer carriages of the first storage vehicle 2, the second storage vehicle 3 takes out the empty trays 6 from the first storage vehicle 2 through lifting action, and then the empty trays 6 are pushed on the horizontal tray pushing mechanism 7 from the tray inlet;

[0071] 2. The horizontal tray pushing mechanism 7 pushes the empty trays to the tray placing position;

[0072] 3. The front-end equipment is loaded, the XYZ-axis tray taking mechanism 4 takes the trays from the front-end equipment and places them on the empty trays 6 in the tray placing area until the empty trays are full;

[0073] 4. After the trays 6 are full of products, the lifting mechanism 5 lifts the trays 6 to the level of the horizontal tray pushing mechanism 7 through lifting action, and then the full trays 6 are moved to the tray on the tray moving mechanism 9 through the tray moving mechanism 9;

[0074] 5. The lifting mechanism 5 lifts the full trays 6 to the corresponding level of the second storage vehicle 3 through lifting action, and then the tray moving mechanism 9 moves the full trays 6 into the loading layer of the second storage vehicle 3;

[0075] 6. Through the lifting function of the lifting mechanism 5, all the empty trays 6 in the first storage vehicle 2 can be sequentially filled with products and then sent to the second storage vehicle 3, and when the first storage vehicle 2 is empty, it can be placed in the position of the original second storage vehicle 3 in the avoidance channel, and then the first storage vehicle 2 full of empty trays is pushed in.

[0076] Example 3:

[0077] The running direction of the automatic handling equipment of the application can be reversed according to the running direction of example 2.

[0078] Example 4:

[0079] The automatic handling equipment of the application is applied to the transformer whole-line automatic assembly line, and the traditional transformer handling needs manual or semi-manual tray handling, loading and unloading, and storage.

[0080] 1. The traditional process is:

[0081] Winding and soldering - semi-automatic manual tray collection - manual loading - assembly - semi-automatic tray collection - manual unloading - immersion baking - manual tray collection - semi-automatic tray placing - testing - packaging.

[0082] 2. The automatic handling equipment of the application is applied to the assembly line:

[0083] The first application is a line assembly feeding and discharging system. The feeding machine loads the products to be assembled into the second storage vehicle 3 by the automatic handling equipment, feeds the second storage vehicle 3 into the feeding machine, and feeds the products to the assembly position by the feeding machine for assembly. After the assembly is completed, the products are loaded into the second storage vehicle 3 by the automatic handling equipment, and the assembly process of the products is completed.

[0084] The second application is a dipping feeding and discharging system. The automatic handling equipment is arranged in the dipping production line, the empty tray is automatically fed by the automatic handling equipment, the storage vehicle after loading is reversely operated by the automatic handling equipment, the feeding machine is formed, and the material is fed into the processing line.

[0085] The third application is a test line. The assembled or processed products are fed into the test equipment by the automatic handling equipment, and the products are automatically packaged after the test is completed.

[0086] The automatic handling equipment can circulate in different production lines, and the production efficiency of the products is improved.

[0087] Embodiment 5:

[0088] The storage vehicle is arranged as a group. The storage vehicle is an empty tray storage vehicle and a material receiving storage vehicle. The empty tray 6 is loaded into the storage vehicle, and then the tray taking mechanism 8 takes the tray one by one. The lifting mechanism 5 lifts the tray 6 to the tray placing position through the lifting action. The XYZ axis material taking mechanism 4 takes the material from the front-end equipment and places the material on the tray 6 in the tray placing area until the empty tray is filled.

[0089] After the tray 6 is filled with products, the lifting mechanism 5 lifts the tray 6 filled with products to the feeding position of the empty layer of the storage vehicle through the lifting action. The tray taking mechanism 8 reversely drives the tray 6 filled with products to push the tray into the empty position of the storage vehicle until the tray on the storage vehicle is filled with products. Another set of storage vehicles with empty trays is replaced.

[0090] As described above, the feeding equipment of the present application automatically feeds the empty tray. The feeding equipment automatically feeds the empty tray through the cooperation of the lifting mechanism and the tray taking mechanism. The empty tray is sent to the tray placing area by the horizontal tray pushing mechanism, so as to automatically feed the empty tray. When the empty tray is filled with the tray taking mechanism, the full tray is sent to the second storage vehicle by the reverse tray moving mechanism of the tray taking mechanism. The present application can continuously feed the tray through the cooperation of the mechanisms, so as to achieve the purpose of efficient feeding.

[0091] The above description is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation obtained by using the content of the specification and the drawings, or direct or indirect application in other related technical fields is also included in the patent protection scope of the present application.

Claims

1. An automatic handling equipment comprising a frame (1) on which a large plate (11) is mounted, said frame (1) and said large plate (11) being fixed so as to form a channel with a clearance for lifting and for feeding in and out, characterized in that, The entrances of the avoidance channels are respectively provided with first and second storage vehicles (2, 3) in a hierarchical structure; The automatic handling equipment further comprises: An XYZ-axis material taking mechanism (4) installed on the large plate (11) and capable of moving from the material loading station to the tray arranging area after taking the material; A lifting mechanism (5) installed on the rack (1) and inside the avoidance channel and a lifting plate (54) driven by the lifting mechanism (5) to move up and down inside the avoidance channel; A horizontal tray pushing mechanism (7) installed on the large plate (11), which has an X-axis sliding track for the X-axis movement of the feeding tray (6) and has a feeding tray entrance and a feeding tray exit respectively opened on the same side of the X-axis sliding track, and is further provided with a first power part for pushing the feeding tray (6) from the feeding tray entrance to the tray arranging area; In the horizontal tray pushing mechanism (7), the bottom surface of the Y-axis sliding track of the horizontal tray pushing mechanism (7) has two parallel long holes (721) arranged in the Y-axis direction; The first power part comprises: A power motor (75) fixed on the large plate (11) through a motor base; A screw rod (71) having one end drivingly connected with the power motor (75) and the other end fixed on the large plate (11) through a screw rod base; A sliding block assembly (74) slidingly connected with an X-axis double guide rail fixed on the large plate (11) through a sliding block, the sliding block assembly (74) is further provided with a nut base assembly screw-connected with the screw rod (71) and two symmetrically arranged push blocks (73) installed on the upper end of the sliding block assembly (74), the push blocks (73) pass through the long holes (721) and extend upward by a distance; A tray taking mechanism (8) installed on the lifting plate (54), which has a tray taking movable part and a second power part for driving the tray taking movable part to take the empty feeding tray (6) from the first storage vehicle (2) layer by layer and send it into the Y-axis sliding track; A tray moving mechanism (9) installed on the lifting plate (54), which has a tray moving movable part and a third power part for driving the tray moving movable part to take the full feeding tray (6) from the tray arranging area and send it into the second storage vehicle (3) layer by layer; The tray taking mechanism (8) and the tray moving mechanism (9) have the same structure, wherein the installation direction of the tray moving mechanism (9) is 180 degrees rotated from the installation direction of the tray taking mechanism (8); The tray taking movable part of the tray taking mechanism (8) comprises a tray taking supporting plate (82) and a gear rack (87) fixed on the lower end of the tray taking supporting plate (82); The second power part comprises: A second servo motor (81) fixed on the lifting plate (54), which is drivingly connected with a fifth synchronous wheel; A Y-axis guide rail (83) installed on a vertical plate, which is fixed on the lifting plate (54); A plurality of synchronous pulleys (86) arranged in a straight line and rotatable are fixed on the vertical plate, the outer end of each synchronous pulley (86) is connected with a synchronous gear, the rack (87) can engage with any one of the synchronous gears during movement, the length of the rack (87) is greater than the width between the top points of any two adjacent synchronous gears, and the fifth synchronous pulley and each synchronous pulley (86) are connected through a belt; A plurality of elastic anti-back pressing blocks (84) are mounted on both sides of the upper plate surface of the tray taking supporting plate (82); The XYZ axis material taking mechanism (4) has a Y-axis mechanism fixed on the large plate (11) through a support, an X-axis driving mechanism driven by the Y-axis mechanism to move in the Y-axis direction, and a Z-axis mechanism driven by the X-axis mechanism to move in the X-axis direction, and the Z-axis mechanism is drivingly connected with a clamping mechanism (10).

2. The automated handling apparatus of claim 1, wherein The power source of the clamping mechanism (10) is a clamping cylinder, and the clamping cylinder is drivingly connected with a material taking finger.

3. The automated handling apparatus of claim 1, wherein The lifting mechanism (5) comprises: A left mounting plate (511) fixed on the rack (1) and located on the left side of the avoiding channel and a right mounting plate (51) fixed on the rack (1) and located on the right side of the avoiding channel, the opposite surfaces of the left mounting plate (511) and the right mounting plate (51) are each provided with a Z-axis double guide rail (52), and the lifting plate (54) is horizontally slidably connected to the Z-axis double guide rail (52); A left screw rod assembly comprising a left screw rod (58) rotatable at both ends and positioned on the left mounting plate (511), a first synchronous pulley (55) fixed on the top end of the left screw rod (58), and a second synchronous pulley (59) fixed on the bottom end of the left screw rod (58), the left screw rod (58) is screwed with a left nut assembly fixed on the lifting plate (54); A right screw rod assembly comprising a right screw rod (53) rotatable at both ends and positioned on the right mounting plate (51), a third synchronous pulley (510) fixed on the bottom end of the right screw rod (53), the right screw rod (53) is screwed with a right nut assembly fixed on the lifting plate (54), and the second synchronous pulley (59) and the third synchronous pulley (510) are sleeved with a first synchronous belt; A lifting power group comprising a first servo motor (57) fixed on the outer side of the left mounting plate (511) through a motor base, and a fourth synchronous pulley (56) drivingly connected with the first servo motor (57), the fourth synchronous pulley (56) and the first synchronous pulley (55) are connected through a second synchronous belt.

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