Automatic pallet machine and automatic loading and unloading method thereof

Abstract

The invention discloses an automatic pallet machine and an automatic loading and unloading method thereof, which are applied in the field of box-type pallet loading equipment. Aiming at the problems of large size and single function of the equipment, the main points of the technical scheme are as follows: it comprises a frame, on which a carrier, a pallet limiting assembly and a pallet separating mechanism are arranged, the pallet separating mechanism comprises a first suction cup assembly arranged around the carrier for sucking the bottom layer of the pallet and a flipping and shifting mechanism for shifting the material from the bottom layer of the pallet; a first lifting mechanism arranged on the side of the carrier, and a second lifting mechanism arranged on the side of the shifting assembly; a pallet loading mechanism arranged on the frame, the pallet loading mechanism comprises a pallet sliding assembly arranged on the side of the carrier and a pallet rotating assembly arranged on the frame, the pallet sliding assembly controls the carrier to slide horizontally to just above the pallet rotating assembly; a pallet recycling mechanism arranged on the frame; the technical effects are small size, automatic loading and unloading can be realized for blister trays of different sizes, and the efficiency is high.

Description

Technical Field

[0001] The invention relates to a box-type pallet loading device, and more particularly to an automatic pallet machine and an automatic loading and unloading method thereof. Background Art

[0002] Blister trays are also called blister trays or plastic trays. They use the blister process to make plastic hard sheets into plastic with specific grooves, and place the products in the grooves to protect and beautify the products. Blister trays are widely used in the plastic industry. When in use, the blister tray is usually placed at the discharge port of the injection molding machine, and the injection-molded products fall from the injection molding machine into the grooves of the blister tray. At this time, the blister tray protects the products and facilitates transportation.

[0003] At present, the injection molding industry uses manual methods to load and unload blister trays, which is inefficient. Some companies have also proposed automatic loading and unloading mechanisms for blister trays. However, existing automatic pallet equipment usually only has a loading function, that is, when in use, the suction cup is used to suck and move the top blister tray of the stacked blister trays to the discharge port of the injection molding machine, and the injection molded products in the injection molding machine fall into the blister tray through the discharge port. This automatic pallet equipment, on the one hand, has a single function and cannot adapt to the loading of different types of blister trays, and needs to be equipped with a blister tray unloading device and a recycling device to realize the automatic loading and unloading process of the blister tray; on the other hand, the equipment is large in size, and the suction cup sucks the top blister tray to complete the transfer of the blister tray, so that the height of the blister tray stacking is limited by the position of the suction cup, and the number of blister trays that can be stacked is small; therefore, it is necessary to propose an automatic pallet machine with a small size that can meet the automatic loading and unloading of different types of blister trays and its automatic loading and unloading method. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an automatic pallet machine and an automatic loading and unloading method thereof, which has the advantages of small size, and can realize automatic loading and unloading for blister trays of different sizes with high efficiency.

[0005] To achieve the above object, the present invention provides the following technical solution: an automatic pallet machine, comprising: a frame, on which a platform for placing a pallet and a pallet limiting assembly for limiting the position of the pallet are arranged, and a contour positioning platform is detachably arranged in the middle of the platform;

[0006] The tray separating mechanism comprises a first suction cup assembly arranged around the platform for sucking the bottom tray and a flipping and diverting mechanism for diverting the bottom tray, the flipping and diverting mechanism comprises a blocking assembly arranged on the frame for blocking the tray from moving downward and a diverting assembly for clamping the bottom tray; the diverting assembly comprises a rotating connecting rod device arranged on the side of the platform and a clamping claw arranged at the lower end of the rotating connecting rod device, the rotating connecting rod device controls the clamping claw to complete the action of moving close to the platform and flipping upward to the bottom tray;

[0007] A first lifting mechanism, disposed on a side of the platform, for controlling the lifting of the first suction cup assembly;

[0008] A second lifting mechanism is arranged on the side of the material shifting assembly and is used to control the lifting of the material shifting assembly;

[0009] A pallet loading mechanism, the pallet loading mechanism comprising a pallet sliding assembly arranged on the side of the platform and a pallet rotating assembly arranged on the frame for adjusting the angle of the pallet, the pallet sliding assembly controlling the platform to slide horizontally to just above the pallet rotating assembly;

[0010] The pallet recovery mechanism comprises a material carrying plate arranged below the pallet limiting assembly and a servo lifting device arranged on the side of the material carrying plate, wherein the servo lifting device controls the lifting of the material carrying plate.

[0011] Preferably, the first suction cup assembly is symmetrically arranged in two groups about the axis of symmetry on the short side of the carrier, and the first suction cup assembly includes a first suction cup arranged on the side of the carrier and a flipping assembly arranged at an end of the first suction cup away from the carrier, and the flipping assembly controls the first suction cup to flip 90° along the horizontal axis so that the adsorption end of the first suction cup adheres to the upper surface of the bottom tray.

[0012] Preferably, the material blocking assembly is symmetrically arranged in two groups about the axis of symmetry on the long side of the carrier, and the material shifting assembly is symmetrically arranged in two groups about the axis of symmetry on the short side of the carrier. The material blocking assembly includes a material blocking cylinder arranged on the side of the carrier and an insert arranged on the piston rod of the material blocking cylinder. The material blocking cylinder controls the insert to extend horizontally between the bottom tray and the adjacent upper tray.

[0013] Preferably, four groups of tray limiting assemblies enclose a space for stacking trays, and the tray limiting assemblies include a vertical limiting plate arranged on the side of the platform and two groups of first limiting rods vertically arranged on the side of the limiting plate close to the platform, the first limiting rod is in contact with the edge of the tray on the side close to the platform, and the first limiting rod can slide in the horizontal direction.

[0014] Preferably, a mounting plate is provided on the side of the first limit rod away from the carrier, and a support plate sliding in the vertical direction is provided on the side of the mounting plate away from the first limit rod; the rotating connecting rod device includes a flip cylinder arranged on the side of the support plate away from the mounting plate, a connecting rod and a second rotating shaft arranged at the lower end of the support plate, the second rotating shaft is arranged at the lower end of the support plate for rotation along a horizontal axis, the lower end of the connecting rod is inclined on the second rotating shaft in a direction close to the carrier, the upper end of the connecting rod is hinged to the piston rod of the flip cylinder, and the flip cylinder controls the hinged end of the connecting rod to make a linear motion in the vertical direction.

[0015] Preferably, the flipping assembly includes a gear box arranged on the side of the carrier, a vertical rotating cylinder arranged above the gear box, a first bevel gear arranged at the lower end of the rotating cylinder and rotating along the vertical axis, a second bevel gear arranged below the first bevel gear and rotating along the horizontal axis, and a first rotating shaft coaxially arranged with the second bevel gear, the first bevel gear is meshed with the second bevel gear, the piston rod of the rotating cylinder is connected to the upper side of the first bevel gear, the first rotating shaft is arranged in the middle of the gear box along the length direction of the gear box, the two ends of the first rotating shaft in the length direction extend out of the gear box, and two groups of the first suction cups are symmetrically arranged on the first rotating shaft about the gear box.

[0016] Preferably, the pallet sliding assembly includes a second slide rail horizontally arranged below the carrier, a sliding cylinder arranged on the side of the second slide rail, and a slider slidingly cooperated with the second slide rail. The upper side of the carrier is arranged on the slider, and the sliding cylinder controls the slider to move along the length direction of the second slide rail.

[0017] Preferably, the pallet rotation assembly includes a second suction cup assembly arranged on the frame, a rotating motor arranged below the second suction cup assembly, and a third lifting cylinder arranged at the lower end of the rotating motor, wherein the rotating motor controls the second suction cup assembly to rotate along a vertical axis, and the third lifting cylinder controls the second suction cup assembly to lift and lower in a vertical direction.

[0018] In addition, the present invention also provides an automatic loading and unloading method of an automatic pallet machine, which uses an automatic pallet machine in the present invention and is performed according to the following steps:

[0019] Step 1: Load the empty pallet;

[0020] Step 2: Separate the bottom tray into pieces;

[0021] Step 3: Move the bottom tray to the discharge port of the injection molding machine;

[0022] Step 4: The full tray is automatically recycled and stored;

[0023] Step 5. Repeat steps 2 to 3.

[0024] Preferably, the step 1 comprises the following steps:

[0025] S1. Adjust the tray limit assembly: adjust the tray limit assembly so that the size of the space enclosed by the tray limit assembly around the platform matches the size of the tray;

[0026] S2. Place the pallet: place the stacked empty pallets into the space enclosed by the pallet limiter assembly; the blocking assembly operates to block the bottom pallet to prevent the pallet from falling;

[0027] The step 2 comprises the following steps:

[0028] S1. Clamp the bottom tray: The material shifting assembly is running, and the rotating connecting rod device controls the clamping claw to move closer to the platform and flip upward to the bottom tray, and the clamping claw clamps the bottom tray;

[0029] S2, blocking the bottom tray and the adjacent upper tray: the material blocking assembly is reset, and the tray is blocked by the material shifting assembly and lowered; the second lifting mechanism controls the material shifting assembly to lower the height of one tray; the material blocking assembly operates to separate the bottom tray and the adjacent upper tray;

[0030] S3, separating the bottom tray: the second lifting mechanism controls the material transfer assembly to descend to the first suction cup;

[0031] S4, sucking the bottom tray: the flipping assembly controls the first suction cup to flip 90° along the horizontal axis, and the suction end of the first suction cup is attached to the upper surface of the bottom tray; the clamp is released, and the rotating connecting rod device controls the clamp to flip downward and detach from the tray to return to the initial state, and the second lifting mechanism controls the material shifting assembly to rise to the initial height;

[0032] S5, pulling away the bottom tray: the first lifting mechanism controls the first suction cup assembly to descend to the platform, and the first suction cup is released to place the tray on the contour positioning platform;

[0033] The step three comprises the following steps:

[0034] S1. Transfer the bottom tray to the discharge port of the injection molding machine: the tray sliding assembly controls the carrier to slide horizontally to the top of the tray rotating assembly;

[0035] S2. Correcting the angle of the pallet: The visual inspection device identifies the position of the pallet and transmits the identification information to the pallet rotating assembly; the pallet rotating assembly corrects the angle of the pallet and corrects the pallet with the wrong direction, and then the pallet rotating assembly returns to the initial state;

[0036] The step 4 comprises the following steps:

[0037] S1. Move and recycle the pallet loaded with injection molded products to the carrier plate: the pallet sliding assembly controls the carrier to move to the initial position; the first lifting mechanism controls the first suction cup assembly to descend to the carrier, and the first suction cup absorbs the pallet on the carrier; the first lifting mechanism controls the first suction cup assembly to rise to make the pallet detach from the contour positioning platform; the pallet sliding assembly controls the carrier to move to the side of the first suction cup assembly; the first lifting mechanism controls the first suction cup assembly to descend to place the pallet on the carrier plate;

[0038] S2, the servo lifting device controls the loading plate to descend to the height of one tray, and the first suction cup assembly returns to the state of step one.

[0039] The present invention has the following beneficial effects:

[0040] 1. The present invention can meet the requirements of loading and unloading of pallets of different sizes by setting an adjustable pallet limit assembly. The contour positioning platform on the carrier is detachable and can be replaced with a suitable contour positioning platform according to the specifications and models of the pallet, thereby improving the versatility of the device;

[0041] 2. The present invention sets a tray separation mechanism to flip and separate the bottom tray, thereby realizing rapid separation of the bottom tray. The flipping and separating method in this solution enables the clamping claw to move toward the platform and upward at the same time, thereby reducing the number of actuators and enhancing the running stability of the equipment. At the same time, compared with the linear motion material separation method, the flipping and separating method occupies less space, which is conducive to reducing the size of the equipment and reducing the manufacturing cost.

[0042] 3. The present invention has the functions of automatic loading and unloading. The equipment can automatically move the empty pallet to the discharge port of the injection molding machine, and can adjust the placement angle of the pallet. The full pallet is automatically recovered and stored on the loading plate, with a high degree of automation;

[0043] 4. The material shifting components and the material blocking components of the present invention are staggered in pairs around the platform, so that the material shifting and the material blocking do not interfere with each other. After the insert is retracted, the clamping claw blocks the tray, and after the clamping claw is released, the insert blocks the tray, so that the clamping claw cooperates with the insert to achieve the effect of alternating material blocking, thereby improving the utilization rate of each component and simplifying the mechanical structure of the equipment;

[0044] 5. The present invention starts to transfer materials from the bottom tray, which is conducive to the high integration of the equipment. The core structure of the equipment is concentrated in the middle and lower parts of the equipment. The structure is more compact and stable, and more trays can be placed at a time. During the material transfer process, after the bottom tray is transferred, the remaining empty trays can automatically move downward by their own gravity, and there is no need to configure a lifting power device to control the rise of the empty trays, thereby reducing the size of the equipment and the manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of this embodiment;

[0046] Figure 2 Schematic diagram of the internal structure of the pallet machine of this embodiment;

[0047] Figure 3 It is a structural schematic diagram of the first suction cup assembly, the first lifting mechanism, and the material blocking assembly of this embodiment;

[0048] Figure 4 2 is a schematic structural diagram of the material shifting assembly of this embodiment;

[0049] Figure 5 is a schematic structural diagram of the tray sliding assembly of this embodiment;

[0050] Figure 6 This embodiment Figure 5 An enlarged schematic diagram of part A;

[0051] Figure 7 Schematic diagram of the structure of the tray recovery mechanism of this embodiment.

[0052] : 2, carrier; 3, tray limit assembly; 31, limit plate; 32, first limit rod; 41, first suction cup assembly; 411, first suction cup; 412, flip assembly; 4121, gear box; 4122, rotating cylinder; 4123, first bevel gear; 4124, second bevel gear; 4125, first rotating shaft; 421, material blocking assembly; 4211, material blocking cylinder; 4212, insert; 422, material shifting assembly; 4221, rotating connecting rod device; 4221a, flip cylinder; 4221b, connecting rod; 4221c, second rotating shaft; 4222, clamp; 5, first lifting mechanism; 51, first lifting cylinder; 52, guide seat; 53, guide rod; 6, second lifting mechanism; 7, tray loading Mechanism; 71. tray sliding assembly; 711. second slide rail; 712. sliding cylinder; 713. slider; 72. tray rotating assembly; 721. second suction cup assembly; 7211. carrier plate; 7212. mounting plate; 7213. second suction cup; 722. rotating motor; 723. third lifting cylinder; 8. tray recovery mechanism; 81. carrier plate; 82. servo lifting device; 821. lifting screw rod; 822. servo motor; 9. feeding area; 10. loading area; 11. receiving area; 12. contour positioning table; 13. guide plate; 14. U-shaped block; 15. adjustment rod; 16. locking handle; 17. mounting plate; 18. support plate; 21. first slide rail; 22. second limit rod; 23. photoelectric sensor. DETAILED DESCRIPTION

[0053] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0054] Embodiment 1:

[0055] refer to Figure 1-Figure 7 An automatic pallet machine includes: a frame, a carrier 2 arranged on the frame, a pallet limiting assembly 3, a pallet separating mechanism, a first lifting mechanism 5, a second lifting mechanism 6, a pallet feeding mechanism 7 and a pallet recovery mechanism 8.

[0056] refer to Figure 1 , Figure 2 The automatic pallet machine can be divided into a feeding area 9, a loading area 10 and a receiving area 11. The receiving area 11 is arranged just below the feeding area 9, and the loading area 10 is arranged on the right side of the feeding area 9; the carrier 2 is arranged on the frame of the feeding area 9, and is used to carry an empty pallet. The middle part of the carrier 2 is connected with a contour positioning platform 12 by bolts. The shape of the contour positioning platform 12 matches the shape of the bottom of the pallet. When the empty pallet is placed, the bottom of the pallet is sleeved on the outside of the contour positioning platform 12. A number of vertical guide pieces 13 are arranged on the side of the contour positioning platform 12. The upper end of the guide piece 13 is inclined toward the center of the contour positioning platform 12. The guide piece 13 is arranged to guide the pallet to be smoothly sleeved on the contour positioning platform 12.

[0057] refer to Figure 1 , Figure 2 The function of the tray limiting assembly 3 is to limit the position of the tray so that the tray can be stably placed on the contoured positioning platform 12. The four groups of tray limiting assemblies 3 are enclosed to form a space for stacking trays. The tray limiting assembly 3 includes a vertical limiting plate 31 arranged on the side of the platform 2, and two groups of first limiting rods 32 vertically arranged on the side of the limiting plate 31 close to the platform 2. The first limiting rod 32 is close to the side of the platform 2 and fits the edge of the tray. The first limiting rod 32 can slide in the horizontal direction; a U-shaped block 14 with an opening facing downward is provided on the side of the limiting plate 31 away from the platform 2, and an adjusting rod 15 with a scale value on the surface is horizontally slidable in the opening of the U-shaped block 14, and the adjusting rod 15 vertically penetrates the limiting plate 31, and the end of the adjusting rod 15 close to the platform 2 is connected to The first limit rod 32 is connected to the side of the U-shaped block 14, and a locking handle 16 for locking the adjusting rod 15 is provided; when the position of the first limit rod 32 needs to be adjusted, just loosen the locking handle 16, and then slide the adjusting rod 15 horizontally to increase or reduce the area enclosed by several first limit rods 32, so as to match pallets of different sizes. Since the surface of the adjusting rod 15 is provided with scale values, it is beneficial to increase the adjustment accuracy and adjustment efficiency; in this scheme, a silo door 24 is hingedly provided on the side of the frame of the feeding area 9, and the pallet limit assembly 3 is integrated with the silo door 24. When the silo door 24 on one side is opened, the pallet limit assembly 3 connected to the silo door 24 moves therewith, so that the operator can place the empty pallet on the carrier 2 conveniently.

[0058] refer to Figure 2 , Figure 3 The tray separating mechanism includes a first suction cup assembly 41 and a flipping and discharging mechanism arranged on the side of the platform 2; the first suction cup assembly 41 is used to suck the bottom tray, and two groups of the first suction cup assembly 41 are symmetrically arranged about the symmetry axis on the short side of the platform 2, and the first suction cup assembly 41 includes a first suction cup 411 arranged on the side of the platform 2 and a flipping assembly 412 arranged at one end of the first suction cup 411 away from the platform 2, and the flipping assembly 412 controls the first suction cup 411 to flip 90° along the horizontal axis so that the adsorption end of the first suction cup 411 is attached to the upper surface of the bottom tray;

[0059] The flip assembly 412 includes a gear box 4121 arranged on the side of the carrier 2, a vertical rotating cylinder 4122 arranged above the gear box 4121, a first bevel gear 4123 arranged at the lower end of the rotating cylinder 4122 and rotating along the vertical axis, a second bevel gear 4124 arranged below the first bevel gear 4123 and rotating along the horizontal axis, and a first rotating shaft 4125 arranged coaxially with the second bevel gear 4124, the first bevel gear 4123 is meshed with the second bevel gear 4124, the piston rod of the rotating cylinder 4122 is connected to the upper side of the first bevel gear 4123, and the first rotating shaft 4125 is arranged along the gear The length direction of the box 4121 is set in the middle of the gear box 4121, and both ends of the length direction of the first rotating shaft 4125 extend out of the gear box 4121, and the two groups of first suction cups 411 are symmetrically arranged on the first rotating shaft 4125 with respect to the gear box 4121; when working, the rotating cylinder 4122 controls the first bevel gear 4123 to rotate along the vertical axis. When the first bevel gear 4123 rotates, the second bevel gear 4124 rotates along the horizontal axis driven by the first bevel gear 4123. When the second bevel gear 4124 rotates, it drives the first rotating shaft 4125 to rotate, thereby controlling the flipping of the first suction cup 411.

[0060] refer to Figure 3 , Figure 4 The function of the flipping and discharging mechanism is to discharge materials from the bottom tray. The flipping and discharging mechanism includes a material blocking component 421 arranged on the frame for blocking the tray from moving downward and a material discharging component 422 for clamping the bottom tray; two groups of material blocking components 421 are symmetrically arranged about the symmetry axis on the long side of the platform 2, and two groups of material discharging components 422 are symmetrically arranged about the symmetry axis on the short side of the platform 2. The material blocking component 421 includes a material blocking cylinder 4211 arranged on the side of the platform 2 and an insert 4212 arranged on the piston rod of the material blocking cylinder 4211. The material blocking cylinder 4211 controls the insert 4212 to extend horizontally between the bottom tray and the adjacent upper tray.

[0061] refer to Figure 3 , Figure 4The material shifting assembly 422 includes a rotating link device 4221 arranged on the side of the first limiting rod 32 away from the platform 2 and a clamping claw 4222 arranged at the lower end of the rotating link device 4221, and the rotating link device 4221 controls the clamping claw 4222 to complete the action of moving close to the platform 2 and flipping upward to the bottom tray; a mounting plate 17 is arranged on the side of the first limiting rod 32 away from the platform 2, and a supporting plate 18 sliding in the vertical direction is arranged on the side of the mounting plate 17 away from the first limiting rod 32;

[0062] The rotating connecting rod device 4221 includes a flip cylinder 4221a arranged on the side of the support plate 18 away from the mounting plate 17, a connecting rod 4221b arranged at the lower end of the support plate 18, and a second rotating shaft 4221c, the second rotating shaft 4221c is arranged at the lower end of the support plate 18 along a horizontal axis, and the lower end of the connecting rod 4221b is inclined on the second rotating shaft 4221c in the direction close to the platform 2, and the upper end of the connecting rod 4221b is hinged to the piston rod of the flip cylinder 4221a, and the flip cylinder 4221a controls the hinged end of the connecting rod 4221b to make a linear motion in the vertical direction; in this embodiment, the clamping claw 4222 is arranged on the second rotating shaft 42 On 21c, the clamp 4222 adopts a finger cylinder clamp, and the clamp 4222 includes a finger cylinder and an L-shaped clamp. The L-shaped clamp is connected to the clamping end of the finger cylinder by bolts, and the end of the finger cylinder away from the L-shaped clamp is connected to the second rotating shaft 4221c; when working, the piston rod of the flip cylinder 4221a extends downward to push the hinged end of the connecting rod 4221b to move downward, and the second rotating shaft 4221c rotates synchronously with the connecting rod 4221b, so that the finger cylinder is flipped from a horizontal state to a vertical state, and the L-shaped clamp moves in a circular arc toward the direction close to the carrier 2; in this scheme, two groups of clamps 4222 are symmetrically arranged about the support plate 18.

[0063] refer to Figure 3 , the first lifting mechanism 5 is arranged on the side of the carrier 2, and is used to control the lifting of the first suction cup assembly 41; in this embodiment, a horizontal support seat 25 is arranged on the first limit rod 32 on the same side of the carrier 2 as the first suction cup assembly 41, and the two ends of the support seat 25 in the length direction are respectively connected to the side of the two groups of first limit rods 32 away from the carrier 2; the first lifting mechanism 5 includes a vertical first lifting cylinder 51 arranged in the middle of the support seat 25, a guide seat 52 arranged on the piston rod of the first lifting cylinder 51, and a guide rod 53 slidably arranged on the support seat 25 along the vertical direction, the upper and lower ends of the guide rod 53 are respectively connected to the guide seat 52 and the gear box 4121, and the guide rod 53 is symmetrically arranged in two groups about the first lifting cylinder 51; when working, the piston rod of the first lifting cylinder 51 is extended and retracted to control the guide seat 52 and the guide rod 53 to move in the vertical direction, thereby driving the first suction cup assembly 41 to move synchronously.

[0064] refer to Figure 4The second lifting mechanism 6 is arranged on the side of the material shifting assembly 422, and is used to control the lifting and lowering of the material shifting assembly 422; in this embodiment, the second lifting mechanism 6 is a second lifting cylinder arranged on the side of the mounting plate 17 away from the first limiting rod 32, and the second lifting cylinder is arranged vertically, and the piston rod of the second lifting cylinder is connected to the side of the support plate 18, and a vertical first slide rail 21 is arranged on the side of the mounting plate 17 close to the support plate 18, and a first slide groove cooperating with the first slide rail 21 is arranged on the side of the support plate 18 close to the mounting plate 17, and the first slide rail 21 is arranged in the first slide groove; of course, the second lifting mechanism 6 can also adopt a motor. When working, the output end of the second lifting mechanism 6 controls the support plate 18 to slide in the vertical direction, thereby driving the material shifting assembly 422 arranged on the support plate 18 to move synchronously.

[0065] refer to Figure 5 , Figure 6 The pallet loading mechanism 7 includes a pallet sliding assembly 71 arranged on the side of the carrier 2 and a pallet rotating assembly 72 arranged on the frame of the loading area 10. The function of the pallet rotating assembly 72 is to correct the position of the pallet. The pallet sliding assembly 71 controls the carrier 2 to slide horizontally to just above the pallet rotating assembly 72; the pallet sliding assembly 71 includes a second slide rail 711 horizontally arranged on the side of the carrier 2, a sliding cylinder 712 (only the piston rod of the sliding cylinder is shown in the figure) arranged on the side of the second slide rail 711, and a slider 713 slidingly matched with the second slide rail 711. The two ends of the second slide rail 711 in the length direction are respectively arranged in the feeding area 9 and the loading area 10, and the upper side of the carrier 2 is arranged on the slider 713. The sliding cylinder 712 controls the slider 713 to move along the length direction of the second slide rail 711, thereby driving the carrier 2 to move synchronously.

[0066] refer to Figure 6 The tray rotating assembly 72 includes a second suction cup assembly 721 disposed on a frame located in the loading area 10, a rotating motor 722 disposed below the second suction cup assembly 721, and a third lifting cylinder 723 disposed at the lower end of the rotating motor 722. The rotating motor 722 controls the second suction cup assembly 721 to rotate along a vertical axis, and the third lifting cylinder 723 controls the second suction cup assembly 721 to rise and fall in a vertical direction.

[0067] The second suction cup assembly 721 includes a carrier 7211 disposed on the rotating shaft of the rotating motor 722, a mounting piece 7212 disposed at four right angles of the carrier 7211, and a second suction cup 7213 disposed on the mounting piece 7212. The mounting piece 7212 is disposed along the diagonal direction of the carrier 7211, an adjustment waist hole is disposed along the length direction at one end of the mounting piece 7212 close to the carrier 7211, and the end of the mounting piece 7212 away from the carrier 7211 is connected to the second suction cup 7213, and is connected to the carrier 7211 by a bolt passing through the adjustment waist hole. The connection can connect the mounting piece 7212 to the carrier plate 7211, and the above structure is convenient for adjusting the position of the second suction cup 7213; when the position of the second suction cup 7213 needs to be adjusted, it is only necessary to loosen the bolt on the adjustment waist hole, adjust the position of the mounting piece 7212 on the carrier plate 7211, and then tighten the bolt to fix the mounting piece 7212. At this time, the second suction cup 7213 is set on the mounting piece 7212, and the position of the second suction cup 7213 can be adjusted synchronously while adjusting the mounting piece 7212, thereby improving the applicability of the second suction cup assembly 721;

[0068] In this embodiment, a visual inspection device (not shown in the figure) is provided on the frame of the material receiving area 11, and the working process is as follows: when the pallet moves to the carrier plate 7211, the visual inspection device takes a photo of the pallet for inspection to determine whether the position of the pallet needs to be corrected. If the position of the pallet needs to be corrected, the rotating motor 722 controls the carrier plate 7211 to rotate to the correct angle; the visual inspection device can adopt the CCD visual inspection system of the prior art, which is a commonly used technical means in the field of automation equipment, and the specific structure will not be repeated.

[0069] refer to Figure 7 The tray recovery mechanism 8 includes a loading plate 81 arranged below the tray limiting assembly 3 and a servo lifting device 82 arranged on the side of the loading plate 81. The servo lifting device 82 in this scheme includes a vertical lifting screw 821 arranged on the side of the loading plate 81 and a servo motor 822 arranged on the side of the lifting screw 821. The servo motor 822 drives the lifting screw 821 to rotate so as to control the lifting of the loading plate 81. A second limiting rod 22 is arranged on the side of the loading plate 81. The second limiting rod 22 is arranged around the loading plate 81 to position the tray on the loading plate 81. Refer to the attached Figure 7 It can be seen that the second limit rod 22 has the same structure as the first limit rod 32, so the specific structure of the second limit rod 22 is no longer repeated. After the pallet is placed on the loading plate 81, the second limit rod 22 is attached to the loading plate 81 on the side close to the loading plate 81; a photoelectric sensor 23 is provided at the upper end of the second limit rod 22, and the photoelectric sensor 23 is used to sense the pallet falling into the loading plate 81. When the photoelectric sensor 23 senses the pallet, it transmits a signal to the servo lifting device 82, and the servo lifting device 82 controls the loading plate 81 to lower the height of one pallet.

[0070] During operation, the operator first places the empty pallet on the contoured positioning table 12, and then adjusts the pallet limit assembly 3 so that the first limit rod 32 is close to the side of the carrier 2 and fits the edge of the pallet; then the pallet separating mechanism operates to peel off the bottom layer of the pallet; next, the pallet loading mechanism 7 moves the empty pallet to the loading area 10, and after the pallet is filled with the molded products in the injection molding machine, the pallet recovery mechanism 8 operates to realize pallet recovery.

[0071] Embodiment 2:

[0072] An automatic loading and unloading method of an automatic pallet machine, using the automatic pallet machine in Example 1, is performed according to the following steps:

[0073] Step 1: Load the empty pallet;

[0074] Step 2: Separate the bottom tray into pieces;

[0075] Step 3: Move the bottom tray to the discharge port of the injection molding machine;

[0076] Step 4: The full tray is automatically recycled and stored;

[0077] Step 5. Repeat steps 2 to 3.

[0078] In the above, step one includes the following steps:

[0079] S1. Adjusting the tray limiting assembly 3: adjusting the tray limiting assembly 3 so that the size of the space enclosed by the tray limiting assembly 3 around the platform 2 matches the size of the tray;

[0080] S2, placing the pallet: placing the stacked empty pallets into the space enclosed by the pallet limiting assembly 3; the material blocking assembly 421 operates, and the insert 4212 extends to block the bottom pallet to prevent the pallet from falling;

[0081] Step 2 includes the following steps:

[0082] S1. Clamping the bottom tray: the material shifting assembly 422 operates, and the rotating connecting rod device 4221 controls the clamping claw 4222 to move close to the carrier 2 and flip upward to the bottom tray, and the clamping claw 4222 clamps the bottom tray;

[0083] S2, blocking the bottom tray and the upper tray adjacent thereto: the material blocking assembly 421 operates, the insert 4212 is retracted and separated from the tray, and the tray is carried by the clamp 4222; the second lifting mechanism 6 controls the material shifting assembly 422 to lower the height of one tray; the material blocking assembly 421 operates, and the insert 4212 is extended and inserted between the bottom tray and the upper tray adjacent thereto;

[0084] S3, separating the bottom tray: the second lifting mechanism 6 controls the material shifting assembly 422 to descend to the first suction cup 411;

[0085] S4, sucking the bottom tray: the first suction cup assembly 41 is running, and the flip assembly 412 controls the first suction cup 411 to flip 90 degrees along the horizontal axis so that the suction end of the first suction cup 411 is attached to the upper surface of the bottom tray; the clamping claw 4222 is released, and the rotating connecting rod device 4221 controls the clamping claw 4222 to flip downward and detach from the tray and then return to the initial state; the second lifting mechanism 6 controls the material shifting assembly 422 to rise to the initial height;

[0086] S5, remove the bottom tray: the first lifting mechanism 5 controls the first suction cup assembly 41 to descend to the carrier 2, and the first suction cup 411 is released to place the tray on the contour positioning platform 12;

[0087] Step three includes the following steps:

[0088] S1. Transfer the bottom tray to the discharge port of the injection molding machine: the tray sliding assembly 71 controls the carrier 2 to slide horizontally to the top of the tray rotating assembly 72;

[0089] S2. Correcting the angle of the pallet: the visual inspection device identifies the position of the pallet and transmits the identification information to the pallet rotating assembly 72; the pallet rotating assembly 72 corrects the angle of the pallet and corrects the pallet with the wrong direction, and then the pallet rotating assembly 72 returns to the initial state;

[0090] Step 4 includes the following steps:

[0091] S1. Recover the pallet loaded with injection molded products to the carrier plate 81: the pallet sliding assembly 71 controls the carrier 2 to move to the initial position; the first lifting mechanism 5 controls the first suction cup assembly 41 to descend to the carrier 2, and the first suction cup 411 sucks the pallet on the carrier 2; the first lifting mechanism 5 controls the first suction cup assembly 41 to rise to make the pallet detach from the contour positioning platform 12; the pallet sliding assembly 71 controls the carrier 2 to move to the side of the first suction cup assembly 41; the first lifting mechanism 5 controls the first suction cup assembly 41 to descend to place the pallet on the carrier plate 81;

[0092] S2, the servo lifting device 82 controls the loading plate 81 to descend to the height of one tray, and the first suction cup assembly 41 returns to the state of step 1.

[0093] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A loading and unloading method of an automatic pallet machine, comprising an automatic pallet machine, the automatic pallet machine comprising: A frame, wherein the frame is provided with a carrier (2) for placing a pallet and a pallet limiting assembly (3) for limiting the position of the pallet, and a contour positioning platform (12) is detachably provided in the middle of the carrier (2); A tray sheeting mechanism, the tray sheeting mechanism comprising a first suction cup assembly (41) arranged around the platform (2) for sucking the bottom tray and a flipping and shifting mechanism for shifting the bottom tray, the flipping and shifting mechanism comprising a material blocking assembly (421) arranged on a frame for blocking the tray from moving downward and a material shifting assembly (422) for clamping the bottom tray; the material shifting assembly (422) comprises a rotating connecting rod device (4221) arranged on the side of the platform (2) and a clamping claw (4222) arranged at the lower end of the rotating connecting rod device (4221), the rotating connecting rod device (4221) controls the clamping claw (4222) to move closer to the platform (2) and flip upward to the bottom tray at the same time; A first lifting mechanism (5) is arranged on a side of the carrier (2) and is used to control the lifting of the first suction cup assembly (41); A second lifting mechanism (6) is arranged on the side of the material shifting assembly (422) and is used to control the lifting and lowering of the material shifting assembly (422); A tray loading mechanism (7), the tray loading mechanism (7) comprising a tray sliding assembly (71) arranged on the side of the carrier (2) and a tray rotating assembly (72) arranged on the frame for adjusting the angle of the tray, the tray sliding assembly (71) controlling the carrier (2) to slide horizontally to just above the tray rotating assembly (72); A tray recovery mechanism (8), the tray recovery mechanism (8) comprising a material carrier plate (81) arranged below the tray limit assembly (3) and a servo lifting device (82) arranged on the side of the material carrier plate (81), the servo lifting device (82) controlling the lifting of the material carrier plate (81); Two groups of the first suction cup assembly (41) are symmetrically arranged about the symmetry axis on the short side of the carrier (2), and the first suction cup assembly (41) comprises a first suction cup (411) arranged on the side of the carrier (2) and a flip assembly (412) arranged at an end of the first suction cup (411) away from the carrier (2), and the flip assembly (412) controls the first suction cup (411) to flip 90 degrees along the horizontal axis so that the adsorption end of the first suction cup (411) is attached to the upper surface of the bottom tray; The material blocking components (421) are symmetrically arranged in two groups about the symmetry axis on the long side of the carrier (2), and the material shifting components (422) are symmetrically arranged in two groups about the symmetry axis on the short side of the carrier (2). The material blocking components (421) include a material blocking cylinder (4211) arranged on the side of the carrier (2) and an insert (4212) arranged on the piston rod of the material blocking cylinder (4211). The material blocking cylinder (4211) controls the insert (4212) to horizontally extend between the bottom tray and the adjacent upper tray. It is characterized in that the automatic pallet machine automatically loads and unloads materials according to the following steps: Step 1: Load the empty pallet; Step 2: Separate the bottom tray into pieces; Step 3: Move the bottom tray to the discharge port of the injection molding machine; Step 4: The full tray is automatically recycled and stored; Step 5. Repeat steps 2 to 3; The step 1 comprises the following steps: S1. Adjusting the tray limiting assembly (3): adjusting the tray limiting assembly (3) so that the size of the space enclosed by the tray limiting assembly (3) around the carrier (2) matches the size of the tray; S2, placing the pallets: placing the stacked empty pallets into the space enclosed by the pallet limiting assembly (3); the blocking assembly (421) operates to block the bottom pallet to prevent the pallet from falling; The step 2 comprises the following steps: S1. Clamping the bottom tray: the material shifting assembly (422) is in operation, and the rotating connecting rod device (4221) controls the clamping claw (4222) to move closer to the carrier (2) and flip upward to the bottom tray, and the clamping claw (4222) clamps the bottom tray; S2, isolating the bottom tray from the adjacent upper tray: the material blocking assembly (421) is reset, and the tray is blocked from descending by the material shifting assembly (422); the second lifting mechanism (6) controls the material shifting assembly (422) to descend the height of one tray; the material blocking assembly (421) operates to separate the bottom tray from the adjacent upper tray; S3, separating the bottom tray: the second lifting mechanism (6) controls the material shifting assembly (422) to descend to the first suction cup (411); S4, sucking the bottom tray: the flipping assembly (412) controls the first suction cup (411) to flip 90 degrees along the horizontal axis, and the suction end of the first suction cup (411) is attached to the upper surface of the bottom tray; the clamping claw (4222) is released, and the rotating connecting rod device (4221) controls the clamping claw (4222) to flip downward and detach from the tray to return to the initial state, and the second lifting mechanism (6) controls the material shifting assembly (422) to rise to the initial height; S5, removing the bottom tray: the first lifting mechanism (5) controls the first suction cup assembly (41) to descend to the carrier (2), and the first suction cup (411) is released to place the tray on the contour positioning platform (12); The step three comprises the following steps: S1. Transfer the bottom tray to the discharge port of the injection molding machine: the tray sliding assembly (71) controls the carrier (2) to slide horizontally to the top of the tray rotating assembly (72); S2, correcting the angle of the pallet: the visual detection device identifies the position of the pallet and transmits the identification information to the pallet rotating assembly (72); the pallet rotating assembly (72) corrects the angle of the pallet, corrects the pallet with the wrong direction, and then the pallet rotating assembly (72) returns to the initial state; The step 4 comprises the following steps: S1. Move and recycle the pallet loaded with injection molded products onto the carrier plate (81): the pallet sliding assembly (71) controls the carrier (2) to move to the initial position; the first lifting mechanism (5) controls the first suction cup assembly (41) to descend to the carrier (2), and the first suction cup (411) sucks the pallet on the carrier (2); the first lifting mechanism (5) controls the first suction cup assembly (41) to rise so that the pallet is separated from the contour positioning platform (12); the pallet sliding assembly (71) controls the carrier (2) to move to the side of the first suction cup assembly (41); the first lifting mechanism (5) controls the first suction cup assembly (41) to descend so that the pallet is placed on the carrier plate (81); S2, the servo lifting device (82) controls the material loading plate (81) to descend to the height of one tray layer, and the first suction cup assembly (41) returns to the state of step one.

2. The method for loading and unloading an automatic pallet machine according to claim 1, characterized in that: Four groups of tray limiting assemblies (3) are enclosed to form a space for stacking trays, and the tray limiting assemblies (3) include a vertical limiting plate (31) arranged on the side of the carrier (2) and two groups of first limiting rods (32) vertically arranged on the limiting plate (31) close to the side of the carrier (2), the first limiting rod (32) is close to the side of the carrier (2) and fits the edge of the tray, and the first limiting rod (32) can slide in the horizontal direction.

3. The method for loading and unloading an automatic pallet machine according to claim 2, characterized in that: A mounting plate (17) is arranged on the side of the first limiting rod (32) away from the carrier (2); a support plate (18) that slides in a vertical direction is arranged on the side of the mounting plate (17) away from the first limiting rod (32); the rotating connecting rod device (4221) comprises a tilting cylinder (4221a) arranged on the side of the supporting plate (18) away from the mounting plate (17), a connecting rod (4221b) arranged at the lower end of the supporting plate (18), and a second rotating shaft (4221b). 221c), the second rotating shaft (4221c) is rotatably arranged at the lower end of the support plate (18) along a horizontal axis, the lower end of the connecting rod (4221b) is tiltedly arranged on the second rotating shaft (4221c) in a direction close to the carrier (2), the upper end of the connecting rod (4221b) is hinged to the piston rod of the flip cylinder (4221a), and the flip cylinder (4221a) controls the hinged end of the connecting rod (4221b) to make a linear motion in the vertical direction.

4. A loading and unloading method for an automatic pallet machine according to any one of claims 1 to 3, characterized in that: The flip assembly (412) comprises a gear box (4121) arranged on the side of the carrier (2), a vertical rotary cylinder (4122) arranged above the gear box (4121), a first bevel gear (4123) arranged at the lower end of the rotary cylinder (4122) and rotatable along a vertical axis, a second bevel gear (4124) arranged below the first bevel gear (4123) and rotatable along a horizontal axis, and a first rotating shaft (4125) arranged coaxially with the second bevel gear (4124), wherein the first bevel gear (4121) 4123) is meshed with the second bevel gear (4124), the piston rod of the rotating cylinder (4122) is connected to the upper side of the first bevel gear (4123), the first rotating shaft (4125) is arranged in the middle of the gear box (4121) along the length direction of the gear box (4121), both ends of the first rotating shaft (4125) in the length direction extend out of the gear box (4121), and two groups of the first suction cups (411) are symmetrically arranged on the first rotating shaft (4125) with respect to the gear box (4121).

5. A loading and unloading method for an automatic pallet machine according to any one of claims 1 to 3, characterized in that: The tray sliding assembly (71) comprises a second slide rail (711) horizontally arranged below the carrier (2), a sliding cylinder (712) arranged on the side of the second slide rail (711), and a slider (713) slidingly matched with the second slide rail (711); the upper side of the carrier (2) is arranged on the slider (713), and the sliding cylinder (712) controls the slider (713) to move along the length direction of the second slide rail (711).

6. A loading and unloading method for an automatic pallet machine according to any one of claims 1 to 3, characterized in that: The tray rotating assembly (72) comprises a second suction cup assembly (721) arranged on a frame, a rotating motor (722) arranged below the second suction cup assembly (721), and a third lifting cylinder (723) arranged at the lower end of the rotating motor (722); the rotating motor (722) controls the second suction cup assembly (721) to rotate along a vertical axis, and the third lifting cylinder (723) controls the second suction cup assembly (721) to rise and fall in a vertical direction.

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