Classification stacking mechanism

Abstract

The invention discloses a classification stacking mechanism which reliably and quickly distinguishes workpieces mixed with two tolerances and quickly stacks the corresponding workpieces, so that the production is finer and more controllable. The stacking machine comprises a stacking machine table; the feeding mechanism comprises a feeding conveying rail and a material receiving mechanism, the material receiving mechanism is arranged on the upper surface of the feeding conveying rail, the starting end of the feeding conveying rail is located on the outer side of the stacking machine table and used for material receiving operation, and the tail end of the feeding conveying rail is located in the area of the stacking machine table and used for material receiving operation. The material receiving mechanism moves in a reciprocating mode in the direction from the starting end to the tail end of the feeding conveying rail. The classifying mechanism comprises a portal frame, a first clamping jaw mechanism and a second clamping jaw mechanism; the two groups of cache mechanisms are cache disks corresponding to workpieces with different tolerances, and comprise a first cache disk and a second cache disk; the multi-axis manipulator is used for carrying out blanking and tray changing operation; two groups of receiving bin mechanisms; and two groups of tray positioning mechanisms.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece palletizing, in particular to a classification palletizing mechanism. Background Art

[0002] Industrial automation technology is constantly improving, the quality of human life is constantly improving, and the replacement time of scientific and technological products is shortened, so higher requirements are put forward for industrial automation production equipment, requiring the reduction of labor input costs and the improvement of production efficiency. In the existing technology, the workpiece palletizing is a single workpiece that is transferred to the conveyor belt, and then the workpiece is picked up and transferred to the stacking tray by a robot; but in the actual process, after the workpiece is produced, due to production reasons, products with different tolerances will appear. In this case, how to distinguish products with different tolerances is a technical problem that cannot be solved by the existing palletizing mechanism. Summary of the invention

[0003] In view of the above problems, the present invention provides a classification and stacking mechanism, which can reliably and quickly distinguish workpieces mixed with two tolerances, and quickly stack the corresponding workpieces, making production more precise and controllable.

[0004] A classification and stacking mechanism, which is arranged at the rear of a tolerance measuring device, is characterized in that it comprises:

[0005] Palletizing machine;

[0006] A feeding mechanism, comprising a feeding conveying track and a receiving mechanism, wherein the receiving mechanism is arranged on the upper surface of the feeding conveying track, the starting end of the feeding conveying track is located outside the palletizer platform and is used for receiving material, the end of the feeding conveying track is located within the surface area of ​​the palletizer platform, and the receiving mechanism reciprocates along the direction from the starting end to the end of the feeding conveying track;

[0007] The classification mechanism includes a gantry, a first clamping mechanism, and a second clamping mechanism. The crossbeam of the gantry is arranged in the X direction, and an X translation track is arranged on the crossbeam. The first clamping mechanism and the second clamping mechanism are respectively arranged on the X translation track through an X-axis driving module, and each group of clamping mechanisms includes an independent Y-axis module, a Z-axis module, and a clamping jaw;

[0008] Two sets of cache mechanisms, which are cache disks corresponding to workpieces with different tolerances, including a first cache disk and a second cache disk;

[0009] Multi-axis manipulator, which is used for unloading and tray changing operations;

[0010] Two groups of material receiving bin mechanisms, including a first material receiving bin mechanism and a second material receiving bin mechanism, each group of material receiving bin mechanisms including at least one vertical material receiving bin mechanism, each vertical material receiving bin mechanism being used to stack corresponding material trays filled with workpieces;

[0011] and two groups of tray positioning mechanisms, including a first tray positioning mechanism and a second tray positioning mechanism, each group of tray positioning mechanisms including at least one tray positioning mechanism, the tray positioning mechanism being used to stably place the corresponding tray, so that the workpiece is accurately positioned in the workpiece positioning cavity;

[0012] The feeding mechanism is arranged in the front center area of ​​the palletizer platform, the crossbeam of the gantry is arranged across both sides of the feeding conveying track, and the crossbeam is located above the middle and rear area of ​​the feeding conveying track of the feeding mechanism, the first clamping mechanism and the second clamping mechanism are located on both sides of the length direction of the crossbeam and are arranged to work independently, the first cache tray and the second cache tray are respectively arranged at the rear positions on both sides of the feeding conveying track, the multi-axis manipulator is arranged in the central area of ​​the palletizer platform, the first material tray positioning mechanism is arranged behind one side of the first cache tray, the first material tray positioning mechanism is arranged outside the first material tray positioning mechanism, the second material tray positioning mechanism is arranged behind one side of the second cache tray, and the second material tray positioning mechanism is arranged outside the second material tray positioning mechanism, the operation area of ​​the manipulator of the multi-axis manipulator covers the first cache tray, the second cache tray, the first material receiving bin mechanism, the second material receiving bin mechanism, the first material tray positioning mechanism, and the second material tray positioning mechanism.

[0013] It is further characterized by:

[0014] It also includes two groups of empty tray storage bins, including a first empty tray storage bin and a second empty tray storage bin, each group of empty tray storage bins is used to place empty trays corresponding to workpieces, the first empty tray storage bin is located in the rear center area of ​​the palletizer platform and close to one side of the first tray positioning mechanism, and the second empty tray storage bin is located in the rear center area of ​​the palletizer platform and close to one side of the second tray positioning mechanism;

[0015] The manipulator of the multi-axis manipulator has an automatic hand-changing function. The multi-axis manipulator has an automatic hand-changing function for a workpiece manipulator and a tray manipulator. The workpiece manipulator is a suction and holding part manipulator. The suction and holding part manipulator is suitable for general suction and holding operations of two workpieces with different tolerances. The trays corresponding to the two workpieces are the same. The tray manipulator performs tray transfer operations in batches.

[0016] Each tray positioning mechanism includes a support plate, first clamping cylinders on both sides, second clamping cylinders on both ends, and four pressure blocks. The support plate is supported on the corresponding upper surface of the palletizer table through four surrounding columns. Corresponding first clamping cylinders are respectively arranged on both sides of the support plate, and a pressure block is fixedly connected to the inner side of the upper part of each first clamping cylinder. Corresponding second clamping cylinders are respectively arranged on both ends of the support plate, and a pressure block is fixedly connected to the inner side of the upper part of each second clamping cylinder. The four pressure blocks are used to fix the position of the tray.

[0017] Each material receiving bin mechanism includes a bottom frame, four corner limit plates, and a full material sensing detector. The bottom frame is provided with vertical four corner limit plates, and the material tray is placed in the space area formed by the four corner limit plates. The full material sensing detector is used to sense whether the stacking of the material tray reaches the set height;

[0018] Each tray positioning mechanism and the corresponding material receiving bin mechanism are integrated into a group of combined material receiving mechanisms, which makes the entire classification and stacking mechanism quick and convenient to assemble;

[0019] The two side areas of the multi-axis manipulator are respectively provided with three groups of combined material receiving mechanisms on each side to ensure reliable and sufficient storage of the workpieces.

[0020] After adopting the structure of the present invention, the workpiece is pre-measured by the tolerance measuring equipment in front, so as to know whether the tolerance range of the workpiece should be classified into the first category or the second category. The workpiece is transferred to the material receiving mechanism and arranged in sequence. The workpiece classified into the first category is clamped by the first clamping mechanism and transported to the first buffer tray. The workpiece classified into the second category is clamped by the second clamping mechanism and transferred to the second buffer tray. After any buffer tray is full, the multi-axis manipulator is replaced by a workpiece manipulator. The workpiece manipulator sucks and transfers the workpiece to the tray of the first tray positioning mechanism in a single row or as a whole group. When the tray in the first tray positioning mechanism is full, the multi-axis manipulator is converted into a tray manipulator, which transfers the tray to the first The workpieces are stacked in the receiving bin mechanism, and the empty trays are placed in the first tray positioning mechanism. After each group of trays in the first receiving bin mechanism is full, the trays are transferred in time; the workpiece manipulator sucks and transfers the workpieces to the trays of the second tray positioning mechanism in a single row or in a whole group. When the trays in the second tray positioning mechanism are full, the multi-axis manipulator is converted into a tray manipulator, which transfers the trays to the second receiving bin mechanism for stacking, and the empty trays are placed in the second tray positioning mechanism. After each group of trays in the second receiving bin mechanism is full, the trays are transferred in time; it can reliably and quickly distinguish workpieces mixed with two tolerances, and quickly stack the corresponding workpieces, making production more precise and controllable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the top view structure of the present invention;

[0023] Figure 3 A top view of the feeding mechanism of the present invention;

[0024] Figure 4 It is a front view of the classification mechanism of the present invention;

[0025] Figure 5 A three-dimensional diagram of a multi-axis manipulator of the present invention;

[0026] Figure 6 It is a three-dimensional diagram of the combined material receiving mechanism of the present invention;

[0027] The names corresponding to the serial numbers in the figure are as follows:

[0028] Support plate 1, first clamping cylinder 2, second clamping cylinder 3, pressing block 4, column 5, bottom frame 6, limit plate 7, full material sensing detector 8;

[0029] Palletizer 10, feeding mechanism 20, feeding conveying track 21, material receiving mechanism 22, motor 23, screw mechanism 24, classification mechanism 30, gantry 31, beam 311, first clamping mechanism 32, second clamping mechanism 33, X translation track 34, Y axis module 35, Z axis module 36, clamping jaw 37, cache mechanism 40, first cache tray 41, second cache tray 42, multi-axis manipulator 50, workpiece manipulator 51, tray manipulator 52, material receiving bin mechanism 60, first material receiving bin mechanism 61, second material receiving bin mechanism 62, tray positioning mechanism 70, first tray positioning mechanism 71, second tray positioning mechanism 72, empty tray storage bin 80, first empty tray storage bin 81, second empty tray storage bin 82, tray 90, workpiece 100, combined material receiving mechanism 110. DETAILED DESCRIPTION

[0030] A classification and stacking mechanism is arranged at the rear of the tolerance measuring device. Figure 1-Figure 6 :It includes a palletizer 10, a feeding mechanism 20, a classification mechanism 30, two sets of buffer mechanisms 40, a multi-axis manipulator 50, two sets of material receiving bin mechanisms 60, two sets of material tray positioning mechanisms 70, and two sets of empty tray storage bins 80;

[0031] The feeding mechanism 20 includes a feeding conveying track 21 and a receiving mechanism 22. The receiving mechanism 22 is provided on the upper surface of the feeding conveying track 21. The starting end of the feeding conveying track 21 is located outside the palletizer 10 and is used for receiving the material. The end of the feeding conveying track 21 is located within the surface area of ​​the palletizer 10. The receiving mechanism 22 reciprocates along the direction from the starting end to the end of the feeding conveying track 21.

[0032] The classification mechanism 30 includes a gantry 31, a first clamping mechanism 32, and a second clamping mechanism 33. The crossbeam 311 of the gantry 31 is arranged along the X direction, and an X translation track 34 is arranged on the crossbeam 311. The first clamping mechanism 32 and the second clamping mechanism 33 are respectively arranged on the X translation track 34 through an X-axis driving module. Each group of clamping mechanisms includes an independent Y-axis module 35, a Z-axis module 36, and a clamp 37. In specific implementation, the Z-axis module is a lifting cylinder.

[0033] The two sets of cache mechanisms 40 are cache disks corresponding to workpieces with different tolerances, including a first cache disk 41 and a second cache disk 42;

[0034] The multi-axis manipulator 50 is used for unloading and tray changing operations. The manipulator of the multi-axis manipulator 50 has an automatic hand-changing function. The multi-axis manipulator has an automatic hand-changing function for a workpiece manipulator 51 and a tray manipulator 52. The workpiece manipulator 51 is a suction and holding manipulator. The suction and holding manipulator is suitable for general suction and holding operations of two workpieces with different tolerances. The trays corresponding to the two workpieces are the same. The tray manipulator 52 performs tray transfer operations in batches.

[0035] The two groups of material receiving bin mechanisms 60 include a first material receiving bin mechanism 61 and a second material receiving bin mechanism 62. Each group of material receiving bin mechanisms 61 includes at least one vertical material receiving bin mechanism. Each vertical material receiving bin mechanism is used to stack corresponding material trays 90 filled with workpieces.

[0036] The two sets of tray positioning mechanisms 70 include a first tray positioning mechanism 71 and a second tray positioning mechanism 72. Each set of tray positioning mechanisms includes at least one tray positioning mechanism, and the tray positioning mechanism is used to stably place the corresponding tray, so that the workpiece 100 is accurately positioned in the workpiece positioning cavity.

[0037] The two groups of empty tray storage bins 80 include a first empty tray storage bin 81 and a second empty tray storage bin 82, and each group of empty tray storage bins is used to place empty trays corresponding to workpieces;

[0038] A feeder 20 is arranged in the front center area of ​​the palletizer platform 10, a crossbeam 311 of the gantry 31 is arranged across both sides of the feeding conveying track 21, and the crossbeam 311 is located above the middle and rear area of ​​the feeding conveying track 21 of the feeding mechanism 20, a first clamping claw mechanism 32 and a second clamping claw mechanism 33 are located on both sides of the length direction of the crossbeam 311 and are arranged to work independently, a first buffer tray 41 and a second buffer tray 42 are respectively arranged at the rear positions on both sides of the feeding conveying track 21, a multi-axis manipulator 50 is arranged in the center area of ​​the palletizer platform 10, a first material tray positioning mechanism 71 is arranged behind one side of the first buffer tray 41, a first material receiving bin mechanism 61 is arranged on the outside of the first material tray positioning mechanism 71, and a second buffer tray 42 is arranged on the outside of the first material tray positioning mechanism 71. A second material tray positioning mechanism 72 is arranged behind one side of the storage tray 42, and a second material receiving bin mechanism 62 is arranged outside the second material tray positioning mechanism 72. The first empty tray storage bin 81 is located in the rear center area of ​​the palletizer platform 10 and is close to one side of the first material tray positioning mechanism 71. The second empty tray storage bin 82 is located in the rear center area of ​​the palletizer platform 10 and is close to one side of the second material tray positioning mechanism 72. The operating area of ​​the multi-axis manipulator 50 covers the first cache tray 41, the second cache tray 42, the first material receiving bin mechanism 61, the second material receiving bin mechanism 62, the first material tray positioning mechanism 71, the second material tray positioning mechanism 72, the first empty tray storage bin 81, and the second empty tray storage bin 82.

[0039] In specific implementation, each tray positioning mechanism includes a support plate 1, first clamping cylinders 2 on both sides, second clamping cylinders 3 on both ends, and four pressing blocks 4. The support plate 1 is supported on the corresponding upper surface of the palletizer table 10 by surrounding columns 5. Corresponding first clamping cylinders 2 are respectively arranged on both sides of the support plate 1, and a pressing block 4 is fixedly connected to the inner side of the upper part of each first clamping cylinder 2. Corresponding second clamping cylinders 3 are respectively arranged on both ends of the support plate 1, and a pressing block 4 is fixedly connected to the inner side of the upper part of each second clamping cylinder 3. The four pressing blocks 4 are used to fix the position of the tray;

[0040] Each material receiving bin mechanism includes a bottom frame 6, four corner limit plates 7, and a full material sensing detector 8. The bottom frame 6 is provided with vertical four corner limit plates 7. The material tray 90 is placed in the space formed by the four corner limit plates 7. The full material sensing detector 8 is used to sense whether the material tray 90 has reached a set height.

[0041] Each material tray positioning mechanism and the corresponding material receiving bin mechanism are integrated into a group of combined material receiving mechanisms 110, which makes the entire classification and stacking mechanism quick and convenient to assemble;

[0042] The two side areas of the multi-axis manipulator 50 are respectively provided with three groups of combined material receiving mechanisms 110 on each side to ensure reliable and sufficient storage of the workpieces.

[0043] During specific implementation, the material receiving mechanism 22 is driven by the motor 23 and the screw mechanism 24 to reciprocate along the direction from the starting end to the end of the feeding conveying track 21. The upper surface of the material receiving mechanism 22 is provided with four workpiece placement positions in sequence along the length direction. After the workpiece is measured by the tolerance measuring equipment in front, it is placed in the four workpiece placement positions arranged in sequence. The tolerance classification of the workpiece in each workpiece placement position is known in advance.

[0044] Its working principle is as follows: the workpiece is pre-measured by the tolerance measuring equipment in front, so as to know whether the tolerance range of the workpiece should be classified into the first category or the second category. The workpiece is transferred to the material receiving mechanism and arranged in sequence. The workpiece classified into the first category is clamped by the first clamping mechanism and transported to the first buffer tray. The workpiece classified into the second category is clamped by the second clamping mechanism and transported to the second buffer tray. When any buffer tray is full, the multi-axis manipulator is replaced by a workpiece manipulator. The workpiece manipulator sucks and transports the workpiece to the tray of the first tray positioning mechanism in a single row or as a whole group. When the tray in the first tray positioning mechanism is full, the multi-axis manipulator is converted into a tray manipulator, which transports the tray to the first receiving mechanism. The stacking arrangement is carried out in the material bin mechanism, and the empty material trays are placed in the first material tray positioning mechanism. After each group of material trays in the first receiving bin mechanism is full, the material trays are transferred in time; the workpiece manipulator sucks and transfers the workpieces to the material trays of the second material tray positioning mechanism in a single row or a whole group. When the material trays in the second material tray positioning mechanism are full, the multi-axis manipulator is converted into a material tray manipulator, which transfers the material trays to the second receiving bin mechanism for stacking, and the empty material trays are placed in the second material tray positioning mechanism. After each group of material trays in the second receiving bin mechanism is full, the material trays are transferred in time; it can reliably and quickly distinguish workpieces mixed with two tolerances, and quickly stack the corresponding workpieces, making production more precise and controllable.

[0045] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0046] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A classification and stacking mechanism, which is arranged at the rear of a tolerance measuring device, characterized in that: It includes: Palletizing machine; A feeding mechanism, comprising a feeding conveying track and a receiving mechanism, wherein the receiving mechanism is arranged on the upper surface of the feeding conveying track, the starting end of the feeding conveying track is located outside the palletizer platform and is used for receiving material, the end of the feeding conveying track is located within the surface area of ​​the palletizer platform, and the receiving mechanism reciprocates along the direction from the starting end to the end of the feeding conveying track; The classification mechanism includes a gantry, a first clamping mechanism, and a second clamping mechanism. The crossbeam of the gantry is arranged in the X direction, and an X translation track is arranged on the crossbeam. The first clamping mechanism and the second clamping mechanism are respectively arranged on the X translation track through an X-axis driving module, and each group of clamping mechanisms includes an independent Y-axis module, a Z-axis module, and a clamping jaw; Two sets of cache mechanisms, which are cache disks corresponding to workpieces with different tolerances, including a first cache disk and a second cache disk; Multi-axis manipulator, which is used for unloading and tray changing operations; Two groups of material receiving bin mechanisms, including a first material receiving bin mechanism and a second material receiving bin mechanism, each group of material receiving bin mechanisms including at least one vertical material receiving bin mechanism, each vertical material receiving bin mechanism being used to stack corresponding material trays filled with workpieces; and two groups of tray positioning mechanisms, including a first tray positioning mechanism and a second tray positioning mechanism, each group of tray positioning mechanisms including at least one tray positioning mechanism, the tray positioning mechanism being used to stably place the corresponding tray, so that the workpiece is accurately positioned in the workpiece positioning cavity; The feeding mechanism is arranged in the front center area of ​​the palletizer platform, the crossbeam of the gantry is arranged across both sides of the feeding conveying track, and the crossbeam is located above the middle and rear area of ​​the feeding conveying track of the feeding mechanism, the first clamping mechanism and the second clamping mechanism are located on both sides of the length direction of the crossbeam and are arranged to work independently, the first cache tray and the second cache tray are respectively arranged at the rear positions on both sides of the feeding conveying track, the multi-axis manipulator is arranged in the central area of ​​the palletizer platform, the first material tray positioning mechanism is arranged behind one side of the first cache tray, the first material tray positioning mechanism is arranged outside the first material tray positioning mechanism, the second material tray positioning mechanism is arranged behind one side of the second cache tray, and the second material tray positioning mechanism is arranged outside the second material tray positioning mechanism, the operation area of ​​the manipulator of the multi-axis manipulator covers the first cache tray, the second cache tray, the first material receiving bin mechanism, the second material receiving bin mechanism, the first material tray positioning mechanism, and the second material tray positioning mechanism.

2. A classification and stacking mechanism according to claim 1, characterized in that: It also includes two groups of empty tray storage bins, including a first empty tray storage bin and a second empty tray storage bin. Each group of empty tray storage bins is used to place empty trays corresponding to workpieces. The first empty tray storage bin is located in the rear center area of ​​the palletizer platform and is close to one side of the first tray positioning mechanism. The second empty tray storage bin is located in the rear center area of ​​the palletizer platform and is close to one side of the second tray positioning mechanism.

3. A classification and stacking mechanism according to claim 1, characterized in that: The multi-axis manipulator has an automatic hand-changing function. The multi-axis manipulator has an automatic hand-changing function for a workpiece manipulator and a tray manipulator. The workpiece manipulator is a suction and holding manipulator, which is suitable for general suction and holding operations of two workpieces with different tolerances. The trays corresponding to the two workpieces are the same, and the tray manipulator performs tray transfer operations in batches.

4. A classification and stacking mechanism according to claim 1, characterized in that: Each tray positioning mechanism includes a supporting plate, first clamping cylinders on both sides, second clamping cylinders on both ends, and four pressure blocks. The supporting plate is supported on the corresponding upper surface of the palletizer table through four surrounding columns. Corresponding first clamping cylinders are respectively arranged on both sides of the supporting plate, and a pressure block is fixedly connected to the inner side of the upper part of each first clamping cylinder. Corresponding second clamping cylinders are respectively arranged on both ends of the supporting plate, and a pressure block is fixedly connected to the inner side of the upper part of each second clamping cylinder. The four pressure blocks are used to fix the position of the tray.

5. A classification and stacking mechanism according to claim 1, characterized in that: Each material receiving bin mechanism includes a bottom frame, four corner limit plates, and a full material sensing detector. The bottom frame is provided with vertical four corner limit plates, and the material tray is placed in the space area formed by the four corner limit plates. The full material sensing detector is used to sense whether the material tray is stacked to a set height.

6. A classification and stacking mechanism according to claim 1, characterized in that: Each material tray positioning mechanism and the corresponding material receiving bin mechanism are integrated into a group of combined material receiving mechanisms.

7. A classification and stacking mechanism according to claim 6, characterized in that: The two side areas of the multi-axis manipulator are respectively provided with three groups of combined material receiving mechanisms on each side.

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