Automatic box filling machine for fan blades

Abstract

The invention discloses an automatic fan blade box filling machine which comprises a rack, a taking and placing mechanical arm, a material receiving and positioning seat, a material disc feeding mechanism and a box body feeding and discharging mechanism located below the taking and placing mechanical arm correspondingly. The receiving positioning seat is assembled on the left side of the rack and is provided with a positioning structure; the carrying disc feeding mechanism is assembled on the right side of the rack and comprises a left side limiting guide plate, a right side limiting guide plate, a bearing seat and a lifting module, and the left side limiting guide plate and the right side limiting guide plate are each provided with a material distribution roller which is the same in height and partially protrudes out of the gap; the box feeding and discharging mechanism comprises an upper-layer conveying line, a lower-layer conveying line and a transfer conveying line, and the transfer conveying line can be selectively lifted to the position aligned with the upper-layer conveying line or the lower-layer conveying line front and back so that boxes can be transferred between the upper-layer conveying line and the lower-layer conveying line through the transfer conveying line. The purpose of automatically boxing the fan blades is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of fan blade packaging, and in particular to an automatic fan blade packaging machine. Background Art

[0002] As we all know, in the production process of fan blades, in order to facilitate the subsequent assembly and transportation of the fan blades, it is necessary to pack the produced fan blades, so as to facilitate the subsequent transportation and assembly operations of the fan blades by storing the fan blades in batches in the box.

[0003] At present, the packing of fan blades is done manually by operators, and the specific process is: the operator takes out a box and places a carrying tray in the box; then, the fan blades are filled on the carrying tray; then, an empty carrying tray is stacked on the carrying tray with fan blades, and the operator continues to fill the empty carrying tray with fan blades; the above steps are repeated until the number of carrying trays in the box reaches a preset number; therefore, the above-mentioned fan blade packing has the defect of low efficiency.

[0004] Therefore, there is an urgent need for an automatic fan packing machine to overcome the above-mentioned defects. Summary of the invention

[0005] The object of the present invention is to provide an automatic fan blade packing machine which can realize the automatic packing of fan blades while ensuring the reliability of empty tray separation and achieving higher automation efficiency due to reasonable layout.

[0006] In order to achieve the above purpose, the fan blade automatic packing machine of the present invention is suitable for being electrically connected to a controller, and includes a frame, a pick-and-place robot, a material receiving and positioning seat, a tray loading mechanism and a box loading and unloading mechanism located below the pick-and-place robot. The pick-and-place robot comprises a horizontal transfer module mounted on the frame and capable of moving left and right and forward and backward, a mounting seat mounted on the output end of the horizontal transfer module, and a fan blade pick-and-place mechanism and a carrier plate pick-and-place mechanism mounted on the mounting seat and capable of vertical lifting and lowering; the material receiving and positioning seat is mounted on one of the left and right sides of the frame and is located correspondingly below the fan blade pick-and-place mechanism, and the material receiving and positioning seat is provided with a positioning structure for positioning and placing the fan blades to be packed; the carrier plate loading mechanism is mounted on the other of the left and right sides of the frame and is located correspondingly below the carrier plate loading mechanism, and the carrier plate loading mechanism comprises a left limiting guide plate, a right limiting guide plate, a supporting seat placed in the gap between the left limiting guide plate and the right limiting guide plate and supporting the stacked empty carrier plates, and a supporting seat for driving the supporting seat to move the empty carrier plates. The seat is vertically lifted and lowered, and the left limit guide plate and the right limit guide plate are both equipped with material dividing rollers of the same height and partially protruding in the gap. The material dividing rollers block the empty loading tray adjacent to the empty loading tray from being taken out upwards during the process of the loading tray picking and placing mechanism taking out the top empty loading tray from above; the box loading and unloading mechanism comprises an upper conveyor line, a lower conveyor line located directly below the upper conveyor line, and a vertically liftable transfer conveyor line arranged at the rear sides of both the upper conveyor line and the lower conveyor line, the transfer conveyor line is also located between the material receiving positioning seat and the loading tray loading mechanism, and the transfer conveyor line can be selectively lifted and lowered to a position aligned front and rear with the upper conveyor line or the lower conveyor line, so that the box can be transferred between the upper conveyor line and the lower conveyor line with the aid of the transfer conveyor line.

[0007] Compared with the prior art, with the help of the design that "the material receiving positioning seat is installed on one of the left and right sides of the frame, the carrier tray loading mechanism is installed on the other of the left and right sides of the frame, and the transfer conveyor line is also located between the material receiving positioning seat and the carrier tray loading mechanism", and combined with "the pick-and-place robot includes a horizontal shifting module installed on the frame and capable of left-right and front-back movement, a mounting seat installed on the output end of the horizontal shifting module, and a fan blade pick-and-place mechanism and a carrier tray pick-and-place mechanism installed on the mounting seat and capable of vertical lifting", the box on the transfer conveyor line is provided for the carrier tray pick-and-place mechanism to load the empty carrier tray from the position between the material receiving positioning seat and the carrier tray loading mechanism, and for the fan blade pick-and-place mechanism to fill the empty carrier tray with fan blades, thereby shortening the horizontal movement path of both the fan blade pick-and-place mechanism and the carrier tray pick-and-place mechanism and achieving higher efficiency.

[0008] At the same time, with the help of the design that "the left-side limiting guide plate and the right-side limiting guide plate are both equipped with dividing rollers with the same height and partially protruding from the gap", the dividing rollers can block the empty tray adjacent to the empty tray from being taken out upwards during the process of the tray picking and placing mechanism taking out the top empty tray from above, thereby achieving the purpose of the stacked empty trays on the tray loading mechanism being taken out one by one by the tray picking and placing mechanism.

[0009] Furthermore, with the help of the design that "the box loading and unloading mechanism includes an upper conveyor line, a lower conveyor line located directly below the upper conveyor line, and a vertically liftable transfer conveyor line arranged on the rear sides of both the upper conveyor line and the lower conveyor line, the transfer conveyor line can be selectively lifted to a position aligned front and rear with the upper conveyor line or the lower conveyor line", the purpose of transferring each box between the upper conveyor line and the lower conveyor line with the help of the transfer conveyor line is achieved, thereby facilitating the loading of empty boxes and the unloading of full boxes.

[0010] Therefore, the automatic fan blade packing machine of the present invention can ensure the reliability of empty tray separation while realizing automatic fan blade packing, and has higher automation efficiency due to reasonable layout.

[0011] Preferably, the transfer conveyor line comprises a transfer lifting frame, a transfer lifting motor, a transfer conveying motor, a left conveyor belt, a right conveyor belt, a positioning block and a positioning driver, the transfer lifting frame has a left side wall, a right side wall, a rear side wall and a receiving cavity surrounded by the left side wall, the right side wall and the rear side wall, the transfer lifting motor, the transfer conveying motor, the left conveyor belt and the right conveyor belt are all located in the receiving cavity, the left conveyor belt is rotatably mounted on the left side wall, the right conveyor belt is rotatably mounted on the right side wall, the right conveyor belt is also aligned left and right with the left conveyor belt, and the transfer lifting motor is mounted on the rear side wall. The output shaft of the transfer lifting motor passes through the rear wall and is equipped with a gear, a lifting rack is fixed on the frame and meshes with the gear, and the transfer conveying motor is used to drive the left conveyor belt and the right conveyor belt to rotate synchronously; the positioning block is arranged at the front end of the left wall or the right wall, and a "V"-shaped positioning notch is opened on the positioning block. The corner between the rear wall and the left wall or the right wall is arranged opposite to the positioning notch. The positioning driver is installed on the left wall or the right wall where the positioning block is located, and the positioning driver drives the positioning block to move into or out of the accommodating cavity from above.

[0012] Preferably, the upper conveyor line and the lower conveyor line both include a frame frame, a left belt rotatably mounted on the left side of the frame frame, a right belt rotatably mounted on the right side of the frame frame, and a feeding motor fixedly placed in the frame frame and used to drive the left belt and the right belt to rotate synchronously. The frame frame is also provided with a left guide plate located on the left side of the left belt and higher than the left belt, and a right guide plate located on the right side of the right belt and higher than the right belt. The left guide plate and the right guide plate both extend forward and backward, and the front and rear ends of the left guide plate and the right guide plate are arranged in an "eight" shape that expands from each other.

[0013] Preferably, the box loading and unloading mechanisms are multiple and are arranged spaced apart in the left-right direction of the frame.

[0014] Preferably, the left-side limiting guide plate and the right-side limiting guide plate are each equipped with a double-headed motor with two output shafts, the two output shafts of the double-headed motor are aligned with each other and face opposite directions, and either of the two output shafts of the double-headed motor is equipped with the material dividing roller.

[0015] Preferably, the fan blade picking and placing mechanism includes a vertical transfer module and a pneumatic clamp assembled at the output end of the vertical transfer module, the pneumatic clamp has two fingers that can be opened and closed, each of the fingers is provided with a clamping block, the clamping block includes an arc-shaped clamping portion that cooperates in the opening and closing direction of the fingers and a straight extension portion connected to the clamping portion and extending along the opening and closing direction, so that the two clamping blocks form a ring structure that is closed end to end.

[0016] Preferably, the clamping portion has a clamping surface, which includes a circular arc concave surface at the center, a first inclined surface connected to one side of the circular arc concave surface, and a second inclined surface connected to the other side of the circular arc concave surface, and the second inclined surface and the first inclined surface are arranged in an "eight" shape that expands each other.

[0017] Preferably, the fan blade automatic packing machine of the present invention also includes a fan blade material receiving mechanism for flipping the fan blades to be packed onto the positioning structure, the fan blade material receiving mechanism includes a lifting drive, a flip drive, a lifting seat, a flip frame and a material receiving fixture mounted on the flip frame, the lifting drive is mounted on the frame, the lifting seat can be vertically lifted and lowered at the output end of the lifting drive, the flip drive is mounted on the lifting seat, the flip frame is mounted on the lifting seat by means of a flip axis, the flip drive is used to drive the flip frame to flip between a material receiving position and a material transfer position together with the material receiving fixture; the material receiving fixture is located directly above the positioning structure when the flip frame is switched to the material transfer position; the flip frame is horizontally arranged when it is switched to the material receiving position.

[0018] Preferably, a flip gear is mounted on the flip shaft, a horizontally arranged flip rack is mounted on the output end of the flip driver, and the flip rack is meshed with the flip gear; and the material receiving fixture is a pneumatic finger.

[0019] Preferably, the fan blade automatic cartoning machine of the present invention also includes a front and rear sliding drive mounted on the frame, the output end of the front and rear sliding drive is assembled and connected to the material receiving positioning seat, and the material receiving positioning seat is also slidably mounted on the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional diagram of the automatic fan blade packing machine of the present invention.

[0021] Figure 2 yes Figure 1 A perspective view of the fan blade automatic case packer is shown with the frame hidden.

[0022] Figure 3 yes Figure 2 A three-dimensional view with the cabinet and empty tray hidden.

[0023] Figure 4 It is a plan view of the fan blade picking and placing mechanism of the picking and placing robot in the fan blade automatic case packing machine of the present invention, viewed from bottom to top.

[0024] Figure 5 yes Figure 4 Enlarged view of the portion enclosed by the dotted circle.

[0025] Figure 6 It is a three-dimensional diagram of the tray loading mechanism in the automatic fan blade packing machine of the present invention.

[0026] Figure 7 yes Figure 6 Floor plan viewed from top to bottom.

[0027] Figure 8 It is a stereoscopic diagram of the upper conveyor line and the lower conveyor line of the box loading and unloading mechanism in the fan blade automatic box packing machine of the present invention.

[0028] Fig. 9 It is a three-dimensional diagram of the transfer conveyor line of the box loading and unloading mechanism in the fan blade automatic box packing machine of the present invention.

[0029] Fig.10 yes Fig. 9 A three-dimensional image with the cabinet hidden.

[0030] Fig.11 It is a three-dimensional diagram of the fan blade material receiving mechanism, the front and rear sliding drive and the material receiving positioning seat in the fan blade automatic case packing machine of the present invention. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings.

[0032] Please combine Figure 1 , Figure 2 , Figure 3 and Fig.11 The fan blade automatic packing machine 100 of the present invention is suitable for being electrically connected to a controller (not shown in the figure), and includes a frame 10, a pick-and-place robot 20, a material receiving and positioning seat 30, a tray loading mechanism 40, and a box loading and unloading mechanism 50 located below the pick-and-place robot 20.

[0033] The pick-and-place robot 20 includes a horizontal transfer module 21 mounted on the frame 10 and capable of left-right and front-back movements, a mounting seat 22 mounted on the output end of the horizontal transfer module 21, and a fan blade pick-and-place mechanism 23 and a tray pick-and-place mechanism 24 mounted on the mounting seat 22 and capable of vertical lifting and lowering; therefore, driven by the horizontal transfer module 21, the mounting seat 22 and the fan blade pick-and-place mechanism 23 and the tray pick-and-place mechanism 24 thereon slide together along the left-right direction and front-back direction of the frame 10 to meet the needs of the tray pick-and-place mechanism 24 to load the empty tray 300 into the box 400, and the fan blade pick-and-place mechanism 23 to place the fan blades 200 to be packed on the empty tray 300 in the box 400.

[0034] The receiving and positioning seat 30 is assembled on the left side of the frame 10. Obviously, according to actual needs, the receiving and positioning seat 30 can also be assembled on the right side of the frame 10, so it is not limited to the figure shown; the receiving and positioning seat 30 is located below the fan blade picking and placing mechanism 23, and a positioning structure 31 for positioning and placing the fan blades 200 to be packed is provided on the receiving and positioning seat 30. Optionally, Fig.11 In the figure, as an example, the positioning structures 31 are four arranged in a matrix, that is, two are arranged in a row, and there are two rows in total; in addition, the positioning structure 31 is a positioning cavity; but it is not limited to this.

[0035] The tray loading mechanism 40 is assembled on the right side of the frame 10. Obviously, according to actual needs, the tray loading mechanism 40 can also be assembled on the left side of the frame 10, so it is not limited to the figure shown; the tray loading mechanism 40 is located below the tray picking and placing mechanism 24; the tray loading mechanism 40 includes a left-side limiting guide plate 41, a right-side limiting guide plate 42, a supporting seat 44 placed in the gap 43 between the left-side limiting guide plate 41 and the right-side limiting guide plate 42 and supporting the stacked empty trays 300, and a lifting module 45 for driving the supporting seat 44 to rise and fall vertically. The left limiting guide plate 41 and the right limiting guide plate 42 are both equipped with dividing rollers 47 of the same height and partially protruding from the gap 43. The dividing rollers 47 block the lower empty tray 300 adjacent to the empty tray 300 from being taken out upwards during the process of the tray picking and placing mechanism 24 taking out the top empty tray 300 from above. This is because the dividing rollers 47 will generate rolling friction resistance to the lower empty tray 300 adjacent to the top, and the lower empty tray 300 adjacent to the top is not grasped by the tray picking and placing mechanism 24, so the lower empty tray 300 adjacent to the top is scraped off by the dividing rollers 46, thereby achieving the purpose of the stacked empty trays 300 on the tray loading mechanism 40 being taken out one by one by the tray picking and placing mechanism 24.

[0036] The box loading and unloading mechanism 50 includes an upper conveying line 51 , a lower conveying line 52 located directly below the upper conveying line 51 , and a vertically ascending and descending transfer conveying line 53 arranged at the rear of both the upper conveying line 51 and the lower conveying line 52 . The transfer conveyor line 53 is also located between the material receiving positioning seat 30 and the carrier loading mechanism 40. The transfer conveyor line 53 can be selectively raised and lowered to a position aligned front and rear with the upper conveyor line 51 or the lower conveyor line 52, so that the box 400 can be transferred between the upper conveyor line 51 and the lower conveyor line 52 with the help of the transfer conveyor line 53; for example, as an example, an empty box 400 is placed on the upper conveyor line 51, and the upper conveyor line 51 transfers the box 400 to the transfer conveyor line 53 aligned with the upper conveyor line 51; when the box 400 on the transfer conveyor line 53 is filled with fan blades 200, the transfer conveyor line 53 descends to a position aligned with the lower conveyor line 52, and the box 400 filled with fan blades 200 is transferred to the lower conveyor line 52, realizing the cycle of loading empty boxes 400, packing fan blades 200 and unloading boxes 400 filled with fan blades 200. More specifically, as follows:

[0037] like Figure 2 , Figure 3 and Fig.11As shown, the fan blade automatic cartoning machine 100 of the present invention also includes a fan blade receiving mechanism 60 for flipping the fan blades 200 to be packed onto the positioning structure 31, and the fan blade receiving mechanism 60 includes a lifting drive 61, a flip drive 62, a lifting seat 63, a flip frame 64, and a receiving fixture 65 mounted on the flip frame 64. The lifting drive 61 is mounted on the frame 10, and the lifting seat 63 can be vertically lifted and lowered at the output end of the lifting drive 61 to meet the purpose of the lifting drive 61 driving the lifting seat 63 to lift vertically. The flip drive 62 is mounted on the lifting seat 63, and the flip frame 64 is mounted on the lifting seat 63 by means of a flip shaft 66. The flip drive 62 is used to drive the flip frame 64 to flip together with the receiving fixture 65 between a receiving position and a material transfer position; the receiving fixture 65 is located directly above the positioning structure 31 when the flip frame 64 switches to the material transfer position; the flip frame 64 is horizontally arranged when switched to the receiving position, as shown in the state. Fig.11 Therefore, the material receiving fixture 65 can achieve the purpose of clamping the fan blade 200 by clamping the shaft 210 of the fan blade 200. At the same time, with the cooperation of the lifting driver 61 and the flip driver 62, the fan blade 200 is transferred to the positioning structure 31 of the material receiving positioning seat 30, and the shaft 31 of the fan blade 200 on the positioning structure 31 is arranged upward. Specifically, Fig.11 As an example, a turning gear 67 is installed on the turning shaft 66, and a horizontally arranged turning rack 68 is installed on the output end of the turning driver 62. The turning rack 68 is meshed with the turning gear 67 to ensure that the turning frame 64 is accurately switched between the material receiving position and the material transfer position. For example, the lifting driver 61 and the turning driver 62 can be a cylinder, a hydraulic cylinder or an electric push rod, and the material receiving fixture 65 is a pneumatic finger, but it is not limited to this example.

[0038] like Fig.11 As shown, as an example, the fan blade automatic packing machine 100 of the present invention also includes a front-to-rear sliding drive 70 mounted on the frame 10, and the output end 71 of the front-to-rear sliding drive 70 is assembled and connected with the material receiving positioning seat 30, and the material receiving positioning seat 30 is also slidably arranged on the frame 10; such a design ensures that the positioning structures 31 of different rows on the material receiving positioning seat 30 can slide to the position corresponding to the material receiving fixture 65, thereby ensuring that the fan blade 200 clamped by the material receiving fixture 65 falls on the corresponding positioning structure 31 after turning 180 degrees, thereby improving the carrying capacity of the material receiving positioning seat 30 for the fan blade 200. For example, in Fig.11 In the figure, as an example, the front and rear sliding drive 70 is a cylinder. Obviously, it can also be a hydraulic cylinder or an electric push rod according to actual needs, but it is not limited to this.

[0039] like Figure 6 and Figure 7As shown, as an example, the left limiting guide plate 41 and the right limiting guide plate 42 are each equipped with a double-headed motor 47 with two output shafts 471, and the two output shafts 471 of the double-headed motor 47 are aligned with each other and face opposite directions, and any of the two output shafts 471 of the double-headed motor 47 is equipped with a material dividing roller 46; this design enables the lower empty plate 300 adjacent to the top to be frictionally blocked by the four material dividing rollers 46 from the left and right sides, which more effectively improves the reliability of the material dividing roller 46 in dividing the empty plate 300.

[0040] like Figure 4 and Figure 5 As shown, as an example, the fan blade pick-up and placement mechanism 23 includes a vertical transfer module 23a and a pneumatic clamp 23b assembled at the output end of the vertical transfer module 23a, and the pneumatic clamp 23b has two fingers 232 that can be opened and closed, and each finger 232 is provided with a clamping block 23c; the clamping block 23c includes a clamping block 23c in the opening and closing direction of the finger 232 (for example, but not limited to Figure 5 The arc-shaped clamping portion 233 and the straight extension portion 234 connected to the clamping portion 233 and extending along the opening and closing direction are matched to form a ring structure with two clamping blocks 23c closed end to end. Figure 5 As shown; this design allows the shaft 210 of the blade 200 to be located in the annular structure when the blade placement mechanism 23 grabs the blade 200 on the positioning structure 31, and the annular structure first constrains and then clamps the shaft 210, thereby improving the reliability of the blade placement mechanism 23 grabbing the shaft 210. Specifically, Figure 5 As an example, the clamping portion 233 has a clamping surface 233a, which includes a circular arc concave surface 2331 at the center, a first inclined surface 2332 connected to one side of the circular arc concave surface 2331, and a second inclined surface 2333 connected to the other side of the circular arc concave surface 2331. The second inclined surface 2333 and the first inclined surface 2332 are arranged in an "eight" shape that expands from each other; optionally, Figure 5 As an example, the arc concave surface 2331 is tangent to the first inclined surface 2332 and the second inclined surface 2333 respectively, so as to play a good correction role in the clamping process of the shaft body 210, so that the shaft body 210 after clamping is located at the center of the two arc concave surfaces 2231, thereby ensuring the reliability of subsequent loading of the empty disk 300.

[0041] like Figures 1 to 3 As shown in FIG. 1 , as an example, the box loading and unloading mechanisms 50 are two spaced apart in the left and right directions of the frame 10; obviously, according to actual needs, the number of the box loading and unloading mechanisms 50 can also be other, so it is not limited to FIG. Figures 1 to 3 In addition, the specific structures of the upper conveying line 51, the lower conveying line 52 and the transfer conveying line 53 are described below.

[0042] like Figure 8 As shown, as an example, the upper conveyor line 51 includes a frame frame 511, a left belt 512 rotatably mounted on the left side of the frame frame 511, a right belt 513 rotatably mounted on the right side of the frame frame 511, and a feeding motor 514 fixedly placed in the frame frame 511 and used to drive the left belt 512 and the right belt 513 to rotate synchronously. The frame frame 511 is also provided with a left guide plate 515 located on the left side of the left belt 512 and higher than the left belt 512, and a right guide plate 516 located on the right side of the right belt 513 and higher than the right belt 513. The left guide plate 515 and the right guide plate 516 are also extended forward and backward, and the front end 5151 of the left guide plate 515 and the front end 5161 of the right guide plate 516 are arranged in an "eight" shape that expands each other, and the rear end 5152 of the left guide plate 515 and the rear end 5162 of the right guide plate 516 are arranged in an "eight" shape that expands each other; on the one hand, it ensures that the box body 400 enters and exits the upper conveying line 51 more smoothly, and on the other hand, it also ensures the accuracy of the position of the box body 400 after entering the upper conveying line 51. In addition, with the help of the feed motor 514 being fixedly placed in the frame frame 511, the height dimensions of the feed motor 514 and the frame frame 511 are reduced, thereby leaving more space between the upper conveying line 51 and the lower conveying line 52 for the transfer of the box body 400. Since the structure of the lower conveying line 52 is the same as that of the upper conveying line 41, the specific structure of the lower conveying line 52 is not described in detail here.

[0043] like Figure 8 and Fig. 9As shown, as an example, the transfer conveyor line 53 includes a transfer lifting frame 53a, a transfer lifting motor 53b, a transfer conveying motor 53c, a left conveyor belt 53d, a right conveyor belt 53e, a positioning block 53f and a positioning driver 53g. The transfer lifting frame 53a has a left side wall 531, a right side wall 532, a rear side wall 533 and a receiving cavity 534 surrounded by the left side wall 531, the right side wall 532 and the rear side wall 533; the transfer lifting motor 53b, the transfer conveying motor 53c, the left conveyor belt 53d and the right conveyor belt 53e are all located in the receiving cavity 534 to effectively reduce the size occupied in height and leave more space for the transfer of the box body 400; the left conveyor belt 53d can be rotatably mounted on the left side wall 5 31, the right conveyor belt 53e is rotatably mounted on the right side wall 532, and the right conveyor belt 53e is also aligned with the left conveyor belt 53d; the transfer lifting motor 53b is mounted on the rear side wall 533, the output shaft 535 of the transfer lifting motor 53b passes through the rear side wall 533 and is equipped with a gear 53h, a lifting rack 53i is fixed on the frame 10 and meshes with the gear 53h, and the transfer conveying motor 53c is used to drive the left conveyor belt 53d and the right conveyor belt 53e to rotate synchronously. The positioning block 53f is arranged at the front end of the right side wall 532. Obviously, it can also be arranged at the front end of the left side wall 531 according to actual needs. A "V"-shaped positioning notch 536 is provided on the positioning block 53f. The corner between the rear side wall 533 and the left side wall is arranged opposite to the positioning notch 536. The positioning driver 53g is assembled on the right side wall 532 where the positioning block 53f is located. The positioning driver 53g drives the positioning block 53f to move into or out of the accommodating chamber 534 from above. This design enables the box 400 on the transfer conveyor line 53 to be clamped and positioned by the positioning block 53f and the transfer lifting frame 53a before the operation of loading the empty load tray 300 and placing the fan blades 200 on the empty load tray 300 is carried out, thereby effectively ensuring the reliable stability of the box packing of the fan blades 200. In addition, by fixing the lifting rack 53i on the frame 10 and assembling the transfer lifting motor 53b on the transfer lifting frame 53g, the size of the transfer conveyor line 53 in the height direction can be made smaller.

[0044] It is understandable that when the positioning block 53f is arranged at the front end of the left side wall 531, the positioning notch 536 of the positioning block 53f corresponds to the corner between the rear side wall 533 and the right side wall 532. In addition, the transfer conveying motor 53c is fixed to the rear side wall 533, providing sufficient space for the transfer conveying motor 53c to drive the left conveying belt 53d and the right conveying belt 53e to rotate synchronously.

[0045] Compared with the prior art, the present invention adopts the design that "the receiving and positioning seat 30 is mounted on one of the left and right sides of the frame 10, the tray loading mechanism 40 is mounted on the other of the left and right sides of the frame 10, and the transfer conveyor line 53 is also located between the receiving and positioning seat 30 and the tray loading mechanism 40", and is combined with the design that "the pick-and-place robot 20 includes a horizontal transfer module 21 mounted on the frame 10 and capable of moving left and right and forward and backward, a mounting seat 22 mounted on the output end of the horizontal transfer module 21, and a mounting plate 23 mounted on the output end of the horizontal transfer module 21, and a mounting plate 24 mounted on the output end of the horizontal transfer module 21, and a mounting plate 25 mounted on the output end of the horizontal transfer module 21, and a mounting plate 26 mounted on the output end of the horizontal transfer module 21, and a mounting plate 27 mounted on the output end of the horizontal transfer module 21, and a mounting plate 28 mounted on the output end of the horizontal transfer module 21, and a mounting plate 29 mounted on the output end of the horizontal transfer module 21, and a mounting plate 29 mounted on the output end of the horizontal transfer module 21, and a mounting plate 29 mounted on the output end of the horizontal transfer module 21, and a mounting plate 29 mounted on the output end of the horizontal transfer module 21, and a transfer conveyor line 53 is also located between the receiving and positioning seat 30 and the tray loading mechanism 40 ... The fan blade picking and placing mechanism 23 and the tray picking and placing mechanism 24' which are equipped on the mounting seat 22 and can be lifted vertically enable the box 400 on the transfer conveyor line 53 to be loaded into the empty tray 300 by the tray picking and placing mechanism 24 from the position between the material receiving positioning seat 30 and the tray loading mechanism 40, and to be filled with fan blades 200 on the empty tray 300 by the fan blade picking and placing mechanism 23, thereby shortening the horizontal movement path of the fan blade picking and placing mechanism 23 and the tray picking and placing mechanism 24 and achieving higher efficiency.

[0046] At the same time, with the help of the design that "the left limiting guide plate 41 and the right limiting guide plate 42 are both equipped with dividing rollers 46 of the same height and partially protruding from the gap 43", the dividing rollers 46 can block the empty tray 300 adjacent to the empty tray 300 from being taken out upwards during the process of the tray picking and placing mechanism 24 taking out the top empty tray 300 from above, thereby achieving the purpose of the stacked empty trays 300 on the tray loading mechanism 40 being taken out one by one by the tray picking and placing mechanism 24.

[0047] Furthermore, with the help of the design that "the box loading and unloading mechanism 50 includes an upper conveyor line 51, a lower conveyor line 52 located directly below the upper conveyor line 51, and a vertically liftable transfer conveyor line 53 arranged on the rear sides of the upper conveyor line 51 and the lower conveyor line 52, the transfer conveyor line 53 can be selectively lifted to a position aligned front and rear with the upper conveyor line 51 or the lower conveyor line 52", the purpose of transferring each box 400 between the upper conveyor line 51 and the lower conveyor line 52 with the help of the transfer conveyor line 53 is achieved, thereby facilitating the loading of empty boxes 400 and the unloading of full boxes 400.

[0048] Therefore, the fan blade automatic packing machine 100 of the present invention can ensure the reliability of the empty tray 300 while realizing the automatic packing of the fan blades 200, and has a higher automation efficiency due to the reasonable layout.

[0049] The above disclosure is only a preferred embodiment of the present invention, which is to facilitate the understanding and implementation of the present invention by those skilled in the art. It certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the scope covered by the present invention.

Claims

1. A fan blade automatic packing machine, suitable for being electrically connected to a controller, characterized in that: include: frame; The pick-and-place robot comprises a horizontal transfer module mounted on the frame and capable of left-right and front-back movement, a mounting seat mounted on the output end of the horizontal transfer module, and a fan blade pick-and-place mechanism and a carrier plate pick-and-place mechanism mounted on the mounting seat and capable of vertical lifting; A material receiving positioning seat, the material receiving positioning seat is mounted on one of the left side and the right side of the frame and is located below the corresponding fan blade picking and placing mechanism, and the material receiving positioning seat is provided with a positioning structure for positioning and placing the fan blades to be packed; The tray loading mechanism is mounted on the other of the left and right sides of the frame and is located below the tray loading mechanism, the tray loading mechanism comprising a left limiting guide plate, a right limiting guide plate, a supporting seat placed in the gap between the left limiting guide plate and the right limiting guide plate and supporting the stacked empty trays, and a lifting module for driving the supporting seat to vertically lift and lower, the left limiting guide plate and the right limiting guide plate are both equipped with material dividing rollers of the same height and partially protruding in the gap, the material dividing rollers block the empty trays adjacent to the empty tray from being taken out upwards when the tray loading mechanism takes out the top empty tray from above; as well as The box loading and unloading mechanism located below the corresponding pick-and-place robot includes an upper conveyor line, a lower conveyor line located directly below the upper conveyor line, and a vertically liftable transfer conveyor line arranged on the rear sides of both the upper conveyor line and the lower conveyor line. The transfer conveyor line is also located between the material receiving positioning seat and the carrier loading mechanism. The transfer conveyor line can be selectively lifted and lowered to a position aligned front and back with the upper conveyor line or the lower conveyor line, so that the box can be transferred between the upper conveyor line and the lower conveyor line with the aid of the transfer conveyor line.

2. The automatic fan blade packing machine according to claim 1, characterized in that: The transfer conveyor line comprises a transfer lifting frame, a transfer lifting motor, a transfer conveying motor, a left conveyor belt, a right conveyor belt, a positioning block and a positioning driver. The transfer lifting frame has a left side wall, a right side wall, a rear side wall and a receiving cavity surrounded by the left side wall, the right side wall and the rear side wall. The transfer lifting motor, the transfer conveying motor, the left conveyor belt and the right conveyor belt are all located in the receiving cavity. The left conveyor belt is rotatably mounted on the left side wall, the right conveyor belt is rotatably mounted on the right side wall, and the right conveyor belt is also aligned with the left conveyor belt left and right. The transfer lifting motor is mounted on the rear side wall. The output shaft of the transfer lifting motor passes through the rear side wall and is equipped with a gear, a lifting rack is fixed on the frame and meshes with the gear, and the transfer conveying motor is used to drive the left conveyor belt and the right conveyor belt to rotate synchronously; the positioning block is arranged at the front end of the left side wall or the right side wall, and a "V"-shaped positioning notch is opened on the positioning block. The corner between the rear side wall and the left side wall or the right side wall is arranged opposite to the positioning notch. The positioning driver is installed on the left side wall or the right side wall where the positioning block is located, and the positioning driver drives the positioning block to move into or out of the accommodating cavity from above.

3. The automatic fan blade packing machine according to claim 1, characterized in that: The upper conveyor line and the lower conveyor line both include a frame frame, a left belt rotatably mounted on the left side of the frame frame, a right belt rotatably mounted on the right side of the frame frame, and a feeding motor fixedly placed in the frame frame and used to drive the left belt and the right belt to rotate synchronously. The frame frame is also provided with a left guide plate located on the left side of the left belt and higher than the left belt, and a right guide plate located on the right side of the right belt and higher than the right belt. The left guide plate and the right guide plate both extend forward and backward, and the front and rear ends of the left guide plate and the right guide plate are arranged in an "eight" shape that expands from each other.

4. The automatic fan blade packing machine according to claim 1, characterized in that: The box loading and unloading mechanisms are multiple and are arranged spaced apart in the left-right direction of the frame.

5. The automatic fan blade packing machine according to claim 1, characterized in that: The left-side limiting guide plate and the right-side limiting guide plate are each equipped with a double-headed motor with two output shafts, the two output shafts of the double-headed motor are aligned with each other and face opposite directions, and any one of the two output shafts of the double-headed motor is equipped with the material dividing roller.

6. The automatic fan blade packing machine according to claim 1, characterized in that: The fan blade picking and placing mechanism includes a vertical transfer module and a pneumatic clamp assembled at the output end of the vertical transfer module, the pneumatic clamp has two fingers that can be opened and closed, each of the fingers is provided with a clamping block, the clamping block includes an arc-shaped clamping portion that cooperates in the opening and closing direction of the finger and a straight extension portion connected to the clamping portion and extending along the opening and closing direction, so that the two clamping blocks form a ring structure that is closed end to end.

7. The automatic fan blade packing machine according to claim 6, characterized in that: The clamping portion has a clamping surface, which includes a circular arc concave surface at the center, a first inclined surface connected to one side of the circular arc concave surface, and a second inclined surface connected to the other side of the circular arc concave surface, and the second inclined surface and the first inclined surface are arranged in an "eight" shape that expands each other.

8. The automatic fan blade packing machine according to claim 1, characterized in that: It also includes a blade receiving mechanism for flipping the fan blades to be packed onto the positioning structure, the blade receiving mechanism includes a lifting drive, a flip drive, a lifting seat, a flip frame and a receiving fixture mounted on the flip frame, the lifting drive is mounted on the frame, the lifting seat can be vertically lifted and lowered on the output end of the lifting drive, the flip drive is mounted on the lifting seat, the flip frame is mounted on the lifting seat by means of a flip axis, the flip drive is used to drive the flip frame to flip together with the receiving fixture between a receiving position and a material transfer position; the receiving fixture is located directly above the positioning structure when the flip frame is switched to the material transfer position; The overturning frame is arranged horizontally when switched to the material receiving position.

9. The automatic fan blade packing machine according to claim 8, characterized in that: A flip gear is mounted on the flip shaft, a horizontally arranged flip rack is mounted on the output end of the flip driver, and the flip rack is meshed with the flip gear; the material receiving fixture is a pneumatic finger.

10. The automatic fan blade packing machine according to claim 8, characterized in that: It also includes a front-and-rear sliding driver mounted on the frame, the output end of the front-and-rear sliding driver is assembled and connected with the material receiving and positioning seat, and the material receiving and positioning seat is also slidably mounted on the frame.

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