Automatic Fan Blades Packing Machine

Abstract

The present invention discloses an automatic fan blade packing machine, which includes a frame, a pick-and-place manipulator, a receiving and positioning seat, a tray loading mechanism, and a box loading and unloading mechanism located directly below the pick-and-place manipulator. The receiving and positioning seat is assembled on the left side of the frame and is provided with a positioning structure; the tray loading mechanism is assembled on the right side of the frame and includes a left limiting and guiding plate, a right limiting and guiding plate, a supporting seat, and a lifting module. The left limiting and guiding plate and the right limiting and guiding plate are both equipped with material separating rollers of the same height and partially protruding into the gap; the box loading and unloading mechanism includes an upper conveyor line, a lower conveyor line, and a transfer conveyor line. The transfer conveyor line can be selectively lifted to a position where it is aligned with the upper conveyor line or the lower conveyor line before and after, so as to transfer the box between the upper conveyor line and the lower conveyor line by means of the transfer conveyor line; thereby achieving the purpose of automatic packing of fan blades.

Description

Technical Field

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

[0002] As is well known, in the production process of fan blades, in order to facilitate the subsequent assembly and transportation of fan blades, it is necessary to perform a packing operation on the produced fan blades. By storing the fan blades in batches in a box, the subsequent transportation and assembly operations of the fan blades are facilitated.

[0003] Currently, for the packing of fan blades, it is manually completed by operators. The specific process is as follows: The operator takes out a box and places a carrier tray inside the box; then, fills the carrier tray with fan blades; then, stacks an empty carrier tray on top of the carrier tray filled with fan blades, and the operator continues to fill the empty carrier tray with fan blades; continuously repeat the above steps until the number of carrier trays in the box reaches the preset quantity. Therefore, the above-mentioned fan blade packing has the defect of low efficiency.

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

[0005] The purpose of the present invention is to provide an automatic fan blade packing machine, which can ensure the reliability of the separation of empty trays and higher automation efficiency due to reasonable layout while realizing the automatic packing of fan blades.

[0006] To achieve the above object, the automatic fan packing machine of the present invention is electrically connected to a controller, and includes a frame, a pick-and-place manipulator, a receiving and positioning seat, a tray loading mechanism, and a box loading and unloading mechanism located directly below the pick-and-place manipulator. The pick-and-place manipulator includes a horizontal transfer module assembled on the frame and capable of moving left and right and back and forth, a mounting seat assembled on the output end of the horizontal transfer module, and a fan pick-and-place mechanism and a tray pick-and-place mechanism assembled on the mounting seat and capable of vertically lifting and lowering; the receiving and positioning seat is assembled on one of the left and right sides of the frame and is located directly below the fan pick-and-place mechanism, and a positioning structure for positioning and placing the fans to be packed is provided on the receiving and positioning seat; the tray loading mechanism is assembled on the other of the left and right sides of the frame and is located directly below the tray pick-and-place mechanism, and the tray loading mechanism includes a left limiting and guiding plate, a right limiting and guiding plate, a supporting seat placed in the gap between the left limiting and guiding plate and the right limiting and guiding plate and supporting the stacked empty trays, and a lifting module for driving the supporting seat to vertically lift and lower. The left limiting and guiding plate and the right limiting and guiding plate are both assembled with material separating rollers having the same height and partially protruding into the gap. The material separating rollers block the adjacent empty trays from being taken out upward during the process of the tray pick-and-place mechanism taking out the uppermost empty tray from above; 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 at the rear of both the upper conveyor line and the lower conveyor line. The transfer conveyor line is also located between the receiving and positioning seat and the tray loading mechanism. The transfer conveyor line can be selectively lifted to a position aligned with the upper conveyor line or the lower conveyor line front and back, so as to transfer the boxes between the upper conveyor line and the lower conveyor line by means of the transfer conveyor line.

[0007] Compared with the prior art, by means of the design of "the receiving and positioning seat is assembled on one of the left and right sides of the frame, the tray loading mechanism is assembled on the other of the left and right sides of the frame, and the transfer conveyor line is also located between the receiving and positioning seat and the tray loading mechanism", combined with "the pick-and-place manipulator includes a horizontal transfer module assembled on the frame and capable of moving left and right and back and forth, a mounting seat assembled on the output end of the horizontal transfer module, and a fan pick-and-place mechanism and a tray pick-and-place mechanism assembled on the mounting seat and capable of vertically lifting and lowering", the boxes on the transfer conveyor line are supplied to the tray pick-and-place mechanism to load the empty trays and to the fan pick-and-place mechanism to fill the empty trays with fans at the position between the receiving and positioning seat and the tray loading mechanism, thereby shortening the horizontal movement path of both the fan pick-and-place mechanism and the tray pick-and-place mechanism and having higher efficiency.

[0008] Meanwhile, with the design that "feeding rollers with the same height and partially protruding into the gap are assembled on both the left limiting guide plate and the right limiting guide plate", when the tray picking and placing mechanism takes out the uppermost empty tray from above, the feeding rollers block the adjacent empty trays from being taken out upward, achieving the purpose that the stacked empty trays on the tray loading mechanism are taken out one by one by the tray picking and placing mechanism.

[0009] Furthermore, with 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 at the rear side of both the upper conveyor line and the lower conveyor line, and the transfer conveyor line can be selectively lifted to a position where it is aligned with the upper conveyor line or the lower conveyor line in the front-rear direction", the purpose of transferring each box between the upper conveyor line and the lower conveyor line by means of the transfer conveyor line is achieved, thus facilitating the loading of empty boxes and the unloading of full boxes.

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

[0011] Preferably, the transfer conveyor line includes a transfer lifting frame, a transfer lifting motor, a transfer conveyor 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 conveyor motor, the left conveyor belt, and the right conveyor belt are all located in the receiving cavity. The left conveyor belt is rotatably assembled on the left side wall, the right conveyor belt is rotatably assembled on the right side wall, and the right conveyor belt is also aligned with the left conveyor belt in the left-right direction. The transfer lifting motor is assembled on the rear side wall, and the output shaft of the transfer lifting motor passes through the rear side wall and is assembled with a gear. A lifting rack is fixed on the frame and meshes with the gear. The transfer conveyor 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. A "V"-shaped positioning notch is formed 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 assembled 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 receiving cavity from above.

[0012] Preferably, both the upper conveyor line and the lower conveyor line include a frame skeleton, a left belt rotatably assembled on the left side of the frame skeleton, a right belt rotatably assembled on the right side of the frame skeleton, and a feeding motor fixedly placed in the frame skeleton and used to drive the left belt and the right belt to rotate synchronously. The frame skeleton is further provided with a left guide plate located beside the left side of the left belt and higher than the left belt, and a right guide plate located beside 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 both the left guide plate and the right guide plate are arranged in an "eight" shape with the two ends expanding from each other.

[0013] Preferably, a plurality of the box loading and unloading mechanisms are arranged at intervals in the left-right direction of the frame.

[0014] Preferably, each of the left limiting and guiding plate and the right limiting and guiding plate is 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 in opposite directions. Any one 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 gripper assembled at the output end of the vertical transfer module. The pneumatic gripper has two finger parts that can cooperate to open and close. Each finger part is provided with a clamping block. The clamping block includes an arc-shaped clamping part that cooperates in the opening and closing direction of the finger part and a linear extension part connected to the clamping part and extending along the opening and closing direction, so as to form a ring structure in which the two clamping blocks are jointly closed from head to tail.

[0016] Preferably, the clamping part has a clamping surface. The clamping surface includes an arc concave surface at the central position, a first inclined surface connected to one side of the arc concave surface, and a second inclined surface connected to the other side of the arc concave surface. The second inclined surface and the first inclined surface are arranged in an "eight" shape with the two sides expanding from each other.

[0017] Preferably, the fan blade automatic packing machine of the present invention further includes a fan blade receiving mechanism for flipping the fan blades to be packed onto the positioning structure. The fan blade receiving mechanism includes a lifting driver, a flipping driver, a lifting seat, a flipping frame, and a receiving fixture assembled on the flipping frame. The lifting driver is assembled on the frame. The lifting seat is vertically liftably assembled at the output end of the lifting driver. The flipping driver is assembled on the lifting seat. The flipping frame is assembled on the lifting seat by means of a flipping shaft. The flipping driver is used to drive the flipping frame together with the receiving fixture to flip between a receiving position and a transfer position; the receiving fixture is located directly above the positioning structure when the flipping frame switches to the transfer position; the flipping frame is horizontally arranged when it switches to the receiving position.

[0018] Preferably, a turning gear is mounted on the turning shaft, and a horizontally arranged turning rack is mounted on the output end of the turning driver. The turning rack meshes with the turning gear; the material receiving clamp is a pneumatic finger.

[0019] Preferably, the fan blade automatic packing machine of the present invention further includes a front-back sliding driver assembled on the frame. The output end of the front-back sliding driver is assembled and connected to the material receiving positioning seat, and the material receiving positioning seat also slides back and forth on the frame. Description of the Drawings

[0020] Figure 1 is a perspective view of the fan blade automatic packing machine of the present invention.

[0021] Figure 2 is Figure 1 a perspective view of the shown fan blade automatic packing machine with the frame hidden.

[0022] Figure 3 is Figure 2 a perspective view with the box body and the empty tray hidden.

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

[0024] Figure 5 is Figure 4 an enlarged view of the part enclosed by the dashed circle in

[0025] Figure 6 is a perspective view of the tray loading mechanism in the fan blade automatic packing machine of the present invention.

[0026] Figure 7 is Figure 6 a plan view viewed from top to bottom.

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

[0028] Figure 9 is a perspective view of the transfer conveyor line of the box body loading and unloading mechanism in the fan blade automatic packing machine of the present invention.

[0029] Figure 10 is Figure 9 a perspective view with the box body hidden.

[0030] Figure 11 is a perspective view of the fan blade receiving mechanism, the front-back sliding driver and the material receiving positioning seat in the fan blade automatic packing machine of the present invention. Detailed Embodiments

[0031] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings of the specification.

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

[0033] The pick-and-place manipulator 20 includes a horizontal transfer module 21 assembled on the frame 10 and capable of moving left and right and back and forth, a mounting seat 22 assembled on the output end of the horizontal transfer module 21, and a fan pick-and-place mechanism 23 and a tray pick-and-place mechanism 24 assembled on the mounting seat 22 and capable of vertical lifting; therefore, driven by the horizontal transfer module 21, the mounting seat 22 and the fan pick-and-place mechanism 23 and the tray pick-and-place mechanism 24 thereon slide together in the left-right direction and the front-back direction of the frame 10 to meet the need for the tray pick-and-place mechanism 24 to load an empty tray 300 into the box 400, and for the fan pick-and-place mechanism 23 to place the fan 200 to be packed at 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 illustration in the drawings; the receiving and positioning seat 30 is located directly below the fan pick-and-place mechanism 23, and a positioning structure 31 for positioning and placing the fan 200 to be packed is provided on the receiving and positioning seat 30. Optionally, in Figure 11 , as an example, the positioning structure 31 is four arranged in a matrix, that is, every 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 thereto.

[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 illustration in the drawings; the tray loading mechanism 40 is located directly below the tray picking and placing mechanism 24; the tray loading mechanism 40 includes a left limiting and guiding plate 41, a right limiting and guiding plate 42, a supporting seat 44 placed in the gap 43 between the left limiting and guiding plate 41 and the right limiting and guiding plate 42 for supporting the stacked empty trays 300, and a lifting module 45 for driving the supporting seat 44 to vertically lift and lower. On both the left limiting and guiding plate 41 and the right limiting and guiding plate 42, there are feeding rollers 47 with the same height and partially protruding into the gap 43. The feeding rollers 47 block the lower empty tray 300 adjacent to the top empty tray 300 from being taken out upward during the process of the tray picking and placing mechanism 24 taking out the topmost empty tray 300 from above; this is because the feeding rollers 47 will generate rolling friction resistance on the lower empty tray 300 adjacent to the topmost one, and the lower empty tray 300 adjacent to the topmost one is not grasped by the tray picking and placing mechanism 24, so the feeding roller 46 scrapes off the lower empty tray 300 adjacent to the topmost one, thus 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 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 at the rear side of both the upper conveyor line 51 and the lower conveyor line 52. The transfer conveyor line 53 is also located between the material receiving and positioning seat 30 and the tray loading mechanism 40. The transfer conveyor line 53 can be selectively lifted or lowered to a position where it is aligned with the upper conveyor line 51 or the lower conveyor line 52 front and back, for the box 400 to 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 the 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 the fan blades 200 is transferred to the lower conveyor line 52, realizing the cycle process of loading the empty box 400, packing the fan blades 200, and unloading the box 400 filled with the fan blades 200. More specifically, as follows:

[0037] Such as Figure 2 、 Figure 3 and Figure 11As shown, the fan automatic packing machine 100 of the present invention further includes a fan feeding mechanism 60 for turning the fan 200 to be packed onto the positioning structure 31. The fan feeding mechanism 60 includes a lifting driver 61, a turning driver 62, a lifting seat 63, a turning frame 64, and a feeding fixture 65 assembled on the turning frame 64. The lifting driver 61 is assembled on the frame 10, and the lifting seat 63 is vertically liftably assembled on the output end of the lifting driver 61 to meet the purpose of the lifting driver 61 driving the lifting seat 63 to vertically lift. The turning driver 62 is assembled on the lifting seat 63, and the turning frame 64 is assembled on the lifting seat 63 by means of a turning shaft 66. The turning driver 62 is used to drive the turning frame 64 together with the feeding fixture 65 to turn between a feeding position and a material transfer position; the feeding fixture 65 is located directly above the positioning structure 31 when the turning frame 64 switches to the material transfer position; the turning frame 64 is horizontally arranged when switching to the feeding position, and the state is shown in Figure 11 As shown. Therefore, the feeding fixture 65 can clamp the shaft body 210 of the fan 200 to achieve the purpose of clamping the fan 200. At the same time, with the cooperation of the lifting driver 61 and the turning driver 62, the fan 200 is transferred to the positioning structure 31 of the feeding positioning seat 30, and the shaft body of the fan 200 on the positioning structure 31 is arranged upward. Specifically, in Figure 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 meshes with the turning gear 67 to ensure the precise switching of the turning frame 64 between the feeding position and the material transfer position. For example, the lifting driver 61 and the turning driver 62 can be cylinders, hydraulic cylinders or electric push rods. In addition, the feeding fixture 65 is a pneumatic finger, but this is not limited to this example.

[0038] As Figure 11 shown, as an example, the fan automatic packing machine 100 of the present invention further includes a front-back sliding driver 70 assembled on the frame 10. The output end 71 of the front-back sliding driver 70 is assembled and connected to the feeding positioning seat 30, and the feeding positioning seat 30 also slides back and forth on the frame 10; such a design ensures that the positioning structures 31 in different rows on the feeding positioning seat 30 can all slide to the position corresponding to the feeding fixture 65, so as to ensure that the fan 200 clamped by the feeding fixture 65 exactly falls on the corresponding positioning structure 31 after being turned 180 degrees, thus improving the loading capacity of the feeding positioning seat 30 for the fan 200. For example, in Figure 11 , as an example, the front-back sliding driver 70 is a cylinder. Obviously, according to actual needs, it can also be a hydraulic cylinder or an electric push rod, but this is not limited to this.

[0039] As Figure 6 and Figure 7As shown, as an example, the left limit guide plate 41 and the right limit guide plate 42 are each equipped with a double-headed motor 47 with two output shafts 471. The two output shafts 471 of the double-headed motor 47 are aligned with each other and face in opposite directions. Any one of the two output shafts 471 of the double-headed motor 47 is equipped with a material distribution roller 46. Such a design enables the lower empty tray 300 adjacent to the uppermost one to be frictionally blocked by four material distribution rollers 46 from the left and right sides, more effectively improving the reliability of the material distribution rollers 46 in separating the empty trays 300.

[0040] As Figure 4 and Figure 5 shown, as an example, the fan blade picking and placing mechanism 23 includes a vertical transfer module 23a and a pneumatic gripper 23b assembled at the output end of the vertical transfer module 23a. The pneumatic gripper 23b has two fingers 232 that can cooperate to open and close, and each finger 232 is provided with a clamping block 23c. The clamping block 23c includes an arc-shaped clamping portion 233 that cooperates in the opening and closing direction of the finger 232 (such as, for example, but not limited to Figure 5 the left and right directions in Figure 5 ), and a linear extension portion 234 connected to the clamping portion 233 and extending along the opening and closing direction, so as to form a ring structure in which the two clamping blocks 23c are jointly closed at the head and tail. The state is shown in Figure 5 . Such a design enables the shaft body 210 of the fan blade 200 to be located within the ring structure when the fan blade picking and placing mechanism 23 grabs the fan blade 200 on the positioning structure 31, and the shaft body 210 is first constrained and then clamped by the ring structure, thereby improving the reliability of the fan blade picking and placing mechanism 23 in grabbing the shaft body 210. Specifically, in Figure 5 , as an example, the clamping portion 233 has a clamping surface 233a. The clamping surface 233a includes an arc-shaped concave surface 2331 at the central position, a first inclined surface 2332 connected to one side of the arc-shaped concave surface 2331, and a second inclined surface 2333 connected to the other side of the arc-shaped 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, in

[0041] As Figures 1 to 3 shown, as an example, there are two box loading and unloading mechanisms 50 arranged separately in the left and right directions of the frame 10. Obviously, according to actual needs, the number of box loading and unloading mechanisms 50 can also be other, so it is not limited by Figures 1 to 3 shown. In addition, for the specific structures of the upper conveyor line 51, the lower conveyor line 52, and the transfer conveyor line 53, see the following description.

[0042] As Figure 8 shown, as an example, the upper conveyor line 51 includes a frame skeleton 511, a left belt 512 rotatably assembled on the left side of the frame skeleton 511, a right belt 513 rotatably assembled on the right side of the frame skeleton 511, and a feeding motor 514 fixedly placed in the frame skeleton 511 and used to drive the left belt 512 and the right belt 513 to rotate synchronously. A left guide plate 515 higher than the left belt 512 and located beside the left side of the left belt 512 and a right guide plate 516 higher than the right belt 513 and located beside the right side of the right belt 513 are further provided on the frame skeleton 511. Both the left guide plate 515 and the right guide plate 516 extend forward and backward. 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 with the two ends expanding; 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 with the two ends expanding. On the one hand, it ensures that the box body 400 can enter and exit the upper conveyor 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 conveyor line 51. In addition, by fixedly placing the feeding motor 514 in the frame skeleton 511, the height dimensions of both the feeding motor 514 and the frame skeleton 511 are reduced, thus leaving more space between the upper conveyor line 51 and the lower conveyor line 52 for the transfer of the box body 400. Since the structures of the lower conveyor line 52 and the upper conveyor line 41 are the same, the specific structure of the lower conveyor line 52 will not be described in detail here.

[0043] As Figure 8 and Figure 9As shown, as an example, the transfer conveyor line 53 includes a transfer lifting frame 53a, a transfer lifting motor 53b, a transfer conveyor 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 enclosed by the left side wall 531, the right side wall 532, and the rear side wall 533; the transfer lifting motor 53b, the transfer conveyor 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 occupation in the height direction and leave more space for the transfer of the box body 400; the left conveyor belt 53d is rotatably assembled on the left side wall 531, the right conveyor belt 53e is rotatably assembled on the right side wall 532, and the right conveyor belt 53e is also aligned with the left conveyor belt 53d left and right; the transfer lifting motor 53b is assembled 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 assembled with a gear 53h, a lifting rack 53i is fixed on the frame 10 and meshes with the gear 53h, and the transfer conveyor 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, according to actual needs, it can also be arranged at the front end of the left side wall 531; a "V"-shaped positioning notch 536 is formed on the positioning block 53f, and 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, and the positioning driver 53g drives the positioning block 53f to move into or out of the receiving cavity 534 from above; such a design enables the box body 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 tray 300 and placing the fan blades 200 on the empty tray 300, thereby effectively ensuring the reliable stability of the fan blade 200 packing. 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 can be understood that when the positioning block 53f is arranged at the front end of the left side wall 531, correspondingly, 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 conveyor motor 53c is fixed on the rear side wall 533 to provide sufficient space position for the transfer conveyor motor 53c to drive the synchronous rotation of the left conveyor belt 53d and the right conveyor belt 53e.

[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. An automatic fan blade packing machine, which is electrically connected to a controller, is characterized in that, Comprising: A frame; A pick-and-place manipulator, including a horizontal transfer module assembled on the frame and capable of moving left and right and back and forth, a mounting seat assembled on the output end of the horizontal transfer module, and a fan blade pick-and-place mechanism and a tray pick-and-place mechanism assembled on the mounting seat and capable of vertically lifting and lowering; A material receiving and positioning seat, which is assembled on one of the left and right sides of the frame and is located directly below the fan blade pick-and-place mechanism, and a positioning structure for positioning and placing the fan blades to be boxed is provided on the material receiving and positioning seat; A tray loading mechanism, which is assembled on the other of the left and right sides of the frame and is located directly below the tray pick-and-place mechanism. The tray loading mechanism includes a left limiting and guiding plate, a right limiting and guiding plate, a supporting seat placed in the gap between the left limiting and guiding plate and the right limiting and guiding plate and used for supporting the stacked empty trays, and a lifting module for driving the supporting seat to vertically lift and lower. The left limiting and guiding plate and the right limiting and guiding plate are both assembled with dividing rollers of the same height and partially protruding into the gap. The dividing rollers block the adjacent empty trays from being taken out upward during the process of the tray pick-and-place mechanism taking out the uppermost empty tray from above; And A box loading and unloading mechanism located directly below the pick-and-place manipulator, including 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 of both the upper conveyor line and the lower conveyor line. The transfer conveyor line is also located between the material receiving and positioning seat and the tray loading mechanism. The transfer conveyor line can be lifted to a position where it is aligned with the upper conveyor line or the lower conveyor line front and back, so that the box can be transferred between the upper conveyor line and the lower conveyor line with the help of the transfer conveyor line; Wherein, the transfer conveyor line includes a transfer lifting frame, a transfer lifting motor, a transfer conveyor 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 conveyor motor, the left conveyor belt and the right conveyor belt are all located in the receiving cavity. The left conveyor belt is rotatably assembled on the left side wall, the right conveyor belt is rotatably assembled 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 assembled on the rear side wall. The output shaft of the transfer lifting motor passes through the rear side wall and is assembled with a gear. A lifting rack is fixed on the frame and meshes with the gear. The transfer conveyor 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. A "V"-shaped positioning notch is formed 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 assembled on the left side wall or the right side wall where the positioning block is located. The positioning driver drives the positioning block to move into or out of the receiving cavity from above.

2. 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 skeleton, a left belt rotatably assembled on the left side of the frame skeleton, a right belt rotatably assembled on the right side of the frame skeleton, and a feeding motor fixedly placed in the frame skeleton and used to drive the left belt and the right belt to rotate synchronously. The frame skeleton is also provided with a left guide plate located beside the left side of the left belt and higher than the left belt, and a right guide plate located beside the right side of the right belt and higher than the right belt. The left guide plate and the right guide plate also extend forward and backward, and the front ends and the rear ends of both the left guide plate and the right guide plate are arranged in an "eight"-shaped layout with each other expanding.

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

4. The automatic blade packing machine according to claim 1, characterized in that Each of the left limit guide plate and the right limit guide plate is 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 in opposite directions, and any one of the two output shafts of the double-headed motor is equipped with the material dividing roller.

5. The automatic blade packing machine according to claim 1, characterized in that, The fan picking and placing mechanism includes a vertical transfer module and a pneumatic gripper assembled at the output end of the vertical transfer module. The pneumatic gripper has two finger parts that can cooperate to open and close. Each finger part is provided with a clamping block. The clamping block includes an arc-shaped clamping part that cooperates in the opening and closing direction of the finger part and a straight extension part connected to the clamping part and extending along the opening and closing direction, so as to form a ring structure in which the two clamping blocks are jointly closed from head to tail.

6. The automatic fan blade packing machine according to claim 5, characterized in that, The clamping part has a clamping surface. The clamping surface includes an arc concave surface at the central position, a first inclined surface connected to one side of the arc concave surface, and a second inclined surface connected to the other side of the arc concave surface. The second inclined surface and the first inclined surface are arranged in an "eight"-shaped layout with each other expanding.

7. The automatic blade packing machine according to claim 1, characterized in that, It further includes a fan receiving mechanism for flipping the fan to be boxed onto the positioning structure. The fan receiving mechanism includes a lifting driver, a flipping driver, a lifting seat, a flipping frame, and a receiving fixture assembled on the flipping frame. The lifting driver is assembled on the frame. The lifting seat is vertically liftably assembled at the output end of the lifting driver. The flipping driver is assembled on the lifting seat. The flipping frame is assembled on the lifting seat by means of a flipping shaft. The flipping driver is used to drive the flipping frame together with the receiving fixture to flip between a receiving position and a transfer position. The receiving fixture is located directly above the positioning structure when the flipping frame switches to the transfer position. The flipping frame is horizontally arranged when it switches to the receiving position.

8. The automatic blade packing machine according to claim 7, characterized in that, A flipping gear is installed on the flipping shaft, and a horizontally arranged flipping rack is installed at the output end of the flipping driver. The flipping rack meshes with the flipping gear. The receiving fixture is a pneumatic finger.

9. The automatic blade packing machine according to claim 7, characterized in that, It further includes a front-back sliding driver assembled on the frame. The output end of the front-back sliding driver is assembled and connected to the receiving positioning seat, and the receiving positioning seat also slides back and forth on the frame.

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