Automatic basket inserting machine

Abstract

The invention relates to the technical field of object basket inserting, in particular to an automatic basket inserting machine which comprises a machine table, a basket overturning and inserting device, a basket inserting conveying line, a feeding device, a steering conveying mechanism and an output mechanism. The feeding device comprises a feeding disc mechanism, a material disc lifting mechanism, a recycled material disc conveying mechanism, a material disc transferring mechanism, a stacking and disc collecting mechanism arranged above an output part of the recycled material disc conveying mechanism and a lifting mechanism arranged in the middle of the recycled material disc conveying mechanism and arranged corresponding to the stacking and disc collecting mechanism. The feeding direction of the feeding disc mechanism is opposite to the conveying direction of the recycled material disc conveying mechanism, and the lifting end of the material disc lifting mechanism is used for the output end of the feeding disc mechanism. Supply of full-load trays, stacking and collecting of no-load trays, supply of no-load insertion baskets, basket insertion of objects and steering output of full-load insertion baskets are automatically achieved, the basket insertion efficiency is greatly improved, and the labor intensity and cost of workers are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of object inserting baskets, in particular to an automatic basket inserting machine. Background Art

[0002] In the manufacturing process of objects, the same object often needs to be processed through multiple processes. After the object completes a certain process, the object often needs to be left still. In order to reduce the space occupied by multiple objects, technical means of placing multiple objects on the same carrier have emerged in the prior art, and thus a basket inserting machine has been derived to insert objects into baskets.

[0003] Among the existing patents, the Chinese patent document with application number 201822194940.5 discloses a glass basket inserting machine, the Chinese patent document with application number 201920938267.3 discloses an automatic basket inserting machine, and the Chinese patent document with application number 202021952827.X discloses an automatic basket inserting machine. The above patent documents are all semi-automatic equipment with insufficient automation and low production efficiency, which is difficult to meet modern production needs, and the labor intensity and cost of manual labor are high. Therefore, the defects are very obvious, and a solution is urgently needed. Summary of the invention

[0004] In order to solve the above technical problems, the object of the present invention is to provide an automatic basket inserting machine.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] An automatic basket insertion machine comprises a machine platform, a flip basket insertion device installed on the machine platform, a basket insertion conveying line located on one side of the flip basket insertion device, a feeding device located on the other side of the flip basket insertion device, a steering conveying mechanism arranged at the output end of the basket insertion conveying line and used for connecting with the output end of the basket insertion conveying line, and an output mechanism used for connecting with the output end of the steering conveying mechanism, the feeding device comprises a feeding tray mechanism installed on the machine platform, a tray lifting mechanism arranged at the output end of the feeding tray mechanism, a recovery tray conveying mechanism arranged in parallel above the feeding tray mechanism, a tray transfer mechanism movably arranged above the lifting end of the tray lifting mechanism and the input part of the recovery tray conveying mechanism, a stacking and closing mechanism arranged above the output part of the recovery tray conveying mechanism, and a lifting mechanism arranged in the middle of the recovery tray conveying mechanism and corresponding to the stacking and closing mechanism, the feeding direction of the feeding tray mechanism is opposite to the conveying direction of the recovery tray conveying mechanism, and the lifting end of the tray lifting mechanism is used for the output end of the feeding tray mechanism.

[0007] Furthermore, the basket insertion conveyor line is provided with a basket insertion station, and the automatic basket insertion machine also includes an object visual detection mechanism mounted above the lifting end of the tray lifting mechanism and a basket insertion position visual positioning mechanism mounted above the basket insertion station, and the object visual detection mechanism and the basket insertion position visual positioning mechanism are both electrically connected to the flip basket insertion device.

[0008] Furthermore, the basket insertion conveyor line is also provided with a waiting station, and the waiting station and the basket insertion station are arranged in sequence along the direction of conveying the baskets on the basket insertion conveyor line. A basket insertion blocking mechanism and a waiting blocking mechanism are arranged in the middle of the basket insertion conveyor line. The basket insertion blocking mechanism is located on the discharge side of the basket insertion station, and the waiting blocking mechanism is located on the discharge side of the waiting station.

[0009] Furthermore, the feeding device is parallel to the basket conveyor line, the basket conveyor line and the output mechanism are arranged vertically, the steering conveyor mechanism is located at the corner of the basket conveyor line and the output mechanism, and the output mechanism is located at one end of the feeding device.

[0010] Furthermore, the steering conveying mechanism includes a steering drive installed on the machine, a steering seat installed on the steering end of the steering drive, a forward and reverse conveying module arranged on the steering seat, and a connecting conveying module installed on the steering seat and located in the middle of the forward and reverse conveying module. One end of the connecting conveying module extends out of the forward and reverse conveying module. The conveying direction of the forward and reverse conveying module is the same as that of the connecting conveying module. The forward and reverse conveying module is used to connect with the output end of the basket conveying line or the input end of the output mechanism.

[0011] Furthermore, the steering conveying mechanism also includes a steering angle limiting structure installed on the machine platform and located outside the steering seat, and the steering angle limiting structure is used to limit the steering angle range of the steering seat.

[0012] Furthermore, the flipping basket device includes an articulated manipulator installed on the machine platform, an object lifting drive mechanism installed on the execution end of the articulated manipulator, a connecting seat installed on the lifting end of the object lifting drive mechanism, a flipping driver installed on the connecting seat, an L-shaped flipping arm installed on the flipping end of the flipping driver, and a suction cup assembly installed on the L-shaped flipping arm.

[0013] Furthermore, the feeding tray mechanism includes two tray conveyor belt groups arranged in parallel and a rotation drive module for driving the conveyor belts of the two tray conveyor belt groups to rotate, and the lifting end of the tray lifting mechanism is located between the two tray conveyor belt groups.

[0014] Furthermore, the stacking and closing mechanism includes two mounting plates respectively installed on both sides of the output part of the recovery tray conveying mechanism, four angle irons respectively installed on the two ends of the two mounting plates and two groups of tray modules respectively arranged in the middle of the two mounting plates. The four angle irons are symmetrically arranged in pairs to form a closing cavity. There is a feeding tray gap between the bottom surface of the angle iron and the conveying surface of the recovery tray conveying mechanism. A baffle is protruding downward from the bottom surface of the angle iron located at the end of the recovery tray conveying mechanism, and the baffle extends into the feeding tray gap or the hollow position of the recovery tray conveying mechanism.

[0015] Furthermore, each group of tray modules includes at least one tray assembly, and an embedding opening is recessed on the inner side of the middle part of the mounting plate. The tray assembly includes a base body mounted on the middle part of the bottom plate, two extension arms arranged parallel to the inner side wall of the base body and extending into the embedding opening, a rotating support block whose inner end is rotatably arranged between the two extension arms, a fixed magnet embedded in the inner side wall of the base body and located between the two extension arms, and a movable magnet embedded in the rotating support block, a limiting step is formed between the base body and the mounting plate, the limiting step is located at the embedding opening, and the movable magnet is used to repel each other with the fixed magnet; when the rotating support block is rotated to an upright state, the rotating support block is received between the two extension arms; when the rotating support block is rotated to a horizontal state, the inner end top surface of the rotating support block conflicts with the limiting step, and the outer end of the rotating support block can extend into the closing cavity.

[0016] The beneficial effects of the present invention are as follows: in actual application, at the beginning, the top surface of the lifting end of the tray lifting mechanism is lower than the feeding surface of the feeding tray mechanism, and multiple trays filled with objects (such as glass sheets and other sheets) are stacked to form a tray stack, and the tray stack is transported to the top of the lifting end of the tray lifting mechanism through the feeding tray mechanism. At the same time, the insert basket conveyor line transports the insert basket to a position corresponding to the flip insert basket device, and then the lifting end of the tray lifting mechanism lifts the tray stack so that the highest tray of the tray stack is at a preset height position, and then the flip insert basket end of the flip insert basket device first picks up an object in the tray, and then transfers the object to the top of the insert basket and flips the object from a horizontal state to a vertical state, and then vertically inserts the object into the slot of the insert basket. After all the objects on the tray on the highest layer are inserted into the insert basket, the tray transfer mechanism picks up the empty tray on the highest layer and transfers the tray to the recycling material On the tray conveying mechanism, the recycling tray conveying mechanism conveys the empty tray to the top of the lifting mechanism and is located below the stacking and closing mechanism. The lifting end of the lifting mechanism rises and lifts the empty tray into the stacking and closing mechanism. The stacking and closing mechanism carries the tray so that the empty tray is stacked in the stacking and closing mechanism. At the same time, the lifting end of the tray lifting mechanism drives the tray stack to rise to the height of one tray to realize the automatic feeding of the fully loaded tray. In addition, when the insert basket is full of objects, the insert basket conveying line conveys the fully loaded insert basket to the steering conveying mechanism, and also conveys the empty insert basket to the position corresponding to the flip insert basket device. The steering conveying mechanism rotates the fully loaded insert basket by a preset angle to change the direction of the insert basket so that the direction of the insert basket corresponds to the output mechanism. Finally, the steering conveying mechanism conveys the insert basket to the output mechanism, and the output mechanism outputs the fully loaded insert basket. The present invention realizes the supply of fully loaded trays, the stacking and closing of empty trays, the supply of empty inserting baskets, the inserting of objects into the baskets and the steering output of fully loaded inserting baskets automatically, which greatly improves the efficiency of inserting baskets and reduces the labor intensity and cost of manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention after the machine is hidden.

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the steering conveying mechanism of the present invention.

[0019] Figure 3 It is a schematic diagram of the three-dimensional structure of the flip basket insertion device of the present invention.

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the feeding device of the present invention.

[0021] Figure 5 It is a three-dimensional structural schematic diagram of the recycling tray conveying mechanism, lifting mechanism and stacking and closing mechanism of the present invention.

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the mounting plate, angle iron and tray module of the present invention.

[0023] Figure 7 It is a partial cross-sectional view of the present invention.

[0024] Description of reference numerals:

[0025] 1. Flipping basket insertion device; 2. Basket insertion conveyor line; 3. Feeding device; 4. Steering conveying mechanism; 5. Output mechanism; 6. Feeding tray mechanism; 7. Tray lifting mechanism; 8. Recovering tray conveying mechanism; 9. Tray transfer mechanism; 10. Stacking and closing mechanism; 11. Lifting mechanism; 12. Basket insertion station; 13. Object visual detection mechanism; 14. Basket insertion position visual positioning mechanism; 15. Waiting station; 16. Basket insertion blocking mechanism; 17. Waiting blocking mechanism; 18. Steering drive; 19. Steering seat; 20. Forward and reverse conveying module; 21. Connecting conveying module; 22. Turning 1. Angle limiting structure; 23. Joint manipulator; 24. Object lifting drive mechanism; 25. Connecting seat; 26. Flipping drive; 27. L-shaped flipping arm; 28. Suction cup assembly; 29. ​​Tray conveyor belt assembly; 30. Rotation driving module; 31. Mounting plate; 32. Angle iron; 33. Tray module; 34. Tray closing cavity; 35. Feed tray gap; 36. Baffle; 37. Tray assembly; 38. Embedded opening; 39. Seat; 40. Extension arm; 41. Rotating support block; 42. Fixed magnet; 43. Movable magnet; 44. Limiting step; 45. Object detection mechanism. DETAILED DESCRIPTION

[0026] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0027] like Figures 1 to 7As shown, the present invention provides an automatic basket inserting machine, which includes a machine platform, a flip basket inserting device 1 installed on the machine platform, a basket inserting conveying line 2 installed on the machine platform and located on one side of the flip basket inserting device 1, a feeding device 3 installed on the machine platform and located on the other side of the flip basket inserting device 1, a steering conveying mechanism 4 arranged at the output end of the basket inserting conveying line 2 and used to connect with the output end of the basket inserting conveying line 2, and an output mechanism 5 used to connect with the output end of the steering conveying mechanism 4, the feeding device 3 includes a feeding tray mechanism 6 installed on the machine platform, a tray lifting mechanism 7 arranged at the output end of the feeding tray mechanism 6, and a parallel arrangement A recovery tray conveying mechanism 8 is located above the feeding tray mechanism 6, a tray transfer mechanism 9 is movably arranged above the lifting end of the tray lifting mechanism 7 and the input part of the recovery tray conveying mechanism 8, a stacking and closing mechanism 10 is arranged above the output part of the recovery tray conveying mechanism 8, and a lifting mechanism 11 is arranged in the middle of the recovery tray conveying mechanism 8 and corresponding to the stacking and closing mechanism 10. The feeding direction of the feeding tray mechanism 6 is opposite to the conveying direction of the recovery tray conveying mechanism 8, and the lifting end of the tray lifting mechanism 7 is used to connect with the output end of the feeding tray mechanism 6 or the input part of the recovery tray conveying mechanism 8.

[0028] The tray stack is then transported to the upper portion of the tray conveyor 7 by the feeding tray mechanism 6. The conveying mechanism 8 conveys the empty tray to the top of the lifting mechanism 11 and is located below the stacking and closing mechanism 10. Then the lifting end of the lifting mechanism 11 rises and lifts the empty tray into the stacking and closing mechanism 10. The stacking and closing mechanism 10 carries the tray so that the empty tray is stacked in the stacking and closing mechanism 10. At the same time, the lifting end of the tray lifting mechanism 7 drives the tray stack to rise to the height of one tray to realize the automatic feeding of the fully loaded tray. In addition, when the insert basket is full of objects, the insert basket conveyor line 2 conveys the fully loaded insert basket to the steering conveyor mechanism 4, and also conveys the empty insert basket to the position corresponding to the flip insert basket device 1. The steering conveyor mechanism 4 rotates the fully loaded insert basket by a preset angle to change the direction of the insert basket so that the direction of the insert basket corresponds to the output mechanism 5. Finally, the steering conveyor mechanism 4 conveys the insert basket to the output mechanism 5, and the output mechanism 5 outputs the fully loaded insert basket. The present invention realizes the supply of fully loaded trays, the stacking and closing of empty trays, the supply of empty inserting baskets, the inserting of objects into the baskets and the steering output of fully loaded inserting baskets automatically, which greatly improves the efficiency of inserting baskets and reduces the labor intensity and cost of manual labor.

[0029] In this embodiment, the basket insertion conveyor line 2 is provided with a basket insertion station 12, and the basket insertion station 12 is arranged corresponding to the flip basket insertion device 1. The automatic basket insertion machine also includes an object visual detection mechanism 13 mounted above the lifting end of the material tray lifting mechanism 7 and a basket insertion position visual positioning mechanism 14 mounted above the basket insertion station 12. The object visual detection mechanism 13 and the basket insertion position visual positioning mechanism 14 are both electrically connected to the flip basket insertion device 1.

[0030] In actual application, the basket conveyor line 2 conveys the basket to convey a basket to the basket station 12, and the basket position visual positioning mechanism 14 visually locates the slot position of the basket, and feeds back the visual positioning result of the slot position to the flip basket device 1. At the same time, the object visual inspection mechanism 13 visually locates the position of the object on the tray and performs appearance inspection on the object on the tray (such as: external dimensions, appearance integrity, etc.), and feeds back the visual positioning result and appearance inspection result to the flip basket device 1, so that the flip basket device 1 can accurately pick up qualified objects, and then accurately insert the objects into the slot of the basket after flipping. The coordinated cooperation of the object visual inspection mechanism 13, the basket position visual positioning mechanism 14 and the flip basket device 1 greatly improves the quality of inserting objects into the basket.

[0031] Specifically, the automatic basket inserting machine further includes an object detection mechanism 45 installed on the machine platform and located between the basket inserting conveyor line 2 and the feeding device 3, and the object detection mechanism 45 is electrically connected to the flip basket inserting device 1. In actual application, after the flip basket inserting device 1 picks up an object, the flip basket inserting device 1 moves the object to the object detection mechanism 45, and the object detection mechanism 45 detects the object to determine whether the flip basket inserting device 1 picks up an object, thereby avoiding the phenomenon of the flip basket inserting device 1 running empty.

[0032] In this embodiment, the basket insertion conveyor line 2 is also provided with a waiting station 15, and the waiting station 15 and the basket insertion station 12 are arranged in sequence along the direction in which the basket insertion conveyor line 2 conveys the baskets. A basket insertion blocking mechanism 16 and a waiting blocking mechanism 17 are arranged in the middle of the basket insertion conveyor line 2. The basket insertion blocking mechanism 16 is located on the discharge side of the basket insertion station 12, and the waiting blocking mechanism 17 is located on the discharge side of the waiting station 15.

[0033] In actual application, the basket conveyor line 2 conveys the baskets so that the baskets at the waiting station 15 are conveyed to the basket insertion station 12 and blocked by the basket insertion blocking mechanism 16, so as to improve the position accuracy and stability of the baskets at the basket insertion station 12. At the same time, a basket is conveyed to the waiting station 15 and blocked by the waiting blocking mechanism 17. The waiting station 15 can temporarily store the baskets, and the waiting blocking mechanism 17 blocks the baskets, so as to improve the position accuracy and stability of the baskets at the waiting station 15.

[0034] Specifically, the width of the basket conveyor line 2 is adjustable to meet the needs of conveying baskets of different widths.

[0035] In this embodiment, the feeding device 3 is parallel to the insert basket conveyor line 2, the insert basket conveyor line 2 and the output mechanism 5 are arranged vertically, the steering conveyor mechanism 4 is located at the corner of the insert basket conveyor line 2 and the output mechanism 5, and the output mechanism 5 is located at one end of the feeding device 3. This structural design has a reasonable and compact structure layout, reduces the occupied area, and is conducive to the feed tray mechanism 6, the insert basket conveyor line 2 and the output mechanism 5 to be connected with different external equipment respectively to form an automated production line.

[0036] In this embodiment, the steering conveying mechanism 4 includes a steering driver 18 installed on the machine, a steering seat 19 installed on the steering end of the steering driver 18, a forward and reverse conveying module 20 arranged on the steering seat 19, and a connecting conveying module 21 installed on the steering seat 19 and located in the middle of the forward and reverse conveying module 20. One end of the connecting conveying module 21 extends out of the forward and reverse conveying module 20, and the conveying direction of the forward and reverse conveying module 20 is the same as the conveying direction of the connecting conveying module 21. The forward and reverse conveying module 20 is used to connect with the output end of the basket conveying line 2 or the input end of the output mechanism 5; specifically, the steering driver 18 can adopt a rotating cylinder or a motor, the forward and reverse conveying module 20 and the connecting conveying module 21 can both adopt a conveyor belt module, and the forward and reverse conveying module 20 and the connecting conveying module 21 can be forward or reverse according to actual control.

[0037] At the beginning, the forward and reverse conveying module 20 is connected with the basket conveying line 2, and the basket conveying line 2 conveys the fully loaded basket toward the direction of the steering conveying mechanism 4. In the process of conveying the basket to the steering conveying mechanism 4, the basket is first conveyed to the connecting conveying module 21, and the connecting conveying module 21 supports and conveys the middle part of the basket, and then gradually transitions to the forward and reverse conveying module 20. When the basket is located on the forward and reverse conveying module 20, the steering driver 18 drives the steering seat 19 to synchronously rotate 90° with the forward and reverse conveying module 20 and the connecting conveying module 21, so that the forward and reverse conveying module 20 is connected with the output mechanism 5, and then the forward and reverse conveying module 20 conveys the fully loaded basket toward the direction of the output mechanism 5. In the process of conveying the basket to the output mechanism 5, the basket is first conveyed to the connecting conveying module 21, and the connecting conveying module 21 supports and conveys the middle part of the basket, and then gradually transitions to the output mechanism 5. This structural design can not only change the conveying direction of the insert basket, making the structural layout of the machine compact, but also improve the stability of conveying the insert basket between the insert basket conveying line 2 and the forward and reverse conveying module 20 and between the forward and reverse conveying module 20 and the output mechanism 5 by setting the connecting conveying module 21, thereby avoiding the problem of conveying bumps.

[0038] In this embodiment, the steering conveying mechanism 4 also includes a steering angle limiting structure 22 installed on the machine and located on the outside of the steering seat 19. The steering angle limiting structure 22 is used to limit the steering angle range of the steering seat 19, ensuring that the steering seat 19 can only reciprocate within a range of 90°, thereby improving the accuracy of the connection between the forward and reverse conveying module 20 and the basket conveying line 2, and also improving the accuracy of the connection between the forward and reverse conveying module 20 and the output mechanism 5.

[0039] Specifically, the steering angle limiting structure 22 includes a fixed seat installed on the machine and two limit dampers respectively installed on the fixed seat. The two limit dampers are vertically arranged, one limit damper is used to resist one end of the steering seat 19, and the other limit damper is used to resist the other end of the steering seat 19.

[0040] In actual application, when the forward and reverse conveying module 20 is connected with the basket conveying line 2, one end of the steering seat 19 conflicts with a limit damper; when the forward and reverse conveying module 20 is connected with the output mechanism 5, the other end of the steering seat 19 conflicts with another limit damper.

[0041] In this embodiment, the flipping basket device 1 includes an articulated manipulator 23 installed on the machine, an object lifting drive mechanism 24 installed on the execution end of the articulated manipulator 23, a connecting seat 25 installed on the lifting end of the object lifting drive mechanism 24, a flipping driver 26 installed on the connecting seat 25, an L-shaped flipping arm 27 installed on the flipping end of the flipping driver 26, and a suction cup assembly 28 installed on the L-shaped flipping arm 27; specifically, the flipping driver 26 can adopt a rotary cylinder or a motor.

[0042] In actual applications, the articulated manipulator 23 cooperates with the object lifting drive mechanism 24 to enable the suction cup assembly 28 to move to different positions. The suction cup assembly 28 is used to suck objects. The flip driver 26 drives the L-shaped flip arm 27 to flip the suction cup assembly 28, so that the suction cup assembly 28 can switch between a vertical state and a horizontal state. When the suction cup assembly 28 sucks an object, the L-shaped flip arm 27 is in a vertical state and the object is in a horizontal state. Before inserting the object into the inserting basket, the L-shaped flip arm 27 flips to a horizontal state and the object is in a vertical state. The object lifting drive mechanism 24 drives the suction cup assembly 28 to descend together with the object to insert the object in the vertical state into the slot of the inserting basket.

[0043] Specifically, the connection seat 25 is equipped with a limit block, which is used to abut against one side of the L-shaped flip arm 27. In actual application, when the flip driver 26 drives the L-shaped flip arm 27 to rotate from a horizontal state to a vertical state, one side of the L-shaped flip arm 27 abuts against the limit block to limit the position of the L-shaped flip arm 27 to ensure the position accuracy of the L-shaped flip arm 27 in the vertical state, so that the suction surface of the suction cup assembly 28 has a good horizontality, and the suction surface of the suction cup assembly 28 can be closely attached to the plane of the object, thereby being able to stably absorb the object.

[0044] In this embodiment, the feeding tray mechanism 6 includes two tray conveyor belt groups 29 arranged in parallel and a rotation drive module 30 for driving the conveyor belts of the two tray conveyor belt groups 29 to rotate, and the lifting end of the tray lifting mechanism 7 is located between the two tray conveyor belt groups 29. In actual application, the rotation drive module 30 drives the conveyor belts of the two tray conveyor belt groups 29 to rotate, so that the two tray conveyor belt groups 29 convey the tray stack to the upper part of the lifting end of the tray lifting mechanism 7; because the lifting end of the tray lifting mechanism 7 is located between the two tray conveyor belt groups 29, not only the structure of the tray lifting mechanism 7 and the feeding tray mechanism 6 is compact, but also it is convenient for the feeding tray mechanism 6 to convey the tray stack to the lifting end of the tray lifting mechanism 7.

[0045] In the present embodiment, the stacking and closing mechanism 10 includes two mounting plates 31 respectively mounted on both sides of the output portion of the recovery tray conveying mechanism 8, four angle irons 32 respectively mounted on both ends of the two mounting plates 31, and two groups of tray modules 33 respectively arranged in the middle of the two mounting plates 31. The four angle irons 32 are symmetrically arranged in pairs and form a closing cavity 34. There is a feed tray gap 35 between the bottom surface of the angle iron 32 and the conveying surface of the recovery tray conveying mechanism 8. A baffle 36 is protruding downward from the bottom surface of the angle iron 32 located at the end of the recovery tray conveying mechanism 8, and the baffle 36 extends into the feed tray gap 35 or the hollow position of the recovery tray conveying mechanism 8.

[0046] Specifically, each tray module 33 includes at least one tray assembly 37. The middle inner side of the mounting plate 31 is recessed with an embedding opening 38. The tray assembly 37 includes a seat body 39 mounted in the middle of the bottom plate, two extension arms 40 arranged parallel to the inner side wall of the seat body 39 and extending into the embedding opening 38, a rotating bracket 41 whose inner end is rotatably arranged between the two extension arms 40, a fixed magnet 42 embedded in the inner side wall of the seat body 39 and located between the two extension arms 40, and a movable magnet 42 embedded in the rotating bracket 41. 3. A limiting step 44 is formed between the seat body 39 and the mounting plate 31. The limiting step 44 is located at the embedding opening 38. The movable magnet 43 is used to repel each other with the fixed magnet 42. When the rotating bracket 41 rotates to an upright state, the rotating bracket 41 is received between the two extension arms 40. When the rotating bracket 41 rotates to a horizontal state, the inner end top surface of the rotating bracket 41 contacts the limiting step 44, and the outer end of the rotating bracket 41 can extend into the closing cavity 34. In the initial state, the rotating bracket 41 is in a horizontal state.

[0047] In actual application, the tray transfer mechanism 9 places the empty tray on the feeding end of the recovery tray conveying mechanism 8, and the recovery tray conveying mechanism 8 conveys the tray so that the tray moves into the tray feeding gap. At this time, the tray is located between the lifting end of the lifting mechanism 11 and the bottom port of the tray closing cavity 34. Then the lifting end of the lifting mechanism 11 lifts the tray upward, so that the tray is separated from the conveying surface of the recovery tray conveying mechanism 8 and enters the tray closing cavity 34. As the tray enters the tray closing cavity 34 upward, the two sides of the tray respectively contact the outer end bottom surfaces of the rotating brackets 41 of the two groups of tray modules 33, so that the rotating brackets 4 1 is flipped upward, so that the rotating support block 41 is rotated to an upright state and stored between the two extension arms 40. When the bottom surface of the material tray is higher than the top of the rotating support block 41 after flipping upward, the fixed magnet 42 and the movable magnet 43 repel each other, so that the rotating support block 41 is flipped downward until the inner end top surface of the rotating support block 41 contacts the limiting step 44, and the rotating support block 41 is rotated to a horizontal state. Finally, the lifting end of the lifting mechanism 11 is lowered, so that the material tray is placed on the rotating support blocks 41 of the two sets of tray modules 33. Repeat the above operation to stack the material trays in the tray closing cavity 34 of the stacking and closing mechanism 10. The stacking and closing mechanism 10 has a simple and ingenious structure, low cost, and is convenient for stacking material trays. The fixed magnet 42 and the movable magnet 43 repel each other, thereby ensuring that the rotating support block 41 can flip downward normally. The inner end of the rotating support block 41 that flips downward is limited by the limiting step 44, thereby ensuring the position accuracy and stability of the rotating support block 41 when it flips downward and resets.

[0048] All technical features in this embodiment can be freely combined according to actual needs.

[0049] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention may also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. An automatic basket inserting machine, characterized in that: The invention comprises a machine platform, a basket-turning device (1) installed on the machine platform, a basket-turning conveying line (2) located on one side of the basket-turning device (1), a feeding device (3) located on the other side of the basket-turning device (1), a steering conveying mechanism (4) arranged at the output end of the basket-turning conveying line (2) and used for connecting with the output end of the basket-turning conveying line (2), and an output mechanism (5) used for connecting with the output end of the steering conveying mechanism (4); the feeding device (3) comprises a feeding tray mechanism (6) installed on the machine platform, a tray lifting mechanism (7) arranged at the output end of the feeding tray mechanism (6), and a feeding tray lifting mechanism (8) arranged parallel to the feeding tray mechanism (9). The invention relates to a material tray conveying mechanism (8) for recovering the material tray and a material tray transfer mechanism (9) movably arranged above the lifting end of the material tray lifting mechanism (7) and the input part of the recovery material tray conveying mechanism (8), a stacking and collecting mechanism (10) arranged above the output part of the recovery material tray conveying mechanism (8), and a lifting mechanism (11) arranged in the middle part of the recovery material tray conveying mechanism (8) and corresponding to the stacking and collecting mechanism (10), wherein the feeding direction of the feeding tray mechanism (6) is opposite to the conveying direction of the recovery material tray conveying mechanism (8), and the lifting end of the material tray lifting mechanism (7) is used for the output end of the feeding tray mechanism (6).

2. The automatic basket inserting machine according to claim 1, characterized in that: The basket insertion conveyor line (2) is provided with a basket insertion station (12), and the automatic basket insertion machine further comprises an object visual detection mechanism (13) mounted above the lifting end of the material tray lifting mechanism (7) and a basket insertion position visual positioning mechanism (14) mounted above the basket insertion station (12), and both the object visual detection mechanism (13) and the basket insertion position visual positioning mechanism (14) are electrically connected to the basket flipping device (1).

3. The automatic basket inserting machine according to claim 2, characterized in that: The basket insertion conveyor line (2) is also provided with a waiting station (15), the waiting station (15) and the basket insertion station (12) are arranged in sequence along the direction in which the basket insertion conveyor line (2) conveys the baskets, a basket insertion blocking mechanism (16) and a waiting blocking mechanism (17) are arranged in the middle of the basket insertion conveyor line (2), the basket insertion blocking mechanism (16) is located at the discharge side of the basket insertion station (12), and the waiting blocking mechanism (17) is located at the discharge side of the waiting station (15).

4. The automatic basket inserting machine according to claim 1, characterized in that: The feeding device (3) is parallel to the basket insertion conveyor line (2), the basket insertion conveyor line (2) and the output mechanism (5) are arranged vertically, the steering conveying mechanism (4) is located at the corner between the basket insertion conveyor line (2) and the output mechanism (5), and the output mechanism (5) is located at one end of the feeding device (3).

5. The automatic basket inserting machine according to claim 1, characterized in that: The steering conveying mechanism (4) comprises a steering driver (18) mounted on a machine platform, a steering seat (19) mounted on a steering end of the steering driver (18), a forward and reverse conveying module (20) arranged on the steering seat (19), and a connecting conveying module (21) mounted on the steering seat (19) and located in the middle of the forward and reverse conveying module (20), one end of the connecting conveying module (21) extending out of the forward and reverse conveying module (20), the conveying direction of the forward and reverse conveying module (20) being the same as the conveying direction of the connecting conveying module (21), and the forward and reverse conveying module (20) being used for connecting with the output end of the inserting basket conveying line (2) or the input end of the output mechanism (5).

6. The automatic basket inserting machine according to claim 5, characterized in that: The steering conveying mechanism (4) also includes a steering angle limiting structure (22) installed on the machine platform and located outside the steering seat (19). The steering angle limiting structure (22) is used to limit the steering angle range of the steering seat (19).

7. The automatic basket inserting machine according to claim 1, characterized in that: The flipping and inserting basket device (1) comprises a joint manipulator (23) mounted on a machine platform, an object lifting and lowering driving mechanism (24) mounted on an execution end of the joint manipulator (23), a connecting seat (25) mounted on the lifting end of the object lifting and lowering driving mechanism (24), a flipping driver (26) mounted on the connecting seat (25), an L-shaped flipping arm (27) mounted on the flipping end of the flipping driver (26), and a suction cup assembly (28) mounted on the L-shaped flipping arm (27).

8. The automatic basket inserting machine according to claim 1, characterized in that: The feeding tray mechanism (6) comprises two tray conveyor belt groups (29) arranged in parallel and a rotation drive module (30) for driving the conveyor belts of the two tray conveyor belt groups (29) to rotate, and the lifting end of the tray lifting mechanism (7) is located between the two tray conveyor belt groups (29).

9. The automatic basket inserting machine according to claim 1, characterized in that: The stacking and closing mechanism (10) comprises two mounting plates (31) respectively mounted on both sides of the output part of the recovery tray conveying mechanism (8), four angle irons (32) respectively mounted on the two ends of the two mounting plates (31) and two groups of tray modules (33) respectively arranged in the middle of the two mounting plates (31), the four angle irons (32) are symmetrically arranged in pairs and form a closing cavity (34), a feeding tray gap (35) is provided between the bottom surface of the angle iron (32) and the conveying surface of the recovery tray conveying mechanism (8), a baffle (36) is protruding downward on the bottom surface of the angle iron (32) located at the end of the recovery tray conveying mechanism (8), and the baffle (36) extends into the feeding tray gap (35) or the hollow position of the recovery tray conveying mechanism (8).

10. The automatic basket inserting machine according to claim 9, characterized in that: Each tray module (33) comprises at least one tray assembly (37). An embedding opening (38) is recessed on the inner side of the middle portion of the mounting plate (31). The tray assembly (37) comprises a seat body (39) mounted on the middle portion of the bottom plate, two extension arms (40) arranged parallel to the inner side wall of the seat body (39) and extending into the embedding opening (38), a rotating support block (41) whose inner end is rotatably arranged between the two extension arms (40), a fixed magnet (42) embedded in the inner side wall of the seat body (39) and located between the two extension arms (40), and a mounting plate (41) embedded in the rotating support block (41). A movable magnet (43) is formed between the seat body (39) and the mounting plate (31), and a limiting step (44) is formed between the seat body (39) and the mounting plate (31), the limiting step (44) is located at the embedding opening (38), and the movable magnet (43) is used to repel each other with the fixed magnet (42); when the rotating support block (41) is rotated to an upright state, the rotating support block (41) is received between the two extension arms (40); when the rotating support block (41) is rotated to a horizontal state, the inner end top surface of the rotating support block (41) contacts the limiting step (44), and the outer end of the rotating support block (41) can extend into the closing cavity (34).

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