Automatic material transfer equipment

Abstract

The invention discloses automatic material transfer equipment which is used for solving the technical problem that the material transfer efficiency is low due to the fact that existing material transfer is completed through manual operation. A cache feeding mechanism is located at the feeding end of a material conveying rail and used for conveying a supporting plate loaded with materials to the material conveying rail, a material suction position is arranged on the material conveying rail, a suction device is located above the material suction position, and a material disc feeding and discharging mechanism is located on one side of the material conveying rail. The tray feeding and discharging mechanism is used for discharging trays full of materials and feeding empty trays, the suction device is used for sucking the materials on the supporting plate and transferring the materials to the empty trays provided by the tray feeding and discharging mechanism, and the clip feeding and discharging mechanism is located at the discharging end of the material conveying rail. The cartridge holder feeding and discharging mechanism is used for feeding the cartridge holders so as to receive the empty supporting plates output by the material conveying track and discharging the cartridge holders full of the supporting plates.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an automatic material transfer equipment. Background Art

[0002] During the production process, materials often need to be transferred between different carriers to meet the processing requirements of different equipment. Specifically, materials need to be loaded on pallets in the initial stage. Since the subsequent materials need to be processed on processing equipment, the materials need to be transferred from the pallet to the material tray.

[0003] In the prior art, materials are generally picked up from a pallet into a material tray one by one manually, which undoubtedly consumes a lot of time and thus has a serious impact on the transfer efficiency of the materials.

[0004] Therefore, finding a technical solution that can solve the above technical problems has become an important topic studied by technical personnel in this field. Summary of the invention

[0005] The embodiment of the present invention discloses an automatic material transfer device, which is used to solve the technical problem that the existing material transfer is completed by manual operation, thus resulting in low material transfer efficiency.

[0006] The present invention provides an automatic material transfer device, which is used to transfer materials on a pallet to a material tray, and includes a buffer loading mechanism, a material conveying track, a suction device, a material tray loading and unloading mechanism, and a clip loading and unloading mechanism;

[0007] The cache loading mechanism is located at the feeding end of the material conveying track, the cache loading mechanism is used to convey the pallet loaded with materials to the material conveying track, the material conveying track is used to convey the pallet loaded with materials, a material suction position is provided on the material conveying track, the suction device is located above the material suction position, the tray loading and unloading mechanism is located on one side of the material conveying track, the tray loading and unloading mechanism is used to unload the tray filled with materials and load the empty tray, the suction device is used to suck the material on the pallet and transfer it to the empty tray provided by the tray loading and unloading mechanism, the clip loading and unloading mechanism is located at the discharging end of the material conveying track, the clip loading and unloading mechanism is used to load the clip to receive the empty pallet output from the material conveying track and to unload the clip filled with the pallet.

[0008] Optionally, the cache feeding mechanism includes a cache module and a feeding module;

[0009] The cache module includes a first support frame and at least two cache rails arranged along the X-axis direction on the first support frame, and the cache rails transport the pallet loaded with materials along the Y-axis direction;

[0010] The loading module includes a loading track and a first X-axis linear module, the loading track is connected to the first X-axis linear module, and the first X-axis linear module is used to drive the loading track to move along the X-axis direction to connect with the discharge end of the buffer track and the feed end of the material conveying track;

[0011] A blocking component is installed at a position of the first support frame corresponding to the discharge end of the cache track, and the blocking component is used to block the material from flowing out of the discharge end of the cache track.

[0012] Optionally, the cache module further includes a second X-axis linear module;

[0013] The second X-axis linear module is connected to the first support frame, and the second X-axis linear module is used to drive the first support frame to move along the X-axis direction.

[0014] Optionally, the material suction position of the material conveying track is provided with a first jacking platform;

[0015] The first lifting platform is used to lift the pallet loaded with materials along the Z-axis direction, and at least one pair of first pneumatic clamping plates are arranged on the first lifting platform to clamp and fix the pallet loaded with materials.

[0016] Optionally, the suction device includes a gantry, a third X-axis linear module and a suction module;

[0017] The gantry is arranged across the material conveying tracks, the third X-axis linear module is installed on the gantry, the suction module is connected to the third X-axis linear module, and the third X-axis linear module is used to drive the suction module to move along the X-axis direction;

[0018] The suction module includes a plurality of first Z-axis linear modules, a plurality of first rotary drive members and a plurality of vacuum suction heads;

[0019] The first Z-axis linear module is connected to the third X-axis linear module, the first rotary drive member is connected to the first Z-axis linear module, the first Z-axis linear module is used to drive the first rotary drive member to rise and fall along the Z-axis direction, the vacuum suction head is connected to the first rotary drive member, and the first rotary drive member is used to drive the vacuum suction head to rotate around the Z-axis direction.

[0020] Optionally, the tray loading and unloading mechanism includes a tray conveying track for transporting empty trays and trays filled with qualified materials, a material grabbing manipulator for grabbing and transferring the trays, a first material frame for storing empty trays, a second material frame for storing trays filled with qualified materials, and a tray conveying platform;

[0021] Among them, the tray conveying track and the material conveying track are arranged adjacent to each other along the X-axis direction, the tray conveying platform is arranged close to the tray conveying track, and the material grabbing robot is located between the tray conveying platform and the tray conveying track to transfer the tray between the tray conveying platform and the tray conveying track, the first material frame and the second material frame are arranged adjacent to each other and are both located on the moving track of the tray conveying platform, and the tray conveying platform is used to take away empty trays from the first material frame and push trays loaded with qualified materials to the second material frame.

[0022] Optionally, the tray conveying track includes a first Y-axis linear module and a support platform connected to the first Y-axis linear module, the first Y-axis linear module is used to drive the support platform to move along the Y-axis direction, the support platform is used to support the tray, and at least one pair of second pneumatic clamps are provided on the support platform to clamp and fix the tray;

[0023] The material grabbing manipulator comprises a second support frame, a fourth X-axis linear module and a pneumatic clamp for grabbing the material tray;

[0024] The fourth X-axis linear module is installed on the second support frame, the fourth X-axis linear module is connected to a connecting frame, the fourth X-axis linear module is used to drive the connecting frame to move along the X-axis direction, the connecting frame is installed with a second rotary drive member, a rotating frame is installed on the second rotary drive member, and the second rotary drive member is used to drive the rotating frame to rotate around the Z-axis, the number of the pneumatic clamps is two, and the two pneumatic clamps are adjacently arranged on the rotating frame along the X-axis direction;

[0025] The tray conveying platform includes a second Y-axis linear module and a second lifting platform; the second Y-axis linear module is connected to the second lifting platform, the second Y-axis linear module is used to drive the second lifting platform to move along the Y-axis direction to pass through the first material frame and the second material frame, and the second lifting platform is used to lift the tray;

[0026] The second lifting platform is provided with a limit plate for limiting the material tray along the X-axis direction and the Y-axis direction;

[0027] The first material frame includes a first frame body for storing stacked material trays, the first frame body is a hollow structure, and first cylinders are installed on two opposite sides of the bottom of the first frame body, the first cylinder is connected to a first support plate, and the first cylinder is used to drive the first support plate to extend along the X-axis direction to support the stacked material trays;

[0028] The second material frame includes a second frame body for storing stacked material trays filled with materials. The second frame body is a hollow structure. Spring hinges are installed on two opposite sides of the bottom of the second frame body. The spring hinges are connected to a second support plate for supporting the stacked material trays. The second support plate can be driven to flip upwards to allow the material trays to enter the second frame body.

[0029] Optionally, the magazine loading and unloading mechanism includes a magazine conveying assembly and a magazine clamping assembly;

[0030] Wherein, the magazine conveying assembly and the magazine clamping assembly are arranged adjacent to each other along the X-axis direction;

[0031] The magazine conveying assembly includes a third support frame and a loading conveying track and a unloading conveying track arranged on the third support frame and arranged along the Z-axis direction;

[0032] The loading conveying track is used to convey the magazine along the positive direction of the X-axis, and the unloading conveying track is used to convey the magazine along the negative direction of the X-axis.

[0033] The magazine clamping assembly is used to take out the magazine from the loading conveying track so that the magazine receives the pallet; the magazine clamping assembly is also used to transfer the magazine filled with the pallet to the unloading conveying track so that the magazine is unloaded.

[0034] Optionally, the clip clamping assembly includes a fifth X-axis linear module, a second Z-axis linear module and a clamping module;

[0035] The second Z-axis linear module is connected to the fifth X-axis linear module, the clamping module is connected to the second Z-axis linear module, the second Z-axis linear module is used to drive the clamping module to move along the Z-axis direction, and the fifth X-axis linear module is used to drive the clamping module to move along the X-axis direction to approach or move away from the magazine conveying assembly;

[0036] The clamping module comprises a fixed frame, a third Z-axis linear module, a movable clamping arm and a fixed clamping arm;

[0037] The fixed frame is connected to the second Z-axis linear module, the third Z-axis linear module is connected to the fixed frame, the movable clamping arm is connected to the third Z-axis linear module, the movable clamping arm is located above the fixed clamping arm, and the third Z-axis linear module is used to drive the movable clamping arm to move along the Z-axis direction to approach or move away from the fixed clamping arm to clamp or release the clip.

[0038] Optionally, the material conveying track is also equipped with a push plate assembly for pushing the support plate completely into the magazine;

[0039] The push plate assembly includes a third Y-axis linear module, a lifting cylinder and a push plate;

[0040] The third Y-axis linear module is installed on one side of the material conveying track, the lifting cylinder is connected to the third Y-axis linear module, the third Y-axis linear module is used to drive the lifting cylinder to move along the Y-axis direction, the push plate is connected to the lifting cylinder, and the lifting cylinder is used to drive the push plate to rise and fall along the Z-axis direction.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] In the material automatic transfer equipment of this embodiment, the buffer loading mechanism transports the pallet loaded with materials to the material conveying track, and the material conveying track moves the pallet loaded with materials to the material suction position. At the same time, the tray loading and unloading mechanism transports the empty tray. Then, the suction device absorbs the material on the pallet into the tray. When the tray is full of materials, the tray loading and unloading mechanism unloads the tray full of materials. Subsequently, the clip loading and unloading mechanism loads the clip to the discharge end of the material conveying track. The material conveying track transports the empty pallet into the clip. When the clip is full of pallets, the clip loading and unloading mechanism unloads the clip, thus completing the material transfer process. Through the above design, the operation of automatically transferring materials can be realized, which greatly improves the material transfer efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic diagram of the structure of an automatic material transfer device provided by the present invention;

[0045] Figure 2 A schematic diagram of the structure of a material conveying track in an automatic material transfer device provided by the present invention;

[0046] Figure 3 A schematic structural diagram of a push plate assembly of a material conveying track in an automatic material transfer device provided by the present invention;

[0047] Figure 4 A schematic diagram of a cache module structure of a cache feeding mechanism in an automatic material transfer device provided by the present invention;

[0048] Figure 5 A schematic diagram of the structure of a buffer loading mechanism in an automatic material transfer device provided by the present invention;

[0049] Figure 6 A schematic diagram of the structure of a material tray loading and unloading mechanism in an automatic material transfer device provided by the present invention;

[0050] Figure 7 A schematic structural diagram from another perspective of a material tray loading and unloading mechanism in an automatic material transfer device provided by the present invention;

[0051] Figure 8 A schematic diagram of the structure of a tray conveying track and a defective product conveying track in an automatic material transfer device provided by the present invention;

[0052] Fig. 9 A schematic diagram of the structure of a material grabbing manipulator in an automatic material transfer device provided by the present invention;

[0053] Fig.10 A schematic diagram of the structure of a first material frame, a second material frame and a material tray conveying platform in an automatic material transfer device provided by the present invention;

[0054] Fig.11 A schematic diagram of the specific structure of a second material frame in an automatic material transfer device provided by the present invention;

[0055] Fig.12 A schematic diagram of the specific structure of a first material frame in an automatic material transfer device provided by the present invention;

[0056] Fig.13 A schematic diagram of the structure of a suction device in an automatic material transfer device provided by the present invention;

[0057] Fig.14 A schematic diagram of the structure of a magazine loading and unloading mechanism in an automatic material transfer device provided by the present invention;

[0058] Fig.15 A schematic structural diagram of a clip clamping assembly in an automatic material transfer device provided by the present invention;

[0059] Illustration: Cache loading mechanism 1; cache track 101; first support frame 102; second X-axis linear module 103; loading track 104; first X-axis linear module 105; material conveying track 2; first jacking platform 201; first pneumatic clamping plate 202; third Y-axis linear module 203; push plate 204; jacking cylinder 205; tray loading and unloading mechanism 3; tray conveying track 301; first Y-axis linear module 3011; support platform 3012; second pneumatic clamping plate 3013; tray conveying platform 302; second Y-axis linear module 3021; ​​second jacking platform 3022; first material frame 303; first frame body 3031; first cylinder 3032; first support plate 3033; second material frame 304; second frame body 3041; spring hinge 3042; second support plate 30 43; material gripping robot 305; fourth X-axis linear module 3051; second rotary drive member 3052; rotating frame 3053; pneumatic clamp 3054; magazine loading and unloading mechanism 4; magazine clamping assembly 401; fifth X-axis linear module 4011; second Z-axis linear module 4012; third Z-axis linear module 4013; movable clamping arm 4014; fixed clamping arm 4015; magazine conveying assembly 402; loading conveying track 4021; unloading conveying track 4022; static electricity removal assembly 5; AOI detection assembly 6; suction device 7; gantry 701; third X-axis linear module 702; suction module 703; first Z-axis linear module 7031; first rotary drive member 7032; vacuum suction head 7033; defective product conveying track 8; pallet A; tray B; material C; magazine D. DETAILED DESCRIPTION

[0060] The invention discloses an automatic material transfer device, which is used to solve the technical problem that the existing material transfer is completed by manual operation, thus resulting in low material transfer efficiency.

[0061] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0062] See also Figures 1 to 15 , an automatic material transfer device provided by an embodiment of the present invention is used to transfer materials on a pallet to a material tray, including a cache loading mechanism 1, a material conveying track 2, a suction device 7, a material tray loading and unloading mechanism 3 and a clip loading and unloading mechanism 4;

[0063] The cache loading mechanism 1 is located at the feeding end of the material conveying track 2, and the cache loading mechanism 1 is used to convey the pallet loaded with materials to the material conveying track 2, and the material conveying track 2 is used to convey the pallet loaded with materials. A material suction position is provided on the material conveying track 2, and the suction device 7 is located above the material suction position. The tray loading and unloading mechanism 3 is located on one side of the material conveying track 2, and the tray loading and unloading mechanism 3 is used to unload the tray filled with materials and load the empty tray. The suction device 7 is used to suck the material on the pallet and transfer it to the empty tray provided by the tray loading and unloading mechanism 3, and the clip loading and unloading mechanism 4 is located at the discharging end of the material conveying track 2, and the clip loading and unloading mechanism 4 is used to load the clip to receive the empty pallet output from the material conveying track 2 and to unload the clip filled with the pallet.

[0064] In the material automatic transfer equipment of this embodiment, the buffer loading mechanism 1 conveys the pallet loaded with materials to the material conveying track 2, and the material conveying track 2 moves the pallet loaded with materials to the material suction position. At the same time, the tray loading and unloading mechanism 3 conveys the empty tray. Then, the suction device 7 sucks the material on the pallet into the tray. When the tray is full of materials, the tray loading and unloading mechanism 3 unloads the tray full of materials. Subsequently, the clip loading and unloading mechanism 4 loads the clip to the discharge end of the material conveying track 2. The material conveying track 2 conveys the empty pallet into the clip. When the clip is full of pallets, the clip loading and unloading mechanism 4 unloads the clip, thus completing the material transfer process. Through the above design, the operation of automatically transferring materials can be realized, which greatly improves the efficiency of material transfer.

[0065] Furthermore, the cache feeding mechanism 1 in this embodiment includes a cache module and a feeding module;

[0066] The cache module includes a first support frame 102 and at least two cache rails 101 arranged along the X-axis direction on the first support frame 102, and the cache rails 101 transport the pallet loaded with materials along the Y-axis direction;

[0067] The loading module includes a loading track 104 and a first X-axis linear module 105, the loading track 104 is connected to the first X-axis linear module 105, and the first X-axis linear module 105 is used to drive the loading track 104 to move along the X-axis direction to connect with the discharge end of the buffer track 101 and the feed end of the material conveying track 2;

[0068] A blocking component is installed at a position of the first support frame 102 corresponding to the discharge end of the cache track 101 , and the blocking component is used to block the material from flowing out of the discharge end of the cache track 101 .

[0069] It should be noted that in the cache loading mechanism 1 of the present embodiment, the loading track 104 can be connected with the discharge ends of multiple cache tracks 101 under the drive of the first X-axis linear module 105. When the loading track 104 completes the transportation of the previous material, it can be driven to move to another cache track 101 of the material to be output to receive the material, thereby realizing seamless material connection and loading operations, avoiding time-consuming waiting for material connection, and effectively improving the loading efficiency. After the loading track 104 receives the pallet loaded with materials, it can be connected with the feed end of the material conveying track 2 under the drive of the first X-axis linear module 105, thereby conveying the pallet loaded with materials to the material conveying track 2.

[0070] Furthermore, the above-mentioned cache module also includes a second X-axis linear module 103;

[0071] The second X-axis linear module 103 is connected to the first support frame 102 , and the second X-axis linear module 103 is used to drive the first support frame 102 to move along the X-axis direction.

[0072] It should be noted that, through the above design, the first support frame 102 and the plurality of cache rails 101 can be synchronously moved in the X-axis direction, so as to adjust the positions of the plurality of cache rails 101 in the X-axis direction.

[0073] Furthermore, the material suction position of the material conveying track 2 in this embodiment is provided with a first lifting platform 201;

[0074] The first lifting platform 201 is used to lift the pallet loaded with materials along the Z-axis direction, and at least one pair of first pneumatic clamping plates 202 are provided on the first lifting platform 201 to clamp and fix the pallet loaded with materials.

[0075] It should be noted that, through the above design, when the pallet loaded with materials moves to the material suction position, a pair of first pneumatic clamps 202 will clamp the pallet, and then the first lifting platform 201 will lift the pallet along the Z-axis direction to make it leave the material conveying track 2.

[0076] In addition, in this embodiment, a static electricity removal component 5 and an AOI detection component 6 are sequentially arranged above the material conveying track 2 between the feeding end and the material suction position;

[0077] Among them, the static electricity removal component 5 is used to remove static electricity from the surface of the material, and the AOI detection component 6 is used to detect the quality of the material, so as to determine whether the material meets the preset standards. If it meets the standards, it is judged as a qualified material, and if it does not meet the standards, it is judged as a defective product.

[0078] Furthermore, the suction device 7 in this embodiment includes a gantry 701, a third X-axis linear module 702 and a suction module 703;

[0079] The gantry 701 is arranged across the material conveying tracks 2, the third X-axis linear module 702 is installed on the gantry 701, the suction module 703 is connected to the third X-axis linear module 702, and the third X-axis linear module 702 is used to drive the suction module 703 to move along the X-axis direction;

[0080] The suction module 703 includes a plurality of first Z-axis linear modules 7031 , a plurality of first rotary drive members 7032 , and a plurality of vacuum suction heads 7033 ;

[0081] It should be noted that when sucking materials, the third X-axis linear module 702 drives the suction module 703 to move to the material suction position, the suction module 703 sucks the material and moves to the top of the tray loading and unloading mechanism 3 under the drive of the third X-axis linear module 702, and places the material on the empty tray.

[0082] The first Z-axis linear module 7031 is connected to the third X-axis linear module 702, the first rotating driving member 7032 is connected to the first Z-axis linear module 7031, the first Z-axis linear module 7031 is used to drive the first rotating driving member 7032 to rise and fall along the Z-axis direction, the vacuum suction head 7033 is connected to the first rotating driving member 7032, and the first rotating driving member 7032 is used to drive the vacuum suction head 7033 to rotate around the Z-axis direction.

[0083] It should be noted that, through the above design, the vacuum suction head 7033 can have the functions of lifting and rotating, so that the vacuum suction head 7033 can complete the operation of material transfer.

[0084] Furthermore, the tray loading and unloading mechanism 3 in this embodiment includes a tray conveying track 301 for transporting empty trays and trays filled with qualified materials, a material grabbing manipulator 305 for grabbing and transferring the trays, a first material frame 303 for storing empty trays, a second material frame 304 for storing trays filled with qualified materials, and a tray conveying platform 302;

[0085] Among them, the tray conveying track 301 and the material conveying track 2 are arranged adjacent to each other along the X-axis direction, the tray conveying platform 302 is arranged close to the tray conveying track 301, and the grabbing robot 305 is located between the tray conveying platform 302 and the tray conveying track 301 to transfer the tray between the tray conveying platform 302 and the tray conveying track 301, the first material frame 303 and the second material frame 304 are arranged adjacent to each other and are both located on the moving track of the tray conveying platform 302, and the tray conveying platform 302 is used to take away empty trays from the first material frame 303 and push trays loaded with qualified materials to the second material frame 304.

[0086] It should be noted that, through the above design, the tray conveying platform 302 moves to the first material frame 303 to take out an empty tray, and then the tray conveying platform 302 moves with the empty tray to the grabbing robot 305, the grabbing robot 305 grabs the empty tray and places it on the tray conveying track 301, and the tray conveying track 301 conveys the empty tray to the material picking and placing area. At the same time, the material conveying track 2 moves the pallet loaded with materials to the material suction position, the suction device 7 sucks the materials and places them on the tray of the tray conveying track 301, and after the tray is full of materials, the tray conveying track 301 returns to the grabbing robot 305, and the grabbing robot 305 places the tray full of materials on the tray conveying platform 302, and the tray conveying platform 302 moves the tray full of materials to the second material frame 304 and pushes the tray to the second material frame 304 for storage, thereby completing the loading and unloading operation of a tray. In addition, in the design of the invention, the number of material conveying tracks 2, suction devices 7, and tray conveying tracks 301 is at least two. Under this design, the tray can effectively realize alternating loading and unloading operations, that is, the grabbing robot 305 can place an empty tray on one of the tray conveying tracks 301 while unloading a tray full of materials on another tray conveying track 301.

[0087] Furthermore, the tray conveying track 301 in this embodiment includes a first Y-axis linear module 3011 and a support platform 3012 connected to the first Y-axis linear module 3011, the first Y-axis linear module 3011 is used to drive the support platform 3012 to move along the Y-axis direction, the support platform 3012 is used to support the tray, and at least one pair of second pneumatic clamping plates 3013 are provided on the support platform 3012 to clamp and fix the tray;

[0088] It should be noted that, through the above design, the support platform 3012 for supporting the material tray can move linearly under the drive of the first Y-axis linear module 3011. For example, when the support platform 3012 is driven to move to the first position, at this time, the suction device 7 can place the sucked material into the material tray. When the material tray is full of materials, the support platform 3012 is driven to move to the second position. At this time, the grabbing robot 305 can take away the material tray full of materials, and when the support platform 3012 is in the second position, the grabbing robot 305 can also place an empty material tray on the support platform 3012, and the loading and unloading operations of the material tray can be repeated in this way.

[0089] Furthermore, the material grabbing manipulator 305 in this embodiment includes a second support frame, a fourth X-axis linear module 3051 and a pneumatic clamp 3054 for grabbing the material tray;

[0090] The fourth X-axis linear module 3051 is installed on the second supporting frame, and the fourth X-axis linear module 3051 is connected to a connecting frame. The fourth X-axis linear module 3051 is used to drive the connecting frame to move along the X-axis direction. The connecting frame is installed with a second rotating driving member 3052, and a rotating frame 3053 is installed on the second rotating driving member 3052. The second rotating driving member 3052 is used to drive the rotating frame 3053 to rotate around the Z-axis. The number of the pneumatic clamps 3054 is two, and the two pneumatic clamps 3054 are adjacently arranged on the rotating frame 3053 along the X-axis direction.

[0091] It should be noted that, through the above design, the two pneumatic grippers 3054 can be driven to achieve lifting and rotation, so as to facilitate the grabbing or placement of the material tray on the material tray conveying platform 302 or the material tray conveying track 301. In addition, by designing two pneumatic grippers 3054, the material grabbing manipulator 305 can grab two material trays at the same time, which more effectively improves the loading and unloading efficiency of the material trays.

[0092] Furthermore, the tray conveying platform 302 in this embodiment includes a second Y-axis linear module 3021 and a second lifting platform 3022; the second Y-axis linear module 3021 is connected to the second lifting platform 3022, the second Y-axis linear module 3021 is used to drive the second lifting platform 3022 to move along the Y-axis direction to pass through the first material frame 303 and the second material frame 304, and the second lifting platform 3022 is used to lift the tray;

[0093] The second lifting platform 3022 is provided with a limiting plate for limiting the material tray along the X-axis direction and the Y-axis direction.

[0094] It should be noted that, through the above design, the second lifting platform 3022 can be moved to the second material frame 304 , the first material frame 303 and the material grabbing robot 305 under the drive of the second Y-axis linear module 3021 .

[0095] Furthermore, the first material frame 303 in the present embodiment includes a first frame body 3031 for storing stacked material trays, the first frame body 3031 is a hollow structure, and first cylinders 3032 are installed on both opposite sides of the bottom of the first frame body 3031, the first cylinder 3032 is connected to a first support plate 3033, and the first cylinder 3032 is used to drive the first support plate 3033 to extend along the X-axis direction to support the stacked material trays.

[0096] It should be noted that when the tray conveying platform 302 needs to take away an empty tray, the second lifting platform 3022 is driven to move to the bottom of the first material frame 303, and then the second lifting platform 3022 moves upward to support the bottom tray of the stacked trays. Then, the piston rod of the first cylinder 3032 contracts to drive the first support plate 3033 to no longer support the stacked trays. At this time, the second lifting platform 3022 takes away the empty tray, and at the same time, the first support plate 3033 is driven back to its original position to continue to support the stacked trays.

[0097] In addition, two first sensors are installed in the above-mentioned first material frame 303, and the two first sensors are installed at the top and bottom of the first material frame 303. When the height of the stacked material trays is lower than the first sensor below, the first sensor below will be triggered. At this time, the first sensor below can prompt the staff to replenish empty material trays to the first material frame 303 through an alarm device.

[0098] Furthermore, the second material frame 304 in the present embodiment includes a second frame body 3041 for storing stacked material trays filled with materials, the second frame body 3041 is a hollow structure, and spring hinges 3042 are installed on two opposite sides of the bottom of the second frame body 3041, and the spring hinges 3042 are connected to a second support plate 3043 for supporting the stacked material trays, and the second support plate 3043 can be driven to flip upwards to allow the material trays to enter the second frame body 3041.

[0099] It should be noted that, after the tray conveying platform 302 obtains the tray filled with materials, the second lifting platform 3022 is driven to move to the bottom of the second material frame 304. At this time, the second lifting platform 3022 lifts the tray upward so that it pushes the second support plate 3043 from the bottom to the top. When the tray completely passes over the second support plate 3043, the second support plate 3043 returns to its original position under the elastic force of the spring hinge 3042 to support the tray.

[0100] In addition, a second sensor is installed in the above-mentioned second material frame 3046, and the second sensor is installed on the top of the second material frame 3046. When the stacked material trays reach a certain height, the second sensor will be triggered. At this time, the second sensor can remind the staff through the warning device that the material trays in the second material frame 3046 are full.

[0101] The first sensor and the second sensor mentioned above are similar to water level sensors for detecting water level, which can be specifically selected as photoelectric sensors.

[0102] Furthermore, the magazine loading and unloading mechanism 4 includes a magazine conveying component 402 and a magazine clamping component 401;

[0103] Wherein, the magazine conveying assembly 402 and the magazine clamping assembly 401 are arranged adjacent to each other along the X-axis direction;

[0104] The magazine conveying assembly 402 includes a third support frame and a loading conveying track 4021 and a unloading conveying track 4022 disposed on the third support frame and arranged along the Z-axis direction;

[0105] The loading conveying track 4021 is used to convey the magazine along the positive direction of the X-axis, and the unloading conveying track 4022 is used to convey the magazine along the negative direction of the X-axis.

[0106] The magazine clamping assembly 401 is used to take out the magazine from the loading conveying track 4021 so that the magazine receives the pallet; the magazine clamping assembly 401 is also used to transfer the magazine filled with the pallet to the unloading conveying track 4022 so that the magazine is unloaded.

[0107] It should be noted that the magazines mentioned in this embodiment are all prior art. The magazines are generally hollow structures. In the embodiment, the opening of the magazine is set toward the Y-axis direction, and the hollow structure of the magazine is provided with a plurality of slots from top to bottom for inserting the support plate.

[0108] It should be further explained that in the magazine loading and unloading mechanism 4 of the present embodiment, the loading conveying track 4021 in the magazine conveying assembly 402 first transports the empty magazine, and when the empty magazine reaches the discharge end of the loading conveying track 4021, the magazine clamping assembly 401 takes out the magazine and moves it to the discharge end of the material conveying track 2 to wait for the receiving pallet, and when the magazine is full, the magazine clamping assembly 401 moves the magazine to the unloading conveying track 4022, and finally, the unloading conveying track 4022 unloads the magazine, and this is repeated to complete the process of automatic loading and unloading of the magazine. Through the above design, the loading and unloading efficiency of the magazine is greatly improved.

[0109] Further, the clip clamping assembly 401 includes a fifth X-axis linear module 4011, a second Z-axis linear module 4012 and a clamping module;

[0110] The second Z-axis linear module 4012 is connected to the fifth X-axis linear module 4011, and the clamping module is connected to the second Z-axis linear module 4012. The second Z-axis linear module 4012 is used to drive the clamping module to move along the Z-axis direction, and the fifth X-axis linear module 4011 is used to drive the clamping module to move along the X-axis direction to approach or move away from the magazine conveying assembly 402.

[0111] The clamping module includes a fixed frame, a third Z-axis linear module 4013, a movable clamping arm 4014 and a fixed clamping arm 4015;

[0112] The fixed frame is connected to the second Z-axis linear module 4012, the third Z-axis linear module 4013 is connected to the fixed frame, the movable clamping arm 4014 is connected to the third Z-axis linear module 4013, the movable clamping arm 4014 is located above the fixed clamping arm 4015, and the third Z-axis linear module 4013 is used to drive the movable clamping arm 4014 to move along the Z-axis direction to approach or move away from the fixed clamping arm 4015 to clamp or release the magazine.

[0113] It should be noted that, through the above design, when the third Z-axis linear module 4013102 drives the movable clamping arm 4014 to approach the fixed clamping arm 4015, the magazine can be clamped and fixed; when the third Z-axis linear module 4013 drives the movable clamping arm 4014 away from the movable clamping arm 4014, the magazine can be released.

[0114] Furthermore, the material conveying track 2 in this embodiment is also equipped with a push plate assembly for pushing the support plate completely into the magazine;

[0115] The push plate assembly includes a third Y-axis linear module 203, a lifting cylinder 205 and a push plate 204;

[0116] The third Y-axis linear module 203 is installed on one side of the material conveying track 2, the lifting cylinder 205 is connected to the third Y-axis linear module 203, the third Y-axis linear module 203 is used to drive the lifting cylinder 205 to move along the Y-axis direction, the push plate 204 is connected to the lifting cylinder 205, and the lifting cylinder 205 is used to drive the push plate 204 to rise and fall along the Z-axis direction.

[0117] It should be noted that, since the pallet may not be able to fully enter the slot of the magazine under the drive of the material conveying track 2, in order to avoid the above situation, this embodiment installs a push plate assembly on the material conveying track 2. When the pallet is conveyed to the discharge end of the material conveying track 2, the push plate 204 rises to the same horizontal position as the pallet under the drive of the lifting cylinder 205, and then the push plate 204 is driven by the third Y-axis linear module 203 to push the pallet completely into the slot of the magazine.

[0118] Furthermore, the tray loading and unloading mechanism 3 in this embodiment further includes a defective product conveying track 8 for transporting trays containing defective materials;

[0119] The structure of the defective product conveying track 8 is the same as that of the tray conveying track 301 , and the defective product conveying track 8 is located at one side of the tray conveying track 301 .

[0120] It should be noted that, when the material is detected and judged to be unqualified, the suction device 7 will directly grab the unqualified material and put it on the material tray of the unqualified material conveying track.

[0121] Furthermore, the cache track 101, loading track 104, material conveying track 2, loading conveying track 4021, and unloading conveying track 4022 in this embodiment are all tracks with adjustable width, which are specifically existing technologies and are not introduced in detail in this embodiment.

[0122] Furthermore, the rotary drive member in this embodiment can be selected as a rotary motor, and the X-axis linear module, Y-axis linear module, and Z-axis linear module in this embodiment can all adopt linear modules with motor and lead screw drive or motor and belt drive.

[0123] The above is a detailed introduction to the automatic material transfer equipment provided by the present invention. For those skilled in the art, according to the ideas of the embodiments of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An automatic material transfer device for transferring materials on a pallet to a material tray, characterized in that: It comprises a buffer loading mechanism (1), a material conveying track (2), a suction device (7), a material tray loading and unloading mechanism (3) and a magazine loading and unloading mechanism (4); The buffer loading mechanism (1) is located at the feeding end of the material conveying track (2), the buffer loading mechanism (1) is used to convey a pallet loaded with materials to the material conveying track (2), the material conveying track (2) is used to convey the pallet loaded with materials, a material suction position is provided on the material conveying track (2), the suction device (7) is located above the material suction position, the tray loading and unloading mechanism (3) is located on one side of the material conveying track (2), the tray loading and unloading mechanism (3) is used to unload a tray filled with materials and load an empty tray, the suction device (7) is used to suck the material on the pallet and transfer it to an empty tray provided by the tray loading and unloading mechanism (3), the clip loading and unloading mechanism (4) is located at the discharging end of the material conveying track (2), the clip loading and unloading mechanism (4) is used to load the clip to receive the empty pallet output from the material conveying track (2) and unload the clip filled with pallets.

2. The automatic material transfer equipment according to claim 1, characterized in that: The cache feeding mechanism (1) comprises a cache module and a feeding module; The cache module comprises a first support frame (102) and at least two cache rails (101) arranged on the first support frame (102) and arranged along the X-axis direction, wherein the cache rails (101) transport a pallet loaded with materials along the Y-axis direction; The loading module comprises a loading track (104) and a first X-axis linear module (105), the loading track (104) is connected to the first X-axis linear module (105), and the first X-axis linear module (105) is used to drive the loading track (104) to move along the X-axis direction so as to connect with the discharge end of the buffer track (101) and the feed end of the material conveying track (2); A blocking component is installed at a position of the first support frame (102) corresponding to the discharge end of the cache track (101), and the blocking component is used to block the material from flowing out of the discharge end of the cache track (101).

3. The automatic material transfer equipment according to claim 2, characterized in that: The cache module also includes a second X-axis linear module (103); The second X-axis linear module (103) is connected to the first support frame (102), and the second X-axis linear module (103) is used to drive the first support frame (102) to move along the X-axis direction.

4. The automatic material transfer equipment according to claim 1, characterized in that: The material suction position of the material conveying track (2) is provided with a first lifting platform (201); The first lifting platform (201) is used to lift a pallet loaded with materials along the Z-axis direction, and at least one pair of first pneumatic clamping plates (202) are provided on the first lifting platform (201) to clamp and fix the pallet loaded with materials.

5. The automatic material transfer equipment according to claim 1, characterized in that: The suction device (7) comprises a gantry (701), a third X-axis linear module (702) and a suction module (703); The gantry (701) is arranged across the material conveying tracks (2), the third X-axis linear module (702) is installed on the gantry (701), the suction module (703) is connected to the third X-axis linear module (702), and the third X-axis linear module (702) is used to drive the suction module (703) to move along the X-axis direction; The suction module (703) comprises a plurality of first Z-axis linear modules (7031), a plurality of first rotary drive members (7032) and a plurality of vacuum suction heads (7033); The first Z-axis linear module (7031) is connected to the third X-axis linear module (702); the first rotating drive component (7032) is connected to the first Z-axis linear module (7031); the first Z-axis linear module (7031) is used to drive the first rotating drive component (7032) to rise and fall along the Z-axis direction; the vacuum suction head (7033) is connected to the first rotating drive component (7032); the first rotating drive component (7032) is used to drive the vacuum suction head (7033) to rotate around the Z-axis direction.

6. The automatic material transfer equipment according to claim 1, characterized in that: The tray loading and unloading mechanism (3) comprises a tray conveying track (301) for transporting empty trays and trays filled with qualified materials, a material grabbing manipulator (305) for grabbing and transferring trays, a first material frame (303) for storing empty trays, a second material frame (304) for storing trays filled with qualified materials, and a tray conveying platform (302); The tray conveying track (301) and the material conveying track (2) are arranged adjacent to each other along the X-axis direction, the tray conveying platform (302) is arranged close to the tray conveying track (301), and the material grabbing robot (305) is located between the tray conveying platform (302) and the tray conveying track (301) so that the tray can be transferred between the tray conveying platform (302) and the tray conveying track (301), the first material frame (303) and the second material frame (304) are arranged adjacent to each other and are both located on the moving track of the tray conveying platform (302), and the tray conveying platform (302) is used to take away empty trays from the first material frame (303) and push trays loaded with qualified materials to the second material frame (304).

7. The automatic material transfer equipment according to claim 6, characterized in that: The tray conveying track (301) comprises a first Y-axis linear module (3011) and a support platform (3012) connected to the first Y-axis linear module (3011), the first Y-axis linear module (3011) is used to drive the support platform (3012) to move along the Y-axis direction, the support platform (3012) is used to support the tray, and at least one pair of second pneumatic clamping plates (3013) are provided on the support platform (3012) to clamp and fix the tray; The material grabbing manipulator (305) comprises a second support frame, a fourth X-axis linear module (3051), and a pneumatic clamp (3054) for grabbing a material tray; The fourth X-axis linear module (3051) is installed on the second support frame, the fourth X-axis linear module (3051) is connected to a connecting frame, the fourth X-axis linear module (3051) is used to drive the connecting frame to move along the X-axis direction, the connecting frame is installed with a second rotating drive member (3052), a rotating frame (3053) is installed on the second rotating drive member (3052), the second rotating drive member (3052) is used to drive the rotating frame (3053) to rotate around the Z-axis, the number of the pneumatic clamps (3054) is two, and the two pneumatic clamps (3054) are adjacently arranged on the rotating frame (3053) along the X-axis direction; The tray conveying platform (302) comprises a second Y-axis linear module (3021) and a second lifting platform (3022); the second Y-axis linear module (3021) is connected to the second lifting platform (3022); the second Y-axis linear module (3021) is used to drive the second lifting platform (3022) to move along the Y-axis direction to pass through the first material frame (303) and the second material frame (304); the second lifting platform (3022) is used to lift the tray; The second lifting platform (3022) is provided with a limit plate for limiting the material tray along the X-axis direction and the Y-axis direction; The first material frame (303) comprises a first frame body (3031) for storing stacked material trays, the first frame body (3031) is a hollow structure, and first cylinders (3032) are installed on two opposite sides of the bottom of the first frame body (3031), the first cylinder (3032) is connected to a first support plate (3033), and the first cylinder (3032) is used to drive the first support plate (3033) to extend along the X-axis direction to support the stacked material trays; The second material frame (304) comprises a second frame body (3041) for storing stacked material trays filled with materials. The second frame body (3041) is a hollow structure. Spring hinges (3042) are installed on two opposite sides of the bottom of the second frame body (3041). The spring hinges (3042) are connected to a second support plate (3043) for supporting the stacked material trays. The second support plate (3043) can be driven to flip upwards to allow the material trays to enter the second frame body (3041).

8. The automatic material transfer equipment according to claim 1, characterized in that: The magazine loading and unloading mechanism (4) comprises a magazine conveying assembly (402) and a magazine clamping assembly (401); Wherein, the magazine conveying assembly (402) and the magazine clamping assembly (401) are arranged adjacent to each other along the X-axis direction; The magazine conveying assembly (402) comprises a third support frame, and a loading conveying track (4021) and a unloading conveying track (4022) which are arranged on the third support frame and along the Z-axis direction; The loading conveying track (4021) is used to convey the magazine along the positive direction of the X-axis, and the unloading conveying track (4022) is used to convey the magazine along the negative direction of the X-axis. The magazine clamping assembly (401) is used to remove the magazine from the loading conveying track (4021) so that the magazine receives the pallet; the magazine clamping assembly (401) is also used to transfer the magazine that is filled with the pallet to the unloading conveying track (4022) so that the magazine can be unloaded.

9. The automatic material transfer equipment according to claim 8, characterized in that: The clip clamping assembly (401) comprises a fifth X-axis linear module (4011), a second Z-axis linear module (4012) and a clamping module; The second Z-axis linear module (4012) is connected to the fifth X-axis linear module (4011), the clamping module is connected to the second Z-axis linear module (4012), the second Z-axis linear module (4012) is used to drive the clamping module to move along the Z-axis direction, and the fifth X-axis linear module (4011) is used to drive the clamping module to move along the X-axis direction to approach or move away from the magazine conveying assembly (402); The clamping module comprises a fixed frame, a third Z-axis linear module (4013), a movable clamping arm (4014) and a fixed clamping arm (4015); The fixed frame is connected to the second Z-axis linear module (4012), the third Z-axis linear module (4013) is connected to the fixed frame, the movable clamping arm (4014) is connected to the third Z-axis linear module (4013), the movable clamping arm (4014) is located above the fixed clamping arm (4015), and the third Z-axis linear module (4013) is used to drive the movable clamping arm (4014) to move along the Z-axis direction to approach or move away from the fixed clamping arm (4015) to clamp or release the magazine.

10. The automatic material transfer equipment according to claim 8, characterized in that: The material conveying track (2) is also equipped with a push plate assembly for pushing the support plate completely into the magazine; The push plate assembly comprises a third Y-axis linear module (203), a lifting cylinder (205) and a push plate (204); The third Y-axis linear module (203) is installed on one side of the material conveying track (2); the lifting cylinder (205) is connected to the third Y-axis linear module (203); the third Y-axis linear module (203) is used to drive the lifting cylinder (205) to move along the Y-axis direction; the push plate (204) is connected to the lifting cylinder (205); the lifting cylinder (205) is used to drive the push plate (204) to move up and down along the Z-axis direction.

Images