Sucker type plate transferring and conveying equipment

Abstract

The invention discloses suction cup type plate transferring and conveying equipment, which relates to the technical field of plate conveying, and comprises a rack, and a conveying roller assembly, a suction cup type mechanical arm and a slab placing table which are assembled on the rack, a rectangular space for the slab placing table to vertically slide is formed in the rack; the slab placing table comprises a rectangular slab conveying table and a driving device; the rectangular slab conveying table is in sliding fit with the rack and can vertically slide in the rectangular space; the driving device is used for driving the rectangular slab conveying table to slide; the chain traction mechanism comprises a pair of transmission teeth rotationally assembled on the rack through a first rotating shaft and an annular transmission chain wound on the pair of transmission teeth; and the first rotating shaft is horizontally arranged. Through mechanical structure innovation and function integration, the technical defects of efficiency bottleneck, potential safety hazards and maintenance cost of traditional equipment are overcome, and the automatic board feeding device is particularly suitable for high-frequency and high-precision automatic board feeding scenes of light and vulnerable boards such as slabs and fiber boards.

Description

Technical Field

[0001] The present invention relates to the technical field of sheet conveying, and specifically relates to a sucker-type transfer sheet feeding device. Background Art

[0002] Plywood is a three-layer or multi-layer sheet material made by slicing wood segments into veneers or planing wooden squares into thin woods, and then gluing them with adhesives. Usually, an odd number of veneers are used, and the fiber directions of adjacent veneers are glued perpendicular to each other.

[0003] Before the plywood veneers are glued into sheets by adhesives, the plywood veneers also need to be sent to corresponding devices for special treatments, such as cleaning, drying, and removing unqualified plywood veneers. Generally, the stacked plywood veneers are conveyed to a preset position by a conveyor, and then the plywood veneers are sequentially adsorbed by suckers, so as to sequentially transfer the plywood veneers to a conveyor belt for subsequent treatments.

[0004] However, the traditional sheet feeding device has the following significant defects in the transfer process of plywood veneers: Traditional conveyors usually adopt a sheet feeding table with a fixed height. The sucker manipulator needs to be lifted and lowered frequently to grab the veneers on different stacked layers. Since the height of the sheet feeding table cannot be adjusted dynamically, the vertical stroke of the sucker is long and the action cycle is slow, resulting in low transfer efficiency. In addition, if the surface of the veneer is uneven (such as warping, burrs) when the sucker adsorbs, it is easy to cause local tearing or scratches due to uneven pressure, affecting the yield rate. Summary of the Invention

[0005] The purpose of the present invention is to provide a sucker-type transfer sheet feeding device to solve the problems raised in the above background art.

[0006] To achieve the above invention purpose, the present invention adopts the following technical solutions: A sucker-type transfer sheet feeding device provided by the present invention includes a frame, and a conveyor roller assembly, a sucker manipulator, and a veneer placement table assembled on the frame; It is characterized in that a rectangular space for the vertical sliding of the veneer placement table is formed inside the frame; the veneer placement table includes a rectangular sheet feeding table that is slidably matched with the frame and can vertically slide in the rectangular space, and a driving device for driving the sliding of the rectangular sheet feeding table; The driving device includes a pair of chain traction mechanisms symmetrically assembled on the top of the frame, and a driving shaft; The chain traction mechanism includes a pair of transmission gears rotatably assembled on the frame through a first rotating shaft and an annular transmission chain wound around the pair of transmission gears; the first rotating shaft is horizontally arranged, and the upper and lower halves of both ends of the annular transmission chain are fixedly connected with traction chains through connecting pieces. The other ends of the traction chains extend vertically downward after passing through a guiding gear fixed on the frame. The four traction chains of a pair of chain traction mechanisms are respectively fixedly connected to the four corners of the rectangular plate feeding table; the driving shaft is arranged between one ends of a pair of chain traction mechanisms, and both ends of the driving shaft are fixedly connected to the first rotating shafts at the same ends of a pair of chain traction mechanisms. The driving shaft is connected with a driving source for driving its rotation.

[0007] Further, the suction cup type robotic arm includes a suction cup assembly, a negative pressure system, and a two-axis movement assembly; The two-axis movement assembly includes a horizontal slide rail and a vertical lifting module for driving the suction cup assembly to move in the horizontal and vertical directions; The negative pressure system includes a vacuum generator and a sub-control solenoid valve, which are connected to the suction cup assembly through independent air paths; The suction cup assembly includes a suction cup and a dust removal structure arranged inside the suction cup. The suction cup includes a rigid upper annular part and a flexible lower annular part. The dust removal structure includes an annular cavity arranged inside the rigid upper annular part, a sealing ring slidably arranged in the annular cavity, and sliding columns uniformly arranged vertically at the bottom of the sealing ring; the sealing ring divides the annular cavity into an upper chamber and a lower chamber. A channel communicating with the upper chamber is formed inside the sliding column. The bottom ends of a plurality of sliding columns are connected to a jet ring. The outer side of the jet ring is uniformly provided with jet holes. A reset spring is uniformly arranged along the circumferential direction in the upper chamber. Under normal conditions, the sealing ring is at the lowest end of its sliding stroke, and the jet ring is directly below the bottom plane of the suction cup.

[0008] Further, a circular barrier net is arranged at the top inside the jet ring.

[0009] Further, the frame includes a left gantry and a right gantry which are symmetrically and vertically arranged. Connecting bars are symmetrically and fixedly arranged between the two sides of the tops of the left gantry and the right gantry. A pair of chain traction mechanisms are respectively installed on a pair of connecting bars. The rectangular plate feeding table includes cross bars respectively slidably arranged inside the left gantry and the right gantry, and a pair of bearing bars fixedly arranged between the two cross bars.

[0010] Further, a conveyor chain mechanism is arranged on the bearing bars, and the upper parts of a pair of conveyor chain mechanisms are higher than the top surface of the bearing bars.

[0011] Furthermore, the left gantry and the right gantry each include a pair of vertical sections and a horizontal section connected between the pair of vertical sections. The interiors of the pair of vertical sections are hollow to form a lifting channel, and strip-shaped through grooves are opened on opposite sides of the pair of vertical sections. The two ends of the load-bearing bar respectively pass through the corresponding strip-shaped through grooves and extend into the lifting channel. The two ends of the top of the load-bearing bar are respectively provided with guide wheels, and the guide wheels are slidably engaged with the strip-shaped through grooves; the four traction chains of a pair of chain traction mechanisms respectively extend into the four lifting channels, and the bottom ends of the four traction chains are respectively fixedly connected to the two ends of the two horizontal bars.

[0012] Further, the interior of the horizontal bar is hollow to form a mounting channel, and a damping assembly is arranged in the mounting channel, and the damping assembly includes a middle bar, a side sliding bar and a resistance bar, the middle bar is vertically slidably arranged in the middle of the mounting channel, and there is a gap between the middle bar and the bottom of the mounting channel, and connecting pieces are vertically fixed at both ends of the top of the middle bar, and the top end of the connecting piece passes through the horizontal bar and extends to the top of the horizontal bar to be fixedly connected with a mounting plate, and the two ends of a pair of the bearing bars are respectively fixedly connected to the two mounting plates; The side sliding bars are slidably arranged in the installation channels at both ends of the middle bar, and the side sliding bars and the installation channels can only slide along the length direction of the installation channels, the first inclined surfaces are symmetrically arranged at both ends of the middle bar, and a pair of the first inclined surfaces are in an inverted eight-shaped shape, and the end of the side sliding bar close to the middle bar is provided with a second inclined surface close to the first inclined surface, and the first inclined surface and the second inclined surface are slidably connected through a key groove structure; In the horizontal direction, third inclined planes are symmetrically arranged on both sides of the side sliding bar away from one end of the middle bar, the interference bar is slidably arranged on the third inclined plane, and the interference bar is vertically arranged to the side sliding bar, and a fourth inclined plane tightly attached to the third inclined plane is arranged at one end of the interference bar close to the third inclined plane, the fourth inclined plane is slidably connected to the third inclined plane through a key groove structure, the end of the interference bar away from the side sliding bar passes through the horizontal bar and is fixedly connected with a friction structure, and the interference bar is in the lifting channel.

[0013] Furthermore, the friction structure includes a support seat detachably fixed on the interference bar, and a roller assembled on the support seat through a one-way bearing, a rubber pad is arranged on the outer peripheral surface of the roller, and rack tracks are symmetrically arranged on both sides of the lifting channel, and the rack tracks correspond to the roller.

[0014] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects: 1. The four-corner synchronous chain traction mechanism of the driving device of the present invention controls the double chain traction through a single driving shaft, ensuring that the rectangular pallet delivery platform can be lifted and lowered vertically without deviation. The height of the pallet delivery platform is dynamically adjusted with the number of stacking layers, shortening the vertical stroke of the suction cup robot arm, reducing the single grasping cycle, and adapting to the needs of high-speed continuous operation.

[0015] 2. The pre-jet dust removal design of the suction cup assembly of the present invention clears the dust on the surface of the board skin through an annular air curtain, improving the stability of grasping. The composite structure of the rigid upper annular part and the flexible lower annular part can adapt to the warping of the board surface and avoid adsorption and shedding.

[0016] 3. Through the intelligent switching between static friction locking and rolling friction resistance reduction of the damping component of the present invention, when the load exceeds the limit or there is a sudden power failure, the static friction resistance between the roller and the rack track can offset the falling inertia. The synergistic effect of the traction chain and the friction structure reduces the instantaneous impact load of the chain, significantly prolongs the service life of the chain, and avoids the risk of fracture.

[0017] In summary, through mechanical structure innovation and function integration, the present invention overcomes the technical pain points of traditional equipment in terms of efficiency bottlenecks, safety hazards, and maintenance costs, and is particularly suitable for high-frequency and high-precision automated board feeding scenarios of light and easily damaged boards such as board skins and fiberboards.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0020] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic side view structure of the present invention; Figure 3 is a schematic diagram of the structure of the present invention after hiding the frame; Figure 4 is Figure 3 the front view structure diagram of Figure 5 is a schematic diagram of the first state structure of the chain traction mechanism of the present invention; Figure 6 is a schematic diagram of the second state structure of the chain traction mechanism of the present invention; Figure 7 is a schematic diagram of the structure of the suction cup robotic arm of the present invention; Figure 8 is a schematic diagram of the structure of the suction cup assembly of the present invention; Figure 9 is a schematic diagram of the cross-bar structure of the present invention; Figure 10 is Figure 9 the partial structure diagram at A of Figure 11It is a schematic diagram of the internal structure of the horizontal bar of the present invention; Figure 12 It is a schematic diagram of the friction structure of the present invention.

[0021] In the figure: 1 - Frame; 11 - Rectangular space; 12 - Left gantry; 13 - Right gantry; 14 - Connecting bar; 15 - Vertical section; 16 - Horizontal section; 17 - Lifting channel; 18 - Strip-shaped through groove; 2 - Suction cup type robotic arm; 2 - Robotic arm; 21 - Suction cup assembly; 22 - Negative pressure system; 23 - Two-axis moving assembly; 211 - Suction cup; 2111 - Rigid upper ring part; 2112 - Flexible lower ring part; 212 - Dust removal structure; 2121 - Annular cavity; 2122 - Sealing ring; 2123 - Sliding column; 2124 - Jet ring; 2125 - Jet hole; 2126 - Pre-tightening spring; 21211 - Upper chamber; 21212 - Lower chamber; 3 - Board skin placement table; 31 - Rectangular board feeding table; 311 - Horizontal bar; 312 - Bearing bar; 313 - Conveyor chain mechanism; 314 - Guide idler wheel; 32 - Driving device; 321 - Chain traction mechanism; 3211 - First rotating shaft; 3212 - Transmission tooth; 3213 - Annular transmission chain; 3214 - Traction chain; 322 - Driving shaft; 4 - Damping assembly; 41 - Middle bar; 411 - First inclined surface; 42 - Side sliding bar; 421 - Second inclined surface; 422 - Third inclined surface; 43 - Contact bar; 431 - Fourth inclined surface; 44 - Connecting piece; 45 - Mounting plate; 46 - Friction structure; 461 - Support seat; 462 - Roller; 463 - Rack track; 5 - Conveyor roller assembly. Specific embodiments

[0022] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of this application.

[0023] Embodiment 1, please refer to Figures 1-8, the present invention provides a palletizing structure for a suction cup type transfer and feeding plate device, including a frame 1, a conveyor roller assembly 5, a suction cup type robotic arm 2, and a plate skin placement table 3 assembled on the frame 1; a rectangular space 11 for the vertical sliding of the plate skin placement table 3 is formed inside the frame 1; the plate skin placement table 3 includes a rectangular plate feeding table 31 and a driving device 32. Among them, the rectangular plate feeding table 31 forms a directional constraint with the frame 1 through sliding fit to ensure its stable lifting and lowering in the rectangular space 11 in the vertical direction. During operation, after the palletized plate skins are conveyed to the plate skin placement table 3, the suction cup type robotic arm 2 adsorbs and transfers the plate skins layer by layer into the gaps of the conveyor roller assembly 5, and then the conveyor roller assembly 5 pushes the plate skins to the conveyor belt for subsequent processing. To improve efficiency, the driving device 32 can dynamically adjust the height of the rectangular plate feeding table 31: as the number of palletizing layers decreases, the driving device 32 drives the rectangular plate feeding table 31 to lift upward, so that the topmost layer of plate skin is always slightly lower than the working plane of the conveyor roller assembly 5, as shown in Figure 2 the dotted line indicates. This design reduces the vertical movement stroke of the suction cup type robotic arm 2, reduces the no-load round-trip time, and at the same time utilizes the limiting function of the rectangular space 11 of the frame 1 to avoid positioning errors caused by skew during the lifting process, thereby realizing continuous, efficient, and accurate automatic transfer of the plate skins.

[0024] The driving device 32 includes a pair of chain traction mechanisms 321 symmetrically assembled on the top of the frame 1, and a driving shaft 322. The chain traction mechanism 321 includes a pair of transmission gears 3212 rotatably assembled on the frame 1 through a first rotating shaft 3211 and an annular transmission chain 3213 wound around the pair of transmission gears 3212; the first rotating shaft 3211 is horizontally arranged, and the upper and lower halves of both ends of the annular transmission chain 3213 are fixedly connected with traction chains 3214 through connectors 44. The other ends of the traction chains 3214 extend vertically downward through a guiding gear fixed on the frame 1. The four traction chains 3214 of the pair of chain traction mechanisms 321 are respectively fixedly connected with the four corners of the rectangular plate feeding table 31; the driving shaft 322 is arranged between one ends of the pair of chain traction mechanisms 321, and both ends of the driving shaft 322 are fixedly connected with the first rotating shafts 3211 at the same end of the pair of chain traction mechanisms 321. The driving shaft 322 is connected with a driving source for driving its rotation. Among them, the driving source is a motor with a locking function.

[0025] During operation, when the driving shaft 322 rotates clockwise, the annular transmission chain 3213 drives the traction chains 3214 to run synchronously, and then makes the two traction chains 3214 move clockwise. Through the transmission chain, the suspended rectangular plate feeding table 31 is smoothly lifted along the internal rectangular space of the frame 1. At this time, the upper limit height of the plate feeding table 31 can reach the top of the frame 1, increasing the number of palletizing layers; conversely, when rotating counterclockwise, the traction chains 3214 release length, and the plate feeding table 31 descends to a position close to the ground for easy unloading.Figure 6 ). The four-corner traction structure eliminates lifting deviation through rigid guiding gears, and at the same time breaks through the space limitation of the traditional lifting mechanism by utilizing the high-stroke characteristics of chain drive. By precisely controlling the rotation angle of the drive shaft 322, the height of the plate feeding table 31 can be adjusted in real time, so that the veneer is always in the best adsorption plane of the suction cup type robotic arm, achieving the maximum of plate feeding efficiency and space utilization rate.

[0026] As Figure 7 and Figure 8 shown, in this embodiment, the suction cup 211 type robotic arm 2 is composed of three parts: a suction cup assembly 21, a negative pressure system 22, and a two-axis moving assembly 23 ( Figure 7 ). The two-axis moving assembly 23 consists of a horizontal slide rail and a vertical lifting module. The suction cup assembly 21 is driven by a servo motor to move precisely along the X-Y axis direction, realizing the horizontal positioning and vertical grasping actions of the veneer. The negative pressure system 22 includes a vacuum generator and a sub-control solenoid valve, which is connected to the suction cup assembly 21 through an independent air path, and can independently control the adsorption / release state of each suction cup 211 to ensure pressure balance during the cooperative operation of multiple suction cups.

[0027] The suction cup assembly 21 includes suction cups 211 and an integrated dust removal structure 212. The suction cup 211 adopts a composite design of a rigid upper ring part 2111 and a flexible lower ring part 2112: the rigid upper ring part 2111 is rigidly connected to the robotic arm through a threaded negative pressure pipe to provide stable support; the flexible lower ring part 2112 is made of silicone material, and after being deformed by pressure, it forms a sealed cavity with the surface of the veneer. The dust removal structure 212 includes an annular cavity 2121, a sealing ring 2122, and a jet ring 2124. Among them, the annular cavity 2121 is embedded inside the rigid upper ring part 2111 and is divided into an upper chamber 21211 and a lower chamber 21212 by a sliding sealing ring 2122. Four vertical sliding columns 2123 penetrate the sealing ring 2122, and their internal channels 21231 communicate the upper chamber 21211 with the jet ring 2124. Sixteen inclined jet holes 2125 are evenly distributed on the outer side of the jet ring 2124. Under the action of the pre-tightening spring 2126, the jet ring 2124 is normally below the bottom plane of the suction cup 211, and the lower chamber 21212 is communicated with the outside through the passage inside the rigid upper ring part 2111.

[0028] When the robotic arm performs the adsorption operation, the two-axis moving assembly 23 first drives the suction cup assembly to descend. The jet ring 2124 protrudes from the bottom surface of the suction cup 211 due to the pre-pressure of the pre-tightening spring 2126, first contacts the veneer, causing the sealing ring 2122 to move upward in the annular cavity 2121, so that the upper chamber 21211 is quickly discharged, and the jet ring 2124 presses against the surface of the plate. The high-speed air flow forms an annular air curtain through the jet holes, which can remove the dust in the adsorption area first; then the flexible lower ring part 2112 contacts the clean veneer and deforms to seal it through the cooperation of the negative pressure system 22, thus realizing stable grasping.

[0029] Further, a circular barrier net is provided at the top inside the jet ring 2124. The circular barrier net can cover the area inside the jet ring to prevent the negative pressure system from sucking the dust in the area inside the jet ring into the negative pressure system.

[0030] In this embodiment, the frame 1 adopts a symmetric gantry frame design. The left gantry 12 and the right gantry 13 are vertically arranged and kept parallel, and a stable cross-connecting structure is formed at the top through the connecting bars 14 on both sides. The chain traction mechanisms 321 are symmetrically distributed on the connecting bars 14, and power transmission is achieved through the synchronous drive system 322. The rectangular plate feeding table 31 is composed of two groups of cross bars 311 and bearing bars 312: both ends of the cross bars 311 are respectively inserted into the inner walls of the left gantry 12 and the right gantry 13 and are in sliding fit, and can only slide smoothly in the vertical direction; the bearing bars 312 are horizontally fixed between the two cross bars 311 to form a rigid support platform.

[0031] The conveyor chain mechanism 313 is installed on the surface of the bearing bar 312. The conveyor chain mechanism 313 adopts a convex design, and the top running plane is slightly higher than the upper surface of the bearing bar 312, forming a suspended conveying interface. This layout enables the workpiece to remain in a non-contact state with the bearing bar 312 during the conveying process, which can not only reduce frictional losses but also avoid debris accumulation. The coordinated action of the chain traction mechanism 321 and the conveyor chain mechanism 313 realizes the dual functions of lifting the plate feeding table 31 and conveying the workpiece, meeting the requirements of industrial scenarios with high precision and anti-eccentric load.

[0032] As Figure 1 shown, in this embodiment, both the left gantry 12 and the right gantry 13 are formed by welding steel plates, and both the left gantry 12 and the right gantry 13 include a pair of vertical sections 15 and a horizontal section 16 connected between the pair of vertical sections 15. The vertical sections 15 are square tube structures, and the inside is hollow to form a lifting channel 17. Adjacent vertical sections 15 are rigidly connected through the horizontal section 16. Strip-shaped through grooves 18 are formed on the side walls of the vertical sections 15. The end of the bearing bar 312 passes through the through groove 18 and extends into the lifting channel 17. The guiding idler wheels 314 installed on the top of the bearing bar 312 maintain a dynamic gap with the side walls of the through groove 18. Four traction chains 3214 are reversed by the guiding chain wheels in the lifting channel 17 and then fixed to the connecting lugs of the cross bar 311 through flange bolts.

[0033] Embodiment 2, on the basis of Embodiment 1, as Figures 8-12As shown, the interior of the horizontal bar 311 is hollow to form a mounting channel, and a damping assembly 4 is arranged in the mounting channel, and the damping assembly 4 includes a middle bar 41, a side sliding bar 42 and a contact bar 43. The middle bar 41 is vertically slidably arranged in the middle of the mounting channel, and there is a gap between the middle bar 41 and the bottom of the mounting channel, and a return spring is installed in the gap. Connectors 44 are vertically fixed at both ends of the top of the middle bar 41, and the top end of the connector 44 passes through the horizontal bar 311 and extends to the top of the horizontal bar 311, where a mounting plate 45 is fixedly connected, and both ends of a pair of the bearing bars 312 are fixedly connected to the two mounting plates 45 respectively; The side sliding bars 42 are slidably arranged in the installation channels at both ends of the middle bar 41, and the side sliding bars 42 and the installation channels can only slide along the length direction of the installation channels. The first inclined surfaces 411 are symmetrically arranged at both ends of the middle bar 41, and a pair of first inclined surfaces 411 are in an inverted eight-shaped shape. The end of the side sliding bar 42 close to the middle bar 41 is provided with a second inclined surface 421 closely attached to the first inclined surface 411, and the first inclined surface 411 and the second inclined surface 421 are slidably connected via a keyway structure. In the horizontal direction, the side sliding bar 42 is symmetrically provided with third inclined surfaces 422 on both sides away from one end of the middle bar 41, the interference bar 43 is slidably provided on the third inclined surface 422, and the interference bar 43 is vertically arranged with the side sliding bar 42, and the end of the interference bar 43 close to the third inclined surface 422 is provided with a fourth inclined surface 431 tightly attached to the third inclined surface 422, the fourth inclined surface 431 is slidably connected to the third inclined surface 422 by a key groove structure, the end of the interference bar 43 away from the side sliding bar 42 passes through the horizontal bar 311 and is fixedly connected with a friction structure 46, and the interference bar 43 is in the lifting channel 17.

[0034] The friction structure 46 includes a support seat 461 detachably fixed on the interference bar 43, and a roller 462 assembled on the support seat 461 through a one-way rotating shaft, and a rubber pad is arranged on the outer peripheral surface of the roller 462. Rack rails 463 are symmetrically arranged on both sides of the lifting channel 17, and the rack rails 463 correspond to the roller 462.

[0035] In the board delivery operation, when the stacked boards are placed on the load-bearing bar 312 of the rectangular board delivery platform 31, the load pressure is transmitted to the horizontal bar 311, driving the middle bar 41 inside it to move downward. The inverted eight-shaped first inclined surfaces 411 at both ends of the middle bar 41 simultaneously push the side sliding bars 42 on both sides to slide outward along the installation channel, forcing the resistance bar 43 to extend horizontally, driving the rubber pad of the roller 462 to press the rack rails 463 on both sides of the lifting channel 17. At this time, the one-way bearing is in a locked state, and static friction is formed between the roller 462 and the rack rail 463. When the rectangular board delivery platform 31 is stationary or moves downward, the load falling tendency is offset by rigid friction, which significantly reduces the tensile load of the traction chain 3214, prevents the chain from breaking due to instantaneous impact overload, and provides double anti-fall protection for the stacking platform.

[0036] When the driving device starts and pulls the rectangular plate delivery platform 31 upward, the one-way bearing switches to free rotation mode, the roller 462 can roll along the rack track 463, and the friction mode is changed to rolling friction, the resistance is reduced, which not only reduces the energy consumption of the motor, but also ensures a smooth and efficient lifting process. During the lifting pause stage (such as when the suction cup robot arm grabs the plate), the traction chain 3214 maintains the position of the stacking platform through its own tension, and the one-way bearing locks the roller 462 again, using static friction to assist in fixing the plate delivery platform, further sharing the chain load and extending the service life of the chain.

[0037] After unloading is completed, the stacking platform returns to an empty state, the reset spring in the horizontal bar 311 pushes the middle bar 41 to fully reset, the side sliding bar 42 and the contact bar 43 retract synchronously, the roller 462 disengages from the rack track 463, and the friction resistance returns to zero. At this time, the drive device can be quickly reset, perfectly adapting to the high-speed production rhythm.

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A suction cup type transfer board feeding device, comprising a frame, a conveying roller assembly assembled on the frame, a suction cup type mechanical arm and a board skin placing table; It is characterized in that A rectangular space is formed in the frame for the board placement platform to slide vertically; the board placement platform includes a rectangular board delivery platform that is slidably matched with the frame and can slide vertically in the rectangular space, and a driving device for driving the rectangular board delivery platform to slide; The driving device includes a pair of chain traction mechanisms symmetrically mounted on the top of the frame, and a driving shaft; The chain traction mechanism includes a pair of transmission teeth rotatably assembled on the frame through a first rotating shaft and an annular transmission chain wound around the pair of transmission teeth; the first rotating shaft is horizontally arranged, and the upper and lower halves at both ends of the annular transmission chain are fixedly connected to the traction chain through connecting pieces, and the other end of the traction chain extends vertically downward through a guide gear fixed on the frame, and the four traction chains of a pair of chain traction mechanisms are respectively fixedly connected to the four corners of the rectangular plate feeding platform; the driving shaft is arranged between one end of a pair of chain traction mechanisms, and the two ends of the driving shaft are respectively fixedly connected to the first rotating shaft at the same end of a pair of chain traction mechanisms, and the driving shaft is connected to a driving source for driving it to rotate.

2. The suction cup type transfer plate feeding device according to claim 1, characterized in that: The suction cup type mechanical arm comprises a suction cup assembly, a negative pressure system and a two-axis moving assembly; The two-axis moving assembly includes a horizontal slide rail and a vertical lifting module, which are used to drive the suction cup assembly to move in the horizontal and vertical directions; The negative pressure system includes a vacuum generator and a sub-control solenoid valve, which are connected to the suction cup assembly through an independent air circuit; The suction cup assembly includes a suction cup and a dust removal structure arranged in the suction cup, the suction cup includes a hard upper annular portion and a flexible lower annular portion, the dust removal structure includes an annular cavity arranged in the hard upper annular portion, a sealing ring slidably arranged in the annular cavity, and a sliding column evenly arranged at the bottom of the sealing ring; the sealing ring separates the annular cavity into an upper chamber and a lower chamber, a channel connected to the upper chamber is formed in the sliding column, a jet ring connected to the bottom ends of multiple sliding columns, jet holes are evenly arranged on the outside of the jet ring, and a return spring evenly arranged in the circumferential direction is arranged in the upper chamber. Under normal circumstances, the sealing ring is at the lowermost end of its sliding stroke, and the jet ring is directly below the bottom plane of the suction cup.

3. The suction cup type transfer plate feeding device according to claim 1, characterized in that: A circular barrier net is arranged on the top of the inner side of the jet ring.

4. The suction cup type transfer plate feeding device according to claim 1, characterized in that: The frame includes a left gantry and a right gantry that are symmetrically and vertically arranged, and connecting bars are symmetrically fixed between the two sides of the top of the left gantry and the right gantry. A pair of chain traction mechanisms are respectively installed on the pair of connecting bars, and the rectangular plate delivery platform includes horizontal bars that are respectively slidably arranged in the left gantry and the right gantry, and a pair of bearing bars fixedly arranged between the two horizontal bars.

5. The suction cup type transfer plate feeding device according to claim 4, characterized in that: The bearing bar is provided with a conveying chain mechanism, and the upper parts of a pair of conveying chain mechanisms are higher than the top surface of the bearing bar.

6. The suction cup type transfer plate feeding device according to claim 4, characterized in that: The left gantry and the right gantry each include a pair of vertical sections and a horizontal section connected between the pair of vertical sections. The interiors of the pair of vertical sections are hollow to form a lifting channel, and strip-shaped through grooves are provided on opposite sides of the pair of vertical sections. The two ends of the load-bearing bar respectively pass through the corresponding strip-shaped through grooves and extend into the lifting channel. The two ends of the top of the load-bearing bar are respectively provided with guide wheels, and the guide wheels are slidably matched with the strip-shaped through grooves; the four traction chains of a pair of chain traction mechanisms respectively extend into the four lifting channels, and the bottom ends of the four traction chains are respectively fixedly connected to the two ends of the two horizontal bars.

7. The suction cup type transfer plate feeding device according to claim 6, characterized in that: The interior of the horizontal bar is hollow to form a mounting channel, and a damping assembly is arranged in the mounting channel, and the damping assembly includes a middle bar, a side sliding bar and a contact bar, the middle bar is vertically slidably arranged in the middle of the mounting channel, and there is a gap between the middle bar and the bottom of the mounting channel, and connecting pieces are vertically fixed at both ends of the top of the middle bar, and the top end of the connecting piece passes through the horizontal bar and extends to the top of the horizontal bar, and a mounting plate is fixedly connected thereto, and both ends of a pair of the bearing bars are fixedly connected to two mounting plates respectively; The side sliding bars are slidably arranged in the installation channels at both ends of the middle bar, and the side sliding bars and the installation channels can only slide along the length direction of the installation channels, the first inclined surfaces are symmetrically arranged at both ends of the middle bar, and a pair of the first inclined surfaces are in an inverted eight-shaped shape, and the end of the side sliding bar close to the middle bar is provided with a second inclined surface close to the first inclined surface, and the first inclined surface and the second inclined surface are slidably connected through a key groove structure; In the horizontal direction, third inclined planes are symmetrically arranged on both sides of the side sliding bar away from one end of the middle bar, the interference bar is slidably arranged on the third inclined plane, and the interference bar is vertically arranged to the side sliding bar, and a fourth inclined plane tightly attached to the third inclined plane is arranged at one end of the interference bar close to the third inclined plane, the fourth inclined plane is slidably connected to the third inclined plane through a key groove structure, the end of the interference bar away from the side sliding bar passes through the horizontal bar and is fixedly connected with a friction structure, and the interference bar is in the lifting channel.

8. The suction cup type transfer plate feeding device according to claim 7, characterized in that: The friction structure includes a support seat detachably fixed on the interference strip, and a roller assembled on the support seat through a one-way bearing, a rubber pad is arranged on the outer peripheral surface of the roller, and rack tracks are symmetrically arranged on both sides of the lifting channel, and the rack tracks correspond to the roller.

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