Automatic grabbing line material machine

Abstract

The invention provides an automatic grabbing and material moving machine, and belongs to the technical field of industrial automatic production and manufacturing, the automatic grabbing and material moving machine comprises a goods shelf assembly and a feeding assembly, the goods shelf assembly comprises a main frame, a feeding goods shelf, a recycling goods shelf and a transferring mechanism, and the feeding goods shelf and the recycling goods shelf are arranged on the left side and the right side of the interior of the main frame correspondingly; a plurality of trays are movably arranged on the feeding goods shelf from top to bottom, lifting mechanisms are arranged on the left side and the right side of the main frame correspondingly, and the transferring mechanism is arranged above the main frame. The feeding assembly is located on one side of the goods shelf assembly and comprises a conveying mechanism and a material transferring mechanism. According to the automatic grabbing line material machine provided by the invention, the efficiency of the whole production process is improved, the manufacturing cost and the maintenance cost are reduced, the safety risk possibly occurring during manual operation is eliminated, the life safety of workers is guaranteed, the working difficulty of maintenance personnel is reduced, the maintainability of equipment is improved, and the production efficiency is improved. And continuous and stable operation of equipment is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial automation production and manufacturing, and more specifically, relates to an automatic material-grabbing feeder. Background Art

[0002] In modern industrial automation production, the loading operation is an important starting link in the production process. Currently, the loading methods on industrial automation production lines mainly include manual loading and machine automation loading.

[0003] Manual loading has many drawbacks. On the one hand, manual loading requires workers to repeat operations frequently, with a high labor intensity. Long-term work is likely to cause worker fatigue, thereby reducing production efficiency. At the same time, the labor cost is relatively high, increasing the production cost of the enterprise. On the other hand, manual operation has safety hazards and is prone to causing personal injury and death accidents. For example, in the scenario of loading heavy workpieces, once an accident occurs, the consequences are unimaginable.

[0004] Although the existing machine automation loading equipment has improved production efficiency to a certain extent, some equipment has complex structures. The complex structure not only increases the manufacturing cost of the equipment but also makes the equipment more difficult to maintain, with high maintenance costs. In addition, some automated loading equipment has poor versatility and is difficult to adapt to workpieces of different shapes and sizes, restricting its application in diverse production scenarios. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic material-grabbing feeder to achieve automated loading, reduce labor intensity, improve production efficiency, lower production costs, and at the same time avoid the safety risks brought by manual operation, and has the characteristics of simple structure, convenient use and maintenance.

[0006] To achieve the above object, the technical solution adopted by the present invention is: to provide an automatic material-grabbing feeder, including: a shelf assembly, the shelf assembly includes a main frame, a loading shelf, a recycling shelf and a transfer mechanism. The loading shelf and the recycling shelf are respectively arranged on the left and right sides inside the main frame. A plurality of trays are movably arranged on the loading shelf from top to bottom. Lifting mechanisms are respectively arranged on the left and right sides of the main frame. The lifting mechanism on one side of the loading shelf is used to move the plurality of trays on the loading shelf upward one by one. The transfer mechanism is arranged above the main frame, and the transfer mechanism is used to sequentially place the trays at the top layer of the loading shelf on the recycling shelf. The lifting mechanism on one side of the recycling shelf is used to move the trays on the recycling shelf downward one by one; Loading assembly, the loading assembly is located on one side of the shelf assembly, the loading assembly includes a transmission mechanism and a material transfer mechanism, the transmission mechanism is used to sequentially transfer workpieces to the material transfer mechanism, and the material transfer mechanism is used to sequentially clamp multiple workpieces on the transmission mechanism and place them in the tray on the top layer of the loading shelf.

[0007] In a possible implementation, the transmission mechanism includes: Support seat, a transmission pulley and a conveyor belt wound around the transmission pulley are arranged on the support seat; Transmission drive assembly, the transmission drive assembly includes a transmission drive motor and a transmission drive belt, the transmission drive motor is arranged below the support seat, and the transmission drive belt is in transmission connection with the drive end of the transmission drive motor and the transmission pulley.

[0008] In a possible implementation, the material transfer mechanism includes: Fixed seat, a three-dimensional robotic arm is arranged on the fixed seat; Jaw cylinder, the jaw cylinder is arranged at the end of the three-dimensional robotic arm, and the three-dimensional robotic arm drives the jaw cylinder to move to the conveyor belt to clamp the workpiece and move it into the tray on the top layer of the loading shelf.

[0009] In a possible implementation, the main frame includes: Bottom rectangular frame, a bottom plate is arranged inside the bottom rectangular frame, and the loading shelf and the recycling shelf are arranged on the left and right sides of the upper end surface of the bottom plate; Top rectangular frame, the top rectangular frame is arranged parallel to the bottom rectangular frame, the transfer mechanism is located above the top rectangular frame, and the two lifting mechanisms are both arranged between the top rectangular frame and the bottom rectangular frame and are respectively located outside the loading shelf and the recycling shelf; Four support columns, the four support columns are circumferentially connected between the bottom rectangular frame and the top rectangular frame, and an import and export for the loading shelf and the recycling shelf to pass through is formed between the two support columns on the front side.

[0010] In a possible implementation, a shelf guide groove is arranged on the front side of the bottom rectangular frame, the shelf guide groove faces the direction of the import and export, and moving wheels adapted to the shelf guide groove are arranged at the bottoms of the loading shelf and the recycling shelf.

[0011] In a possible implementation, safety light curtains are symmetrically arranged on the left and right sides of the front side of the main frame. The safety light curtains are located on the left and right sides of the inlet and outlet. Origin induction switches are symmetrically arranged on the left and right sides of the rear side of the main frame. The two origin induction switches are used to respectively locate the positions of the loading shelf and the recycling shelf within the main frame.

[0012] In a possible implementation, the lifting mechanism includes: A longitudinal lead screw, the two ends of which are respectively rotatably connected to the same side of the top rectangular frame and the bottom rectangular frame; Two guide rods, which are respectively longitudinally arranged on both sides of the longitudinal lead screw. The two ends of the guide rods are respectively fixedly connected to the top rectangular frame and the bottom rectangular frame; A lead screw drive motor, which is arranged on the upper end surface of the top rectangular frame, and the drive end of the lead screw drive motor is drivingly connected to the upper end of the longitudinal lead screw; A support plate, which is horizontally arranged. The middle part of the support plate is rotatably connected to the longitudinal lead screw. The two sides of the support plate are slidably connected to the two guide rods. One end of the inner side of the support plate is used to support the tray.

[0013] In a possible implementation, upper limit photoelectric switches and lower limit photoelectric switches are respectively arranged on the support columns on both sides of the inlet and outlet. Limit induction blocks are arranged on the outer sides of the two support plates. The limit induction blocks are located between the upper limit photoelectric switch and the lower limit photoelectric switch on the same side, and are used to limit the displacement of the support plate in the height direction.

[0014] In a possible implementation, the transfer mechanism includes: A transfer rack, which is located above the main frame. A suction cup is arranged at the lower end of the transfer rack, and is used to adsorb the tray on the top layer of the loading shelf; A lifting cylinder, the drive end of which is connected to the upper end of the transfer rack, and is used to drive the transfer rack to lift and lower; A transverse movement assembly, which is connected to the lifting cylinder through a support frame, and is used to drive the lifting cylinder to perform a transverse displacement between the loading shelf and the recycling shelf.

[0015] In a possible implementation, the transverse movement assembly includes: A transverse movement slide rail, which is located on one side above the main frame. A transverse movement slider is slidably arranged on the transverse movement slide rail. The transverse movement slider is arranged at the lower part of the support frame on the side away from the lifting cylinder; The transverse movement synchronous belt is located above the transverse movement slide rail. One end of the transverse movement synchronous belt is drivingly connected to a transverse movement driving motor. Synchronous belt clamping plates are arranged on the transverse movement synchronous belt, and the synchronous belt clamping plates are arranged on the upper part of the support frame on the side away from the lifting cylinder.

[0016] The beneficial effects of an automatic workpiece-grabbing and feeding machine provided by the present invention are as follows: Compared with the prior art, workpieces are placed on the transmission mechanism, and the workpieces are sequentially transmitted to the workpiece-transferring mechanism. The workpiece-transferring mechanism sequentially clamps multiple workpieces on the transmission mechanism and places them in the trays on the top layer of the loading shelf. This action is repeated until the trays on the top layer of the loading shelf are filled with workpieces. The transfer mechanism moves the trays filled with workpieces from the loading shelf to above the recycling shelf. The lifting mechanism on one side of the loading shelf sequentially conveys the trays on the loading shelf upward to ensure that the top-layer trays are always in a position convenient for the operation of the workpiece-transferring mechanism; the working principle of the lifting mechanism on one side of the recycling shelf is the same, but the direction is opposite, and the trays filled with workpieces on the recycling shelf are sequentially moved downward. An automatic workpiece-grabbing and feeding machine provided by the present invention has an automated loading process and tray transfer process, which greatly improves the loading speed compared with manual loading, reduces the loading time, and thus improves the efficiency of the entire production process. It reduces the expenditure on labor costs. The simple structure reduces the manufacturing cost and maintenance cost of the equipment, saving funds for the enterprise. The completely automated operation avoids direct human contact with heavy or dangerous workpieces, eliminates the potential safety risks during manual operation, and ensures the safety of workers' lives. The simple structural design makes the components of the equipment easy to inspect, repair, and replace, reduces the work difficulty of maintenance personnel, improves the maintainability of the equipment, and ensures the continuous and stable operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 Structural schematic diagram of an automatic workpiece-grabbing and feeding machine provided by the present invention Figure 1 ; Figure 2 Structural schematic diagram of an automatic workpiece-grabbing and feeding machine provided by the present invention Figure 2 ; Figure 3 Structural schematic diagram of an automatic workpiece-grabbing and feeding machine provided by the present invention Figure 3 .

[0019] In the figure: 1. Three-dimensional robotic arm; 2. Cylinder seat; 3. Jaw cylinder; 4. Support seat; 5. Fixed seat; 6. Transmission pulley; 7. Guide sleeve; 8. Conveyor belt; 9. Support column; 10. Support plate; 11. Longitudinal lead screw; 12. Base plate; 13. Shelf guide groove; 14. Safety light curtain; 15. Suction cup; 16. Transverse drive motor; 17. Lead screw drive motor; 18. Lifting cylinder; 19. Tray; 20. Transverse drive wheel; 21. Transverse synchronous belt; 22. Support frame; 23. Synchronous belt clamping plate; 24. Transverse slide rail; 25. Transverse slide block; 26. Upper limit photoelectric switch; 27. Lower limit photoelectric switch; 28. Origin induction switch; 29. Workpiece; 30. Transmission drive belt; 31. Transmission drive motor; 32. Guide rod; 33. Limit induction block; 34. Bottom rectangular frame; 35. Top rectangular frame; 36. Loading shelf; 37. Recycling shelf. Detailed implementation manners

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] Unless otherwise clearly defined, when using terms such as "first", "second" or "third", etc., they are only used to distinguish different objects and are not used to describe a specific order.

[0022] Unless otherwise clearly defined, for orientation terms, when using terms such as "center", "horizontal", "longitudinal", "level", "vertical", "top", "bottom", "inner", "outer", "upper", "lower", "front", "rear", "left", "right", "clockwise", "counterclockwise", "high", "low", etc. to indicate the orientation or position relationship, it is based on the orientation and position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as limiting the specific protection scope of the present invention.

[0023] Please refer to Figures 1 to 3, a kind of automatic material grabbing machine provided by the present invention will be described. An automatic material grabbing machine includes a shelf assembly and a loading assembly. The shelf assembly includes a main frame, a loading shelf 36, a recycling shelf 37 and a transfer mechanism. The loading shelf 36 and the recycling shelf 37 are respectively arranged on the left and right sides inside the main frame. A plurality of trays 19 are movably arranged on the loading shelf 36 from top to bottom. Lifting mechanisms are respectively arranged on the left and right sides of the main frame. The lifting mechanism on one side of the loading shelf 36 is used to move the plurality of trays 19 on the loading shelf 36 upward one by one. The transfer mechanism is arranged above the main frame and is used to sequentially place the trays 19 at the top layer of the loading shelf 36 on the recycling shelf 37. The lifting mechanism on one side of the recycling shelf 37 is used to move the trays 19 on the recycling shelf 37 downward one by one; the loading assembly is located on one side of the shelf assembly and includes a transmission mechanism and a material transfer mechanism. The transmission mechanism is used to sequentially transmit workpieces 29 to the material transfer mechanism, and the material transfer mechanism is used to sequentially clamp a plurality of workpieces 29 on the transmission mechanism and place them in the trays 19 at the top layer of the loading shelf 36.

[0024] For the automatic material grabbing machine provided by the present invention, compared with the prior art, the workpiece 29 is placed on the transmission mechanism, and the workpiece 29 is sequentially transmitted to the material transfer mechanism. The material transfer mechanism sequentially clamps a plurality of workpieces 29 on the transmission mechanism and places them in the trays 19 at the top layer of the loading shelf 36. This action is repeated until the trays 19 at the top layer of the loading shelf 36 are filled with workpieces 29. The transfer mechanism moves the trays 19 filled with workpieces 29 from the loading shelf 36 above the recycling shelf 37. The lifting mechanism on one side of the loading shelf 36 conveys the trays 19 on the loading shelf 36 upward one by one to ensure that the top tray 19 is always in a position convenient for the operation of the material transfer mechanism; the working principle of the lifting mechanism on one side of the recycling shelf 37 is the same, but the direction is opposite, and the trays 19 filled with workpieces 29 on the recycling shelf 37 are moved downward one by one. The automatic material grabbing machine provided by the present invention has an automated loading process and a tray 19 transfer process, which greatly improves the loading speed compared with manual loading, reduces the loading time, and thus improves the efficiency of the entire production process. It reduces the expenditure of labor costs. The simple structure reduces the manufacturing cost and maintenance cost of the equipment, saving funds for the enterprise. The completely automated operation avoids direct human contact with heavy or dangerous workpieces 29, eliminates the safety risks that may occur during manual operation, and ensures the safety of workers' lives. The simple structure design makes the components of the equipment easy to inspect, repair and replace, reduces the work difficulty of maintenance personnel, improves the maintainability of the equipment, and ensures that the equipment can operate continuously and stably.

[0025] The transmission mechanism includes a support base 4 and a transmission drive assembly. A transmission pulley 6 and a conveyor belt 8 wound around the transmission pulley 6 are provided on the support base 4. The transmission drive assembly includes a transmission drive motor 31 and a transmission drive belt 30. The transmission drive motor 31 is provided below the support base 4. The transmission drive belt 30 is connected to the driving end of the transmission drive motor 31 and the transmission pulley 6. The transmission drive motor 31 is installed below the support base 4 as a power source, which saves space and is convenient for installation and maintenance. When the transmission drive motor 31 is started, the driving end of the transmission drive motor 31 starts to rotate, and the power is transmitted to the transmission pulley 6 through the transmission drive belt 30. Since the transmission pulley 6 and the conveyor belt 8 are closely matched, the rotation of the transmission pulley 6 will drive the conveyor belt 8 to operate, thereby realizing that the workpiece 29 placed on the conveyor belt 8 is transmitted along the direction of the conveyor belt 8.

[0026] The material transfer mechanism includes a fixed seat 5 and a clamping cylinder 3. A three-dimensional mechanical arm 1 is arranged on the fixed seat 5. The clamping cylinder 3 is arranged at the end of the three-dimensional mechanical arm 1 through the cylinder seat 2. The three-dimensional mechanical arm 1 drives the clamping cylinder 3 to move to the conveyor belt 8 to clamp the workpiece 29 and move it to the tray 19 on the top layer of the loading shelf 36. The three-dimensional mechanical arm 1 is installed on the fixed seat 5, and the fixed seat 5 plays a role in firmly supporting the three-dimensional mechanical arm 1 to ensure its stability during the working process. The three-dimensional mechanical arm 1 has the ability to move accurately in three dimensions of space (usually the X, Y, and Z axis directions in the rectangular coordinate system). It can quickly and accurately drive the clamping cylinder 3 to move to the position corresponding to the workpiece 29 above the conveyor belt 8 according to the preset program or instruction. When the clamping cylinder 3 moves above the workpiece 29, the clamping cylinder 3 is started, and the gripping action of the workpiece 29 is realized through its mechanical structure. The gripping force of the clamping cylinder 3 can be adjusted according to the weight, shape and material of the workpiece 29 to ensure the firmness and stability of the grip. After grabbing the workpiece 29, the three-dimensional robot arm 1 moves the gripper cylinder 3 and the grabbed workpiece 29 to the tray 19 on the top layer of the loading shelf 36 again according to the preset path. The transmission mechanism continuously transports the workpiece 29 to the specified position, and the transfer mechanism is responsible for grabbing these workpieces 29 one by one and placing them in the tray 19 of the loading shelf 36. The whole process has a high degree of automation, which improves the loading efficiency. At the same time, the cooperation between the three-dimensional robot arm 1 and the gripper cylinder 3 can adapt to the grabbing and transfer requirements of workpieces 29 of different sizes and shapes, enhancing the versatility of the equipment.

[0027] Preferably, a parallel three-dimensional robotic arm 1 with high repeat positioning accuracy is selected. The parallel robotic arm has a compact structure and good rigidity, and can ensure a high positioning accuracy while moving at high speed, greatly improving the accuracy of the gripper cylinder 3 for grasping and placing the workpiece 29. A gripper cylinder 3 with an adaptive function is adopted, and a pressure sensor and an elastic material are installed inside the gripper. The pressure sensor can monitor the grasping force of the gripper on the workpiece 29 in real time. When grasping workpieces 29 with different materials and surface characteristics, it can automatically adjust the clamping force of the gripper, ensuring both firm grasping and no damage to the workpiece 29. The elastic material further enhances the friction between the gripper and the workpiece 29, preventing the workpiece 29 from slipping. A vision recognition system is installed on the fixed seat 5, and this system consists of an industrial camera and image processing software. The industrial camera takes real-time pictures of the conveyor belt 8 and the loading rack 36, and the image processing software analyzes the image information to identify the position and posture of the workpiece 29 and the arrangement of the workpieces 29 in the tray 19. According to this information, the vision recognition system transmits the data to the control system of the three-dimensional robotic arm 1 to guide the three-dimensional robotic arm 1 to move the gripper cylinder 3 more accurately for grasping and placing operations.

[0028] The main frame includes a bottom rectangular frame 34, a top rectangular frame 35, and four support columns 9. A bottom plate 12 is provided inside the bottom rectangular frame 34. The loading shelf 36 and the recycling shelf 37 are arranged on the left and right sides of the upper end surface of the bottom plate 12. The top rectangular frame 35 is arranged parallel above the bottom rectangular frame 34. The transfer mechanism is located above the top rectangular frame 35. Both lifting mechanisms are arranged between the top rectangular frame 35 and the bottom rectangular frame 34 and are respectively located outside the loading shelf 36 and the recycling shelf 37. The four support columns 9 are circumferentially connected between the bottom rectangular frame 34 and the top rectangular frame 35. An import and export for the loading shelf 36 and the recycling shelf 37 to pass through is formed between the two front support columns 9. The main frame, as the basic structure of the automatic grasping and loading machine, plays an important role in supporting and fixing other components. The bottom rectangular frame 34 and the top rectangular frame 35 are connected by four support columns 9 to form a stable frame structure. This rectangular frame structure has good stability and load-bearing capacity, which can ensure that the entire device remains stable during operation and will not shake or deform due to external forces or the movement of components. The bottom plate 12 inside the bottom rectangular frame 34 provides an installation platform for the loading shelf 36 and the recycling shelf 37. By arranging them on the left and right sides of the upper end surface of the bottom plate 12 respectively, the loading and recycling operations are clearly partitioned, facilitating operation and management. The lifting mechanisms located outside the loading shelf 36 and the recycling shelf 37, between the top rectangular frame 35 and the bottom rectangular frame 34, can realize the lifting function of the pallet 19 on the shelf. The lifting mechanisms cooperate closely with the shelf to ensure that the pallet 19 can be smoothly transferred to different height positions, meeting the requirements for adjusting the position of the pallet 19 during the loading and recycling processes. The space above the top rectangular frame 35 provides an operating space for the transfer mechanism. The transfer mechanism is responsible for transferring the pallet 19 on the top layer of the loading shelf 36 to the recycling shelf 37. The structural design of the main frame ensures that the transfer mechanism has sufficient space for lifting and lateral movement operations during operation. At the same time, the top rectangular frame 35 and the support columns 9 also provide necessary support for the transfer mechanism to ensure its stable operation. The import and export formed between the two front support columns 9 facilitates the entry and exit of the loading shelf 36 and the recycling shelf 37.

[0029] Preferably, high-strength alloy steel is selected to manufacture the bottom rectangular frame 34, the top rectangular frame 35 and the support column 9. Alloy steel has high strength and toughness, can withstand greater loads, and can reduce the overall weight of the equipment under the same structural design compared with ordinary steel, while increasing the service life of the equipment. At the connection parts of the bottom rectangular frame 34, the top rectangular frame 35 and the support column 9, a combination of welding and bolt connection is adopted. First, welding is used to ensure the integrity and initial stability of the frame structure, and then high-strength bolts are used for reinforcement. This connection method not only improves the reliability of the connection but also facilitates disassembly and assembly during equipment transportation and installation. The support column 9 is designed as a height-adjustable structure, and an adjustment bolt or a hydraulic adjustment device is installed at the bottom of the support column 9. By adjusting the height of the support column 9, the main frame can be kept horizontal under different ground conditions.

[0030] Please refer to Figure 1 , a shelf guide groove 13 is provided on the front side of the bottom rectangular frame 34. The shelf guide groove 13 faces the direction of the inlet and outlet. Moving wheels adapted to the shelf guide groove 13 are provided at the bottoms of the loading shelf 36 and the recycling shelf 37. The shelf guide groove 13 on the front side of the bottom rectangular frame 34 and the moving wheels at the bottom of the shelf cooperate to provide accurate guidance for the entry and exit of the loading shelf 36 and the recycling shelf 37. The shelf guide groove 13 defines the movement track of the moving wheels, enabling the shelf to move only along the direction of the guide groove, ensuring the accuracy and stability of the shelf when entering and exiting the inlet and outlet of the main frame. This avoids the situation of the shelf shifting, jamming or even colliding with other components during movement, ensuring the smooth operation of the equipment.

[0031] Preferably, the depth of the shelf guide groove 13 can be adjusted by providing multiple adjustment holes or chutes on the bottom rectangular frame 34 and cooperating with movable guide groove components. In this way, the depth of the guide groove can be flexibly adjusted according to the moving wheel sizes of different types of shelves and actual usage requirements, ensuring the fitting accuracy between the moving wheels and the guide groove. For example, when replacing shelves of different specifications, the adjustable-depth guide groove can quickly adapt to the new shelf, improving the versatility of the equipment. An automatic cleaning device, such as a brush or a dust suction component, is installed inside the shelf guide groove 13. The brush can continuously clean impurities such as dust and debris in the guide groove during the movement of the shelf, keeping the guide groove clean and preventing the accumulation of impurities from affecting the rolling and guiding accuracy of the moving wheels. The dust suction component can more thoroughly remove fine particles, ensuring that the shelf guide groove 13 is always in good working condition. This automatic cleaning function helps to extend the service life of the equipment and improve the operating efficiency of the equipment.

[0032] Please refer to Figure 1 and Figure 2, safety light curtains 14 are symmetrically arranged on the left and right sides of the front side of the main frame. The safety light curtains 14 are located on the left and right sides of the inlet and outlet. Origin induction switches 28 are symmetrically arranged on the left and right sides of the rear side of the main frame. The two origin induction switches 28 are used to respectively locate the positions of the loading rack 36 and the recycling rack 37 within the main frame. The safety light curtain 14 consists of a transmitter and a receiver. The transmitter emits multiple infrared light beams, and the receiver receives these light beams to form a light curtain. When any light beam in the light curtain is blocked by an object, the safety light curtain 14 will immediately detect it and transmit the signal to the equipment control system. After receiving the signal, the control system will quickly issue an instruction to stop the operation of the relevant moving parts of the automatic loading and unloading machine, avoiding harm to personnel, greatly reducing the risk of safety accidents, ensuring the personal safety of workers, and meeting the industrial safety production standards. The origin induction switch 28 adopts a proximity sensor. When the rack moves to a specific position, that is, the origin position, the induction switch will detect the induction component on the rack, generate a change in the electrical signal, and transmit this signal to the equipment control system. The control system determines the exact position of the rack based on this signal and uses it as the starting reference point for subsequent operations. By locating the loading rack 36 and the recycling rack 37 through the origin induction switch 28, the equipment control system can accurately control the actions of the lifting mechanism and the transfer mechanism. For example, ensuring that the transfer mechanism accurately grabs the top tray 19 of the loading rack 36 and precisely places the tray 19 at the designated position of the recycling rack 37, improving the accuracy and stability of the equipment operation, and reducing problems such as material dropping and equipment damage caused by position deviation.

[0033] The lifting mechanism includes a longitudinal screw rod 11, two guide rods 32, a screw drive motor 17 and a support plate 10. The two ends of the longitudinal screw rod 11 are respectively rotatably connected to the same side of the top rectangular frame 35 and the bottom rectangular frame 34, the two guide rods 32 are respectively longitudinally arranged on both sides of the longitudinal screw rod 11, the two ends of the guide rod 32 are respectively fixedly connected to the top rectangular frame 35 and the bottom rectangular frame 34, the screw drive motor 17 is arranged on the upper end surface of the top rectangular frame 35, and the driving end of the screw drive motor 17 is transmission-connected to the upper end of the longitudinal screw rod 11, the support plate 10 is horizontally arranged, the middle part of the support plate 10 is rotatably connected to the longitudinal screw rod 11, the two sides of the support plate 10 are slidably connected to the two guide rods 32, and the inner end of the support plate 10 is used to support the tray 19. The screw drive motor 17 is installed on the upper end surface of the top rectangular frame 35, and when the motor is started, its driving end drives the longitudinal screw rod 11 to rotate. The two ends of the longitudinal screw rod 11 are rotatably connected to the top rectangular frame 35 and the bottom rectangular frame 34, respectively, providing stable support for the rotation of the longitudinal screw rod 11. The middle part of the support plate 10 is rotatably connected to the longitudinal screw rod 11, and the rotation of the longitudinal screw rod 11 will cause the support plate 10 to make a linear motion along the axial direction of the longitudinal screw rod 11. Since the transmission of the longitudinal screw rod 11 has a precise transmission ratio and a high transmission efficiency, the support plate 10 can be accurately lifted and lowered, thereby meeting the height adjustment requirements of the pallets 19 on the loading shelf 36 and the recycling shelf 37. Two guide rods 32 are respectively arranged on both sides of the longitudinal screw rod 11, and the two ends of the guide rod 32 are fixedly connected to the top rectangular frame 35 and the bottom rectangular frame 34, providing a guiding effect for the lifting and lowering of the support plate 10. The two sides of the support plate 10 are slidably connected with the guide rods 32. During the lifting process of the support plate 10, the guide rods 32 limit the movement direction of the support plate 10, so that it can only move up and down along the direction of the guide rods 32, avoiding the support plate 10 from deflecting or shaking during the movement, and improving the stability and reliability of the movement of the support plate 10. At the same time, the guide rods 32 can also withstand a certain lateral force, further enhancing the structural stability of the entire lifting mechanism. The support plate 10 is arranged horizontally, and one end of its inner side is used to support the tray 19. When the tray 19 needs to be lifted and lowered, the screw drive motor 17 drives the longitudinal screw 11 to rotate, so that the support plate 10 rises or falls to a suitable position, thereby realizing the lifting or lowering of the tray 19. This design enables the lifting mechanism to cooperate closely with the loading shelf 36 and the recovery shelf 37, ensuring the smooth transfer of the tray 19 between different height positions, and meeting the feeding and recovery operation requirements of the automatic grabbing feeder.

[0034] Preferably, the guide rod 32 is made of a self-lubricating material, such as engineering plastics containing solid lubricants or metal materials with special surface treatment. The self-lubricating guide rod 32 does not require additional lubricant during use, which can reduce the maintenance workload and simultaneously reduce the pollution to the working environment caused by lubricant leakage. In addition, guide sleeves 7 are respectively arranged on both sides of the supporting plate 10, and the guide sleeves 7 are in sliding fit with the guide rod 32 one by one, which can reduce the friction between the supporting plate 10 and the guide rod 32 and improve the operating efficiency and service life of the lifting mechanism. A position detection and feedback system, such as an encoder or a displacement sensor, is arranged in the lifting mechanism. The position detection device can monitor the position of the supporting plate 10 in real time and feed back the position information to the equipment control system. The control system precisely controls the lead screw drive motor 17 according to the feedback information to ensure that the supporting plate 10 can accurately reach the specified position. In addition, the position detection and feedback system can also realize the real-time monitoring of the motion state of the supporting plate 10, promptly discover and handle abnormal situations, and improve the operating reliability of the equipment.

[0035] Please refer to Figures 2 to 3 , upper limit photoelectric switches 26 and lower limit photoelectric switches 27 are respectively arranged on the support columns 9 on both sides of the inlet and outlet. Limit induction blocks 33 are arranged on the outer sides of the two supporting plates 10. The limit induction blocks 33 are located between the upper limit photoelectric switch 26 and the lower limit photoelectric switch 27 on the same side and are used to limit the displacement of the supporting plate 10 in the height direction. The upper limit photoelectric switch 26 and the lower limit photoelectric switch 27 are respectively installed on the support columns 9 on both sides of the inlet and outlet. They work based on the principle of photoelectric induction. When the limit induction block 33 enters its induction area, the photoelectric switch will detect the change of light, thereby generating a change in the electrical signal. The limit induction blocks 33 on the outer sides of the two supporting plates 10 are located between the upper limit photoelectric switch 26 and the lower limit photoelectric switch 27 on the same side. When the supporting plate 10 rises to a certain height and the limit induction block 33 triggers the upper limit photoelectric switch 26, the photoelectric switch transmits the signal to the control system of the equipment, and the control system will immediately issue an instruction to stop the lead screw drive motor 17 from working, thereby preventing the supporting plate 10 from continuing to rise and avoiding collisions with the top rectangular frame 35 or other components. Similarly, when the supporting plate 10 descends to a certain height and the limit induction block 33 triggers the lower limit photoelectric switch 27, the control system will also promptly stop the lead screw drive motor 17 to prevent the supporting plate 10 from descending excessively and ensure the safe operation of the equipment.

[0036] Preferably, the upper limit photoelectric switch 26 and the lower limit photoelectric switch 27 are equipped with a fault alarm device. When the photoelectric switch fails, such as being unable to normally sense or having abnormal signal transmission, the alarm device will emit an audible and visual alarm signal to remind the operator to promptly check and repair. This helps to promptly discover and solve problems and avoid the equipment from continuing to operate when the limit function fails, thus causing safety accidents.

[0037] Please refer to Figure 1 and Figure 2 , the transfer mechanism includes a transfer rack, a lifting cylinder 18 and a transverse movement assembly. The transfer rack is located above the main frame. A suction cup 15 is provided at the lower end of the transfer rack for adsorbing the pallet 19 on the top layer of the loading rack 36; the driving end of the lifting cylinder 18 is connected to the upper end of the transfer rack for driving the transfer rack to lift and lower; the transverse movement assembly is connected to the lifting cylinder 18 through a support frame 22 for driving the lifting cylinder 18 to perform a transverse displacement between the loading rack 36 and the recycling rack 37. The transfer rack is located above the main frame, and the suction cup 15 at its lower end is the key component for realizing the adsorption of the pallet 19. In order to achieve the stability of the adsorption of the pallet 19, multiple suction cups 15 are provided to adsorb the same pallet 19 in different areas. When the transfer rack descends to the appropriate position of the pallet 19 on the top layer of the loading rack 36, the suction cup 15 generates negative pressure to tightly adsorb the pallet 19, ensuring that the pallet 19 will not fall during the subsequent movement process. This adsorption method is simple and reliable in operation and can adapt to pallets 19 of different sizes and shapes. The driving end of the lifting cylinder 18 is connected to the upper end of the transfer rack. When the lifting cylinder 18 works, the telescopic movement of its piston rod drives the transfer rack to perform a lifting movement. By precisely controlling the stroke and speed of the lifting cylinder 18, the transfer rack can accurately reach the corresponding height positions of the loading rack 36 and the recycling rack 37 to complete the adsorption and placement operations of the pallet 19. The transverse movement assembly is connected to the lifting cylinder 18 through the support frame 22. When the transverse movement assembly is started, it can drive the lifting cylinder 18 and the transfer rack connected thereto to perform a transverse movement between the loading rack 36 and the recycling rack 37. In this way, the pallet 19 adsorbed on the transfer rack can be transferred from one rack to another rack to realize the recycling of the pallet 19.

[0038] The transverse movement component includes a transverse movement slide rail 24 and a transverse movement synchronous belt 21. The transverse movement slide rail 24 is located on one side above the main frame. A transverse movement slider 25 is slidably arranged on the transverse movement slide rail 24, and the transverse movement slider 25 is arranged at the lower part of the support frame 22 on the side away from the lifting cylinder 18; the transverse movement synchronous belt 21 is located above the transverse movement slide rail 24. One end of the transverse movement synchronous belt 21 is drivingly connected to a transverse movement driving motor 16. A synchronous belt clamping plate 23 is arranged on the transverse movement synchronous belt 21, and the synchronous belt clamping plate 23 is arranged at the upper part of the support frame 22 on the side away from the lifting cylinder 18. The transverse movement slide rail 24 is installed on one side above the main frame, providing a sliding track for the transverse movement slider 25. The transverse movement slider 25 is arranged at the lower part of the support frame 22 on the side away from the lifting cylinder 18 and can slide freely on the transverse movement slide rail 24. This structure enables the support frame 22 and the connected lifting cylinder 18 and the transfer rack to move horizontally along the transverse movement slide rail 24, providing a movement basis in the horizontal direction for the transfer of the tray 19 between the loading shelf 36 and the recycling shelf 37. The transverse movement synchronous belt 21 is located above the transverse movement slide rail 24. A transverse movement driving wheel 20 is arranged at one end of it, and the transverse movement driving wheel 20 is drivingly connected to the transverse movement driving motor 16. When the transverse movement driving motor 16 is started, the motor drives the transverse movement synchronous belt 21 to move. The synchronous belt clamping plate 23 on the transverse movement synchronous belt 21 is fixed at the upper part of the support frame 22 on the side away from the lifting cylinder 18. As the transverse movement synchronous belt 21 moves, the synchronous belt clamping plate 23 will drive the support frame 22 to move together. Since the support frame 22 is connected to the lifting cylinder 18 and the transfer rack, the lateral displacement of the transfer rack between the loading shelf 36 and the recycling shelf 37 is realized.

[0039] Preferably, an automatic lubrication device is arranged on the transverse movement slide rail 24 to regularly provide lubricating oil for the slide rail and the slider, reducing the frictional resistance and extending the service life of the slide rail and the slider. At the same time, a dust-proof cover is arranged around the slide rail and the synchronous belt to prevent dust, sundries, etc. from entering the moving parts and affecting the normal operation of the equipment. This design is particularly important in some industrial environments with large amounts of dust, which can effectively improve the stability and reliability of the equipment. A displacement sensor is installed to detect the lateral position of the transfer rack in real time and feed the position information back to the control system. The control system makes real-time adjustments to the transverse movement driving motor 16 according to the feedback information to ensure that the transfer rack can accurately reach the preset position. If a position deviation occurs, the system can correct it in time, improving the automation degree and working precision of the equipment.

[0040] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic row material grabbing machine, characterized in that, Comprising: A shelf assembly, the shelf assembly including a main frame, a loading shelf (36), a recycling shelf (37) and a transfer mechanism. The loading shelf (36) and the recycling shelf (37) are respectively arranged on the left and right sides inside the main frame. A plurality of trays (19) are movably arranged on the loading shelf (36) from top to bottom. Lifting mechanisms are respectively arranged on the left and right sides of the main frame. The lifting mechanism on one side of the loading shelf (36) is used to move the plurality of trays (19) on the loading shelf (36) upward one by one. The transfer mechanism is arranged above the main frame, and the transfer mechanism is used to sequentially place the trays (19) on the top layer of the loading shelf (36) on the recycling shelf (37). The lifting mechanism on one side of the recycling shelf (37) is used to move the trays (19) on the recycling shelf (37) downward one by one; A loading assembly, the loading assembly being located on one side of the shelf assembly. The loading assembly includes a transmission mechanism and a material transfer mechanism. The transmission mechanism is used to sequentially transmit workpieces (29) to the material transfer mechanism, and the material transfer mechanism is used to sequentially clamp a plurality of workpieces (29) on the transmission mechanism and place them in the trays (19) on the top layer of the loading shelf (36).

2. The automatic row material grabbing machine according to claim 1, wherein, The transmission mechanism includes: A support base (4), on which a transmission belt pulley (6) and a conveyor belt (8) wound around the transmission belt pulley (6) are arranged; A transmission drive assembly, the transmission drive assembly including a transmission drive motor (31) and a transmission drive belt (30). The transmission drive motor (31) is arranged below the support base (4), and the transmission drive belt (30) is in transmission connection with the drive end of the transmission drive motor (31) and the transmission belt pulley (6).

3. The automatic material row grabbing machine according to claim 2, wherein The material transfer mechanism includes: A fixed base (5), on which a three-dimensional robotic arm (1) is arranged; A jaw cylinder (3), the jaw cylinder (3) being arranged at the end of the three-dimensional robotic arm (1). The three-dimensional robotic arm (1) drives the jaw cylinder (3) to move to the conveyor belt (8) to clamp the workpiece (29) and move it into the tray (19) on the top layer of the loading shelf (36).

4. An automatic row material grabbing machine according to claim 1, characterized in that, The main frame includes: A bottom rectangular frame (34), a bottom plate (12) being arranged inside the bottom rectangular frame (34). The loading shelf (36) and the recycling shelf (37) are arranged on the left and right sides of the upper end surface of the bottom plate (12); A top rectangular frame (35), the top rectangular frame (35) being arranged parallel to the upper side of the bottom rectangular frame (34). The transfer mechanism is located above the top rectangular frame (35). Both of the two lifting mechanisms are arranged between the top rectangular frame (35) and the bottom rectangular frame (34) and are respectively located outside the loading shelf (36) and the recycling shelf (37); Four support columns (9), the four support columns (9) are circumferentially connected between the bottom rectangular frame (34) and the top rectangular frame (35), and an inlet and outlet for the loading shelf (36) and the recycling shelf (37) to pass through are formed between the two support columns (9) on the front side.

5. The automatic row material grabbing machine according to claim 4, wherein A shelf guide groove (13) is provided on the front side of the bottom rectangular frame (34), the shelf guide groove (13) faces the direction of the inlet and outlet, and moving wheels adapted to the shelf guide groove (13) are provided at the bottoms of both the loading shelf (36) and the recycling shelf (37).

6. The automatic row material grabbing machine according to claim 4, characterized in that, Safety light grids (14) are symmetrically arranged on the left and right sides of the front side of the main frame, the safety light grids (14) are located on the left and right sides of the inlet and outlet, and origin induction switches (28) are symmetrically arranged on the left and right sides of the rear side of the main frame. The two origin induction switches (28) are used to respectively locate the positions of the loading shelf (36) and the recycling shelf (37) within the main frame.

7. The automatic row material grabbing machine according to claim 4, wherein, The lifting mechanism includes: A longitudinal lead screw (11), the two ends of the longitudinal lead screw (11) are respectively rotatably connected to the same side of the top rectangular frame (35) and the bottom rectangular frame (34); Two guide rods (32), the two guide rods (32) are respectively longitudinally arranged on both sides of the longitudinal lead screw (11), and the two ends of the guide rods (32) are respectively fixedly connected to the top rectangular frame (35) and the bottom rectangular frame (34); A lead screw drive motor (17), the lead screw drive motor (17) is arranged on the upper end surface of the top rectangular frame (35), and the drive end of the lead screw drive motor (17) is drivingly connected to the upper end of the longitudinal lead screw (11); A support plate (10), the support plate (10) is horizontally arranged, the middle of the support plate (10) is rotatably connected to the longitudinal lead screw (11), both sides of the support plate (10) are slidably connected to the two guide rods (32), and the inner end of the support plate (10) is used to support the tray (19).

8. The automatic row material grabbing machine according to claim 7, characterized in that Upper limit photoelectric switches (26) and lower limit photoelectric switches (27) are respectively arranged on the support columns (9) on both sides of the inlet and outlet. Limit induction blocks (33) are arranged on the outer sides of the two support plates (10), and the limit induction blocks (33) are located between the upper limit photoelectric switch (26) and the lower limit photoelectric switch (27) on the same side, and are used to limit the displacement of the support plate (10) in the height direction.

9. The automatic row material grabbing machine according to claim 1, characterized in that, The transfer mechanism includes: A transfer rack, the transfer rack is located above the main frame, and a suction cup (15) is arranged at the lower end of the transfer rack for adsorbing the tray (19) on the top layer of the loading shelf (36); A lifting cylinder (18), the drive end of the lifting cylinder (18) is connected to the upper end of the transfer rack for driving the transfer rack to lift; A transverse movement assembly, the transverse movement assembly is connected to the lifting cylinder (18) through a support frame (22) for driving the lifting cylinder (18) to perform a transverse displacement between the loading shelf (36) and the recycling shelf (37).

10. An automatic row material grabbing machine according to claim 9, characterized in that, The transverse movement assembly includes: Cross-sliding rail, the cross-sliding rail (24) is located on one side above the main frame, a cross-sliding slider (25) is slidably arranged on the cross-sliding rail (24), and the cross-sliding slider (25) is arranged at the lower part of the support frame (22) on the side far from the lifting cylinder (18); Cross-sliding synchronous belt (21), the cross-sliding synchronous belt (21) is located above the cross-sliding rail (24), one end of the cross-sliding synchronous belt (21) is drivingly connected with a cross-sliding driving motor (16), a synchronous belt clamping plate (23) is arranged on the cross-sliding synchronous belt (21), and the synchronous belt clamping plate (23) is arranged at the upper part of the support frame (22) on the side far from the lifting cylinder (18).

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