Horizontal carrying plate type plate collecting machine

Abstract

The invention relates to the field of plate processing equipment, in particular to a horizontal carrying plate type plate collecting machine. The device comprises a rack, a bearing mechanism, a conveying mechanism, a grabbing mechanism and a detection mechanism, stable conveying of plates is achieved through the conveying mechanism, the grabbing mechanism is matched with an X / Y-axis linear module and a DD motor to complete accurate grabbing, and the detection mechanism ensures that the positions of the plates are accurate through a positioning edge searching assembly and a controller. In addition, the bearing mechanism is combined with the lifting assembly and the extraction disc positioning assembly, and stable loading and stacking of the plates and the extraction discs are achieved. The technical effects that the plate processing efficiency is improved, the positioning precision is improved, and the stacking stability is guaranteed are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of sheet material processing, and more particularly to a horizontal plate-type sheet receiving machine. Background Art

[0002] Horizontal plate-type sheet receiving machines are widely used in industrial production, especially in the fields of sheet material processing and handling. With the rapid development of modern manufacturing, efficient and precise automation equipment has become a key factor in improving production efficiency. As an important part of it, the main function of the sheet receiving machine is to achieve automatic loading and unloading of sheets, thereby reducing manual intervention, improving operation efficiency, reducing labor intensity, and ensuring the safety and stability of the production process.

[0003] In the prior art, in order to solve the problems of sheet handling and stacking, the following means are usually adopted: one is to use a simple robotic arm with a suction cup for grasping and placing, which is simple to operate but has low precision; the second is to use a conveyor belt combined with a pneumatic push rod to complete the transmission and positioning of sheets, although it can meet the basic requirements, but has poor flexibility; the third is to use a multi-axis motion platform combined with a sensor detection system, although this method improves the precision and automation degree, but the structure is complex and the cost is high. In addition, some devices use a fixed carrier frame with a manual adjustment device to complete sheet stacking, but this method has low efficiency and is difficult to adapt to sheets of different specifications.

[0004] However, there is a common problem in the above-mentioned conventional means, that is, it is impossible to achieve precise conversion and stacking between the sheet and the extraction tray (a special tray for loading sheets) at the same time. Especially in the multi-step operation process, how to ensure the position accuracy of the sheet during transportation, grasping, and stacking, while avoiding the cost increase and maintenance difficulties caused by the increase in equipment complexity, has become a key defect that needs to be solved urgently in the current technology. Summary of the Invention

[0005] The purpose of the present application is to overcome the above technical problems and provide a horizontal plate-type sheet receiving machine A horizontal plate-carrying plate collecting machine comprises a frame, two groups of bearing mechanisms, a conveying mechanism, a gripping mechanism and a detecting mechanism, wherein one group of the bearing mechanisms is used to load plates, and the other group of the bearing mechanisms is located at one side of the previous group of the bearing mechanisms and is loaded with a collection tray. The conveying mechanism comprises a conveying frame, a conveying motor and a conveying roller group. The conveying frame is located at one side of the bearing mechanism, and the conveying motor is installed on the conveying frame. The conveying motor drives the conveying roller group to roll to convey the plates. The gripping mechanism comprises an X / Y-axis linear module and a gripping component. The gripping component is installed on the X / Y-axis linear module. The X / Y-axis linear module controls the gripping component to move along the X / Y axis. The detecting mechanism comprises a positioning and edge-finding component, a controller and a DD motor. The positioning and edge-finding component is installed on the conveying frame to detect the position of the plate when it arrives. The DD motor is installed on the X / Y-axis linear module. The gripping component is installed on the DD motor. The controller is electrically connected to the positioning and edge-finding component and the DD motor respectively.

[0006] By adopting the above technical solution, the automated processing of plates and extraction trays is realized, and the production efficiency and precision are improved. Specifically, this solution can achieve stable transmission of plates by setting up two sets of bearing mechanisms to load plates and extraction trays respectively, combined with the precise control of the conveying mechanism. At the same time, the multi-axis motion design of the grasping mechanism ensures the precise grasping and placement of the plates, and the introduction of the detection mechanism further improves the accuracy of position detection, thereby effectively avoiding processing errors caused by position deviations and significantly improving the reliability and adaptability of the overall equipment.

[0007] Preferably, the positioning and edge-finding assembly includes a positioning and lifting module and an edge-finding module, the positioning and lifting module includes a lifting cylinder, a first connecting frame and a supporting plate, the lifting cylinder is installed on the frame, the first connecting frame is vertically fixed to the piston rod of the lifting cylinder, the supporting plate is fixed to the top of the first connecting frame, the supporting plate is horizontally arranged, and the upper surface of the supporting plate is provided with a plurality of clearance holes for the conveying roller group to pass through, the edge-finding module is provided with three groups, which are distributed at the positions corresponding to two adjacent side edges of the plate, and the edge-finding module is used to detect the angle at which the plate is placed after being lifted by the positioning and lifting module.

[0008] By adopting the above technical solutions, the horizontal plate-carrying plate collector realizes the functions of precise positioning and angle detection of plates. Specifically, the lifting cylinder drives the first connecting frame and the carrier plate to move up and down, which can lift the plate to a suitable height for subsequent operation. The clearance holes set on the carrier plate ensure the normal operation of the conveying roller group and do not affect the plate conveying process. The three sets of edge-finding modules respectively detect the angles of the two adjacent sides of the plate, so as to accurately obtain the plate placement posture and provide accurate data support for subsequent grasping and placement.

[0009] Preferably, the edge-finding module includes a first driving motor, a first ball screw transmission module, a first sliding seat, a first carrying rod, and an edge finder. The first driving motor is installed on the frame body. The first driving motor drives the first sliding seat to slide horizontally through the first ball screw transmission module. The first carrying rod is vertically fixed on the first sliding seat. The edge finder is embedded in the first carrying rod, and the sensing end of the edge finder faces the upper surface of the carrying plate.

[0010] By adopting the above technical solution, the accurate detection of the position of the plate by the edge-finding module is realized. Specifically, the first driving motor drives the first sliding seat to slide horizontally through the first ball screw transmission module, thereby driving the edge finder embedded in the first carrying rod to move, ensuring that the sensing end of the edge finder can accurately align with the edge of the plate on the upper surface of the carrying plate, and realizing the accurate detection of the placement angle of the plate.

[0011] Preferably, the edge-finding module further includes a trigger rod and two proximity sensors. The two proximity sensors are respectively installed on the frame and arranged at intervals in the horizontal direction. One end of the trigger rod is fixed on the first sliding seat, and the other end of the trigger rod reciprocates between the sensing ends of the two proximity sensors.

[0012] By adopting the above technical solution, the edge-finding module of the horizontal plate-type sheet collecting machine can realize the accurate detection and correction of the position of the plate. Specifically, the setting of the trigger rod and the two proximity sensors effectively monitors the movement range of the first sliding seat, thereby ensuring that the edge finder can accurately detect the angle deviation of the plate within a predetermined area. This design not only improves the working accuracy of the positioning edge-finding component, but also enhances the stability and reliability of the system, avoiding problems such as failure to grasp the plate or damage caused by position detection errors.

[0013] Preferably, the grasping component includes a lateral adjustment module and a suction cup module. The lateral adjustment module includes a carrying seat, a second driving motor, a second ball screw transmission module, and a second sliding seat. The carrying seat is fixed to the DD motor. The second driving motor is installed on the carrying seat. The second ball screw transmission module is arranged for bidirectional transmission. There are two second sliding seats, and the two second sliding seats are respectively installed on the two reverse transmission ends of the second ball screw transmission module. There are two groups of suction cup modules, and the two groups of suction cup modules are respectively arranged on the two second sliding seats.

[0014] By adopting the above technical solutions, the grasping component can achieve precise grasping and placement of the board. Specifically, the setting of the horizontal adjustment module enables the suction cup module to be adjusted in the horizontal direction, so as to adapt to the grasping requirements of boards of different sizes. The two-way transmission design of the second ball screw drive module further improves the accuracy and stability of the adjustment, ensuring that the two suction cup modules can move synchronously and in opposite directions to achieve uniform grasping of the board. In addition, fixing the carrier seat to the DD motor keeps the entire grasping component highly stable during movement, avoiding damage to the board or positioning deviation caused by vibration or offset.

[0015] Preferably, the suction cup module includes a buffer, a second connecting frame, and a plurality of suction nozzles. One end of the buffer is fixed to the second sliding seat, the second connecting frame is fixed to the other end of the buffer and is horizontally arranged, and the plurality of suction nozzles are fixedly arranged on the second connecting frame at intervals.

[0016] By adopting the above technical solutions, the suction cup module can achieve stable grasping and placement of the board. The specific effects are as follows: the setting of the buffer effectively reduces the impact force generated during grasping and improves the stability of grasping; the horizontal arrangement of the second connecting frame ensures the uniform distribution of the plurality of suction nozzles, thereby increasing the grasping area and improving the grasping reliability; the interval fixed design of the plurality of suction nozzles enables the suction cup module to adapt to boards of different sizes and enhances the applicability of the equipment.

[0017] Preferably, the carrying mechanism includes a fixed cart, a lifting component, and a tray positioning component. There is an opening on one side of the frame for the fixed cart to be pushed in. The fixed cart is located below the grasping mechanism. The lifting component includes a lifting motor, a screw rod, a guide rod, and a lifting seat. The lifting motor is installed on the frame. The screw rod is arranged vertically and rotatably carried on the frame. The lifting motor drives the screw rod to rotate through a pulley transmission mechanism. The guide rod is parallel to the screw rod. The lifting seat is movably sleeved on the guide rod. The lifting seat is in threaded cooperation with the screw rod. The lifting seat is used to carry the board or the tray.

[0018] By adopting the above technical solutions, the carrying mechanism can achieve automatic loading and unloading of the board and the tray. The design of the fixed cart facilitates pushing into the frame and cooperates with the grasping mechanism to complete the loading and unloading of the board or the tray. The lifting component drives the screw rod to rotate through the lifting motor, and combined with the guiding action of the guide rod, the lifting seat moves stably in the vertical direction to ensure the stability of the board or the tray during lifting and lowering. The tray positioning component further improves the accuracy of tray placement and avoids equipment failures or operation errors caused by position deviation.

[0019] Preferably, the lifting assembly further includes two sets of toggle sensors and toggle rods. The two sets of toggle sensors are installed on the frame and arranged at intervals in the vertical direction. The toggle sensors are electrically connected to the controller. The toggle rods are fixed to the side wall of the lifting seat. When the lifting seat moves to the lowest point and the highest point, the toggle rod abuts against the sensing end of one of the toggle sensors and slides relative to it.

[0020] By adopting the above technical solution, the position state of the lifting seat can be accurately detected during its movement. Specifically, when the lifting seat reaches the lowest point and the highest point, the toggle rod abuts against the sensing end of the toggle sensor and slides relative to it, thereby triggering the signal transmission to the controller, ensuring that the movement range of the lifting seat is effectively monitored and preventing equipment damage or operation errors caused by exceeding the safe range. This solution improves the stability and safety of the equipment operation.

[0021] Preferably, the extraction tray positioning assembly includes a first positioning cylinder and a second positioning cylinder. There are several groups of the first positioning cylinders. The several groups of first positioning cylinders are installed on the frame and arranged circumferentially around the extraction tray loading position. The piston rod of the first positioning cylinder is fixed with a first positioning plate. The several first positioning plates abut against the four sides of the extraction tray. There are several second positioning cylinders. The several second positioning cylinders are arranged at intervals in the vertical direction. The piston rod of the second positioning cylinder faces the opening of the frame. There is a second positioning plate on one side of the several second positioning cylinders. The second positioning plate is arranged in the vertical direction. The second positioning plate is fixedly connected to the piston rods of the several second positioning cylinders together. The second positioning plate abuts against the stacked extraction trays and plates on the loading mechanism.

[0022] By adopting the above technical solution, the combined use of the first positioning cylinder and the second positioning cylinder can ensure the accurate positioning of the extraction tray at the loading position. Among them, the circumferentially arranged first positioning cylinders drive the first positioning plates to limit the extraction tray from all around to prevent it from shifting; while the second positioning cylinder drives the second positioning plate to move in the vertical direction and abut against the stacked extraction trays and plates on the loading mechanism, thus effectively avoiding the phenomenon of tipping or misalignment during the stacking process. The overall structural design not only improves the positioning accuracy but also significantly enhances the stability of the equipment operation.

[0023] Preferably, buffer layers are provided on the side walls of the first positioning plate and the second positioning plate.

[0024] By adopting the above technical solution, the buffer layers provided on the side walls of the first positioning plate and the second positioning plate can effectively reduce the damage to the surfaces of the extraction tray and the plates during the positioning process and improve the product yield. At the same time, the existence of the buffer layer can also reduce the noise generated by collisions and enhance the smoothness of the equipment operation. In summary, the present application includes at least one of the following beneficial technical effects: 1. By providing two sets of bearing mechanisms for loading plates and extraction trays respectively, and combining the conveyor mechanism and the grasping mechanism to work together, the precise conversion and stacking between the plates and the extraction trays can be achieved, effectively solving the problem in the prior art that high precision and efficient operation cannot be satisfied simultaneously; 2. The coordinated use of the positioning and edge-finding component and the DD motor in the detection mechanism can accurately detect and adjust the position of the plate, ensuring that the placement angle and position of the plate meet the requirements during transportation and grasping, significantly improving the automation degree and operation precision of the equipment; 3. The overall structure is reasonably designed, and complex functions are realized through the combination of modular components, avoiding over-complication of the equipment, reducing the manufacturing cost and maintenance difficulty while ensuring high precision and high efficiency. Description of the Drawings

[0025] Figure 1 is the overall structural schematic diagram of an embodiment of the present application.

[0026] Figure 2 is the structural schematic diagram of an embodiment of the present application after hiding the frame.

[0027] Figure 3 is the structural schematic diagram of the lifting component of an embodiment of the present application.

[0028] Figure 4 is the structural schematic diagram of the extraction tray positioning component of an embodiment of the present application.

[0029] Figure 5 is the structural schematic diagram of the conveyor mechanism of an embodiment of the present application.

[0030] Figure 6 is the structural schematic diagram of the grasping mechanism of an embodiment of the present application.

[0031] Figure 7 is Figure 6 the enlarged schematic diagram of part A in

[0032] Figure 8 is the structural schematic diagram of the positioning and edge-finding component of an embodiment of the present application.

[0033] Description of reference numerals: 1. frame; 2. bearing mechanism; 21. fixed trolley; 22. lifting assembly; 221. lifting motor; 222. screw rod; 223. guide rod; 224. lifting seat; 225. toggle sensor; 226. toggle rod; 23. extraction tray positioning assembly; 231. first positioning cylinder; 2311. first positioning plate; 232. second positioning cylinder; 2321. second positioning plate; 3. conveying mechanism; 31. conveying frame; 32. conveying motor; 33. conveying roller group; 4. grabbing mechanism; 41. X / Y axis linear module; 42. grabbing assembly; 421. adjustment module; 4211. bearing seat; 421 2. Second drive motor; 4213. Second ball screw transmission module; 4214. Second sliding seat; 422. Suction module; 4221. Buffer; 4222. Second connecting frame; 4223. Suction nozzle; 5. Detection mechanism; 51. Positioning and edge-finding assembly; 511. Positioning and lifting module; 5111. Lifting cylinder; 5112. First connecting frame; 5113. Loading plate; 512. Edge-finding module; 5121. First drive motor; 5122. First ball screw transmission module; 5123. First sliding seat; 5124. First load-bearing rod; 5125. Trigger rod; 5126. Proximity sensor; 53. DD motor. DETAILED DESCRIPTION

[0034] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present invention. The described embodiments are only possible technical implementations of the present invention, not all possible implementations. Those skilled in the art can completely combine the embodiments of the present invention to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of the present invention.

[0035] The inventor of the present application found that the prior art cannot simultaneously achieve the problem of accurate conversion and stacking between plates and collection trays. For this reason, the present application mainly adopts a horizontal plate-carrying type plate collecting machine, including a frame 1, two groups of supporting mechanisms 2, a conveying mechanism 3, a gripping mechanism 4 and a detection mechanism 5, wherein one group of supporting mechanisms 2 is used to load plates, and the other group of supporting mechanisms 2 is located on one side of the previous group of supporting mechanisms 2 and is loaded with collection trays. The conveying mechanism 3 includes a conveying frame 31, a conveying motor 32 and a conveying roller group 33. The gripping mechanism 4 includes an X / Y-axis linear module 41 and a gripping assembly 42. The detection mechanism 5 includes a positioning edge-finding assembly 51, a controller and a DD motor 53, thereby achieving the purpose of accurately conveying, gripping and stacking the plates. The present application is further described in detail below.

[0036] Reference Figure 1 and Figure 2, the horizontal plate-type sheet collecting machine provided by the embodiments of the present application includes a frame 1, a loading mechanism 2, a conveying mechanism 3, a grasping mechanism 4, and a detection mechanism 5. Among them, the conveying mechanism 3 and the grasping mechanism 4 cooperate with each other to realize the conveying and grasping operations of the sheets; the detection mechanism 5 is used to detect the position and angle of the sheets to ensure the stacking accuracy.

[0037] Referring to Figure 2 and Figure 3 and in combination with Figure 4 , specifically, the loading mechanism 2 includes a fixed trolley 21, a lifting assembly 22, and a tray positioning assembly 23. There are two openings on the frame 1 for the two fixed trolleys 21 to be sent into the interior of the frame 1. The lifting assembly 22 realizes the vertical movement of the sheets or trays, and the tray positioning assembly 23 completes the positioning of the trays, realizing the precise conversion and stacking between the sheets and the trays, and improving the work efficiency and accuracy.

[0038] It should be noted that the horizontal plate-type sheet collecting machine in the present application is provided with two material levels. One of the loading mechanisms 2 is arranged at the material level close to the conveying mechanism 3, and this loading mechanism 2 is used to carry the material stack formed by stacking the sheets 5113 and the trays. That is, when the fixed trolley 21 enters this material level, the fixed trolley 21 is in an empty state. The other loading mechanism 2 is located on the other side and is used to carry the fully loaded stacked trays.

[0039] , specifically, the lifting assembly 22 includes a lifting motor 221, a screw rod 222, a guiding rod 223, and a lifting seat 224. The lifting motor 221 is installed on the frame 1. The screw rod 222 is arranged vertically and rotatably carried on the frame 1. The lifting motor 221 drives the screw rod 222 to rotate through a pulley transmission mechanism. The guiding rod 223 is parallel to the screw rod 222. The lifting seat 224 is movably sleeved on the guiding rod 223, and the lifting seat 224 is in threaded cooperation with the screw rod 222. The lifting seat 224 is used to carry the sheet body or the tray. That is, the lifting seat 224 at one of the material levels is used to carry the material stack formed by stacking the sheets 5113 and the trays, and the lifting seat 224 at the other material level is used to carry the trays.

[0040] Correspondingly, when the lifting motor 221 is started, the screw rod 222 is driven to rotate through the pulley transmission mechanism, and the lifting seat 224 in threaded cooperation with the screw rod 222 moves vertically under the constraint of the guiding rod 223. The lifting seat 224 at the empty material level descends to receive the material stack of the stacked sheets and trays, and the lifting seat 224 at the other material level is gradually lifted according to the stacking height, realizing the alternating loading of the two materials and the precise height matching.

[0041] At the same time, based on the screw 222 transmission, the rotational motion is converted into linear motion. The guide rod 223 is arranged in parallel with the screw 222 to form a rigid guide structure, and the self-locking characteristics of the thread pair are used to keep the lifting seat 224 stationary. The pulley mechanism realizes the transmission and deceleration of the motor power, and cooperates with the material level switching logic to control the coordinated lifting of the lifting seat 224 to meet the height difference compensation requirements of different material stacking.

[0042] Furthermore, the lifting assembly 22 further includes two groups of toggle sensors 225 and a lever 226. The two groups of toggle sensors 225 are mounted on the frame 1 and spaced apart in the vertical direction. The toggle sensors 225 are electrically connected to the controller, and the lever 226 is fixed to the side wall of the lifting seat 224. When the lifting seat 224 moves to the lowest point and the highest point, the lever 226 abuts against and slides relatively with the sensing end of one of the toggle sensors 225. Through the signal feedback of the toggle sensor 225, the position of the lifting seat 224 can be accurately controlled.

[0043] Specifically, when the lifting motor 221 is running, the screw rod 222 is driven to rotate through the transmission mechanism, driving the lifting seat 224 to move vertically along the guide rod 223. The lever 226 on the side wall of the lifting seat 224 rises and falls with it. When it reaches the lowest or highest position, the lever 226 contacts the corresponding height of the toggle sensor 225 and slides to trigger the signal. The controller immediately controls the motor to stop running, ensuring that the lifting seat 224 stops accurately and reaches the maximum travel point at the same time, and then controls the lifting motor 221 to reverse, so that the lifting seat 224 can move in the opposite direction.

[0044] Furthermore, the extraction tray positioning assembly 23 includes a first positioning cylinder 231 and a second positioning cylinder 232. The first positioning cylinder 231 is provided with several groups, and several groups of first positioning cylinders 231 are installed on the frame 1. Several groups of first positioning cylinders 231 are circumferentially arranged around the extraction tray loading position. The piston rod of the first positioning cylinder 231 is fixed with a first positioning plate 2311, and several first positioning plates 2311 abut against the four sides of the extraction tray; there are several second positioning cylinders 232, and several second positioning cylinders 232 are arranged at intervals in the vertical direction. The piston rod of the second positioning cylinder 232 faces the opening of the frame 1, and one side of several second positioning cylinders 232 is provided with a second positioning plate 2321, and the second positioning plate 2321 is arranged in the vertical direction. The second positioning plate 2321 is fixed together with the piston rods of several second positioning cylinders 232, and the second positioning plate 2321 abuts against the extraction trays and plates stacked on the supporting mechanism 2. The side walls of the first positioning plate 2311 and the second positioning plate 2321 are both provided with a buffer layer to reduce the impact on the extraction tray and the plate.

[0045] When the extraction tray is conveyed to the loading position of the loading mechanism 2, several groups of first positioning cylinders 231 arranged circumferentially are started simultaneously, and their piston rods push the first positioning plates 2311 to move towards the periphery of the extraction tray. Through multi-point contact type limiting, the first positioning plates 2311 form a rigid abutment with the outer wall of the extraction tray, eliminating the offset error in the horizontal plane.

[0046] Correspondingly, the second positioning cylinders 232 installed at intervals in the vertical direction act synchronously, and their piston rods drive the second positioning plates 2321 to lift and lower vertically. The second positioning plates 2321 contact the side surfaces of the stacked extraction trays and plates, and by continuously applying a lateral supporting force, the overturning moment generated by the stacked materials due to gravity is inhibited.

[0047] Therefore, the combined use of the first positioning cylinders 231 and the second positioning cylinders 232 can ensure the precise positioning of the extraction tray at the loading position. Among them, the circumferentially arranged first positioning cylinders 231 drive the first positioning plates 2311 to limit the extraction tray from all around to prevent it from shifting; while the second positioning cylinders 232 drive the second positioning plates 2321 to move in the vertical direction and abut against the stacked extraction trays and plates on the loading mechanism 2, thus effectively avoiding the phenomenon of tipping or misalignment during the stacking process. The overall structural design not only improves the positioning accuracy but also significantly enhances the stability of the equipment operation.

[0048] Refer to Figure 2 and Figure 5 On the other hand, the conveying mechanism 3 includes a conveying frame 31, a conveying motor 32, and a conveying roller group 33. The conveying frame 31 provides stable support for the conveying motor 32 and the conveying roller group 33. It is made of steel materials and has sufficient strength and stability. The conveying motor 32 can be a servo motor or a stepping motor, and is connected to the conveying roller group 33 through its power output shaft, thereby realizing the drive of the conveying roller group 33. The conveying roller group 33 is composed of multiple rollers made of stainless steel or aluminum alloy. The rollers are arranged along the conveying direction, and each roller is connected by a bearing to ensure smooth operation. The surface of the rollers in the conveying roller group 33 is polished to reduce the friction force and ensure that the plates can move smoothly during the conveying process.

[0049] After the conveying motor 32 is started, it drives each roller in the conveying roller group 33 to rotate synchronously through the power output shaft. After the plates are placed on the roller surfaces, they move smoothly along the conveying direction under the rotation action. The servo or stepping motor adjusts the rotation speed and direction according to the control signal to realize the start-stop, speed change, and precise positioning conveying of the plates.

[0050] Based on the principle of motor power transmission and rolling friction, the roller group rotates with low resistance through bearing support, and the surface polishing further reduces the friction coefficient. The steel conveying frame 31 provides rigid support to ensure the parallelism of the axes of the roller group. The high-precision control characteristics of the servo / stepping motor guarantee the stability of the conveying speed and position, forming a continuous and controllable material transmission system.

[0051] Referring to Figure 6 and Figure 7 and in combination with Figure 2 , on the other hand, the grasping mechanism 4 includes an X / Y-axis linear module 41 and a grasping component 42. The X / Y-axis linear module 41 enables the grasping component 42 to perform precise positioning and movement within a plane through a rail and slider structure. Specifically, the X-axis linear module includes an X-axis rail, an X-axis slider, and an X-axis driving device, and the Y-axis linear module includes a Y-axis rail, a Y-axis slider, and a Y-axis driving device. The X-axis and Y-axis rails are arranged perpendicular to each other and are connected by sliders to achieve precise movement in multiple directions.

[0052] The grasping component 42 includes a lateral adjustment module 421 and a suction cup module. The lateral adjustment module 421 includes a carrier seat 4211, a second driving motor 4212, a second ball screw transmission module 4213, and a second sliding seat 4214. The carrier seat 4211 is fixed to the DD motor 53, the second driving motor 4212 is installed on the carrier seat 4211, the second ball screw transmission module 4213 is arranged for bidirectional transmission, there are two second sliding seats 4214, and the two second sliding seats 4214 are respectively installed on two opposite transmission ends of the second ball screw transmission module 4213. There are two groups of suction cup modules, and the two groups of suction cup modules are respectively arranged on the two second sliding seats 4214.

[0053] Correspondingly, the suction cup module includes a buffer 4221, a second connecting frame 4222, and a plurality of suction nozzles 4223. One end of the buffer 4221 is fixed to the second sliding seat 4214, and the other end is fixedly connected to the second connecting frame 4222 through bolts. The second connecting frame 4222 is arranged horizontally, and a plurality of suction nozzles 4223 are fixedly arranged on the second connecting frame 4222 at intervals. The suction nozzles 4223 can be made of silica gel or rubber, and have good flexibility and adsorption force. When the suction nozzles 4223 contact the plate, the buffer 4221 can absorb the impact force to protect the suction nozzles 4223 and the plate from damage.

[0054] Therefore, after the buffer 4221 moves with the second sliding seat 4214 above the plate, the multiple suction nozzles 4223 on the second connecting frame 4222 are synchronously pressed down to contact the surface of the plate. The buffer 4221 absorbs the contact impact force in the vertical direction through elastic deformation; the suction nozzles 4223 adsorb the plate under negative pressure, and then the sliding seat drives the grasping component 42 to transfer the plate to the target position. After arriving, the suction nozzles 4223 release the negative pressure to release the plate.

[0055] Reference Figure 2 and Figure 6 And combined Figure 8 On the other hand, the detection mechanism 5 includes a positioning and edge-finding component 51, a controller and a DD motor 53. The DD motor 53 is fixed to the sliding member on the X / Y axis linear module. The positioning and edge-finding component 51 includes a positioning and lifting module 511 and an edge-finding module 512. The positioning and lifting module 511 includes a lifting cylinder 5111, a first connecting frame 5112 and a bearing plate 5113. The lifting cylinder 5111 is installed on the frame 1. The first connecting frame 5112 is vertically fixed to the piston rod of the lifting cylinder 5111. The bearing plate 5113 is fixed to the top of the first connecting frame 5112. The bearing plate 5113 is horizontally arranged. The upper surface of the bearing plate 5113 is provided with a plurality of clearance holes for the conveying roller group 33 to pass through.

[0056] There are three groups of edge-finding modules 512, which are distributed at positions corresponding to two adjacent side edges of the plate. The edge-finding module 512 includes a first driving motor 5121, a first ball screw transmission module 5122, a first sliding seat 5123, a first bearing rod 5124 and an edge finder. The first driving motor 5121 is installed on the frame. The first driving motor 5121 drives the first sliding seat 5123 to slide in the horizontal direction through the first ball screw transmission module 5122. The first bearing rod 5124 is vertically fixed on the first sliding seat 5123. The edge finder is embedded in the first bearing rod 5124, and the sensing end of the edge finder faces the upper surface of the bearing plate 5113.

[0057] Therefore, when the conveying mechanism 3 delivers the sheet to the designated position above the carrier plate 5113, the lifting cylinder 5111 of the positioning lifting module 511 drives the piston rod to lift vertically, driving the first connecting frame 5112 and the carrier plate 5113 to rise, so that the sheet is separated from the conveying roller group 33 and placed stably on the carrier plate 5113. Subsequently, the first driving motor 5121 of the three sets of edge-finding modules 512 drives the sliding seat to move horizontally through the ball screw transmission mechanism, driving the edge finder on the bearing rod to approach the adjacent side edge of the sheet, synchronously scanning the right-angle edge contour and detecting the actual angle deviation. After the data is analyzed by the controller, the output instruction drives the DD motor 53 to adjust the rotation angle of the second connecting frame 4222, and finally realizes the precise alignment of the suction nozzle 4223 component and the sheet.

[0058] In addition, the edge-finding module 512 further includes a trigger rod 5125 and two sets of proximity sensors 5126. The two sets of proximity sensors 5126 are respectively installed on the frame 1 and arranged at intervals in the horizontal direction. One end of the trigger rod 5125 is fixed to the first sliding seat 5123, and the other end reciprocates between the sensing ends of the two sets of proximity sensors 5126. When the first sliding seat 5123 moves to a certain position, the trigger rod 5125 touches the proximity sensor 5126, generating a signal and feeding it back to the controller, thereby realizing precise control of the position of the edge-finding module 512.

[0059] When the first driving motor 5121 drives the first sliding seat 5123 to move horizontally through the ball screw, the trigger rod 5125 fixed to the sliding seat moves synchronously therewith. The end of the trigger rod 5125 moves within the sensing range of the two sets of proximity sensors 5126. When the sliding seat reaches the preset position, the trigger rod 5125 enters the effective detection range of any one of the two sets of proximity sensors 5126.

[0060] The working process of this embodiment is as follows: First, place the sheet on the loading mechanism 2, and convey it to the position above the positioning and lifting module 511 through the conveying mechanism 3; start the positioning and lifting module 511, and use the lifting cylinder 5111 to lift the sheet to a certain height; detect the position and angle of the sheet through the edge-finding module 512. If an angle deviation is detected, adjust the angle of the sheet through the rotation adjustment mechanism; start the grasping mechanism 4, use the suction nozzle 4223 to adsorb the sheet and move it above the extraction tray on the loading mechanism 2; release the suction nozzle 4223, place the sheet on the extraction tray, and complete one stacking operation; repeat the above steps until all sheets are stacked.

[0061] The implementation principle of this embodiment is: The sheet is conveyed to the position above the positioning and lifting module 511 through the conveying mechanism 3. The positioning and lifting module 511 lifts the sheet to a certain height. The edge-finding module 512 detects the position and angle of the sheet, and then the grasping mechanism 4 grabs and places the sheet on the extraction tray on the loading mechanism 2. Throughout the process, through the precise detection of the detection mechanism 5 and the intelligent control of the controller, precise conveying, grasping, and stacking of the sheet are realized, thereby improving the work efficiency and accuracy. Compared with the prior art, the horizontal plate-type sheet receiving machine of this application not only improves the efficiency and accuracy of sheet processing, but also reduces the complexity and cost of the equipment, having significant technical advantages and economic value.

[0062] The above are all the preferred embodiments of this application. The protection scope of this application is not limited by this. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. Horizontal plate-type receiving machine, characterized in that, The invention comprises a frame (1), two groups of bearing mechanisms (2), a conveying mechanism (3), a grasping mechanism (4) and a detecting mechanism (5), wherein one group of the bearing mechanisms (2) is used to load plates, and the other group of the bearing mechanisms (2) is located at one side of the first group of the bearing mechanisms (2) and is loaded with a collection tray, the conveying mechanism (3) comprises a conveying frame (31), a conveying motor (32) and a conveying roller group (33), the conveying frame (31) is located at one side of the bearing mechanism (2), the conveying motor (32) is installed on the conveying frame (31), the conveying motor (32) drives the conveying roller group (33) to roll to convey the plates, and the grasping mechanism (4) comprises an X / Y axis linear module ( The invention relates to a conveyor frame (31) and a gripping assembly (41), wherein the gripping assembly (42) is mounted on the X / Y axis linear module (41), and the X / Y axis linear module (41) controls the gripping assembly (42) to move along the X / Y axis. The detection mechanism (5) comprises a positioning and edge-finding assembly (51), a controller and a DD motor (53). The positioning and edge-finding assembly (51) is mounted on the conveyor frame (31) to detect the position of the plate when it arrives. The DD motor (53) is mounted on the X / Y axis linear module (41), and the gripping assembly (42) is mounted on the DD motor (53). The controller is electrically connected to the positioning and edge-finding assembly (51) and the DD motor (53), respectively.

2. The horizontal plate-type sheet collecting machine according to claim 1, wherein, The positioning and edge-finding component (51) includes a positioning and lifting module (511) and an edge-finding module (512). The positioning and lifting module (511) includes a lifting cylinder (5111), a first connecting frame (5112) and a supporting plate (5113). The lifting cylinder (5111) is installed on the frame (1). The first connecting frame (5112) is vertically fixed to the piston rod of the lifting cylinder (5111). The supporting plate (5113) is fixed to the top of the first connecting frame (5112). The supporting plate (5113) is horizontally arranged. The upper surface of the supporting plate (5113) is provided with a plurality of clearance holes for the conveying roller group (33) to pass through. The edge-finding module (512) is provided with three groups, which are distributed at positions corresponding to two adjacent side edges of the plate. The edge-finding module (512) is used to detect the angle at which the plate is placed after being lifted by the positioning and lifting module (511).

3. The horizontal plate-type board collector according to claim 2, characterized in that, The edge-finding module (512) includes a first drive motor (5121), a first ball screw drive module (5122), a first sliding seat (5123), a first bearing rod (5124), and an edge finder. The first drive motor (5121) is installed on the frame body. The first drive motor (5121) drives the first sliding seat (5123) to slide horizontally through the first ball screw drive module (5122). The first bearing rod (5124) is vertically fixed on the first sliding seat (5123). The edge finder is embedded in the first bearing rod (5124). The sensing end of the edge finder faces the upper surface of the bearing plate (5113).

4. The horizontal plate-type board collector according to claim 2, characterized in that, The edge-finding module (512) further includes a trigger rod (5125) and two groups of proximity sensors (5126). The two groups of proximity sensors (5126) are respectively installed on the frame (1) and arranged at intervals in the horizontal direction. One end of the trigger rod (5125) is fixed on the first sliding seat (5123). The other end of the trigger rod (5125) reciprocates between the sensing ends of the two groups of proximity sensors (5126).

5. The horizontal plate-type sheet collecting machine according to claim 2, characterized in that, The grasping assembly (42) includes a lateral adjustment module (421) and a suction cup module. The lateral adjustment module (421) includes a bearing seat (4211), a second drive motor (4212), a second ball screw drive module (4213), and a second sliding seat (4214). The bearing seat (4211) is fixed to the DD motor (53). The second drive motor (4212) is installed on the bearing seat (4211). The second ball screw drive module (4213) is arranged for bidirectional transmission. There are two second sliding seats (4214). The two second sliding seats (4214) are respectively installed on two reverse transmission ends of the second ball screw drive module (4213). There are two groups of suction cup modules. The two groups of suction cup modules are respectively arranged on the two second sliding seats (4214).

6. The horizontal plate-type sheet collecting machine according to claim 5, wherein, The suction cup module includes a buffer (4221), a second connecting frame (4222), and a plurality of suction nozzles (4223). One end of the buffer (4221) is fixed to the second sliding seat (4214). The second connecting frame (4222) is fixed to the other end of the buffer (4221) and is horizontally arranged. A plurality of suction nozzles (4223) are fixed to the second connecting frame (4222) at intervals.

7. The horizontal plate-type sheet collecting machine according to claim 2, characterized in that, The bearing mechanism (2) comprises a fixed trolley (21), a lifting assembly (22) and a tray positioning assembly (23); an opening for the fixed trolley (21) to be pushed in is provided on one side of the frame (1); the fixed trolley (21) is located below the gripping mechanism (4); the lifting assembly (22) comprises a lifting motor (221), a screw rod (222), a guide rod (223) and a lifting seat (224); the lifting motor (221) is mounted on the frame (1); The screw rod (222) is arranged in the vertical direction and rotatably supported on the frame (1); the lifting motor (221) drives the screw rod (222) to rotate through a pulley transmission mechanism; the guide rod (223) and the screw rod (222) are parallel to each other; the lifting seat (224) is movably sleeved on the guide rod (223); the lifting seat (224) is threadably matched with the screw rod (222); and the lifting seat (224) is used to support a supporting plate (5113) body or a collection tray.

8. The horizontal plate-type sheet collecting machine according to claim 7, wherein The lifting assembly (22) further comprises two groups of toggle sensors (225) and a toggle rod (226), wherein the two groups of toggle sensors (225) are mounted on the frame (1) and spaced apart in the vertical direction, the toggle sensors (225) are electrically connected to the controller, and the toggle rod (226) is fixed to the side wall of the lifting seat (224), and when the lifting seat (224) moves to the lowest point and the highest point, the toggle rod (226) abuts against the sensing end of one of the toggle sensors (225) and slides relatively thereto.

9. The horizontal plate-type sheet collector according to claim 8, wherein, The extraction tray positioning assembly (23) comprises a first positioning cylinder (231) and a second positioning cylinder (232), wherein the first positioning cylinder (231) is provided with a plurality of groups, wherein the plurality of groups of the first positioning cylinders (231) are mounted on the frame (1), and the plurality of groups of the first positioning cylinders (231) are circumferentially arranged around the extraction tray loading position, wherein the piston rod of the first positioning cylinder (231) is fixed with a first positioning plate (2311), and the plurality of the first positioning plates (2311) are in contact with the four sides of the extraction tray, and the second positioning cylinder (232) is provided with Several, several second positioning cylinders (232) are arranged at intervals along the vertical direction, the piston rods of the second positioning cylinders (232) are facing the opening of the frame (1), and a second positioning plate (2321) is arranged on one side of several second positioning cylinders (232), the second positioning plates (2321) are arranged along the vertical direction, the second positioning plates (2321) are fixed together with the piston rods of several second positioning cylinders (232), and the second positioning plates (2321) are in contact with the extraction trays and plates stacked on the supporting mechanism (2).

10. The horizontal plate-type sheet collecting machine according to claim 9, wherein, The side walls of the first positioning plate (2311) and the second positioning plate (2321) are both provided with a buffer layer.

Images