Disc distributing mechanism

Abstract

The invention relates to the field of automatic feeding related equipment, in particular to a tray separating mechanism which comprises a rack and a tray carrying structure arranged on the rack, the tray carrying structure comprises a suction cup frame, a claw arm, a suction cup and a suction cup frame drive used for driving the suction cup frame to move, and a separating assembly used for separating trays is arranged on the suction cup frame. The separating assembly comprises a tray claw, a fixed plate, a movable plate and a tray claw driver used for driving the movable plate to be close to or away from the suction cup frame, the movable plate is slidably connected to the suction cup frame, the fixed plate is fixedly connected to the end, away from the suction cup frame, of the movable plate, and the fixed plate is parallel to the movable frame.

Description

Technical Field

[0001] This application relates to the field of automatic feeding equipment, and in particular to a tray-separating mechanism. Background Technology

[0002] During production and processing, most equipment requires a feeding device for material handling. For some smaller materials, pallet feeding is often used. Multiple pallets are stacked, and materials are placed on the pallets. Robotic arms then sequentially remove the materials from the pallets for subsequent processing.

[0003] Currently, the industry typically uses suction cups to transport pallets. However, pallets are usually stacked, with the bottom of one pallet often overlapping the bottom of the next. There is friction between adjacent pallets. When the suction cup picks up a pallet, the friction between the pallets can cause the suction cup to move multiple pallets at once, resulting in stacked pallets being picked up. In this case, manual intervention is required to separate the pallets, which affects the efficiency of the production line. Summary of the Invention

[0004] To reduce the likelihood of stacked trays being picked up, this application provides a tray-separating mechanism.

[0005] This application provides a tray-splitting mechanism, which adopts the following technical solution: A tray-separating mechanism includes a frame and a tray-carrying structure mounted on the frame. The tray-carrying structure includes a suction cup frame, a claw arm, a suction cup, and a suction cup frame drive for driving the suction cup frame to move. The suction cup holder drive includes a module, a movable frame, and a guide rail. The module and the movable frame are arranged in parallel. The two ends of the movable frame are respectively mounted on the module and the guide rail. The suction cup holder is mounted on the movable frame. A lifting drive for driving the suction cup holder to rise and fall is provided between the movable frame and the suction cup holder. The suction cup frame is provided with a lifting plate, and a first lifting cylinder for driving the lifting plate to rise and fall is provided between the lifting plate and the suction cup frame. The claw arm is provided on the lifting plate, and the suction cup is provided at the end of the claw arm away from the suction cup frame. The suction cup holder is provided with a separation component for separating the tray. The separation component includes a tray claw, a fixed plate, a movable plate, and a tray claw drive for driving the movable plate closer to or away from the suction cup holder. The movable plate is slidably connected to the suction cup holder, and the fixed plate is fixedly connected to the end of the movable plate away from the suction cup holder. The fixed plate is arranged parallel to the movable plate.

[0006] By adopting the above technical solution, when handling a pallet, the pallet claw drive moves the moving plate away from the suction cup frame. Then, through the cooperation of the module and guide rail, it drives the moving frame to move, and the suction cup frame moves together with the moving frame. When it moves above the pallet, the lifting drive drives the suction cup frame to descend. When the suction cup contacts the pallet, the pallet claw drive moves the moving plate closer to the suction cup frame until the pallet claw inserts into the gap between the two pallets. Then, the first lifting cylinder drives the lifting plate to move downward until the suction cup picks up the pallet. After the pallet is picked up, the first lifting cylinder drives the lifting plate to move upward, moving the pallet upward.

[0007] When the suction cup moves the top tray upwards, the lower tray may move along with it due to friction. However, in this application, the lower tray is held in place by the tray claws, thus preventing the lower tray from moving with the upper tray and reducing the possibility of stacked trays being picked up.

[0008] Optionally, the lifting plate is provided with multiple connecting arms at intervals along its circumferential direction. The connecting arms are connected to the lifting plate by fixing bolts. The claw arms are provided in multiples, and the multiple claw arms are hinged to the connecting arms at intervals along the length direction of the connecting arms.

[0009] By adopting the above technical solution, since the size of the pallets varies, a connecting arm is set up so that the connecting arm is connected to the lifting plate by fixing bolts. When picking up pallets of different sizes, the position of the suction cup can be adjusted by adjusting the angle of the connecting arm and the claw arm, so as to pick up pallets of different sizes.

[0010] Optionally, the connecting arm has multiple mounting slots I, which are spaced apart along the length of the connecting arm; the claw arm has multiple mounting slots II for mounting suction cups, which are spaced apart along the length of the claw arm.

[0011] By adopting the above technical solution, if the pallet size is small, even if the angle of the connecting arm and the claw arm is adjusted, the suction cup will still be outside the pallet. In order to be suitable for smaller pallets, the position of the claw arm is adjusted and installed in the first mounting groove near the lifting plate. If the suction cup is still outside the pallet, the position of the suction cup is adjusted again, the suction cup is removed from the claw arm, and the suction cup is installed in the second mounting groove near the connecting arm, thereby improving the practicality of the mechanism.

[0012] Optionally, a lifting guide is provided between the movable frame and the suction cup frame. The lifting guide includes a guide post and a guide groove. The guide post is arranged in a vertical direction and is slidably connected in the guide groove.

[0013] By adopting the above technical solution, when the lifting drive drives the suction cup frame to rise and fall, the guide column slides in the guide groove. The guide column and the guide groove work together to play a guiding role, thereby improving the stability of the device.

[0014] Optionally, the lifting drive includes a second lifting cylinder, the two ends of which are fixedly connected to the movable frame and the suction cup frame, respectively.

[0015] By adopting the above technical solution, the second lifting cylinder is designed to facilitate the lifting and lowering of the suction cup frame.

[0016] Optionally, the pallet claw drive includes a third cylinder, with both ends of the third cylinder fixedly connected to the suction cup frame and the moving plate, respectively.

[0017] By adopting the above technical solution, before the pallet claw is inserted between the two pallets, the third cylinder drives the moving plate to move away from the lifting plate, so that there is enough space for the pallet claw to move. After the suction cup contacts the pallet, the third cylinder drives the pallet claw to move towards the lifting plate until the pallet claw is inserted between the two pallets. The setting of the third drive makes it easy to adjust the position of the pallet claw.

[0018] Optionally, the connecting arm is provided with an adjustment structure for simultaneously adjusting the rotation angle of the claw arm. The adjustment structure includes an adjustment rod, a lead screw, a lead screw nut, and a first motor for driving the lead screw to rotate. The lead screw is rotatably connected to the connecting arm, the lead screw nut is threadedly connected to the lead screw, and the two ends of the adjustment rod are respectively hinged to the claw arm and the lead screw nut.

[0019] By adopting the above technical solution, when there are differences in tray size but the differences are controlled within a certain range, the position of the suction cup can be adjusted by adjusting the structure. If the tray size is large, the first motor drives the lead screw to rotate, and the lead screw nut moves along the lead screw in a direction away from the lifting plate. The adjusting rod rotates, causing the claw arm to rotate in a direction closer to the connecting arm. If the tray size is small, the first motor drives the lead screw to rotate in the opposite direction, and the lead screw nut moves along the lead screw in a direction closer to the lifting plate. The adjusting rod causes the claw arm to rotate in a direction away from the connecting arm. The adjustment structure facilitates the adjustment of the suction cup position.

[0020] Optionally, the pallet claw drive includes a reciprocating lead screw, a lead screw nut, and a second motor for driving the reciprocating lead screw to rotate. The reciprocating lead screw is rotatably connected to the suction cup frame, the lead screw nut is threadedly connected to the reciprocating lead screw, and the moving plate is fixedly connected to the lead screw nut.

[0021] By adopting the above technical solution, before the pallet claw is inserted between the two pallets, the second motor drives the reciprocating screw to rotate. The screw nut moves along the reciprocating screw in a direction away from the lifting plate, and the moving plate moves together with the reciprocating screw. When it reaches the end of the reciprocating screw, the reciprocating screw stops rotating. After the suction cup contacts the pallet, the second motor continues to drive the reciprocating screw to rotate, and the screw nut moves along the reciprocating screw in a direction closer to the lifting plate until the pallet claw is inserted between the two pallets. By setting the reciprocating screw, there is no need for the output shaft of the second motor to rotate in both directions, so that the motor always rotates in one direction.

[0022] In summary, this application includes the following beneficial technical effects: 1. By setting up a separate component, when the suction cup picks up the uppermost tray and moves it upward, the tray claws lock the lower tray, thereby preventing the lower tray from moving with the upper tray and reducing the possibility of stacked trays being picked up. 2. The installation slots 1 and 2 in this application facilitate the adjustment of the suction cup position, making the mechanism applicable to trays of different sizes and improving its practicality. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this application; Figure 2 This is a partial structural schematic diagram of Embodiment 1 of this application; Figure 3 This is a partial structural schematic diagram of Embodiment 2 of this application.

[0024] Explanation of reference numerals in the attached figures: 1. Frame; 2. Suction cup frame; 3. Claw arm; 4. Suction cup; 5. Module; 6. Moving frame; 7. Guide rail; 8. Second lifting cylinder; 9. Guide column; 10. Guide groove; 11. Lifting plate; 12. First lifting cylinder; 13. Connecting arm; 14. Fixing bolt; 15. Mounting slot one; 16. Mounting slot two; 17. Connecting bolt; 18. Pallet claw; 19. Fixing plate; 20. Moving plate; 21. Third cylinder; 22. Adjusting rod; 23. Lead screw; 24. Lead screw nut one; 25. First motor; 26. Reciprocating lead screw; 27. Lead screw nut two; 28. Second motor. Detailed Implementation

[0025] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0026] Example 1: This application discloses a tray-splitting mechanism, referring to... Figure 1 and Figure 2The system includes a frame 1 and a pallet handling structure mounted on the frame 1. The pallet handling structure includes a suction cup frame 2, a claw arm 3, a suction cup 4, and a suction cup frame drive for driving the suction cup frame 2 to move.

[0027] The suction cup holder drive includes a module 5, a movable frame 6, and a guide rail 7. Both the module 5 and the guide rail 7 are mounted on the frame 1 and are arranged in parallel. The two ends of the movable frame 6 are mounted on the module 5 and the guide rail 7 respectively, and the movable frame 6 is arranged perpendicular to the guide rail 7.

[0028] The suction cup holder 2 is mounted on the movable frame 6, and a lifting drive for driving the suction cup holder 2 to rise and fall is provided between the movable frame 6 and the suction cup holder 2. The lifting drive includes a second lifting cylinder 8. In this embodiment, there are two second lifting cylinders 8, which are symmetrically arranged about the suction cup holder 2 as the axis of symmetry. The two ends of the second lifting cylinder 8 are respectively fixedly connected to the movable frame 6 and the suction cup holder 2.

[0029] Reference Figure 2 A lifting guide is provided between the movable frame 6 and the suction cup frame 2. The lifting guide includes a guide post 9 and a guide groove 10. The guide groove 10 is formed on the suction cup frame 2, and the guide post 9 is fixedly connected to the movable frame 6. The guide post 9 is arranged in a vertical direction and is slidably connected in the guide groove 10. As the second lifting cylinder 8 moves, the guide post 9 slides in the guide groove 10 in a vertical direction.

[0030] The suction cup frame 2 is provided with a lifting plate 11. A first lifting cylinder 12 for driving the lifting plate 11 to rise and fall is provided between the lifting plate 11 and the suction cup frame 2. The fixed end of the first lifting cylinder 12 is fixedly connected to the lifting plate 11, and the movable end of the first lifting cylinder 12 is fixedly connected to the suction cup frame 2.

[0031] Reference Figure 2 Multiple connecting arms 13 are spaced apart along the circumferential direction on the lifting plate 11. In this embodiment, four connecting arms 13 are provided, positioned at the four corners of the lifting plate 11. The connecting arms 13 are connected to the lifting plate 11 by fixing bolts 14. To adjust the angle of the connecting arm 13, loosen the fixing bolts 14 and then rotate the connecting arm 13. After adjusting the angle of the connecting arm 13, tighten the fixing bolts 14.

[0032] Reference Figure 2 The connecting arm 13 has multiple mounting slots 15, which are spaced apart along the length of the connecting arm 13. The claw arm 3 is mounted on the mounting slot 15. There are multiple claw arms 3. In this embodiment, there are two claw arms 3. Both claw arms 3 rotate on the connecting arm 13 and are staggered.

[0033] The claw arm 3 is provided with multiple mounting slots 16 for mounting the suction cup 4. In this embodiment, two mounting slots 16 are provided, and the two mounting slots 16 are spaced apart along the length of the claw arm 3. The suction cup 4 is mounted in the mounting slots 16 by connecting bolts 17.

[0034] Reference Figure 2 The suction cup holder 2 is provided with a separation component for separating the tray. The separation component includes a tray claw 18, a fixed plate 19, a movable plate 20, and a tray claw drive for driving the movable plate 20 to move closer to or away from the suction cup holder 2. The movable plate 20 is slidably connected to the suction cup holder 2, and the fixed plate 19 is fixedly connected to the end of the movable plate 20 away from the suction cup holder 2. The fixed plate 19 is arranged parallel to the movable frame 6. There are multiple tray claws 18. In this embodiment, there are three tray claws 18. The three tray claws 18 are spaced apart on the fixed plate 19 along the length direction of the fixed plate 19.

[0035] The pallet claw drive includes a third cylinder 21, the two ends of which are fixedly connected to the suction cup frame 2 and the moving plate 20, respectively.

[0036] The implementation principle of the tray-separating mechanism in this application embodiment is as follows: When transporting a tray, the third cylinder 21 drives the moving plate 20 to move away from the suction cup frame 2, providing space for the tray; then, through the cooperation of the module 5 and the guide rail 7, the moving frame 6 is driven to move, and the suction cup frame 2 moves together with the moving frame 6. When it moves above the tray, the second cylinder drives the suction cup frame 2 to descend. When the suction cup 4 contacts the tray, the third cylinder 21 drives the moving plate 20 to move closer to the suction cup frame 2 until the tray claw 18 inserts into the gap between the two trays. Then, the first lifting cylinder 12 drives the lifting plate 11 to move downward until the suction cup 4 sucks up the tray. After sucking up the tray, the first lifting cylinder 12 drives the lifting plate 11 to move upward, causing the tray to move upward. When the suction cup 4 sucks up the uppermost tray and moves upward, due to the friction, the lower tray may move along with it. The tray claw 18 holds the lower tray, thereby preventing the lower tray from moving with the upper tray and reducing the possibility of stacked trays being sucked up.

[0037] Example 2: This application discloses a tray-separating mechanism, which differs from Embodiment 1 in that: (Refer to...) Figure 3 The connecting arm 13 is provided with an adjustment structure for simultaneously adjusting the rotation angle of the claw arm 3. The adjustment structure includes an adjustment rod 22, a lead screw 23, a lead screw nut 24, and a first motor 25 for driving the lead screw 23 to rotate. The lead screw 23 is rotatably connected to the connecting arm 13, and the lead screw nut 24 is threadedly connected to the lead screw 23. The two ends of the adjustment rod 22 are respectively hinged to the claw arm 3 and the lead screw nut 24. In this embodiment, there are two adjustment rods corresponding to the claw arm 3.

[0038] The pallet claw drive includes a reciprocating lead screw 26, a lead screw nut 27, and a second motor 28 for driving the reciprocating lead screw 26 to rotate. The reciprocating lead screw 26 is rotatably connected to the suction cup frame 2, the lead screw nut 27 is threadedly connected to the reciprocating lead screw 26, and the moving plate 20 is fixedly connected to the lead screw nut 27.

[0039] The implementation principle of the tray-separating mechanism in this application embodiment is as follows: If there are differences in tray size but the differences are controlled within a certain range, the position of the suction cup 4 is adjusted by adjusting the structure; if the tray size is large, the first motor 25 drives the lead screw 23 to rotate, the lead screw nut 24 moves along the lead screw 23 in a direction away from the lifting plate 11, and the adjusting rod 22 rotates to drive the claw arm 3 to rotate in a direction closer to the connecting arm 13; if the tray size is small, the first motor 25 drives the lead screw 23 to rotate in the opposite direction, the lead screw nut 24 moves along the lead screw 23 in a direction closer to the lifting plate 11, and the adjusting rod 22 drives the claw arm 3 to rotate in a direction away from the connecting arm 13.

[0040] Before the pallet claw 18 is inserted between the two pallets, the second motor 28 drives the reciprocating screw 26 to rotate. The screw nut 27 moves along the reciprocating screw 26 in a direction away from the lifting plate 11. The moving plate 20 moves together with the reciprocating screw 26. When it reaches the end of the reciprocating screw 26, the reciprocating screw 26 stops rotating. After the suction cup 4 contacts the pallet, the second motor 28 continues to drive the reciprocating screw 26 to rotate. The screw nut 27 moves along the reciprocating screw 26 in a direction closer to the lifting plate 11 until the pallet claw 18 is inserted between the two pallets. By setting the reciprocating screw 26, there is no need for the output shaft of the second motor 28 to rotate in both directions, so that the motor always rotates in one direction.

[0041] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A disc-dividing mechanism, characterized in that: The system includes a frame (1) and a pallet handling structure disposed on the frame (1). The pallet handling structure includes a suction cup frame (2), a claw arm (3), a suction cup (4), and a suction cup frame (2) drive for driving the suction cup frame (2) to move. The suction cup holder (2) drive includes a module (5), a movable frame (6) and a guide rail (7). The module (5) and the guide rail (7) are arranged in parallel. The two ends of the movable frame (6) are respectively mounted on the module (5) and the guide rail (7). The suction cup holder (2) is mounted on the movable frame (6). A lifting drive for driving the suction cup holder (2) to rise and fall is provided between the movable frame (6) and the suction cup holder (2). A lifting plate (11) is provided on the suction cup frame (2). A first lifting cylinder (12) for driving the lifting plate (11) to rise and fall is provided between the lifting plate (11) and the suction cup frame (2). A claw arm (3) is provided on the lifting plate (11), and a suction cup (4) is provided at the end of the claw arm (3) away from the suction cup frame (2). The suction cup holder (2) is provided with a separation component for separating the tray. The separation component includes a tray claw (18), a fixed plate (19), a movable plate (20), and a tray claw drive for driving the movable plate (20) to move closer to or away from the suction cup holder (2). The movable plate (20) is slidably connected to the suction cup holder (2). The fixed plate (19) is fixedly connected to the end of the movable plate (20) away from the suction cup holder (2). The fixed plate (19) is arranged parallel to the movable frame (6).

2. The disc-dividing mechanism according to claim 1, characterized in that: The lifting plate (11) is provided with a plurality of connecting arms (13) spaced apart along its circumferential direction. The connecting arms (13) are connected to the lifting plate (11) by fixing bolts (14). The claw arms (3) are provided in a plurality of manner, and the plurality of claw arms (3) are hinged to the connecting arms (13) at intervals along the length direction of the connecting arms (13).

3. The disc-dividing mechanism according to claim 2, characterized in that: The connecting arm (13) is provided with a plurality of mounting slots 1 (15), which are spaced apart along the length of the connecting arm (13); the claw arm (3) is provided with a plurality of mounting slots 2 (16) for mounting suction cups (4), which are spaced apart along the length of the claw arm (3).

4. The disc-dividing mechanism according to claim 1, characterized in that: A lifting guide is provided between the movable frame (6) and the suction cup frame (2). The lifting guide includes a guide post (9) and a guide groove (10). The guide post (9) is arranged in the vertical direction and is slidably connected in the guide groove (10).

5. The disc-dividing mechanism according to claim 1, characterized in that: The lifting drive includes a second lifting cylinder (8), the two ends of which are fixedly connected to the movable frame (6) and the suction cup frame (2), respectively.

6. The disc-dividing mechanism according to claim 1, characterized in that: The pallet claw drive includes a third cylinder (21), the two ends of which are fixedly connected to the suction cup frame (2) and the moving plate (20), respectively.

7. A disc-dividing mechanism according to claim 2, characterized in that: The connecting arm (13) is provided with an adjustment structure for simultaneously adjusting the rotation angle of the claw arm (3). The adjustment structure includes an adjustment rod (22), a lead screw (23), a lead screw nut (24), and a first motor (25) for driving the lead screw (23) to rotate. The lead screw (23) is rotatably connected to the connecting arm (13), and the lead screw nut (24) is threadedly connected to the lead screw (23). The two ends of the adjustment rod (22) are respectively hinged to the claw arm (3) and the lead screw nut (24).

8. A disc-dividing mechanism according to claim 1, characterized in that: The pallet claw drive includes a reciprocating lead screw (26), a lead screw nut (27), and a second motor (28) for driving the reciprocating lead screw (26) to rotate. The reciprocating lead screw (26) is rotatably connected to the suction cup frame (2), the lead screw nut (27) is threadedly connected to the reciprocating lead screw (26), and the moving plate (20) is fixedly connected to the lead screw nut (27).

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