An automatic basket inserting machine

Abstract

The present application relates to the technical field of article inserting basket, especially refers to an automatic inserting basket machine, which comprises a machine table, a turnover inserting basket device, an inserting basket conveying line, a feeding device, a steering conveying mechanism and an output mechanism, the feeding device comprises a feeding disc mechanism, a tray lifting mechanism, a recycled tray conveying mechanism, a tray transfer mechanism, a stacking and collecting tray mechanism arranged above the output part of the recycled tray conveying mechanism and a lifting mechanism arranged in the middle part of the recycled tray conveying mechanism and corresponding to the stacking and collecting tray mechanism, the feeding direction of the feeding disc mechanism is opposite to the conveying direction of the recycled tray conveying mechanism, and the lifting end of the tray lifting mechanism is used for the output end of the feeding disc mechanism. The present application automatically realizes the supply of full-load trays, the stacking and collecting of empty-load trays, the supply of empty-load inserting baskets, the inserting of articles and the steering output of full-load inserting baskets, greatly improves the efficiency of inserting baskets and reduces the labor intensity and cost of manual work.

Description

Technical Field

[0001] This invention relates to the field of object insertion technology, and in particular to an automatic basket insertion machine. Background Technology

[0002] In the process of processing and manufacturing objects, the same object often needs to be processed by multiple processes. After the object has completed a certain process, it often needs to be left to stand still. In order to reduce the space occupied by multiple objects, existing technologies have emerged to place multiple objects on the same carrier, thus giving rise to basket insertion machines for inserting objects into baskets.

[0003] Among existing patents, Chinese patent application number 201822194940.5 discloses a glass basket insertion machine, Chinese patent application number 201920938267.3 discloses an automatic basket insertion machine, and Chinese patent application number 202021952827.X discloses an automatic basket insertion machine. These patents all belong to semi-automatic equipment, with insufficient automation, low production efficiency, and difficulty in meeting modern production needs. Furthermore, the labor intensity and cost of manual labor are relatively high. Therefore, the shortcomings are quite obvious, and a solution is urgently needed. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems, the purpose of this invention is to provide an automatic basket insertion machine.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An automatic basket insertion machine includes a machine base, a basket-turning device mounted on the machine base, a basket-inserting conveyor line located on one side of the basket-turning device, a feeding device located on the other side of the basket-turning device, a steering conveyor mechanism located at the output end of the basket-inserting conveyor line and used for connecting to the output end of the basket-inserting conveyor line, and an output mechanism used for connecting to the output end of the steering conveyor mechanism. The feeding device includes a feeding tray mechanism mounted on the machine base, a tray lifting mechanism located at the output end of the feeding tray mechanism, a recycling tray conveyor mechanism arranged parallel above the feeding tray mechanism, a tray transfer mechanism movably arranged above the lifting end of the tray lifting mechanism and the input part of the recycling tray conveyor mechanism, a stacking and collecting mechanism located above the output part of the recycling tray conveyor mechanism, and a lifting mechanism located in the middle of the recycling tray conveyor mechanism and corresponding to the stacking and collecting mechanism. The feeding direction of the feeding tray mechanism is opposite to the conveying direction of the recycling tray conveyor mechanism, and the lifting end of the tray lifting mechanism is used for the output end of the feeding tray mechanism.

[0006] Furthermore, the basket insertion conveyor line is equipped with a basket insertion station, and the automatic basket insertion machine also includes an object vision inspection mechanism mounted above the lifting end of the material tray lifting mechanism and a basket insertion position vision positioning mechanism mounted above the basket insertion station. Both the object vision inspection mechanism and the basket insertion position vision positioning mechanism are electrically connected to the flipping basket insertion device.

[0007] Furthermore, the basket insertion conveyor line is also equipped with a waiting station. The waiting station and the basket insertion station are arranged sequentially along the direction of basket insertion of the basket insertion conveyor line. The basket insertion blocking mechanism and the waiting blocking mechanism are set in the middle of the basket insertion conveyor line. The basket insertion blocking mechanism is located on the discharge side of the basket insertion station, and the waiting blocking mechanism is located on the discharge side of the waiting station.

[0008] Furthermore, the feeding device is parallel to the basket conveyor line, the basket conveyor line is perpendicular to the output mechanism, the turning conveyor is located at the corner of the basket conveyor line and the output mechanism, and the output mechanism is located at one end of the feeding device.

[0009] Furthermore, the steering and conveying mechanism includes a steering drive mounted on the machine tool, a steering seat mounted on the steering end of the steering drive, a forward and reverse conveying module mounted on the steering seat, and a connecting conveying module mounted on the steering seat and located in the middle of the forward and reverse conveying module. One end of the connecting conveying module extends out of the forward and reverse conveying module, and the conveying direction of the forward and reverse conveying module is the same as that of the connecting conveying module. The forward and reverse conveying module is used to connect with the output end of the basket conveyor line or the input end of the output mechanism.

[0010] Furthermore, the steering conveying mechanism also includes a steering angle limiting structure mounted on the machine base and located on the outside of the steering seat, the steering angle limiting structure being used to limit the steering angle range of the steering seat.

[0011] Furthermore, the flipping basket device includes an articulated manipulator mounted on the machine tool, an object lifting drive mechanism mounted on the actuator end of the articulated manipulator, a connecting seat mounted on the lifting end of the object lifting drive mechanism, a flipping driver mounted on the connecting seat, an L-shaped flipping arm mounted on the flipping end of the flipping driver, and a suction cup assembly mounted on the L-shaped flipping arm.

[0012] Furthermore, the feeding tray mechanism includes two parallel tray conveyor belt groups and a rotation drive module for driving the conveyor belts of the two tray conveyor belt groups to rotate, and the lifting end of the tray lifting mechanism is located between the two tray conveyor belt groups.

[0013] Furthermore, the stacking and receiving mechanism includes two mounting plates respectively installed on both sides of the output section of the recycling tray conveying mechanism, four angle irons respectively installed at both ends of the two mounting plates, and two sets of pallet modules respectively set in the middle of the two mounting plates. The four angle irons are symmetrically arranged in pairs to form a receiving cavity. There is a feeding tray gap between the bottom surface of the angle iron and the conveying surface of the recycling tray conveying mechanism. The bottom surface of the angle iron located at the end of the recycling tray conveying mechanism is provided with a baffle protruding downwards. The baffle extends into the feeding tray gap or the hollow position of the recycling tray conveying mechanism.

[0014] Furthermore, each tray module includes at least one tray assembly. The mounting plate has a recessed inlet on its inner side. The tray assembly includes a base mounted on the center of the base plate, two extension arms parallel to the inner wall of the base and extending into the recess, a rotating block with its inner end rotatably disposed between the two extension arms, a fixed magnet embedded in the inner wall of the base and located between the two extension arms, and a movable magnet embedded in the rotating block. A limiting step is formed between the base and the mounting plate. The limiting step is located at the recess, and the movable magnet is used to repel the fixed magnet. When the rotating block rotates to the upright position, the rotating block is stored between the two extension arms. When the rotating block rotates to the horizontal position, the top surface of the inner end of the rotating block abuts against the limiting step, and the outer end of the rotating block can extend into the receiving cavity.

[0015] The beneficial effects of this invention are as follows: In practical applications, initially, the top surface of the lifting end of the tray lifting mechanism is lower than the feeding surface of the feeding tray mechanism. Multiple trays filled with objects (such as glass sheets) and stacked together form a tray stack. The tray stack is conveyed to the top of the lifting end of the tray lifting mechanism via the feeding tray mechanism. At the same time, the basket conveyor line conveys the baskets to the position corresponding to the flipping basket device. Then, the lifting end of the tray lifting mechanism raises the tray stack so that the top tray of the tray stack is at a preset height. Then, the flipping basket end of the flipping basket device first picks up an object from the tray, then transfers the object to the top of the basket and flips the object from a horizontal state to a vertical state. The object is then vertically inserted into the slot of the basket until all the objects on the top tray are inserted into the basket. Finally, the tray transfer mechanism picks up the empty top tray and transfers it to the recycling material. On the tray conveying mechanism, the recycling tray conveying mechanism transports empty trays to the top of the lifting mechanism and below the stacking and collecting mechanism. Then, the lifting end of the lifting mechanism rises and lifts the empty trays into the stacking and collecting mechanism. The stacking and collecting mechanism supports the trays so that the empty trays are stacked within the stacking and collecting mechanism. At the same time, the lifting end of the tray lifting mechanism drives the trays to stack up to the height of one tray to achieve automated feeding of full-load trays. In addition, when the basket is full of objects, the basket conveyor line transports the full-load basket to the turning conveyor mechanism, while also transporting the empty basket to the position corresponding to the turning basket device. The turning conveyor mechanism rotates the full-load basket by a preset angle to change the direction of the basket so that the direction of the basket corresponds to the output mechanism. Finally, the turning conveyor mechanism transports the basket to the output mechanism, and the output mechanism outputs the full-load basket. This invention automates the supply of full-load pallets, the stacking and unloading of empty pallets, the supply of empty baskets, the insertion of items into baskets, and the turning and output of full-load baskets, greatly improving basket insertion efficiency and reducing manual labor intensity and costs. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the hidden machine platform of the present invention.

[0017] Figure 2 This is a three-dimensional structural diagram of the steering and conveying mechanism of the present invention.

[0018] Figure 3 This is a three-dimensional structural diagram of the flip-up basket device of the present invention.

[0019] Figure 4 This is a three-dimensional structural diagram of the feeding device of the present invention.

[0020] Figure 5 This is a three-dimensional structural diagram of the recycling tray conveying mechanism, lifting mechanism, and stacking tray receiving mechanism of the present invention.

[0021] Figure 6 This is a three-dimensional structural diagram of the mounting plate, angle iron, and tray module of the present invention.

[0022] Figure 7 This is a partial cross-sectional view of the present invention.

[0023] Explanation of reference numerals in the attached figures: 1. Tilting basket insertion device; 2. Basket insertion conveyor line; 3. Feeding device; 4. Steering conveyor mechanism; 5. Output mechanism; 6. Feeding tray mechanism; 7. Tray lifting mechanism; 8. Recycling tray conveyor mechanism; 9. Tray transfer mechanism; 10. Stacking and collecting mechanism; 11. Lifting mechanism; 12. Basket insertion station; 13. Object vision inspection mechanism; 14. Basket insertion position vision positioning mechanism; 15. Waiting station; 16. Basket insertion blocking mechanism; 17. Waiting blocking mechanism; 18. Steering drive; 19. Steering seat; 20. Forward and reverse conveying module; 21. Connecting conveyor module; 22. Rotation 23. Angle limiting structure; 24. Articulated manipulator; 25. Object lifting drive mechanism; 26. Connecting seat; 27. Tilting driver; 28. L-shaped tilting arm; 29. ​​Suction cup assembly; 30. Material tray conveyor belt assembly; 31. Rotation drive module; 32. Mounting plate; 33. Angle iron; 34. Pallet module; 35. Receiving chamber; 36. Feeding tray gap; 37. Baffle; 38. Pallet assembly; 39. Insertion port; 40. Seat; 41. Extension arm; 42. Rotating support block; 43. Fixed magnet; 44. Movable magnet; 45. Limiting step; 46. Object presence / absence detection mechanism. Detailed Implementation

[0024] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0025] like Figures 1 to 7As shown, the present invention provides an automatic basket insertion machine, which includes a machine base, a basket-turning device 1 mounted on the machine base, a basket-inserting conveyor line 2 mounted on the machine base and located on one side of the basket-turning device 1, a feeding device 3 mounted on the machine base and located on the other side of the basket-inserting device 1, a steering conveying mechanism 4 disposed at the output end of the basket-inserting conveyor line 2 and used for connecting to the output end of the basket-inserting conveyor line 2, and an output mechanism 5 used for connecting to the output end of the steering conveying mechanism 4. The feeding device 3 includes a feeding tray mechanism 6 mounted on the machine base, a tray lifting mechanism 7 disposed at the output end of the feeding tray mechanism 6, and parallel... The feeding tray mechanism 6 includes a recycling tray conveying mechanism 8 above the feeding tray mechanism 6, a tray transfer mechanism 9 movably disposed above the lifting end of the tray lifting mechanism 7 and the input part of the recycling tray conveying mechanism 8, a stacking and collecting mechanism 10 disposed above the output part of the recycling tray conveying mechanism 8, and a lifting mechanism 11 disposed in the middle of the recycling tray conveying mechanism 8 and corresponding to the stacking and collecting mechanism 10. The feeding direction of the feeding tray mechanism 6 is opposite to the conveying direction of the recycling tray conveying mechanism 8. The lifting end of the tray lifting mechanism 7 is used to connect to the output end of the feeding tray mechanism 6 or the input part of the recycling tray conveying mechanism 8.

[0026] In practical applications, initially, the top surface of the lifting end of the tray lifting mechanism 7 is lower than the feeding surface of the feeding tray mechanism 6. Multiple trays filled with objects (such as glass sheets) and stacked to form a tray stack are conveyed to the top of the lifting end of the tray lifting mechanism 7 via the feeding tray mechanism 6. At the same time, the basket conveyor line 2 conveys the baskets to the position corresponding to the flipping basket device 1. Then, the lifting end of the tray lifting mechanism 7 raises the tray stack so that the top tray of the tray stack is at a preset height. Then, the flipping basket end of the flipping basket device 1 first picks up an object from the tray, then transfers the object to the top of the basket and flips the object from a horizontal state to a vertical state. The object is then vertically inserted into the slot of the basket until all the objects on the top tray are inserted into the basket. After that, the tray transfer mechanism 9 picks up the empty tray of the top tray and transfers it to the recycling tray conveyor mechanism 8 to recycle the tray. The conveying mechanism 8 transports the empty tray to the top of the lifting mechanism 11 and below the stacking and collecting mechanism 10. Then, the lifting end of the lifting mechanism 11 rises and lifts the empty tray into the stacking and collecting mechanism 10. The stacking and collecting mechanism 10 supports the tray so that the empty tray is stacked within the stacking and collecting mechanism 10. At the same time, the lifting end of the tray lifting mechanism 7 drives the tray to stack up to the height of one tray to achieve automated feeding of the full-load tray. In addition, when the basket is full of objects, the basket conveyor line 2 transports the full-load basket to the turning conveyor 4, and at the same time, it also transports the empty basket to the position corresponding to the flipping basket device 1. The turning conveyor 4 rotates the full-load basket by a preset angle to change the direction of the basket so that the direction of the basket corresponds to the output mechanism 5. Finally, the turning conveyor 4 transports the basket to the output mechanism 5, and the output mechanism 5 outputs the full-load basket. This invention automates the supply of full-load pallets, the stacking and unloading of empty pallets, the supply of empty baskets, the insertion of items into baskets, and the turning and output of full-load baskets, greatly improving basket insertion efficiency and reducing manual labor intensity and costs.

[0027] In this embodiment, the basket insertion conveyor line 2 is provided with a basket insertion station 12, which is correspondingly arranged with the basket flipping device 1. The automatic basket insertion machine also includes an object visual inspection mechanism 13 mounted above the lifting end of the tray lifting mechanism 7 and a basket position visual positioning mechanism 14 mounted above the basket insertion station 12. Both the object visual inspection mechanism 13 and the basket position visual positioning mechanism 14 are electrically connected to the basket flipping device 1.

[0028] In practical applications, the basket conveyor line 2 transports baskets to the basket insertion station 12. The basket position visual positioning mechanism 14 visually positions the slot of the basket and feeds back the visual positioning result to the basket flipping device 1. Simultaneously, the object visual inspection mechanism 13 visually positions the object on the tray and performs appearance inspection (e.g., dimensions, shape integrity) on the objects on the tray, feeding back the visual positioning and appearance inspection results to the basket flipping device 1. This allows the basket flipping device 1 to accurately pick up qualified objects, flip them, and accurately insert them into the slots of the basket. Through the coordinated operation of the object visual inspection mechanism 13, the basket position visual positioning mechanism 14, and the basket flipping device 1, the quality of object insertion into the basket is greatly improved.

[0029] Specifically, the automatic basket insertion machine also includes an object presence / absence detection mechanism 45 installed on the machine base and located between the basket insertion conveyor line 2 and the feeding device 3. The object presence / absence detection mechanism 45 is electrically connected to the basket tilting device 1. In practical applications, after the basket tilting device 1 picks up an object, it moves the object to the object presence / absence detection mechanism 45. The object presence / absence detection mechanism 45 detects the object to determine whether the basket tilting device 1 has picked up an object, thus preventing the basket tilting device 1 from running empty.

[0030] In this embodiment, the basket conveyor line 2 is also provided with a waiting station 15. The waiting station 15 and the basket conveyor station 12 are arranged sequentially along the direction of conveying baskets on the basket conveyor line 2. The middle part of the basket conveyor line 2 is provided with a basket blocking mechanism 16 and a waiting blocking mechanism 17. The basket blocking mechanism 16 is located on the discharge side of the basket conveyor station 12, and the waiting blocking mechanism 17 is located on the discharge side of the waiting station 15.

[0031] In practical applications, the basket conveyor line 2 transports baskets, so that the basket at waiting station 15 is transported to basket station 12 and blocked by basket blocking mechanism 16, thereby improving the positional accuracy and stability of the basket at basket station 12. At the same time, a basket is transported to waiting station 15 and blocked by waiting blocking mechanism 17. Waiting station 15 can temporarily store baskets, and waiting blocking mechanism 17 blocks baskets, thereby improving the positional accuracy and stability of baskets at waiting station 15.

[0032] Specifically, the width of the basket conveyor line 2 is adjustable to accommodate baskets of different widths and sizes.

[0033] In this embodiment, the feeding device 3 is parallel to the basket conveyor line 2, the basket conveyor line 2 is perpendicular to the output mechanism 5, the turning conveyor mechanism 4 is located at the corner of the basket conveyor line 2 and the output mechanism 5, and the output mechanism 5 is located at one end of the feeding device 3. This structural design is reasonable and compact, reducing the occupied area and facilitating the connection of the feeding tray mechanism 6, the basket conveyor line 2, and the output mechanism 5 with different external equipment to form an automated production line.

[0034] In this embodiment, the steering and conveying mechanism 4 includes a steering driver 18 mounted on the machine tool, a steering seat 19 mounted on the steering end of the steering driver 18, a forward and reverse conveying module 20 disposed on the steering seat 19, and a connecting conveying module 21 mounted on the steering seat 19 and located in the middle of the forward and reverse conveying module 20. One end of the connecting conveying module 21 extends out of the forward and reverse conveying module 20. The conveying direction of the forward and reverse conveying module 20 is the same as that of the connecting conveying module 21. The forward and reverse conveying module 20 is used to connect with the output end of the basket conveying line 2 or the input end of the output mechanism 5. Specifically, the steering driver 18 can be a rotary cylinder or a motor, and both the forward and reverse conveying module 20 and the connecting conveying module 21 can be conveyor belt modules. The forward and reverse conveying module 20 and the connecting conveying module 21 can rotate forward or reverse according to actual control.

[0035] Initially, the forward and reverse conveying module 20 is connected to the basket conveying line 2. The basket conveying line 2 transports the fully loaded basket towards the steering conveying mechanism 4. During the process of transporting the basket to the steering conveying mechanism 4, the basket is first transported to the connecting conveying module 21. The connecting conveying module 21 supports and transports the middle part of the basket, and then gradually transitions to the forward and reverse conveying module 20. When the basket is located on the forward and reverse conveying module 20, the steering driver 18 drives the steering seat 19 to rotate the forward and reverse conveying module 20 and the connecting conveying module 21 synchronously by 90°, so that the forward and reverse conveying module 20 is connected to the output mechanism 5. Then, the forward and reverse conveying module 20 transports the fully loaded basket towards the output mechanism 5. During the process of transporting the basket to the output mechanism 5, the basket is first transported to the connecting conveying module 21. The connecting conveying module 21 supports and transports the middle part of the basket, and then gradually transitions to the output mechanism 5. This structural design not only changes the conveying direction of the basket, making the machine's structural layout more compact, but also improves the stability of conveying the basket between the basket conveying line 2 and the forward and reverse conveying module 20, as well as between the forward and reverse conveying module 20 and the output mechanism 5, by setting up a connecting conveying module 21 for transitional conveying of the basket, thus avoiding the problem of conveying bumps.

[0036] In this embodiment, the steering conveying mechanism 4 also includes a steering angle limiting structure 22 installed on the machine base and located on the outside of the steering seat 19. The steering angle limiting structure 22 is used to limit the steering angle range of the steering seat 19, ensuring that the steering seat 19 can only reciprocate within a 90° range. This improves the accuracy of the connection between the forward and reverse conveying module 20 and the basket conveying line 2, and also improves the accuracy of the connection between the forward and reverse conveying module 20 and the output mechanism 5.

[0037] Specifically, the steering angle limiting structure 22 includes a fixed base installed on the machine tool and two limiting dampers respectively installed on the fixed base. The two limiting dampers are vertically arranged. One limiting damper is used to abut one side of the steering seat 19, and the other limiting damper is used to abut one side of the other side of the steering seat 19.

[0038] In practical applications, when the forward and reverse conveying module 20 is connected to the basket conveying line 2, one end of the steering seat 19 abuts against a limit damper; when the forward and reverse conveying module 20 is connected to the output mechanism 5, the other end of the steering seat 19 abuts against another limit damper.

[0039] In this embodiment, the flipping basket device 1 includes an articulated manipulator 23 mounted on the machine base, an object lifting drive mechanism 24 mounted on the execution end of the articulated manipulator 23, a connecting seat 25 mounted on the lifting end of the object lifting drive mechanism 24, a flipping driver 26 mounted on the connecting seat 25, an L-shaped flipping arm 27 mounted on the flipping end of the flipping driver 26, and a suction cup assembly 28 mounted on the L-shaped flipping arm 27; specifically, the flipping driver 26 can be a rotary cylinder or a motor.

[0040] In practical applications, the articulated manipulator 23 and the object lifting drive mechanism 24 work together to enable the suction cup assembly 28 to move in different positions. The suction cup assembly 28 is used to pick up objects. The flip driver 26 drives the L-shaped flip arm 27 to flip along with the suction cup assembly 28, so that the suction cup assembly 28 can switch between a vertical and a horizontal state. When the suction cup assembly 28 picks up an object, the L-shaped flip arm 27 is in a vertical state and the object is in a horizontal state. Before inserting the object into the basket, the L-shaped flip arm 27 flips to a horizontal state and the object is in a vertical state. The object lifting drive mechanism 24 drives the suction cup assembly 28 to descend along with the object so that the vertically positioned object can be inserted into the slot of the basket.

[0041] Specifically, the connecting seat 25 is equipped with a limiting block, which is used to abut one side of the L-shaped flip arm 27. In practical applications, when the flip driver 26 drives the L-shaped flip arm 27 to rotate from a horizontal state to a vertical state, one side of the L-shaped flip arm 27 abuts against the limiting block to limit the position of the L-shaped flip arm 27, thereby ensuring the positional accuracy of the L-shaped flip arm 27 in the vertical state. This ensures that the suction surface of the suction cup assembly 28 has good horizontality, and the suction surface of the suction cup assembly 28 can closely fit the plane of the object, thus enabling stable suction of the object.

[0042] In this embodiment, the feeding tray mechanism 6 includes two parallel tray conveyor belt groups 29 and a rotation drive module 30 for driving the conveyor belts of the two tray conveyor belt groups 29 to rotate. The lifting end of the tray lifting mechanism 7 is located between the two tray conveyor belt groups 29. In practical applications, the rotation drive module 30 drives the conveyor belts of the two tray conveyor belt groups 29 to rotate, so that the two tray conveyor belt groups 29 convey the tray stack to the lifting end of the tray lifting mechanism 7. Since the lifting end of the tray lifting mechanism 7 is located between the two tray conveyor belt groups 29, it not only makes the structure of the tray lifting mechanism 7 and the feeding tray mechanism 6 compact, but also facilitates the feeding tray mechanism 6 to convey the tray stack to the lifting end of the tray lifting mechanism 7.

[0043] In this embodiment, the stacking and collecting mechanism 10 includes two mounting plates 31 respectively installed on both sides of the output section of the recycling tray conveying mechanism 8, four angle irons 32 respectively installed at both ends of the two mounting plates 31, and two sets of tray modules 33 respectively set in the middle of the two mounting plates 31. The four angle irons 32 are symmetrically arranged in pairs to form a collecting cavity 34. There is a feeding tray gap 35 between the bottom surface of the angle iron 32 and the conveying surface of the recycling tray conveying mechanism 8. The bottom surface of the angle iron 32 at the end of the recycling tray conveying mechanism 8 is provided with a baffle 36 protruding downward. The baffle 36 extends into the feeding tray gap 35 or the hollow position of the recycling tray conveying mechanism 8.

[0044] Specifically, each tray module 33 includes at least one tray assembly 37. The mounting plate 31 has a recessed inlet 38 on its inner side. The tray assembly 37 includes a base 39 mounted in the middle of the base plate, two extension arms 40 parallel to the inner wall of the base 39 and extending into the recess 38, a rotating support block 41 rotatably disposed between the two extension arms 40, a fixed magnet 42 embedded in the inner wall of the base 39 and located between the two extension arms 40, and a movable magnet 42 embedded in the rotating support block 41. 3. A limiting step 44 is formed between the base 39 and the mounting plate 31. The limiting step 44 is located at the insertion opening 38. The movable magnet 43 is used to repel the fixed magnet 42. When the rotating block 41 is rotated to the upright state, the rotating block 41 is stored between the two extension arms 40. When the rotating block 41 is rotated to the horizontal state, the top surface of the inner end of the rotating block 41 abuts against the limiting step 44, and the outer end of the rotating block 41 can extend into the receiving cavity 34. In the initial state, the rotating block 41 is in the horizontal state.

[0045] In practical applications, the tray transfer mechanism 9 places the empty tray at the feed end of the recycling tray conveying mechanism 8. The recycling tray conveying mechanism 8 conveys the tray, causing it to move into the tray feeding gap. At this time, the tray is located between the lifting end of the lifting mechanism 11 and the bottom port of the receiving cavity 34. Then, the lifting end of the lifting mechanism 11 lifts the tray upward, causing the tray to separate from the conveying surface of the recycling tray conveying mechanism 8 and enter the receiving cavity 34. As the tray moves upward into the receiving cavity 34, both sides of the tray abut against the outer bottom surface of the rotating support blocks 41 of the two sets of tray modules 33, causing the rotating support blocks 41 to... 1. Flip upwards, so that the rotating support block 41 rotates to an upright state and is stored between the two extension arms 40. When the bottom surface of the tray is higher than the top of the rotating support block 41 after flipping upwards, the fixed magnet 42 and the movable magnet 43 repel each other, so that the rotating support block 41 flips downwards until the inner top surface of the rotating support block 41 abuts against the limiting step 44. The rotating support block 41 rotates to a horizontal state. Finally, the lifting end of the lifting mechanism 11 descends, so that the tray is placed on the rotating support block 41 of the two sets of tray modules 33. Repeat the above operation to stack the tray in the receiving cavity 34 of the stacking and receiving mechanism 10. The stacking and tray-collecting mechanism 10 has a simple and ingenious structure, low cost, and facilitates the stacking of trays. By using the mutual repulsion between the fixed magnet 42 and the movable magnet 43, the rotating support block 41 can be flipped downward normally. Furthermore, the limiting step 44 limits the inner end of the downward-flipping rotating support block 41, ensuring the positional accuracy and stability of the rotating support block 41 when it flips downward and resets.

[0046] All technical features in this embodiment can be freely combined according to actual needs.

[0047] The above embodiments are preferred implementations of the present invention. In addition, the present invention can be implemented in other ways. Any obvious substitutions without departing from the concept of the present technical solution are within the protection scope of the present invention.

Claims

1. An automatic basket inserting machine, characterized in that: The system includes a machine base, an object detection mechanism (45), a rotating basket device (1) installed on the machine base, a basket conveyor line (2) located on one side of the rotating basket device (1), a feeding device (3) located on the other side of the rotating basket device (1), a steering conveyor mechanism (4) located at the output end of the basket conveyor line (2) and used to connect with the output end of the basket conveyor line (2), and an output mechanism (5) used to connect with the output end of the steering conveyor mechanism (4). The feeding device (3) includes a feeding tray mechanism (6) installed on the machine base, a tray lifting mechanism (7) located at the output end of the feeding tray mechanism (6), a recycling tray conveyor mechanism (8) arranged parallel above the feeding tray mechanism (6), and a lifting mechanism movably arranged on the tray lifting mechanism (7). The tray transfer mechanism (9) is located above the input section of the recycling tray conveying mechanism (8), the stacking and collecting mechanism (10) is located above the output section of the recycling tray conveying mechanism (8), and the lifting mechanism (11) is located in the middle of the recycling tray conveying mechanism (8) and is corresponding to the stacking and collecting mechanism (10). The feeding direction of the feeding tray mechanism (6) is opposite to the conveying direction of the recycling tray conveying mechanism (8). The lifting end of the tray lifting mechanism (7) is used to connect the output end of the feeding tray mechanism (6) or the input section of the recycling tray conveying mechanism (8). The presence or absence of an object detection mechanism (45) is installed on the machine and located between the basket conveying line (2) and the feeding device (3). The presence or absence of an object detection mechanism (45) is electrically connected to the flipping basket device (1).

2. The automatic basket insertion machine according to claim 1, characterized in that: The basket insertion conveyor line (2) is equipped with a basket insertion station (12). The automatic basket insertion machine also includes an object visual inspection mechanism (13) mounted above the lifting end of the material tray lifting mechanism (7) and a basket insertion position visual positioning mechanism (14) mounted above the basket insertion station (12). The object visual inspection mechanism (13) and the basket insertion position visual positioning mechanism (14) are both electrically connected to the flipping basket insertion device (1).

3. An automatic basket inserting machine according to claim 2, characterized in that: The basket conveyor line (2) is also equipped with a waiting station (15). The waiting station (15) and the basket conveyor station (12) are arranged in sequence along the direction of conveying baskets on the basket conveyor line (2). The basket conveyor line (2) is equipped with a basket blocking mechanism (16) and a waiting blocking mechanism (17) in the middle. The basket blocking mechanism (16) is located on the discharge side of the basket conveyor station (12), and the waiting blocking mechanism (17) is located on the discharge side of the waiting station (15).

4. An automatic basket insertion machine according to claim 1, characterized in that: The feeding device (3) is parallel to the basket conveyor line (2), the basket conveyor line (2) is perpendicular to the output mechanism (5), the turning conveyor (4) is located at the corner of the basket conveyor line (2) and the output mechanism (5), and the output mechanism (5) is located at one end of the feeding device (3).

5. An automatic basket inserting machine according to claim 1, characterized in that: The steering and conveying mechanism (4) includes a steering drive (18) mounted on the machine tool, a steering seat (19) mounted on the steering end of the steering drive (18), a forward and reverse conveying module (20) mounted on the steering seat (19), and a connecting conveying module (21) mounted on the steering seat (19) and located in the middle of the forward and reverse conveying module (20). One end of the connecting conveying module (21) extends out of the forward and reverse conveying module (20). The conveying direction of the forward and reverse conveying module (20) is the same as the conveying direction of the connecting conveying module (21). The forward and reverse conveying module (20) is used to connect with the output end of the basket conveying line (2) or the input end of the output mechanism (5).

6. An automatic basket insertion machine according to claim 5, characterized in that: The steering conveying mechanism (4) also includes a steering angle limiting structure (22) installed on the machine base and located on the outside of the steering seat (19). The steering angle limiting structure (22) is used to limit the steering angle range of the steering seat (19). The steering angle limiting structure (22) includes a fixed seat installed on the machine base and two limiting dampers respectively installed on the fixed seat. The two limiting dampers are vertically arranged. One limiting damper is used to abut one side of the steering seat (19), and the other limiting damper is used to abut the other side of the steering seat (19).

7. An automatic basket inserting machine according to claim 1, characterized in that: The flip basket device (1) includes an articulated manipulator (23) mounted on the machine tool, an object lifting drive mechanism (24) mounted on the execution end of the articulated manipulator (23), a connecting seat (25) mounted on the lifting end of the object lifting drive mechanism (24), a flip drive (26) mounted on the connecting seat (25), an L-shaped flip arm (27) mounted on the flip end of the flip drive (26), and a suction cup assembly (28) mounted on the L-shaped flip arm (27); the connecting seat (25) is equipped with a limiting block, which is used to abut one side of the L-shaped flip arm (27).

8. An automatic basket insertion machine according to claim 1, characterized in that: The feeding tray mechanism (6) includes two parallel tray conveyor belt groups (29) and a rotation drive module (30) for driving the conveyor belts of the two tray conveyor belt groups (29) to rotate. The lifting end of the tray lifting mechanism (7) is located between the two tray conveyor belt groups (29).

9. An automatic basket insertion machine according to claim 1, characterized in that: The stacking and receiving mechanism (10) includes two mounting plates (31) respectively installed on both sides of the output section of the recycling tray conveying mechanism (8), four angle irons (32) respectively installed at both ends of the two mounting plates (31), and two sets of pallet modules (33) respectively set in the middle of the two mounting plates (31). The four angle irons (32) are symmetrically arranged in pairs to form a receiving cavity (34). There is a feeding tray gap (35) between the bottom surface of the angle iron (32) and the conveying surface of the recycling tray conveying mechanism (8). The bottom surface of the angle iron (32) at the end of the recycling tray conveying mechanism (8) is provided with a baffle (36) protruding downward. The baffle (36) extends into the feeding tray gap (35) or the hollow position of the recycling tray conveying mechanism (8).

10. An automatic basket inserting machine according to claim 9, characterized in that: Each tray module (33) includes at least one tray assembly (37). The mounting plate (31) has a recessed inlet (38) on the inner side of its center. The tray assembly (37) includes a base (39) mounted in the center of the base plate, two extension arms (40) arranged parallel to the inner wall of the base (39) and extending into the recess (38), a rotating block (41) with its inner end rotatably disposed between the two extension arms (40), a fixed magnet (42) embedded in the inner wall of the base (39) and located between the two extension arms (40), and a movable magnet (43) embedded in the rotating block (41). A limiting step (44) is formed between the base (39) and the mounting plate (31). The limiting step (44) is located at the insertion opening (38). The movable magnet (43) is used to repel the fixed magnet (42). When the rotating block (41) rotates to the upright state, the rotating block (41) is stored between the two extension arms (40). When the rotating block (41) rotates to the horizontal state, the top surface of the inner end of the rotating block (41) abuts against the limiting step (44), and the outer end of the rotating block (41) can extend into the receiving cavity (34). In the initial state, the rotating block (41) is in the horizontal state.

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