Automatic tray loading and material taking machine for products

Abstract

The utility model relates to the field of product taking and placing equipment, in particular to an automatic tray loading and material taking machine for products. The tray loading and material taking machine comprises a horizontal product conveying mechanism, a multi-axis mechanical arm, a product grabbing mechanism, a tray pushing mechanism, a tray positioning mechanism, a product aligning mechanism, a tray lifting mechanism and a tray stacking mechanism, and the horizontal product conveying mechanism, the tray lifting mechanism and the tray stacking mechanism are sequentially arranged on a machine table. The multi-axis mechanical arm is located above the product horizontal conveying mechanism and the tray lifting mechanism, and a product grabbing mechanism and a tray pushing mechanism are installed on the multi-axis mechanical arm. Products are conveyed through the product horizontal conveying mechanism, the product grabbing mechanism is driven by the multi-shaft mechanical arm to carry the products, and trays are pushed through the tray pushing mechanism. And passing. The tray positioning mechanism is used for positioning the tray at an accurate working position, and the products in the tray are patted and aligned through the product patting and aligning mechanism. And the trays are stacked one by one through the tray stacking mechanism. The product taking and placing efficiency is improved, and the cost is saved.

Description

Technical Field

[0001] The utility model relates to the field of product taking and placing equipment, in particular to an automatic product loading and unloading machine. Background Art

[0002] During the production process, products need to be neatly loaded onto trays or taken out of trays. However, the existing loading of products onto trays or taking out of products from trays is done manually, which is inefficient and has high labor costs. Utility Model Content

[0003] The technical problem to be solved by the utility model is: in order to solve the technical problem described in the background technology, the utility model provides a product automatic tray loading and unloading machine. Products are transported by a product horizontal conveying mechanism, the product grabbing mechanism is driven by a multi-axis manipulator to move the product, and the tray is pushed by a tray pushing mechanism. Through. The tray positioning mechanism positions the tray at the accurate working position, and the product alignment mechanism aligns the products in the tray. The tray stacking mechanism allows the trays to be stacked one by one. The application improves the efficiency of product picking and placing and saves costs.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A product automatic pallet loading and unloading machine comprises a product horizontal conveying mechanism, a multi-axis manipulator, a product grasping mechanism, a pallet pushing mechanism, a pallet positioning mechanism, a product aligning mechanism, a pallet lifting mechanism, and a pallet stacking mechanism, wherein the product horizontal conveying mechanism, the pallet lifting mechanism, and the pallet stacking mechanism are sequentially arranged on a machine platform, the multi-axis manipulator is located above the product horizontal conveying mechanism and the pallet lifting mechanism, the multi-axis manipulator is equipped with a product grasping mechanism and a pallet pushing mechanism, and the left and right ends of the pallet lifting mechanism are equipped with a pallet positioning mechanism and a product aligning mechanism.

[0006] Specifically, the multi-axis manipulator includes a horizontal linear module and a lifting linear module. The cylinder of the horizontal linear module is fixed on the machine platform through a bracket, and the lifting linear module is fixed on the slide seat of the horizontal linear module.

[0007] Specifically, the product grasping mechanism includes a cross frame and a suction cup, a plurality of suction cups are sequentially mounted on the cross frame, and the cross frame is fixed on a slide seat of a lifting linear module.

[0008] Specifically, the tray pushing mechanism includes a push plate and a push plate lifting cylinder. The cylinder body of the push plate lifting cylinder is fixed on the slide seat of the lifting linear module, and the piston rod of the push plate lifting cylinder is fixed on the push plate.

[0009] Specifically, the pallet positioning mechanism includes a splint, a pressure block, a splint horizontal driving cylinder, and a pressure block lifting cylinder. Two splint horizontal driving cylinders are fixed on the machine platform. The splint is fixed on the piston rod of the splint horizontal driving cylinder, the pressure block lifting cylinder is fixed on the splint, and the pressure block is fixed on the piston rod of the pressure block lifting cylinder.

[0010] Specifically, the product alignment mechanism includes a product push plate, a product push plate lifting cylinder, and a push plate horizontal driving cylinder. Two push plate horizontal driving cylinders are fixed on the machine platform. The product push plate lifting cylinder is fixed on the piston rod of the push plate horizontal driving cylinder, and the product push plate is fixed on the piston rod of the product push plate lifting cylinder.

[0011] Specifically, the tray lifting mechanism includes a bracket and a bracket lifting linear module, and the bracket is fixed on the slide seat of the bracket lifting linear module.

[0012] Specifically, the pallet stacking mechanism includes a pallet, a pallet lifting cylinder, and a support block. Two supports and two pallet lifting cylinders are fixed on the machine platform. The support block is hinged on the support. A torsion spring is connected between the support block and the support. The pallet is fixed on the piston rod of the pallet lifting cylinder.

[0013] Specifically, the product horizontal conveying mechanism is a belt conveyor.

[0014] The beneficial effects of the utility model are as follows: the utility model provides an automatic product loading and unloading machine. Products are transported by a product horizontal conveying mechanism, products are moved by a multi-axis manipulator driving a product grabbing mechanism, and a pallet is pushed by a pallet pushing mechanism. The pallet is positioned at an accurate working position by a pallet positioning mechanism, and the products in the pallet are aligned by a product aligning mechanism. The pallets are stacked one by one by a pallet stacking mechanism. The application improves the efficiency of product taking and placing, and saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is a structural schematic diagram of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the product grabbing mechanism and the tray pushing mechanism of the utility model;

[0018] Figure 3 It is a structural schematic diagram of the tray positioning mechanism and product alignment mechanism of the utility model;

[0019] Figure 4 It is a schematic diagram of the structure of the tray lifting mechanism and the tray stacking mechanism of the utility model;

[0020] In the figure, 1. Product horizontal conveying mechanism, 2. Multi-axis manipulator, 3. Product grabbing mechanism, 4. Tray pushing mechanism,

[0021] 5. Pallet positioning mechanism, 6. Product alignment mechanism, 7. Pallet lifting mechanism, 8. Pallet stacking mechanism, 41. Push plate, 42. Push plate lifting cylinder, 51. Clamp, 52. Press block, 53. Clamp horizontal drive cylinder, 54. Press block lifting cylinder, 61. Product push plate, 62. Product push plate lifting cylinder, 63. Push plate horizontal drive cylinder, 81. Pallet, 82. Pallet lifting cylinder, 83. Support block. DETAILED DESCRIPTION

[0022] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0023] Figure 1 It is a structural schematic diagram of the utility model; Figure 2 The utility model is a product grabbing mechanism and a tray pushing machine.

[0024] Schematic diagram of the structure; Figure 3 It is a structural schematic diagram of the tray positioning mechanism and product alignment mechanism of the utility model; Figure 4 The utility model is a schematic diagram of the structure of the tray lifting mechanism and the tray stacking mechanism.

[0025] As attached Figure 1 As shown, an automatic product loading and unloading machine includes a product horizontal conveying mechanism 1, a multi-axis manipulator 2, a product grasping mechanism 3, a pallet pushing mechanism 4, a pallet positioning mechanism 5, a product aligning mechanism 6, a pallet lifting mechanism 7, and a pallet stacking mechanism 8. The product horizontal conveying mechanism 1, the pallet lifting mechanism 7, and the pallet stacking mechanism 8 are sequentially arranged on the machine platform, the multi-axis manipulator 2 is located above the product horizontal conveying mechanism 1 and the pallet lifting mechanism 7, the multi-axis manipulator 2 is equipped with a product grasping mechanism 3 and a pallet pushing mechanism 4, and the pallet positioning mechanism 5 and the product aligning mechanism 6 are installed on both ends of the pallet lifting mechanism 7.

[0026] The multi-axis manipulator 2 includes a horizontal linear module and a lifting linear module. The cylinder of the horizontal linear module is fixed on the machine platform through a bracket, and the lifting linear module is fixed on the slide of the horizontal linear module.

[0027] The horizontal linear module can drive the product grabbing mechanism 3 and the tray pushing mechanism 4 to move horizontally and linearly, and the lifting linear module can drive the product grabbing mechanism 3 and the tray pushing mechanism 4 to move up and down.

[0028] The product grabbing mechanism 3 includes a horizontal frame and a suction cup, on which a plurality of suction cups are sequentially mounted, and the horizontal frame is fixed on the slide of the lifting linear module. The suction cup generates negative pressure suction through a vacuum pump, and can suck a row of products at a time.

[0029] As attached Figure 2 As shown, the tray pushing mechanism 4 includes a push plate 41 and a push plate lifting cylinder 42 . The cylinder body of the push plate lifting cylinder 42 is fixed on the slide seat of the lifting linear module, and the piston rod of the push plate lifting cylinder 42 is fixed on the push plate 41 .

[0030] The push plate lifting cylinder 42 can drive the push plate 41 to move up and down. When the product grasping mechanism 3 is used to grasp the product, the push plate 41 moves up to a height higher than the suction cup. When the push plate 41 is used to push the tray, the push plate 41 is lowered to a height lower than the suction cup.

[0031] As attached Figure 3 As shown, the pallet positioning mechanism 5 includes a clamping plate 51, a pressing block 52, a clamping plate horizontal driving cylinder 53, and a pressing block lifting cylinder 54. Two clamping plate horizontal driving cylinders 53 are fixed on the machine platform, the clamping plate 51 is fixed on the piston rod of the clamping plate horizontal driving cylinder 53, the pressing block lifting cylinder 54 is fixed on the clamping plate 51, and the pressing block 52 is fixed on the piston rod of the pressing block lifting cylinder 54. The clamping plate 51 is an L-shaped plate body.

[0032] When the tray moves between the two clamping plates 51 , the two clamping plate horizontal driving cylinders 53 drive the two clamping plates 51 to move toward the tray respectively, so as to center the tray. Finally, the pressing block lifting cylinder 54 drives the pressing block 52 to press the side of the tray against the clamping plate 51 .

[0033] The product alignment mechanism 6 includes a product push plate 61, a product push plate lifting cylinder 62, and a push plate horizontal driving cylinder 63. Two push plate horizontal driving cylinders 63 are fixed on the machine platform. The product push plate lifting cylinder 62 is fixed on the piston rod of the push plate horizontal driving cylinder 63, and the product push plate 61 is fixed on the piston rod of the product push plate lifting cylinder 62.

[0034] After the product is placed on the pallet, the product push plate lifting cylinder 62 drives the product push plate 61 to rise and fall to a set height, and then the two push plate horizontal driving cylinders 63 respectively push the two product push plates 61 to move horizontally toward the middle product, thereby aligning the products on the pallet.

[0035] The tray lifting mechanism 7 comprises a bracket and a bracket lifting linear module, and a bracket is fixed on a slide seat of the bracket lifting linear module. A stack of trays is placed on the bracket, and the bracket lifting linear module can drive the bracket and the stack of trays on the bracket to move up and down.

[0036] As attached Figure 4As shown, the pallet stacking mechanism 8 includes a pallet 81, a pallet lifting cylinder 82, and a support block 83. Two supports and two pallet lifting cylinders 82 are fixed on the machine platform. The support block 83 is hinged on the support. A torsion spring is connected between the support block 83 and the support. The pallet 81 is fixed on the piston rod of the pallet lifting cylinder 82.

[0037] In the initial state, the support plane of the support block 83 is horizontal, and the protrusion at the bottom of the support block 83 is against the support, so that the support block 83 cannot continue to rotate downward. When a pallet is pushed forward onto the two pallets 81, the pallet is located below the support blocks 83 on both sides. Then the pallet lifting cylinder 82 drives the pallet 81 to push the pallet upward. During the upward movement of the pallet, it will push the support block 83 to rotate upward, so that the pallet passes over the support block 83 and rises above the support block 83. After the support block 83 is out of contact with the pallet, the torsion spring rebounds and drives the support block 83 to rotate in the opposite direction and reset to a horizontal state, and then the pallet is lowered and placed on the two support blocks 83. Then, after the second pallet is moved onto the two pallets 81, the second pallet can be raised and stacked with the first pallet in the above manner, and then placed on the pallet 81. Repeat the above steps to stack all the pallets together.

[0038] The product horizontal conveying mechanism 1 is a belt conveyor.

[0039] The working method of the present application is as follows: when the product is to be placed on a pallet, first place the product on the product horizontal conveying mechanism 1, and the product horizontal conveying mechanism 1 moves the product horizontally to the pickup position. Then a stack of empty pallets is raised by the pallet lifting mechanism 7, and when the highest pallet is raised to its position, the multi-axis manipulator 2 drives the push plate 41 to move into the pallet and push the pallet to the set station. At this time, the left and right pallet positioning mechanisms 5 clamp the pallet in place. Then the multi-axis manipulator 2 drives the product grasping mechanism 3 to suck the product, and put the product into the pallet, and then the product aligning mechanism 6 aligns the products in the pallet. Then the pallet positioning mechanism 5 releases the pallet, and the push plate 41 pushes the pallet into the pallet stacking mechanism 8. Repeating the above steps, you can continue to load products into several pallets, and gradually stack the pallets loaded with products.

[0040] When the product needs to be taken out, the stacked trays containing the products only need to be placed on the tray lifting mechanism 7, which will lift the trays one by one to the taking position. After the tray positioning mechanism 5 positions the tray, the product grabbing mechanism 3 grabs the product from the tray and places it on the product horizontal conveying mechanism 1. The trays after taking out the products are pushed into the tray stacking mechanism 8 by the pushing plate 41 and stacked.

[0041] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A product automatic tray loading and unloading machine, characterized in that: The invention comprises a product horizontal conveying mechanism (1), a multi-axis manipulator (2), a product grasping mechanism (3), a pallet pushing mechanism (4), a pallet positioning mechanism (5), a product aligning mechanism (6), a pallet lifting mechanism (7), and a pallet stacking mechanism (8). The product horizontal conveying mechanism (1), the pallet lifting mechanism (7), and the pallet stacking mechanism (8) are sequentially arranged on a machine platform. The multi-axis manipulator (2) is located above the product horizontal conveying mechanism (1) and the pallet lifting mechanism (7). The multi-axis manipulator (2) is provided with a product grasping mechanism (3) and a pallet pushing mechanism (4). The pallet positioning mechanism (5) and the product aligning mechanism (6) are both provided at the left and right ends of the pallet lifting mechanism (7).

2. The automatic product loading and unloading machine according to claim 1 is characterized in that: The multi-axis manipulator (2) comprises a horizontal linear module and a lifting linear module. The cylinder of the horizontal linear module is fixed on the machine platform through a bracket, and the lifting linear module is fixed on the slide seat of the horizontal linear module.

3. The automatic product loading and unloading machine according to claim 2 is characterized in that: The product grabbing mechanism (3) comprises a cross frame and a suction cup, a plurality of suction cups are sequentially mounted on the cross frame, and the cross frame is fixed on a slide seat of a lifting linear module.

4. The automatic product loading and unloading machine according to claim 2 is characterized in that: The tray pushing mechanism (4) comprises a push plate (41) and a push plate lifting cylinder (42); the cylinder body of the push plate lifting cylinder (42) is fixed on a slide seat of a lifting linear module, and the piston rod of the push plate lifting cylinder (42) is fixed on the push plate (41).

5. The automatic product loading and unloading machine according to claim 1 is characterized in that: The tray positioning mechanism (5) comprises a clamping plate (51), a pressure block (52), a clamping plate horizontal driving cylinder (53), and a pressure block lifting cylinder (54); two clamping plate horizontal driving cylinders (53) are fixed on the machine platform; the clamping plate (51) is fixed on the piston rod of the clamping plate horizontal driving cylinder (53); the pressure block lifting cylinder (54) is fixed on the clamping plate (51); and the pressure block (52) is fixed on the piston rod of the pressure block lifting cylinder (54).

6. The automatic product loading and unloading machine according to claim 1 is characterized by: The product alignment mechanism (6) comprises a product push plate (61), a product push plate lifting cylinder (62), and a push plate horizontal driving cylinder (63). Two push plate horizontal driving cylinders (63) are fixed on the machine platform. The product push plate lifting cylinder (62) is fixed on the piston rod of the push plate horizontal driving cylinder (63), and the product push plate (61) is fixed on the piston rod of the product push plate lifting cylinder (62).

7. The automatic product loading and unloading machine according to claim 1 is characterized in that: The tray lifting mechanism (7) comprises a bracket and a bracket lifting linear module, and the bracket is fixed on the slide seat of the bracket lifting linear module.

8. The automatic product loading and unloading machine according to claim 1 is characterized by: The tray stacking mechanism (8) comprises a tray (81), a tray lifting cylinder (82), and a support block (83). Two supports and two tray lifting cylinders (82) are fixed on the machine platform. The support block (83) is hinged on the support. A torsion spring is connected between the support block (83) and the support. The tray (81) is fixed on the piston rod of the tray lifting cylinder (82).

9. The automatic product loading and unloading machine according to claim 1 is characterized in that: The product horizontal conveying mechanism (1) is a belt conveyor.

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