Auxiliary manipulator blanking equipment

Abstract

The utility model discloses an auxiliary manipulator blanking device which comprises a device support, a feeding device, a feeding device, a discharging device, a feeding device, a feeding device, a discharging device, a feeding device and a discharging device, and the device support comprises a placing area frame and a discharging area frame, and a hard table top is fixed on the placing area frame; the two material tray lifting devices are symmetrically fixed to the two outer sides of the containing area frame, each material tray lifting device comprises a material tray lifting assembly and a material tray bearing assembly, and the two material tray bearing assemblies are oppositely arranged and jointly bear a material tray above the containing area frame; the two material disc lowering devices are symmetrically fixed to the two inner sides of the discharging area frame, the material disc lowering devices vertically move through the vertical transmission assemblies on the corresponding sides, and the two material disc lowering devices are oppositely arranged and jointly bear the material disc above the discharging area frame; according to the full-automatic feeding and discharging device, multiple sets of air cylinders are used for cooperative work, stacked material trays are conveyed to a discharging area one by one in a full-automatic mode and stacked after discharging is completed, and the discharging efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of mechanical part fixtures. More specifically, the utility model relates to an auxiliary robot blanking device. Background Art

[0002] In the automated production process of sanitary ware equipment parts, the production line often uses a robot to stack the processed parts one by one in the material tray, and then manual workers stack and carry the full material trays. In the actual production process, since the material tray after stacking the parts is heavy, and every time a material tray is stacked, it is necessary for the manual worker to immediately move this material tray and replace it with an empty material tray. This process is difficult to complete in a short time, and the robot often needs to stop and wait, making it difficult for the production line to achieve the ideal efficiency.

[0003] The patent with the publication number CN108326548A discloses an automatic loading and unloading recycling device. The ejector device ejects the material tray from the material storage device onto the loading transmission device, and the loading transmission device transports the material tray to the workbench; when the material on the workbench is being clamped, the loading transmission device returns to the material storage device to receive the second material tray for replacing the material tray on the workbench. However, this device uses a pushing form to eject the empty material tray, and it cannot be used when multiple material trays are directly stacked. In addition, for the empty material trays, it is necessary to place them in the material storage device one by one through additional equipment or manual labor, which is not suitable for some production lines. Therefore, it is necessary to propose a device that can automatically take out the empty material trays one by one from the stacked material trays and send them to the blanking area, and can automatically stack the material trays temporarily after blanking, so as to save labor and improve the blanking efficiency. Summary of the Utility Model

[0004] An object of the utility model is to provide an auxiliary robot blanking device, which can greatly improve the blanking efficiency and save labor.

[0005] To achieve these objects and other advantages of the utility model, according to one aspect of the utility model, there is provided an auxiliary robot blanking device, including:

[0006] Equipment support, which includes a placement area frame and a blanking area frame arranged in sequence along the blanking direction. A rigid tabletop is fixed on the placement area frame and is connected to the blanking area frame. Two material tray lifting devices are symmetrically fixed on the two outer sides of the placement area frame. The material tray lifting device includes a material tray lifting component and a material tray supporting component. The material tray lifting component drives the corresponding material tray supporting component to perform vertical displacement. The two material tray supporting components are arranged oppositely and jointly support both sides of the material tray above the placement area frame. Two material tray lowering devices are symmetrically fixed on the two inner sides of the blanking area frame. The material tray lowering device performs vertical displacement through the vertical transmission component on the corresponding side. The two material tray lowering devices are arranged oppositely and jointly support both sides of the material tray above the blanking area frame. A movable storage platform is movably connected to the rigid tabletop for horizontal movement.

[0007] Preferably, multiple columns of spaced track guiding blocks are fixed on the upper surface of the rigid tabletop. Multiple tabletop track beams are arranged on the lower surface of the movable storage platform. Each tabletop track beam is matched and sleeved with a column of track guiding blocks. One end of the rigid tabletop is connected to a propulsion cylinder, and the other end of the propulsion cylinder is connected to the lower surface of the movable storage platform.

[0008] Preferably, the movable storage platform is provided with multiple strip-shaped through slots. A vertical positioning column is matched and inserted into each strip-shaped through slot. All the bottoms of the positioning columns are jointly connected to a positioning plate. Several positioning tracks are fixed on the lower surface of the movable storage platform. The positioning plate is fixed with positioning track boots that are respectively matched and sleeved with the positioning tracks. The positioning tracks are parallel to the tabletop track beams. One end of the positioning plate is connected to a positioning cylinder, and the other end of the positioning cylinder is connected to the lower surface of the movable storage platform.

[0009] Preferably, multiple limit cylinders are installed on the lower surface of the movable storage platform. The limit cylinder includes a retractable limit cylinder telescopic column, and the limit cylinder telescopic column passes through the movable storage platform from bottom to top.

[0010] Preferably, the material tray lifting component includes a first fixed plate and a lifting cylinder. The first fixed plate is installed on the rigid tabletop and extends outward. The lifting cylinder is connected to the first fixed plate. The lifting cylinder includes a vertically retractable lifting cylinder telescopic column, and the end of the lifting cylinder telescopic column is connected to the material tray clamping component.

[0011] Preferably, the material tray supporting component includes a second fixed plate and a supporting cylinder. The second fixed plate is connected to the end of the lifting cylinder telescopic column. The supporting cylinder is fixed on the second fixed plate. The end of the supporting cylinder telescopic column is connected to a supporting strip block, and the two supporting strip blocks jointly support the material tray.

[0012] Preferably, the vertical transmission assembly includes two transmission wheel brackets mounted on the outer side of the blanking area frame from top to bottom. Each transmission wheel bracket is rotatably connected to a transmission wheel, and a transmission belt is connected between the two transmission wheels on the same outer side of the blanking area frame. A plurality of vertical tracks are vertically arranged on the two inner sides of the blanking area frame. The material tray lowering device includes a clamping cylinder, a concave vertical plate, a conveyor belt clamping member, and a corresponding number of vertical track shoes that match the vertical tracks. The conveyor belt clamping member is fixed to the concave vertical plate and is connected to the conveyor belt on the corresponding side. The vertical track shoes are sleeved with the vertical tracks one by one. The clamping cylinder is installed on the concave vertical plate, and two opposite clamping cylinders jointly clamp the material tray in the blanking area frame.

[0013] Preferably, a material tray returning device is installed at the lower part of the equipment bracket, which includes two placing plates with horizontal upper surfaces. The lower surface of the placing plate is fixed with a returning cylinder parallel to the table track beam. The returning cylinder includes a returning cylinder telescopic rod that can extend towards the blanking area frame. The end of the returning cylinder telescopic rod is connected to a returning cross beam, and the returning cross beam is vertically connected with several returning columns. Among them, the parts of the two placing plates located between the blanking area frames jointly support the material tray. When the returning cylinder telescopic rod retracts, it drives the returning cross beam, the returning columns, and the material tray to move towards the placing area frame.

[0014] Preferably, a returning track is fixed to the lower surface of each placing plate, and several returning track shoes that match and are sleeved with the returning track are fixed to the upper surface of the returning cross beam.

[0015] The utility model has at least the following beneficial effects:

[0016] First, for the auxiliary robot feeding equipment provided by the utility model, multiple groups of cylinders work together. Workers can directly place the stacked empty material trays on the material tray lifting device. The material tray lifting device separates the empty material trays in sequence and places them on the moving placing platform. The empty material trays reach above the blanking area frame as the moving placing platform moves on the hard tabletop.

[0017] Second, for the auxiliary robot feeding equipment provided by the utility model, after the material tray is filled with processed workpieces, the material tray lowering device clamps the full material tray. After the moving placing platform translates back to the initial state, the material tray lowering device can temporarily stack the full material trays in the blanking area frame. Workers can carry and transfer them after accumulating a certain number of full material trays.

[0018] Other advantages, objectives, and features of the utility model will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the utility model. Description of the Drawings

[0019] The present utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments:

[0020] Figure 1 It is a working schematic diagram of the auxiliary robot blanking equipment of the present utility model;

[0021] Figure 2 It is a schematic diagram of the auxiliary robot blanking equipment of the present utility model;

[0022] Figure 3 It is a schematic diagram of the equipment support of the auxiliary robot blanking equipment of the present utility model;

[0023] Figure 4 It is a schematic diagram of the material tray lifting device of the auxiliary robot blanking equipment of the present utility model;

[0024] Figure 5 It is a working schematic diagram of the material tray lowering device of the auxiliary robot blanking equipment of the present utility model;

[0025] Figure 6 It is an exploded schematic diagram of the movable storage platform of the auxiliary robot blanking equipment of the present utility model;

[0026] Figure 7 It is a front view of the movable storage platform of the auxiliary robot blanking equipment of the present utility model;

[0027] Figure 8 It is a bottom view of the movable storage platform of the auxiliary robot blanking equipment of the present utility model;

[0028] Figure 9 It is a front view of the material tray returning device of the auxiliary robot blanking equipment of the present utility model;

[0029] Figure 10 It is a schematic diagram of the material tray returning device of the auxiliary robot blanking equipment of the present utility model;

[0030] Figure 11 It is a working flow chart of pushing the empty material tray forward of the auxiliary robot blanking equipment of the present utility model;

[0031] Figure 12 It is a working flow chart of lowering the full material tray of the auxiliary robot blanking equipment of the present utility model.

[0032] Legend: 1 - equipment support, 11 - blanking area frame, 12 - connecting frame, 13 - placement area frame, 2 - hard tabletop, 21 - track guiding block, 3 - material tray lifting device, 31 - material tray lifting assembly, 32 - material tray supporting assembly, 310 - first fixing plate, 311 - lifting cylinder, 3111 - lifting cylinder telescopic column, 312 - first limiting rod, 320 - second fixing plate, 321 - supporting cylinder, 3211 - supporting cylinder telescopic column, 322 - second limiting rod, 323 - supporting strip block, 4 - movable storage platform, 40 - strip-shaped through groove, 41 - tabletop track beam, 42 - positioning cylinder, 420 - positioning track, 43 - propulsion cylinder, 430 - propulsion cylinder fixing block, 44 - positioning plate, 440 - positioning track shoe, 441 - positioning column, 45 - limiting cylinder, 451 - limiting cylinder telescopic column, 5 - material tray lowering device, 50 - vertical track, 51 - concave vertical plate, 52 - clamping cylinder, 520 - clamping cylinder telescopic column, 53 - lowering device side plate, 54 - vertical track shoe, 55 - conveyor belt clamping piece, 6 - vertical transmission assembly, 60 - transmission wheel support, 61 - transmission wheel, 62 - transmission belt, 7 - material tray returning device, 71 - storage plate, 711 - returning track, 73 - returning cross beam, 72 - returning column, 731 - returning track shoe, 74 - returning cylinder, 741 - returning cylinder telescopic rod, 8 - material tray Detailed implementation mode

[0033] The following further elaborates on the present utility model in conjunction with the attached drawings, enabling those skilled in the art to implement it with reference to the text of the specification.

[0034] It should be understood that terms such as "having", "comprising", and "including" used herein do not exclude the presence or addition of one or more other elements or their combinations.

[0035] It should be noted that the experimental methods described in the following implementation schemes are all conventional methods unless otherwise specified, and the components can be obtained from commercial channels unless otherwise specified; in the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "setting" should be understood in a broad sense. For example, they can be fixedly connected and set, or detachably connected and set, or integrally connected and set. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The orientation or positional relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0036] As Figures 1 to 12 shown, the technical solution of the present application provides an auxiliary manipulator blanking device, including: a device support 1, which includes a placement area frame 13 and a blanking area frame 11 arranged in sequence along the blanking direction, a rigid tabletop 2 is fixed on the placement area frame 13 and is connected to the blanking area frame 11; two material tray lifting devices 3 are symmetrically fixed on the two outer sides of the placement area frame 13, and the material tray lifting device 3 includes a material tray lifting assembly 31 and a material tray supporting assembly 32, the material tray lifting assembly 31 drives the corresponding material tray supporting assembly 32 to perform vertical displacement, and the two material tray supporting assemblies 32 are arranged oppositely and jointly support both sides of the material tray 8 above the placement area frame 13; two material tray lowering devices 5 are symmetrically fixed on the two inner sides of the blanking area frame 11, and the material tray lowering device 5 performs vertical displacement through the vertical transmission assembly 6 on the corresponding side, and the two material tray lowering devices 5 are arranged oppositely and jointly support both sides of the material tray 8 above the blanking area frame 11; a movable storage platform 4 is movably connected to the rigid tabletop 2 for horizontal movement.

[0037] In this technical solution, the area above the placement area frame 13 is the placement area, and the area above the blanking area frame 11 is the blanking area. The placement area frame 13 includes two spaced rectangular frames, and the blanking area frame 11 includes two spaced rectangular frames. The placement area frame 13 and the blanking area frame 11 can be connected by a connecting frame 12 so that there is a certain interval between the placement area and the blanking area. The rigid tabletop 2 is fixed on the placement area frame 13 and the connecting frame 12. The movable storage platform 4 and the rigid tabletop 2 can be matched by a track and a track shoe, so that the movable storage platform 4 can translate on the rigid tabletop 2 and part of the platform can extend from both sides of the track without changing the angle. The movement of the movable storage platform 4 can be controlled by a chain drive device, a cylinder device, etc.

[0038] In this technical solution, the two opposite material tray supporting components 32 can adopt cylinders, lead screws, levers or other means to change the net distance between them during the operation. When the net distance between the two material tray supporting components 32 is small, the material tray supporting components 32 can support the edge of the material tray 8. After the net distance between the two material tray supporting components 32 increases to be greater than the maximum width of the edge of the material tray 8, the material tray 8 can be placed on the rigid tabletop 2 or the movable storage platform 4. The material tray lifting component 31 is connected to the material tray supporting component 32. The material tray lifting component 31 can control the lifting of the connected material tray supporting component 32 by means of cylinders and lead screws. The heights of the two opposite material tray supporting components 32 need to be kept consistent at all times.

[0039] In this technical solution, the upper edge of the material tray 8 has an outward edge. The operator adjusts the clear distance between two opposite material tray supporting components 32 to a distance that can support the edge of the material tray 8. Then, a stack of empty material trays 8 is placed on the two material tray supporting components 32. The movable storage platform 4 moves below the empty material trays 8. The material tray lifting component 31 controls the material tray supporting components 32 to place the entire stack of material trays on the movable storage platform 4. Then, by adjusting the clear distance between the opposite material tray supporting components 32, the material tray supporting components 32 release the lowermost empty material tray 8 and move upward under the control of the material tray lifting component 31. Subsequently, the two opposite material tray supporting components 32 support the second-lowest material tray 8 and lift it until it does not affect the movable storage platform 4 to drive the lowermost material tray 8 to translate. Optionally, when the movable storage platform 4 receives the empty material trays 8, it can first extend a part of the platform along the direction opposite to the material discharging direction out of the rigid platform 2, so that the material trays 8 are placed on the front half of the movable storage platform 4. Then, the movable storage platform 4 moves forward until the front half extends out of the rigid platform 2 along the material discharging direction, so that the material trays 8 are exactly in the material discharging area. The movable storage platform 4 can also be provided with a positioning device, so that after the material trays 8 are placed on the movable storage platform 4, they are pushed to the front half of the movable storage platform 4 by the positioning device, so that they are in the material discharging area after the movable storage platform 4 extends out of the rigid platform 2.

[0040] In this technical solution, the material tray lowering device 5 can adopt a cylinder, a lead screw, a lever or other means to change the clear distance during the operation. The vertical transmission component 6 can adopt a cylinder, a transmission belt, a lead screw, a lever and other means to lift or lower the material tray lowering devices 5 on the same side. The two opposite material tray lowering devices 5 can vertically move from below the movable storage platform 4 to above it, and change the clear distance between them to achieve the purpose of clamping or supporting the material trays 8 after placing objects.

[0041] In this technical solution, when the manipulator performs the material discharging operation, the movable storage platform 4 remains stationary. The clear distance between the two opposite material tray lowering devices 5 is greater than the width of the movable storage platform 4. They move from below both sides of the movable storage platform 4 to above the movable storage platform 4 through the vertical transmission component 6. Then, the material tray lowering devices 5 change the clear distance to clamp or support the material trays 8 on the material discharging area frame 11. When this material tray 8 is discharging materials, the movable storage platform 4 retracts and holds the next empty material tray 8. The weight of the material trays 8 in the material discharging area is all borne by the two opposite material tray lowering devices 5. Then, the material tray lowering devices 5 with the material trays 8 are lowered to the lower part of the material discharging area frame 11 through the vertical transmission component 6 for stacking. When a certain number is accumulated, they are carried.

[0042] In this technical solution, after the stacked material trays 8 are placed on the material tray supporting component 32, they are sent into the blanking area one by one through the cooperation of the material tray lifting device 3 and the movable storage platform 4. After the blanking of the material tray 8 is completed, it is automatically stacked by the material tray lowering device 5. During this process, the operator only needs to move the stacked empty material trays 8 to the designated position and take out the stacked full-load material trays 8 after a certain period of time, which greatly reduces the working intensity of the operator and improves the blanking efficiency of the robot arm.

[0043] In another technical solution, multiple columns of spaced track guiding blocks 21 are fixed on the upper surface of the hard tabletop 2. Multiple tabletop track beams 41 are arranged on the lower surface of the movable storage platform 4. Each tabletop track beam 41 is matched and sleeved with a column of track guiding blocks 21. One end of a propulsion cylinder 43 is connected to the hard tabletop 2, and the other end of the propulsion cylinder 43 is connected to the lower surface of the movable storage platform 4. In this technical solution, the tabletop track beam 41 can only move linearly along the axial direction. Within the normal moving range of each tabletop track beam 41, it is restricted by at least two track guiding blocks 21, so that the movable storage platform 4 is always in a horizontal state, and the material tray 8 thereon does not have relative slippage. The cylinder block of the propulsion cylinder 43 is fixed to the hard tabletop 2, and a propulsion cylinder fixing block 430 is fixed to the lower surface of the movable storage platform 4. The telescopic rod of the propulsion cylinder 43 is connected to the propulsion cylinder fixing block 430. The propulsion cylinder 43 controls the position of the movable storage platform 4 by adjusting the elongation of its telescopic rod. Optionally, when the cylinder block of the propulsion cylinder 43 is fixed to the lower surface of the hard tabletop 2, the hard tabletop 2 can be provided with a groove to enable the cylinder fixing block 430 to have a larger moving range.

[0044] In another technical solution, the movable storage platform 4 is provided with a plurality of strip-shaped through grooves 40. A vertical positioning column 441 is fitted through each strip-shaped through groove 40. The bottoms of all the positioning columns 441 are jointly connected to a positioning plate 44. The lower surface of the movable storage platform 4 is fixed with several positioning tracks 420. The positioning plate 44 is fixed with positioning track boots 440 that are respectively and fittingly sleeved on the positioning tracks 420. The positioning tracks 420 are parallel to the table top track beam 41. One end of the positioning plate 44 is connected to a positioning cylinder 42, and the other end of the positioning cylinder 42 is connected to the lower surface of the movable storage platform 4. In this technical solution, the strip-shaped through grooves 40 are arranged in the part of the movable storage platform 4 far from the blanking area frame 11. The material tray 8 is placed on several strip-shaped through grooves 40 and is located between the positioning columns 441 and the blanking area frame 11. The positioning plate 44 is located between the movable storage platform 4 and the hard table top 2 and is movably installed on the positioning tracks 420 through the positioning track boots 440. The cylinder block of the positioning cylinder 42 is fixed to the lower surface of the movable storage platform 4 and the telescopic rod is fixed to the positioning plate 44. The positioning cylinder 42 can control the positioning columns 441 on the positioning plate 44 to move along the strip-shaped through grooves 40. The positioning columns 441 push the material tray 8 to translate it to the front part of the movable storage platform 4 near the blanking area frame 11. At this time, when the movable storage platform 4 extends out of the hard table top 2, the material tray 8 is just above the blanking area frame 11.

[0045] In another technical solution, a plurality of limit cylinders 45 are installed on the lower surface of the movable storage platform 4. The limit cylinder 45 includes a telescopic limit cylinder telescopic column 451. The limit cylinder telescopic column 451 passes through the movable storage platform 4 from bottom to top. In this technical solution, the cylinder block of the limit cylinder 45 is fixed below the movable storage platform 4. After the limit cylinder telescopic column 451 rises, it prevents the material tray 8 from being pushed by the positioning column 441 to exceed the predetermined position. The limit cylinder telescopic column 451 and the positioning column 441 can hold the front and rear sides of the material tray 8 to prevent the material tray 8 from shifting. When the material tray 8 is in the process of blanking or after blanking is completed and the movable storage platform 4 needs to move towards the placement area frame 13, the limit cylinder telescopic column 451 retracts to avoid contacting the material tray 8 that is being supported or clamped by the material tray lowering device 5.

[0046] In another technical solution, the material tray lifting assembly 31 includes a first fixed plate 310 and a lifting cylinder 311. The first fixed plate 310 is installed on the rigid tabletop 2 and extends outward. The lifting cylinder 311 is connected to the first fixed plate 310. The lifting cylinder 311 includes a vertically telescopic lifting cylinder telescopic column 3111. The end of the lifting cylinder telescopic column 3111 is connected to the material tray supporting assembly 32. In this technical solution, the cylinder block of the lifting cylinder 311 is arranged at the bottom of the first fixed plate 310, and the lifting cylinder telescopic column 3111 passes upward through the first fixed plate 310. A plurality of first limiting rods 312 are vertically penetrated through the first fixed plate 310. The top of the first limiting rod 312 is connected to the material tray supporting assembly 32. The first limiting rod 312 can ensure that the material tray supporting assembly 32 does not rotate.

[0047] In another technical solution, the material tray supporting assembly 32 includes a second fixed plate 320 and a supporting cylinder 321. The second fixed plate 320 is connected to the end of the lifting cylinder telescopic column 3111. The supporting cylinder 321 is fixed to the second fixed plate 320. The end of the supporting cylinder telescopic column 3211 is connected with a supporting strip 323. Two supporting strips 323 jointly support the material tray 8. In this technical solution, the second fixed plate 320 is L-shaped. The cylinder block of the supporting cylinder 321 is horizontally fixed to the second fixed plate 320. A second limiting rod 322 is sleeved on the vertical plate part of the second fixed plate 320. The end of the second limiting rod 322 is connected to the supporting strip 323 to prevent the supporting strip 323 from rotating.

[0048] In another technical solution, the vertical transmission assembly 6 includes two transmission wheel brackets 60 mounted on the outer side of the blanking area frame 11 from top to bottom. Each transmission wheel bracket 60 is rotatably connected to a transmission wheel 61. A transmission belt 62 is connected in transmission between the two transmission wheels 61 on the same outer side of the blanking area frame 11. A plurality of vertical tracks 50 are vertically arranged on the two inner sides of the blanking area frame 11. The material tray lowering device 5 includes a clamping cylinder 52, a concave vertical plate 51, a conveyor belt clamping member 55, and a corresponding number of vertical track shoes 54 that match the vertical tracks 50. The conveyor belt clamping member 55 is fixed to the concave vertical plate 51 and is connected to the conveyor belt 62 on the corresponding side. The vertical track shoes 54 are sleeved with the vertical tracks 50 in a one-to-one matching manner. The clamping cylinder 52 is mounted on the concave vertical plate 51. Two opposite clamping cylinders 52 jointly clamp the material tray 8 in the blanking area frame 11. In this technical solution, the rotating wheel 61 rotates under the action of an external motor to drive the conveyor belt 62 to rotate circumferentially. The conveyor belt clamping member 55 is connected to one side of the conveyor belt 62. At this time, the material tray lowering device 5 moves up or down synchronously through the conveyor belt clamping member 55. The cylinder block of the clamping cylinder 52 is mounted on the concave vertical plate 51. The clamping cylinder 52 includes a clamping cylinder telescopic column 520. The opposite clamping cylinder telescopic columns 520 can jointly clamp or support the material tray 8 above and inside the blanking area frame 11. Side plates 53 of the lowering device are fixed on both sides of the concave vertical plate 51, and the vertical track shoes 54 are fixed thereon. The vertical track shoes 54 are sleeved with the vertical tracks 50 in a matching manner to prevent the material tray lowering device 5 from moving other than vertically.

[0049] In another technical solution, a material tray reset device 7 is installed at the lower part of the device support 1. The material tray reset device 7 includes two placement plates 71 with horizontal upper surfaces. A reset cylinder 74 parallel to the table track beam 41 is fixed to the lower surface of the placement plate 71. The reset cylinder 74 includes a reset cylinder telescopic rod 741 that can extend towards the blanking area frame 11. The end of the reset cylinder telescopic rod 741 is connected to a reset cross beam 73. The reset cross beam 73 is vertically upwardly connected with several reset columns 72. Among them, the parts of the two placement plates 71 located between the blanking area frames 11 jointly support the material tray 8. When the reset cylinder telescopic rod 741 retracts, it drives the reset cross beam 73, the reset columns 72 and the material tray 8 to move towards the placement area frame 13. In this technical solution, the area below the connecting frame 12 is the area to be transported. All fully loaded material trays 8 are temporarily stacked on the placement plate 71. The cylinder block of the reset cylinder 71 is fixed to the bottom surface of the placement plate 71 at the part of the connecting frame 12. When a certain number of material trays 8 are stacked on the part of the placement plate 71 in the blanking area frame 11, the reset cylinder telescopic rod 741 retracts, driving the reset columns 72 to push the material trays 8 to the area below the connecting frame 12 and the area to be transported. Then the reset cylinder telescopic rod 741 extends again to the initial state. At this time, the stacked fully loaded material trays 8 are transferred to the area to be transported and wait for the operator to transport them, and it does not affect the continuous blanking operation and the continuous stacking of the fully loaded material trays 8 in the blanking area frame 11.

[0050] In another technical solution, a reset track 711 is fixed to the lower surface of each placement plate 71. A plurality of reset track boots 731 that are matched and sleeved with the reset track 711 are fixed to the upper surface of the reset cross beam 73. The reset cross beam 73 can move while maintaining a straight state when subjected to an external force.

[0051] Although the embodiments of the present invention have been disclosed as above, they are not limited to only the applications listed in the description and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily achieved. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the illustrated examples here.

Claims

1. Auxiliary manipulator unloading equipment, characterized in that: include: The equipment support comprises a placement area frame and a material unloading area frame which are sequentially arranged along the material unloading direction, wherein a hard table is fixed on the placement area frame and connected to the material unloading area frame; Two material tray lifting devices are symmetrically fixed on the two outer sides of the placement area frame, and the material tray lifting device includes a material tray lifting component and a material tray supporting component. The material tray lifting component drives the corresponding material tray supporting component to perform vertical displacement. The two material tray supporting components are arranged opposite to each other and jointly support the two sides of the material tray above the placement area frame; Two material tray lowering devices are symmetrically fixed on the two inner sides of the unloading area frame. The material tray lowering devices are vertically displaced by the vertical transmission components on the corresponding sides. The two material tray lowering devices are arranged opposite to each other and jointly support the two sides of the material tray above the unloading area frame. The movable storage platform is movably connected to the hard tabletop for horizontal movement.

2. The auxiliary manipulator unloading device according to claim 1, characterized in that: The upper surface of the hard table is fixed with multiple rows of track guide blocks arranged at intervals, the lower surface of the movable storage platform is provided with multiple table track beams, each table track beam is matched with a row of track guide blocks by a sleeve, the hard table is connected to one end of the propulsion cylinder, and the other end of the propulsion cylinder is connected to the lower surface of the movable storage platform.

3. The auxiliary manipulator unloading device according to claim 2, characterized in that: The mobile storage platform is provided with a plurality of strip-shaped through slots, each of which is matched with a vertical positioning column, and the bottoms of all the positioning columns are connected to a positioning plate. A plurality of positioning rails are fixed to the lower surface of the mobile storage platform, and the positioning plate is fixed with positioning rail shoes that match the positioning rails one by one, and the positioning rails are parallel to the table rail beams. The positioning plate is connected to one end of a positioning cylinder, and the other end of the positioning cylinder is connected to the lower surface of the mobile storage platform.

4. The auxiliary manipulator unloading device according to claim 3, characterized in that: A plurality of limit cylinders are installed on the lower surface of the mobile storage platform. The limit cylinders include retractable limit cylinder telescopic columns. The limit cylinder telescopic columns pass through the mobile storage platform from bottom to top.

5. The auxiliary manipulator unloading device according to claim 1, characterized in that: The material tray lifting assembly includes a first fixed plate and a lifting cylinder. The first fixed plate is installed on the hard table top and extends outward. The lifting cylinder is connected to the first fixed plate. The lifting cylinder includes a vertically retractable lifting cylinder telescopic column. The end of the lifting cylinder telescopic column is connected to the material tray supporting assembly.

6. The auxiliary manipulator unloading device according to claim 5, characterized in that: The material tray supporting assembly includes a second fixed plate and a supporting cylinder, the second fixed plate is connected to the end of the telescopic column of the lifting cylinder, the supporting cylinder is fixed to the second fixed plate, the end of the telescopic column of the supporting cylinder is connected to a supporting bar, and the two supporting bars jointly support the material tray.

7. The auxiliary manipulator unloading device according to claim 1, characterized in that: The vertical transmission assembly includes two upper and lower transmission wheel brackets installed on the outer side of the unloading area frame, each transmission wheel bracket is rotatably connected to a transmission wheel, and a transmission belt is transmission-connected between the two transmission wheels on the same outer side of the unloading area frame; A plurality of vertical rails are vertically arranged on both inner sides of the unloading area frame. The material tray lowering device includes a clamping cylinder, a concave vertical plate, a conveyor belt clamping piece, and vertical rail shoes corresponding to the number of matching vertical rails. The conveyor belt clamping piece is fixed to the concave vertical plate and connected to the transmission belt on the corresponding side. The vertical rail shoes are matched with the vertical rails one by one with a sleeve. The clamping cylinder is installed on the concave vertical plate, and the two opposite clamping cylinders jointly clamp the material tray in the unloading area frame.

8. The auxiliary manipulator unloading device according to claim 1, characterized in that: A material tray homing device is installed at the lower part of the equipment support, which includes two placement plates with horizontal upper surfaces, a homing cylinder parallel to the table track beam is fixed to the lower surface of the placement plate, the homing cylinder includes a homing cylinder telescopic rod that can extend toward the lower material area frame, the end of the homing cylinder telescopic rod is connected to a homing crossbeam, and the homing crossbeam is vertically connected to a plurality of homing columns; Among them, the parts of the two placement plates located between the unloading area frame jointly support the material tray. When the telescopic rod of the return cylinder is retracted, the return beam, the return column and the material tray are driven to move toward the placement area frame.

9. The auxiliary manipulator unloading device according to claim 8, characterized in that: A homing track is fixed on the lower surface of each storage plate, and a plurality of homing track shoes with sleeves matching the homing track are fixed on the upper surface of the homing crossbeam.

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